Photovoltaic panel installation robot and installation method thereof

Abstract

The present application relates to the field of robot technology, and specifically to a photovoltaic panel installation robot and its installation method. The robot includes a mobile mechanism, which is used to walk on a support platform; a stacking mechanism, which is arranged on the mobile mechanism and has a lifting assembly; a grasping mechanism, which is used to grasp the photovoltaic panels in the stacking mechanism; a transfer drive mechanism, which includes a rotating assembly, which is connected to the mobile mechanism; a cylindrical cam, which is connected to the rotating assembly, and a blocking block is provided at the limit of the stroke in the groove of the cylindrical cam; a passive rod, which is coaxially inserted in the cylindrical cam, and the grasping mechanism is connected to the passive rod, and the passive rod is provided with a passive part that cooperates with the groove to drive the passive rod to slide axially when the cylindrical cam rotates; a limit assembly, which is connected to the mobile mechanism and is used to limit the rotation of the passive rod in the cylindrical cam. The present application has the advantages of simple structure, simple control, and low cost, and is suitable for rooftop photovoltaic panel reconstruction projects.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a photovoltaic panel installation robot and an installation method thereof. Background Art

[0002] Photovoltaic panels are mainly used to absorb solar energy and convert it into electrical energy for storage. They are mainly composed of silicon wafers and photovoltaic glass panels. The solar panel mounting bracket is arranged in multiple rows and columns. The traditional installation method is that a group of people carry the solar panels to the installation location, and then manually lift the solar panels onto the mounting bracket. During the manual handling and installation process, the solar panels are easily damaged, and the labor consumption is large, and the labor intensity of the installers is high.

[0003] To this end, a photovoltaic panel installation robot and a photovoltaic panel installation method are provided in a Chinese invention patent with publication number CN117260672A. The robot includes a moving device for traveling to a target installation position; a flipping device fixed to the moving device for flipping the photovoltaic panel to be installed from a first state to a second state; and a transfer device fixed to the moving device for picking up the photovoltaic panel to be installed and installing the photovoltaic panel on a mounting bracket. The present invention automatically flips and adjusts the front of the photovoltaic panel through the moving device, the transfer device and the flipping device, and automatically installs the photovoltaic panel in multiple terrains and over a large range, with a high degree of automation, high installation efficiency, and labor saving.

[0004] The above-mentioned robot can replace manpower to transfer photovoltaic panels, and uses a six-axis robotic arm with a high degree of automation; however, in some roof renovation projects, the implementation environment is relatively good, and the automation requirements for the installation robot are relatively low; although the existing installation robots can realize the transfer of photovoltaic panels, there will be excess functions, that is, the cost is relatively high. Summary of the invention

[0005] In response to the problems existing in the background technology, the present application provides a photovoltaic panel installation robot and an installation method thereof with a relatively simple structure and relatively low cost.

[0006] This application is implemented through the following technical solutions:

[0007] In a first aspect, the present application provides a photovoltaic panel installation robot, comprising:

[0008] A moving mechanism for walking on the supporting platform;

[0009] A stacking mechanism, which is arranged on the mobile mechanism and is used to store photovoltaic panels, and has a lifting assembly capable of lifting the photovoltaic panels to a preset height;

[0010] A gripping mechanism, used for gripping the photovoltaic panels in the stacking mechanism;

[0011] A transfer drive mechanism, the transfer drive mechanism comprising:

[0012] A rotating assembly connected to the moving mechanism;

[0013] A cylindrical cam connected to the rotating assembly to rotate around its own axis driven by the rotating assembly, and a stop block is provided at the stroke limit in the groove of the cylindrical cam;

[0014] A passive rod is coaxially movably inserted in the cylindrical cam, the grabbing mechanism is connected to the passive rod, and a passive member matching the groove is provided on the passive rod to drive the passive rod to slide axially when the cylindrical cam rotates;

[0015] A limiting assembly is connected to the moving mechanism and is used to limit the rotation of the passive rod in the cylindrical cam.

[0016] The photovoltaic panel installation robot provided in the present application can realize the rising, lowering and rotating actions of the photovoltaic panel based on the rotation of the cylindrical cam, and the connection between the various actions can be achieved by clamping the passive parts through the limit assembly. The actions are continuous, which can reduce the positioning work of program control. Compared with the conventional concept of using multi-axis control to realize the transfer action of the photovoltaic panel, the system complexity is smaller, the control is simpler, and the implementation cost is lower.

[0017] In some optional embodiments, the gripping mechanism includes:

[0018] A suction component having a plurality of suction cups for adsorbing the photovoltaic panel;

[0019] A connecting column, one end of which is connected to the suction assembly, and the other end of which is rotatably connected to the passive rod;

[0020] A telescopic component, both ends of which are rotatably connected to the connecting column and the passive rod respectively, wherein the telescopic direction of the telescopic component forms an angle with the length direction of the connecting column.

