A photovoltaic panel automatic laying robot

Abstract

The application provides a photovoltaic panel automatic laying robot, and belongs to the technical field of photovoltaic panel installation, and comprises: a vehicle frame main body serving as an installation main body of the laying robot; a support frame fixedly installed on the upper end of the vehicle frame main body and having a six-axis mechanical arm fixedly installed thereon; a suction mechanism fixedly installed on the six-axis mechanical arm, wherein the suction mechanism can adjust the size of suction to adapt to photovoltaic panels of different specifications; the six-axis mechanical arm adjusts the position of the photovoltaic panel through six-axis adjustment and lays the photovoltaic panel; a panel storage mechanism is installed at the front end of the vehicle frame main body and is used for storing the photovoltaic panel to be laid; a lifting mechanism is rotatably installed at the front end of the vehicle frame main body and is used for driving the panel storage mechanism to move up and down; a turnover cylinder is used for adjusting the angle of the lifting mechanism to facilitate the suction mechanism to suck and grab the photovoltaic panel; the application reduces the number of equipment round trips through the integrated panel storage mechanism, and adapts to photovoltaic panels of different specifications by using the adjustable size suction mechanism.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel installation technology, specifically a photovoltaic panel automatic laying robot. Background Technology

[0002] Currently, most solar photovoltaic (PV) module installations are done manually, resulting in low efficiency and high costs. Factors such as construction difficulty, weather conditions, and rising labor costs pose significant risks to the successful completion of PV module installations. Firstly, the generally low professionalism of installers, long construction periods, high management difficulty, and low installation volume increase the risk of damage to PV modules and reduce installation speed. Secondly, with the declining demographic dividend, labor costs are rising daily. Thirdly, the vast coverage of PV power plants necessitates substantial investment in transportation for manual installation, further increasing overall installation costs.

[0003] The installation of solar photovoltaic power plants, both domestically and internationally, largely relies on manual labor, resulting in low efficiency, high costs, and uncontrollable work quality. Therefore, intelligent equipment is being used to replace manual labor to address the current shortcomings in photovoltaic module installation. Although intelligent equipment is seen as a solution to replace manual labor, existing automated photovoltaic panel laying equipment still has key shortcomings. For example, most laying robots lack integrated panel storage mechanisms, requiring them to repeatedly travel between the transport vehicle and the laying point to retrieve panels, significantly reducing work efficiency due to frequent movement. Furthermore, their suction mechanisms typically use fixed suction cup designs, which cannot flexibly adjust their size to accommodate different photovoltaic panel specifications, limiting the equipment's applicability and making it difficult to meet diverse installation requirements. Summary of the Invention

[0004] The purpose of this application is to provide an automated photovoltaic panel laying robot, which solves the problems of low installation efficiency and limited applicability of existing technologies.

[0005] The technical solution adopted by this invention to solve its technical problem is: an automatic photovoltaic panel laying robot, comprising:

[0006] The main frame serves as the mounting body for the laying robot. Its lower part is equipped with a tracked walking mechanism for driving the frame to move, and its upper part is equipped with a control vehicle body for controlling the operation of the laying robot.

[0007] The support frame is fixedly installed on the upper part of the vehicle frame body, and a six-axis robotic arm is fixedly installed on it;

[0008] An adsorption mechanism is fixedly mounted on a six-axis robotic arm. The adsorption mechanism can adjust the size of the adsorbed material to adapt to photovoltaic panels of different specifications. The six-axis robotic arm adjusts the position of the photovoltaic panels and lays them out through six-axis adjustment.

[0009] The storage mechanism, installed at the front end of the vehicle frame, is used to store the photovoltaic panels to be laid.

[0010] The lifting mechanism is rotatably mounted at the front end of the chassis body and is used to drive the storage plate mechanism to move up and down.

[0011] The tilting cylinder is rotatably mounted on the main body of the vehicle frame, and its output end is rotatably connected to the lifting mechanism. It is used to adjust the angle of the lifting mechanism so that the adsorption mechanism can adsorb and grab the photovoltaic panel.

[0012] Preferably, the lifting mechanism includes a lifting frame rotatably mounted on the main body of the vehicle frame, a lifting carriage slidably disposed on the side of the lifting frame away from the main body of the vehicle frame, a frame base fixedly disposed at the lower center of the lifting frame, a vertically upward lifting cylinder fixedly mounted on the frame base, a lifting shaft fixedly connected to the output end of the lifting cylinder, lifting pulleys rotatably mounted at both ends of the lifting shaft, a connecting belt slidably connected to the lifting pulleys, one end of the connecting belt fixedly connected to the frame base, and the other end fixedly connected to the lifting carriage.

[0013] Preferably, the two vertical inner walls of the lifting frame are provided with limiting grooves, and limiting pulley seats are slidably connected in the limiting grooves. The two ends of the lifting carriage are fixedly connected to the limiting pulley seats on both sides.

[0014] Preferably, the storage plate mechanism includes a connecting bracket fixedly installed on the lifting slide, a storage plate guide rail fixedly installed on the upper part of the connecting bracket, two sets of storage plate support arms for storing photovoltaic panels slidably connected on the storage plate guide rail, an adjusting cylinder fixedly installed on the connecting bracket, and the output end of the adjusting cylinder fixedly connected to the storage plate support arm for adjusting the distance between the two sets of storage plate support arms to adapt to the storage of photovoltaic panels of different specifications.

[0015] Preferably, the adsorption mechanism includes a connecting frame fixedly installed at the output end of a six-axis robotic arm. An adsorption control box for controlling the adsorption of photovoltaic panels is fixedly installed on the connecting frame. A transverse guide rail is fixedly installed on the side of the connecting frame away from the six-axis robotic arm. Multiple longitudinal guide rails are slidably installed on the transverse guide rail. The longitudinal guide rails are perpendicular to the transverse guide rails. Two sets of longitudinal sliding sleeves are slidably installed on the longitudinal sliding sleeves. A suction cup for adsorbing photovoltaic panels is installed on the longitudinal sliding sleeve.

[0016] Preferably, the longitudinal guide rails are arranged in multiple sets from left to right on the transverse guide rails, and the leftmost longitudinal guide rail is fixedly installed on the transverse guide rails. The other sets of longitudinal guide rails are slidably connected to the transverse guide rails through transverse sliding sleeves. The connecting frame is provided with a transverse movement drive mechanism for driving the multiple sets of slidably installed longitudinal guide rails to move.

[0017] Preferably, a longitudinal movement drive mechanism for driving two sets of longitudinal sliding sleeves is fixedly provided at the lower end of the longitudinal guide rail. The longitudinal movement drive mechanism includes a cylinder support fixedly provided at the center position of the lower end of the longitudinal guide rail. A double-headed cylinder is fixedly installed on the cylinder support. Both output ends of the double-headed cylinder are fixedly connected to sliding sleeve connecting plates. The two sets of sliding sleeve connecting plates are fixedly connected to the longitudinal sliding sleeves on the same side.

