Punching and locking mechanism and locking method for automatic laying of photovoltaic panel

Abstract

The invention discloses a punching and locking mechanism for automatic laying of photovoltaic panels and a locking method, solves the problem that fixing and locking of the photovoltaic panels are affected by irregular deformation of a mounting truss in the laying process of the photovoltaic panels, and belongs to the technical field of automatic assembly. The device comprises a first rotating motor, a second rotating motor and a nut mounting bracket, the axial directions of motor shafts of the first rotating motor and the second rotating motor are perpendicular. The second rotating motor can drive the nut mounting support to rotate, and a through groove with one side penetrating through is formed in the nut mounting support. During punching, the nut mounting bracket is rotated to a non-interference state by the second rotating motor and is far away from the position under the first rotating motor; and during locking, the nut mounting bracket rotates to a working state, and the placement nut is located on a through groove under a motor shaft of the first rotating motor. The first rotating motor can adsorb a drill bit and a screwdriver, and the screwdriver can adsorb a bolt. The mechanism is grabbed by a manipulator to punch in a specified position and realize automatic nut screwing, so that automatic fixing of a photovoltaic panel is realized.

Description

Technical Field

[0001] The invention relates to a punching and locking mechanism and a locking method for automatic laying of photovoltaic panels, 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 domestic photovoltaic panels are laid in the form of bolts and nuts for locking, and multiple fasteners need to be manually tightened, which is cumbersome and affects efficiency. At the same time, the locking of bolts and nuts is mostly carried out in a small space, which is inconvenient to operate and has high labor costs.

[0003] In addition, since the photovoltaic panels are installed on a ground with a low flatness and the photovoltaic panel trusses will undergo significant deformation during the installation process, the positions of the pre-processed installation holes on the trusses will change, which will have a significant impact on the installation and fixation of the photovoltaic panels. Summary of the invention

[0004] In order to solve the problem that irregular deformation of the installation truss affects the fixation and locking of the photovoltaic panels during the laying process of the photovoltaic panels, the present invention provides a punching and locking mechanism and a locking method for automatic laying of photovoltaic panels.

[0005] The present invention provides a punching and locking mechanism for automatic laying of photovoltaic panels, characterized in that it comprises a No. 1 rotating motor 3-1, a No. 2 rotating motor 3-2, and a nut mounting bracket 3-3;

[0006] The motor shaft of the No. 1 rotating motor 3-1 and the motor shaft of the No. 2 rotating motor 3-2 are axially perpendicular;

[0007] The motor shaft of the second 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 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;

[0008] When performing drilling operation, rotating motor No. 2 3-2 rotates the nut mounting bracket 3-3 to a non-interference state, that is, the nut mounting bracket 3-3 is away from the bottom of rotating motor No. 1 3-1; when performing locking operation, the nut mounting bracket 3-3 is turned to a working state, and the nut 3-7 is placed on the through groove directly below the motor shaft of rotating motor No. 1 3-1, and the motor shaft of rotating motor No. 1 3-1 is magnetic and can be extended.

[0009] 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.

[0010] Preferably, the mechanism also includes a connecting plate 3-5; the connecting plate 3-5 includes a horizontal plate and two side plates fixedly connected together, the No. 1 rotating motor 3-1 is arranged on the horizontal plate, and the motor shaft of the No. 1 rotating motor 3-1 passes through the horizontal plate, one of the side plates is a manipulator connecting frame for connecting the manipulator, and the No. 2 rotating motor 3-2 is arranged on the inner side of the other side plate.

[0011] Preferably, the nut mounting bracket 3 - 3 is an L-shaped plate.

[0012] Preferably, the No. 2 rotating motor 3-2 is a micro motor.

[0013] 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.

[0014] Preferably, the torque of the No. 2 rotating motor 3-2 is not less than 5 Nm.

