Device and method for butt joint of solar panels

Abstract

The invention discloses equipment and method for butt joint of solar panels, the equipment comprises a cut-off type press-fit mechanism, a reciprocating type vertical conveying mechanism, two horizontal guide rails, two first vertical air cylinders and two disc-shaped mounting bases, each horizontal guide rail is provided with a linear sliding table, the linear sliding tables are connected with the first vertical air cylinders, and the linear sliding tables are connected with the second vertical air cylinders; the two first vertical air cylinders are connected with the two disc-shaped mounting seats in a one-to-one mode, the elastic outer supporting type grabbing mechanisms are mounted on the disc-shaped mounting seats, the reciprocating type vertical conveying mechanism is located below the cut-off type press-fit mechanism, and the vertical continuous rod vertically penetrates through the reciprocating type vertical conveying mechanism, the cut-off type press-fit mechanism and the splicing position of the two solar panels; according to the method, the solar panels are in butt joint through the equipment. The conditions of deformation, wrinkling and the like of the solar panels are avoided, the butt joint accuracy is improved, the connection strength between the assembled solar panels is ensured, and the butt joint efficiency is improved. The invention is suitable for the technical field of solar panel butt joint.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite solar panel processing. Specifically, it relates to a device and method for docking solar panels. Background Art

[0002] For the convenience of carrying and space saving, the solar panels loaded on the satellite adopt a flexible structure. Then, the satellite is launched into outer space by a rocket and enters the operating orbit. Finally, the folded solar panels are unfolded to convert solar energy into electrical energy for the normal operation of the electronic devices inside the satellite. Currently, during the assembly and processing of solar panels, it is necessary to dock and fix the flexible solar panels together. In this process, assembly difficulties are often encountered. That is, when aligning the edges of two solar panels and using a connecting piece to connect these two edges, due to the flexible structure of such solar panels, the solar panels are extremely prone to deformation during the alignment and docking process using the connecting piece. On the one hand, there is a high probability of damaging the solar panels. On the other hand, it will cause deformation and deviation of the two edges, ultimately resulting in the problem of docking deviation. Summary of the Invention

[0003] The present invention provides a device and method for docking solar panels, which can avoid deformation, wrinkles, etc. of the solar panels during the docking process, improve the docking accuracy, ensure the connection strength between the assembled solar panels, and improve the docking efficiency.

[0004] To achieve the above object, the technical solutions adopted by the present invention are as follows: The present invention discloses a device for docking solar panels, including a truncated pressing mechanism, a reciprocating vertical conveying mechanism, two horizontal guide rails, two first vertical cylinders, and two disc-shaped mounting seats. The two horizontal guide rails are arranged side by side. Linear sliders are respectively installed on the two horizontal guide rails. The lower end of each linear slider is connected to the corresponding first vertical cylinder. The lower ends of the two first vertical cylinders are respectively connected to the two disc-shaped mounting seats one by one. An elastic outer support type grasping mechanism is installed on each disc-shaped mounting seat. The truncated pressing mechanism is arranged below the two elastic outer support type grasping mechanisms. The splicing part of the two spliced solar panels is located inside the truncated pressing mechanism. The reciprocating vertical conveying mechanism is located below the truncated pressing mechanism. Multiple vertical continuous rods respectively pass through the reciprocating vertical conveying mechanism, the truncated pressing mechanism, and the splicing part of the two solar panels in sequence along the vertical direction.

[0005] Further, the disc-shaped mounting base includes a disc-shaped seat body with a adapter constructed at the center of the upper end. A plurality of arc-shaped adjustment holes are evenly formed in the circumferential direction of the disc-shaped seat body. Each of the arc-shaped adjustment holes extends in an arc along the circumferential direction of the disc-shaped seat body. The elastic outer support type grasping mechanism is detachably connected to the disc-shaped seat body through these arc-shaped adjustment holes.

[0006] Further, the elastic outer support type grasping mechanism includes a plurality of rod-shaped grasping units arranged at intervals along the circumferential direction of the disc-shaped seat body. Each of the rod-shaped grasping units is detachably connected to the disc-shaped seat body through a corresponding arc-shaped adjustment hole. The rod-shaped grasping unit includes a connecting rod detachably connected to the disc-shaped seat body. A length-adjustable elastic support rod is connected to the lower end of the connecting rod. A suction cup assembly is connected to the lower end of the length-adjustable elastic support rod.

[0007] Further, the upper end of the connecting rod passes through the corresponding arc-shaped adjustment hole. A first locking nut is threadedly connected to the connecting rod. A first connecting ear is constructed at the lower end of the connecting rod. A second connecting ear is constructed at the upper end of the length-adjustable elastic support rod. The first connecting ear and the second connecting ear are connected by a first connecting screw. A first connecting nut is threadedly connected to the first connecting screw.

[0008] Further, the length-adjustable elastic support rod includes a connecting pipe, an adjusting screw rod and a movable rod. The lower end of the adjusting screw rod extends into the upper end of the connecting pipe and is threadedly connected to the connecting pipe. The upper end of the movable rod movably extends into the lower end of the connecting pipe. The upper end of the movable rod is connected with a fixed plug through a connecting spring. One ends of two locking bolts are respectively threadedly connected to the fixed plug through the connecting pipe. A first air duct is communicated with the connecting pipe at the lower end of the fixed plug. A third connecting ear is constructed at the lower end of the movable rod. A fourth connecting ear is constructed at the upper end of the suction cup assembly. The third connecting ear and the fourth connecting ear are connected by a second connecting screw. A second connecting nut is threadedly connected to the second connecting screw.