[0021] In some optional embodiments, the groove comprises:

[0022] a first section, wherein an extending direction of the first section coincides with a circumferential direction of the cylindrical cam;

[0023] a second section, wherein the extension direction of the second section coincides with the circumferential direction of the cylindrical cam, and the blocking block is located in the second section, wherein the second section and the first section are spaced apart in the axial direction of the cylindrical cam and are arranged opposite to each other in the circumferential direction of the cylindrical cam;

[0024] The third section, both ends of which are connected to the first section and the second section respectively.

[0025] In some optional embodiments, the blocking block is filled in the second section.

[0026] In some optional embodiments, the blocking block is detachably connected to the cylindrical cam.

[0027] In some optional embodiments, the number of the blocking blocks is configured to be two, wherein an adjustment groove extending in a direction parallel to the groove is provided at the bottom of the groove, the blocking block slidingly cooperates with the cylindrical cam through the adjustment groove, and a set screw is provided on the blocking block.

[0028] In some optional embodiments, the rotating assembly includes:

[0029] A rotation power source connected to the moving mechanism;

[0030] A worm wheel, the worm wheel is coaxially sleeved on the cylindrical cam;

[0031] A worm connected to the rotational power source and mating with the worm gear;

[0032] A thrust ball bearing, wherein the thrust ball bearing is arranged between the cylindrical cam and the moving mechanism;

[0033] Wherein, the cylindrical cam is rotationally matched with the moving mechanism.

[0034] In some optional embodiments, the limiting component includes:

[0035] A guide cylinder, wherein the guide cylinder is connected to the moving mechanism, one end of the passive rod is movably inserted in the guide cylinder, a sliding hole is provided on the cylinder wall of the guide cylinder, and the sliding hole comprises a first hole segment, a second hole segment and a third hole segment which are connected in sequence, wherein the extension direction of the second hole segment coincides with the circumferential direction of the guide cylinder, and the extension directions of the first hole segment and the third hole segment are parallel to the axial direction of the guide cylinder;

[0036] A guide rod, one end of which is connected to the passive rod, and the other end of which is located in the sliding hole.

[0037] In some optional embodiments, the guide cylinder is slidably connected to the moving mechanism so that the position of the second hole segment in the axial direction of the guide cylinder can be changed.

[0038] In a second aspect, the present application provides a photovoltaic panel installation method, which is implemented based on any photovoltaic panel installation robot described in the first aspect, and includes the following steps:

[0039] S1. Planning a travel route of the mobile mechanism, wherein a plurality of installation points are marked on the travel route, and each installation point corresponds to a position where a photovoltaic panel is to be installed;

[0040] S2, controlling the moving mechanism to move to the installation point along the travel route;

[0041] S3, controlling the movement of the grabbing mechanism to grab the photovoltaic panels in the stacking mechanism;

[0042] S4, controlling the limit assembly to limit the rotation of the passive rod in the cylindrical cam;

[0043] S5, controlling the movement of the rotating assembly to make the cylindrical cam rotate forward until the passive component contacts the blocking block;

[0044] S6, controlling the limit assembly to move to release the restriction on the passive rod;

[0045] S7, controlling the movement of the rotating assembly to make the cylindrical cam rotate forward, thereby rotating the photovoltaic panel to a preset position in the horizontal plane;

[0046] S8, controlling the limit assembly to limit the rotation of the passive rod in the cylindrical cam;

[0047] S9, controlling the rotation assembly to reverse the cylindrical cam until the photovoltaic panel reaches the lowest position so that the photovoltaic panel is in a position to be installed;

[0048] S10, controlling the gripping mechanism to release the gripping mechanism from the photovoltaic panel;

[0049] S11, controlling the rotation assembly to make the cylindrical cam rotate forward until the passive component contacts the blocking block, and then controlling the limit assembly to release the limit on the passive component;

[0050] S12, controlling the rotation assembly to rotate the cylindrical cam forward, thereby rotating the photovoltaic panel to a preset position in the horizontal plane;

[0051] S13, controlling the limit assembly to limit the rotation of the passive rod in the cylindrical cam;

[0052] S14, controlling the rotation assembly to reverse the cylindrical cam until the photovoltaic panel reaches the lowest position so that the grabbing mechanism is located at the grabbing position;

[0053] S15. Repeat steps S1 to S14 until a row of photovoltaic panels is installed.

[0054] Compared with the prior art, this application has the following advantages and beneficial effects:

[0055] The photovoltaic panel installation robot and installation method provided in the present application can realize the rising, lowering and rotating actions of the photovoltaic panel based on the rotation of the cylindrical cam, and the connection between the various actions can be achieved by clamping the passive parts through the limit assembly. The actions are continuous and can reduce the positioning work of program control. Compared with the conventional concept of using multi-axis control to realize the transfer action of the photovoltaic panel, the system complexity is smaller, the control is simpler, and the implementation cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0057] Figure 1 A schematic diagram of a partial cross-sectional structure of a photovoltaic panel installation robot provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of a partial cross-sectional structure of a stacking mechanism provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of the structure of the gripping mechanism and the passive rod provided in the embodiment of the present application;

[0060] Figure 4 A schematic diagram of the cylindrical cam structure provided in an embodiment of the present application;

[0061] Figure 5 A schematic diagram of the matching structure of the rotating assembly and the mounting box provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of the structure of the limit assembly provided in the embodiment of the present application;

[0063] Figure 7 This is a schematic diagram of the coordination structure of the guide cylinder and the moving mechanism provided in an embodiment of the present application.

