Photovoltaic panel installation robot

Abstract

The invention belongs to the technical field of photovoltaic panel installation, and particularly relates to a photovoltaic panel installation robot which comprises a robot body, a containing device, a mechanical arm, a grabbing device, a moving arm, a first moving assembly, a second moving assembly and a bolt tightening device. The mechanical arm can drive the grabbing device to grab the photovoltaic panel from the accommodating device and can also drive the grabbing device to move the photovoltaic panel to a to-be-mounted position of the mounting bracket; when the mechanical arm drives the grabbing device to move the photovoltaic panel to the mounting bracket, the first connecting hole in the mounting bracket and the second connecting hole in the photovoltaic panel are coaxially distributed; and then the bolt tightening device is driven by the first moving assembly and the second moving assembly to move to a target position, and then the bolt tightening device screws the received bolt into the first connecting hole and the second connecting hole, so that the photovoltaic panel and the mounting bracket are connected. The bolt tightening device can replace manpower to tighten the bolt, so that the labor cost is reduced, and the mounting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel installation, and in particular to a photovoltaic panel installation robot. Background Art

[0002] In the field of photovoltaic panel installation, in order to reduce the labor intensity of manual installation, photovoltaic panel installation robots are now commonly used to install photovoltaic panels. In the related art, the photovoltaic panel installation robot includes a robot body, a frame and a mechanical arm. The frame is arranged on the robot body to accommodate the photovoltaic panel. The mechanical arm is arranged on the robot body, and a gripping device is arranged at one end of the mechanical arm away from the robot body. When the photovoltaic panel installation robot is working, the mechanical arm controls the gripping device to move and grab the photovoltaic panel in the frame, and moves it to the mounting bracket. Then the operator uses bolts to connect the photovoltaic panel to the mounting bracket to realize the installation of the photovoltaic panel. In the related art, the bolting work is performed manually, and the installation efficiency is low and the labor cost is high. Summary of the invention

[0003] The purpose of the present invention is to provide a photovoltaic panel installation robot, which reduces labor costs and improves installation efficiency.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] Photovoltaic panel installation robot, including:

[0006] Robot body;

[0007] A receiving device for receiving a photovoltaic panel;

[0008] A mechanical arm, arranged on the robot body;

[0009] A gripping device, comprising a bracket and a gripping assembly, wherein the bracket is arranged at one end of the mechanical arm away from the robot body, and the gripping assembly is arranged on the bracket, and the gripping assembly is used to grip the photovoltaic panel;

[0010] A moving arm, a first moving assembly and a second moving assembly, wherein the first moving assembly is arranged on the bracket, the moving arm is arranged on the first moving assembly, and the first moving assembly is used to drive the moving arm to move along a first direction; the second moving assembly is arranged on the moving arm, and the second moving assembly can move along a second direction relative to the moving arm; the first direction is perpendicular to the second direction;

[0011] The bolt tightening device is arranged on the second moving assembly, and the bolt tightening device can receive the bolt and apply a tightening force to the bolt.

[0012] Preferably, the first moving component includes a first motor and a first screw rod, the first motor is arranged on the bracket, the first motor is drivingly connected to the first screw rod, the axis of the first screw rod extends along the first direction, the first screw rod is provided with a screw rod slider which moves along the axis direction of the first screw rod, and the moving arm is arranged on the screw rod slider.

[0013] Preferably, the second moving assembly includes a second motor, a second screw rod and a mounting rod, the second motor is slidingly connected to the moving arm along the second direction, the second motor is drivingly connected to the second screw rod, the second screw rod is threadedly connected to the moving arm, the axis of the second screw rod extends along the second direction, one end of the mounting rod is connected to the second motor, the axis of the mounting rod is parallel to the axis of the second screw rod, and the bolt tightening device is arranged on the mounting rod.

[0014] Preferably, the bolt tightening device includes a fixing frame, a driving assembly and a tightening sleeve, the fixing frame is arranged on the mounting rod, the driving assembly is arranged on the fixing frame, the driving assembly is connected to the tightening sleeve in a driving manner, the driving assembly can drive the tightening sleeve to rotate, and can also drive the tightening sleeve to move in a third direction, and the third direction is perpendicular to the first direction and the second direction at the same time.