[0009] Further, the truncated pressing mechanism includes an upper pressing body and a lower truncated pressing body arranged at intervals in the vertical direction. First double-acting hydraulic components are respectively connected to both ends of the lower truncated pressing body. The upper pressing body and the lower truncated pressing body are connected by two second double-acting hydraulic components.

[0010] Further, the lower truncated pressing body includes a middle truncated part and two side truncated parts. Both ends of the middle truncated part are respectively connected to the two first double-acting hydraulic components. The two side truncated parts are symmetrically arranged on both sides of the middle truncated part. A plurality of first pressing half bowls are constructed on each side of the middle truncated part. These first pressing half bowls are arranged at intervals along the length direction of the middle truncated part. A first conduction half hole extending out of the lower end surface of the middle truncated part is arranged below each of the first pressing half bowls. A first truncation edge is formed between the first pressing half bowl and the first conduction half hole; Furthermore, on the side of each of the side truncation portions close to the middle truncation portion and at positions corresponding to the first press-fitting half bowls, second press-fitting half bowls are constructed. Below each of the second press-fitting half bowls, second conduction half holes extending out of the lower end surface of the side truncation portions are provided. A second truncation edge is formed between the second press-fitting half bowls and the second conduction half holes. Two output ends of the first two-way hydraulic member are respectively connected to the two side truncation portions.

[0011] Furthermore, the reciprocating vertical conveying mechanism includes two pneumatic clamping units arranged at intervals in the vertical direction. Each vertical continuous rod passes through the two pneumatic clamping units in the vertical direction. Two second vertical cylinders are symmetrically arranged on both sides of the two pneumatic clamping units. The upper and lower ends of each of the second vertical cylinders are respectively connected to the two pneumatic clamping units.

[0012] The present invention also discloses a method of using the above-described device for solar panel docking, including the following steps: Step 1. According to the model of the solar panel to be docked, adjust the forms of the two elastic outer support type grasping mechanisms so that the elastic outer support type grasping mechanisms are adapted to the taking of the solar panel. Step 2. Control the two linear slides to act, and control the two first vertical cylinders to act, so as to take two solar panels and convey them to the truncation type press-fitting mechanism. Step 3. Control the reciprocating vertical conveying mechanism to act, and synchronously convey the multiple vertical continuous rods upward by a predetermined length, so that the upper ends of these vertical continuous rods all extend out through the splicing portion of the two solar panels. Step 4. Control the truncation type press-fitting mechanism to synchronously truncate the parts of the multiple vertical continuous rods located below the solar panels. Step 5. Control the truncation type press-fitting mechanism to press-fit the two ends of each truncated vertical continuous rod, so that the vertical continuous rods rivet the splicing portion of the solar panels. Step 6. After completing the press-fitting operation, control the two elastic outer support type grasping mechanisms to take the two riveted solar panels, and then control the two first vertical cylinders and the two linear slides to act, and convey the two riveted solar panels to the discharging area. Step 7. Repeat Step 2 - Step 6 for continuous operation.

[0013] Due to the adoption of the above structure, the technical progress achieved by the present invention compared with the prior art lies in that: the present invention can adjust the forms of the two elastic outrigger grabbing mechanisms respectively according to parameters such as the shape, size, and model of the solar panel, so that when the elastic outrigger grabbing mechanism grabs the solar panel, the elastic outrigger grabbing mechanism synchronously grabs each corner of the solar panel. The present invention makes the linear slide move on the horizontal guide rail, so that it drives the elastic outrigger grabbing mechanism to switch between the loading station, the docking station, and the unloading station through the first vertical cylinder and the disc-shaped mounting seat. Moreover, when docking operations are required at the docking station (where the solar panel is located at the position of the truncated pressing mechanism), the elastic outrigger grabbing mechanism grabs each corner of the solar panel and elastically expands outwards, so that the solar panel is always in an elastically tensioned state during the assembly and docking processes, and further enables the external force received during docking to be transmitted to the solar panel without causing deformation, deflection, or wrinkles of the solar panel. And the present invention adopts a reciprocating vertical conveying mechanism to perform synchronous step feeding on multiple vertical continuous rods, so that the upper ends of the vertical continuous rods pass through the splicing positions of the two solar panels; then a truncated pressing mechanism is used to synchronously truncate the multiple vertical continuous rods, and then the truncated vertical continuous rods are pressed, so that the vertical continuous rods are riveted at the splicing positions of the two solar panels, and finally the purpose of assembling and docking the solar panels is completed. To sum up, during the docking process of the solar panels, the present invention avoids situations such as deformation and wrinkles of the solar panels, improves the accuracy of assembly and docking, ensures the connection strength between the assembled solar panels, and improves the efficiency of assembly and docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention.

