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

Abstract

The punching and locking mechanism and locking method for the automatic laying of photovoltaic panels solve the problem of irregular deformation of the installation truss affecting the fixation and locking of the photovoltaic panels during the laying process of the photovoltaic panels, and belong to the field of automated assembly technology. The present invention includes a No. 1 rotating motor, a No. 2 rotating motor, and a nut mounting bracket; the axes of the motor shafts of the No. 1 and No. 2 rotating motors are perpendicular; the No. 2 rotating motor can drive the nut mounting bracket to rotate, and the nut mounting bracket is provided with a through slot extending through one side; when punching, the No. 2 rotating motor rotates the nut mounting bracket to a non-interference state, away from directly below the No. 1 rotating motor; when locking, the nut mounting bracket is turned to a working state, and the nut is placed on the through slot directly below the No. 1 rotating motor shaft. The No. 1 rotating motor can absorb drill bits and screwdrivers, and the screwdriver can absorb bolts. The robot arm of the present invention grabs the mechanism to drill holes at designated locations and automatically tighten the nuts, thereby achieving automated fixation of the photovoltaic panels.

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] Driven by global demand for carbon neutrality, the scale of clean energy, including photovoltaics, continues to rise. The demand for unmanned operation throughout the entire lifecycle of photovoltaic power plants is clear, and the market prospects are promising. Currently, domestic photovoltaic panel installations mostly rely on bolts and nuts for fastening, requiring manual tightening of multiple fasteners, which is cumbersome and inefficient. Furthermore, bolt and nut tightening often occurs in confined spaces, making it difficult to operate and incurring high labor costs.

[0003] In addition, since the photovoltaic panels are installed on a ground with low flatness and the photovoltaic panel trusses will undergo large deformation during the installation process, the positions of the pre-processed mounting holes on the trusses will change, which will have a great 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 includes 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 has a through slot extending through one side, and the nut can be placed in the through slot. The width of the through slot is sufficient for the nut to slide in the through slot.

[0008] When performing the 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 the locking operation, the nut mounting bracket 3-3 is turned to the working state, and the nut 3-7 is placed on the through groove directly below the motor shaft of the No. 1 rotating motor 3-1. The motor shaft of the No. 1 rotating motor 3-1 is magnetic and can be extended.

[0009] 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 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 drilling 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 attracts the drill bit and drives the drill bit to drill holes at all the locations to be installed on the photovoltaic panel installation truss. After the drilling is completed, the drill bit stops attracting;

[0018] S3. Place the photovoltaic panel on the upper surface of the hole drilled in S2. The motor shaft of the No. 1 rotating motor 3-1 attracts the screwdriver. The screwdriver attracts the bolt 3-6 and moves it above the photovoltaic panel, directly above the drilled hole.

[0019] S4. When performing the locking operation, adjust the entire system to the working state: the nut is placed on the nut mounting bracket 3-3, and 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. The motor shaft of the No. 1 rotating motor 3-1 drives the bolt 3-6 attracted by the screwdriver to rotate at the drilling 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 nuts are tightened, the punching and locking mechanism moves horizontally along the through-slot direction and leaves the photovoltaic panel installation truss.

[0021] The beneficial effects of the present invention include its strong universality, compatibility with drilling and automated installation, and suitability 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, effectively replacing repetitive manual operations. Its high efficiency and precision can effectively solve the problem of large-scale fixed installation of photovoltaic panels, reducing construction costs. Using simple components, it is suitable for use in narrow spaces where manual or robotic tightening of nuts is difficult, saving costs while ensuring the quality of fixed locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural 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 A schematic diagram of the principle of tightening bolts and nuts on photovoltaic panels using the automated drilling and locking mechanism in working condition;

[0026] Figure 5 Schematic diagram of the principle of the locking method of the automated punching and locking mechanism. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall 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, it drills holes at designated positions 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 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 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 slot with one side passing therethrough, 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; under the drilling working condition, the rotating nut mounting bracket 3-3 is in a non-interference state; under the fixed locking working condition, the rotating nut mounting bracket 3-3 is in a working state.

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

[0034] 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, 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 during 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] In this embodiment, the connecting plate 3-5 comprises a horizontal plate and two side plates fixedly connected together. Rotating motor 3-1 (No. 1) is mounted on the horizontal plate, with its motor shaft passing through it. One of the side plates serves as a manipulator connection bracket for connecting to the manipulator, while rotating motor 3-2 (No. 2) is mounted inside the other side plate. The nut mounting bracket 3-3 is an L-shaped plate. The motor shaft of rotating motor 3-2 (No. 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 slot and is used to mount the nut magnetic chuck 3-4.

[0037] During installation, first, holes are drilled at the corresponding locations on the trusses according to the mounting holes of the photovoltaic panels. At this point, the robot, carrying rotary motor 1, absorbs the corresponding drill bit, rotary motor 3-2 rotates the nut mounting bracket 3-3 in a non-interference state, and the visual recognition and positioning system guides the automated completion of the drilling. Subsequently, rotary motor 1 absorbs the corresponding screwdriver and bolt, rotary motor 3-2 rotates the nut mounting bracket 3-3 in an operating state, and the nut magnetic chuck 3-4 supplies the nut for assembly and provides a counterforce for tightening the nut. Similarly, the visual recognition and positioning system guides the automated completion of the locking. The specific steps for locking the punch 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 mounting truss. After the drilling is completed, the drill bit stops attracting the drill bit;

[0040] (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;

[0041] (4) Issue a locking task, the No. 1 rotating motor 3-1 absorbs the screwdriver, screws it to the absorption 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, the motor shaft of the No. 1 rotating motor 3-1 rotates and extends, 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 moved horizontally along the through-slot direction and leaves the photovoltaic panel installation truss.

[0043] 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 utilizes the visual recognition and positioning system 2 and an automated drilling and locking mechanism 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.

[0044] 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. A punching and locking mechanism for automatic laying of photovoltaic panels, characterized in that: The mechanism 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 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 slot extending through one side. The nut can be placed on the through slot, and the width of the through slot is sufficient for 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 the through slot 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; The mechanism further comprises a connecting plate (3-5); the connecting plate (3-5) comprises 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.

2. The punching and locking mechanism 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 the nut (3-7).

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

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

5. The punching and locking mechanism according to claim 1, characterized in that: The speed of rotating motor No. 1 (3-1) shall not be less than 800 rpm and the torque shall not be less than 20 Nm.

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

7. 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, adjust the entire system to a non-interference state: the No. 2 rotary motor (3-2) drives the nut mounting bracket (3-3) to rotate away from the bottom of the motor shaft of the No. 1 rotary motor (3-1); The motor shaft of S2, No. 1 rotating motor (3-1) attracts the drill bit and drives the drill bit to drill holes at all the locations to be installed on the photovoltaic panel installation truss. After the drilling is completed, the drill bit stops attracting; S3. Place the photovoltaic panel on the upper surface of the hole drilled in S2. The motor shaft of the No. 1 rotary motor (3-1) attracts the screwdriver. The screwdriver attracts the bolt (3-6) and moves it above the photovoltaic panel, 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) attracted 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 nuts are tightened, the punching and locking mechanism moves horizontally along the through-slot direction and leaves the photovoltaic panel installation truss.

Images