[0015] Preferably, the driving assembly comprises a driving member, a first rotating member, a second rotating member and a transmission assembly, the driving member is arranged on the fixed frame, the first rotating member and the second rotating member are both rotatably connected to the fixed frame, the axis of the first rotating member is perpendicular to the axis of the second rotating member, the driving member is drivingly connected to the first rotating member, the first rotating member is drivingly connected to the second rotating member through the transmission assembly, the second rotating member has a threaded section, the threaded section is provided with an external thread, the tightening sleeve is provided with an internal thread, the threaded section is threadedly connected to the tightening sleeve, the tightening sleeve also has an external thread, the fixed frame is provided with an internal thread, and the tightening sleeve is threadedly connected to the fixed frame.

[0016] Preferably, the transmission assembly includes a first bevel gear and a second bevel gear, the first bevel gear is arranged on the first rotating member, the second bevel gear is arranged on the second rotating member, and the first bevel gear is meshed with the second bevel gear.

[0017] Preferably, the fixing frame is provided with a first fixing ring, a second fixing ring and a third fixing ring, the first rotating member is rotatably connected to the first fixing ring, the second rotating member is rotatably connected to the second fixing ring, and the tightening sleeve is threadedly connected to the third fixing ring.

[0018] Preferably, the number of the movable arms, the first movable assembly and the second movable assembly are two each, the two movable arms are spaced apart along the first direction, and the movable arms, the first movable assembly and the second movable assembly are matched one by one.

[0019] Preferably, the number of the bolt tightening devices is four, two of which are arranged on one second moving component, and the other two bolt tightening devices are arranged on another second moving component, and the two bolt tightening devices located on the same second moving component are spaced apart along the second direction.

[0020] Preferably, the grasping assembly comprises a vacuum pump and a plurality of vacuum suction cups, wherein the plurality of vacuum suction cups are arranged on the bracket, and the vacuum pump can cause the plurality of vacuum suction cups to generate a vacuum so as to absorb the photovoltaic panel.

[0021] Beneficial effects of the present invention:

[0022] The present invention provides a photovoltaic panel installation robot, comprising a robot body, a accommodating device, a mechanical arm, a grasping device, a moving arm, a first moving assembly, a second moving assembly and a bolt tightening device, wherein the mechanical arm can drive the grasping device to grasp the photovoltaic panel from the accommodating device, and can also drive the grasping device to move the photovoltaic panel to the installation position of the mounting bracket; when the mechanical arm drives the grasping device to move the photovoltaic panel to the mounting bracket, the first connecting hole on the mounting bracket and the second connecting hole on the photovoltaic panel are coaxially distributed; then the bolt tightening device moves to the target position driven by the first moving assembly and the second moving assembly, and then the bolt tightening device screws the received bolts into the first connecting hole and the second connecting hole to connect the photovoltaic panel and the mounting bracket. The bolt tightening device can replace manual tightening of bolts, thereby reducing labor costs and improving installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the photovoltaic panel installation robot provided by an embodiment of the present invention when the photovoltaic panel is not grasped;

[0024] Figure 2 yes Figure 1 A partial enlarged view of

[0025] Figure 3 It is a structural schematic diagram of a photovoltaic panel installation robot provided in an embodiment of the present invention placing a photovoltaic panel at a waiting installation position of an installation bracket;

[0026] Figure 4 is a structural schematic diagram of a bolt tightening device involved in an embodiment of the present invention;

[0027] Figure 5It is a schematic diagram of the structure of the purlin involved in the embodiment of the present invention.

[0028] In the figure:

[0029] 1. Photovoltaic panel; 2. Mounting bracket; 201. Purlin; 3. Bolt;

[0030] 10. Robot body; 20. Accommodating device; 30. Robot arm; 40. Grasping device; 41. Bracket; 42. Suction cup; 50. Moving arm; 60. First moving assembly; 61. First motor; 62. First screw rod; 63. Screw rod slider; 70. Second moving assembly; 71. Second motor; 72. Second screw rod; 80. Bolt tightening device; 81. Fixed frame; 811. First fixing ring; 812. Second fixing ring; 813. Third fixing ring; 82. First rotating member; 83. First bevel gear; 84. Second bevel gear; 85. Second rotating member; 86. Tightening sleeve. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0032] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0034] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0035] like Figures 1 to 5 As shown, an embodiment of the present invention provides a photovoltaic panel installation robot, which is used to move the photovoltaic panel 1 to the installation position of the installation bracket 2 and to connect the photovoltaic panel 1 with the installation bracket 2.

