Automatic photovoltaic panel laying system and laying method

Abstract

The invention discloses an automatic photovoltaic panel laying system and laying method, solves the problem of how to improve the laying efficiency of photovoltaic panels, and belongs to the technical field of automatic assembly. A visual identification positioning system and an automatic punching and locking mechanism are arranged on an adsorption system body, and the adsorption system is mounted on a manipulator of an omnidirectional carrying system; the material preparation area is arranged on the omni-directional carrying system; the control system controls the omni-directional carrying system to reach the corresponding position, controls the visual recognition positioning system to obtain the to-be-installed position of the photovoltaic panel installation truss and the position of the material preparation area, controls the automatic punching and locking mechanism to punch the to-be-installed position on the photovoltaic panel installation truss, and controls the mechanical arm to drive the adsorption system to adsorb the photovoltaic panel from the material preparation area. And the automatic punching and locking mechanism is controlled to adsorb the fastener to be inserted into the punched hole, so that the photovoltaic panel is locked on the photovoltaic panel mounting truss. Punching, placing and locking are completed in a full-automatic mode.

Description

Technical Field

[0001] The invention relates to an automatic photovoltaic panel laying system and a laying method, belonging to the technical field of automatic assembly. Background Art

[0002] With the global demand for carbon neutrality, the scale of clean energy such as photovoltaics continues to rise. The demand for unmanned photovoltaic power stations throughout their life cycle is very clear, and the market prospects are broad. At present, most photovoltaic panels are installed by manual laying, which is inefficient and costly, and is affected by construction weather, personnel and other conditions. The harsh construction environment and high labor costs have brought huge resistance to the large-scale promotion of photovoltaic power stations.

[0003] Therefore, the use of an automated laying system instead of manual operation can effectively solve the shortcomings of the current large-scale construction of photovoltaic power stations. Due to the large number of photovoltaic panels to be laid, the automated laying system can well replace manual repetitive operations. Its high efficiency and high precision can well solve the problem of large-scale laying of photovoltaic panels, improve installation efficiency, reduce construction costs, and ensure laying quality. Therefore, the study of the automatic laying system of photovoltaic panels is of vital significance to the development of the photovoltaic industry. Summary of the invention

[0004] In order to solve the problem of how to improve the laying efficiency of photovoltaic panels, the present invention provides an automatic laying system and method for photovoltaic panels.

[0005] An automatic photovoltaic panel laying system of the present invention comprises a visual recognition and positioning system 2, an automatic punching and locking mechanism 3, an adsorption system 4, a material preparation area, an omnidirectional transport system 8 and a control system;

[0006] The visual recognition positioning system 2 and the automatic punching and locking mechanism 3 are arranged on the main body of the adsorption system 4, and the adsorption system 4 is installed on the manipulator of the omnidirectional transport system 8; the material preparation area is arranged on the omnidirectional transport system 8;

[0007] The visual recognition and positioning system is used to identify and locate the position to be installed and the position of the material preparation area on the photovoltaic panel installation truss 1, and send them to the control system;

[0008] An adsorption system 4 for adsorbing a photovoltaic panel 5 from a material preparation area;

[0009] An automated punching and locking mechanism 3, used for punching holes at the locations to be installed on the photovoltaic panel mounting truss 1, for sucking fasteners from the material preparation area, and for inserting fasteners into the holes to lock the photovoltaic panel 5 on the photovoltaic panel mounting truss 1;

[0010] The control system is simultaneously connected to the visual recognition and positioning system 2, the automatic drilling and locking mechanism 3, the adsorption system 4, and the omnidirectional transport system 8, and is used to control the omnidirectional transport system 8 to reach the corresponding position, and is also used to control the visual recognition and positioning system 2 to obtain the position to be installed and the position of the preparation area of ​​the photovoltaic panel mounting truss 1, and is also used to control the automatic drilling and locking mechanism 3 to drill holes at the position to be installed on the photovoltaic panel mounting truss 1, and is also used to control the manipulator with the adsorption system 4 to adsorb the photovoltaic panel 5 from the preparation area and transport it to the drilling position on the photovoltaic panel mounting truss 1, and is also used to control the automatic drilling and locking mechanism 3 to adsorb fasteners to insert into the drilled holes to lock the photovoltaic panel 5 on the photovoltaic panel mounting truss 1.

[0011] Preferably, the material preparation area includes a photovoltaic panel material preparation area 6 and a bolt and nut material preparation area 7 .

