Photovoltaic module installation robot

Abstract

The application discloses a photovoltaic module installation robot, and belongs to the technical field of photovoltaic technology. The photovoltaic module installation robot comprises at least one walking mechanism, a carrying mechanism and an installation mechanism. The walking mechanism is used for walking in a first direction and comprises a plurality of walking wheels which are spaced apart in a second direction and form a matching groove. The plurality of walking wheels are adapted to walk along a corresponding module cable or rigid rod through the respective matching groove. The carrying mechanism is used for carrying a photovoltaic module to be installed. The installation mechanism is used for operating a module connector to install the photovoltaic module to be installed on a photovoltaic support. According to the photovoltaic module installation robot, through the cooperative work of the walking mechanism, the carrying mechanism and the installation mechanism, automatic grabbing, accurate alignment and rapid installation of the photovoltaic module can be realized, the high-altitude installation efficiency and quality consistency of the photovoltaic module can be improved, the dependence on large hoisting equipment and high-risk manual operation can be reduced, the overall construction cost can be effectively reduced, and the construction safety and efficiency can be improved.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic technology, and in particular relates to a photovoltaic module installation robot. Background Technology

[0002] As the power and efficiency requirements of photovoltaic modules increase, their individual size and weight also increase accordingly. In related technologies, photovoltaic mounting systems are typically installed at considerable heights. When installing multiple photovoltaic modules, each module needs to be hoisted individually to its corresponding position along the length of the mounting system for securing. These technologies often rely on large machinery or require scaffolding, resulting in complex installation procedures, inconvenient operation, low efficiency, and high labor costs and safety risks. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a photovoltaic module installation robot, which can realize automatic grasping, precise alignment and rapid installation of photovoltaic modules at high altitudes, thereby improving construction safety and efficiency.

[0004] In a first aspect, this application provides a photovoltaic module installation robot, comprising:

[0005] At least one traveling mechanism for traveling in a first direction, the traveling mechanism including a plurality of traveling wheels spaced apart in a second direction, the traveling wheels forming a mating groove, the plurality of traveling wheels being adapted to travel along a corresponding component cable or rigid rod through their respective mating grooves;

[0006] The support mechanism is used to support the photovoltaic modules to be installed;

[0007] The installation mechanism is used to operate the component connectors to install the photovoltaic modules to be installed onto the photovoltaic bracket.

[0008] The photovoltaic module installation robot of this application, through the coordinated operation of the walking mechanism, the carrying mechanism and the installation mechanism, can realize the automatic grasping, precise positioning and rapid installation of photovoltaic modules. It can improve the efficiency and quality consistency of high-altitude installation of photovoltaic modules, reduce the reliance on large hoisting equipment and high-risk manual operation, effectively reduce the overall construction cost and improve construction safety and efficiency.

[0009] According to one embodiment of this application, the photovoltaic module installation robot includes:

[0010] The vehicle body, the running gear mounted on the vehicle body, and / or the load-bearing mechanism mounted on the vehicle body.

[0011] According to one embodiment of this application, the walking mechanism includes:

[0012] A fixing rod is installed on the vehicle body;

[0013] The walking wheels are mounted on the fixed rod.

[0014] According to one embodiment of this application, at least one of the walking mechanisms includes:

[0015] The first drive mechanism has its output end connected to the power coupling of the walking wheel.

[0016] According to one embodiment of this application, the first driving mechanism includes:

[0017] The drive shaft is supported on the fixed rod by a connecting rod, and the driving wheels are installed at both ends of the drive shaft;

[0018] A power source is installed on the fixed rod, and the output end of the power source is dynamically coupled to the drive shaft.

[0019] According to one embodiment of this application, the connecting rod is rotatably mounted with a limiting frame, the rotation axis of the limiting frame and the opening of the limiting frame are respectively located on both sides of the center of gravity of the limiting frame, and the opening of the limiting frame is used to accommodate the component cable or rigid rod of the photovoltaic bracket.

[0020] According to one embodiment of this application, the photovoltaic module installation robot includes:

[0021] A lifting mechanism, installed on the vehicle body, is dynamically coupled to the fixed rod and is used to drive the fixed rod to rotate in order to adjust the vertical height of the traveling wheels.

[0022] According to one embodiment of this application, the vertical position of the walking wheels is adjustable, and the photovoltaic module installation robot includes: a rotatably mounted limiting frame, the rotation axis of the limiting frame and the opening of the limiting frame are respectively located on both sides of the center of gravity of the limiting frame, and the opening of the limiting frame is used to accommodate the component cable or rigid rod of the photovoltaic bracket.

[0023] According to one embodiment of this application, the plurality of walking wheels of the same walking mechanism are adapted to rotate synchronously.

[0024] According to one embodiment of this application, the walking mechanism includes multiple sets of devices spaced apart along the walking direction of the photovoltaic module installation robot.

[0025] According to one embodiment of this application, the bearing mechanism includes: a clamping mechanism that is telescopically disposed relative to the vehicle body.

[0026] According to one embodiment of this application, the bearing mechanism includes:

[0027] A second drive mechanism is installed on the vehicle body. The output end of the second drive mechanism is connected to the clamping mechanism, which is slidably installed on the vehicle body.

[0028] According to one embodiment of this application, the vehicle body includes:

[0029] The system includes a crossbeam and a longitudinal beam, with the traveling mechanism installed at both ends of the longitudinal beam. A support seat is provided at the connection between the crossbeam and / or the longitudinal beam and the crossbeam, and the clamping mechanism is slidably installed on the support seat along the second direction.

[0030] According to one embodiment of this application, the photovoltaic module installation robot includes:

[0031] The guide wheel is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward relative to the walking mechanism, and is used to clamp the side of the photovoltaic module in front of the forward direction of the photovoltaic module installation robot.

[0032] According to one embodiment of this application, the photovoltaic module installation robot includes:

[0033] The guide wheel is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward relative to the walking mechanism, for walking along the top surface of the photovoltaic module in front of the forward direction of the photovoltaic module installation robot.

[0034] According to one embodiment of this application, the bearing mechanism includes:

[0035] Connecting arm, mounted on the vehicle body;

[0036] A support arm, connected to the connecting arm, is used to support the photovoltaic module to be installed.

[0037] According to one embodiment of this application, the photovoltaic module installation robot includes:

[0038] A third drive mechanism is installed on the vehicle body, and its output end is connected to the connecting arm, for driving the connecting arm to move in at least one of the second and third directions.

[0039] According to one embodiment of this application, the mounting mechanism is mounted on the vehicle body or the load-bearing mechanism.

[0040] According to one embodiment of this application, the installation mechanism includes:

[0041] chassis;

[0042] The tooling is movably mounted on the housing between the first and second positions along a fourth direction;

[0043] A locking member is movably mounted on the housing between a third position and a fourth position along a fifth direction, the fifth direction and the fourth direction intersecting each other. When the tooling is in the second position and the locking member is in the fourth position, the locking member is used to lock with the tooling. When the locking member is in the third position, the locking member is unlocked from the tooling.

[0044] An operating element, connected to the locking element, is used to drive the locking element to move towards a third position.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0046] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0047] Figure 1 This is one of the structural schematic diagrams of the photovoltaic module installation robot provided in the embodiments of this application (also showing photovoltaic modules and photovoltaic brackets);

[0048] Figure 2 This is a second schematic diagram of the structure of the photovoltaic module installation robot provided in the embodiments of this application;

[0049] Figure 3 This is a schematic diagram of the walking mechanism and limiting frame provided in the embodiments of this application;

[0050] Figure 4 This is a schematic diagram of the walking mechanism provided in the embodiments of this application;

[0051] Figure 5 This is a structural schematic diagram of the vehicle body and load-bearing mechanism provided in the embodiments of this application;

[0052] Figure 6 This is the third structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application (also showing photovoltaic modules and photovoltaic brackets).