[0036] The photovoltaic panel installation robot includes a robot body 10, a accommodating device 20, a mechanical arm 30, a grasping device 40, a moving arm 50, a first moving assembly 60, a second moving assembly 70 and a bolt tightening device 80. Among them, the robot body 10 includes a power assembly and a walking mechanism, the power assembly is used to provide power for the robot body 10, and the walking mechanism is used to drive the robot body 10 to move, so that the robot body 10 moves to a target position. The accommodating device 20 is arranged on the robot body 10, and the accommodating device 20 is used to accommodate the photovoltaic panel 1, and the photovoltaic panel 1 is stacked in the accommodating device 20. The mechanical arm 30 is arranged on the robot body 10, and the mechanical arm 30 can realize multi-degree-of-freedom movement, which is a prior art and is not described in detail here. The grasping device 40 includes a bracket 41 and a grasping assembly, the bracket 41 is arranged at one end of the mechanical arm 30 away from the robot body 10, and the grasping assembly is arranged on the bracket 41, and the grasping assembly is used to grasp the photovoltaic panel 1. The first moving assembly 60 is disposed on the bracket 41, and the moving arm 50 is disposed on the first moving assembly 60. The first moving assembly 60 is used to drive the moving arm 50 to move along the first direction. The second moving assembly 70 is disposed on the moving arm 50, and the second moving assembly 70 can move along the second direction relative to the moving arm 50. The first direction is perpendicular to the second direction. The bolt tightening device 80 is disposed on the second moving assembly 70, and the bolt tightening device 80 can receive the bolt 3 and apply a tightening force to the bolt 3.

[0037] The mechanical arm 30 can drive the grasping device 40 to grasp the photovoltaic panel 1 from the accommodating device 20, and can also drive the grasping device 40 to move the photovoltaic panel 1 to the installation position of the mounting bracket 2. The mounting bracket 2 is provided with a first connection hole, and the photovoltaic panel 1 is provided with a second connection hole. When the mechanical arm 30 drives the grasping device 40 to move the photovoltaic panel 1 to the mounting bracket 2, the first connection hole and the second connection hole are coaxially distributed. Then the bolt tightening device 80 is driven by the first moving component 60 and the second moving component 70 to move to the target position, and then the bolt tightening device 80 screws the received bolt 3 into the first connection hole and the second connection hole to connect the photovoltaic panel 1 and the mounting bracket 2. The use of the bolt tightening device 80 can replace manual tightening of the bolt 3, reduce labor costs, and improve installation efficiency.

[0038] Reference Figure 2 and Figure 3 In this embodiment, the first moving assembly 60 includes a first motor 61 and a first screw rod 62. The first motor 61 is disposed on the bracket 41. The first motor 61 is drivingly connected to the first screw rod 62. The axis of the first screw rod 62 extends along the first direction. The first screw rod 62 is provided with a screw slider 63 that moves along the axis of the first screw rod 62. The moving arm 50 is provided on the screw slider 63. The first motor 61 can drive the first screw rod 62 to rotate. The first screw rod 62 can convert its own rotation into the movement of the screw slider 63 along the first direction, so that the screw slider 63 drives the moving arm 50, the second moving assembly 70 and the bolt tightening device 80 to move along the first direction. The first direction is the length direction of the bracket 41, refer to Figure 2 The AB direction shown in .

[0039] Reference Figure 2 and Figure 3 In this embodiment, the second moving assembly 70 includes a second motor 71, a second screw rod 72 and a mounting rod (not shown in the figure). The second motor 71 is slidably connected to the moving arm 50 along the second direction (not shown in the figure). The second motor 71 is drivingly connected to the second screw rod 72. The second screw rod 72 is threadedly connected to the moving arm 50. The axis of the second screw rod 72 extends along the second direction. One end of the mounting rod is connected to the second motor 71. The axis of the mounting rod is parallel to the axis of the second screw rod 72. The bolt tightening device 80 is arranged on the mounting rod. The second motor 71 can drive the second screw rod 72 to rotate relative to the moving arm 50. At the same time, the second screw rod 72 will drive the second motor 71 to move relative to the moving arm 50 in the second direction, so that the second motor 71 and the second screw rod 72 move in the second direction as a whole. At the same time, the mounting rod also moves in the second direction together with the second motor 71, thereby driving the bolt tightening device 80 to move in the second direction. The second direction is the width direction of the bracket 41. Referring to Figure 2 CD direction shown in .

