Crawler robot for photovoltaic panel installation

Abstract

The invention discloses a crawler robot for photovoltaic panel installation, which is characterized in that an installation frame is installed on a grabbing hand of a photovoltaic manipulator, an installation plate is fixed below the installation frame through screws, and a plurality of vacuum chucks distributed at equal intervals are installed on the installation plate; the left side and the right side of the mounting plate are each provided with two sets of moving notches distributed at equal intervals, a moving part is installed in each moving notch in a left-right sliding mode, a lifting deviation part is installed at the bottom end of each moving part in an up-down sliding mode, and a clamping head is installed on each lifting deviation part in a front-back sliding mode. After the photovoltaic manipulator grabs the topmost photovoltaic panel, a shearing force can be provided for subsequent deviation of the topmost photovoltaic panel, the shearing force is used for breaking vacuum, the topmost photovoltaic panel moves upwards in a small range, a certain gap is formed between the topmost photovoltaic panel and the photovoltaic panel below the topmost photovoltaic panel, gas can enter the gap between the topmost photovoltaic panel and the photovoltaic panel below the topmost photovoltaic panel, and therefore the photovoltaic panel on the topmost photovoltaic panel and the photovoltaic panel below the topmost photovoltaic panel. And the two photovoltaic panels are separated from adsorption, so that the uppermost photovoltaic panel can be conveniently grabbed.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic robots, and more particularly to a tracked robot for installing photovoltaic panels. Background Technology

[0002] In the field of photovoltaic (PV) panel installation, PV panel installation robots are commonly used to reduce the labor intensity of manual installation. In related technologies, PV panel installation robots include a robot body, a frame, and a robotic arm. The frame is mounted on the robot body to hold the PV panels. Since PV panels are typically composed of non-conductive materials such as glass, EVA film, solar cells, and backsheets, friction inevitably occurs between these materials during transportation and handling, generating static electricity. Multiple PV panels stacked on the frame may carry opposite charges, causing adjacent panels to attract each other. When the robotic arm picks up the upper panel, it may pull the lower panel upwards along with it. Due to the low attraction between the two and the significant weight of the PV panels themselves, the lower panel, after rising a certain height with the picked panel, may fall due to its own weight, damaging the lower panel upon impact. Summary of the Invention

[0003] The present invention proposes a tracked robot for photovoltaic panel installation, which solves the above-mentioned problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A tracked robot for installing photovoltaic panels includes a tracked base, an electric turntable mounted on the tracked base, a photovoltaic manipulator mounted on the electric turntable, a mounting frame mounted on the gripper of the photovoltaic manipulator, a mounting plate fixed to the mounting frame with screws below the mounting frame, and multiple equally spaced vacuum suction cups mounted on the mounting plate. The multiple vacuum suction cups are connected to an external vacuum pump via flexible hoses. Two sets of equally spaced movable notches are opened on both the left and right sides of the mounting plate, and the multiple movable notches on the left and right sides are symmetrically arranged. A movable component is slidably mounted left and right in each movable notch. A lifting offset component is slidably mounted up and down at the bottom end of the movable component. A gripping head is slidably mounted back and forth on the lifting offset component. A drive structure is mounted below the mounting plate, and the multiple movable components on the left and right sides are connected to the drive structure. A drive cylinder is mounted below the mounting plate, and the push rod of the drive cylinder is connected to the drive structure.

[0005] Furthermore, a storage plate is fixed to the left side of the track base by a bracket. The storage plate is provided with four rectangular columns. Multiple linearly distributed snap-fit ​​slots are opened on the right side of the columns. The distance between two adjacent snap-fit ​​slots is the thickness of a photovoltaic panel. The photovoltaic panel is placed between the four columns, and the length of the photovoltaic panel is less than the distance between the front and rear sets of columns. The photovoltaic panel can slide left and right between the columns.

[0006] Furthermore, the moving component includes two linear tracks, which are fixed on the front and rear sides above the moving notch, respectively. Linear slide blocks are slidably installed on the two linear tracks, and the linear slide blocks form a lifting port through the vertical axis. A lifting block is slidably inserted into the lifting port, and a drive roller is fixed on the lifting block. Two upright plates are symmetrically arranged on both sides below the moving notch, and a drive groove is opened on the upright plate. The drive roller is slidably inserted into the drive groove.

