Automatic dismounting robot for fixing bolts of field photovoltaic panel

Abstract

The invention discloses an automatic dismounting robot for fixing bolts of a field photovoltaic panel. The automatic dismounting robot comprises a moving unit and a mounting box, and is provided with a liftable bolt dismounting unit. The bolt dismounting unit comprises a first connecting rod, a second connecting rod and a dismounting mechanism. The dismounting mechanism comprises a connecting box, a dismounting motor, a main shaft and a replaceable dismounting module, the main shaft is rotationally connected into the connecting box and is in transmission connection with the dismounting motor through a coupler, and the replaceable dismounting module is connected with the tail end of the main shaft through a quick dismounting structure. Wherein the dismounting module comprises a fixing rod coaxially fixed to the main shaft and a dismounting disc arranged at the bottom of the fixing rod, regular hexagonal notches distributed in an annular array mode are formed in the bottom face of the dismounting disc, elastic dismounting rods connected through springs are embedded in the notches, and all the dismounting rods define a self-adaptive clamping cavity matched with the head of the bolt. According to the technical scheme provided by the invention, the technical problems of insufficient positioning precision, poor adaptability, low operation efficiency and the like can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of special robots, and particularly to an automatic disassembly robot for fixing bolts of field photovoltaic panels. Background Art

[0002] Field photovoltaic panels are solar power generation devices installed in outdoor environments, which convert solar energy into electrical energy. They are usually installed in places with sufficient sunlight such as remote areas, deserts, grasslands or mountainous areas to supply power to the power grid or off-grid systems.

[0003] At present, a large number of bolts are used to fix the photovoltaic panel brackets in photovoltaic power stations. Traditional disassembly relies on manual operation, which has problems such as low efficiency, danger of working at heights, and poor environmental adaptability. Existing automated equipment has insufficient positioning accuracy during actual use. Due to bolt corrosion or dust accumulation, visual recognition deviation occurs, making it difficult to accurately position. At the same time, the disassembly tool cannot adapt to bolt heads with different degrees of wear, and is prone to slipping and damaging the threads.

[0004] The present invention systematically solves the above problems through modular design, multi-sensor fusion and intelligent control algorithms. Summary of the Invention

[0005] The main object of the present invention is to propose an automatic disassembly robot for fixing bolts of field photovoltaic panels, aiming to at least solve the technical problems such as insufficient positioning accuracy, poor adaptability, and low operation efficiency mentioned in the related art.

[0006] To achieve the above object, an automatic disassembly robot for fixing bolts of field photovoltaic panels proposed by the present invention includes:

[0007] A moving unit, including a box body and crawler mechanisms symmetrically arranged on both sides of the box body, and an installation panel is provided on the top of the box body;

[0008] An installation box, fixed on the installation panel, with a first connection part and a second connection part respectively provided on both sides thereof, and liftable bolt disassembly units are provided on both the first connection part and the second connection part;

[0009] The bolt disassembly unit includes:

[0010] A first connecting rod, vertically connected to the first connection part or the second connection part through a lifting mechanism;

[0011] A second connecting rod, horizontally slidably connected to the front end of the first connecting rod;

[0012] A disassembly mechanism, arranged at the end of the second connecting rod, including:

[0013] A connection box, fixed at the end of the second connecting rod;

[0014] Disassemble the motor and fix it on the top of the connection box;

[0015] The main shaft is rotatably connected inside the connection box and is drivingly connected to the disassembly motor through a coupling;

[0016] The replaceable disassembly module is connected to the end of the main shaft through a quick-release structure;

[0017] Among them, the disassembly module includes a fixing rod coaxially fixed with the main shaft, and a disassembly disc arranged at the bottom of the fixing rod. The bottom surface of the disassembly disc is provided with regular hexagon notches distributed in an annular array. Elastic disassembly rods connected by springs are embedded in the notches, and each disassembly rod encloses an adaptive clamping cavity adapted to the bolt head.