[0064] Marks and corresponding parts names in the attached drawings:

[0065] 1-moving mechanism, 11-installing box, 12-support cylinder, 13-sliding circular groove, 14-first adjusting bolt, 15-second adjusting bolt, 16-nut, 2-stacking mechanism, 21-lifting box, 22-lifting plate, 23-lifting assembly, 24-lifting guide rod, 3-grabbing mechanism, 31-suction assembly, 311-suction cup, 32-connecting column, 33-telescopic assembly, 4-rotating assembly, 41-rotating power source, 42-worm, 4 3-worm gear, 44-thrust ball bearing, 45-motor mounting seat, 46-rolling bearing, 47-bearing end cover, 5-cylindrical cam, 51-first section, 52-second section, 53-third section, 54-adjusting slot, 6-passive rod, 7-limiting assembly, 71-guide cylinder, 72-guide rod, 711-first hole section, 712-second hole section, 713-third hole section, 8-blocking block, 81-setting screw, 9-passive part, 10-photovoltaic panel. DETAILED DESCRIPTION

[0066] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with examples and drawings. The illustrative implementation scheme of the present application and its description are only used to explain the present application and are not intended to limit the present application.

[0067] Most of the existing photovoltaic panel installation robots use multi-axis control to realize the transfer of photovoltaic panels; in the renovation and installation construction environment of photovoltaic panels on the roof of an existing building, the ground is relatively flat, and the position accuracy of the robot when moving is easy to control, which means that the relative position of the robot and the photovoltaic panel installation bracket is easier to control, and the requirements can be met based on the overall movement accuracy of the robot. The action performed by the robot's action arm is relatively simple. By realizing grabbing, lifting, rotating, and lowering, the photovoltaic panel can be transferred to the photovoltaic panel installation bracket. The action requirements are relatively low. If the existing photovoltaic installation robot is used, multi-axis control will appear to be redundant, and multi-axis control requires real-time acquisition of the movement position of each axis and coordination of the action timing of each axis. The control logic is relatively complex, and the overall structural complexity of the robot is also relatively high, and the implementation cost is not easy to control. In view of this, the present application provides a photovoltaic panel installation robot with relatively low structural complexity and relatively simple control logic to be applicable to the renovation project of photovoltaic panels on the roof of an existing building, thereby reducing the renovation cost.

[0068] In a first aspect, the present application provides a photovoltaic panel installation robot, which can be found at Figure 1The photovoltaic panel installation robot includes a moving mechanism 1, a stacking mechanism 2, a grasping mechanism 3 and a transfer drive mechanism; the moving mechanism 1 is used to walk on a supporting platform, which is usually a rooftop floor; the stacking mechanism 2 is arranged on the moving mechanism 1 and is used to store photovoltaic panels 10, and is provided with a lifting component 23 capable of lifting the photovoltaic panels 10 to a preset height; the grasping mechanism 3 is used to grasp the photovoltaic panels 10 in the stacking mechanism 2; wherein the transfer drive mechanism further includes a rotating component 4, a cylindrical cam 5, a passive rod 6 and a limiting component 7; the rotating component 4 is connected to the moving mechanism 1; the cylindrical cam 5 is connected to the rotating component 4 to rotate around its own axis under the drive of the rotating component 4, and a blocking block 8 is provided at the stroke limit in the groove of the cylindrical cam 5; the passive rod 6 is coaxially movably inserted in the cylindrical cam 5, so that the passive rod 6 It can slide axially in the cylindrical cam 5 and can rotate freely around its own axis. The grasping mechanism 3 is connected to the passive rod 6. The passive rod 6 is provided with a passive part 9 that cooperates with the groove to drive the passive rod 6 to slide axially when the cylindrical cam 5 rotates, which means that the grasping mechanism 3 connected to the passive rod 6 can rise or fall. When the passive part 9 contacts the blocking block 8, the passive rod 6 can rotate together with the cylindrical cam 5 under the drive of the cylindrical cam 5; the limiting component 7 is connected to the moving mechanism 1 and is used to limit the rotation of the passive rod 6 in the cylindrical cam 5, so that the passive rod 6 will not rotate around the axial direction of the cylindrical cam 5 when it is driven to rise or fall by the cylindrical cam 5. In this way, it can be ensured that when the passive rod 6 is driven to rise or fall, the position of the grasping mechanism 3 in the horizontal plane remains unchanged, thereby ensuring the movement accuracy.

[0069] It is understandable that, in the above-described mechanical structure of the photovoltaic installation robot, in actual implementation, the moving mechanism 1, the stacking mechanism 2, the grasping mechanism 3 and the transfer drive mechanism are all controllable mechanisms, and a controller can usually be provided on the moving mechanism 1 to control the movements of these mechanisms. Since the control logic is relatively simple, the controller can be configured as a single-chip microcomputer or a programmable logic controller (PLC).