[0007] Furthermore, the drive groove includes a horizontally arranged fixed groove, and an inclined approach groove is provided at the end of the fixed groove away from the drive cylinder. The end of the approach groove away from the fixed groove is located above the end of the approach groove near the fixed groove. In the initial state, the linear slide is at the outermost edge of the moving notch. At this time, the drive roller on the lifting block is in the approach groove. When the linear slide moves inward along the linear track and approaches the drive cylinder, the lifting block located in the linear slide will move inward along with the linear slide and approach the drive cylinder. Due to the inclined setting of the approach groove, the lifting block will also move downward along the approach groove as the drive roller on the lifting block moves inward along the approach groove.

[0008] Furthermore, a connecting plate is welded to both the front and rear sides of the lower end of the lifting block. The connecting plate has a connecting port running through it from top to bottom. Two sets of symmetrically distributed lifting rods are fixed above the lifting offset component. The lifting rods pass through the connecting ports and are located above the connecting plate. A lifting ring is fixed to the top of the lifting rod. A lifting spring is sleeved on the lifting rod. The two ends of the lifting spring abut against the lifting ring and the connecting plate, respectively. The lifting spring makes the lifting offset component always have an upward tendency, and the sum of the elastic forces among the multiple lifting springs on all the lifting offset components is less than the weight of the photovoltaic panel.

[0009] Furthermore, the lifting offset component has offset sliding holes extending through its left and right sides. An offset slider is slidably inserted into the offset sliding holes. A reset hole is provided on the front side of the lifting offset component, and the reset hole communicates with the offset sliding holes. A fixing post is interference-fitted into the reset hole, and a tension spring is connected to the fixing post. The offset slider is fixed to the tension spring. The end of the offset slider facing the drive cylinder passes through the offset sliding hole and is fixed to the clamping head. The clamping head can slide back and forth along the offset sliding holes through the offset slider, and under the action of external forces other than the tension spring, the tension spring allows the clamping head to return to its original position.

[0010] Furthermore, an L-shaped snap-fit ​​block is provided on the front side of the offset slider, and the snap-fit ​​groove has an L-shaped structure. In the normal state, the distance between the two snap-fit ​​grooves on the left is the same as the distance between the two snap-fit ​​blocks on the left. When the mounting bracket moves down to make the vacuum suction cup contact the uppermost surface of the photovoltaic panel, and the drive roller is at the intersection of the approach groove and the fixed groove, the distance between the snap-fit ​​grooves on the two left columns is the same as the distance between the two snap-fit ​​blocks on the left, and the distance between the snap-fit ​​grooves on the two right columns is the same as the distance between the two snap-fit ​​blocks on the right, and the snap-fit ​​blocks are facing the corresponding snap-fit ​​grooves.

[0011] Furthermore, the drive structure includes two drive components symmetrically installed below the mounting plate. A strip plate is installed at each of the left and right ends of the drive component, and a fixing plate is welded to each of the front and rear ends of the strip plate. The fixing plate is fixed to the corresponding linear slide block, and the push rod of the drive cylinder is fixed to one of the strip plates.

[0012] Furthermore, the driving component includes a driving gear rotatably mounted below the mounting plate via a bearing and a rotating shaft. Two driving racks are mounted below the mounting plate, and the driving racks mesh with the driving gear. The two driving racks are arranged in a circumferential array about the driving gear. The drive rack has guide holes running vertically through it. A guide block is slidably inserted into the guide holes. The guide block is fixed to the lower surface of the mounting plate and is used to guide the drive rack so that it can only move linearly left and right.