[0018] In an embodiment of the present invention, a synchronous lifting drive mechanism is provided inside the installation box, including:

[0019] A double-output shaft lifting motor, the double-output shafts of which are respectively connected to drive gears;

[0020] The symmetrically arranged first rack and second rack are respectively meshed with the drive gears;

[0021] The ends of the first rack and the second rack are respectively provided with limit blocks with inclined guiding surfaces, and the limit blocks are in contact transmission with the driving wheels on the lifting rods, and the lifting and lowering of the lifting rods are realized through the reciprocating movement of the racks.

[0022] In an embodiment of the present invention, two first connecting rods are symmetrically fixed on both sides of the lifting rod. A sliding rail is provided at the front end of the first connecting rod, and the second connecting rod forms a horizontal sliding pair with the sliding rail through a slider.

[0023] In an embodiment of the present invention, a ball screw driven by a servo motor is provided inside the sliding rail, and the slider is threadedly connected to the ball screw through a nut seat.

[0024] In an embodiment of the present invention, it further includes:

[0025] A protective shell, covering the outside of the box body and the installation box, and a binocular vision module with a cleaning function is provided on the front side thereof;

[0026] A supplementary light module, integrated in the front part of the protective shell; and

[0027] A foldable photovoltaic panel, hinged to the top of the protective shell.

[0028] In an embodiment of the present invention, the binocular vision module with a cleaning function includes:

[0029] A high-resolution industrial camera, which is equipped with a 6mm focal length anti-fouling coated lens, and

[0030] A wiper for the nano - oil - repellent coating, which is located outside the coated lens;

[0031] Among them, the wiper is driven by a linear motor to reciprocate along the lens surface.

[0032] In an embodiment of the present invention, a laser positioning module is provided at the bottom of the connection box, and the cross laser emitted by it coincides with the axis of the disassembly disk.

[0033] In an embodiment of the present invention, the optical positioning module includes:

[0034] A laser emitter, using a 650nm red dot laser module, whose optical axis is coaxially calibrated with the rotation axis of the disassembly disk; and

[0035] A calibration mechanism, including a gimbal adjustment bracket with adjustable angles;

[0036] Among them, the laser emission angle can be finely adjusted through a knob to compensate for mechanical assembly errors.

[0037] In an embodiment of the present invention, the disassembly disk can be replaced with a cleaning module, and the cleaning module includes rigid bristles distributed annularly and a negative pressure dust suction port provided in the middle.

[0038] In an embodiment of the present invention, it further includes:

[0039] A main control module, which is arranged inside the box body and integrated with a path planning algorithm and a bolt positioning algorithm;

[0040] A 5G communication module, electrically connected to the main control module;

[0041] An emergency power supply, which constitutes a composite power supply system with the photovoltaic panel.

[0042] In summary, the present invention discloses an automatic disassembly robot for fixing bolts of field photovoltaic panels, which realizes millimeter - level precise positioning through laser positioning and multi - sensor fusion, and can adapt to worn bolts of multiple sizes in combination with an elastic adaptive clamping mechanism; adopts a modular design to support the integrated operation of disassembly and cleaning, which can effectively improve the use efficiency, and is equipped with a protective shell, an automatic wiper cleaning system and a foldable photovoltaic panel, and can operate stably in complex wide - temperature ranges and sandy or rainy environments; integrates 5G remote control and a composite power supply system to achieve long - term battery life for off - grid operation, effectively reduce the operation and maintenance costs, and significantly improve the intelligence and safety of field photovoltaic power station operation and maintenance.

[0043] Through mechatronic design, intelligent algorithm fusion and modular innovation, the precision, unmanned and sustainable operation of photovoltaic bolt maintenance operations are realized, and the industry pain points such as low field operation and maintenance efficiency, poor environmental adaptability and high labor costs are solved. Brief Description of the Drawings

[0044] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0045] Figure 1 Schematic perspective view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0046] Figure 2 Schematic top view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0047] Figure 3 Schematic left view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0048] Figure 4 Schematic bottom view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0049] Figure 5 Schematic view of the structure after the protective housing of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention is disassembled;

[0050] Figure 6 Schematic front view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0051] Figure 7 Schematic A-A sectional view of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0052] Figure 8 Schematic enlarged view of part B of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0053] Figure 9 Schematic view of the structure of the first connecting rod and the second connecting rod of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0054] Figure 10 Schematic view of the structure of the disassembly module of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0055] Figure 11 Schematic view of the bolt disassembly unit structure of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0056] Figure 12 Schematic view of the connection structure of the first rack, the second rack and the driving gear of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention;

[0057] Figure 13 This is a schematic structural diagram of a limiting block of an embodiment of an automatic disassembly robot for fixing bolts of a field photovoltaic panel provided by the present invention.