[0015] In the drawings: Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a front view of the structure of an embodiment of the present invention; Figure 3 is a schematic structural diagram of the connection of the horizontal guide rail, the linear slide, the first vertical cylinder, the disc-shaped mounting seat, and the elastic outrigger grabbing mechanism in an embodiment of the present invention; Figure 4 is a schematic structural diagram of the disc-shaped mounting seat in an embodiment of the present invention; Figure 5 is an axial structural sectional view of the disc-shaped mounting seat in an embodiment of the present invention; Figure 6Schematic diagram of the connection between a single rod-shaped grasping unit and a disc-shaped mounting seat in the elastic outer support type grasping mechanism according to an embodiment of the present invention; Figure 7 Axial structure sectional view of the rod-shaped grasping unit according to an embodiment of the present invention; Figure 8 Exploded view of the structure of the rod-shaped grasping unit according to an embodiment of the present invention; Figure 9 Schematic diagram of the structure of another form of the rod-shaped grasping unit according to an embodiment of the present invention; Figure 10 Schematic diagram of the corresponding arrangement of the truncated pressing mechanism, the reciprocating vertical conveying mechanism, two solar panels to be spliced, and multiple vertical continuous rods according to an embodiment of the present invention; Figure 11 For Figure 10 Schematic diagram of the structure shown from another angle; Figure 12 For Figure 10 Front view of the structure shown; Figure 13 Schematic diagram of the corresponding arrangement of two solar panels to be spliced and multiple vertical continuous rods according to an embodiment of the present invention; Figure 14 Schematic diagram of the corresponding arrangement of the truncated pressing mechanism and multiple vertical continuous rods according to an embodiment of the present invention; Figure 15 Schematic diagram of the upper pressing body in the truncated pressing mechanism according to an embodiment of the present invention; Figure 16 Schematic diagram of the split structure of the lower truncated pressing body in the truncated pressing mechanism according to an embodiment of the present invention; Figure 17 Sectional view of the structure of the lower truncated pressing body in the closed state according to an embodiment of the present invention; Figure 18 Schematic diagram of the first two-way hydraulic component according to an embodiment of the present invention; Figure 19 Axial structure sectional view of the first two-way hydraulic component according to an embodiment of the present invention; Figure 20 Schematic diagram of the corresponding arrangement of the reciprocating vertical conveying mechanism and multiple vertical continuous rods according to an embodiment of the present invention; Figure 21 Sectional view of the structure of the pneumatic clamping unit in the reciprocating vertical conveying mechanism according to an embodiment of the present invention.

[0016] Labeled components: 100 - horizontal guide rail, 200 - linear slide, 300 - first vertical cylinder, 400 - disc-shaped mounting base, 401 - disc-shaped seat body, 402 - adapter, 403 - arc-shaped adjustment hole, 404 - connecting column, 405 - air guide head, 406 - first transfer pipe, 407 - second transfer pipe, 408 - second air guide joint, 409 - first air guide joint, 410 - first air guide cavity, 411 - second air guide cavity, 412 - second air guide channel, 413 - first air guide channel, 500 - elastic outer support type grasping mechanism, 501 - connecting rod, 502 - first locking nut, 503 - first connecting ear, 504 - adjusting screw rod, 505 - second connecting ear, 506 - first connecting screw, 507 - first connecting nut, 508 - connecting pipe, 509 - second locking nut, 510 - movable rod, 511 - connecting spring, 512 - fixed plug, 513 - third connecting ear, 514 - locking bolt, 515 - first air guide pipe, 516 - assembly pipe, 517 - fourth connecting ear, 518 - second connecting screw, 519 - second connecting nut, 520 - second air guide pipe, 521 - suction pipe, 522 - suction cup body, 523 - third locking nut, 600 - truncated pressing mechanism, 601 - upper pressing body, 6011 - strip-shaped pressing part, 6012 - pressing groove, 6013 - connecting wing, 602 - second two-way hydraulic part, 603 - lower truncated pressing body, 6031 - middle truncated part, 6032 - first pressing half bowl, 6033 - first conducting half hole, 6034 - first truncation edge, 6035 - side truncated part, 6036 - second pressing half bowl, 6037 - second conducting half hole, 6038 - second truncation edge, 6039 - heat insulation layer, 604 - first two-way hydraulic part, 6041 - hydraulic cylinder sleeve, 6042 - hydraulic piston, 6043 - hydraulic rod, 6044 - first hydraulic cavity, 6045 - second hydraulic cavity, 6046 - first hydraulic joint pipe, 6047 - second hydraulic joint pipe, 6048 - adapter seat, 6049 - hydraulic joint, 700 - reciprocating vertical conveying mechanism, 701 - strip-shaped clamping seat, 702 - second vertical cylinder, 703 - assembly ear, 704 - fixed ear, 705 - air guide hose, 706 - through hole, 707 - elastic tightening sleeve, 708 - tightening opening, 709 - inflation cavity, 800 - vertical continuous rod, 900 - solar panel, 901 - panel body, 902 - first fixing edge, 903 - second fixing edge, 904 - riveting hole. Detailed implementation

[0017] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present invention and are not used to limit the present invention.