[0013] The beneficial effects of this invention are: 1. By installing multiple moving parts, lifting and offset parts, and gripping heads on the photovoltaic robotic arm, and with the set drive structure, the multiple moving parts, lifting and offset parts, and gripping heads can move inward or outward simultaneously. During the movement, the gripping head first moves downward and then moves inward to approach the second photovoltaic panel above. The gripping head will not contact the photovoltaic panel during the downward movement, thus preventing it from moving down. After gripping, the gripping head can be positioned above the vacuum suction cup, so that the photovoltaic panel will not contact the photovoltaic bracket during subsequent installation, thus preventing the photovoltaic panel from being placed and installed. At the same time, the gripping head can clamp and position the photovoltaic panel, making it centered, which facilitates the detachment of two adjacent photovoltaic panels. 2. By sliding the gripping head and the lifting offset component back and forth, the photovoltaic robot can provide a shearing force to the uppermost photovoltaic panel after it grabs it. This shearing force breaks the vacuum, facilitating the separation of the two adjacent photovoltaic panels. The sliding design between the moving component and the lifting offset component allows the uppermost photovoltaic panel to move slightly upwards. There is a certain gap between the uppermost photovoltaic panel and the photovoltaic panel below it, allowing gas to enter the gap and detach the two photovoltaic panels from the adsorption, making it easier to grab the uppermost photovoltaic panel. Attached Figure Description

[0014] Figure 1 This is a front view of a tracked robot for installing photovoltaic panels proposed in this invention; Figure 2 for Figure 1 A structural diagram of the mounting bracket, moving parts, lifting and offsetting parts, and clamping head; Figure 3 for Figure 2 A bottom view; Figure 4 for Figure 3 A schematic diagram of the drive structure, moving parts, lifting and offsetting parts, and clamping head; Figure 5 for Figure 4 Structural diagram of the moving component, lifting and offsetting component, and clamping head; Figure 6 for Figure 5 Exploded views of the moving parts and the lifting / offsetting parts; Figure 7 for Figure 6 Exploded view of the lifting offset component and the clamping head; Figure 8 This is a simplified schematic diagram of a tracked robot for photovoltaic panel installation that grabs a photovoltaic panel, as proposed in this invention. Figure 9 This is a simplified structural diagram of the clamping block of the gripping head and the clamping groove on the column of a tracked robot for photovoltaic panel installation proposed in this invention.

[0015] Numbered components in the diagram: 1. Track base; 11. Storage plate; 12. Column; 121. Snap-fit ​​groove; 2. Photovoltaic robot; 3. Mounting frame; 31. Vacuum suction cup; 32. Mounting plate; 321. Moving notch; 4. Moving component; 41. Linear slide; 411. Linear track; 412. Lifting port; 42. Lifting block; 421. Drive roller; 422. Connecting plate; 423. Connecting port; 43. Vertical plate; 44. Drive groove; 441. Connecting... 442. Near slot; 5. Fixed slot; 6. Lifting offset component; 51. Lifting rod; 52. Lifting spring; 53. Lifting ring; 54. Offset sliding hole; 55. Reset hole; 6. Clamping head; 61. Offset slider; 62. Tension spring; 63. Fixed column; 64. Snap block; 7. Drive structure; 71. Strip plate; 711. Fixed plate; 72. Drive rack; 721. Guide sliding hole; 722. Guide block; 73. Drive gear; 8. Drive cylinder. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] Reference Figure 1 - Figure 9 A tracked robot for installing photovoltaic panels includes a tracked base 1, an electric turntable mounted on top of the tracked base 1, a photovoltaic manipulator 2 mounted on top of the electric turntable, an mounting frame 3 mounted on the gripper of the photovoltaic manipulator 2, a mounting plate 32 fixed to the bottom of the mounting frame 3 by screws, a plurality of equally spaced vacuum suction cups 31 mounted on the mounting plate 32, the plurality of vacuum suction cups 31 being connected to an external vacuum pump via hoses, two sets of equally spaced moving notches 321 being provided on both the left and right sides of the mounting plate 32, the plurality of moving notches 321 being symmetrically arranged on the left and right sides, a moving component 4 being slidably mounted in each moving notch 321, a lifting offset component 5 being slidably mounted up and down at the bottom end of the moving component 4, a gripping head 6 being slidably mounted back and forth on the lifting offset component 5, a drive structure 7 being mounted below the mounting plate 32, the plurality of moving components 4 on the left and right sides being connected to the drive structure 7, a drive cylinder 8 being mounted below the mounting plate 32, the push rod of the drive cylinder 8 being connected to the drive structure 7.