[0058] Explanation of the reference numerals in the drawings:

[0059] 100. Moving unit; 110. Box body; 120. Crawler mechanism; 130. Installation panel;

[0060] 200. Installation box; 210. First connection part; 220. Second connection part;

[0061] 300. Bolt disassembly unit; 310. First connecting rod; 320. Second connecting rod; 330. Disassembly mechanism; 331. Connection box; 332. Disassembly motor; 333. Main shaft; 334. Disassembly module; 3341. Fixed rod; 3342. Disassembly disc; 3343. Disassembly rod;

[0062] 400. Synchronous lifting drive mechanism; 410. Double-output shaft lifting motor; 420. Driving gear; 430. First rack; 440. Second rack; 450. Limiting block; 4501. Guide surface; 460. Driving wheel; 470. Lifting rod;

[0063] 500. Protective housing; 510. Binocular vision module; 511. Lens; 552. Scraper; 520. Supplementary light module; 530. Foldable photovoltaic panel; 540. Laser positioning module; 541. Laser emitter; 542. Calibration mechanism;

[0064] 600. Cleaning module; 610. Rigid brush bristles; 620. Negative pressure dust suction port. Detailed implementation manners

[0065] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0066] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc., is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0067] In the description of the present invention, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceeding", etc. are understood not to include the number itself, and "above", "below", "within", etc. are understood to include the number itself. If "first" and "second" are described, they are only used to distinguish technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0068] Please refer to Figures 1 to 13 , the present invention discloses an automatic disassembly robot for fixing bolts of field photovoltaic panels, which can be used to improve the technical problems such as insufficient positioning accuracy, poor adaptability, and low operation efficiency in the disassembly process of current field photovoltaic panels.

[0069] Specifically, the automatic disassembly robot for fixing bolts of field photovoltaic panels disclosed by the present invention includes a moving unit 100, an installation box 200, and a bolt disassembly unit 300. The installation box 200 is connected to the moving unit 100, and the bolt disassembly unit 300 is connected to the installation box 200. The moving of the device during the bolt disassembly process is realized through the moving unit 100, and the disassembly of the fixing bolts is realized through the bolt disassembly unit 300 during the moving process.

[0070] Specifically, the moving unit 100 includes a box body 110 and crawler mechanisms 120 symmetrically arranged on both sides of the box body 110.

[0071] The box body 110 can be made of high-strength aluminum alloy material, which has the characteristics of light weight and high strength. It can reduce its own weight and energy consumption while ensuring the overall structural stability of the robot. Multiple installation spaces are reserved inside the box body 110 for installing various electrical equipment, control modules, power supplies, etc. of the robot, and a reasonable layout can avoid mutual interference between the equipment.

[0072] The crawler mechanism 120 adopts a rubber crawler, and the surface of the crawler is designed with special anti-slip patterns, which can increase the friction with the ground and improve the walking ability of the robot on different terrains (such as sandy land, grassland, muddy land, etc.). Each crawler mechanism 120 consists of a driving motor, a driving wheel, a driven wheel, and a crawler. The driving motor is connected to the driving wheel through a reducer to drive the driving wheel to rotate, thereby driving the crawler to move and realizing actions such as the forward, backward, and turning of the robot.

[0073] An installation panel 130 is provided on the top of the box body 110. The installation panel 130 is made of a flat steel plate, and its surface is subjected to an anti-corrosion treatment to prevent rusting in the field environment. Multiple installation holes are provided on the installation panel 130 for fixedly installing the installation box 200 to ensure a firm and reliable connection between the installation box 200 and the box body 110.

