Automatic fastening device for photovoltaic module support bolt

Abstract

The invention provides a photovoltaic module support bolt automatic fastening device, and relates to the technical field of photovoltaic power generation, the photovoltaic module support bolt automatic fastening device comprises a base casing, a walking assembly is arranged in the base casing, a fastening driving assembly is arranged on the top of the base casing, and a steering sleeve assembly is arranged on the working section of the fastening driving assembly; the tensioning device further comprises a tensioning monitoring assembly which is used for monitoring the tensioning process and adjusting the tensioning degree in real time. The technical problems that manual fastening of the photovoltaic module bolts is long in period and low in efficiency and has certain hysteresis quality, the installation angle of the photovoltaic module bolts is too large, and conventional machines cannot fasten the photovoltaic module bolts are solved.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic power generation, and in particular relates to an automatic fastening device for photovoltaic component bracket bolts. Background Art

[0002] Photovoltaic modules are firmly supported on the ground by brackets. The connections between them and the connections between bracket parts all rely on bolts. However, during the power generation process, photovoltaic modules and their brackets will continue to be affected by wind force. This long-term wind force will gradually cause the bolts on the photovoltaic modules and their brackets to loosen;

[0003] Therefore, the tightening inspection of PV module bolts has become a daily inspection item for PV modules. However, there are a large number of PV modules in PV power stations, and the manual spot check mode has a long cycle and low efficiency. In addition, with the vigorous development of the new energy industry, the installed capacity of PV power stations has continued to increase, and the management area has gradually expanded, which has caused a certain lag in the tightening inspection of PV module bolts. In addition, there are many unconventional positions of PV module bolts, and conventional fixed fastening devices cannot be tightened due to tricky angles. Summary of the invention

[0004] The present invention provides a photovoltaic module bracket bolt automatic fastening device, which is used to solve at least one technical problem raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention discloses an automatic bolt fastening device for a photovoltaic module support, comprising: a base casing, a walking assembly is arranged inside the base casing, a fastening drive assembly is arranged on the top of the base casing, and a steering sleeve assembly is arranged at the working section of the fastening drive assembly;

[0006] It also includes a tension monitoring component, which is used to monitor the tensioning process and adjust the tensioning degree in real time.

[0007] Preferably, the walking assembly includes a driving shaft, which passes through and is rotatably connected to the base casing, walking wheels are installed at both ends of the driving shaft, a driving gear is installed in the middle of the driving shaft, the driving gear and the driving gear are meshed with each other, the driving gear is installed at the output end of the driving motor, the driving motor bolts are installed in the base casing, a number of rollers are rotatably connected to the bottom of the base casing, a power supply assembly is installed in the base casing, and a tensioning structure is provided on the side of the base casing away from the walking wheel.

[0008] Preferably, the tensioning structure includes a telescopic opening, which is symmetrically arranged on the base casing, and expansion rods are slidably connected in the telescopic opening, one end of the expansion rods is rotatably connected to a contact wheel, and the other ends of the two expansion rods are bolted to a synchronous cross bar, the synchronous cross bar is threadedly connected to a lead screw, the lead screw is rotatably connected in the base casing, one end of the lead screw is connected to an electric motor, and the electric motor bolt is installed in the base casing.

[0009] Preferably, the fastening drive assembly includes a mechanical arm, the mechanical arm bolts are installed on the base casing, the working end of the mechanical arm is rotatably connected to a workbench, a bolt fastening structure is bolted on the workbench, a detection probe is provided on one side of the bolt fastening structure, and the detection probe bolts are installed on the workbench.

[0010] Preferably, the bolt fastening structure includes a fastening sleeve, the fastening sleeve bolt is installed on the workbench, a fastening motor is bolted inside the fastening sleeve, a twisted transmission rod is fixedly connected to the output end of the fastening motor, an impact mechanism is provided above the twisted transmission rod, the impact structure is nested and fixed in the fastening sleeve, and the impact mechanism is sleeved on the twisted transmission rod.