[0012] Preferably, the control system is also used to generate a laying plan, plan the moving path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panels 5 according to the installation task requirements.

[0013] Preferably, the automatic punching and locking mechanism 3 comprises a No. 1 rotating motor 3-1, a No. 2 rotating motor 3-2, a nut mounting bracket 3-3 and a connecting plate 3-5;

[0014] One side of the connecting plate 3-5 is fixedly connected to the adsorption system 4 body, the No. 1 rotating motor 3-1 and the No. 2 rotating motor 3-2 are fixed on the connecting plate 3-5, and the motor shafts of the No. 1 rotating motor 3-1 and the No. 2 rotating motor 3-2 are axially perpendicular; the motor shaft of the No. 2 rotating motor 3-2 is fixedly connected to the nut mounting bracket 3-3, which can drive the nut mounting bracket 3-3 to rotate, and the nut mounting bracket 3-3 is provided with a through slot having one side through it, the nut can be placed on the through slot, and the width of the through slot can enable the nut to slide in the through slot;

[0015] In the working state, the placed nut 3-7 is located directly below the motor shaft of the No. 1 rotating motor 3-1. In the non-interference state, the No. 2 rotating motor 3-2 drives the nut mounting bracket 3-3 to rotate away from directly below the No. 1 rotating motor 3-1. The motor shaft of the No. 1 rotating motor 3-1 is magnetic and can be extended.

[0016] Preferably, a nut magnetic suction cup 3-4 is provided on the through slot just below the motor shaft of the No. 1 rotating motor 3-1 for adsorbing the nut 3-7.

[0017] Preferably, rotating motor No. 1 3-1 is fixed on the upper plate of connecting plate 3-5, rotating motor No. 2 3-2 is fixed on the inner side of the side plate on the other side of connecting plate 3-5, the nut mounting bracket 3-3 is an L-shaped plate, the motor shaft of rotating motor No. 2 3-2 is fixedly connected to the vertical plate of nut mounting bracket 3-3, the horizontal plate of nut mounting bracket 3-3 is provided with the through groove and the nut magnetic suction cup 3-4 is installed.

[0018] Preferably, the rotation speed of the No. 1 rotating motor 3-1 is not less than 800 rpm, and the torque is not less than 20 Nm.

[0019] Preferably, the torque of the No. 2 rotating motor 3-2 is not less than 5 Nm.

[0020] Preferably, the movement range of the omnidirectional carrier system 8 is not less than 500m*500m, and the continuous working time is not less than 8h.

[0021] The present invention is based on the laying method of the above-mentioned photovoltaic panel automatic laying system, and the method comprises:

[0022] S1. Generate a laying plan according to the installation task requirements, plan the moving path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panel 5;

[0023] S2, control the manipulator to drive the automatic drilling and locking mechanism 3 to grab the drill bit, the visual recognition and positioning system 2 scans the visible area of ​​the photovoltaic panel installation truss 1, determines all the positions to be drilled according to the visible area and the laying plan, the omnidirectional carrier system 8 moves to the set position according to the planned moving path, and controls the automatic drilling and locking mechanism 3 to drive the drill bit to drill holes at all the positions to be drilled, and puts the drill bit back to the designated position;

[0024] S3, the manipulator drives the adsorption system 4 to adsorb the photovoltaic panel 5 in the preparation area, and uses the visual recognition and positioning system 2 to scan the visible area to determine the position to be installed of the photovoltaic panel 5, and moves the photovoltaic panel 5 to the position to be installed. The automated punching and locking mechanism 3 places the nut below the hole punched in the photovoltaic panel installation truss 1;

[0025] S4, the robot drives the automatic drilling and locking mechanism 3 to adsorb the screwdriver in the preparation area, the screwdriver adsorbs the bolt 3-6, and uses the visual recognition and positioning system 2 to determine the punching position of the photovoltaic panel 5, the automatic drilling and locking mechanism 3 drives the bolt 3-6 adsorbed by the screwdriver to tighten the bolt 3-6 at the punching position of the photovoltaic panel 5, so that the bolt 3-6 passes through the photovoltaic panel 5 and is locked with the nut below, and then goes to S3 to install the next photovoltaic panel 5.