[0018] Preferably, a connecting sleeve is fixedly provided on one side of the longitudinal sliding sleeve, and a telescopic sliding rod is slidably connected to the connecting sleeve. The telescopic sliding rod is fixedly connected to the adjacent longitudinal sliding sleeve, and the double-headed cylinder is provided with a set installed at the lower end of one set of longitudinal guide rails. The transmission connection between adjacent longitudinal sliding sleeves is realized through the telescopic sliding rod and the connecting sleeve. The sliding extension and retraction of the telescopic sliding rod does not affect the lateral movement of the longitudinal guide rail, so that one set of double-headed cylinders can synchronously drive multiple sets of symmetrical suction cups to move along the longitudinal direction, which can adapt to the adsorption of photovoltaic panels of different widths.

[0019] Preferably, the lateral movement drive mechanism includes a lateral movement cylinder fixedly mounted on a connecting frame. The output end of the lateral movement cylinder is fixedly connected to a cylinder connecting plate. An arc-shaped guide rail is fixedly connected to the cylinder connecting plate. An arc-shaped slide is slidably connected to the arc-shaped guide rail. A lateral movement push plate for pushing the lateral slide is fixedly connected to the lower end of the arc-shaped slide. A slide support plate that cooperates with the lateral movement push plate is fixedly provided on the lateral slide, and the slide support plate on different lateral slides is positioned differently.

[0020] Preferably, an arc-shaped rack is fixedly provided on the arc-shaped guide rail, a drive motor is fixedly installed on the arc-shaped slide, a drive gear is fixedly connected to the output end of the drive motor, and the drive gear meshes with the arc-shaped rack for transmission.

[0021] When the suction cup needs to be adjusted laterally, the lateral movement cylinder pushes the lateral movement push plate closer to the sliding sleeve support plate. Then, according to the orientation of the sliding sleeve support plate, the drive motor is started to drive the drive gear to rotate. Through gear and rack transmission, the arc-shaped slide is driven to rotate around the arc-shaped guide rail, so that the lateral movement push plate rotates to the position directly opposite the sliding sleeve support plate on the horizontal sliding sleeve that needs to be adjusted. Then, the lateral movement cylinder extends, driving the drive motor to move and push the sliding sleeve support plate and the horizontal sliding sleeve to slide along the horizontal guide rail, adjusting the position of the longitudinal guide rail installed below the horizontal sliding sleeve and the suction cup. Conversely, retracting the lateral movement push plate from the other side of the sliding sleeve support plate can achieve the lateral retraction of the suction cup. By rotating the set lateral movement push plate to adjust the position, the position of the sliding sleeve support plate in different directions can be adjusted, realizing the lateral position adjustment of multiple sets of suction cups by a single drive cylinder.

[0022] The beneficial effects of this invention are as follows: by integrating the storage plate mechanism to reduce the number of equipment round trips, and by using an adjustable adsorption mechanism to adapt to photovoltaic panels of different specifications, the problems of low installation efficiency and limited equipment applicability in the prior art are solved. It has the advantages of improving photovoltaic panel laying efficiency and enhancing the equipment's adaptability to photovoltaic panels of different specifications. Attached Figure Description

[0023] The invention will now be further described with reference to the accompanying drawings.

[0024] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0025] Figure 2 This is a schematic diagram of the overall front view structure of the present invention;

[0026] Figure 3 This is the present invention. Figure 2 Schematic diagram of the cross-sectional structure along the AA direction;

[0027] Figure 4 This is the present invention. Figure 3 Axonometric structural schematic diagram;

[0028] Figure 5 This is a three-dimensional structural schematic diagram of the adsorption mechanism of the present invention;

[0029] Figure 6 This is an isometric structural diagram of the adsorption mechanism of the present invention;

[0030] Figure 7 This is a schematic diagram of the main structure of the adsorption mechanism of the present invention;

[0031] Figure 8 This is the present invention. Figure 7 A cross-sectional three-dimensional structural diagram along the middle BB direction;

[0032] Figure 9 This is the present invention. Figure 8 Enlarged structural diagram at point C;

[0033] Figure 10 This is the present invention. Figure 5 A magnified structural diagram at point D.

[0034] In the diagram: 1. Chassis main body; 2. Tracked walking mechanism; 3. Control body; 4. Tilting cylinder; 5. Lifting mechanism; 51. Lifting frame; 52. Frame base; 53. Lifting cylinder; 54. Lifting shaft; 55. Lifting pulley; 56. Connecting belt; 57. Limiting pulley seat; 58. Lifting slide; 6. Storage plate mechanism; 61. Connecting bracket; 62. Storage plate guide rail; 63. Storage plate support arm; 64. Adjusting cylinder; 7. Support frame; 8. Six-axis robotic arm; 9. Adsorption mechanism; 91. Connecting frame; 92. Adsorption control box; 93. Lateral... 94. Guide rail; 95. Longitudinal guide rail; 96. Lateral sliding sleeve; 97. Longitudinal sliding sleeve; 98. Suction cup; 99. Lateral movement drive mechanism; 90. Lateral movement cylinder; 91. Cylinder connecting plate; 92. Arc-shaped guide rail; 93. Arc-shaped rack; 94. Arc-shaped carriage; 95. Arc-shaped slide; 96. Drive motor; 97. Drive gear; 988. Lateral movement push plate; 99. Longitudinal movement drive mechanism; 991. Cylinder support; 992. Double-headed cylinder; 993. Sliding sleeve connecting plate; 994. Connecting sleeve; 995. Telescopic slide rod; 10. Photovoltaic panel. Detailed Implementation

[0035] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0036] Please see Figures 1-10 As shown, an embodiment of the present invention provides an automated photovoltaic panel laying robot, comprising:

[0037] The frame body 1 serves as the main installation body for the laying robot. The lower part of the frame is equipped with a tracked walking mechanism 2 for driving the frame to move, and the upper part is equipped with a control vehicle body 3 for controlling the operation of the laying robot.

[0038] The support frame 7 is fixedly installed on the upper end of the frame body 1, and a six-axis robotic arm 8 is fixedly installed on it;

[0039] The adsorption mechanism 9 is fixedly mounted on the six-axis robotic arm 8. The adsorption mechanism 9 can adjust the adsorption size to adapt to photovoltaic panels 10 of different specifications. The six-axis robotic arm 8 adjusts the position of the photovoltaic panels 10 and lays them in place through six-axis adjustment.

[0040] The storage mechanism 6 is installed at the front end of the frame body 1 and is used to store the photovoltaic panels 10 to be laid.

[0041] The lifting mechanism 5 is rotatably mounted at the front end of the frame body 1 and is used to drive the storage plate mechanism 6 to move up and down.