[0011] Preferably, the impact mechanism includes a protective sleeve, a ring gear is keyed inside the protective sleeve, the ring gear and the planetary gear set are meshed with each other, the planetary gear set is fixedly mounted on the wheel frame, the planetary gear set is meshed with the twisted transmission rod, the wheel frame is rotatably connected to the protective sleeve, and a reciprocating hammer component is provided on the top of the wheel frame.

[0012] Preferably, the reciprocating hammer component includes a rotating shaft, which is fixedly connected to the wheel frame, and has V-shaped ball grooves symmetrically arranged on the rotating shaft. An impact sleeve is rotatably connected to the rotating shaft, and a vertical ball groove is arranged on the inner wall of the impact sleeve, and balls are arranged between the V-shaped ball groove and the vertical ball groove. The balls are slidably connected between the V-shaped ball groove and the vertical ball groove. A compression elastic member is arranged between the impact sleeve and the wheel frame, and impact teeth are symmetrically arranged on the top of the impact sleeve. An impact rotor is rotatably connected to the top of the rotating shaft, and the impact teeth and the impact rotor cooperate with each other. A steering sleeve assembly is arranged on the impact rotor.

[0013] Preferably, the steering sleeve assembly includes a connecting joint, which is nested with the impact turntable, and the connecting joint is fixedly connected to an extension rod, and the other end of the extension rod is rotatably connected to a tightening sleeve, and the left and right sides of the connecting joint are bolted to electric telescopic rods, and the working ends of the electric telescopic rods are connected to clamp bolts, and the clamp sleeves are arranged on the tightening sleeve.

[0014] Preferably, the tension monitoring component includes a control module, a data processing module, a detection module and an execution module, and the detection module includes:

[0015] Displacement sensor: used to detect the displacement length of the lifting rod, which is set on the lifting rod;

[0016] A first acquisition module: used for detecting the offset distance of the working end of the robotic arm, and arranged on the robotic arm;

[0017] Distance measuring sensor: used to detect the width of the photovoltaic support purlin, which is set on the base casing;

[0018] Torque sensor: used to detect the torque transmitted by the robotic arm, which is set on the robotic arm;

[0019] Torque sensor: used to detect the torque transmitted by the robotic arm, which is set on the robotic arm;

[0020] Wind speed sensor: used to detect the wind speed borne by the robotic arm, which is set on the robotic arm;

[0021] The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

[0022] Preferably, the control module controls the execution module based on the data result of the data processing module, including the following steps:

[0023] Step 1: Calculate the stable balance coefficient S based on the displacement sensor, the first acquisition module, the distance sensor, the torque sensor, the torque sensor and the torque sensor e :

[0024] Where: S e is the stable balance coefficient of the automatic fastening device, G is the effective gravity of the fastening drive assembly and the steering sleeve assembly, X is the detection value of the first acquisition module, M is the detection value of the torque sensor, ρ is the air density, S is the effective area of ​​the fastening drive assembly and the steering sleeve assembly, V is the detection value of the wind speed sensor, ε is the resistance coefficient, T is the detection value of the torque sensor, μ is the friction coefficient, K is the step pressure coefficient, L is the detection value of the displacement sensor, A is the detection value of the distance sensor, and B is the effective width of the automatic fastening device;

[0025] Step 2: Data processing module comparison e and S e0 , when S e >S e0 When S e Calculate the adjustment parameter C x , when S e ≤S e0 No processing is done when

[0026] Where: C x To adjust the parameters;

[0027] Step 3: The control module adjusts the parameter C x The control execution module drives the tension rod to extend and retract. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 It is a structural schematic diagram of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the walking assembly of the present invention;

[0031] Figure 3 It is a structural schematic diagram of the fastening drive assembly of the present invention;

[0032] Figure 4 It is a structural schematic diagram of the bolt fastening structure of the present invention;

[0033] Figure 5 It is a schematic structural diagram of the steering sleeve assembly of the present invention.