[0026] The beneficial effects of the present invention are that the present invention has strong universality, is compatible with drilling and locking to complete the automated installation of photovoltaic panels, and is suitable for the construction of photovoltaic power stations with irregularly deformed trusses under different working conditions. The present invention has a simple structure, is constructed in the form of a mechanical arm and an omnidirectional mobile platform, and each subsystem works in series, and the entire system has strong stability. The present invention uses visual recognition positioning to fully automatically complete drilling, placement and locking, and has a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the principle of the automatic laying system of photovoltaic panels of the present invention;

[0028] Figure 2 It is a schematic diagram of the principles of the visual recognition and positioning system, the automatic drilling and locking mechanism, and the adsorption system in the photovoltaic panel automatic laying system of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the automatic punching and locking mechanism of the present invention;

[0030] Figure 4 It is a front view of the automatic punching and locking mechanism in a non-interference state;

[0031] Figure 5 It is a front view of the automatic punching and locking mechanism in working state;

[0032] Figure 6 It is a schematic diagram of the principle of tightening bolts and nuts on photovoltaic panels by the automatic drilling and locking mechanism in working state;

[0033] Figure 7 It is a schematic flow chart of the laying method of the automatic laying system of photovoltaic panels of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0037] The photovoltaic panel installation truss 1 is fixed on the ground. Due to the uneven ground and the deformation of the truss during the welding and installation process, in order to avoid the interference of irregular deformation on the automatic laying, the photovoltaic panel automatic laying system of this embodiment includes a visual recognition and positioning system 2, an automatic drilling and locking mechanism 3, an adsorption system 4, a material preparation area, an omnidirectional transport system 8 and a control system; Figure 1 As shown,

[0038] like Figure 2 As shown, the visual recognition and positioning system 2 and the automatic punching and locking mechanism 3 are arranged on both sides of the adsorption system 4 body, and the adsorption system 4 is installed on the manipulator of the omnidirectional carrier system 8; the manipulator moves with the visual recognition and positioning system 2, the automatic punching and locking mechanism 3 and the adsorption system 4;

[0039] The omnidirectional transport system 8 is used to carry the visual recognition and positioning system 2, the automatic drilling and locking mechanism 3, the adsorption system 4, the photovoltaic panel 5, the preparation area and provide omnidirectional large-range movement, the movement range space is not less than 500m*500m, and the continuous working time is not less than 8h; the preparation area is set on the omnidirectional transport system 8; the preparation area includes the photovoltaic panel preparation area 6 and the bolt and nut preparation area 7; the photovoltaic panel preparation area 6 and the bolt and nut preparation area 7 are used for photovoltaic panel, nut loading, and bolt loading;

[0040] The visual recognition and positioning system is used to identify and locate the location to be installed and the location of the material preparation area on the photovoltaic panel installation truss 1, with a positioning accuracy better than 5mm. ;

[0041] An adsorption system 4 for adsorbing a photovoltaic panel 5 from a material preparation area;

[0042] The automated punching and locking mechanism 3 is used to punch holes at the location where the photovoltaic panel mounting truss 1 is to be installed, and is also used to absorb bolts and nuts from the preparation area, and is also used to insert the bolts into the holes and lock the photovoltaic panel 5 on the photovoltaic panel mounting truss 1 through the nuts;

[0043] The control system of this embodiment is connected to the visual recognition and positioning system 2, the automatic drilling and locking mechanism 3, the adsorption system 4, and the omnidirectional transport system 8 at the same time, and is used to control the omnidirectional transport system 8 to reach the corresponding position, and is also used to control the visual recognition and positioning system 2 to obtain the position to be installed and the position of the preparation area of ​​the photovoltaic panel mounting truss 1, and is also used to control the automatic drilling and locking mechanism 3 to drill holes at the position to be installed on the photovoltaic panel mounting truss 1, and is also used to control the manipulator with the adsorption system 4 to adsorb the photovoltaic panel 5 from the preparation area and transport it to the drilling position on the photovoltaic panel mounting truss 1, and is also used to control the automatic drilling and locking mechanism 3 to adsorb fasteners and insert them into the drilled holes to lock the photovoltaic panel 5 on the photovoltaic panel mounting truss 1.