[0018] The present invention discloses a device for docking solar panels, such asFigure 1-21As shown in the figure, it includes a truncated pressing mechanism 600, a reciprocating vertical conveying mechanism 700, two horizontal guide rails 100, two first vertical cylinders 300 and two disc-shaped mounting seats 400. Among them, the two horizontal guide rails 100 are arranged side by side. Linear sliders 200 are respectively installed on these two horizontal guide rails 100. The lower ends of the two linear sliders 200 correspond to and are connected to the upper ends of the two first vertical cylinders 300 one by one. The lower ends of the two first vertical cylinders 300 correspond to and are connected to the two disc-shaped mounting seats 400 one by one. In the present invention, an elastic outer support type grasping mechanism 500 is installed on each disc-shaped mounting seat 400. The above-mentioned truncated pressing mechanism 600 is arranged below the two elastic outer support type grasping mechanisms 500. The splicing position of the two spliced solar panels 900 is located within the truncated pressing mechanism 600. The reciprocating vertical conveying mechanism 700 is located below the truncated pressing mechanism 600. Multiple vertical continuous rods 800 are arranged side by side, and each vertical continuous rod 800 sequentially passes through the reciprocating vertical conveying mechanism 700, the truncated pressing mechanism 600 and the splicing position of the two solar panels 900 in the vertical direction. The working principle and advantages of the present invention are as follows: The present invention can adjust the forms of the two elastic outer support type grasping mechanisms 500 respectively according to parameters such as the shape, size, and model of the solar panel 900, so that when the elastic outer support type grasping mechanism 500 grasps the solar panel 900, the elastic outer support type grasping mechanism 500 synchronously grasps the respective corners of the solar panel 900. The present invention makes the linear slider 200 move on the horizontal guide rail 100, so that it drives the elastic outer support type grasping mechanism 500 to switch between the loading station, the docking station and the unloading station through the first vertical cylinder 300 and the disc-shaped mounting seat 400. Moreover, when docking operation is required at the docking station (the position where the solar panel 900 is located in the truncated pressing mechanism 600), the elastic outer support type grasping mechanism 500 grasps the respective corners of the solar panel 900 and elastically expands outwards, so that the solar panel 900 is always in an elastically tensioned state during the assembly and docking process, and further makes the external force received during docking be transmitted to the solar panel 900, without causing deformation, deflection or wrinkles of the solar panel 900. And the present invention adopts the reciprocating vertical conveying mechanism 700 to perform synchronous step feeding on the multiple vertical continuous rods 800, so that the upper ends of the vertical continuous rods 800 pass through the splicing position of the two solar panels 900; then the truncated pressing mechanism 600 is adopted to synchronously truncate the multiple vertical continuous rods 800, and then, the truncated vertical continuous rods 800 are pressed, so that the vertical continuous rods 800 are riveted at the splicing position of the two solar panels 900, and finally the purpose of assembling and docking the solar panel 900 is completed.In summary, during the docking process of the solar panel 900 of the present invention, deformation, wrinkling, etc. of the solar panel 900 are avoided, the accuracy of assembly and docking is improved, the connection strength between the assembled solar panels 900 is ensured, and the efficiency of assembly and docking is also improved.

[0019] As a preferred embodiment of the present invention, as Figure 3-6 shown, the disc-shaped mounting seat 400 includes a disc-shaped seat body 401. At the center of the upper end of the disc-shaped seat body 401, a rotary joint 402 is constructed. The rotary joint 402 is used for detachably connecting with the lower end of the corresponding first vertical cylinder 300. A plurality of arc-shaped adjustment holes 403 are evenly formed on the disc-shaped seat body 401 along its circumferential direction. Each arc-shaped adjustment hole 403 extends in an arc along the circumferential direction of the disc-shaped seat body 401, and the elastic outer support type grasping mechanism 500 is detachably connected with the disc-shaped seat body 401 through these arc-shaped adjustment holes 403. The specific structure of the elastic outer support type grasping mechanism 500 in this embodiment is that the elastic outer support type grasping mechanism 500 includes a plurality of rod-shaped grasping units. These plurality of rod-shaped grasping units are arranged at intervals along the circumferential direction of the disc-shaped seat body 401. At least two of these arc-shaped adjustment holes 403 are connected with rod-shaped grasping units, and the number of rod-shaped grasping units installed in each arc-shaped adjustment hole 403 is at least one. The upper end of each rod-shaped grasping unit extends out of the corresponding arc-shaped adjustment hole 403 and then is detachably connected with the disc-shaped seat body 401. The rod-shaped grasping unit in this embodiment includes a connecting rod 501, an adjustable-length elastic support rod, and a suction cup assembly. The connecting rod 501 is detachably connected with the disc-shaped seat body 401. The adjustable-length elastic support rod is connected to the lower end of the connecting rod 501. The suction cup assembly is connected to the lower end of the adjustable-length elastic support rod. The working principle and advantages of this embodiment are as follows: In this embodiment, by adjusting the position of the rod-shaped grasping unit at the corresponding arc-shaped adjustment hole 403, and adjusting the attitude and length of the rod-shaped grasping unit, each suction cup assembly grasps the corresponding corner of the solar panel 900; thus, it can be seen that this embodiment can grasp and tension solar panels 900 of different models, sizes, and shapes, improving its adaptability. Moreover, due to the setting of the adjustable-length elastic support rod in the rod-shaped grasping unit, not only can the length be adjusted, but also it can elastically expand and contract. While elastically tensioning the solar panel 900, it will elastically expand and contract to a certain extent when subjected to an external force, and can absorb energy and buffer the external force, avoiding damage to the solar panel 900.