[0034] In the figure: 1. base housing; 2. travel assembly; 21. drive shaft; 22. travel wheel; 23. drive gear; 24. driving gear; 25. drive motor; 26. roller; 27. power assembly; 3. tensioning structure; 31. telescopic opening; 32. expansion rod; 33. contact wheel; 34. synchronous cross bar; 35. lead screw; 36. electric motor; 4. fastening drive assembly; 41. mechanical arm; 42. workbench; 43. detection probe; 5. bolt fastening structure; 51. fastening sleeve; 5 2. Fasten the motor; 53. Twist transmission rod; 6. Impact mechanism; 61. Protective sleeve; 62. Ring gear; 63. Planetary gear set; 64. Wheel carrier; 7. Reciprocating hammer component; 71. Rotating shaft; 72. V-shaped ball groove; 73. Impact sleeve cylinder; 74. Vertical ball groove; 75. Ball; 76. Compression elastic member; 77. Impact tooth; 78. Impact swivel; 8. Steering sleeve assembly; 81. Connecting joint; 82. Extension rod; 83. Tighten the sleeve; 84. Electric telescopic rod; 85. Clamp. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] The present invention provides the following embodiments

[0038] Example 1

[0039] The embodiment of the present invention provides a photovoltaic module bracket bolt automatic fastening device, such as Figure 1-5 As shown, it comprises: a base casing 1, a walking assembly 2 is arranged inside the base casing 1, a fastening drive assembly 4 is arranged on the top of the base casing 1, and a steering sleeve assembly 8 is arranged at the working section of the fastening drive assembly 4;

[0040] It also includes a tension monitoring component, which is used to monitor the tensioning process and adjust the tensioning degree in real time.

[0041] The working principle and beneficial effects of the above technical solution are as follows: when the photovoltaic modules need to be stacked for bolt tightening, the automatic tightening device is placed in the purlin of the C-shaped steel of the photovoltaic module, and then the walking component 2 drives the base casing 1 to move forward along the purlin. When reaching the predetermined position, the tightening drive component 4 drives the steering sleeve component 8 to tighten the preset bolts by extending, and the tension monitoring component monitors the tightening process of the automatic tightening device and automatically adjusts to maintain its balance;

[0042] The present invention utilizes the walking assembly 2 to drive the base housing 1 to walk on the purlin. This design can realize the walking of a group of photovoltaic component brackets without manual assistance, and has high automation and convenience. The design of the fastening drive assembly 4 can drive the bolt fastening process and achieve full coverage of the photovoltaic panel bracket, ensuring that during the walking process, the steering sleeve assembly 8 can fasten all the spirals of the photovoltaic bracket, and the design of the steering sleeve assembly 8 can make it possible to fasten the spirals at any angle when tightening the bolts, avoiding the occurrence of fastening dead corners. The design of the tension monitoring assembly can ensure that the automatic fastening device maintains balance when fastening the bolts of the photovoltaic bracket, avoiding the automatic fastening device from falling off, and the automatic fastening device fastens the bolts of the photovoltaic bracket. This design has comprehensive coverage and can complete the fastening of all fixed bolts of a group of brackets at one time, with high accuracy, avoiding the problems of repeated inspection and missed inspection during manual inspection, and at the same time, through automated detection and fastening, effectively reducing labor costs and time costs, and can quickly realize the inspection of the entire photovoltaic component, while effectively avoiding the risk of falling from a height when manually fastening the bolts.

[0043] Example 2

[0044] On the basis of Example 1, the walking component 2 includes a driving shaft 21, which passes through and is rotatably connected to the base casing 1. Walking wheels 22 are installed at both ends of the driving shaft 21. A driving gear 23 is installed in the middle of the driving shaft 21. The driving gear 23 is meshed with a driving gear 24. The driving gear 24 is installed at the output end of the driving motor 25. The driving motor 25 is bolted to the base casing 1. A number of rollers 26 are rotatably connected to the bottom of the base casing 1. A power supply component 27 is installed in the base casing 1. A tensioning structure 3 is provided on the side of the base casing 1 away from the walking wheel 22.