[0042] The tilting cylinder 4 is rotatably mounted on the frame body 1, and its output end is rotatably connected to the lifting mechanism 5. It is used to adjust the angle of the lifting mechanism 5 so that the adsorption mechanism 9 can adsorb and grab the photovoltaic panel 10.

[0043] The adsorption mechanism 9 can be understood as a device with an adjustable adsorption range. Its main function is to adapt to photovoltaic panels 10 of different specifications by adjusting its own structure. Specifically, the adsorption mechanism 9 can adsorb photovoltaic panels 10 by using multiple sets of independently telescopic suction cup assemblies. For example, it can use spring-loaded suction cup brackets or hydraulically driven suction cup arms to adjust the adsorption range, thereby achieving the purpose of adapting to photovoltaic panels of different sizes.

[0044] Furthermore, the storage mechanism 6 can be understood as a device for temporarily storing photovoltaic panels 10, designed to reduce the frequency of the laying robot's back-and-forth retrieving of panels. In practical applications, the storage mechanism 6 can be implemented in the form of a stacked storage rack or a multi-layer sliding tray, for example, by setting multiple parallel storage slots or rotatable storage trays to store photovoltaic panels 10, so as to facilitate subsequent retrieval and laying operations.

[0045] The lifting mechanism 5 can be understood as a device used to adjust the height of the storage plate mechanism 6. Its main function is to adjust the photovoltaic panels 10 in the storage plate mechanism 6 to a position suitable for the adsorption mechanism 9 to grasp. Specifically, the lifting mechanism 5 can achieve the lifting function by means of screw drive, chain drive, or rack and pinion drive. For example, a screw driven by a motor can move the storage plate mechanism 6 up and down, or the height of the storage plate mechanism 6 can be adjusted by the cooperation of a chain and a sprocket.

[0046] The tilting cylinder 4 can be understood as a device used to adjust the angle of the lifting mechanism 5. Its main function is to change the posture of the lifting mechanism 5 so that the storage mechanism 6 is in the optimal plate-picking position. In practical applications, the tilting cylinder 4 can be used to adjust the angle by employing a single-acting cylinder, a double-acting cylinder, or an electric push rod. For example, the extension and retraction motion of a double-acting cylinder can drive the lifting mechanism 5 to rotate around a fixed axis, thereby achieving precise angle control.

[0047] The innovation of this application lies in the integration of a storage mechanism 6, a lifting mechanism 5, a tilting cylinder 4, and an adjustable adsorption mechanism 9, which enables on-site storage and efficient laying of photovoltaic panels 10. This avoids repeated movement of the laying robot between the laying point and the pick-up point. Furthermore, the adjustable size design of the adsorption mechanism 9 expands the equipment's adaptability to photovoltaic panels 10 of different specifications. These features work synergistically to significantly reduce unnecessary movement time during the laying process and improve the equipment's adaptability to various specifications of photovoltaic panels 10.

[0048] The working principle of this embodiment is as follows: The frame body 1 serves as the installation base for the entire laying robot. The tracked walking mechanism 2 installed at its lower part provides stable mobility for the equipment, while the control vehicle body 3 at the upper part is used to operate and control the overall equipment. The support frame 7 is fixedly installed at the upper end of the frame body 1, providing a stable installation platform for the six-axis robotic arm 8. The six-axis robotic arm 8 can precisely adjust the position of the photovoltaic panel 10 through its six-axis adjustment function, thereby achieving high-precision laying operations.

[0049] The adsorption mechanism 9 is fixedly mounted on the six-axis robotic arm 8. Its design allows for adjustment of the adsorption size, enabling it to accommodate photovoltaic panels 10 of different specifications. This solves the problem of traditional fixed suction cups being unable to adapt to various photovoltaic panel sizes, significantly expanding the equipment's applicability. The panel storage mechanism 6 is installed at the front end of the vehicle frame 1 to store the photovoltaic panels 10 to be laid. This avoids frequent back-and-forth movement of the laying robot between the laying point and the panel retrieval point, greatly reducing travel time and improving work efficiency.

[0050] The lifting mechanism 5 is rotatably mounted on the front end of the frame body 1 and is used to drive the storage plate mechanism 6 to move up and down, adjusting the photovoltaic panel 10 to a suitable height for the adsorption mechanism 9 to grasp. The tilting cylinder 4 is rotatably mounted on the frame body 1 and its output end is connected to the lifting mechanism 5. By adjusting the angle of the lifting mechanism 5, the storage plate mechanism 6 is placed in the optimal position, so that the adsorption mechanism 9 can smoothly grasp the photovoltaic panel 10.

[0051] When photovoltaic panels need to be laid, the photovoltaic panels 10 in the storage mechanism 6 are adjusted to a suitable position and angle through the coordinated action of the lifting mechanism 5 and the tilting cylinder 4. After the adsorption mechanism 9 adjusts the adsorption size according to the specifications of the photovoltaic panels 10, the six-axis robotic arm 8 precisely moves the photovoltaic panels 10 to the target laying position and completes the laying. Thus, the entire technical solution realizes on-site storage and efficient laying of photovoltaic panels, effectively solving the problem of frequent back-and-forth trips caused by the lack of a storage mechanism. At the same time, the adjustable design of the adsorption mechanism 9 improves the equipment's adaptability to photovoltaic panels of different specifications.

[0052] For further details, please refer to Figures 1-4 As shown, the lifting mechanism 5 includes a lifting frame 51 rotatably mounted on the frame body 1. A lifting carriage 58 is slidably disposed on the side of the lifting frame 51 away from the frame body 1. A frame base 52 is fixedly disposed at the lower center of the lifting frame 51. A vertically upward lifting cylinder 53 is fixedly mounted on the frame base 52. A lifting shaft 54 ​​is fixedly connected to the output end of the lifting cylinder 53. Lifting pulleys 55 are rotatably mounted on both ends of the lifting shaft 54. A connecting belt 56 is slidably connected to the lifting pulleys 55. One end of the connecting belt 56 is fixedly connected to the frame base 52, and the other end is fixedly connected to the lifting carriage 58.

[0053] The lifting frame 51 is the core structural component that supports and guides the entire lifting mechanism 5. It can be implemented using a rectangular frame structure made of high-strength metal material to provide a stable installation foundation and ensure the stability of the overall structure. In practical applications, the lifting slide 58 can be understood as a load-bearing component that slides along the lifting frame 51. It can cooperate with the lifting frame 51 through linear guide pairs or roller sets to ensure the smoothness of the storage plate mechanism 6 during lifting. Specifically, the frame base 52 is a reinforcing structure located at the bottom of the lifting frame 51. It can be fixed to the lifting frame 51 by welding or bolting to enhance the rigidity and vibration resistance of the overall structure. In addition, the lifting cylinder 53 is an actuator that converts the energy of compressed air into mechanical energy. It can be implemented using a single-acting or double-acting cylinder to provide controllable linear driving force. The lifting shaft 54 ​​is a transmission component connected to the output end of the lifting cylinder 53. It can be implemented using a cylindrical metal rod with a hardened surface to ensure strength and wear resistance during transmission. The connecting belt 56 can be a flexible transmission component with high tensile strength, which can be implemented by means of steel wire rope, synchronous belt or chain, etc., with the aim of achieving smooth power transmission.