[0053] Figure 7 This is the fourth structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application (also showing a photovoltaic module);

[0054] Figure 8 This is the fifth structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application (also showing photovoltaic modules and photovoltaic brackets);

[0055] Figure 9 This is the sixth structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application;

[0056] Figure 10 This is the seventh structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application (also showing the photovoltaic module and module cable);

[0057] Figure 11 This is the eighth structural schematic diagram of the photovoltaic module installation robot provided in the embodiments of this application (also showing the photovoltaic module and module cable);

[0058] Figure 12 This is one of the structural schematic diagrams of the installation mechanism provided in the embodiments of this application;

[0059] Figure 13 This is a second schematic diagram of the installation mechanism provided in the embodiments of this application;

[0060] Figure 14 yes Figure 13 Cross-sectional view at point II;

[0061] Figure 15 This is one of the partial structural schematic diagrams of the installation mechanism provided in the embodiments of this application;

[0062] Figure 16 This is the second partial structural schematic diagram of the installation mechanism provided in the embodiments of this application.

[0063] Figure label:

[0064] 100 photovoltaic module installation robots;

[0065] Car body 110, crossbeam 111, longitudinal beam 112, support seat 113;

[0066] Walking mechanism 120, fixed rod 121, walking wheel 122, mating groove 128, first drive mechanism 123, transmission shaft 124, connecting rod 125, power source 126;

[0067] Lifting mechanism 130;

[0068] Installation mechanism 140;

[0069] Casing 1410, receiving cavity 1411, notch 1412;

[0070] Tooling 1420, tooling body 1421, tooling limit frame 1422, limit plate 1423, locking part 1424, guide rod 1425, pressure plate 1426;

[0071] First elastic element 1430;

[0072] Second elastic element 1440;

[0073] Locking component 1450, base 1451, pin 1452;

[0074] Operating component 1460, mounting bracket 1461, linkage mechanism 1462, first link 1463, second link 1464, operating part 1465;

[0075] Bearing mechanism 156;

[0076] Clamping mechanism 1501, second drive mechanism 1502;

[0077] Connecting arm 1601, support arm 1602;

[0078] Limit bracket 170;

[0079] Energy storage unit 180;

[0080] Guide wheel 191, guide wheel 192;

[0081] Photovoltaic module 20, module connector 22;

[0082] Component cable 31, rigid rod 32, truss 33. Detailed Implementation

[0083] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0084] The following is for reference. Figures 1-16 A photovoltaic module installation robot 100 according to an embodiment of this application is described.

[0085] like Figure 2 , Figure 6 , Figure 7 as well as Figures 9-11 As shown, the photovoltaic module installation robot 100 includes a walking mechanism 120, a carrying mechanism 156, and an installation mechanism 140.

[0086] The walking mechanism 120 is the moving component of the photovoltaic module installation robot 100.

[0087] like Figure 2 , Figure 6 , Figure 7 as well as Figures 9-11 As shown, the walking mechanism 120 includes at least one component, which is used to walk along a first direction X.

[0088] The walking mechanism 120 may include one or more. The first direction X may be the extension direction of the component cable 31 or the rigid rod 32. The walking mechanism 120 helps to enable the photovoltaic module installation robot 100 to move on the component cable 31 or the rigid rod 32 of the photovoltaic support. Figure 1 , Figure 6 , Figure 10 and Figure 11 As shown, the traveling mechanism 120 can move on the component cable 31 of the photovoltaic support; as Figure 8 As shown, the walking mechanism 120 can move on the rigid rod 32 of the photovoltaic bracket.

[0089] like Figure 3 and Figure 4 As shown, the walking mechanism 120 includes a plurality of walking wheels 122 spaced apart along the second direction Y.

[0090] The plurality of traveling wheels 122 spaced apart along the second direction Y can respectively engage with the plurality of component cables 31 or rigid rods 32 spaced apart along the second direction Y.

[0091] like Figure 3 and Figure 4 As shown, the traveling wheels 122 form mating grooves 128, and the multiple traveling wheels 122 are adapted to travel along the corresponding component cable 31 or rigid rod 32 through their respective mating grooves 128.

[0092] like Figure 3 As shown, the mating groove 128 can be located at the middle of the traveling wheel 122 along the second direction Y; or, as... Figure 4 As shown, the mating groove can be located on the side of the traveling wheel 122 closest to the adjacent traveling wheel 122 along the second direction Y. The mating groove 128 can be a U-shaped groove or a V-shaped groove, etc. The traveling wheel 122 can "embed" the component cable 31 or rigid rod 32 through the mating groove 128, so that the traveling wheel 122 can roll along the axial direction of the component cable 31 or rigid rod 32, reducing the risk of the traveling wheel 122 and its lateral disengagement, slippage or fall from the component cable 31 or rigid rod 32.

[0093] like Figure 6 , Figure 7 , Figure 10 and Figure 11 As shown, the support mechanism 156 is used to support the photovoltaic module 20 to be installed.

[0094] The carrier mechanism 156 can carry the photovoltaic module 20 from the loading position to the installation position.

[0095] like Figure 2 , Figure 10 and Figure 11 As shown, the installation mechanism 140 is used to operate the component connector 22 to install the photovoltaic module 20 to be installed onto the photovoltaic bracket.

[0096] like Figure 10 and Figure 11 As shown, the component connector 22 is a part used to fix the photovoltaic module 20 to the corresponding position of the photovoltaic bracket. The component connector 22 can be a screw or rivet, etc.

[0097] The installation mechanism 140 can automatically or semi-automatically complete the fastening connection between the photovoltaic module 20 and the photovoltaic bracket, replacing manual labor for repetitive and high-load installation operations at heights. This can improve installation efficiency, reduce manpower requirements and operational risks, and ensure high consistency in the fastening connection, thereby reducing human error.

[0098] like Figure 2 and Figure 9 As shown, the photovoltaic module installation robot 100 may include an energy storage mechanism 180, which can provide energy to the walking mechanism 120 and / or the installation mechanism 140, etc.

[0099] The photovoltaic module installation robot 100 can sequentially transport multiple photovoltaic modules 20 from the loading position to the corresponding installation position, completing the installation of multiple photovoltaic modules 20. The working process of the photovoltaic module installation robot 100 is as follows:

[0100] The photovoltaic module installation robot 100 moves to the loading position, the walking mechanism 120 is supported by the module cable 31 or rigid rod 32 of the photovoltaic bracket, and the carrying mechanism 156 carries the photovoltaic module 20 to be installed; the walking mechanism 120 moves on the module cable 31 or rigid rod 32, so that the photovoltaic module installation robot 100 moves from the loading position to the corresponding installation position of the photovoltaic module 20 to be installed; the photovoltaic module installation robot 100 moves to the installation position of the photovoltaic module 20 to be installed, the walking mechanism 120 is supported by the module cable 31 or rigid rod 32 of the photovoltaic bracket, the carrying mechanism 156 carries the photovoltaic module 20 to be installed, and the installation mechanism 140 operates the module connector 22 to install the photovoltaic module 20 to be installed in the current position; the walking mechanism 120 moves on the module cable 31 or rigid rod 32, so that the photovoltaic module installation robot 100 moves from the installation position to the loading position.

[0101] By employing a photovoltaic module installation robot 100 to replace manual operation, the entire process of high-altitude handling, positioning, and installation of photovoltaic modules 20 can be automated. This reduces reliance on manual labor for high-altitude work, lowers labor intensity and costs, and improves safety and consistency during construction. The continuous operation of the photovoltaic module installation robot 100 effectively reduces efficiency fluctuations and installation errors associated with manual handling, resulting in more stable installation quality for the photovoltaic modules 20. Furthermore, the installation of photovoltaic modules 20 can be completed without the need for large machinery or scaffolding, further reducing installation costs and increasing installation flexibility, making it particularly suitable for the rapid deployment of large-scale photovoltaic power plants.