[0045] The tensioning structure 3 includes a telescopic opening 31, which is symmetrically arranged on the base casing 1. An expansion rod 32 is slidably connected in the telescopic opening 31, and one end of the expansion rod 32 is rotatably connected to a contact wheel 33. The other ends of the two expansion rods 32 are bolted to a synchronous cross bar 34, and the synchronous cross bar 34 is threadedly connected to a lead screw 35. The lead screw 35 is rotatably connected in the base casing 1, and one end of the lead screw 35 is connected to an electric motor 36, and the electric motor 36 is bolted in the base casing 1.

[0046] The working principle and beneficial effects of the above technical solution are as follows: when the base casing 1 moves, the driving motor 25 starts to drive the driving gear 24 to rotate, and the driving gear 24 and the driving gear 23 are meshed with each other, so that the driving shaft 21 drives the walking wheel 22 to rotate, and the walking wheel 22 rolls along the side of the C-shaped steel purlin, driving the base casing 1 to move. When the base casing 1 moves, the bottom roller 26 rolls along the bottom of the C-shaped steel purlin to ensure that the base casing 1 does not rub against the C-shaped steel purlin. At the same time, the electric motor 36 starts to drive the lead screw 35 to rotate, so that the synchronous cross bar 34 moves along the lead screw 35, and the synchronous cross bar 34 drives the two expansion rods 32 to slide along the telescopic opening 31, so that the contact wheel 33 at the top of the expansion rod 32 contacts the side of the C-shaped steel purlin to apply pressure, and the friction between the two keeps the base casing 1 balanced in the C-shaped steel purlin;

[0047] The present invention utilizes walking wheels and a driving shaft to drive the base casing to walk. This design can ensure that the base casing can walk while maintaining stability in the C-shaped steel purlin. At the same time, the design of the driving gear and the active gear can ensure that the walking process has high accuracy and high load, and the roller ensures that the base casing will not have bottoming friction. At the same time, the design of the lifting rod and the contact wheel can prevent the base casing from tipping over due to unbalanced force during the walking process and the process of tightening the bolts, thereby ensuring the safety and stability of the tightening process.

[0048] Example 3

[0049] On the basis of Example 1, the fastening drive assembly 4 includes a mechanical arm 41, which is bolted to the base housing 1, and the working end of the mechanical arm 41 is rotatably connected to a workbench 42, on which a bolt fastening structure 5 is bolted, and a detection probe 43 is provided on one side of the bolt fastening structure 5, and the detection probe 43 is bolted to the workbench 42.

[0050] The bolt fastening structure 5 includes a fastening sleeve 51, which is bolted on the workbench 42, a fastening motor 52 is bolted inside the fastening sleeve 51, a twisted transmission rod 53 is fixedly connected to the output end of the fastening motor 52, an impact mechanism 6 is provided above the twisted transmission rod 53, the impact structure 6 is nested and fixed in the fastening sleeve 51, and the impact mechanism 6 is sleeved on the twisted transmission rod 53.

[0051] The impact mechanism 6 includes a protective sleeve 61, a ring gear 62 is keyed inside the protective sleeve 61, the ring gear 62 and the planetary gear set 63 are meshed with each other, the planetary gear set 63 is fixedly mounted on the wheel frame 64, the planetary gear set 63 is meshed with the twisted transmission rod 53, the wheel frame 64 is rotatably connected to the protective sleeve 61, and a reciprocating hammer component 7 is provided on the top of the wheel frame 64.