[0074] It can be understood that the installation box 200 is fixed on the installation panel 130, and a first connection part 210 and a second connection part 220 are respectively arranged on both sides thereof. The first connection part 210 and the second connection part 220 are both provided with a liftable bolt disassembly unit 300. Specifically, the first connection part 210 and the second connection part 220 are of symmetrical structure and are both welded by channel steel. A guide rail is arranged on the connection part and is used to cooperate with the lifting mechanism of the bolt disassembly unit 300 to realize the smooth lifting of the bolt disassembly unit 300.

[0075] In some embodiments, the bolt disassembly unit 300 includes a first connecting rod 310, a second connecting rod 320 and a disassembly mechanism 330.

[0076] Specifically, the first connecting rod 310 is vertically connected to the first connection part 210 or the second connection part 220 through a lifting mechanism. The second connecting rod 320 is horizontally slidably connected to the front end of the first connecting rod 310. A slide rail is arranged at the front end of the first connecting rod 310, and the second connecting rod 320 forms a horizontal sliding pair with the slide rail through a slider. A ball screw driven by a servo motor is arranged in the slide rail, and the slider is threadedly connected to the ball screw through a nut seat. When the servo motor rotates, it drives the ball screw to rotate, so that the slider moves horizontally along the slide rail, realizing the horizontal movement of the second connecting rod 320. This transmission method has the characteristics of high transmission accuracy and stable movement, and can accurately move the disassembly mechanism 330 to the position of the bolt.

[0077] In some embodiments, the lifting mechanism is a synchronous lifting drive mechanism 400, and through the synchronous lifting drive mechanism 400, the first connecting rods 310 on the first connection part 210 and the second connection part 220 can be synchronously lifted and lowered.

[0078] Specifically, the synchronous lifting drive mechanism 400 includes a double-output shaft lifting motor 410, and its double-output shafts are respectively connected to drive gears 420. Symmetrically arranged first racks 430 and second racks 440 are respectively meshed with the drive gears 420. Wherein, limit blocks 450 with inclined guiding surfaces 4501 are respectively arranged at the ends of the first rack 430 and the second rack 440, and the limit blocks 450 are in contact transmission with the drive wheels 460 on the lifting rod 470, and the lifting and lowering of the lifting rod 470 are realized through the reciprocating movement of the racks.

[0079] In some embodiments, the disassembly mechanism 330 is arranged at the end of the second connecting rod 320 and includes a connection box 331, a disassembly motor 332, a main shaft 333 and a replaceable disassembly module 334.

[0080] Specifically, the connection box 331 is fixed to the end of the second connection rod 320 and is made of cast aluminum, which has good heat dissipation performance and mechanical strength. A bearing seat is provided inside the connection box 331 to support the rotation of the main shaft 333. The disassembly motor 332 is fixed to the top of the connection box 331 and adopts a permanent magnet synchronous motor, which has the characteristics of high power density and wide speed regulation range. The output shaft of the disassembly motor 332 is connected to the main shaft 333 through a coupling to transmit power to the main shaft 333.

[0081] The main shaft 333 is rotatably connected to the connection box 331. The main shaft 333 is made of alloy steel and has high strength and hardness after quenching and tempering. One end of the main shaft 333 is connected to the coupling, and the other end is connected to the replaceable and detachable module 334 through a quick release structure.

[0082] Furthermore, the replaceable disassembly module 334 includes a fixed rod 3341 coaxially fixed with the main shaft 333, and a disassembly disk 3342 arranged at the bottom of the fixed rod 3341. The fixed rod 3341 adopts a hollow structure, which not only reduces the weight but also facilitates wiring. The bottom surface of the disassembly disk 3342 is provided with regular hexagonal notches distributed in a circular array, and the notches are embedded with elastic disassembly rods 3343 connected by springs. Each disassembly rod 3343 encloses and forms an adaptive clamping cavity that adapts to the bolt head. When the disassembly disk 3342 is aligned with the bolt head, the elastic disassembly rod 3343 automatically adapts to the size and shape of the bolt head under the action of the spring, tightly clamps the bolt head, and achieves reliable clamping.