[0054] Specifically, this solution achieves precise lifting and lowering control of the storage plate mechanism 6 through the organic cooperation between various components. The lifting frame 51, as the basic support structure, allows for flexible angle adjustment of the entire mechanism via its rotating installation, enabling multi-directional plate retrieval operations in conjunction with the tilting cylinder 4. The sliding arrangement of the lifting carriage 58 along the lifting frame 51 ensures that the storage plate mechanism 6 maintains a horizontal posture during vertical movement, preventing tilting or displacement of the photovoltaic panels 10. The frame base 52, located at the lower center of the lifting frame 51, provides a stable mounting reference for the lifting cylinder 53, effectively reducing vibration transmission during operation. The lifting cylinder 53 transmits linear thrust to the lifting pulley 55 via the lifting shaft 54, utilizing the rotational characteristics of the pulley to convert linear motion into flexible traction. This design is particularly noteworthy for its ability to absorb mechanical shock, resulting in a smooth and seamless lifting process. The closed-loop transmission path formed by the connecting belt 56 ensures the synchronous lifting and lowering movement of the lifting carriage 58, achieving controllable low-impact movement in conjunction with gravity, significantly improving plate retrieval efficiency and system reliability. The above technical solution not only solves the stability problem of the photovoltaic panel mechanism 6 during the lifting process, but also enhances the equipment's adaptability to photovoltaic panels 10 of different specifications, thereby improving the overall laying efficiency.

[0055] For further details, please refer to Figures 3-4 As shown, the two vertical inner walls of the lifting frame 51 are provided with limiting grooves, and the limiting pulley seats 57 are slidably connected in the limiting grooves. The two ends of the lifting carriage 58 are fixedly connected to the limiting pulley seats 57 on both sides.

[0056] In practical applications, the limiting groove refers to the guide structure set on the inner wall of the lifting frame 51, which can be implemented using grooves of different cross-sectional shapes such as rectangular grooves or T-shaped grooves. The limiting pulley seat 57 can be understood as a device that converts sliding friction into rolling friction, which can be implemented by installing rollers, bearings, or sliders, etc., to reduce the motion resistance of the lifting carriage 58 during the lifting process and reduce mechanical wear. As a key component of the storage plate carrying mechanism, the lifting carriage 58, through its fixed connection at both ends to the limiting pulley seat 57, ensures its overall synchronous movement and avoids offset or jamming caused by unilateral force.

[0057] Specifically, this solution constructs a rigid guide path by setting limiting grooves on the two vertical inner walls of the lifting frame 51, constraining the lifting carriage 58 to move only in the vertical direction, thereby effectively avoiding lateral deviation. The limiting pulley seat 57 within the limiting groove significantly reduces motion resistance through rolling friction, while improving the smoothness of the sliding process. Furthermore, the fixed connection between the two ends of the lifting carriage 58 and the limiting pulley seat 57 not only ensures the overall synchronous movement of the carriage but also eliminates the risk of torsional deformation caused by uneven force on one side. This design ensures that the lifting mechanism maintains high-precision positioning when driving the storage plate mechanism to rise and fall, providing a guarantee for the adsorption mechanism to reliably grasp the photovoltaic panel 10.

[0058] The above technical solution solves the problem of swaying, deviation and even jamming caused by the lack of a stable guiding structure during the lifting process of the lifting carriage 58. It significantly improves the accuracy and stability of the position of the storage plate mechanism, thereby improving the efficiency of the adsorption mechanism in grabbing the photovoltaic panel 10 and the continuity of the laying operation. At the same time, it reduces the risk of mechanical wear and extends the service life of the equipment.

[0059] For further details, please refer to Figures 1-4 As shown, the storage plate mechanism 6 includes a connecting bracket 61 fixedly installed on the lifting slide 58. A storage plate guide rail 62 is fixedly installed on the upper part of the connecting bracket 61. Two sets of storage plate support arms 63 for storing photovoltaic panels 10 are slidably connected on the storage plate guide rail 62. An adjusting cylinder 64 is fixedly installed on the connecting bracket 61. The output end of the adjusting cylinder 64 is fixedly connected to the storage plate support arm 63 and is used to adjust the distance between the two sets of storage plate support arms 63 to adapt to the storage of photovoltaic panels 10 of different specifications.

[0060] Specifically, the storage plate mechanism 6 refers to a device capable of dynamically adjusting to adapt to the storage needs of photovoltaic panels 10 of different sizes. This can be achieved using a sliding rail and driving element. The connecting bracket 61, as the basic support component of the entire storage plate mechanism 6, can be fixedly installed on the lifting slide 58 by welding or bolting to ensure the stability of the overall structure. The storage plate guide rail 62 can be understood as a linear motion component providing precise guidance, achieving smooth movement through structures such as linear bearings or ball bearings. The storage plate support arm 63 is a key component directly supporting the photovoltaic panels 10. Its position is adjusted through cooperation with the storage plate guide rail 62 to meet the storage requirements of photovoltaic panels 10 of different specifications. The regulating cylinder 64 is an actuator that converts air pressure energy into mechanical energy. It can be a single-acting or double-acting cylinder to achieve push-pull actions, aiming to achieve synchronous displacement of the storage plate support arm 63 through automated control.

[0061] In detail, the connecting bracket 61 is fixedly installed on the lifting slide 58, forming a stable base structure and providing reliable support for the overall movement of the storage plate mechanism 6. The storage plate guide rail 62 is fixedly installed on the upper part of the connecting bracket 61, providing a precise guiding path for the movement of the storage plate support arm 63. The two sets of storage plate support arms 63 are installed on the storage plate guide rail 62 through a sliding connection, forming the bearing interface of the photovoltaic panel 10, and the spacing can be adjusted along the guide rail as needed. The adjusting cylinder 64 is fixedly installed on the connecting bracket 61, and its output end is directly connected to the storage plate support arm 63. The cylinder's extension and retraction movement drives the storage plate support arm 63 to move synchronously, realizing an automated adjustment function. This design enables the storage plate mechanism 6 to quickly respond to the storage needs of photovoltaic panels 10 of different specifications, avoiding manual intervention and equipment downtime for adjustment, significantly improving the working efficiency and applicability of the laying robot. At the same time, the use of this solution in conjunction with the lifting mechanism 5 ensures that the storage plate mechanism 6 remains stable during the lifting process, further enhancing the overall performance of the equipment.