[0052] The reciprocating hammer component 7 includes a rotating shaft 71, which is fixedly connected to the wheel frame 64. A V-shaped ball groove 72 is symmetrically provided on the rotating shaft 71. An impact sleeve cylinder 73 is rotatably connected to the rotating shaft 71. A vertical ball groove 74 is provided on the inner wall of the impact sleeve cylinder 73. A ball 75 is provided between the V-shaped ball groove 72 and the vertical ball groove 74. The ball 75 is slidably connected between the V-shaped ball groove 72 and the vertical ball groove 74. A compression elastic member 76 is provided between the impact sleeve 73 and the wheel frame 64. Impact teeth 77 are symmetrically provided on the top of the impact sleeve 73. An impact rotor 78 is rotatably connected to the top of the rotating shaft 71. The impact teeth 77 and the impact rotor 78 cooperate with each other. A steering sleeve assembly 8 is provided on the impact rotor 78.

[0053] The beneficial effects of the above technical solution are as follows: when tightening, the mechanical arm 41 extends or contracts to a specified position according to a preset programming, the detection probe 43 at the working end of the mechanical arm 41 aligns the bolt, and then after adjusting the steering sleeve assembly 8, the steering sleeve assembly 8 is nested on the nut of the bolt, and then the tightening drive assembly 4 is started to tighten the bolt.

[0054] When tightening, the tightening motor 52 starts to drive the twist transmission rod 53 to rotate, and the rotation of the twist transmission rod 53 drives the planetary gear set 63 to rotate. The planetary gear set 63 and the ring gear 62 mesh with each other, so that the wheel frame 64 rotates in the protective sleeve 61. The rotation of the wheel frame 64 drives the rotating shaft 71 to rotate, and the impact sleeve cylinder 73 and the compression elastic member 76 on the rotating shaft 71 rotate synchronously. The impact teeth 77 on the impact sleeve cylinder 73 press the impact turntable 78 on the top of the rotating shaft 71 during the rotation process, driving the impact turntable 78 to rotate synchronously, and the impact turntable 78 transmits torque to the steering sleeve assembly 8. The steering sleeve assembly 8 rotates and tightens the bolt. When the bolt is tightened, the reaction force of the bolt and the steering On the sleeve assembly 8 and the impact turntable 78, the steering sleeve assembly 8 and the impact turntable 78 stop rotating, and the impact turntable 78 collides with the impact tooth 77, so that the impact sleeve cylinder 73 cannot rotate with the rotating shaft 71, and the rotating shaft 71 continues to rotate, and the impact sleeve cylinder 73 is pushed by the reaction force to rotate relative to the rotating shaft 71. During the rotation process, the vertical ball groove 74 pushes the ball 75 to slide downward along the V-shaped ball groove 72, so that the impact sleeve cylinder 73 moves downward, squeezes and compresses the elastic member 76, and the impact tooth 77 resets after passing the impact turntable 78, and then repeats this process again. In the above process, the impact force tightens the bolt to achieve self-locking until the impact force no longer acts on the bolt;

[0055] The present invention utilizes a mechanical arm 41 to drive the steering sleeve assembly 8. This design can achieve high-degree-of-freedom extension, can tighten bolts at any angle and distance, and drive the impact mechanism 6 through the tightening motor 52 and the twisted transmission rod 53. This design can ensure the transmission of power while allowing the impact mechanism 6 to be quickly disassembled, repaired and replaced when it is damaged. The impact mechanism 6 is meshed with the twisted transmission rod 53 through a planetary gear set 63. This design can increase the torque of the tightening motor 52. The design of the rotating shaft 71, the impact sleeve cylinder 73 and the impact turntable 78 ensures that when the bolts are tightened, a large reaction force will not be generated on the mechanical arm 41. The displacement of the impact sleeve cylinder 73 is used to offset the transmission of the counter-impact force to avoid impact on the external structure. The impact between the impact tooth 77 and the impact turntable 78 is used to tighten the bolts. The design can achieve bolt tightening while avoiding excessive tightening of the bolts.