[0102] According to the photovoltaic module installation robot 100 provided in the embodiments of this application, through the coordinated operation of the walking mechanism 120, the bearing mechanism 156 and the installation mechanism 140, the photovoltaic module 20 can be automatically grasped, accurately aligned and quickly installed. This can improve the efficiency and quality consistency of high-altitude installation of photovoltaic modules 20, reduce the reliance on large hoisting equipment and high-risk manual operations, effectively reduce the overall construction cost and improve construction safety and efficiency.

[0103] In some embodiments, the photovoltaic module installation robot may include a vehicle body 110, a walking mechanism 120 mounted on the vehicle body 110, and / or a load-bearing mechanism 156 mounted on the vehicle body 110.

[0104] The vehicle body 110 is the structure or frame of the photovoltaic module installation robot 100, used to support and connect other components. The support mechanism 156, the energy storage mechanism 180, and at least one walking mechanism 120 can be mounted on the vehicle body 110.

[0105] In some embodiments, such as Figure 3 and Figure 4 As shown, the walking mechanism 120 may include a fixed rod 121 and a walking wheel 122.

[0106] The fixed rod 121 is a rod-shaped structure with a certain rigidity and strength.

[0107] The fixing rod 121 is installed on the vehicle body 110.

[0108] The fixed rod 121 can transfer the load of the vehicle body 110 to the traveling mechanism 120.

[0109] like Figure 3 and Figure 4 As shown, the traveling wheel 122 is mounted on the fixed rod 121.

[0110] The traveling wheel 122 is a wheeled moving device in the traveling mechanism 120, capable of rolling engagement with the component cable 31 or rigid rod 32 of the photovoltaic support along the first direction X. The traveling wheel 122 is rotatably mounted on the fixed rod 121.

[0111] In some embodiments, such as Figure 3 As shown, at least one walking mechanism 120 may include a first drive mechanism 123, the output end of which is dynamically coupled to the walking wheel 122.

[0112] The first drive mechanism 123 is a device that provides power for the traveling wheel 122 to roll on the component cable 31 or the rigid rod 32.

[0113] Only one walking mechanism 120 includes the first drive mechanism 123; or, multiple walking mechanisms 120 include the first drive mechanism 123.

[0114] The first drive mechanism 123 provides rotational torque to the walking wheels 122, enabling the photovoltaic module installation robot 100 to move autonomously. When only part of the walking mechanism 120 includes the first drive mechanism 123, the movement of the walking mechanism 120 including the first drive mechanism 123 drives the movement of the walking mechanism 120 excluding the first drive mechanism 123.

[0115] In some embodiments, such as Figure 3 As shown, the first drive mechanism 123 may include a power source 126 and a drive shaft 124.

[0116] The power source 126 is the device in the first drive mechanism 123 that generates the initial rotational power. The power source 126 can be an electric motor or a hydraulic motor, etc.

[0117] like Figure 3 As shown, the power source 126 is mounted on the fixed rod 121.

[0118] The power source 126 can be fixedly installed on the fixing rod 121.

[0119] The drive shaft 124 is a long shaft-shaped component in the first drive mechanism 123 that transmits power.

[0120] like Figure 3 As shown, the drive shaft 124 is supported on the fixed rod 121 by the connecting rod 125. Both ends of the drive shaft 124 are equipped with traveling wheels 122. The output end of the power source 126 is connected to the drive shaft 124 by power coupling.

[0121] The drive shaft 124 may not be directly mounted to the fixed rod 121, but may be connected to the fixed rod 121 via connecting rods 125. Connecting rods 125 may comprise a pair, with the drive shaft 124 supported on the fixed rod 121 via the pair of connecting rods 125. The pair of connecting rods 125 are respectively mounted at both ends of the fixed rod 121, and both ends of the drive shaft 124 are connected to the pair of connecting rods 125 respectively. The drive shaft 124 is rotatably connected to the connecting rods 125, for example, via bearings or bushings. Thus, the drive shaft 124, which is power-coupled to the output end of the power source 126, can rotate under the drive of the power source 126, while simultaneously being supported on the fixed rod 121 via the connecting rods 125. Two wheels 122 are mounted at both ends of the drive shaft 124, and the two wheels 122 can rotate as the drive shaft 124 rotates.

[0122] Since the two wheels 122 are mounted on the same drive shaft 124, the two wheels 122 can rotate in a basically synchronous manner with basically the same speed and direction.

[0123] In some embodiments, such as Figure 3 As shown, the connecting rod 125 is rotatably mounted with a limiting frame 170. The rotation axis of the limiting frame 170 and the opening of the limiting frame 170 are located on both sides of the center of gravity of the limiting frame 170. The opening of the limiting frame 170 is used to accommodate the component cable 31 or rigid rod 32 of the photovoltaic bracket.

[0124] In this embodiment, the limiting frame 170 is a structure with an opening. The limiting frame 170 can be mounted on the connecting rod 125 via a pivot or bearing, allowing the limiting frame 170 to rotate about the pivot. The axis of rotation of the limiting frame 170 is the axis around which the limiting frame 170 rotates relative to the connecting rod 125. The opening of the limiting frame 170 is a U-shaped, C-shaped, or similarly shaped notch designed on the limiting frame 170 to "lock" the component cable 31 or rigid rod 32 of the photovoltaic support. The center of gravity of the limiting frame 170 refers to the center of mass of the entire limiting frame 170. The rotation axis of the limiting frame 170 does not pass through the center of gravity of the limiting frame 170. Under its own gravity, the limiting frame 170 will have a torque around the rotation axis, which makes the opening of the limiting frame 170 tend to accommodate the component cable 31 or rigid rod 32 of the photovoltaic support in a natural stable state. When the opening of the limiting frame 170 accommodates the component cable 31 or rigid rod 32, the gravitational torque will make it difficult for the opening of the limiting frame 170 to detach from the component cable 31 or rigid rod 32.

[0125] The opening of the limiting frame 170 and its cooperation with the component cable 31 or rigid rod 32 can provide a stable position reference for the photovoltaic module installation robot 100, so that the walking wheel 122 can travel along the predetermined trajectory of the component cable 31 or rigid rod 32 when moving and adjusting, effectively reducing the risk of the photovoltaic module installation robot 100 accidentally slipping off or deviating from the component cable 31 or rigid rod 32, and improving the operational safety of the photovoltaic module installation robot 100.

[0126] In some embodiments, such as Figure 2 , Figure 6 , Figure 7 and Figure 9 As shown, the photovoltaic module installation robot 100 may include a lifting mechanism 130. The lifting mechanism 130 is mounted on the vehicle body 110 and is dynamically coupled to a fixed rod 121 for driving the fixed rod 121 to rotate and adjust the vertical height of the walking wheels 122.

[0127] In this embodiment, the lifting mechanism 130 is fixedly installed on the vehicle body 110. The output end of the lifting mechanism 130 is connected to the fixed rod 121. The lifting mechanism 130 can drive the fixed rod 121 to pivot. The pivoting of the fixed rod 121 causes the first driving device and the connecting rod 125 connected to the fixed rod 121 to swing around the axis of the fixed rod 121. The swinging of the connecting rod 125 causes the transmission shaft 124 to swing around the axis of the fixed rod 121. The swinging of the transmission shaft 124 causes the traveling wheel 122 to swing around the axis of the fixed rod 121, thereby enabling the adjustment of the vertical height of the traveling wheel 122.

[0128] The lifting mechanism 130 can be in at least one of the following forms:

[0129] Firstly, such as Figure 2 , Figure 6 and Figure 7 and Figure 9 As shown, the lifting mechanism 130 can be an electric push rod driven type.

[0130] The lifting mechanism 130 may include an electric push rod, a hinge support, and a linkage assembly. The cylinder end of the electric push rod is hinged to the vehicle body 110, and the telescopic end of the push rod is hinged to the middle or end of the fixed rod 121 via a linkage. When the electric push rod extends or retracts, it transmits torque through the linkage, driving the fixed rod 121 to rotate about its hinge point with the vehicle body 110, thereby changing the height of the travel wheels 122.