[0018] Reference Figure 1 , Figure 9 A storage plate 11 is fixed to the left side of the track base 1 by a bracket. Four rectangular columns 12 are provided on the storage plate 11. Multiple linearly distributed snap-fit ​​slots 121 are opened on the right side of the columns 12. The distance between two adjacent snap-fit ​​slots 121 is the thickness of one photovoltaic panel. The photovoltaic panel is placed between the four columns 12, and the length of the photovoltaic panel is less than the distance between the front and rear sets of columns 12. The photovoltaic panel can slide left and right between the columns 12.

[0019] Reference Figure 2 - Figure 6 The moving part 4 includes two linear rails 411, which are fixed on the front and rear sides above the moving notch 321 respectively. Linear slide blocks 41 are slidably installed on the two linear rails 411. The linear slide blocks 41 form a lifting port 412 through the vertical axis. A lifting block 42 is slidably inserted into the lifting port 412. A drive roller 421 is fixed on the lifting block 42. Two upright plates 43 are symmetrically arranged on both sides below the moving notch 321. A drive groove 44 is opened on the upright plate 43. The drive roller 421 is slidably inserted into the drive groove 44.

[0020] The drive groove 44 includes a horizontally arranged fixed groove 442. An inclined approach groove 441 is provided at the end of the fixed groove 442 away from the drive cylinder 8. The end of the approach groove 441 away from the fixed groove 442 is located above the end of the approach groove 441 that is close to the fixed groove 442. In the initial state, the linear slide 41 is at the outermost edge of the moving notch 321. At this time, the drive roller 421 on the lifting block 42 is in the approach groove 441. When the linear slide 41 moves inward along the linear track 411 and approaches the drive cylinder 8, the lifting block 42 located in the linear slide 41 will move inward along the linear slide 41 and approach the drive cylinder 8. Since the approach groove 441 is inclined, the drive roller 421 on the lifting block 42 will also move downward along the approach groove 441 during the process of moving inward along the approach groove 441. That is, the lifting block 42 moves inward and downward at the same time. When the drive roller 421 moves to the intersection of the fixed groove 442 and the approach groove 441, as the subsequent lifting block 42 continues to move inward toward the drive cylinder 8 along with the linear slide 41, the position height of the lifting block 42 remains unchanged. The lifting block 42 will drive the lower lifting offset component 5 and the clamping head 6 to move inward horizontally, so that the multiple clamping heads 6 fix the second photovoltaic panel below. After the vacuum suction cup 31 adsorbs and fixes the upper photovoltaic panel, when the vacuum suction cup 31 drives the uppermost photovoltaic panel to shift upward slightly, the second photovoltaic panel will not shift upward with it, so that the uppermost photovoltaic panel and the lower photovoltaic panel can be separated. The two will not be grabbed and moved upward together due to adsorption.

[0021] Reference Figure 5 - Figure 7A connecting plate 422 is welded to both the front and rear sides of the lower end of the lifting block 42. The connecting plate 422 has a connecting port 423 running through it vertically. Two sets of symmetrically distributed lifting rods 51 are fixed above the lifting offset component 5. The lifting rods 51 pass through the connecting port 423 and are located above the connecting plate 422. A lifting ring 53 is fixed to the top of the lifting rod 51. A lifting spring 52 is sleeved on the lifting rod 51. The two ends of the lifting spring 52 abut against the lifting ring 53 and the connecting plate 422 respectively. The lifting spring 52 makes the lifting offset component 5 always have an upward tendency, and the sum of the elastic forces among the multiple lifting springs 52 on all the lifting offset components 5 is less than the weight of the photovoltaic panel. After the vacuum suction cup 31 on the mounting bracket 3 is attached and fixed to the uppermost photovoltaic panel, and before the uppermost photovoltaic panel is grabbed and moved, the upper surface of the lifting offset component 5 is always in close contact with the lower surface of the connecting plate 422 under the action of the lifting spring 52. When the clamping head 6 contacts and clamps the side of the second photovoltaic panel, the vacuum suction cup 31, under the action of the photovoltaic manipulator 2, grabs the top photovoltaic panel and moves it upward. As the multiple photovoltaic panels below are attracted together by the suction force, and the weight of the photovoltaic panel itself is greater than the sum of the elastic forces of the multiple lifting springs 52 on all the lifting and offset parts 5, the mounting plate 32 drives the multiple moving parts 4 to move upward. During this process, the height of the clamping head 6 and the lifting and offset parts 5 remains unchanged. The top photovoltaic panel will be pulled upward, thus separating it from the photovoltaic panels below it.