[0056] Example 4

[0057] On the basis of Example 1, the steering sleeve assembly 8 includes a connecting joint 81, which is nested with the impact turntable 78. The connecting joint 81 is fixedly connected to an extension rod 82, and the other end of the extension rod 82 is rotatably connected to a tightening sleeve 83. The left and right sides of the connecting joint 81 are bolted to an electric telescopic rod 84, and the working ends of the electric telescopic rod 84 are bolted to a clamp 85, which is sleeved on the tightening sleeve 83.

[0058] The beneficial effects of the above technical solution are as follows: the impact rotating head 78 and the connecting joint 81 are connected by magnetic force and mutual nesting. When the tightening drive assembly 4 transmits power, the impact rotating head 78 carries the connecting joint 81 to rotate together. The connecting joint 81 transmits power to the tightening sleeve 83 through the extension rod 82. The tightening sleeve 83 drives the bolt to rotate to achieve tightening. When the bolt position is tricky and the tightening sleeve 83 cannot be directly sleeved, the electric telescopic rod 84 works, the electric telescopic rod 84 on one side extends, and the electric telescopic rod 84 on the other side contracts, so that the tightening sleeve 83 rotates around the extension rod 82, causing an angle deviation, and then it is sleeved on the bolt to imprison it.

[0059] The present invention utilizes an electric telescopic rod 84 to adjust the angle of the tightening sleeve 83. This design enables adaptive adjustment according to the specific position of the bolt when tightening the bolt, thereby ensuring the versatility of the steering sleeve assembly 8 and ensuring that the bolt will not be unable to be fully tightened due to the angle of the bolt during the bolt tightening process.

[0060] Example 5

[0061] On the basis of Example 1, the tension monitoring component includes a control module, a data processing module, a detection module and an execution module, and the detection module includes:

[0062] Displacement sensor: used to detect the displacement length of the lifting rod 32, which is arranged on the lifting rod 32;

[0063] A first acquisition module: used to detect the offset distance of the working end of the robot arm 41, which is arranged on the robot arm 41;

[0064] Distance measuring sensor: used to detect the width of the photovoltaic support purlin, which is arranged on the base casing 1;

[0065] Torque sensor: used to detect the torque transmitted by the mechanical arm 41, and is arranged on the mechanical arm 41;

[0066] Torque sensor: used to detect the torque transmitted by the mechanical arm 41, and disposed on the mechanical arm 41;

[0067] Wind speed sensor: used to detect the wind speed borne by the mechanical arm 41, and is arranged on the mechanical arm 41;

[0068] The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

[0069] The control module controls the execution module based on the data results of the data processing module, including the following steps:

[0070] Step 1: Calculate the stable balance coefficient S based on the displacement sensor, the first acquisition module, the distance sensor, the torque sensor, the torque sensor and the torque sensor e :

[0071] Where: S e is the stable balance coefficient of the automatic fastening device, G is the effective gravity of the fastening drive assembly 4 and the steering sleeve assembly 8, X is the detection value of the first acquisition module, M is the detection value of the torque sensor, ρ is the air density, S is the effective area of ​​the fastening drive assembly 4 and the steering sleeve assembly 8, V is the detection value of the wind speed sensor, ε is the resistance coefficient, T is the detection value of the torque sensor, μ is the friction coefficient, K is the step pressure coefficient, L is the detection value of the displacement sensor, A is the detection value of the distance sensor, and B is the effective width of the automatic fastening device;

[0072] Step 2: Data processing module comparison e and S e0 , when S e >S e0 When S e Calculate the adjustment parameter C x , when S e ≤S e0 No processing is done when

[0073] Where: C x To adjust the parameters;

[0074] Step 3: The control module adjusts the parameter C x The control execution module drives the expansion rod 32 to extend and retract.

[0075] The beneficial effects of the above technical solution are as follows: when the automatic tightening device tightens the bolts, due to the extension of the mechanical arm 41 and the interaction of forces, the relative balance between the walking assembly 2 and the C-shaped steel purlin will be affected to a certain extent during the tightening process. Therefore, it is necessary to monitor the tightening process. When the balance between the walking assembly 2 and the C-shaped steel purlin changes, the tensioning structure 3 is adjusted in time to establish a new balance.