[0083] Therefore, in the actual process of removing the bolts, the operator sends an operation instruction to the robot through the remote control terminal, the mobile unit 100 of the robot is started, and the crawler mechanism 120 drives the robot to move to the target photovoltaic panel area. During the movement, the robot can sense the surrounding environment in real time through the sensors (such as laser radar, camera, etc.) installed on the box 110 and automatically avoid obstacles.

[0084] When the robot reaches the working position, the control system first controls the lifting mechanism to adjust the height of the first connecting rod 310 according to the bolt position information fed back by the sensor, so that the disassembly mechanism 330 is roughly at the height position of the bolt. Then, the servo motor is controlled to drive the ball screw to move the second connecting rod 320 horizontally, and the disassembly mechanism 330 is accurately aligned with the bolt head.

[0085] After the disassembly mechanism 330 is aligned with the bolt head, the elastic disassembly rod 3343 automatically clamps the bolt head. The disassembly motor 332 is started, and the disassembly disk 3342 is driven to rotate through the main shaft 333, so that the bolt is disassembled from the photovoltaic panel.

[0086] After removing one bolt, the robot can move to the position of the next bolt according to a preset program and repeat the above steps for the disassembly operation. When all bolts are removed, the robot returns to the initial position and ends the operation.

[0087] In some embodiments, to improve the usage effect of the present device during actual use, it is allowable to provide a protective housing 500 on the box body 110. The protective housing 500 is integrally formed by high-strength engineering plastics and has good impact resistance and corrosion resistance. The overall housing wraps around the outside of the box body 110 and the installation box 200 to form a closed protection space, effectively preventing external factors such as dust and rain from eroding the internal equipment. Its outer shape has been optimized to reduce wind resistance and at the same time facilitate the installation of other functional modules.

[0088] Among them, the protective housing 500 is tightly connected to the box body 110 and the installation box 200 through a plurality of bolts to ensure the firmness of the connection. A rubber gasket is also provided at the connection to further enhance the waterproof and dustproof effects.

[0089] It should be noted that it is allowable to provide a binocular vision module 510 with a cleaning function, a supplementary lighting module 520, and a foldable photovoltaic panel 530 on the front side of the protective housing 500.

[0090] Among them, the binocular vision module 510 selects industrial cameras with high resolution and high frame rate to meet the precise identification requirements of the bolt position and state. At the same time, it is equipped with an anti-fouling coated lens 511 with a focal length of 6 mm. The surface of the lens 511 adopts a special coating process, which can effectively prevent pollutants such as dust and oil stains from adhering, ensuring the clarity of imaging. The optical performance of the lens 511 has been optimized, with characteristics such as low distortion and high contrast, improving the accuracy of visual recognition.

[0091] A wiper 552 is provided outside the lens 511. The wiper 552 is made of a material with a nano oleophobic coating, and this coating enables the surface of the wiper 552 to have good hydrophobicity and oleophobicity, reducing the residue of pollutants on the wiper 552. The wiper 552 itself has a certain elasticity and can closely fit the surface of the lens 511 to ensure the cleaning effect. At the same time, the wiper 552 is driven by a linear motor to reciprocate along the surface of the lens 511.

[0092] It can be understood that the linear motor has the characteristics of fast response speed and high motion accuracy, and can accurately control the motion stroke and speed of the wiper 552. Guide rails are provided on both sides of the lens 511, and the wiper 552 is matched with the guide rails through sliders to ensure the smoothness of the motion.

[0093] Furthermore, a cleaning control unit is integrated inside the binocular vision module 510. When it detects that the contaminants on the surface of the lens 511 affect the imaging quality (judged by the image sharpness analysis algorithm), the control unit will automatically activate the linear motor to drive the wiper 552 to perform the cleaning operation. During the cleaning process, the wiper 552 will make multiple reciprocating motions to ensure that the surface of the lens 511 is cleaned thoroughly. After the cleaning is completed, the wiper 552 returns to its initial position and waits for the next cleaning instruction.

[0094] Furthermore, the supplementary lighting module 520 is integrated in the front part of the protective housing 500 and adopts a light source array composed of multiple LED lamp beads. These LED lamp beads are characterized by high brightness and low power consumption and can provide a uniform lighting effect.