[0131] Secondly, the lifting mechanism 130 can be a worm gear driven type.

[0132] The lifting mechanism 130 may include a servo motor, a gear reducer, a worm gear pair, and a drive shaft. The motor drives the gear reducer to rotate the worm gear, which in turn drives the fixed rod 121 to rotate, thereby adjusting the height of the traveling wheels 122.

[0133] Of course, the lifting mechanism 130 is not limited to the two forms mentioned above. In practical applications, a suitable form of lifting mechanism 130 can be selected according to the requirements.

[0134] like Figure 6 As shown, the photovoltaic support includes a truss 33 connected to the module cable 31 or rigid rod 32. Before the traveling wheel 122 contacts the truss 33, the lifting mechanism 130 drives the traveling wheel 122 to rise in vertical height to avoid the obstacle. After the traveling wheel 122 avoids the truss 33, the lifting mechanism 130 drives the traveling wheel 122 to fall in vertical height so that the traveling wheel 122 can continue to travel smoothly along the module cable 31 or rigid rod 32.

[0135] like Figure 7 As shown, the distance between the installation position of the photovoltaic module 20 to be installed and the already installed photovoltaic module 20 is relatively narrow, and this distance may not be able to accommodate the walking wheel 122. Therefore, before the photovoltaic module installation robot 100 reaches the installation position of the photovoltaic module 20 to be installed, the lifting mechanism 130 drives the walking wheel 122, which is away from the loading position, to rise vertically, so that the walking wheel 122 does not obstruct the photovoltaic module installation robot 100 from moving to the installation position of the photovoltaic module 20 to be installed; after the photovoltaic module installation robot 100 leaves the installation position, the lifting mechanism 130 drives the walking wheel 122 to fall vertically, so that the walking wheel 122 can continue to return to the loading position along the module cable 31 or rigid rod 32.

[0136] In some embodiments, such as Figure 3 As shown, the vertical position of the walking wheel 122 is adjustable, and the photovoltaic module installation robot includes: a rotatable limiting frame 170, the rotation axis of the limiting frame 170 and the opening of the limiting frame 170 are located on both sides of the center of gravity of the limiting frame 170, and the opening of the limiting frame 170 is used to accommodate the component cable 31 or rigid rod 32 of the photovoltaic bracket.

[0137] In this embodiment, the limiting frame 170 is a structure with an opening. The limiting frame 170 can be mounted on the connecting rod 125 via a pivot or bearing, allowing the limiting frame 170 to rotate about the pivot. The axis of rotation of the limiting frame 170 is the axis around which the limiting frame 170 rotates relative to the connecting rod 125. The opening of the limiting frame 170 is a U-shaped, C-shaped, or similarly shaped notch designed on the limiting frame 170 to "lock" the component cable 31 or rigid rod 32 of the photovoltaic support. The center of gravity of the limiting frame 170 refers to the center of mass of the entire limiting frame 170. The rotation axis of the limiting frame 170 does not pass through the center of gravity of the limiting frame 170. Under its own gravity, the limiting frame 170 will have a torque around the rotation axis, which makes the opening of the limiting frame 170 tend to accommodate the component cable 31 or rigid rod 32 of the photovoltaic support in a natural stable state. When the opening of the limiting frame 170 accommodates the component cable 31 or rigid rod 32, the gravitational torque will make it difficult for the opening of the limiting frame 170 to detach from the component cable 31 or rigid rod 32.

[0138] The opening of the limiting frame 170 and its cooperation with the component cable 31 or rigid rod 32 can provide a stable position reference for the photovoltaic module installation robot 100, so that the walking wheel 122 can travel along the predetermined trajectory of the component cable 31 or rigid rod 32 when moving and adjusting, effectively reducing the risk of the photovoltaic module installation robot 100 accidentally slipping off or deviating from the component cable 31 or rigid rod 32, and improving the operational safety of the photovoltaic module installation robot 100.

[0139] The adjustable height of the walking wheels 122 allows the photovoltaic module installation robot to flexibly avoid obstacles, and smooth passage can be achieved by adjusting the height of the walking wheels 122. When the walking wheels 122 are raised to avoid obstacles, the rotating limit frame 170, with its rotation axis and opening located on both sides of the center of gravity, can utilize the self-stabilizing characteristics of the offset center of gravity. Its opening can automatically fit and clamp the component cable 31 or rigid rod 32 of the photovoltaic bracket, achieving reliable limiting without additional power drive. This effectively reduces the risk of lateral displacement or tipping of the photovoltaic module installation robot, ensuring the relative position of the photovoltaic module installation robot and the photovoltaic bracket remains stable during operation, and significantly improving the accuracy and safety of photovoltaic module handling and installation.

[0140] In some embodiments, multiple wheels 122 of the same walking mechanism 120 are adapted to rotate synchronously.

[0141] In this embodiment, multiple wheels 122 of the same walking mechanism 120 can maintain basically the same rotation speed and direction through gear meshing, chain drive, synchronous shaft drive or motor linkage control, thereby making the rotation of each wheel 122 basically consistent and reducing the occurrence of single wheel slippage or uneven rotation speed.

[0142] This design allows the photovoltaic module installation robot to move smoothly on the module cable 31 or rigid rod 32, effectively reducing the risk of the photovoltaic module installation robot deviating, bumping, or even jamming due to differences in the rotational speed of individual wheels 122, and improving the posture stability of the photovoltaic module installation robot when carrying the photovoltaic module 20. At the same time, the basically synchronized rotation allows each wheel 122 to distribute the load of the photovoltaic module installation robot and the photovoltaic module 20 more evenly, reducing the probability of wear on a single wheel and extending the service life of the walking mechanism 120.

[0143] In some embodiments, such as Figure 2 , Figure 6 , Figure 7 as well as Figures 9-11 As shown, the walking mechanism 120 may include multiple sets of devices spaced apart along the walking direction of the photovoltaic module installation robot.

[0144] In this embodiment, two or more independent walking mechanisms 120 can be distributed along the travel path of the photovoltaic module installation robot. Each walking mechanism 120 may include a fixed rod 121 and walking wheels 122. Each walking mechanism 120 may be equipped with a lifting mechanism 130.

[0145] This design significantly improves the mobility and stability of the photovoltaic module installation robot when moving on the module cable 31 or rigid rod 32. The multiple sets of walking mechanisms 120, spaced apart, effectively distribute the heavy load on the photovoltaic module installation robot and the photovoltaic module 20, reducing the risk of overload damage to a single walking mechanism 120. Simultaneously, each mechanism can be independently height-adjusted via the lifting mechanism 130 to meet obstacle avoidance requirements without additional auxiliary equipment. Furthermore, the multiple sets of spaced walking mechanisms 120 form a relatively stable support frame, reducing the risk of the photovoltaic module installation robot tipping over when starting and stopping while carrying the photovoltaic module 20, and improving the posture accuracy and operational safety during the handling and installation of the photovoltaic module 20.

[0146] In some embodiments, the first drive mechanism 123 may include a hub motor mounted on the walking wheel 122.

[0147] In this embodiment, the hub motor is a drive device that encapsulates a motor within the wheel hub. The hub motor is directly integrated into the interior of the walking wheel 122 or at the axle, rather than transmitting power from elsewhere via external components such as the drive shaft 124 or chain. This eliminates the need for a complex mechanical transmission system, making the structure of the walking mechanism 120 simpler. Simultaneously, it allows for independent control of the rotational speed of each drive wheel, improving the accuracy of the photovoltaic module installation robot 100's walking path and positioning.

[0148] In practical applications, the form of the first drive mechanism 123 can be selected according to the requirements.

[0149] In some embodiments, such as Figure 5 As shown, the supporting mechanism 156 includes a clamping mechanism 1501 that is telescopically arranged relative to the vehicle body 110.