[0022] The lifting offset component 5 has offset sliding holes 54 extending through it on both sides. An offset slider 61 is slidably inserted into the offset sliding holes 54. A reset hole 55 is provided on the front side of the lifting offset component 5. The reset hole 55 is connected to the offset sliding holes 54. A fixing post 63 is interference-fitted into the reset hole 55. A tension spring 62 is connected to the fixing post 63. The offset slider 61 is fixed to the tension spring 62. The end of the offset slider 61 facing the drive cylinder 8 passes through the offset sliding holes 54 and is fixed to the clamping head 6. The clamping head 6 can slide back and forth along the offset sliding holes 54 through the offset slider 61. Under the action of external forces other than the tension spring 62, the tension spring 62 can make the clamping head 6 return to its original position.

[0023] The front side of the offset slider 61 is provided with an L-shaped snap-fit ​​block 64. The snap-fit ​​groove 121 has an L-shaped structure, and in the normal state, the distance between the two snap-fit ​​grooves 121 on the left is the same as the distance between the two snap-fit ​​blocks 64 on the left. When the mounting bracket 3 moves down so that the vacuum suction cup 31 contacts the uppermost surface of the photovoltaic panel, and the drive roller 421 is at the intersection of the groove 441 and the fixed groove 442, the distance between the locking grooves 121 on the two left columns 12 is the same as the distance between the two left locking blocks 64, and the distance between the locking grooves 121 on the two right columns 12 is the same as the distance between the two right locking blocks 64. The locking blocks 64 are facing the corresponding locking grooves 121. Then, when the clamping head 6 and the lifting offset component 5 move towards the side closer to the drive cylinder 8 under the action of the moving component 4, the locking blocks 64 will gradually move towards the locking groove 121. When the clamping head 6 contacts the photovoltaic panel, the locking blocks 64 will be locked into the locking groove 121. At this time, the locking blocks 64 are restricted by the locking groove 121 and cannot move back and forth or up and down. After the vacuum suction cup 31 adsorbs and fixes the top photovoltaic panel, and the clamping head 6 clamps the side of the second photovoltaic panel, the vacuum suction cup 31, under the action of the photovoltaic panel robot, drives the top photovoltaic panel to rise slightly and move backward. At this time, due to the restriction of the locking block 64 and the locking groove 121, the position of the clamping head 6 remains unchanged, so that the position of the second photovoltaic panel is fixed, while the lifting offset component 5 can move backward. The lifting block 42 can rise to a certain extent. That is, the entire moving component 4 can move slightly upward and backward along with the mounting frame 3 and the vacuum suction cup 31, so that the top photovoltaic panel rises slightly and moves backward. There is a shearing force and a certain gap between the top photovoltaic panel and the photovoltaic panel below it. Gas can enter the gap between the two, so that the two photovoltaic panels are detached from the adsorption, making it easier to grasp the top photovoltaic panel.

[0024] Reference Figure 3 , Figure 4 The drive structure 7 includes two drive components symmetrically installed below the mounting plate 32. A strip plate 71 is installed at the left and right ends of the drive components respectively. A fixing plate 711 is welded to the front and rear ends of the strip plate 71 respectively. The fixing plate 711 is fixed to the corresponding linear slide 41. The push rod of the drive cylinder 8 is fixed to one of the strip plates 71.