[0062] For further details, please refer to Figures 5-10 As shown, the adsorption mechanism 9 includes a connecting frame 91 fixedly installed at the output end of the six-axis robotic arm 8. An adsorption control box 92 for controlling the adsorption of the photovoltaic panel 10 is fixedly installed on the connecting frame 91. A transverse guide rail 93 is fixedly installed on the side of the connecting frame 91 away from the six-axis robotic arm 8. Multiple longitudinal guide rails 94 are slidably installed on the transverse guide rail 93. The longitudinal guide rails 94 are perpendicular to the transverse guide rails 93. Two sets of longitudinal sliding sleeves 96 are slidably installed on the longitudinal guide rails 94. A suction cup 97 for adsorbing the photovoltaic panel 10 is installed on the longitudinal sliding sleeves 96.

[0063] Specifically, the connecting frame 91 serves as the mounting base for the entire adsorption mechanism 9. It can be a frame structure made of high-strength metal material, designed to ensure the stability of the adsorption action and reliable connection with the six-axis robotic arm 8. The adsorption control box 92 is the core component used to regulate the adsorption process. It can precisely adjust the adsorption force of the suction cup 97 by integrating a pneumatic control system or solenoid valve assembly, preventing damage to the photovoltaic panel 10 due to improper adsorption force. The transverse guide rail 93 provides a reference track for transverse movement. It can be implemented as a linear guide rail or a ball bearing guide rail, supporting the position adjustment of the longitudinal guide rail 94 according to changes in the width of the photovoltaic panel 10. The longitudinal guide rail 94 can be a sliding track orthogonal to the transverse guide rail 93, adjusting its position through a slider mechanism to accommodate photovoltaic panels 10 of different widths. The longitudinal sliding sleeve 96 is a sliding assembly installed on the longitudinal guide rail 94. It can slide along the longitudinal guide rail 94 using a linear bearing or slider mechanism, dynamically adjusting the position of the suction cup 97 according to the length of the photovoltaic panel 10. The suction cup 97 can be a vacuum suction cup or an electromagnetic suction cup, which is connected to the longitudinal sliding sleeve 96 through a flexible connector, with the purpose of adapting to the surface of the photovoltaic panel 10 and achieving reliable adsorption.

[0064] Specifically, this solution addresses the problem of fixed suction cups being unable to adapt to photovoltaic panels 10 of different specifications by constructing a multi-degree-of-freedom adjustable adsorption mechanism 9. A connecting frame 91 is fixed to the output end of the six-axis robotic arm 8, serving as the mounting base for the entire mechanism and ensuring the stability and reliability of the adsorption action. An adsorption control box 92 is mounted on the connecting frame 91 to precisely control the adsorption process, ensuring air pressure control during the gripping and release of the photovoltaic panel 10 and preventing damage to the photovoltaic panel 10 due to improper adsorption force. A transverse guide rail 93 is fixed to the side of the connecting frame 91 away from the six-axis robotic arm 8, providing a reference track for transverse movement. This allows the longitudinal guide rail 94 to slide laterally according to changes in the width of the photovoltaic panel 10, thus adapting to photovoltaic panels 10 of different widths. Multiple longitudinal guide rails 94 are slidably mounted on the transverse guide rail 93, and their perpendicular design forms an orthogonal guide rail system, avoiding motion interference and ensuring that the suction cup 97 can achieve two-dimensional independent adjustment in the horizontal plane. Two sets of longitudinal sliding sleeves 96 slide on the longitudinal guide rails 94, dynamically adjusting the longitudinal spacing according to the length of the photovoltaic panel 10. This ensures that the suction cup 97 is precisely positioned to match the edge of the photovoltaic panel 10, preventing weak adhesion or displacement due to positional deviation. The suction cup 97 is mounted on the longitudinal sliding sleeves 96 and directly performs the adsorption function. Positional fine-tuning is achieved through the movement of the sliding sleeves, ensuring reliable gripping and precise installation of photovoltaic panels 10 of different specifications.

[0065] The above technical solution enables flexible adjustment of the suction cup 97 position to match the size changes of the photovoltaic panel 10, improving the versatility and installation efficiency of the laying robot. Simultaneously, this solution, combined with the multi-degree-of-freedom adjustment capability of the six-axis robotic arm 8, further enhances the equipment's adaptability to complex laying scenarios, significantly improving the flexibility and efficiency of automatic photovoltaic panel laying.

[0066] For further details, please refer to Figures 5-10 As shown, there are multiple sets of longitudinal guide rails 94 arranged from left to right on the transverse guide rail 93, and the leftmost longitudinal guide rail 94 is fixedly installed on the transverse guide rail 93. The other sets of longitudinal guide rails 94 are slidably connected to the transverse guide rail 93 through transverse sliding sleeves 95. The connecting frame 91 is provided with a transverse movement drive mechanism 98 for driving the multiple sets of slidably installed longitudinal guide rails 94 to move.

[0067] Specifically, the longitudinal guide rail 94 refers to a track structure arranged in the longitudinal direction and capable of supporting the longitudinal movement of the suction cup 97. It can be implemented using linear guide rails, ball bearing guide rails, or sliding guide rails. The transverse sliding sleeve 95 is a connecting component that allows the longitudinal guide rail 94 to move smoothly along the transverse guide rail 93. Its purpose is to provide flexible lateral adjustment capability to adapt to photovoltaic panels 10 of different widths. The transverse drive mechanism 98 can be understood as an automated drive device, specifically a cylinder, lead screw drive mechanism, or synchronous belt drive mechanism. Its purpose is to achieve precise control of the position of the longitudinal guide rail 94, thereby improving the adaptability of the adsorption mechanism 9 to the photovoltaic panel 10.

[0068] In detail, this solution achieves flexible adjustment of the suction cup 97's position by arranging multiple sets of longitudinal guide rails 94 on transverse guide rails 93 and combining fixed installation with sliding connection. The leftmost longitudinal guide rail 94 is fixedly installed, providing a stable reference point for the entire adsorption mechanism 9 and avoiding positioning deviation problems caused by complete floating. The remaining sets of longitudinal guide rails 94 are slidably connected through transverse sliding sleeves 95. This design allows the suction cup 97 to dynamically adjust its spacing according to the actual width of the photovoltaic panel 10, overcoming the shortcomings of traditional fixed guide rails that cannot adapt to size changes. The introduction of the transverse drive mechanism 98 further improves adjustment efficiency, quickly matching the transverse size requirements of photovoltaic panels 10 of different specifications through automated drive. In addition, this multi-set guide rail combination design not only retains the stability advantage of fixed guide rails but also expands the adjustment range through the sliding part, significantly enhancing the adsorption mechanism 9's responsiveness to changes in the width of the photovoltaic panel 10, laying the foundation for the laying robot to adapt to diverse installation scenarios.