[0076] The present invention utilizes a control module, a data processing module, a detection module and an execution module to monitor the balance of the automatic fastening device during the bolt fastening process. This design can effectively ensure the stability of the automatic fastening device, avoid the automatic fastening device from being disengaged due to the destruction of the balance, and ensure the stable progress of the bolt fastening process.

[0077] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A photovoltaic module bracket bolt automatic tightening device, characterized in that: include: A base casing (1), a walking assembly (2) is arranged inside the base casing (1), a fastening drive assembly (4) is arranged on the top of the base casing (1), and a steering sleeve assembly (8) is arranged at a working section of the fastening drive assembly (4); It also includes a tension monitoring component, which is used to monitor the tensioning process and adjust the tensioning degree in real time.

2. The photovoltaic module bracket bolt automatic tightening device according to claim 1, characterized in that: The walking assembly (2) comprises a driving shaft (21), the driving shaft (21) penetrates and is rotatably connected to the base casing (1), walking wheels (22) are installed at both ends of the driving shaft (21), a driving gear (23) is installed in the middle of the driving shaft (21), the driving gear (23) and the driving gear (24) are meshed with each other, the driving gear (24) is installed at the output end of the driving motor (25), the driving motor (25) is bolted and installed in the base casing (1), a plurality of rollers (26) are rotatably connected to the bottom of the base casing (1), a power supply assembly (27) is installed in the base casing (1), and a tensioning structure (3) is provided on the side of the base casing (1) away from the walking wheels (22).

3. The photovoltaic module bracket bolt automatic tightening device according to claim 2, characterized in that: The tensioning structure (3) comprises a telescopic opening (31), the telescopic opening (31) is symmetrically arranged on the base casing (1), an expansion rod (32) is slidably connected in the telescopic opening (31), one end of the expansion rod (32) is rotatably connected to a contact wheel (33), the other ends of the two expansion rods (32) are bolted to a synchronous cross bar (34), the synchronous cross bar (34) is threadedly connected to a lead screw (35), the lead screw (35) is rotatably connected in the base casing (1), one end of the lead screw (35) is connected to an electric motor (36), and the electric motor (36) is bolted in the base casing (1).

4. The photovoltaic module bracket bolt automatic tightening device according to claim 1, characterized in that: The fastening drive assembly (4) comprises a mechanical arm (41), the mechanical arm (41) is bolted on the base housing (1), the working end of the mechanical arm (41) is rotatably connected to a workbench (42), a bolt fastening structure (5) is bolted on the workbench (42), a detection probe (43) is provided on one side of the bolt fastening structure (5), and the detection probe (43) is bolted on the workbench (42).

5. The photovoltaic module bracket bolt automatic tightening device according to claim 4, characterized in that: The bolt fastening structure (5) comprises a fastening sleeve (51), the fastening sleeve (51) is bolted on a workbench (42), a fastening motor (52) is bolted inside the fastening sleeve (51), an output end of the fastening motor (52) is fixedly connected to a twisted transmission rod (53), an impact mechanism (6) is arranged above the twisted transmission rod (53), the impact structure (6) is nested and fixed in the fastening sleeve (51), and the impact mechanism (6) is sleeved on the twisted transmission rod (53).

6. The photovoltaic module bracket bolt automatic tightening device according to claim 5, characterized in that: The impact mechanism (6) comprises a protective sleeve (61), a gear ring (62) is key-connected inside the protective sleeve (61), the gear ring (62) and a planetary gear set (63) are meshed with each other, the planetary gear set (63) is fixedly mounted on a wheel frame (64), the planetary gear set (63) and a twisted transmission rod (53) are meshed with each other, the wheel frame (64) is rotatably connected to the protective sleeve (61), and a reciprocating hammer component (7) is provided on the top of the wheel frame (64).

