Photovoltaic panel automatic laying system and laying method

Abstract

Photovoltaic panel automatic laying system and laying method solve the problem of how to improve the laying efficiency of photovoltaic panels, and belong to the technical field of automatic assembly. The visual identification positioning system and the automatic punching and locking mechanism are arranged on the adsorption system body, the adsorption system is installed on the mechanical hand of the omnidirectional carrying system; the material preparation area is arranged on the omnidirectional carrying system; the control system controls the omnidirectional carrying system to reach the corresponding position, controls the visual identification 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 at the to-be-installed position on the photovoltaic panel installation truss, controls the mechanical hand to adsorb the photovoltaic panel from the material preparation area with the adsorption system and convey the photovoltaic panel to the punched position on the photovoltaic panel installation truss, and controls the automatic punching and locking mechanism to adsorb the fastener and insert the fastener into the punched hole to lock the photovoltaic panel on the photovoltaic panel installation truss. The present application automatically completes punching, placement and locking.

Description

Technical Field

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

[0002] Driven by global demand for carbon neutrality, the scale of clean energy such as photovoltaics continues to rise. The demand for unmanned operation of photovoltaic power stations throughout their entire lifecycle is clear, and the market prospects are promising. Currently, photovoltaic panel installation is mostly done manually, which is inefficient, costly, and subject to the influence of weather conditions, labor requirements, and other factors. These harsh construction conditions and high labor costs pose significant obstacles to the large-scale implementation of photovoltaic power stations.

[0003] Therefore, adopting an automated laying system instead of manual operations can effectively address the current shortcomings of large-scale photovoltaic power station construction. Due to the large number of photovoltaic panels to be laid, an automated laying system can effectively replace repetitive manual operations. Its high efficiency and high precision can effectively solve the problem of large-scale photovoltaic panel laying, improve installation efficiency, reduce construction costs, and ensure laying quality. Therefore, research on automated photovoltaic panel laying systems is of vital importance to the development of the photovoltaic industry. Summary of the Invention

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

[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 and 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 it to the control system;

[0008] Adsorption system 4, used for adsorbing photovoltaic panels 5 from the preparation area;

[0009] An automated punching and locking mechanism 3, for punching holes at locations where the photovoltaic panel mounting trusses 1 are to be installed, for sucking fasteners from a material preparation area, and for inserting the fasteners into the holes to lock the photovoltaic panels 5 to the photovoltaic panel mounting trusses 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 into the drilled holes to lock the photovoltaic panel 5 on the photovoltaic panel mounting truss 1.

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

[0012] Preferably, the control system is also used to generate a laying plan, plan the moving path of the omnidirectional transport 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 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;

[0014] 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. The nut mounting bracket 3-3 has a through slot extending through one side. The nut can be placed in the through slot, and the width of the through slot allows 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, and 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 transport 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 includes:

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

[0023] S2. Control the manipulator to drive the automated 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 mounting truss 1 and determines all the locations to be drilled based on the visible area and the laying plan. The omnidirectional transport system 8 moves to the set position according to the planned movement path and controls the automated drilling and locking mechanism 3 to drive the drill bit to drill holes at all the locations to be drilled, and then returns the drill bit to the designated position.

[0024] S3: The robot 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 location where the photovoltaic panel 5 is to be installed. The photovoltaic panel 5 is moved to the location where the photovoltaic panel 5 is to be installed, and the automated drilling and locking mechanism 3 places the nut under the hole drilled in the photovoltaic panel mounting truss 1;

[0025] S4, the robot drives the automatic punching 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 punching 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 application has the advantages of strong universality, compatibility of punching and locking to complete automatic installation of photovoltaic panels, and suitability for photovoltaic power station construction of irregularly deformed trusses under different working conditions. The application has simple structure, is built in the form of a mechanical arm and an omnidirectional mobile platform, and has strong stability due to serial work of each subsystem. The application uses visual recognition positioning to complete punching, placement and locking automatically, and has high automation. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Fig. 1 is a schematic diagram of the principle of the photovoltaic panel automatic laying system of the application;

[0028] Figure 2 Fig. 2 is a schematic diagram of the principle of the visual recognition positioning system, automatic punching and locking mechanism and adsorption system in the photovoltaic panel automatic laying system of the application;

[0029] Figure 3 Fig. 3 is a schematic diagram of the structure of the automatic punching and locking mechanism of the application;

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

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

[0032] Figure 6 Fig. 6 is a schematic diagram of the principle of the automatic punching and locking mechanism in a working state for tightening a bolt and a nut on a photovoltaic panel;

[0033] Figure 7 Fig. 7 is a schematic diagram of the laying method flow of the photovoltaic panel automatic laying system of the application. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0035] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0036] The application will be further described below with reference to the drawings and specific embodiments, but the application is not limited by the embodiments.

[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 punching 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 carrying system 8; the manipulator carries the visual recognition and positioning system 2, the automatic punching and locking mechanism 3 and the adsorption system 4 for movement;

[0039] The omnidirectional transport system 8 is used to carry the visual recognition and positioning system 2, the automated drilling and locking mechanism 3, the adsorption system 4, the photovoltaic panel 5, and the preparation area, and provides omnidirectional large-scale movement. The movement range is not less than 500m*500m, and the continuous working time is not less than 8 hours. 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 loading photovoltaic panels, nuts, and bolts.