[0070] The cam generally cooperates with the connecting rod. The groove wall on the cylindrical cam 5 contacts the connecting rod, and the connecting rod contacts the groove wall under the action of its own gravity. When the cylindrical cam 5 rotates, the groove wall and the connecting rod slide relative to each other, and the connecting rod can move up and down. The contact position of the connecting rod with the groove wall when it is at the highest and lowest positions is used as the stroke limit in the above-mentioned method.

[0071] The photovoltaic panel installation robot provided in the embodiment of the present application can realize the rising, falling and rotating actions of the photovoltaic panel 10 based on the rotation of the cylindrical cam 5, that is, the groove on the cylindrical cam 5 and the passive part 9 can slide against each other to realize the rising and falling of the photovoltaic panel 10, and when the passive part 9 contacts with each other, the cylindrical cam 5 can drive the passive rod 6 to rotate in one direction when it continues to rotate, so that the position of the photovoltaic panel 10 in the horizontal plane can be changed, and the connection between each action can be realized by clamping the passive part 9 by the limit assembly 7. For example, when the photovoltaic panel 10 rises or falls, the rotation of the passive rod 6 is limited by the limit assembly 7 to ensure the position accuracy of the photovoltaic panel 10 in the horizontal plane. When the photovoltaic panel 10 needs to rotate after rising, the restriction of the limit assembly 7 on the passive rod 6 can be released. The action is coherent, which can reduce the positioning work of program control. Compared with the conventional concept of using multi-axis control to realize the transfer action of the photovoltaic panel 10, the system complexity is smaller, the control is simpler, and the implementation cost is lower.

[0072] In the embodiment of the present application, the mobile mechanism 1 can adopt an existing AGV cart with a tracking function, which usually includes a chassis, generally made of metal or high-strength plastic to ensure strength and pressure resistance; a drive system, which is wheeled (wheels driven by a motor) or tracked (suitable for complex terrain); a control system, with a built-in controller responsible for navigation, path planning and speed control; sensors, such as ultrasonic, infrared and laser sensors, for obstacle avoidance and environmental identification.

[0073] In the embodiments of this application, please refer to Figure 2 The stacking mechanism 2 may include a lifting box 21 and a lifting plate 22. The lifting plate 22 is located in the lifting box 21. The lifting plate 22 is slidably connected to the lifting box 21 and cooperates with the lifting component 23 for transmission. The lifting plate 22 can rise or fall under the drive of the lifting component 23. The lifting component 23 can be configured as a commonly used screw slider mechanism to achieve more precise position control. A number of lifting guide rods 24 are arranged in the box, and the lifting guide rods 24 are movably penetrated through the lifting plate 22 to guide the rising and falling movements of the lifting plate 22. The photovoltaic panels 10 are stacked on the lifting plate 22. After the top layer of photovoltaic panels 10 is grabbed, the remaining photovoltaic panels 10 are lifted by the lifting component 23 so that the topmost photovoltaic panel 10 among the remaining photovoltaic panels 10 is at a preset height, waiting for the next grabbing.

[0074] In some optional embodiments, see Figure 3The gripping mechanism 3 may specifically include a suction component 31, a connecting column 32 and a telescopic component 33; the suction component 31 has a plurality of suction cups 311 for adsorbing the photovoltaic panel 10, and the suction cups 311 can implement negative pressure adsorption on the smooth surface of the photovoltaic panel 10, that is, the moving mechanism 1 can be equipped with a gas generating device, such as an air compressor; one end of the connecting column 32 is connected to the suction component 31, and the other end is rotatably connected to the passive rod 6, so that the suction component 31 can rotate freely on the passive rod 6; the two ends of the telescopic component 33 are rotatably connected to the connecting column 32 and the passive rod 6 respectively, wherein the telescopic direction of the telescopic component 33 forms an angle with the length direction of the connecting column 32, so that the telescopic component 33 can drive the suction component 31 to rotate on the passive rod 6 when it is extended and retracted.

[0075] In the embodiment of the present application, since the panel surface of the photovoltaic panel 10 is usually at a certain angle to the horizontal plane after installation, the panel surface angle of the photovoltaic panel 10 needs to be adjusted to the desired angle after the grabbing mechanism 3 grabs the photovoltaic panel 10, and different panel surface angles can be obtained by controlling the telescopic amount of the telescopic component 33. In actual implementation, the telescopic component 33 can be configured as a telescopic cylinder, and a solenoid valve controlled by the action of the controller is configured on the air path of the telescopic cylinder, so as to control the air intake amount and further control the telescopic amount of the telescopic cylinder.

[0076] It is understandable that, when implementing the gripping mechanism 3, a person skilled in the art can clearly know that the rotation plane of the connecting column 32 relative to the passive rod 6, the rotation plane of the telescopic assembly 33 relative to the connecting column 32, and the rotation plane of the telescopic assembly 33 relative to the passive rod 6 coincide, thereby realizing the rotation control of the suction mechanism by the telescopic assembly 33. Of course, in other embodiments, one of the rotation planes of the telescopic assembly 33 relative to the connecting column 32, one of the rotation planes of the telescopic assembly 33 relative to the passive rod 6, and the rotation plane of the connecting column 32 relative to the passive rod 6 can coincide, that is, the telescopic assembly 33 can have multiple rotation planes relative to the connecting column 32 and the passive rod 6, respectively, for example, the telescopic assembly 33 and the connecting column 32 and the passive rod 6 can be connected by universal joints, respectively.