[0025] The driving component includes a driving gear 73 that is rotatably mounted below the mounting plate 32 via a bearing and a rotating shaft. Two driving racks 72 are mounted below the mounting plate 32. The driving racks 72 mesh with the driving gear 73. The two driving racks 72 are arranged in a circumferential array about the driving gear 73. The drive rack 72 has a guide slide hole 721 extending through it vertically. A guide block 722 is slidably inserted into the guide slide hole 721. The guide block 722 is fixed to the lower surface of the mounting plate 32 and is used to guide the drive rack 72 so that it can only move linearly left and right.

[0026] Working principle: In actual use, multiple photovoltaic panels are placed on the storage plate 11 and stacked from top to bottom. The photovoltaic panels are located between the rectangular columns 12, and the left and right sides of the photovoltaic panels are in contact with the side surfaces of the columns 12.

[0027] In the initial state, the push rod of the drive cylinder 8 is in the extended state, the distance between the moving part 4 and the drive cylinder 8 is at its maximum, and at this time the drive roller 421 is located in the approach groove 441 of the vertical plate 43. Under the action of the lifting spring 52, the upper surface of the lifting offset part 5 is always in close contact with the lower surface of the connecting plate 422. The front end of the clamping head 6 is flush with the front end of the lifting offset part 5, and the bottom end of the clamping head 6 is above the lower surface of the vacuum suction cup 31. In this way, when the vacuum suction cup 31 moves downward, it can avoid the clamping head 6 from contacting the upper surface of the uppermost photovoltaic plate, which would prevent it from moving downward.

[0028] When gripping the photovoltaic panel, the photovoltaic robot 2 moves the mounting frame 3 above the photovoltaic panel. Then, the mounting frame 3 and the vacuum suction cup 31 move downward under the action of the photovoltaic robot 2, and the vacuum suction cup 31 contacts and presses against the uppermost surface of the photovoltaic panel. The vacuum suction cup 31 adsorbs and fixes the uppermost photovoltaic panel. Then, the push rod of the drive cylinder 8 retracts. The retraction of the push rod of the drive cylinder 8 will push one of the strip plates 71 to move towards the side closer to the drive cylinder 8. Since the two strip plates 71 are connected by the drive gear 73 and the drive rack 72, the two strip plates 71 will move inward synchronously towards the drive cylinder 8, and drive the moving part 4, the lifting offset part 5 and the gripping head 6 to move inward. During the inward movement of the moving part 4, the linear slide 41 will move inward along the linear track 411 and approach the drive cylinder 8. The lifting block 42 located in the linear slide 41 will move inward along the linear slide 41 and approach the drive cylinder 8. Due to the inclined setting of the approach groove 441, the drive roller 421 on the lifting block 42 will also move downward along the approach groove 441 during the inward linear movement of the lifting block 42. That is, the lifting block 42 moves inward and downward at the same time. When the drive roller 421 moves to the intersection of the fixed groove 442 and the approach groove 441, the bottom end of the clamping head 6 is below the lower surface of the vacuum suction cup 31, and the upper surface of the clamping head 6 is below the upper surface of the second photovoltaic panel. As the lifting block 42 continues to move inward toward the drive cylinder 8 along with the linear slide 41, the height of the lifting block 42 remains unchanged. The lifting block 42 will drive the lower lifting offset component 5 and clamping head 6 to move inward horizontally. At this time, the distance between the locking slots 121 on the two columns 12 on the left is the same as the distance between the two locking blocks 64 on the left, and the distance between the locking slots 121 on the two columns 12 on the right is the same as the distance between the two locking blocks 64 on the right. The locking blocks 64 are directly facing the corresponding locking slots 121. Afterward, when the clamping head 6 and the lifting offset component 5 move toward the side closer to the drive cylinder 8 under the action of the moving component 4, the locking blocks 64 will gradually move toward the locking slots 121. When the clamping head 6 contacts the photovoltaic panel, the locking blocks 64 will be locked into the locking slots 121, thereby fixing the second photovoltaic panel below with multiple clamping heads 6. At this time, the locking blocks 64 are restricted by the locking slots 121 and cannot move forward, backward, up, or down. After the vacuum suction cup 31 adsorbs and fixes the top photovoltaic panel, and the clamping head 6 clamps the side of the second photovoltaic panel, the vacuum suction cup 31, under the action of the photovoltaic manipulator 2, drives the top photovoltaic panel to move backward slightly. At this time, due to the restriction of the snap-fit ​​block 64 and snap-fit ​​groove 121, the position of the clamping head 6 remains unchanged, so that the position of the second photovoltaic panel is fixed, while the lifting offset component 5 can move backward. The entire moving component 4 and the lifting offset component 5 can move backward slightly with the mounting frame 3 and the vacuum suction cup 31. The tension spring 62 is in a stretched state, so that the top photovoltaic panel moves backward slightly, and a shearing force is generated between the top photovoltaic panel and the photovoltaic panel below it. Then, under the action of the photovoltaic manipulator 2, the vacuum suction cup 31 drives the top photovoltaic panel to move upward slightly. At this time, due to the restriction of the locking block 64 and the locking groove 121, the positions of the gripping head 6 and the lifting offset part 5 remain unchanged, the position of the second photovoltaic panel remains fixed, and the moving part 4 can move upward with it. The entire moving part 4 can move upward slightly with the mounting frame 3 and the vacuum suction cup 31. The lifting spring 52 is in a compressed state, so that the top photovoltaic panel moves upward slightly. There is a certain gap between the top photovoltaic panel and the photovoltaic panel below it, and gas can enter the gap between the two, so that the two photovoltaic panels are detached from the adsorption, making it easier to grasp the top photovoltaic panel.