[0150] In this embodiment, the clamping mechanism 1501 can be used to grip and fix the photovoltaic module 20. Its extension and retraction actions cooperate with the clamping actions to perform the picking, transfer and installation operations of the photovoltaic module 20.

[0151] The clamping mechanism 1501 can extend and retract along the second direction Y. The extension and retraction along the second direction Y can grip and limit the photovoltaic module 20 at both ends along the second direction Y.

[0152] And / or, the clamping mechanism 1501 can extend and retract along the first direction X, and the extension and retraction action along the first direction X can grip and limit the photovoltaic module 20 at both ends along the first direction X.

[0153] In some embodiments, such as Figure 5 As shown, the support mechanism 156 may include a second drive mechanism 1502.

[0154] The second drive mechanism 1502 is a device that provides power for the sliding of the clamping mechanism 1501.

[0155] like Figure 5 As shown, the second drive mechanism 1502 is mounted on the vehicle body 110, and the output end of the second drive mechanism 1502 is connected to the clamping mechanism 1501. The clamping mechanism 1501 is slidably mounted on the vehicle body 110.

[0156] like Figure 5 As shown, the second driving mechanism 1502 can be a telescopic rod. In this embodiment, the second driving mechanism 1502 may include a telescopic rod, the output end of which is connected to the clamping mechanism 1501, thereby realizing the sliding movement of the clamping mechanism 1501 along the second direction Y. This embodiment is easy to install, debug, and replace, and is easy to maintain.

[0157] Of course, the second drive mechanism 1502 can be a double-nut forward and reverse threaded screw drive mechanism. In this embodiment, the second drive mechanism 1502 may include a motor, a threaded screw, and a pair of drive nuts. When the motor drives the screw to rotate around its axis, the pair of drive nuts generate opposite linear motions on the threaded section of the screw, thereby driving the clamping mechanisms 1501, which are respectively fixed to it, to achieve basically synchronized linear motion. This embodiment is suitable for bearing and clamping heavy photovoltaic modules 20, has good rigidity, and strong resistance to off-center loads.

[0158] Of course, the second drive mechanism 1502 can be a synchronous belt drive mechanism. In this embodiment, the second drive mechanism 1502 may include a motor, a driving pulley, a driven tension pulley, and an annular synchronous belt. The parallel straight segments on both sides of the synchronous belt are connected to the clamping mechanism 1501. When the motor drives the driving pulley to rotate, it drives the synchronous belt to make an annular motion. The straight segments on both sides of the synchronous belt that move in opposite directions directly pull the clamping mechanism 1501 to achieve sliding. This implementation method has a relatively simple structure and is relatively stable and quiet during operation.

[0159] The second driving mechanism 1502 can drive the clamping mechanism 1501 to slide and extend along the second direction Y. The extension and retraction action along the second direction Y can grasp and limit the two ends of the photovoltaic module 20 along the second direction Y.

[0160] And / or, the second drive mechanism 1502 can drive the clamping mechanism 1501 to slide and extend along the first direction X. The extension and retraction action along the first direction X can grip and limit the photovoltaic module 20 at both ends along the first direction X.

[0161] In some embodiments, such as Figure 5 As shown, the vehicle body 110 includes a crossbeam 111 and a longitudinal beam 112. A traveling mechanism 120 is mounted at both ends of the longitudinal beam 112. The crossbeam 111 is provided with a support seat 113, and a clamping mechanism 1501 is slidably mounted on the support seat 113 along the second direction Y; and / or, a support seat 113 is provided at the connection between the longitudinal beam 112 and the crossbeam 111, and the clamping mechanism 1501 is slidably mounted on the support seat 113 along the second direction Y.

[0162] In this embodiment, the crossbeam 111 and the longitudinal beam 112 are the main load-bearing beams of the vehicle body 110.

[0163] The longitudinal beam 112 can be arranged along the first direction X, and both ends of the longitudinal beam 112 are equipped with a traveling mechanism 120, for example, the longitudinal beam 112 is connected to the fixed rod 121. The driving force and braking force generated by the traveling wheel 122, as well as the impact force from the photovoltaic clamping mechanism 1501, can be transmitted to the vehicle body 110 through the traveling mechanism 120.

[0164] The crossbeam 111 can be arranged along the second direction Y, and the crossbeam 111 can be connected to the longitudinal beam 112.

[0165] The support seat 113 is a structural component that is machined or welded onto the frame of the vehicle body 110. The support seat 113 may have a through hole extending along the second direction Y.

[0166] The support base 113 may include at least one of the following:

[0167] Firstly, the crossbeam 111 is provided with a support base 113, and the clamping mechanism 1501 is slidably installed on the support base 113 along the second direction Y.

[0168] Secondly, a support seat 113 is provided at the connection between the longitudinal beam 112 and the transverse beam 111, and the clamping mechanism 1501 is slidably installed on the support seat 113 along the second direction Y.

[0169] In practical applications, the appropriate installation position of the bearing housing can be selected according to the requirements.

[0170] The clamping mechanism 1501 can pass through the through hole of the support base 113 and can slide relative to the support base 113 along the second direction Y under the drive of the second drive mechanism 1502. The support base 113 restricts the displacement of the clamping mechanism 1501 along the first direction X and the third direction Z, so that the clamping mechanism 1501 slides relative to the support base 113 mainly along the second direction Y, reducing the risk of lateral swing, warping or jamming of the clamping mechanism 1501, and helping the bearing mechanism 156 to clamp and position the photovoltaic module 20 to be installed, thereby improving the installation accuracy of the photovoltaic module 20.

[0171] In some embodiments, such as Figure 2 and Figure 7 As shown, the photovoltaic module installation robot may include guide wheels 191. The guide wheels 191 are located at the first end of the photovoltaic module installation robot's walking direction and protrude outward relative to the walking mechanism 120, for clamping the side of the photovoltaic module 20 at the front of the photovoltaic module installation robot's forward direction.

[0172] In this embodiment, the guide wheel 191 is a wheel-shaped device. The guide wheel 191 can be rotatably mounted on the clamping mechanism 1501 or the vehicle body 110. The first end of the photovoltaic module installation robot's walking direction is the end of the photovoltaic module installation robot in the first direction X that is closer to the installation position.

[0173] like Figure 7 As shown, when the photovoltaic module installation robot 100 is about to move to the installation position of the photovoltaic module 20 to be installed, the guide wheels 191 at both ends along the second direction Y clamp the side of the installed photovoltaic module 20, and the guide wheels 191 and the installed photovoltaic module 20 roll together along the side of the second direction Y.

[0174] In this way, the photovoltaic module installation robot 100 can move along a predetermined route by relying on the physical contact between the guide wheels 191 and the installed photovoltaic modules 20, reducing the accumulated errors during the movement. At the same time, the physical contact between the guide wheels 191 and the installed photovoltaic modules 20 can help adjust the position of the photovoltaic modules 20 to be installed along the second direction Y, thereby improving the installation accuracy of the photovoltaic module array along the second direction Y.

[0175] In some embodiments, such as Figure 2 and Figure 7As shown, the photovoltaic module installation robot may include guide wheels 192. The guide wheels 192 are located at the first end of the photovoltaic module installation robot's walking direction and protrude outward relative to the walking mechanism 120, for walking along the top surface of the photovoltaic module 20 on the front side of the photovoltaic module installation robot's walking direction.

[0176] In this embodiment, the guide wheel 192 is a wheel-shaped device. The guide wheel 192 is rotatably mounted on the clamping mechanism 1501 or the vehicle body 110. The first end of the photovoltaic module installation robot's walking direction is the end of the photovoltaic module installation robot in the first direction X that is closer to the installation position.

[0177] like Figure 7 As shown, when the photovoltaic module installation robot 100 is about to move to the installation position of the photovoltaic module 20 to be installed, the guide wheel 192 is naturally located on the top surface of the installed photovoltaic module 20, and the guide wheel 192 rolls in cooperation with the top surface of the installed photovoltaic module 20.