[0095] The supplementary lighting module 520 is equipped with a light sensor and an intelligent control circuit. The light sensor can detect the ambient light intensity in real time. When the ambient light is insufficient, the intelligent control circuit will automatically adjust the brightness of the LED lamp beads according to the detection result to ensure that the binocular vision module 510 can obtain clear images. At the same time, the supplementary lighting module 520 can also adjust the angle and range of the lighting according to different working scenarios and requirements to improve the accuracy of visual recognition.

[0096] The foldable photovoltaic panel 530 is located on the top of the protective housing. It uses monocrystalline silicon solar cells and has a high photoelectric conversion efficiency. The photovoltaic panel is hinged to the top of the protective housing 500 and can be in two states: folded and unfolded. In the unfolded state, the photovoltaic panel can fully receive sunlight and convert solar energy into electrical energy; in the folded state, the overall volume of the robot is reduced, which is convenient for transportation and storage.

[0097] It can be understood that during the operation of the robot, the protective housing 500 provides reliable protection for the internal devices. The binocular vision module 510 with a cleaning function collects the image information of the bolts in real time, and the supplementary lighting module 520 provides appropriate lighting according to the ambient light conditions to ensure the sharpness of the images. The foldable photovoltaic panel 530 unfolds for charging when the light is sufficient to provide continuous power support for the robot. When contaminants appear on the surface of the lens 511 and affect the imaging, the cleaning wiper 552 is automatically activated for cleaning to ensure the accuracy of visual recognition. Through the collaborative work of each module, the working efficiency and reliability of the robot in the field environment are improved.

[0098] In some embodiments, in order to improve the recognition and disassembly effect of the bolts, it is allowed to install a laser positioning module 540 at the bottom of the connection box 331.

[0099] Among them, the laser positioning module 540 can emit a cross laser, and the cross laser coincides with the axis of the disassembly disc 3342. When the robot performs the bolt disassembly operation, the cross laser accurately indicates the position of the disassembly disc 3342, providing an intuitive positioning reference for the operator or the automatic control system, ensuring that the disassembly disc 3342 can accurately align with the bolt head.

[0100] Specifically, the laser emitter 541 uses a 650nm red dot laser module. The laser module has the characteristics of good wavelength stability and high visibility to the human eye, which is convenient for observation and positioning under different lighting conditions. Its optical axis is coaxially calibrated with the rotation axis of the disassembly disc 3342 to ensure that the position and direction of the laser emission are precisely corresponding to the working position of the disassembly disc 3342.

[0101] At the same time, a calibration mechanism 542 is also allowed to be connected to the laser emitter 541. The calibration mechanism 542 includes a gimbal adjustment bracket with adjustable angles. The operator can rotate the knob according to the actual situation, driving the gimbal adjustment bracket to change the angle of the laser emitter 541, so that the cross laser accurately coincides with the axis of the disassembly disc 3342, improving the positioning accuracy.

[0102] In some embodiments, the disassembly disc 3342 can be replaced with a cleaning module 600 according to the actual operation requirements. After the bolt disassembly operation is completed, the cleaning module 600 is installed at the end of the main shaft 333, and then the cleaning operation can be performed on the bolt installation position, realizing multi-functional use of one machine and improving the use efficiency of the robot.

[0103] Specifically, the cleaning module 600 includes rigid bristles 610 distributed in a ring and a negative pressure dust suction port 620 provided in the middle. The rigid bristles 610 can effectively remove dirt such as dust and debris around the bolt installation hole. During the cleaning process, the bristles wipe and clean the surface as the main shaft 333 rotates. At the same time, the negative pressure dust suction port 620 in the middle is connected to an external dust suction device to generate negative pressure suction, sucking away the dust and debris swept away in time to avoid secondary pollution and ensure the cleaning effect.