[0044] In this embodiment, first, a laying plan is automatically generated according to task requirements, and the moving path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panel 5 are planned; then, in order to avoid the interference of deformation of the photovoltaic panel installation truss 1 during installation with the subsequent automated laying, the visual recognition and positioning system 2 is used to control the manipulator to grab the drill bit and move it to the specified position, and cooperate with the automated drilling and locking mechanism 3 to complete the drilling of the photovoltaic panel installation truss 1; further, the photovoltaic panel adsorption system 4 moves to the photovoltaic panel preparation area 6 to take the photovoltaic panel 5, and is placed in the specified position by the visual recognition and positioning system 2; finally, the automated drilling and locking mechanism 3 takes the nuts at the bolt and nut preparation area 7 and places them in the specified position, and the automated drilling and locking mechanism 3 grabs the screwdriver and bolts, and the visual recognition and positioning system 2 guides the automated locking. The laying method specifically includes:

[0045] Step 1: Generate a laying plan according to the installation task requirements, plan the moving path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panel 5;

[0046] Step 2: Control the manipulator to drive the automatic drilling and locking mechanism 3 to grab the drill bit, the visual recognition and positioning system 2 scans the visible area of ​​the photovoltaic panel installation truss 1, and determines all the positions to be drilled according to the visible area and the laying plan. The omnidirectional carrier system 8 moves to the set position according to the planned moving path, and controls the automatic drilling and locking mechanism 3 to drive the drill bit to drill holes at all the positions to be drilled, and puts the drill bit back to the designated position;

[0047] Step 3: The manipulator drives the adsorption system 4 to adsorb the photovoltaic panel 5 in the preparation area, and uses the visual recognition and positioning system 2 to scan the visible area to determine the position to be installed of the photovoltaic panel 5, and moves the photovoltaic panel 5 to the position to be installed. The automated punching and locking mechanism 3 places the nut under the hole punched in the photovoltaic panel installation truss 1;

[0048] Step 4, the robot drives the automatic drilling and locking mechanism 3 to adsorb the screwdriver in the preparation area, the screwdriver adsorbs the bolt 3-6, and uses the visual recognition and positioning system 2 to determine the punching position of the photovoltaic panel 5, the automatic drilling and locking mechanism 3 drives the bolt 3-6 adsorbed by the screwdriver to tighten the bolt 3-6 at the punching position of the photovoltaic panel 5, so that the bolt 3-6 passes through the photovoltaic panel 5 and is locked with the nut below, and then goes to step 3 to install the next photovoltaic panel 5.

[0049] The automated punching and locking mechanism 3 of this embodiment includes a No. 1 rotating motor 3-1, a No. 2 rotating motor 3-2, a nut mounting bracket 3-3 and a connecting plate 3-5; the rotation speed of the No. 1 rotating motor 3-1 is not less than 800 rpm, the torque is not less than 20 Nm, and the torque of the No. 2 rotating motor 3-2 is not less than 5 Nm.

[0050] One side of the connecting plate 3-5 is fixedly connected to the main body of the adsorption system 4, the No. 1 rotating motor 3-1 and the No. 2 rotating motor 3-2 are fixed on the connecting plate 3-5, and the motor shafts of the No. 1 rotating motor 3-1 and the No. 2 rotating motor 3-2 are axially perpendicular; the motor shaft of the No. 2 rotating motor 3-2 is fixedly connected to the nut mounting bracket 3-3, which can drive the nut mounting bracket 3-3 to rotate, and the nut mounting bracket 3-3 is provided with a through slot having one side through it, and the nut can be placed on the magnetic suction cup of the through slot, and the width of the through slot can enable the nut to slide in the through slot;

[0051] In the working state, the placed nut 3-7 is located directly below the motor shaft of the No. 1 rotating motor 3-1. In the non-interference state, the No. 2 rotating motor 3-2 drives the nut mounting bracket 3-3 to rotate, away from directly below the No. 1 rotating motor 3-1. The motor shaft of the No. 1 rotating motor 3-1 is magnetic and can be extended.

[0052] In this embodiment, a nut magnetic suction cup 3-4 is provided on the through slot just below the motor shaft of the No. 1 rotating motor 3-1 for adsorbing the nut 3-7.

[0053] In this embodiment, rotating motor No. 1 3-1 is fixed on the upper plate of connecting plate 3-5, rotating motor No. 2 3-2 is fixed on the inner side of the side plate on the other side of connecting plate 3-5, nut mounting bracket 3-3 is an L-shaped plate, the motor shaft of rotating motor No. 2 3-2 is fixedly connected to the vertical plate of nut mounting bracket 3-3, and the horizontal plate of nut mounting bracket 3-3 is provided with a through groove and a nut magnetic suction cup 3-4 is installed.