[0178] As the photovoltaic module installation robot 100 moves to the installation position of the photovoltaic module 20 to be installed, the overall height of the walking wheel 122 at the end of the photovoltaic module installation robot 100 closest to the already installed photovoltaic module 20 rises. This rise of the walking wheel 122 exerts a downward reaction force on other components of the photovoltaic module installation robot 100. Since the walking wheel 122 at the end of the photovoltaic module installation robot 100 furthest from the already installed photovoltaic module 20 is supported by the module cable 31 or rigid rod 32, the photovoltaic module installation robot 100 tends to tilt downwards around the walking wheel 122 at the end furthest from the already installed photovoltaic module 20. The guide wheel 192, supported by the already installed photovoltaic module 20, provides an upward supporting force to the photovoltaic module installation robot 100, reducing the likelihood of the robot tilting or sinking, thereby improving the installation accuracy of the photovoltaic module 20 to be installed.

[0179] In addition, the photovoltaic module installation robot 100 can move along a predetermined route by relying on the physical contact between the guide wheel 192 and the installed photovoltaic module 20, thereby reducing the accumulated errors during the movement.

[0180] In some embodiments, such as Figure 10 As shown, the load-bearing mechanism 156 includes a connecting arm 1601 and a support arm 1602.

[0181] Connecting arm 1601 is mounted on vehicle body 110;

[0182] Support arm 1602 is connected to connecting arm 1601 and is used to support the photovoltaic module 20 to be installed.

[0183] In this embodiment, the connecting arm 1601 is the main component in the bearing mechanism 156 that plays a primary role in connection and force transmission. The support arm 1602 is the component that directly contacts and supports the photovoltaic module 20. The connection between the connecting arm 1601 and the support arm 1602 can be a rigid connection, a hinge, or a sliding connection, etc. When the support arm 1602 supports the photovoltaic module 20 to be installed, the weight of the photovoltaic module 20 on the support arm 1602 can be transmitted to the vehicle body 110 through the connecting arm 1601.

[0184] In some embodiments, the photovoltaic module installation robot 100 may include a third drive mechanism. The third drive mechanism is mounted on the vehicle body 110, and its output end is connected to the connecting arm 1601. The third drive mechanism is used to drive the connecting arm 1601 to move along at least one of the second direction Y and the third direction Z.

[0185] In this embodiment, the third drive mechanism is a device capable of outputting power. The third drive mechanism can be an electric push rod or a hydraulic cylinder, etc. The third drive mechanism can be fixedly mounted on the vehicle body 110.

[0186] The power output part of the third drive mechanism, such as the telescopic rod of the electric push rod or the piston rod of the hydraulic cylinder, can directly act on the connecting arm 1601. Under the drive of the third drive mechanism, the connecting arm 1601 can move along the second direction Y; or, the connecting arm 1601 can move along the third direction Z; or, the connecting arm 1601 can move along both the second direction Y and the third direction Z.

[0187] In this way, the third drive mechanism can adjust the spatial position of the connecting arm 1601, thereby adjusting the spatial position of the photovoltaic module 20 so that the photovoltaic module 20 can reach the preset installation posture. By directly driving the connecting arm 1601 to move in at least one of the second direction Y and the third direction Z, the third drive mechanism can actively complete the alignment and leveling of the photovoltaic module 20 while keeping the vehicle body 110 and other parts of the photovoltaic module installation robot 100 relatively stationary. This eliminates the need for repeated adjustments of the entire photovoltaic module installation robot 100, thereby improving the installation accuracy and work efficiency of the photovoltaic module 20 and enhancing the adaptability and reliability of the photovoltaic module installation robot 100 under complex working conditions.

[0188] In some embodiments, the mounting mechanism 140 is mounted on the vehicle body 110 or the load-bearing mechanism 156.

[0189] In this embodiment, the mounting position of the mounting mechanism 140 can be at least one of the following:

[0190] Firstly, such as Figure 2 and Figure 9 As shown, the mounting mechanism 140 is mounted on the vehicle body 110.

[0191] In this embodiment, the mounting mechanism 140 is fixedly mounted on the vehicle body 110. The carrying mechanism 156 is capable of transporting the photovoltaic module 20 to be installed to the installation position. The mounting mechanism 140 mounted on the vehicle body 110 completes the positioning and fastening operations of the photovoltaic module 20.

[0192] Secondly, such as Figure 10 and Figure 11 As shown, the mounting mechanism 140 is mounted on the bearing mechanism 156.

[0193] In this embodiment, the mounting mechanism 140 is fixedly mounted on the support mechanism 156. When the support mechanism 156 is moved by adjusting the movement of the support mechanism 156, the mounting mechanism 140 mounted on the support mechanism 156 can also move along with the support mechanism 156. After the support mechanism 156 transports the photovoltaic module 20 to the installation position, the mounting mechanism 140 mounted on the support mechanism 156 directly positions and fastens the photovoltaic module 20.

[0194] In some embodiments, such as Figure 11 As shown, the walking mechanism 120 includes multiple walking mechanisms, at least one walking mechanism 120 having a walking wheel 122 adapted to roll into the upper end of the component cable 31, and at least one walking mechanism 120 having a walking wheel 122 adapted to roll into the lower end of the component cable 31.

[0195] In this embodiment, some of the walking wheels 122 are stably positioned on the upper end of the component cable 31, and contact and roll with the upper end of the component cable 31. The walking wheels 122 located on top can transfer the main weight of the photovoltaic module 20 and the photovoltaic module installation robot 100 to the component cable 31.

[0196] Some of the walking wheels 122 can be stably placed at the lower end of the component cable 31, and contact and roll with the lower end of the component cable 31. The walking wheels 122 located on the top can provide an upward lifting force for the photovoltaic module installation robot 100 and increase the stability of the photovoltaic module installation robot 100.

[0197] The upper and lower walking wheels 122 can grip the component cable 31 from both ends, reducing the risk of the photovoltaic module installation robot 100 slipping, falling or overturning from the component cable 31.

[0198] In some embodiments, such as Figure 12 and Figure 13 As shown, the mounting mechanism 140 may include a housing 1410, a tooling 1420, a locking element 1450, and an operating element 1460;

[0199] The tooling 1420 is movably mounted on the housing 1410 along the fourth direction U between the first position and the second position;

[0200] The locking member 1450 is movably mounted on the housing 1410 between the third and fourth positions along the fifth direction V, where the fifth direction V intersects with the fourth direction U. When the fixture 1420 is in the second position and the locking member 1450 is in the fourth position, the locking member 1450 is used to lock with the fixture 1420. When the locking member 1450 is in the third position, the locking member 1450 is unlocked from the fixture 1420.

[0201] The operating element 1460 is connected to the locking element 1450 and is used to drive the locking element 1450 to move to the third position.

[0202] In this embodiment, the mounting mechanism 140 is used to operate the component connector 22 to fix the photovoltaic module 20 to the component cable 31 or rigid rod 32 of the photovoltaic bracket.

[0203] The housing 1410 is the main frame and outer shell of the mounting mechanism 140, used to house and protect the internal components.

[0204] Tooling 1420 is a component that directly contacts the component connector 22 to be installed and performs the installation action. Tooling 1420 may include a bolt tightening gun and a bit, and component connector 22 may include bolts; or, tooling 1420 may include a rivet gun and a bit, and component connector 22 may include rivets.

[0205] The first position is the initial or reset position of tooling 1420. Tooling 1420 in the first position may not be mated with component connector 22, for example, the bit is not mated with bolt or rivet.

[0206] The second position is the working position of tooling 1420. In the second position, tooling 1420 can mate with component connector 22, such as a bit engaging with a bolt or rivet, to facilitate subsequent installation operations.

[0207] The locking member 1450 is movable along the fifth direction V between the third and fourth positions. When the fixture 1420 is pushed to the second position, the locking member 1450 can move to the fourth position, locking the fixture 1420 in the second position. When the locking member 1450 moves from the fourth position to the third position, it releases the locking of the fixture 1420, allowing it to return to the first position under the action of the first elastic member 1430.