[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] Adsorption system 4, used for adsorbing photovoltaic panels 5 from the preparation area;

[0042] An automated punching and locking mechanism 3, for punching holes at the locations where the photovoltaic panel mounting trusses 1 are to be installed, for sucking bolts and nuts from the preparation area, and for inserting bolts into the holes and locking the photovoltaic panels 5 to the photovoltaic panel mounting trusses 1 through the nuts;

[0043] The control system of this embodiment 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 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 on 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 designated 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 pick up the photovoltaic panel 5, and is placed in the designated position by the visual recognition and positioning system 2; finally, the automated drilling and locking mechanism 3 picks up the nuts at the bolt and nut preparation area 7 and places them in the designated position, 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 based on the installation task requirements, plan the movement path of the omnidirectional carrier system 8 and the installation steps of the photovoltaic panels 5;

[0046] Step 2: Control the manipulator to drive the automated 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 mounting truss 1 and determines all the locations to be drilled based on the visible area and the laying plan. The omnidirectional transport system 8 moves to the set position according to the planned movement path and controls the automated drilling and locking mechanism 3 to drive the drill bit to drill holes at all the locations to be drilled, and then returns the drill bit to the designated position.

[0047] Step 3: The robot 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 installation position of the photovoltaic panel 5. The photovoltaic panel 5 is moved to the installation position, and the automated drilling and locking mechanism 3 places the nut under the hole drilled in the photovoltaic panel mounting truss 1;

[0048] Step 4: The robot drives the automatic punching 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 punching 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. Then, go 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 and 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. The nut mounting bracket 3-3 has a through slot extending through one side. The nut can be placed on the magnetic suction cup of the through slot, and the width of the through slot allows 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 chuck 3-4 is provided on the through slot just below the motor shaft of the No. 1 rotating motor 3-1 for absorbing the nut 3-7.

[0053] In this embodiment, the No. 1 rotating motor 3-1 is fixed to the upper plate of the connecting plate 3-5, and the No. 2 rotating motor 3-2 is fixed to 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. The horizontal plate of the nut mounting bracket 3-3 is provided with a through groove and is installed with a nut magnetic suction cup 3-4.

[0054] During installation, the visual recognition and positioning system 2 and the automated punching and locking mechanism 3 are used to complete the punching of the photovoltaic panel installation truss 1. At this time, the nut installation bracket 3-3 is in a retracted state, that is, 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 in 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 by the visual recognition and positioning system 2. The specific steps of the punching machine locking include:

[0055] (1) Adjust to a non-interference state: Rotating motor No. 2 3-2 drives the nut mounting bracket 3-3 to rotate away from the bottom of the motor shaft of rotating motor No. 1 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 the motor shaft of the No. 1 rotating motor 3-1 attracts the screwdriver, which attracts the bolt 3-6 and moves to the top of the photovoltaic panel and 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 punched 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 moved horizontally along the through-slot direction and leaves the photovoltaic panel installation truss.

[0060] The automated photovoltaic panel placement system of this embodiment automatically generates a placement plan based on task requirements, plans the movement path of the omnidirectional transport system 8, and the installation steps for the photovoltaic panels 5. It then utilizes a visual recognition and positioning system 2 and an automated drilling and locking mechanism 3 to complete the entire automated installation process, including drilling, placement, and locking. This embodiment provides automated photovoltaic panel placement capabilities under various operating conditions, effectively preventing interference with automated installation caused by irregular deformation of the photovoltaic panel mounting trusses during installation.

[0061] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with 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 the information 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) is used to punch holes at locations to be installed on the photovoltaic panel mounting truss (1), to absorb fasteners from a material preparation area, and to insert the fasteners into the holes to lock the photovoltaic panel (5) to the photovoltaic panel mounting truss (1); The control system is connected to the visual recognition and positioning system (2), the automatic punching 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 installation truss (1), and is also used to control the automatic punching and locking mechanism (3) to punch 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 punching position on the photovoltaic panel installation truss (1), and is also used to control the automatic punching and locking mechanism (3) to adsorb fasteners into the punched holes so that the photovoltaic panel (5) is locked on the photovoltaic panel installation truss (1); 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); 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), and can drive the nut mounting bracket (3-3) to rotate, and the nut mounting bracket (3-3) is provided with a through slot with one side extending therethrough, 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). 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.

2. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The material preparation area includes 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: A nut magnetic chuck (3-4) is provided on a through slot directly below the motor shaft of the No. 1 rotating motor (3-1) for absorbing a nut (3-7).

5. The photovoltaic panel automatic laying system according to claim 1, characterized in that: The No. 1 rotating motor (3-1) is fixed to the upper plate of the connecting plate (3-5), the No. 2 rotating motor (3-2) is fixed to 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 installed with the nut magnetic chuck (3-4).

6. The photovoltaic panel automatic laying system according to claim 5, characterized in that: The speed of rotating motor No. 1 (3-1) is not less than 800 rpm and the torque is not less than 20 Nm.

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

8. 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.

9. 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 movement path of the omnidirectional carrier system (8) and the installation steps of the photovoltaic panels (5); S2, controlling the manipulator to drive the automatic drilling and locking mechanism (3) to grab the drill bit, the visual recognition and positioning system (2) to scan the visible area of ​​the photovoltaic panel installation truss (1), and determine all the locations 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 movement path, and controls the automatic drilling and locking mechanism (3) to drive the drill bit to drill holes in all the locations to be drilled, and then 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 location of the photovoltaic panel (5) to be installed, moves the photovoltaic panel (5) to the location to be installed, and 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 punching 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 punching position of the photovoltaic panel (5), the automatic punching and locking mechanism (3) drives the bolt (3-6) absorbed 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).

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