[0054] During installation, the photovoltaic panel installation truss 1 is punched using the visual recognition and positioning system 2 and the automated punching and locking mechanism 3. At this time, the nut installation bracket 3-3 is in a retracted state, i.e., a non-interference state; the photovoltaic panel adsorption system 4 moves to the photovoltaic panel preparation area 6 to pick up the photovoltaic panel 5, and is placed in the designated position in cooperation with the visual recognition and positioning system 2; the automated punching and locking mechanism 3 picks up the bolts and nuts at the installation bolt and nut preparation area 7. At this time, the nut installation bracket 3-3 is in a working state, and is also automatically locked under the guidance of the visual recognition and positioning system 2. The specific steps of locking the punch include:

[0055] (1) Adjust to a non-interference state: the No. 2 rotating motor 3-2 drives the nut mounting bracket 3-3 to rotate away from the bottom of the motor shaft of the No. 1 rotating motor 3-1;

[0056] (2) The motor shaft of the No. 1 rotating motor 3-1 attracts the drill bit and drives the drill bit to drill holes on the photovoltaic panel mounting truss. After the drilling is completed, the drill bit stops attracting;

[0057] (3) Place the photovoltaic panel on the upper surface of the punched hole, and absorb the screwdriver onto the motor shaft of the No. 1 rotating motor 3-1. The screwdriver absorbs the bolt 3-6 and moves to the top of the photovoltaic panel and is located directly above the punched hole.

[0058] (4) Adjust to the working state: the nut is placed on the nut mounting bracket 3-3, the motor shaft of the No. 2 rotating motor 3-2 drives the nut mounting bracket 3-3 to rotate, so that the nut 3-7 is located directly below the punched hole, and the motor shaft of the No. 1 rotating motor 3-1 extends while rotating, driving the bolt 3-6 adsorbed by the screwdriver to rotate at the punching position of the photovoltaic panel 5 and move downward until the bolt 3-6 is tightened, so that the bolt 3-6 passes through the photovoltaic panel 5 and is locked with the nut below;

[0059] (5) After the nut is tightened, the punching and locking mechanism is translated along the through-slot direction as a whole, leaving the photovoltaic panel installation truss.

[0060] The photovoltaic panel automatic laying system of this embodiment automatically generates a laying plan according to task requirements, plans the moving path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panel 5, and uses the visual recognition positioning system 2 and the automatic drilling and locking mechanism 3 to complete the entire process of drilling, placing, and locking automatic laying. This embodiment has the function of automatic laying of photovoltaic panels under different working conditions, which effectively avoids the interference of irregular deformation of the photovoltaic panel installation truss on the automatic installation during the installation process.

[0061] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. Photovoltaic panel automatic laying system, characterized by: It includes a visual recognition and positioning system (2), an automatic punching and locking mechanism (3), an adsorption system (4), a material preparation area, an omnidirectional transport system (8) and a control system; The visual recognition positioning system (2) and the automatic punching and locking mechanism (3) are arranged on the main body of the adsorption system (4), and the adsorption system (4) is installed on the manipulator of the omnidirectional transport system (8); the material preparation area is arranged on the omnidirectional transport system (8); The visual recognition and positioning system is used to identify and locate the position to be installed and the position of the material preparation area on the photovoltaic panel installation truss (1), and send it to the control system; An adsorption system (4) for adsorbing the photovoltaic panel (5) from the preparation area; An automated punching and locking mechanism (3) for punching holes at locations to be installed on the photovoltaic panel mounting truss (1), for sucking fasteners from a material preparation area, and for inserting the fasteners into the holes to lock the photovoltaic panel (5) onto the photovoltaic panel mounting truss (1); The control system is simultaneously connected to the visual recognition and positioning system (2), the automatic drilling and locking mechanism (3), the adsorption system (4), and the omnidirectional transport system (8), and is used to control the omnidirectional transport system (8) to reach a corresponding position, and is also used to control the visual recognition and positioning system (2) to obtain the position to be installed and the position of the preparation area of ​​the photovoltaic panel installation truss (1), and is also used to control the automatic drilling and locking mechanism (3) to drill holes at the position to be installed on the photovoltaic panel installation truss (1), and is also used to control the manipulator with the adsorption system (4) to adsorb the photovoltaic panel (5) from the preparation area and transport it to the drilling position on the photovoltaic panel installation truss (1), and is also used to control the automatic drilling and locking mechanism (3) to adsorb fasteners and insert them into the drilled holes so that the photovoltaic panel (5) is locked on the photovoltaic panel installation truss (1).

2. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The material preparation area comprises a photovoltaic panel material preparation area (6) and a bolt and nut material preparation area (7).

3. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The control system is also used to generate a laying plan according to the installation task requirements, plan the moving path of the omnidirectional carrier system (8) and the installation steps of the photovoltaic panel (5).

4. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The automated punching and locking mechanism (3) comprises a No. 1 rotating motor (3-1), a No. 2 rotating motor (3-2), a nut mounting bracket (3-3) and a connecting plate (3-5); One side of the connecting plate (3-5) is fixedly connected to the main body of the adsorption system (4); the No. 1 rotating motor (3-1) and the No. 2 rotating motor (3-2) are fixed on the connecting plate (3-5); and the motor shafts of the No. 1 rotating motor (3-1) and the No. 2 rotating motor (3-2) are axially perpendicular; the motor shaft of the No. 2 rotating motor (3-2) is fixedly connected to the nut mounting bracket (3-3), and can drive the nut mounting bracket (3-3) to rotate; the nut mounting bracket (3-3) is provided with a through slot having one side through it, and the nut can be placed on the through slot, and the width of the through slot can enable the nut to slide in the through slot; In the working state, the placed nut (3-7) is located directly below the motor shaft of the No. 1 rotating motor (3-1), and in the non-interference state, the No. 2 rotating motor (3-2) drives the nut mounting bracket (3-3) to rotate away from directly below the No. 1 rotating motor (3-1), and the motor shaft of the No. 1 rotating motor (3-1) is magnetic and can be extended.

5. The photovoltaic panel automatic laying system according to claim 4, characterized in that: A nut magnetic suction cup (3-4) is provided on a through slot directly below the motor shaft of the No. 1 rotating motor (3-1) for adsorbing the nut (3-7).

6. The photovoltaic panel automatic laying system according to claim 4, characterized in that: The No. 1 rotating motor (3-1) is fixed on the upper plate of the connecting plate (3-5), the No. 2 rotating motor (3-2) is fixed on the inner side of the side plate on the other side of the connecting plate (3-5), the nut mounting bracket (3-3) is an L-shaped plate, the motor shaft of the No. 2 rotating motor (3-2) is fixedly connected to the vertical plate of the nut mounting bracket (3-3), and the horizontal plate of the nut mounting bracket (3-3) is provided with the through slot and is equipped with the nut magnetic chuck (3-4).

7. The photovoltaic panel automatic laying system according to claim 6, characterized in that: The rotation speed of rotating motor No. 1 (3-1) is not less than 800 rpm and the torque is not less than 20 Nm.

8. The photovoltaic panel automatic laying system according to claim 6, characterized in that: The torque of rotating motor No. 2 (3-2) is not less than 5Nm.

9. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The movement range of the omnidirectional transport system (8) is not less than 500m*500m, and the continuous working time is not less than 8h.

10. The laying method of the photovoltaic panel automatic laying system according to claim 1, characterized in that: The method comprises: S1, generating a laying plan according to the installation task requirements, planning the moving path of the omnidirectional carrier system (8) and the installation steps of the photovoltaic panel (5); S2, control the manipulator to drive the automatic drilling and locking mechanism (3) to grab the drill bit, the visual recognition and positioning system (2) scans the visible area of ​​the photovoltaic panel installation truss (1), determines all the positions to be drilled according to the visible area and the laying plan, the omnidirectional transport system (8) moves to the set position according to the planned moving path, and controls the automatic drilling and locking mechanism (3) to drive the drill bit to drill holes at all the positions to be drilled, and puts the drill bit back to the designated position; S3, the manipulator drives the adsorption system (4) to adsorb the photovoltaic panel (5) in the preparation area, and uses the visual recognition and positioning system (2) to scan the visible area to determine the position of the photovoltaic panel (5) to be installed, and moves the photovoltaic panel (5) to the position to be installed. The automated punching and locking mechanism (3) places the nut below the hole punched in the photovoltaic panel installation truss (1); S4, the robot drives the automatic drilling and locking mechanism (3) to absorb the screwdriver in the preparation area, the screwdriver absorbs the bolt (3-6), and uses the visual recognition positioning system (2) to determine the drilling position of the photovoltaic panel (5), the automatic drilling and locking mechanism (3) drives the bolt (3-6) absorbed by the screwdriver to tighten the bolt (3-6) at the drilling position of the photovoltaic panel (5), so that the bolt (3-6) passes through the photovoltaic panel (5) and is locked with the nut below, and then goes to S3 to install the next photovoltaic panel (5).

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