[0208] The operating component 1460 is a part used to allow manual or external devices to actively control the unlocking action between the locking component 1450 and the tooling 1420. After the tooling 1420 operating component connector 22 completes the process of installing the photovoltaic module 20 onto the photovoltaic bracket, the operating component 1460 can move the locking component 1450 from the fourth position to the third position. For example, the lifting action of the walking wheels 122 of the photovoltaic module installation robot 100 can be used to control the operating component 1460, causing the locking component 1450 to move from the fourth position to the third position.

[0209] The working principle of the mounting mechanism 140 is as follows:

[0210] The tooling 1420 is moved from the first position to the second position by manual operation or external device. The locking member 1450 moves from the third position to the fourth position under the action of the second elastic member 1440. The locking member 1450 locks with the tooling 1420, and the tooling 1420 remains in the second position. The tooling 1420 in the second position operates the component connector 22 to install the photovoltaic module 20 onto the photovoltaic bracket. The operating member 1460 is operated by manual operation or external device to move the locking member 1450 from the fourth position to the third position. The locking member 1450 is unlocked from the tooling 1420, and the tooling 1420 moves from the second position to the first position. The installation mechanism 140 completes the reset.

[0211] According to the installation mechanism 140 provided in the embodiments of this application, the photovoltaic module 20 is installed automatically or semi-automatically through the coordinated action of the tooling 1420, the locking member 1450, and the locking member 1450, thereby reducing the manual physical load and operation difficulty of long-term high-altitude work, while improving the installation efficiency, consistency and reliability of the photovoltaic module 20.

[0212] In some embodiments, the mounting form of the tooling 1420 on the housing 1410 may include at least one of the following:

[0213] Firstly, tooling 1420 is mounted on housing 1410 along the third direction Y.

[0214] In this embodiment, the tooling 1420 is mounted on the housing 1410 along the third direction Y with a certain degree of freedom. For example, the tooling 1420 can move along the third direction Y, or the tooling 1420 can swing about the second direction X as an axis.

[0215] When there is a deviation along the third direction Y between the tooling 1420 and the component connector 22, or between the component connector 22 and the mounting bracket, the mobility of the tooling 1420 along the third direction Y allows the tooling 1420 and the component connector 22 to adaptively fine-tune their positions, so that the component connector 22 can be smoothly aligned with the mounting bracket, reducing the risk of jamming or damage to the tooling 1420 and the component connector 22 due to forced alignment.

[0216] Secondly, the tooling 1420 is movably mounted on the housing 1410 along the second direction X.

[0217] In this embodiment, the tooling 1420 is mounted on the housing 1410 along the second direction X with a certain degree of freedom. For example, the tooling 1420 can move along the second direction X, or the tooling 1420 can swing about the third direction Y as an axis.

[0218] When there is a deviation along the second direction X between the tooling 1420 and the component connector 22, or between the component connector 22 and the mounting bracket, the mobility of the tooling 1420 along the second direction X allows the tooling 1420 and the component connector 22 to adaptively fine-tune their positions, so that the component connector 22 can be smoothly aligned with the mounting bracket, reducing the risk of jamming or damage to the tooling 1420 and the component connector 22 due to forced alignment.

[0219] In some embodiments, such as Figure 12 as well as Figures 14-16 As shown, the installation mechanism may include a first elastic element 1430; the first elastic element 1430 is elastically disposed between the tooling 1420 and the housing 1410, and is used to drive the tooling 1420 to move toward a first position.

[0220] In this embodiment, the first elastic element 1430 includes, but is not limited to, a spring. The first elastic element 1430 is connected between the tooling 1420 and the housing 1410. When the tooling 1420 is in the first position, the first elastic element 1430 is in a natural or pre-compressed state, storing no elastic potential energy or storing a small amount of elastic potential energy; when the tooling 1420 is in the second position, the first elastic element 1430 is further compressed, accumulating greater elastic potential energy, which can provide the tooling 1420 with a restoring force from the second position to the first position, preparing for the next installation operation of the tooling 1420.

[0221] When the locking member 1450 moves from the fourth position to the third position, the locking member 1450 releases the locking of the tooling 1420, and the tooling 1420 can return to the first position under the action of the first elastic member 1430.

[0222] In some embodiments, such as Figures 13-16As shown, the mounting mechanism includes a second elastic member 1440; the second elastic member 1440 is elastically disposed between the locking member 1450 and the housing 1410, and is used to drive the locking member 1450 to move toward the fourth position.

[0223] In this embodiment, the second elastic element 1440 includes, but is not limited to, a spring. The second elastic element 1440 is connected between the locking element 1450 and the housing 1410. When the locking element 1450 is in the fourth position, the second elastic element 1440 is in a natural or pre-compressed state, storing no elastic potential energy or storing a small amount of elastic potential energy; when the locking element 1450 is in the third position, the second elastic element 1440 is further compressed, accumulating greater elastic potential energy, which can provide a force to the locking element 1450 from the third position to the fourth position, storing force for the subsequent locking of the locking element 1450 and the tooling 1420.

[0224] The working principle of the mounting mechanism 140 is as follows:

[0225] The tooling 1420 is moved from the first position to the second position by manual operation or external device. The locking member 1450 moves from the third position to the fourth position under the action of the second elastic member 1440. The locking member 1450 locks with the tooling 1420, and the tooling 1420 remains in the second position. The tooling 1420 in the second position operates the component connector 22 to install the photovoltaic module 20 onto the photovoltaic bracket. The operating member 1460 is operated by manual operation or external device to move the locking member 1450 from the fourth position to the third position. The locking member 1450 is unlocked from the tooling 1420. The tooling 1420 moves from the second position to the first position under the action of the first elastic member 1430, and the installation mechanism 140 completes the reset.

[0226] When the installation mechanism 140 is integrated into the photovoltaic module installation robot 100, its working principle is as follows:

[0227] When the photovoltaic module installation robot 100 is at the loading position, carrying photovoltaic modules 20, the fixture 1420 can be moved from the first position to the second position manually or by other devices of the photovoltaic module installation robot 100. Under the action of the second elastic member 1440, the locking member 1450 moves from the third position to the fourth position, locking the fixture 1420 and keeping it in the second position. When the photovoltaic module installation robot 100 is running between the loading position and the installation position, the fixture 1420 remains locked in the second position. When the photovoltaic module installation robot 100 moves to the installation position, the fixture 1420 in the second position remains locked. 1420 operates the component connector 22 to install the photovoltaic module 20 onto the photovoltaic bracket; after the photovoltaic module 20 is installed, the lifting action of the walking wheel 122 of the photovoltaic module installation robot 100, or the operation of the operating component 1460 by other devices, causes the locking component 1450 to move from the fourth position to the third position, the locking component 1450 to unlock the tooling 1420, and the tooling 1420 moves from the second position to the first position under the action of the first elastic member 1430, and the installation mechanism 140 completes the reset; the photovoltaic module installation robot 100 returns from the installation position to the loading position to continue the transportation and installation operation of the next photovoltaic module 20.

[0228] In some embodiments, such as Figure 12 , Figure 14 and Figure 15 As shown, the housing 1410 can form a receiving cavity 1411 and a notch 1412 communicating with the receiving cavity 1411;

[0229] Tooling 1420 includes: tooling body 1421, tooling limit frame 1422 and pressure plate 1426;

[0230] Tooling body 1421 is installed in receiving cavity 1411;

[0231] The tooling limit frame 1422 is connected to the tooling body 1421. The tooling limit frame 1422 has a through notch 1412 and a locking part 1424 for locking with the locking member 1450.

[0232] The pressure plate 1426 is connected to one end of the protruding notch 1412 of the tooling limit frame 1422.

[0233] In this embodiment, the receiving cavity 1411 and the notch 1412 are distributed along the first direction Z, and the tooling body 1421, the tooling limit frame 1422 and the pressure plate 1426 are distributed along the first direction Z.