[0015] The present invention also provides a locking method for the above-mentioned punching and locking mechanism, comprising:

[0016] S1. When performing the punching operation, adjust the entire system 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;

[0017] S2, the motor shaft of the No. 1 rotating motor 3-1 adsorbs the drill bit and drives the drill bit to drill holes at all the locations to be installed on the photovoltaic panel installation truss, and stops adsorbing the drill bit after the drilling is completed;

[0018] S3, placing the photovoltaic panel on the upper surface of the hole drilled in S2, the motor shaft of the No. 1 rotating motor 3-1 adsorbs the screwdriver, the screwdriver adsorbs the bolt 3-6, and moves to the top of the photovoltaic panel and is located directly above the drilled hole;

[0019] S4, when performing the locking operation, adjust the entire system to a 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 hole punched by S2, and the motor shaft of the No. 1 rotating motor 3-1 drives 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;

[0020] S5. After the nut is locked, the punching and locking mechanism is translated as a whole along the through-slot direction and leaves the photovoltaic panel installation truss.

[0021] The beneficial effects of the present invention are that the present invention has strong universality, is compatible with drilling and automated installation, 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 and a high degree of automation, and can well replace manual repetitive operations. It has the characteristics of high efficiency and high precision, and can well solve the problem of large-scale fixed installation of photovoltaic panels, reduce construction costs, and is constructed using simple parts. It is suitable for situations where it is difficult for manual or mechanical hands to tighten nuts in narrow spaces, saving costs and ensuring the quality of fixed locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the automatic punching and locking mechanism of the present invention;

[0023] Figure 2 It is a front view of the automatic punching and locking mechanism in a non-interference state;

[0024] Figure 3 It is a front view of the automatic punching and locking mechanism in working state;

[0025] Figure 4 It is a schematic diagram of the principle of tightening bolts and nuts of photovoltaic panels by the automatic drilling and locking mechanism in working state;

[0026] Figure 5 It is a schematic diagram of the principle of the locking method of the automated punching and locking mechanism. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0030] The photovoltaic panel installation truss 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 influence of irregular deformation on the fixation and locking of the photovoltaic panel, the punching and locking mechanism for automatic laying of photovoltaic panels in this application is designed, which is used together with a robot and a visual recognition and positioning system.

[0031] The automated drilling and locking mechanism 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 No. 1 rotating motor 3-1 has a magnetic motor head that absorbs drill bits or screwdrivers of different specifications, and with the cooperation of the manipulator, a hole is drilled at a designated position, with a rotation speed of not less than 800 rpm and a torque of not less than 20 Nm; the No. 2 rotating motor 3-2 has a torque of not less than 5 Nm.

[0032] One side of the connecting plate 3-5 is fixedly connected to the main body of the adsorption system 4, and 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 is provided with a through groove on one side, and the nut can be placed on the magnetic suction cup of the through groove, and the width of the through groove enables the nut to slide in the through groove; under the condition of drilling, the rotating nut mounting bracket 3-3 is in a non-interference state; under the fixed locking condition, the rotating nut mounting bracket 3-3 is in a working state.

[0033] When performing drilling operation, rotating motor No. 2 3-2 rotates the nut mounting bracket 3-3 to a non-interference state, that is, away from directly below rotating motor No. 1 3-1; when performing locking operation, the nut mounting bracket 3-3 is turned to a working state, and the nut 3-7 is placed on the through groove directly below the motor shaft of rotating motor No. 1 3-1, and the motor shaft of rotating motor No. 1 3-1 is magnetic and can be extended.

[0034] 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, which is used to absorb the nut 3-7 and supply the nut for assembly; in addition, it prevents the nut from falling off when the nut mounting bracket 3-3 is in a non-interference state.

[0035] With the cooperation of the robot, this embodiment drills holes at designated locations and automatically tightens nuts, replacing the complicated and tedious manual fixing and locking work in the actual installation process, and avoiding problems such as inaccurate hole positions and excessive assembly stress caused by deformation of the photovoltaic panel truss during the installation process.

[0036] The connection plate 3-5 of this embodiment includes a horizontal plate and two side plates fixedly connected together, the No. 1 rotating motor 3-1 is arranged on the horizontal plate, and the motor shaft of the No. 1 rotating motor 3-1 passes through the horizontal plate, one of the side plates is a manipulator connecting frame for connecting the manipulator, and the No. 2 rotating motor 3-2 is arranged on the inner side of the other side plate. 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 a through slot and the nut magnetic chuck 3-4 is installed.