[0040] Reference Figure 4 In this embodiment, the bolt tightening device 80 includes a fixing frame 81, a driving assembly and a tightening sleeve 86. The fixing frame 81 is arranged on the mounting rod of the second moving assembly 70. The driving assembly is arranged on the fixing frame 81. The driving assembly is connected to the tightening sleeve 86 by driving. The driving assembly can drive the tightening sleeve 86 to rotate and can drive the tightening sleeve 86 to move in a third direction. The third direction is perpendicular to the first direction and the second direction at the same time, so as to realize the tightening action. The tightening sleeve 86 has a center hole, and the center hole can accommodate the head end of the bolt 3. Optionally, the center hole is a hexagonal hole to match the shape of the head end of the bolt 3 to prevent the bolt 3 from rotating when the bolt 3 is tightened.

[0041] In this embodiment, the driving assembly includes a driving member, a first rotating member 82, a second rotating member 85 and a transmission assembly. The driving member is arranged on the fixed frame 81. The first rotating member 82 and the second rotating member 85 are both rotatably connected to the fixed frame 81. The axis of the first rotating member 82 is perpendicular to the axis of the second rotating member 85. The driving member is drivingly connected to the first rotating member 82. The first rotating member 82 is transmission-connected to the second rotating member 85 through the transmission assembly. The second rotating member 85 has a threaded section, the threaded section is provided with an external thread, the tightening sleeve 86 is provided with an internal thread, the threaded section is threadedly connected to the tightening sleeve 86, the tightening sleeve 86 also has an external thread, the fixed frame 81 is provided with an internal thread, and the tightening sleeve 86 is threadedly connected to the fixed frame 81. The driving member can drive the first rotating member 82 to rotate, and the first rotating member 82 can drive the second rotating member 85 to rotate through the transmission assembly. Since the threaded section of the second rotating member 85 is threadedly connected to the tightening sleeve 86, and the tightening sleeve 86 is threadedly connected to the fixing frame 81, when the second rotating member 85 rotates, it can drive the tightening sleeve 86 to rotate and move along the third direction at the same time. The third direction is a direction perpendicular to the bracket 41, referring to Figure 4 EF direction shown in .

[0042] Optionally, the transmission assembly includes a first bevel gear 83 and a second bevel gear 84 , the first bevel gear 83 is disposed on the first rotating member 82 , the second bevel gear 84 is disposed on the second rotating member 85 , and the first bevel gear 83 is meshed with the second bevel gear 84 .

[0043] In this embodiment, a first fixing ring 811 is provided on the fixing frame 81, and the first rotating member 82 is rotatably connected to the first fixing ring 811. A second fixing ring 812 is also provided on the fixing frame 81, and the second rotating member 85 is rotatably connected to the second fixing ring 812. A third fixing ring 813 is also provided on the fixing frame 81, and the tightening sleeve 86 is threadedly connected to the third fixing ring 813. By providing the first fixing ring 811, the second fixing ring 812 and the third fixing ring 813 on the fixing frame 81, the connection between the first rotating member 82, the second rotating member 85 and the tightening sleeve 86 and the fixing frame 81 can be made more convenient and more stable.

[0044] Reference Figure 2 and Figure 3 In this embodiment, the mounting bracket 2 includes two purlins 201 spaced apart along the first direction, and each purlin 201 extends along the second direction. The photovoltaic panel 1 is placed across the two purlins 201, and the photovoltaic panel 1 includes a photovoltaic panel 1 body and a frame arranged around the photovoltaic panel 1 body. When the photovoltaic panel 1 is placed on the two purlins 201, the frame has four contact points with the two purlins 201. To ensure the stability of the connection between the photovoltaic panel 1 and the mounting bracket 2, the four contact points between the photovoltaic panel 1 and the two purlins 201 are usually connected by bolts 3. Therefore, in this embodiment, the number of the moving arms 50, the first moving assembly 60 and the second moving assembly 70 are all set to two, and the two moving arms 50 are spaced apart along the first direction, and the moving arms 50, the first moving assembly 60 and the second moving assembly 70 are matched one by one. The number of bolt tightening devices 80 is set to four, of which two bolt tightening devices 80 are set on the mounting rod of one second moving assembly 70, and the other two bolt tightening devices 80 are set on the mounting rod of another second moving assembly 70, and the two bolt tightening devices 80 located on the same mounting rod are spaced apart along the axial direction of the mounting rod. Thus, four bolts 3 can be tightened at the same time, further improving the installation efficiency.