[0077] In some optional embodiments, see Figure 4 , Figure 4 The middle dotted line is a dividing line, which serves to distinguish the segments and does not represent the physical meaning. The groove includes a first segment 51, a second segment 52 and a third segment 53; the extension direction of the first segment 51 coincides with the circumferential direction of the cylindrical cam 5; the extension direction of the second segment 52 coincides with the circumferential direction of the cylindrical cam 5, and the blocking block 8 is located in the second segment 52, wherein the second segment 52 and the first segment 51 are spaced apart in the axial direction of the cylindrical cam 5 and are arranged relatively in the circumferential direction of the cylindrical cam 5; the two ends of the third segment 53 are respectively connected to the first segment 51 and the second segment 52.

[0078] In the working state, the axis of the cylindrical cam 5 coincides with the vertical direction, the second section 52 is higher than the first section 51, one end of the first section 51 and the second section 52 are connected through the third section 53, and the other end is also connected through the third section 53, that is, the number of third sections 53 is configured as two; when the passive component 9 is in the second section 52, it corresponds to the highest position of the grasping mechanism 3, at this time, the grasping mechanism 3 and the photovoltaic panel 10 correspond in vertical position, and when the passive component 9 is in the first section 51, it corresponds to the lowest position of the grasping mechanism 3, at this time, the grasping mechanism 3 can implement the grasping function on the photovoltaic panel 10, and the passive component 9 can move a certain distance in the first section 51 after entering the first section 51 from the third section 53. Since the extension direction of the first section 51 coincides with the circumferential direction of the cylindrical cam 5, even if the cylindrical cam 5 rotates a little more due to inertia, the grasping mechanism 3 can still be maintained at the lowest position, thereby stably grasping the photovoltaic panel 10.

[0079] In some optional embodiments, continue to refer to Figure 4 , the blocking block 8 is filled in the second section 52. That is to say, the shape of the blocking block 8 is the same as the shape of the second section 52 in the groove, so that the passive member 9 can immediately contact the blocking block 8 when it reaches the end of the third section 53 connected to the second section 52. At this time, the grasping mechanism 3 is at the highest position. Under the condition that the limit assembly 7 responds quickly and the grasping stability of the grasping mechanism 3 is high, it can then rotate in the horizontal plane driven by the cylindrical cam 5, thereby ensuring the continuity of the action.

[0080] In some optional embodiments, the blocking block 8 is detachably connected to the cylindrical cam 5. Different from the filling method, the shape of the blocking block 8 can also be different from the shape of the second section 52, that is, after the blocking block 8 is set in the second section 52, the second section 52 still has a certain gap, so that when the grasping mechanism 3 reaches the highest position, it can stay for a short time, which can provide a certain response time for the limit assembly 7, and at the same time, the action is maintained to check whether the grasping mechanism 3 stably grasps the photovoltaic panel 10, so as to avoid the photovoltaic panel 10 being thrown away. By replacing the blocking blocks 8 of different sizes, the dwell time of the grasping mechanism 3 can be controlled.

[0081] In some optional embodiments, the number of the blocking blocks 8 is configured to be two, wherein an adjustment groove 54 extending in a direction parallel to the groove is opened at the bottom of the groove, the blocking block 8 is slidably engaged with the cylindrical cam 5 through the adjustment groove 54, and a set screw 81 is arranged on the blocking block 8.

[0082] In the embodiment of the present application, the blocking block 8 can slide to the third section 53 through the adjustment groove 54. When the position of the blocking block 8 in the third section 53 is different, the cylindrical cam 5 needs to rotate at different angles to make the passive component 9 contact with the blocking block 8, which means that the maximum height that the grasping mechanism 3 can reach can be adjusted by adjusting the position of the blocking block 8 in the cylindrical cam 5, thereby adapting to the use scenarios with different heights of the photovoltaic panel 10 mounting bracket.

[0083] In some optional embodiments, see Figure 5 The rotating assembly 4 includes a rotating power source 41, a worm gear 43, a worm 42 and a thrust ball bearing 44; the rotating power source 41 is connected to the moving mechanism 1, and the rotating power source 41 can be configured as a servo motor to ensure better control accuracy. The rotating power source 41 is fixedly connected to the moving mechanism 1; the worm gear 43 is coaxially sleeved on the cylindrical cam 5, wherein the cylindrical cam 5 is rotationally connected to the moving mechanism 1. Specifically, a mounting box 11 can be provided on the moving mechanism 1, and a mounting hole is opened on the mounting box 11. The cylindrical cam 5 is coaxially matched with the mounting hole through a rolling bearing 46. A bearing end cover 47 is connected to the mounting box 11 to realize the positioning of the rolling bearing 46. Of course, the rotating power source 41 can be located in the mounting box 11 and connected to the inner wall of the mounting box 11 through the motor mounting seat 45. Fixed connection; one end of the worm 42 is connected to the rotating power source 41, and the other end can be connected to the box wall of the mounting box 11 through a bearing seat. The worm 42 and the worm wheel 43 are matched in transmission, so that the worm 42 rotates under the drive of the rotating power source 41, and then drives the cylindrical cam 5 to rotate in the mounting hole through the worm wheel 43; the thrust ball bearing 44 is arranged between the cylindrical cam 5 and the moving mechanism 1, and the thrust ball bearing 44 can be assembled on the bottom box wall of the mounting box 11 to support the cylindrical cam 5, so that the grasping mechanism 3 is supported by the passive component 9. In order to reduce the axial length of the cylindrical cam 5 so that the cylindrical cam 5 is subjected to a smaller radial torque, a support tube 12 can be fixedly set on the bottom of the inner wall of the mounting box 11, and the thrust ball bearing 44 is fixedly assembled with the support tube 12.