[0069] Through the above technical solution, the adsorption mechanism 9 can flexibly adapt to photovoltaic panels 10 of different specifications, significantly improving the versatility and installation efficiency of the laying robot, and solving the problem that the position of the suction cup in traditional equipment cannot be adjusted laterally according to the changes in the width of the photovoltaic panel. At the same time, this solution, through the combination of fixed guide rails and sliding guide rails, not only ensures the reliability of the overall structure, but also achieves efficient automated adjustment, demonstrating the ingenuity of the technical design.

[0070] For further details, please refer to Figures 5-10 As shown, a connecting sleeve 994 is fixedly installed on one side of the longitudinal sliding sleeve 96. A telescopic sliding rod 995 is slidably connected to the connecting sleeve 994. The telescopic sliding rod 995 is fixedly connected to the adjacent longitudinal sliding sleeve 96. A set of double-headed cylinders 992 is installed at the lower end of one set of longitudinal guide rails 94. The transmission connection between adjacent longitudinal sliding sleeves 96 is realized through the telescopic sliding rod 995 and the connecting sleeve 994. The sliding extension and retraction of the telescopic sliding rod 995 does not affect the lateral movement of the longitudinal guide rail 94. This enables a set of double-headed cylinders 992 to synchronously drive multiple sets of symmetrical suction cups 97 to move along the longitudinal direction, adapting to the adsorption of photovoltaic panels 10 of different widths.

[0071] Specifically, the connecting sleeve 994 is a rigid component with an internal cavity structure, which can be made of metal tubing or high-strength composite material, and is used to guide and support the telescopic slide rod 995. Its purpose is to ensure that the telescopic slide rod 995 maintains high-precision linear motion during sliding, thereby avoiding jamming problems caused by misalignment. The telescopic slide rod 995 can be understood as a rod-shaped component that can freely extend and retract within the connecting sleeve 994. Smooth sliding performance can be achieved by coating its surface with a low-friction material or by incorporating rolling bearings. Its purpose is to dynamically adapt to positional changes between the longitudinal sleeves 96 while ensuring reliable force transmission. The double-headed cylinder 992 is a drive device with bidirectional output characteristics, which can achieve symmetrical output through hydraulic, pneumatic, or electric means. Its purpose is to reduce the number of drive components and improve the synchronization of the system.

[0072] In detail, the above technical solution constructs a highly efficient transmission mechanism through the cooperation of the connecting sleeve 994 and the telescopic slide rod 995. The connecting sleeve 994 is fixed to one side of the longitudinal slide sleeve 96, providing a stable guiding foundation for the telescopic slide rod 995 and ensuring structural stability during the sliding process. While the telescopic slide rod 995 slides freely within the connecting sleeve 994, it transmits the driving force of the double-headed cylinder 992 from one longitudinal slide sleeve 96 to the adjacent longitudinal slide sleeve 96, realizing the synchronous movement of multiple sets of slide sleeves. This design not only simplifies the system structure but also significantly reduces the complex control logic required to independently drive multiple slide sleeves. In addition, due to the sliding characteristics of the telescopic slide rod 995, it does not interfere with the lateral movement of the longitudinal guide rail 94 when transmitting force between the longitudinal slide sleeves 96, thereby achieving independent adjustment capabilities in two dimensions. Finally, multiple sets of symmetrical suction cups 97 can be driven to move longitudinally by a single set of double-headed cylinders 992, quickly adapting to photovoltaic panels 10 of different widths and improving the efficiency and reliability of the laying process.

[0073] For further details, please refer to Figures 5-10 As shown, a connecting sleeve 994 is fixedly installed on one side of the longitudinal sliding sleeve 96. A telescopic sliding rod 995 is slidably connected to the connecting sleeve 994. The telescopic sliding rod 995 is fixedly connected to the adjacent longitudinal sliding sleeve 96. A set of double-headed cylinders 992 is installed at the lower end of one set of longitudinal guide rails 94. The transmission connection between adjacent longitudinal sliding sleeves 96 is realized through the telescopic sliding rod 995 and the connecting sleeve 994. The sliding extension and retraction of the telescopic sliding rod 995 does not affect the lateral movement of the longitudinal guide rail 94. This enables a set of double-headed cylinders 992 to synchronously drive multiple sets of symmetrical suction cups 97 to move along the longitudinal direction, adapting to the adsorption of photovoltaic panels 10 of different widths.

[0074] Specifically, the connecting sleeve 994 refers to a tubular structure with an internal sliding space, which can be made of metal or high-strength composite materials, and its purpose is to provide a stable sliding base for the telescopic slide rod 995. The telescopic slide rod 995 can be understood as a rod-shaped component that can freely extend and retract within the connecting sleeve 994. Its smooth sliding performance can be achieved by coating its surface with a low-friction coefficient material or by incorporating a ball bearing structure, and its purpose is to adapt to changes in the distance between adjacent longitudinal sliding sleeves 96. The dual-head cylinder 992 is a pneumatic actuator with bidirectional output function. It can be in the form of a single-acting or double-acting cylinder, and its purpose is to achieve synchronous movement of multiple suction cups 97 through a single drive source.

[0075] In detail, this solution constructs a flexible transmission mechanism through the cooperation of the connecting sleeve 994 and the telescopic slide rod 995. The connecting sleeve 994 is fixed to one side of the longitudinal slide sleeve 96, providing stable support for the telescopic slide rod 995, while allowing it to automatically adjust its length according to the distance between adjacent slide sleeves, avoiding stress concentration problems that may be caused by rigid connections. The telescopic slide rod 995 directly connects adjacent longitudinal slide sleeves 96, forming an efficient motion transmission path, enabling the action of the dual-head cylinder 992 to quickly spread to all slide sleeves, thereby achieving coordinated synchronization of multiple suction cups 97. On this basis, the sliding characteristics of the telescopic slide rod 995 are decoupled from the lateral movement of the longitudinal guide rail 94, ensuring that the longitudinal movement function can still operate independently when the suction mechanism adjusts the lateral position of the suction cup 97, significantly improving operational flexibility. Ultimately, the longitudinal movement control of multiple suction cups 97 can be completed by a single set of dual-head cylinders 992, which not only simplifies the system structure but also reduces manufacturing costs and effectively solves the problem of low efficiency caused by drive redundancy.

[0076] For further details, please refer to Figures 5-10 As shown, the transverse drive mechanism 98 includes a transverse cylinder 981 fixedly mounted on a connecting frame 91. A cylinder connecting plate 982 is fixedly connected to the output end of the transverse cylinder 981. An arc-shaped guide rail 983 is fixedly connected to the cylinder connecting plate 982. An arc-shaped slide 985 is slidably connected to the arc-shaped guide rail 983. A transverse push plate 988 for pushing the transverse slide sleeve 95 is fixedly connected to the lower end of the arc-shaped slide sleeve 985. A slide sleeve support plate 951 that cooperates with the transverse push plate 988 is fixedly provided on the transverse slide sleeve 95, and the slide sleeve support plate 951 on different transverse slide sleeves 95 is positioned differently.