[0045] Combination Figure 5 As shown, the purlin 201 is C-shaped, and the bolt tightening device 80 can enter the inner side of the purlin 201 through the opening of the purlin 201 to tighten the bolt 3.

[0046] In this embodiment, the grabbing assembly includes a vacuum pump and multiple vacuum suction cups 42. The multiple vacuum suction cups 42 are arranged on the bracket 41. The vacuum pump can make the multiple vacuum suction cups 42 generate vacuum to absorb the photovoltaic panel 1; when the vacuum suction cups 42 break the vacuum, the photovoltaic panel 1 can be placed at the installation position of the mounting bracket 2.

[0047] The photovoltaic panel installation robot installs the photovoltaic panel 1 in the following process: first, the robot arm 30 drives the grasping device 40 to move to the receiving device 20; then the second motor 71 drives the second screw rod 72 and the installation rod along the second direction to the side away from the bracket 41 (i.e. Figure 2 The robot 30 drives the gripping device 40 and the photovoltaic panel 1 to move to the installation position of the mounting bracket 2, at which time the first connection hole on the mounting bracket 2 is coaxially distributed with the second connection hole on the photovoltaic panel 1; the second motor 71 drives the second screw rod 72 and the mounting rod along the second direction toward the side close to the bracket 41 (i.e. Figure 2The first motor 61 drives the screw slider 63 to drive the moving arm 50 to move along the first direction toward the side close to the purlin 201 (i.e., the side indicated by C in the figure) so that the axis of the tightening sleeve 86 of the bolt tightening device 80 corresponds to the axis of the first connecting hole and the second connecting hole in the first direction; then the first motor 61 drives the screw slider 63 to drive the moving arm 50 to move along the first direction toward the side close to the purlin 201 (i.e., the side indicated by C in the figure). Figure 2 and Figure 4 The first rotating member 82 is driven by the driving member to rotate, and the first rotating member 82 drives the second rotating member 85 to rotate through the transmission assembly, and the second rotating member 85 drives the tightening sleeve 86 to rotate, and at the same time drives the tightening sleeve 86 to move along the third direction to the side close to the mounting bracket 2 and the photovoltaic panel 1 (i.e., Figure 4 The driving member moves the tightening sleeve 86 in the direction indicated by E in the figure to tighten the sleeve 86, thereby screwing the bolt 3 in the tightening sleeve 86 into the first connection hole and the second connection hole. After the bolt 3 is tightened, the driving member drives in the reverse direction to move the tightening sleeve 86 in the third direction away from the mounting bracket 2 and the photovoltaic panel 1 (i.e., Figure 4 Then the first motor 61 is driven in reverse, so that the bolt tightening device 80 moves along the first direction to the side away from the purlin 201 (ie, FIG. Figure 2 and Figure 4 The purlin 201 moves to the side indicated by A in the figure to exit from the purlin 201 and wait for the installation of the next photovoltaic panel 1.

[0048] It should be noted that the bolt 3 can be automatically delivered to the tightening sleeve 86 by a bolt 3 delivery device. Optionally, the bolt 3 delivery device can include a delivery pipe, and the bolt 3 can be delivered to the tightening sleeve 86 via the delivery pipe. The structure of the bolt 3 delivery device is prior art and will not be described in detail here. Of course, the bolt 3 can also be placed in the tightening sleeve 86 manually.

[0049] Optionally, the bolt 3 may be an expansion bolt 3 , and an expansion sleeve may be inserted into the second connection hole of the photovoltaic panel 1 in advance to make the connection of the bolt 3 more stable.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Photovoltaic panel installation robot, characterized in that: include: Robot body (10); A receiving device (20) for receiving a photovoltaic panel (1); A mechanical arm (30) is arranged on the robot body (10); A gripping device (40), comprising a bracket (41) and a gripping assembly, wherein the bracket (41) is arranged at one end of the mechanical arm (30) away from the robot body (10), and the gripping assembly is arranged on the bracket (41), and the gripping assembly is used to grip the photovoltaic panel (1); A movable arm (50), a first movable component (60) and a second movable component (70), wherein the first movable component (60) is arranged on the bracket (41), the movable arm (50) is arranged on the first movable component (60), and the first movable component (60) is used to drive the movable arm (50) to move along a first direction; the second movable component (70) is arranged on the movable arm (50), and the second movable component (70) can move along a second direction relative to the movable arm (50); the first direction is perpendicular to the second direction; A bolt tightening device (80) is arranged on the second moving assembly (70), and the bolt tightening device (80) is capable of receiving a bolt (3) and applying a tightening force to the bolt (3).