[0029] Then the push rod of the drive cylinder 8 extends again, and the two strip plates 71 move outward away from the drive cylinder 8 under the action of the drive cylinder 8. The multiple moving parts 4 connected to the strip plates 71 will drive the lower lifting offset parts 5 and clamping heads 6 to move outward synchronously. During their outward movement, the lifting offset parts 5 release the fixing of the lower photovoltaic panel. Under the action of the lifting spring 52, the lifting offset parts 5 will return to their original position. That is, the upper surface of the lifting offset parts 5 will always be in close contact with the lower surface of the connecting plate 422 under the action of the lifting spring 52. After the snap block 64 is disengaged from the snap slot 121, the clamping head 6 will also return to its original position under the action of the tension spring 62. That is, the front end of the clamping head 6 is flush with the front end of the lifting offset parts 5. Furthermore, during the subsequent movement of the moving part 4, the drive roller 421 will move along the approach groove 441 and drive the moving part 4, the clamping head 6, and the lifting offset part 5 to move upward. When the moving part 4 moves to the initial position, the bottom end of the clamping head 6 is above the lower surface of the vacuum suction cup 31, and it can wait for the next grasping operation of the photovoltaic panel.

[0030] After the photovoltaic robot 2 picks up a photovoltaic panel, it can place the photovoltaic panel on the corresponding photovoltaic bracket for installation. After installation, the photovoltaic robot 2 repeats the above operation to continuously separate, pick up and install photovoltaic panels.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A tracked robot for installing photovoltaic panels, characterized in that, The system includes a track base (1), an electric turntable mounted on top of the track base (1), a photovoltaic manipulator (2) mounted on top of the electric turntable, a mounting frame (3) mounted on the gripper of the photovoltaic manipulator (2), a mounting plate (32) fixed to the bottom of the mounting frame (3) by screws, a plurality of equally spaced vacuum suction cups (31) mounted on the mounting plate (32), and two sets of equally spaced moving notches (321) opened on both the left and right sides of the mounting plate (32), with the multiple moving notches (321) on the left and right sides being symmetrical. The configuration includes a movable component (4) that slides left and right within each movable notch (321). A lifting offset component (5) is slidably mounted on the bottom of the movable component (4). A clamping head (6) is slidably mounted on the lifting offset component (5). A drive structure (7) is mounted below the mounting plate (32). Multiple movable components (4) on the left and right sides are connected to the drive structure (7). A drive cylinder (8) is mounted below the mounting plate (32). The push rod of the drive cylinder (8) is connected to the drive structure (7).