[0077] Specifically, the transverse cylinder 981 is the power source providing linear motion, which can be implemented using linear drive devices such as hydraulic cylinders or electric push rods. Its purpose is to provide a stable and reliable driving force for the entire transverse drive mechanism 98. The arc-shaped guide rail 983 can be understood as a guide structure with a specific curvature, which can be manufactured through metal profile processing, injection molding, etc. Its purpose is to provide precise trajectory constraints for the movement of the arc-shaped carriage 985. The arc-shaped carriage 985 is a component that can slide along the arc-shaped guide rail 983. It can cooperate with the guide rail through structures such as sliders and rollers, and its purpose is to convert linear motion into angular changes. The transverse push plate 988 is the actuator that directly acts on the sliding sleeve support plate 951. It can be implemented using rigid plates, profiles, etc., and its purpose is to accurately transmit thrust and adjust the position of the transverse sliding sleeve 95.

[0078] In detail, this solution provides a stable linear thrust through a transverse cylinder 981, which transmits the motion to the arc-shaped guide rail 983 and the arc-shaped carriage 985 via a cylinder connecting plate 982. As the arc-shaped carriage 985 slides along the arc-shaped guide rail 983, it causes the transverse push plate 988 to change angle, allowing it to adapt to the different positions of the sliding sleeve support plates 951. Since the positions of the sliding sleeve support plates 951 on different transverse sliding sleeves 95 vary, this rotational adjustment mechanism allows for precise pushing of multiple sliding sleeve support plates 951 by a single drive source. This design avoids the complexity of configuring an independent actuator for each sliding sleeve and significantly improves adjustment efficiency. Furthermore, this solution, combined with the overall structure of the adsorption mechanism 9, allows multiple sets of longitudinal guide rails 94 and suction cups 97 to be flexibly adjusted to adapt to photovoltaic panels 10 of different specifications, solving the adjustment difficulties caused by the differences in the positions of the sliding sleeve support plates 951. By integrating the arc-shaped motion mechanism with a single drive source, a highly efficient transverse adjustment capability for the photovoltaic panel adsorption mechanism is achieved.

[0079] For further details, please refer to Figures 5-10 As shown, an arc-shaped rack 984 is fixedly mounted on the arc-shaped guide rail 983, and a drive motor 986 is fixedly mounted on the arc-shaped slide 985. A drive gear 987 is fixedly connected to the output end of the drive motor 986, and the drive gear 987 meshes with the arc-shaped rack 984 for transmission. When the suction cup 97 needs to be adjusted laterally, the lateral movement cylinder 981 pushes the lateral movement push plate 988 closer to the sliding sleeve support plate 951. Then, according to the orientation of the sliding sleeve support plate 951, the drive motor 986 is started to drive the drive gear 987 to rotate. Through the gear and rack transmission, the arc-shaped slide 985 rotates around the arc-shaped guide rail 983, causing the lateral movement push plate 988 to rotate. Rotate the cylinder to the position where the sliding sleeve support plate 951 of the horizontal sliding sleeve 95 needs to be adjusted. Then, the horizontal movement cylinder 981 extends to drive the drive motor 986 to move and push the sliding sleeve support plate 951 and the horizontal sliding sleeve 95 to slide along the horizontal guide rail 93. Adjust the position of the vertical guide rail 94 and the suction cup 97 installed below the horizontal sliding sleeve 95. Conversely, retracting the horizontal movement push plate 988 from the other side of the sliding sleeve support plate 951 can achieve the lateral retraction of the suction cup 97. By rotating the horizontal movement push plate 988, the position of the sliding sleeve support plate 951 in different directions can be adjusted, realizing the lateral position adjustment of multiple suction cups 97 by a single drive cylinder.

[0080] Specifically, the arc-shaped rack 984 refers to an arc-shaped track component with a continuous tooth structure, which can be made of metal or high-strength engineering plastics. Its purpose is to provide a precise rotary track foundation for the drive gear 987. The drive gear 987 can be understood as a transmission gear meshing with the arc-shaped rack 984. It can achieve high-precision transmission through module matching design, aiming to convert the rotational motion of the drive motor 986 into the controllable rotational motion of the arc-shaped slide 985. The transverse push plate 988 is an actuator used to push the sliding sleeve support plate 951. It can be made of rigid material and can be adjusted at different angles to adapt to the sliding sleeve support plate 951, aiming to achieve flexible control of multiple suction cups 97.

[0081] In detail, the meshing transmission mechanism of the arc-shaped rack 984 and the drive gear 987 constitutes the core of the entire adjustment system, providing precise angle adjustment capability. When the suction cup 97 needs to be adjusted laterally, the lateral movement cylinder 981 first pushes the lateral movement push plate 988 closer to the target sliding sleeve support plate 951. Then, the drive motor 986 starts, and the rotation of the drive gear 987 drives the arc-shaped slide 985 to rotate along the arc-shaped guide rail 983 through the gear and rack transmission, thereby making the lateral movement push plate 988 precisely aligned with the orientation of the sliding sleeve support plate 951. Next, the lateral movement cylinder 981 continues to extend, pushing the sliding sleeve support plate 951 and the lateral sliding sleeve 95 to slide along the lateral guide rail 93, completing the dynamic adjustment of the suction cup 97's position. During the lateral retraction process, the lateral movement push plate 988 adjusts its position by rotating in the opposite direction, ensuring that it can be precisely retracted from the other side of the sliding sleeve support plate 951. This design not only solves the adjustment limitations caused by the different orientations of the sliding sleeve support plate 951, but also significantly improves the flexibility of the suction cup layout, thus reliably adapting to the adsorption needs of photovoltaic panels of different specifications. Furthermore, this solution achieves efficient control of multiple sets of suction cups 97 through a single drive cylinder, demonstrating the ingenuity and practicality of the overall technical solution.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic panel automatic laying robot, characterized in that, include: The frame body (1) serves as the installation body for the laying robot. The lower part of the frame is equipped with a track walking mechanism (2) for driving the frame to move, and the upper part is equipped with a control vehicle body (3) for controlling the operation of the laying robot. The support frame (7) is fixedly installed on the upper end of the frame body (1), and a six-axis robotic arm (8) is fixedly installed on it. The adsorption mechanism (9) is fixedly mounted on the six-axis robotic arm (8). The adsorption mechanism (9) can adjust the adsorption size to adapt to photovoltaic panels (10) of different specifications. The six-axis robotic arm (8) adjusts the position of the photovoltaic panel (10) by six-axis adjustment. The storage mechanism (6) is installed at the front end of the frame body (1) and is used to store the photovoltaic panels (10) to be laid; The lifting mechanism (5) is rotatably mounted at the front end of the frame body (1) and is used to drive the storage plate mechanism (6) to move up and down; The flip cylinder (4) is rotatably mounted on the frame body (1), and its output end is rotatably connected to the lifting mechanism (5) to adjust the angle of the lifting mechanism (5) so that the adsorption mechanism (9) can adsorb and grab the photovoltaic panel (10). The adsorption mechanism (9) includes a connecting frame (91) fixedly installed at the output end of the six-axis robotic arm (8). An adsorption control box (92) for controlling the adsorption of the photovoltaic panel (10) is fixedly installed on the connecting frame (91). A transverse guide rail (93) is fixedly installed on the side of the connecting frame (91) away from the six-axis robotic arm (8). Multiple longitudinal guide rails (94) are slidably installed on the transverse guide rail (93). The longitudinal guide rails (94) are perpendicular to the transverse guide rails (93). Two sets of longitudinal sliding sleeves (96) are slidably installed on the longitudinal guide rails (94). A suction cup (97) for adsorbing the photovoltaic panel (10) is installed on the longitudinal sliding sleeves (96). The longitudinal guide rails (94) are arranged in multiple sets from left to right on the transverse guide rails (93), and the longitudinal guide rail (94) located on the leftmost side is fixedly installed on the transverse guide rail (93). The other longitudinal guide rails (94) are slidably connected to the transverse guide rails (93) through transverse sliding sleeves (95). The connecting frame (91) is provided with a transverse traverse drive mechanism (98) for driving the multiple sets of slidably installed longitudinal guide rails (94) to move. The transverse drive mechanism (98) includes a transverse cylinder (981) fixedly mounted on a connecting frame (91). The output end of the transverse cylinder (981) is fixedly connected to a cylinder connecting plate (982). An arc-shaped guide rail (983) is fixedly connected to the cylinder connecting plate (982). An arc-shaped slide (985) is slidably connected to the arc-shaped guide rail (983). A transverse push plate (988) for pushing the transverse slide (95) is fixedly connected to the lower end of the arc-shaped slide (985). A slide support plate (951) that cooperates with the transverse push plate (988) is fixedly provided on the transverse slide (95), and the slide support plate (951) on different transverse slides (95) is set in different positions.