[0020] As a preferred embodiment of the present invention, as Figure 6-9As shown, the upper end of the connecting rod 501 passes through the corresponding arc-shaped adjusting hole 403. A first locking nut 502 is threadedly connected to the connecting rod 501. A first connecting ear 503 is formed at the lower end of the connecting rod 501. The upper end surface of the first connecting ear 503 abuts against the lower end surface of the disc-shaped seat body 401. The first locking nut 502 is tightened on the upper end surface of the disc-shaped seat body 401. In this embodiment, a second connecting ear 505 is formed at the upper end of the adjustable-length elastic support rod. The first connecting ear 503 and the second connecting ear 505 are connected by a first connecting screw 506. A first connecting nut 507 is threadedly connected to the first connecting screw 506. After the angle between the connecting rod 501 and the adjustable-length elastic support rod is adjusted, by tightening the first connecting nut 507, the relative position between the connecting rod 501 and the adjustable-length elastic support rod is locked. The adjustable-length elastic support rod of this embodiment includes a connecting pipe 508, an adjusting screw rod 504 and a movable rod 510. The upper end of the adjusting screw rod 504 is fixed to the second connecting ear 505. The lower end of the adjusting screw rod 504 extends into the connecting pipe 508 from the upper end of the connecting pipe 508, and the adjusting screw rod 504 is threadedly connected to the connecting pipe 508. A second locking nut 509 is threadedly connected to the adjusting screw rod 504. The second locking nut 509 is locked on the upper end surface of the connecting pipe 508. The upper end of the movable rod 510 of this embodiment movably extends into the connecting pipe 508 from the lower end of the connecting pipe 508. A connecting spring 511 coaxial with its axis is installed at the upper end of the movable rod 510. One end of the connecting spring 511 away from the movable rod 510 is connected with a fixed plug 512. Both the connecting spring 511 and the fixed plug 512 are located inside the connecting pipe 508. After the fixed plug 512 extends into a predetermined position of the connecting pipe 508, two locking bolts 514 are used to connect and fix the connecting pipe 508 and the fixed plug 512, that is, one end of each locking bolt 514 extends into the connecting pipe 508 along the radial direction of the connecting pipe 508, and this end of the locking bolt 514 is threadedly connected to the fixed plug 512. A first air duct 515 is communicated with the connecting pipe 508 and is located at the lower end of the fixed plug 512. A third connecting ear 513 is formed at the lower end of the movable rod 510. The suction cup assembly of this embodiment includes an assembly pipe 516, a suction pipe 521 and a suction cup body 522. The lower end of the suction pipe 521 is coaxially and fixedly connected to the suction cup body 522. The upper end of the suction pipe 521 is threadedly connected inside the lower end of the assembly pipe 516. A third locking nut 523 is threadedly connected to the suction pipe 521. The third locking nut 523 is tightened on the lower end surface of the assembly pipe 516. A second air duct 520 is communicated with the assembly pipe 516. The second air duct 520 is communicated with the suction cup body 522 through the suction pipe 521. A fourth connecting ear 517 is formed at the upper end of the assembly pipe 516. The third connecting ear 513 and the fourth connecting ear 517 are connected by a second connecting screw 518. A second connecting nut 519 is threadedly connected to the second connecting screw 518.After the angle between the suction cup assembly and the telescopic elastic support rod is adjusted, by tightening the second connection nut 519, the relative position between the suction cup assembly and the telescopic elastic support rod is locked. Generally, regardless of the inclination angle of the telescopic elastic support rod after adjustment, the connecting rod 501 and the suction cup assembly are in a vertical state. In this embodiment, a connecting column 404 is constructed at the lower end of the disc-shaped seat body 401, a gas guiding head 405 is constructed at the lower end of the connecting column 404, and mutually independent first gas guiding chambers 410 and second gas guiding chambers 411 are constructed in the gas guiding head 405. A plurality of first adapter pipes 406 and a plurality of second adapter pipes 407 are constructed on the gas guiding head 405. Each first adapter pipe 406 communicates with the first gas guiding chamber 410, and each second adapter pipe 407 communicates with the second gas guiding chamber 411. Each first adapter pipe 406 communicates with a corresponding first gas guiding pipe 515, and each second adapter pipe 407 communicates with a corresponding second gas guiding pipe 520. Mutually independent first gas guiding channels 413 and second gas guiding channels 412 are provided in the connecting column 404. A first gas guiding joint 409 and a second gas guiding joint 408 are constructed on the connecting column 404. The two ends of the first gas guiding channel 413 communicate with the first gas guiding joint 409 and the first gas guiding chamber 410 respectively, and the two ends of the second gas guiding channel 412 communicate with the second gas guiding joint 408 and the second gas guiding chamber 411 respectively. The working principle and advantages of this embodiment are as follows: In this embodiment, by loosening the first connection nut 507 and the second connection nut 519, the angles between the connecting rod 501 and the telescopic elastic support rod and between the telescopic elastic support rod and the suction cup assembly can be adjusted, so that the corresponding corners of the suction cup assembly and the solar panel 900 are aligned. Then, the first connection nut 507 and the second connection nut 519 are tightened; then, the length of the telescopic elastic support rod is adjusted so that the suction cup bodies 522 of all the suction cup assemblies are on the same horizontal plane. Generally, after adjustment, the telescopic elastic support rod is in a state of being inclined and spreading outwards. Before taking the solar panel 900, by sucking air into the first gas guiding pipe 515, in this way, under the action of the suction force, the movable rod 510 gradually extends into the connecting pipe 508 for a certain distance, and the connecting spring 511 is gradually compressed; then, by sucking air into the second gas guiding pipe 520, the suction cup body 522 firmly sucks the corresponding corner of the solar panel 900; then, by controlling the telescopic first vertical cylinder 300 and cooperating with the rotational movement of the linear slide 200, the solar panel 900 is transferred to the docking station. At this time, the suction of the first gas guiding pipe 515 is released, and under the action of the connecting spring 511, the movable rod 510 drives the suction cup assembly to elastically expand outwards, so that the solar panel 900 is elastically tensioned, thus ensuring the smooth progress of assembly and docking.

[0021] As a preferred embodiment of the present invention, as Figure 10 、 13As shown, the solar panel 900 includes a flexible panel body 901. On both sides of the panel body 901, a first fixing edge 902 and a second fixing edge 903 are respectively formed. A plurality of riveting holes 904 are respectively formed on the first fixing edge 902 and the second fixing edge 903. When two panel bodies 901 are docked with each other, the first fixing edge 902 and the second fixing edge 903 overlap vertically, and the riveting holes 904 of the two are aligned one by one. The upper end of the vertical continuous rod 800 passes through the two aligned riveting holes 904.