[0104] In some embodiments, the robot disclosed in the present invention is also provided with a main control module, which is located in the box body 110. The main control module integrates a path planning algorithm and a bolt positioning algorithm. The path planning algorithm plans the optimal movement path of the robot according to the initial position of the robot, the position of the target photovoltaic panel, and the surrounding environment information (such as the distribution of obstacles), ensuring that the robot can quickly and safely reach the operation location. The bolt positioning algorithm combines the information provided by the laser positioning module 540 and the image data collected by the binocular vision module 510 to accurately calculate the position and attitude of the bolt, providing accurate target information for the subsequent disassembly operation.

[0105] The main control module is communicatively connected to a 5G communication module. Through the 5G communication network, the main control module can perform real-time data transmission and communication with a remote monitoring center or an operator.

[0106] Furthermore, it also includes a composite power supply system, which consists of an emergency power supply and a photovoltaic panel. The photovoltaic panel is installed on the top of the protective housing 500 and can convert solar energy into electrical energy under sufficient light conditions to provide the main power support for the robot. The emergency power supply serves as a backup power supply and provides necessary power for the robot when the power supply of the photovoltaic panel is insufficient or fails, ensuring that the robot can continue to complete its operation tasks.

[0107] During actual use, the main control module monitors the output power of the photovoltaic panel and the power status of the emergency power supply in real time. When the light is sufficient, the photovoltaic panel is preferentially used to supply power to the robot, and at the same time, the excess electrical energy is stored in the emergency power supply. When the light is insufficient or the photovoltaic panel fails, the main control module automatically switches to the emergency power supply mode to ensure the normal operation of the robot.

[0108] Based on this, when the robot disclosed in the present invention is actually used, after the robot is started, the main control module controls the mobile unit 100 to move the robot to the target photovoltaic panel area according to the preset task information and path planning algorithm. During the movement, the laser positioning module 540 emits a cross laser, and in combination with the binocular vision module 510 and the bolt positioning algorithm, the position of the bolt is accurately determined.

[0109] When the robot reaches the operation position, it controls the bolt disassembly unit 300 to descend so that the disassembly disc 3342 is aligned with the bolt head. The disassembly motor 332 is started, and the disassembly disc 3342 is driven to rotate by the main shaft 333 to disassemble the bolt from the photovoltaic panel.

[0110] After the bolt disassembly is completed, the disassembly disc 3342 is replaced with the cleaning module 600. The main control module controls the cleaning module 600 to clean the bolt installation position. The rigid brush bristles 610 rotate for cleaning, and the negative pressure dust suction port 620 sucks away dust and debris.

[0111] It should be noted that during the entire operation process, the 5G communication module uploads the working status and relevant data of the robot to the remote monitoring center in real time. The operator can send control instructions to the robot through the remote monitoring center according to the actual situation to adjust the operation parameters or change the operation tasks.

[0112] The composite power supply system automatically switches the power supply mode according to the light conditions and the power consumption requirements of the robot to ensure stable power supply for the robot.

[0113] In summary, the present invention discloses an automatic disassembly robot for fixing bolts of field photovoltaic panels. It achieves millimeter-level precise positioning through laser positioning and multi-sensor fusion, and can adapt to worn bolts of multiple sizes in combination with an elastic adaptive clamping mechanism; adopts a modular design to support integrated disassembly and cleaning operations, which can effectively improve the usage efficiency, and is equipped with a protective shell 500, an automatic blade cleaning system and a foldable photovoltaic panel 530, and can operate stably in complex wide temperature ranges and sandy dust or rainy environments; integrates 5G remote control and a composite power supply system to achieve long-term off-grid operation and effectively reduce the operation and maintenance costs, significantly improving the intelligence and safety of the operation and maintenance of field photovoltaic power stations.

[0114] It can be seen that through mechatronic design, intelligent algorithm integration and modular innovation, the robot has achieved precision, unmanned operation and sustainability in the maintenance operation of photovoltaic bolts, and solved the industry pain points such as low operation and maintenance efficiency, poor environmental adaptability and high labor costs in the wild.