2. The photovoltaic panel automatic laying robot according to claim 1, characterized in that, The lifting mechanism (5) includes a lifting frame (51) rotatably mounted on the frame body (1). A lifting carriage (58) is slidably provided on the side of the lifting frame (51) away from the frame body (1). A frame base (52) is fixedly provided at the lower center of the lifting frame (51). A vertically upward lifting cylinder (53) is fixedly installed on the frame base (52). A lifting shaft (54) is fixedly connected to the output end of the lifting cylinder (53). Lifting pulleys (55) are rotatably mounted on both ends of the lifting shaft (54). A connecting belt (56) is slidably connected to the lifting pulleys (55). One end of the connecting belt (56) is fixedly connected to the frame base (52), and the other end is fixedly connected to the lifting carriage (58).

3. The photovoltaic panel automatic laying robot according to claim 2, characterized in that, The lifting frame (51) has two vertical inner walls with limiting grooves, and limiting pulley seats (57) are slidably connected in the limiting grooves. The lifting slide (58) is fixedly connected at both ends to the limiting pulley seats (57) on both sides.

4. The photovoltaic panel automatic laying robot according to claim 2, characterized in that, The storage plate mechanism (6) includes a connecting bracket (61) fixedly installed on the lifting slide (58). A storage plate guide rail (62) is fixedly installed on the upper part of the connecting bracket (61). Two sets of storage plate support arms (63) for storing photovoltaic panels (10) are slidably connected on the storage plate guide rail (62). An adjusting cylinder (64) is fixedly installed on the connecting bracket (61). The output end of the adjusting cylinder (64) is fixedly connected to the storage plate support arm (63) for adjusting the distance between the two sets of storage plate support arms (63) to adapt to the storage of photovoltaic panels (10) of different specifications.

5. The photovoltaic panel automatic laying robot according to claim 1, characterized in that, The lower end of the longitudinal guide rail (94) is fixedly provided with a longitudinal movement drive mechanism (99) for driving the movement of two sets of longitudinal sliding sleeves (96). The longitudinal movement drive mechanism (99) includes a cylinder support (991) fixedly provided at the center position of the lower end of the longitudinal guide rail (94). A double-headed cylinder (992) is fixedly installed on the cylinder support (991). The two output ends of the double-headed cylinder (992) are fixedly connected to sliding sleeve connecting plates (993). The two sets of sliding sleeve connecting plates (993) are fixedly connected to the longitudinal sliding sleeves (96) on the same side.

6. The photovoltaic panel automatic laying robot according to claim 5, characterized in that, A connecting sleeve (994) is fixedly provided on one side of the longitudinal sliding sleeve (96). A telescopic sliding rod (995) is slidably connected on the connecting sleeve (994). The telescopic sliding rod (995) is fixedly connected to the adjacent longitudinal sliding sleeve (96). The double-headed cylinder (992) is provided with a set installed at the lower end of one set of longitudinal guide rails (94). The transmission connection between the adjacent longitudinal sliding sleeves (96) is realized through the telescopic sliding rod (995) and the connecting sleeve (994). The sliding extension and retraction of the telescopic sliding rod (995) does not affect the lateral movement of the longitudinal guide rail (94). A set of double-headed cylinders (992) synchronously drives multiple sets of symmetrical suction cups (97) to move along the longitudinal direction, adapting to the adsorption of photovoltaic panels (10) of different widths.

7. The photovoltaic panel automatic laying robot according to claim 6, characterized in that, An arc-shaped rack (984) is fixedly installed on the arc-shaped guide rail (983), and a drive motor (986) is fixedly installed on the arc-shaped slide (985). A drive gear (987) is fixedly connected to the output end of the drive motor (986), and the drive gear (987) meshes with the arc-shaped rack (984) for transmission. When the suction cup (97) needs to be adjusted laterally, the lateral movement cylinder (981) pushes the lateral movement push plate (988) closer to the sliding sleeve support plate (951). Then, according to the orientation of the sliding sleeve support plate (951), the drive motor (986) is started to drive the drive gear (987) to rotate. Through gear and rack transmission, the arc-shaped slide (985) is driven to rotate around the arc-shaped guide rail (983), so that the lateral movement push plate (988) rotates to the position facing the sliding sleeve support plate (951) on the lateral sliding sleeve (95) that needs to be adjusted. Then, the lateral movement cylinder (981) extends to drive the drive motor. The machine (986) moves and pushes the sliding sleeve support plate (951) and the transverse sliding sleeve (95) to slide along the transverse guide rail (93), and adjusts the position of the longitudinal guide rail (94) and the suction cup (97) installed below the transverse sliding sleeve (95); conversely, the transverse push plate (988) is retracted from the other side of the sliding sleeve support plate (951) to realize the transverse retraction of the suction cup (97). By rotating the transverse push plate (988) to adjust the position, the position of the sliding sleeve support plate (951) in different directions is adjusted, and the transverse position adjustment of multiple suction cups (97) by a single drive cylinder is realized.

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