[0084] In the embodiment of the present application, the worm gear mechanism has a certain anti-retraction effect, which can prevent the cylindrical cam 5 from rotating randomly when the rotating power source 41 does not output the driving force, thereby avoiding the occurrence of cumulative errors.

[0085] In some optional embodiments, see Figure 6 , Figure 6The dotted line in the figure is a dividing line and has no physical meaning. The limit assembly 7 may specifically include a guide cylinder 71 and a guide rod 72; the guide cylinder 71 is connected to the moving mechanism 1. For example, when the moving mechanism 1 is provided with an installation box 11, the guide cylinder 71 may be vertically fixedly connected to the bottom of the inner wall of the installation box 11, and one end of the passive rod 6 is movably inserted in the guide cylinder 71. A sliding hole is provided on the cylinder wall of the guide cylinder 71, and the sliding hole includes a first hole segment 711, a second hole segment 712 and a third hole segment 713 connected in sequence, wherein the extension direction of the second hole segment 712 coincides with the circumferential direction of the guide cylinder 71, and the extension directions of the first hole segment 711 and the third hole segment 713 are parallel to the axial direction of the guide cylinder 71, that is, the overall shape of the sliding hole is similar to the shape of a door frame; one end of the guide rod 72 is connected to the passive rod 6, and the other end is located in the sliding hole.

[0086] The grasping mechanism 3 moves from the grasping position to the position to be installed of the photovoltaic panel 10. When the cylindrical cam 5 rotates, the passive member 9 moves from the first section 51 to the second section 52. Since the first hole section 711 limits the guide rod 72 in the circumferential direction, the passive rod 6 will not rotate around the axis of the cylindrical cam 5, but will only rise along the axial direction of the cylindrical cam 5. When the passive member 9 contacts the blocking block 8, the guide rod 72 moves to the end of the first hole section 711, that is, enters the second hole section 712. When the cylindrical cam 5 continues to rotate, since the second hole section 712 limits the guide rod 72 in the axial direction of the cylindrical cam 5, Therefore, the passive rod 6 will not descend along the axial direction of the cylindrical cam 5, but will only be driven by the cylindrical cam 5 to rotate around the axial direction of the cylindrical cam 5, and the guide rod 72 will move to the end of the second hole segment 712, that is, enter the third hole segment 713. At this time, the grasping mechanism 3 corresponds to the position to be installed of the photovoltaic panel 10 in the vertical position, and the cylindrical cam 5 is rotated in the opposite direction. Since the third hole segment 713 will not form an axial limit for the passive rod 6 at this time, the passive rod 6 falls freely under the gravity of itself, the grasping mechanism 3 and the photovoltaic panel 10, that is, the guide rod 72 slides downward in the third hole segment 713 until the passive component 9 enters the first segment 51. The grasping mechanism 3 moves from the position to be installed of the photovoltaic panel 10 to the grasping position, and the movement of the cylindrical cam 5 and the guide rod 72 is opposite to the above process, which will not be repeated here.

[0087] In the embodiment of the present application, the setting of the guide cylinder 71 and the guide rod 72 can realize the change of the movement direction of the grasping mechanism 3 through mechanical limiting. Compared with the electric control clamping method, there is no response delay, which can reduce the wiring of wires and simplify the structure.

[0088] In some optional embodiments, a ball is provided on the passive component 9 through a groove locking ball process, and the passive component 9 contacts the groove wall on the cylindrical cam 5 through the ball, thereby improving the sliding smoothness of the passive component 9 in the groove and preventing the passive rod 6 from rotating together when the cylindrical cam 5 reverses.