[0115] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A robot for automatically removing fixing bolts of photovoltaic panels in the field, characterized in that: include: The mobile unit (100) comprises a box (110) and a crawler mechanism (120) symmetrically arranged on both sides of the box (110), wherein a mounting panel (130) is arranged on the top of the box (110); An installation box (200) is fixed on the installation panel (130), and is provided with a first connection part (210) and a second connection part (220) on both sides thereof, and a liftable bolt disassembly unit (300) is provided on both the first connection part (210) and the second connection part (220); The bolt removal unit (300) comprises: A first connecting rod (310) vertically connected to the first connecting portion (210) or the second connecting portion (220) via a lifting mechanism; A second connecting rod (320) is horizontally slidably connected to the front end of the first connecting rod (310); The disassembly mechanism (330) is arranged at the end of the second connecting rod (320), and comprises: A connection box (331) is fixed to the end of the second connection rod (320); Disassemble the motor (332) and fix it on the top of the connection box (331); The main shaft (333) is rotatably connected to the connection box (331) and is transmission-connected to the disassembly motor (332) via a coupling; A replaceable and removable module (334) is connected to the end of the main shaft (333) via a quick-release structure; The disassembly module (334) includes a fixing rod (3341) fixed coaxially with the main shaft (333), and a disassembly plate (3342) arranged at the bottom of the fixing rod (3341), and the bottom surface of the disassembly plate (3342) is provided with regular hexagonal slots distributed in a circular array, and elastic disassembly rods (3343) connected by springs are embedded in the slots, and each disassembly rod (3343) encloses a self-adaptive clamping cavity that adapts to the bolt head.

2. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 1 is characterized in that: The installation box (200) is provided with a synchronous lifting drive mechanism (400), comprising: A dual-output shaft lifting motor (410), wherein the dual output shafts are respectively connected to a driving gear (420); A first rack (430) and a second rack (440) are symmetrically arranged and mesh with the driving gear (420) respectively; A limit block (450) with an inclined guide surface (4501) is respectively provided at the end of the first rack (430) and the second rack (440); the limit block (450) is in contact with a driving wheel (460) on the lifting rod (470) for transmission, and the lifting and lowering of the lifting rod (470) is achieved through the reciprocating motion of the racks.

3. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 2 is characterized in that: Two first connecting rods (310) are symmetrically fixed on both sides of the lifting rod (470); a slide rail is provided at the front end of the first connecting rod (310); and the second connecting rod (320) forms a horizontal sliding pair with the slide rail via a slider.

4. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 3 is characterized in that: A ball screw driven by a servo motor is arranged in the slide rail, and the slide block is threadedly connected with the ball screw through a nut seat.

5. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 4 is characterized in that: Also includes: A protective housing (500) is coated on the outside of the box body (110) and the installation box (200), and a binocular vision module (510) with a cleaning function is provided on the front side of the protective housing; A fill light module (520) is integrated in the front of the protective housing (500); as well as A foldable photovoltaic panel (530) is hinged to the top of the protective housing (500).

6. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 5 is characterized in that: The binocular vision module (510) with cleaning function comprises: High-resolution industrial camera with 6mm focal length, dirt-resistant coated lens (511), and A scraper (552) of a nano-oleophobic coating, which is located outside the coated lens (511); The scraper (552) is driven by a linear motor to reciprocate along the surface of the lens (511).

7. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 1 is characterized in that: The bottom of the connection box (331) is provided with a laser positioning module (540), and the cross laser emitted by the module coincides with the axis of the disassembly disk (3342).

8. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 7 is characterized in that: The laser positioning module (540) comprises: A laser emitter (541) using a 650nm red dot laser module, the optical axis of which is coaxially aligned with the rotation axis of the disassembly disk (3342); and A calibration mechanism (542) comprising a universal adjustment bracket with adjustable angle; Among them, the laser emission angle can be fine-tuned by turning the knob to compensate for mechanical assembly errors.

9. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 1 is characterized in that: The disassembly plate (3342) can be replaced by a cleaning module (600), which includes rigid bristles (610) distributed in an annular shape and a negative pressure suction port (620) arranged in the middle.

10. The automatic removal robot for fixing bolts of outdoor photovoltaic panels according to claim 1, characterized in that: Also includes: A main control module is arranged inside the box (110) and integrates a path planning algorithm and a bolt positioning algorithm; A 5G communication module is electrically connected to the main control module; The emergency power supply forms a composite power supply system with photovoltaic panels.

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