7. The photovoltaic module bracket bolt automatic tightening device according to claim 6, characterized in that: The reciprocating hammer component (7) comprises a rotating shaft (71), the rotating shaft (71) is fixedly connected to the wheel frame (64), a V-shaped ball groove (72) is symmetrically provided on the rotating shaft (71), an impact sleeve (73) is rotatably connected to the rotating shaft (71), a vertical ball groove (74) is provided on the inner wall of the impact sleeve (73), a ball (75) is provided between the V-shaped ball groove (72) and the vertical ball groove (74), the ball (75) is slidably connected between the V-shaped ball groove (72) and the vertical ball groove (74), a compression elastic member (76) is provided between the impact sleeve (73) and the wheel frame (64), an impact tooth (77) is symmetrically provided on the top of the impact sleeve (73), an impact swivel (78) is rotatably connected to the top of the rotating shaft (71), the impact tooth (77) and the impact swivel (78) cooperate with each other, and a steering sleeve assembly (8) is provided on the impact swivel (78).

8. The photovoltaic module bracket bolt automatic tightening device according to claim 1, characterized in that: The steering sleeve assembly (8) comprises a connecting joint (81), the connecting joint (81) and the impact turntable (78) are nested with each other, the connecting joint (81) is fixedly connected to an extension rod (82), the other end of the extension rod (82) is rotatably connected to a tightening sleeve (83), the left and right sides of the connecting joint (81) are bolted to electric telescopic rods (84), the working ends of the electric telescopic rods (84) are bolted to clamps (85), and the clamps (85) are sleeved on the tightening sleeve (83).

9. The photovoltaic module bracket bolt automatic tightening device according to claim 1, characterized in that: The tension monitoring component includes a control module, a data processing module, a detection module and an execution module. The detection module includes: A displacement sensor: used for detecting the displacement length of the lifting rod (32), and arranged on the lifting rod (32); A first acquisition module: used for detecting the offset distance of the working end of the mechanical arm (41), and arranged on the mechanical arm (41); Distance measuring sensor: used for detecting the width of the photovoltaic support purlin, and arranged on the base casing (1); A torque sensor: used for detecting the torque transmitted by the mechanical arm (41), and arranged on the mechanical arm (41); A torque sensor: used for detecting the torque transmitted by the mechanical arm (41), and arranged on the mechanical arm (41); A wind speed sensor: used to detect the wind speed borne by the mechanical arm (41), and arranged on the mechanical arm (41); The detection module is electrically connected to the data processing module, the control module is electrically connected to the data processing module and the execution module, and the control module controls the execution module to work based on the data results of the data processing module.

10. The photovoltaic module bracket bolt automatic tightening device according to claim 9, characterized in that: The control module controls the execution module based on the data results of the data processing module, including the following steps: Step 1: Calculate the stable balance coefficient S based on the displacement sensor, the first acquisition module, the distance sensor, the torque sensor, the torque sensor and the torque sensor e : Where: S e is the stable balance coefficient of the automatic fastening device, G is the effective gravity of the fastening drive assembly (4) and the steering sleeve assembly (8), X is the detection value of the first acquisition module, M is the detection value of the torque sensor, ρ is the air density, S is the effective area of ​​the fastening drive assembly (4) and the steering sleeve assembly (8), V is the detection value of the wind speed sensor, ε is the resistance coefficient, T is the detection value of the torque sensor, μ is the friction coefficient, K is the step pressure coefficient, L is the detection value of the displacement sensor, A is the detection value of the distance sensor, and B is the effective width of the automatic fastening device; Step 2: Data processing module comparison e and S e0 , when S e >S e0 When S e Calculate the adjustment parameter C x , when S e ≤S e0 No processing is done when Where: C x To adjust the parameters; Step 3: The control module adjusts the parameter C x The control execution module drives the expansion rod (32) to extend and retract.

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