[0089] In some optional embodiments, the guide cylinder 71 is slidably connected to the moving mechanism 1 so that the position of the second hole segment 712 in the axial direction of the guide cylinder 71 can be changed. In actual implementation, the lengths of the first hole segment 711 and the second hole segment 712 are relatively long, that is, when the passive component 9 is in the first section 51, the guide rod 72 does not reach the end of the first hole segment 711 or the second hole segment 712; thus, when the cylindrical cam 5 is replaced or the position of the blocking block 8 in the groove is adjusted, the height of the second hole segment 712 in the axial direction of the guide cylinder 71 is adjusted synchronously to adapt to the adjustment of the maximum vertical movement stroke of the grasping mechanism 3. See Figure 7 The guide cylinder 71 can be specifically constructed as a cylindrical shape with one end sealed. A sliding circular groove 13 adapted to the guide cylinder 71 body is provided on the moving mechanism 1. A first adjusting hole and a second adjusting hole that penetrate the moving mechanism 1 are provided at the bottom of the sliding circular groove 13. A first adjusting bolt 14 is arranged in the first adjusting hole through a bearing. A second adjusting bolt 15 is movably inserted in the second adjusting hole. The first adjusting bolt 14 is coaxially threadedly connected with the sealed end of the guide cylinder 71, so that rotating the first adjusting bolt 14 can drive the guide cylinder 71 to slide in the sliding circular groove 13. The threaded end of the second adjusting bolt 15 sequentially penetrates the sealed end and the second adjusting hole of the guide cylinder 71 and is locked by a nut 16. The second adjusting bolt 15 can fix the guide cylinder 71 to prevent the guide cylinder 71 from sliding upward in the sliding circular groove 13.

[0090] In a second aspect, the present application provides a photovoltaic panel installation method, which is implemented based on any photovoltaic panel installation robot of the first aspect, and includes the following steps:

[0091] S1, planning a travel route of the mobile mechanism 1, wherein a plurality of installation points are marked on the travel route, and each installation point corresponds to a position to be installed of the photovoltaic panel 10;

[0092] S2, controlling the moving mechanism 1 to move to the installation point along the travel route;

[0093] S3, controlling the grabbing mechanism 3 to grab the photovoltaic panel 10 in the stacking mechanism 2;

[0094] S4, controlling the limit assembly 7 to limit the rotation of the passive rod 6 in the cylindrical cam 5;

[0095] S5, controlling the rotating assembly 4 to move so that the cylindrical cam 5 rotates forward until the passive member 9 contacts the blocking block 8;

[0096] S6, controlling the limit assembly 7 to move to release the restriction on the passive rod 6;

[0097] S7, controlling the rotating assembly 4 to move so that the cylindrical cam 5 rotates forward, thereby rotating the photovoltaic panel 10 to a preset position in the horizontal plane;

[0098] S8, controlling the limit assembly 7 to act to limit the passive rod 6 from rotating in the cylindrical cam 5;

[0099] S9, controlling the rotating assembly 4 to move so that the cylindrical cam 5 is reversed until the photovoltaic panel 10 reaches the lowest position so that the photovoltaic panel 10 is in a position to be installed;

[0100] S10, controlling the grabbing mechanism 3 to release the grabbing of the photovoltaic panel 10;

[0101] S11, controlling the rotating assembly 4 to move so that the cylindrical cam 5 rotates forward until the passive member 9 contacts the blocking block 8, and then controlling the limiting assembly 7 to move to release the restriction on the passive member 9;

[0102] S12, controlling the rotation assembly 4 to move so that the cylindrical cam 5 rotates forward, thereby rotating the photovoltaic panel 10 in the horizontal plane to a preset position;

[0103] S13, controlling the limit assembly 7 to act to limit the passive rod 6 from rotating in the cylindrical cam 5;

[0104] S14, controlling the rotating assembly 4 to move so that the cylindrical cam 5 is reversed until the photovoltaic panel 10 reaches the lowest position so that the grasping mechanism 3 is located at the grasping position;

[0105] S15, repeat steps S1 to S14 until a row of photovoltaic panels 10 is installed.

[0106] The above specific embodiments illustrate the implementation methods of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with some embodiments, this does not mean that the features of this application are limited to the implementation methods. On the contrary, the purpose of introducing the application in conjunction with the implementation methods is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide an in-depth understanding of the present application, the above description contains many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0107] It should be noted that in this specification, similar numbers and letters represent similar items in the above drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of this application, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0108] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A photovoltaic panel installation robot, characterized in that: include: A moving mechanism (1) for walking on a supporting platform; A stacking mechanism (2), which is arranged on the moving mechanism (1) and is used to store the photovoltaic panels (10), and is provided with a lifting assembly (23) capable of lifting the photovoltaic panels (10) to a preset height; A gripping mechanism (3) used for gripping the photovoltaic panels (10) in the stacking mechanism (2); A transfer drive mechanism, the transfer drive mechanism comprising: A rotating assembly (4) connected to the moving mechanism (1); A cylindrical cam (5) connected to the rotating assembly (4) so ​​as to rotate around its own axis under the drive of the rotating assembly (4), the groove of the cylindrical cam (5) comprising a first section (51), a second section (52) and a third section (53); the extension direction of the first section (51) coincides with the circumferential direction of the cylindrical cam (5); the extension direction of the second section (52) coincides with the circumferential direction of the cylindrical cam (5), the second section (52) is filled with a blocking block (8), wherein the second section (52) and the first section (51) are spaced apart in the axial direction of the cylindrical cam (5) and are arranged opposite to each other in the circumferential direction of the cylindrical cam (5); and the two ends of the third section (53) are respectively connected to the first section (51) and the second section (52); A passive rod (6) is coaxially movably inserted in the cylindrical cam (5), the grasping mechanism (3) is connected to the passive rod (6), and the passive rod (6) is provided with a passive member (9) that cooperates with the groove to drive the passive rod (6) to slide axially when the cylindrical cam (5) rotates; A limit assembly (7) connected to the moving mechanism (1) and used to limit the rotation of the passive rod (6) in the cylindrical cam (5); wherein the limit assembly (7) comprises: a guide cylinder (71), the guide cylinder (71) being connected to the moving mechanism (1), one end of the passive rod (6) being movably inserted into the guide cylinder (71), a slide hole being provided on a cylinder wall of the guide cylinder (71), the slide hole comprising a first hole segment (711), a second hole segment (712) and a third hole segment (713) which are connected in sequence, wherein an extension direction of the second hole segment (712) coincides with a circumferential direction of the guide cylinder (71), and an extension direction of the first hole segment (711) and the third hole segment (713) are parallel to an axial direction of the guide cylinder (71); A guide rod (72), one end of the guide rod (72) is connected to the passive rod (6), and the other end is located in the sliding hole.