2. The tracked robot for photovoltaic panel installation according to claim 1, characterized in that, The track base (1) has a storage plate (11) fixed on the left side by a bracket. The storage plate (11) has four rectangular columns (12) and multiple linearly distributed snap-fit ​​grooves (121) on the right side of the columns (12).

3. The tracked robot for photovoltaic panel installation according to claim 1, characterized in that, The moving part (4) includes two linear tracks (411), which are fixed on the front and rear sides above the moving notch (321) respectively. Linear slide blocks (41) are slidably installed on the two linear tracks (411). The linear slide blocks (41) form a lifting port (412) through the vertical passage. A lifting block (42) is slidably inserted into the lifting port (412). A drive roller (421) is fixed on the lifting block (42). Two upright plates (43) are symmetrically arranged on both sides below the moving notch (321). A drive groove (44) is opened on the upright plate (43). The drive roller (421) is slidably inserted into the drive groove (44).

4. The tracked robot for photovoltaic panel installation according to claim 3, characterized in that, The drive groove (44) includes a horizontally arranged fixed groove (442). An inclined approach groove (441) is provided at one end of the fixed groove (442) away from the drive cylinder (8). The end of the approach groove (441) away from the fixed groove (442) is located above the end of the approach groove (441) near the fixed groove (442).

5. A tracked robot for photovoltaic panel installation according to claim 3, characterized in that, A connecting plate (422) is welded to both the front and rear sides of the lower end of the lifting block (42). The connecting plate (422) has a connecting port (423) running through it vertically. Two sets of symmetrically distributed lifting rods (51) are fixed above the lifting offset component (5). The lifting rods (51) pass through the connecting port (423) and are located above the connecting plate (422). A lifting ring (53) is fixed at the top of the lifting rod (51). A lifting spring (52) is sleeved on the lifting rod (51). The two ends of the lifting spring (52) abut against the lifting ring (53) and the connecting plate (422) respectively.

6. The tracked robot for photovoltaic panel installation according to claim 2, characterized in that, The lifting offset component (5) has offset sliding holes (54) extending through it on both sides. An offset slider (61) is slidably inserted into the offset sliding hole (54). A reset hole (55) is provided on the front side of the lifting offset component (5). The reset hole (55) is connected to the offset sliding hole (54). A fixing post (63) is interference-fitted into the reset hole (55). A tension spring (62) is connected to the fixing post (63). The offset slider (61) is fixed to the tension spring (62). The end of the offset slider (61) facing the drive cylinder (8) passes through the offset sliding hole (54) and is fixed to the clamping head (6).

7. A tracked robot for photovoltaic panel installation according to claim 6, characterized in that, The offset slider (61) is provided with an L-shaped snap-fit ​​block (64) on the front side. The snap-fit ​​groove (121) has an L-shaped structure. In the normal state, the distance between the two snap-fit ​​grooves (121) on the left side is the same as the distance between the two snap-fit ​​blocks (64) on the left side.

8. A tracked robot for photovoltaic panel installation according to claim 3, characterized in that, The drive structure (7) includes two drive components symmetrically installed below the mounting plate (32). A strip plate (71) is installed at the left and right ends of the drive component. A fixing plate (711) is welded to the front and rear ends of the strip plate (71). The fixing plate (711) is fixed to the corresponding linear slide (41). The push rod of the drive cylinder (8) is fixed to one of the strip plates (71).

9. A tracked robot for photovoltaic panel installation according to claim 8, characterized in that, The driving component includes a driving gear (73) that is rotatably mounted below the mounting plate (32) via a bearing and a rotating shaft. Two driving racks (72) are mounted below the mounting plate (32). The driving racks (72) mesh with the driving gear (73), and the two driving racks (72) are arranged in a circumferential array about the driving gear (73). The drive rack (72) has a guide sliding hole (721) extending through it from top to bottom. A guide block (722) is slidably inserted into the guide sliding hole (721). The guide block (722) is fixed to the lower surface of the mounting plate (32).

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