[0022] As a preferred embodiment of the present invention, as Figure 11-19As shown in the figure, the truncated pressing mechanism 600 includes an upper pressing body 601, a lower truncated pressing body 603, two first two-way hydraulic components 604, and two second two-way hydraulic components 602. Among them, the upper pressing body 601 and the lower truncated pressing body 603 are arranged at intervals downward in the vertical direction. The two first two-way hydraulic components 604 are respectively connected to both ends of the lower truncated pressing body 603 for controlling the opening and closing of the lower truncated pressing body 603. The two second two-way hydraulic components 602 are respectively arranged on both sides of the upper pressing body 601. Each second two-way hydraulic component 602 is vertically arranged, and the two output ends of the second two-way hydraulic component 602 are respectively connected to the upper pressing body 601 and the lower truncated pressing body 603. The structures of the first two-way hydraulic component 604 and the second two-way hydraulic component 602 in this embodiment are the same. Taking the first two-way hydraulic component 604 as an example, the first two-way hydraulic component 604 includes a hydraulic cylinder sleeve 6041, two hydraulic pistons 6042, and two hydraulic rods 6043. The two hydraulic pistons 6042 are symmetrically assembled in the hydraulic cylinder sleeve 6041. The two hydraulic rods 6043 are respectively connected to the ends of the two hydraulic pistons 6042 that are away from each other. Moreover, the axes of the hydraulic cylinder sleeve 6041, the hydraulic pistons 6042, and the hydraulic rods 6043 coincide. A first hydraulic chamber 6044 is formed in the hydraulic cylinder sleeve 6041 and between the two hydraulic pistons 6042. A second hydraulic chamber 6045 is formed on the side of the hydraulic piston 6042 away from the first hydraulic chamber 6044. A first hydraulic joint 6049 tube 6046 and two second hydraulic joint 6049 tubes 6047 are constructed on the hydraulic cylinder sleeve 6041. The first hydraulic joint 6049 tube 6046 is communicated with the first hydraulic chamber 6044. One end of each of the two second hydraulic joint 6049 tubes 6047 is communicated with one of the two second hydraulic chambers 6045, and the other ends of the two second hydraulic joint 6049 tubes 6047 are both communicated with the hydraulic joint 6049. When hydraulic oil enters the first hydraulic chamber 6044 and the hydraulic oil in the two second hydraulic chambers 6045 is discharged, the two hydraulic rods 6043 gradually extend outwards; conversely, the two hydraulic rods 6043 gradually retract. A transfer seat 6048 is constructed on the hydraulic cylinder sleeve 6041. The transfer seat 6048 is used to fix the hydraulic cylinder sleeve 6041. The downwardly extending output end (hydraulic rod 6043) of the second two-way hydraulic component 602 is connected to the transfer seat 6048 on the first two-way hydraulic component 604. The specific structure of the upper pressing body 601 in this embodiment is that the upper pressing body 601 includes a strip-shaped pressing part 6011. A plurality of pressing grooves 6012 are constructed on the lower end surface of the strip-shaped pressing part 6011, and each pressing groove 6012 is aligned with the upper end of the corresponding vertical continuous rod 800. Connection wings 6013 are respectively constructed on both sides of the strip-shaped pressing part 6011. One output end of the second two-way hydraulic component 602 is connected to the corresponding connection wing 6013.Under this embodiment, the specific structure of the lower truncated press body 603 is that the lower truncated press body 603 includes a middle truncated part 6031 and two side truncated parts 6035. Among them, both ends of the middle truncated part 6031 are respectively connected to the hydraulic cylinder sleeves 6041 of two first two-way hydraulic components 604. The two side truncated parts 6035 are symmetrically arranged on both sides of the middle truncated part 6031. A plurality of first press half bowls 6032 are constructed on each side of the middle truncated part 6031. These first press half bowls 6032 are arranged at intervals along the length direction of the middle truncated part 6031. Below each first press half bowl 6032, there is a first conduction half hole 6033 extending out of the lower end face of the middle truncated part 6031. A first truncation edge 6034 is formed between the first press half bowl 6032 and the first conduction half hole 6033. In this embodiment, on the side of each side truncated part 6035 close to the middle truncated part 6031 and at a position corresponding to each first press half bowl 6032, a second press half bowl 6036 is constructed. Below each second press half bowl 6036, there is a second conduction half hole 6037. The lower end of the second conduction half hole 6037 extends out of the lower end face of the side truncated part 6035. A second truncation edge 6038 is formed between the second press half bowl 6036 and the second conduction half hole 6037. The two output ends of the first two-way hydraulic component 604 are respectively connected to the two side truncated parts 6035. Moreover, a heat insulation layer 6039 is respectively constructed on the inner walls of the first conduction half hole 6033 and the second conduction half hole 6037. The working principle and advantages of this embodiment are as follows: When driving the two first two-way hydraulic components 604 to move outward synchronously, the two side truncated parts 6035 move away from the middle truncated part 6031, so that the first truncation edge 6034 and the second truncation edge 6038 are separated. At the same time, the first press half bowl 6032 and the second press half bowl 6036 are separated, and the first conduction half hole 6033 and the second conduction half hole 6037 are opened. At this time, control the reciprocating vertical conveying mechanism 700 to perform a synchronous upward stepping movement on multiple vertical continuous rods 800, so that the upper ends of each vertical continuous rod 800 pass through the aligned riveting holes 904; then, control the first two-way hydraulic component 604 to move inward synchronously, and the two side truncated parts 6035 move towards the middle truncated part 6031 and close to each other. In this way, the first truncation edge 6034 and the second truncation edge 6038 truncate the vertical continuous rod 800. After truncation, control the two first two-way hydraulic components 604 to move synchronously, so that the upper press body 601 and the lower truncated press body 603 approach each other. Furthermore, the two ends of the truncated vertical continuous rod 800 are pressed by the two, so that the two ends of the vertical continuous rod 800 are pressed and deformed and riveted at the docking position of the two solar panels 900.The vertical continuous rod 800 in this embodiment is generally made of metal, or can also be made of high-strength heat-meltable polyethylene material. By heating the upper press-fitting body 601 and the lower truncated press-fitting body 603, when the cutting is completed and the press-fitting operation is carried out, both ends of the vertical continuous rod 800 are gradually melted during the press-fitting process and finally riveted at the docking part of the two solar panels 900. The heat for melting the vertical continuous rod 800 is higher than the heat it receives in outer space, so as to avoid the situation that in outer space, too much heat is absorbed and the connection to the solar panel 900 is released.