2. The photovoltaic panel installation robot according to claim 1, characterized in that: The first moving component (60) includes a first motor (61) and a first screw rod (62), wherein the first motor (61) is disposed on the bracket (41), the first motor (61) is drivingly connected to the first screw rod (62), the axis of the first screw rod (62) extends along the first direction, the first screw rod (62) is provided with a screw rod slider (63) which moves along the axis of the first screw rod (62), and the moving arm (50) is disposed on the screw rod slider (63).

3. The photovoltaic panel installation robot according to claim 1, characterized in that: The second moving assembly (70) comprises a second motor (71), a second screw rod (72) and a mounting rod. The second motor (71) is slidably connected to the moving arm (50) along the second direction. The second motor (71) is drivingly connected to the second screw rod (72). The second screw rod (72) is threadedly connected to the moving arm (50). The axis of the second screw rod (72) extends along the second direction. One end of the mounting rod is connected to the second motor (71). The axis of the mounting rod is parallel to the axis of the second screw rod (72). The bolt tightening device (80) is arranged on the mounting rod.

4. The photovoltaic panel installation robot according to claim 3, characterized in that: The bolt tightening device (80) comprises a fixing frame (81), a driving assembly and a tightening sleeve (86); the fixing frame (81) is arranged on the mounting rod; the driving assembly is arranged on the fixing frame (81); the driving assembly is drivingly connected to the tightening sleeve (86); the driving assembly can drive the tightening sleeve (86) to rotate and can also drive the tightening sleeve (86) to move in a third direction; the third direction is perpendicular to the first direction and the second direction at the same time.

5. The photovoltaic panel installation robot according to claim 4, characterized in that: The driving assembly comprises a driving member, a first rotating member (82), a second rotating member (85) and a transmission assembly. The driving member is arranged on the fixed frame (81). The first rotating member (82) and the second rotating member (85) are both rotatably connected to the fixed frame (81). The axis of the first rotating member (82) is perpendicular to the axis of the second rotating member (85). The driving member is drivingly connected to the first rotating member (82). The first rotating member (82) is transmission-connected to the second rotating member (85) through the transmission assembly. The second rotating member (85) has a threaded section, and the threaded section is provided with an external thread. The tightening sleeve (86) is provided with an internal thread. The threaded section is threadedly connected to the tightening sleeve (86). The tightening sleeve (86) also has an external thread. The fixed frame (81) is provided with an internal thread. The tightening sleeve (86) is threadedly connected to the fixed frame (81).

6. The photovoltaic panel installation robot according to claim 5, characterized in that: The transmission assembly comprises a first bevel gear (83) and a second bevel gear (84), wherein the first bevel gear (83) is arranged on the first rotating member (82), and the second bevel gear (84) is arranged on the second rotating member (85), and the first bevel gear (83) is meshed with the second bevel gear (84).

7. The photovoltaic panel installation robot according to claim 5, characterized in that: The fixing frame (81) is provided with a first fixing ring (811), a second fixing ring (812) and a third fixing ring (813); the first rotating member (82) is rotatably connected to the first fixing ring (811); the second rotating member (85) is rotatably connected to the second fixing ring (812); and the tightening sleeve (86) is threadedly connected to the third fixing ring (813).

8. The photovoltaic panel installation robot according to any one of claims 1 to 7, characterized in that: The number of the movable arms (50), the first movable assembly (60) and the second movable assembly (70) are all two, the two movable arms (50) are spaced apart along the first direction, and the movable arms (50), the first movable assembly (60) and the second movable assembly (70) are matched one by one.

9. The photovoltaic panel installation robot according to claim 8, characterized in that: The number of the bolt tightening devices (80) is four, wherein two of the bolt tightening devices (80) are arranged on one second movable assembly (70), and the other two bolt tightening devices (80) are arranged on another second movable assembly (70), and the two bolt tightening devices (80) located on the same second movable assembly (70) are spaced apart and distributed along the second direction.

10. The photovoltaic panel installation robot according to any one of claims 1 to 7, characterized in that: The gripping assembly comprises a vacuum pump and a plurality of vacuum suction cups (42), wherein the plurality of vacuum suction cups (42) are arranged on the bracket (41), and the vacuum pump can cause the plurality of vacuum suction cups (42) to generate a vacuum so as to absorb the photovoltaic panel (1).

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