2. The photovoltaic panel installation robot according to claim 1, characterized in that: The gripping mechanism (3) comprises: A suction component (31), which has a plurality of suction cups (311) for adsorbing the photovoltaic panel (10); A connecting column (32), one end of the connecting column (32) being connected to the suction assembly (31), and the other end of the connecting column (32) being rotationally connected to the passive rod (6); A telescopic component (33), wherein two ends of the telescopic component (33) are rotatably connected to the connecting column (32) and the passive rod (6), respectively, wherein the telescopic direction of the telescopic component (33) forms an angle with the length direction of the connecting column (32).

3. The photovoltaic panel installation robot according to claim 1, characterized in that: The blocking block (8) is detachably connected to the cylindrical cam (5).

4. The photovoltaic panel installation robot according to claim 1, characterized in that: The number of the blocking blocks (8) is configured to be two, wherein the bottom of the groove is provided with an adjustment groove (54) extending in a direction parallel to the groove, the blocking block (8) is slidably engaged with the cylindrical cam (5) via the adjustment groove (54), and a set screw (81) is configured on the blocking block (8).

5. The photovoltaic panel installation robot according to claim 1, characterized in that: The rotating assembly (4) comprises: A rotation power source (41) connected to the moving mechanism (1); A worm wheel (43), the worm wheel (43) being coaxially sleeved on the cylindrical cam (5); A worm (42), the worm (42) being connected to the rotational power source (41) and in transmission cooperation with the worm wheel (43); A thrust ball bearing (44), wherein the thrust ball bearing (44) is arranged between the cylindrical cam (5) and the moving mechanism (1); Wherein, the cylindrical cam (5) is rotationally matched with the moving mechanism (1).

6. The photovoltaic panel installation robot according to claim 1, characterized in that: The guide cylinder (71) is slidably connected to the moving mechanism (1) so that the position of the second hole section (712) in the axial direction of the guide cylinder (71) can be changed.

7. A photovoltaic panel installation method, implemented based on the photovoltaic panel installation robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. planning a travel route of the mobile mechanism (1), wherein a plurality of installation points are marked on the travel route, each installation point corresponding to a position where a photovoltaic panel (10) is to be installed; S2, controlling the moving mechanism (1) to move along the travel route to the installation point; S3, controlling the grabbing mechanism (3) to move so as to grab the photovoltaic panel (10) in the stacking mechanism (2); S4, controlling the limit assembly (7) to move so as to limit the rotation of the passive rod (6) in the cylindrical cam (5); S5, controlling the rotating assembly (4) to move so that the cylindrical cam (5) rotates forward until the passive member (9) contacts the blocking block (8); S6, controlling the limit assembly (7) to move so as to release the restriction on the passive rod (6); S7, controlling the rotation assembly (4) to move so that the cylindrical cam (5) rotates forward, thereby rotating the photovoltaic panel (10) in a horizontal plane to a preset position; S8, controlling the limit assembly (7) to move so as to limit the rotation of the passive rod (6) in the cylindrical cam (5); S9, controlling the rotating assembly (4) to move so that the cylindrical cam (5) is reversed until the photovoltaic panel (10) reaches the lowest position so that the photovoltaic panel (10) is in a position to be installed; S10, controlling the gripping mechanism (3) to move so as to release the gripping mechanism from the photovoltaic panel (10); S11, controlling the rotating assembly (4) to move so that the cylindrical cam (5) rotates forward until the passive member (9) contacts the blocking block (8), and then controlling the limiting assembly (7) to move so as to release the restriction on the passive member (9); S12, controlling the rotation assembly (4) to move so that the cylindrical cam (5) rotates forward, thereby rotating the photovoltaic panel (10) in a horizontal plane to a preset position; S13, controlling the limit assembly (7) to move so as to limit the rotation of the passive rod (6) in the cylindrical cam (5); S14, controlling the rotating assembly (4) to move so that the cylindrical cam (5) is reversed until the photovoltaic panel (10) reaches the lowest position so that the grasping mechanism (3) is located at the grasping position; S15, repeat steps S1 to S14 until a row of photovoltaic panels (10) is installed.

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