[0023] As a preferred embodiment of the present invention, such as Figure 20 , 21As shown, the reciprocating vertical conveying mechanism 700 includes two pneumatic clamping units, which are arranged at intervals in the vertical direction. Each vertical continuous rod 800 passes through the two pneumatic clamping units in the vertical direction. The two second vertical cylinders 702 are symmetrically arranged on both sides of the two pneumatic clamping units. The upper and lower ends of each second vertical cylinder 702 are respectively connected to the two pneumatic clamping units. The specific structure of the pneumatic clamping unit in this embodiment is that the pneumatic clamping unit includes a strip-shaped clamping seat 701. Two assembly ears 703 are symmetrically constructed in the middle of the strip-shaped clamping seat 701. The upper and lower ends of the second vertical cylinder 702 are respectively connected to two corresponding assembly ears 703 on the two strip-shaped clamping seats 701. Fixed ears 704 are respectively constructed at both ends of the strip-shaped clamping seat 701 located below, and the fixed ears 704 are fixedly connected to the frame. A plurality of guide through holes 706 are arranged at intervals on the strip-shaped clamping seat 701. These guide through holes 706 are arranged in one-to-one correspondence with multiple vertical continuous rods 800. Each guide through hole 706 penetrates the strip-shaped clamping seat 701 in the vertical direction, and each vertical continuous rod 800 passes through the corresponding guide through hole 706. An elastic tightening sleeve 707 is fixed in the strip-shaped clamping seat 701 and at the middle of each guide through hole 706. The elastic tightening sleeve 707 coincides with the axis of the corresponding guide through hole 706, and a tightening opening 708 is formed in the elastic tightening sleeve 707. An inflation cavity 709 is formed in the strip-shaped clamping seat 701. The elastic tightening sleeve 707 communicates with the inflation cavity 709, and the elastic tightening sleeve 707 isolates the inflation cavity 709 from the outside. A gas guide hose 705 is installed on the strip-shaped clamping seat 701, and the gas guide hose 705 communicates with the inflation cavity 709. In this way, by inflating and exhausting the inflation cavity 709 through the gas guide hose 705, the elastic tightening sleeve 707 tightens the vertical continuous rod 800, or the elastic tightening sleeve 707 releases the tightening of the vertical continuous rod 800. In this embodiment, by controlling the pneumatic clamping unit located above to tighten the vertical continuous rod 800, controlling the pneumatic clamping unit located below to release the tightening of the vertical continuous rod 800, and then controlling the two second vertical cylinders 702 to extend upward synchronously, the pneumatic clamping unit located above drives the vertical continuous rod 800 to step upward a predetermined distance; after completion, controlling the pneumatic clamping unit located below to tighten the vertical continuous rod 800, then controlling the pneumatic clamping unit located above to release the tightening of the vertical continuous rod 800, and controlling the two second vertical cylinders 702 to retract downward synchronously, so that the pneumatic clamping unit located above returns to its position for the next stepping operation, thereby achieving the purpose of step-by-step conveying of the vertical continuous rod 800.

[0024] The present invention also discloses a method of using the above device for solar panel docking, including the following steps: Step 1. According to the model of the solar panel 900 to be docked, adjust the forms of the two elastic outrigger gripping mechanisms 500 so that the elastic outrigger gripping mechanisms 500 are adapted to the picking of the solar panel 900. Step 2. Control the actions of the two linear sliders 200 and control the actions of the two first vertical cylinders 300 to pick up two solar panels 900 and convey them to the cut-off pressing mechanism 600. Step 3. Control the action of the reciprocating vertical conveying mechanism 700 to synchronously convey multiple vertical continuous rods 800 upward by a predetermined length so that the upper ends of these vertical continuous rods 800 all extend out through the splicing joints of the two solar panels 900. Step 4. Control the cut-off pressing mechanism 600 to synchronously cut off the parts of the multiple vertical continuous rods 800 located below the solar panels 900. Step 5. Control the cut-off pressing mechanism 600 to press the two ends of each cut-off vertical continuous rod 800 so that the vertical continuous rod 800 rivets the splicing joints of the solar panels 900. Step 6. After completing the pressing operation, control the two elastic outrigger gripping mechanisms 500 to pick up the two riveted solar panels 900, and then control the actions of the two first vertical cylinders 300 and the two linear sliders 200 to convey the two riveted solar panels 900 to the discharging area. Step 7. Repeat Steps 2 - 6 for continuous operation.

[0025] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A device for docking solar panels, characterized in that: It includes a truncated pressing mechanism, a reciprocating vertical conveying mechanism, two horizontal guide rails, two first vertical cylinders and two disc-shaped mounting seats. The two horizontal guide rails are arranged side by side, and linear slides are respectively installed on the two horizontal guide rails. The lower end of each linear slide is connected to the corresponding first vertical cylinder, and the lower ends of the two first vertical cylinders are respectively connected to the two disc-shaped mounting seats one by one. An elastic external support type grasping mechanism is installed on each of the disc-shaped mounting seats. The truncated pressing mechanism is arranged below the two elastic external support type grasping mechanisms. The splicing part of two mutually spliced ​​solar panels is located in the truncated pressing mechanism. The reciprocating vertical conveying mechanism is located below the truncated pressing mechanism. A plurality of vertical continuous rods respectively pass through the reciprocating vertical conveying mechanism, the truncated pressing mechanism and the splicing part of the two solar panels in the vertical direction in sequence.