[0037] During installation, first, holes are punched at the corresponding positions of the trusses according to the installation holes of the photovoltaic panels. At this time, the manipulator carries the rotating motor 1 to absorb the corresponding drill bit number rotating motor 3-2 to rotate the nut mounting bracket 3-3 in a non-interference state, and the visual recognition and positioning system guides the automatic completion of the drilling; then, the rotating motor No. 1 absorbs the corresponding screwdriver and bolt, the rotating motor No. 2 3-2 rotates the nut mounting bracket 3-3 in a working state, the nut magnetic suction cup 3-4 supplies nuts for assembly, and the nut magnetic suction cup 3-4 provides a counterforce for tightening the nuts. Similarly, the visual recognition and positioning system guides the automatic completion of the locking. . The specific steps of the puncher locking include:

[0038] (1) Issue a drilling task, retract the nut mounting bracket 3-3, and adjust it 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;

[0039] (2) The motor shaft of the No. 1 rotating motor 3-1 attracts the drill bit, and under the guidance of the visual recognition and positioning system, drives the drill bit to drill holes on the photovoltaic panel installation truss, and stops attracting the drill bit after the drilling is completed;

[0040] (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.

[0041] (4) Issue a locking task, the No. 1 rotating motor 3-1 absorbs the screwdriver, screws it to the absorbed bolt, lowers the nut mounting bracket 3-3, and adjusts it 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 absorbed 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;

[0042] (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.

[0043] 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 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.

[0044] 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. A punching and locking mechanism for automatic laying of photovoltaic panels, characterized in that: The invention comprises a No. 1 rotating motor (3-1), a No. 2 rotating motor (3-2), and a nut mounting bracket (3-3); The motor shaft of the No. 1 rotating motor (3-1) and the motor shaft of the No. 2 rotating motor (3-2) are axially perpendicular; The motor shaft of the second 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) is provided with a through slot having 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; When performing a drilling operation, the No. 2 rotating motor (3-2) rotates the nut mounting bracket (3-3) to a non-interference state, that is, the nut mounting bracket (3-3) is away from the bottom of the No. 1 rotating motor (3-1); when performing a locking operation, the nut mounting bracket (3-3) is turned to a working state, and the nut (3-7) is placed on a through groove directly below the motor shaft of 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.

2. The punching and locking mechanism according to claim 1, 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).

3. The punching and locking mechanism according to claim 1, characterized in that: The mechanism also includes a connecting plate (3-5); the connecting plate (3-5) includes a horizontal plate and two side plates that are fixedly connected together, the No. 1 rotating motor (3-1) is arranged on the horizontal plate, and the motor shaft of the No. 1 rotating motor (3-1) passes through the horizontal plate, one of the side plates is a manipulator connecting frame for connecting the manipulator, and the No. 2 rotating motor (3-2) is arranged on the inner side of the other side plate.

4. The punching and locking mechanism according to claim 1, characterized in that: The nut mounting bracket (3-3) is an L-shaped plate.

5. The punching and locking mechanism according to claim 1, characterized in that: The No. 2 rotating motor (3-2) is a micro motor.

6. The punching and locking mechanism according to claim 1, 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.

7. The punching and locking mechanism according to claim 6, characterized in that: The torque of rotating motor No. 2 (3-2) is not less than 5Nm.

8. The locking method based on the punching and locking mechanism according to claim 1, characterized in that: The method comprises: S1. When performing the drilling operation, the entire system is adjusted 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); S2, the motor shaft of the No. 1 rotating motor (3-1) absorbs the drill bit and drives the drill bit to drill holes at all the locations to be installed on the photovoltaic panel installation truss, and stops absorbing the drill bit after drilling is completed; S3, placing the photovoltaic panel on the upper surface of the hole drilled in S2, the motor shaft of the No. 1 rotating motor (3-1) adsorbs the screwdriver, the screwdriver adsorbs the bolt (3-6), and moves to the top of the photovoltaic panel and is located directly above the drilled hole; S4, when performing the locking operation, the entire system is adjusted to a 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 hole drilled in S2, and the motor shaft of the No. 1 rotating motor (3-1) drives the bolt (3-6) adsorbed by the screwdriver to rotate at the drilling position of the photovoltaic panel and move downward until the bolt (3-6) is tightened, so that the bolt (3-6) passes through the photovoltaic panel and is locked with the nut below; S5. After the nut is locked, the punching and locking mechanism is translated as a whole along the through-slot direction and leaves the photovoltaic panel installation truss.

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