2. The device for solar panels docking according to claim 1, characterized in that: The disc-shaped mounting seat includes a disc-shaped seat body with an adapter configured at the center of the upper end, and a plurality of arc-shaped adjustment holes are evenly opened on the disc-shaped seat body along its circumference, each of the arc-shaped adjustment holes extends in an arc shape along the circumference of the disc-shaped seat body, and the elastic external support grasping mechanism is detachably connected to the disc-shaped seat body via these arc-shaped adjustment holes.

3. The device for solar panels docking according to claim 2, characterized in that: The elastic external support grabbing mechanism includes a plurality of rod-shaped grabbing units arranged at intervals along the circumference of the disc-shaped seat body, and each of the rod-shaped grabbing units is detachably connected to the disc-shaped seat body via a corresponding arc-shaped adjustment hole; the rod-shaped grabbing unit includes a connecting rod detachably connected to the disc-shaped seat body, an adjustable elastic support rod is connected to the lower end of the connecting rod, and a suction cup assembly is connected to the lower end of the adjustable elastic support rod.

4. The device for solar panels docking according to claim 3, characterized in that: The upper end of the connecting rod passes through the corresponding arc-shaped adjustment hole, and a first locking nut is threadedly connected to the connecting rod. A first connecting ear is constructed at the lower end of the connecting rod, and a second connecting ear is constructed at the upper end of the adjustable elastic support rod. The first connecting ear and the second connecting ear are connected by a first connecting screw, and a first connecting nut is threadedly connected to the first connecting screw.

5. The device for solar panel docking according to claim 3, characterized in that: The adjustable elastic support rod includes a connecting tube, an adjusting screw and a movable rod. The lower end of the adjusting screw extends into the upper end of the connecting tube and is threadedly connected to the connecting tube. The upper end of the movable rod movably extends into the lower end of the connecting tube, and the upper end of the movable rod is connected to a fixing plug through a connecting spring. One ends of two locking bolts are respectively threadedly connected to the fixing plug through the connecting tube. A first air guide pipe is connected to the connecting tube and at the lower end of the fixing plug. A third connecting ear is constructed at the lower end of the movable rod, and a fourth connecting ear is constructed at the upper end of the suction cup assembly. The third connecting ear and the fourth connecting ear are connected by a second connecting screw, and a second connecting nut is threadedly connected to the second connecting screw.

6. The device for solar panels docking according to claim 1, characterized in that: The truncated pressing mechanism comprises an upper pressing body and a lower truncated pressing body arranged at intervals along the vertical direction, first bidirectional hydraulic components are respectively connected to both ends of the lower truncated pressing body, and the upper pressing body and the lower truncated pressing body are connected via two second bidirectional hydraulic components.

7. The device for solar panels docking according to claim 6, characterized in that: The lower truncation type pressing body includes a middle truncation portion and two side truncation portions, the two ends of the middle truncation portion are respectively connected to two first bidirectional hydraulic parts, the two side truncation portions are symmetrically arranged on both sides of the middle truncation portion, and a plurality of first pressing half bowls are constructed on each side of the middle truncation portion, and these first pressing half bowls are arranged at intervals along the length direction of the middle truncation portion, and a first conducting half hole extending from the lower end surface of the middle truncation portion is arranged below each of the first pressing half bowls, and a first truncation edge is formed between the first pressing half bowl and the first conducting half hole.

8. The device for connecting solar panels according to claim 7, characterized in that: A second pressed half bowl is constructed on one side of each of the side truncation parts close to the middle truncation part and at a position corresponding to each first pressed half bowl, and a second conductive half hole extending from the lower end surface of the side truncation part is arranged below each of the second pressed half bowls, and a second truncation edge is formed between the second pressed half bowl and the second conductive half hole, and the two output ends of the first bidirectional hydraulic component are respectively connected to the two side truncation parts.

9. The device for solar panels docking according to claim 1, characterized in that: The reciprocating vertical conveying mechanism includes two pneumatic clamping units arranged at vertical intervals, each vertical continuous rod passes through the two pneumatic clamping units in the vertical direction, and two second vertical cylinders are symmetrically arranged on both sides of the two pneumatic clamping units, and the upper and lower ends of each of the second vertical cylinders are respectively connected to the two pneumatic clamping units.

10. A method for using the device for solar panel docking according to any one of claims 1 to 9, characterized in that: The steps include: Step 1. According to the model of the solar panel to be docked, adjust the shapes of the two elastic external support grabbing mechanisms so that the elastic external support grabbing mechanisms are suitable for picking up the solar panel; Step 2: Control the movement of the two linear slides and the movement of the two first vertical cylinders to pick up the two solar panels and transport them to the truncated pressing mechanism; Step 3. Control the reciprocating vertical conveying mechanism to synchronously convey the plurality of vertical continuous rods upward by a predetermined length, so that the upper ends of the vertical continuous rods extend through the joints of the two solar panels; Step 4. Control the truncation pressing mechanism to synchronously truncate the plurality of vertical continuous rods at the lower part of the solar panel; Step 5. Control the truncated pressing mechanism to press the two ends of each truncated vertical continuous rod, so that the vertical continuous rod is riveted to the joint of the solar panel; Step 6. After the pressing operation is completed, the two elastic external support grabbing mechanisms are controlled to pick up the two riveted solar panels, and then the two first vertical cylinders and the two linear slides are controlled to move to transport the two riveted solar panels to the discharge area; Step 7. Repeat steps 2 to 6 for continuous operation.

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