[0234] The tooling body 1421 is at least partially mounted in the receiving cavity 1411. The tooling body 1421 may include a bolt tightening gun and a bit, and the component connector 22 may include a bolt; or, the tooling body 1421 may include a rivet gun and a bit, and the component connector 22 may include a rivet.

[0235] The tooling limit bracket 1422 and the tooling body 1421 can be connected by means of threaded connection or welding. Part of the tooling limit bracket 1422 is installed in the receiving cavity 1411, part of the tooling limit bracket 1422 passes through the notch 1412, and part of the tooling limit bracket 1422 extends out of the notch 1412. The tooling limit bracket 1422 is provided with a locking portion 1424 for locking with the locking member 1450. The locking portion 1424 can be a through hole or groove extending along the second direction X, for accommodating one end of the locking member 1450 along the second direction X.

[0236] The pressure plate 1426 and the tooling limit frame 1422 can be connected by means of threaded connection or welding. The first elastic element 1430 can be elastically disposed between the housing 1410 and the pressure plate 1426. By applying pressure in the first direction Z to the pressure plate 1426 manually or by an external device, the tooling 1420 can be moved from the first position to the second position, and the first elastic element 1430 can accumulate elastic potential energy.

[0237] In some embodiments, the mounting form of the tooling 1420 on the housing 1410 includes at least one of the following:

[0238] Firstly, the length of the notch 1412 along the third direction Y is greater than the length of the tooling limit frame 1422 along the third direction Y, and the tooling 1420 is movably installed on the housing 1410 along the third direction Y.

[0239] In this embodiment, the notch 1412 provides space for the tooling limit frame 1422 to move along the third direction Y, so that the tooling limit frame 1422 can have a certain degree of freedom of movement in the third direction Y within the notch 1412, or so that the tooling limit frame 1422 can have a certain degree of swing freedom along the second direction X within the notch 1412.

[0240] When there is a deviation along the third direction Y between the tooling 1420 and the component connector 22, or between the component connector 22 and the mounting bracket, the tooling 1420's ability to move along the third direction Y within the notch 1412 allows the tooling 1420 and the component connector 22 to adaptively fine-tune their positions, enabling the component connector 22 to be smoothly aligned with the mounting bracket's mounting position, reducing the risk of jamming or damage to the tooling 1420 and the component connector 22 due to forced alignment.

[0241] Secondly, the width of the notch 1412 along the second direction X is greater than the width of the tooling limit frame 1422 along the second direction X, and the tooling 1420 is movably installed on the housing 1410 along the second direction X.

[0242] In this embodiment, the notch 1412 provides space for the tooling limit frame 1422 to move along the second direction X, so that the tooling limit frame 1422 can have a certain degree of freedom of movement in the second direction X within the notch 1412, or so that the tooling limit frame 1422 can have a certain degree of swing freedom along the third direction Y within the notch 1412.

[0243] When there is a deviation along the second direction X between the tooling 1420 and the component connector 22, or between the component connector 22 and the mounting bracket, the ability of the tooling 1420 to move along the second direction X within the notch 1412 allows the tooling 1420 and the component connector 22 to adaptively fine-tune their positions, so that the component connector 22 can be smoothly aligned with the mounting bracket, reducing the risk of jamming or damage to the tooling 1420 and the component connector 22 due to forced alignment.

[0244] In some embodiments, such as Figure 16 As shown, the tooling limit frame 1422 includes: a limit plate 1423 and a guide rod 1425;

[0245] The limiting plate 1423 is connected to the tooling body 1421 and is provided with a locking part 1424;

[0246] The guide rod 1425 is connected between the limiting plate 1423 and the pressure plate 1426, and the guide rod 1425 passes through the notch 1412.

[0247] In this embodiment, the limiting plate 1423 and the tooling body 1421 can be connected by means of threaded connection or welding. The limiting plate 1423 is provided with a locking portion 1424 for locking with the locking member 1450. The locking portion 1424 can be a through hole or groove extending along the second direction X, for accommodating one end of the locking member 1450 along the second direction X.

[0248] One end of the guide rod 1425 along the first direction Z is connected to the limiting plate 1423, and the other end of the guide rod 1425 along the first direction Z is connected to the pressure plate 1426. The guide rod 1425 can move within the notch 1412 along the first direction Z. The guide rod 1425 may include multiple guide rods spaced apart along the third direction Y. A first elastic element 1430 may be sleeved on the guide rod 1425, and multiple guide rods 1425 may all be sleeved with the first elastic element 1430.

[0249] In some embodiments, such as Figure 16 As shown, the locking element 1450 includes a base 1451 and a pin 1452.

[0250] The base 1451 is connected to the operating element 1460;

[0251] The pin 1452 is connected to the base 1451 and passes through the housing 1410 in the second direction X. The pin 1452 is used to lock with the locking part 1424.

[0252] In this embodiment, one end of the base 1451 is connected to the operating member 1460, and the other end is connected to the pin 1452. The locking part 1424 can be a through hole or groove extending along the second direction X. The pin 1452 can cooperate with the locking part 1424 along the second direction X under the action of the second elastic member 1440, thereby keeping the tooling 1420 in the second position.

[0253] In some embodiments, such as Figure 16 As shown, the length of the locking portion 1424 along the third direction Y is greater than the length of the end of the locking member 1450 used to lock with the locking portion 1424 along the third direction Y.

[0254] In this embodiment, the locking part 1424 has a tolerance space along the third direction Y, which allows the tooling 1420 to float along the third direction Y, while the locking part 1450 can still reliably insert or lock into the locking part 1424. This effectively reduces the risk of locking alignment difficulties, jamming or even failure to lock caused by the floating of the tooling 1420 or assembly tolerances, and improves the success rate and smoothness of the locking action.

[0255] In some embodiments, such as Figure 16 As shown, the pins 1452 include a plurality of pins, which are spaced apart along the third direction Y.

[0256] In this embodiment, multiple pins 1452 are spaced apart along the third direction Y, which can extend the effective length of the engagement between the pins 1452 and the locking part 1424 along the third direction Y. Even if a certain pin 1452 cannot engage with the locking part 1424, the other pins 1452 can still engage with the locking part 1424, and the overall locking function remains reliable. This effectively reduces the risk of locking alignment difficulties, jamming, or even failure to lock caused by tooling 1420 floating or assembly tolerances, and improves the success rate and smoothness of the locking action.

[0257] In some embodiments, such as Figure 15 As shown, the operating component 1460 includes: a mounting bracket 1461 and a linkage mechanism 1462.

[0258] Mounting bracket 1461 is mounted on housing 1410;

[0259] The linkage mechanism 1462 is hinged to the mounting bracket 1461 and the locking element 1450.

[0260] In this embodiment, the mounting bracket 1461 can serve as a rigid support fixedly mounted on the housing 1410. The linkage mechanism 1462 can transmit the action of the operating member 1460 to the base 1451 of the locking member 1450 by amplifying the lever arm or changing the direction, making the operation more effortless and effectively constraining the movement trajectory of the locking member 1450, reducing its deviation or jamming.

[0261] In some embodiments, such as Figure 15 As shown, the linkage mechanism 1462 includes: a first link 1463 and a second link 1464.

[0262] The first connecting rod 1463 is hinged to the mounting bracket 1461 and is provided with an operating part 1465;

[0263] The two ends of the second link 1464 are hinged to the first link 1463 and the locking member 1450, respectively.

[0264] In this embodiment, the operating part 1465 on the first link 1463 facilitates the application of manual or external force. The lever arm design of the first link 1463 reduces the input force required to drive the locking member 1450, making operation more labor-saving and efficient. The second link 1464, as an intermediate transmission member, can convert the swing of the first link 1463 into linear or near-linear motion of the locking member 1450, enabling the locking member 1450 to smoothly and reliably engage or disengage with the locking part 1424 along a predetermined path. The double-link design enhances the controllability of the movement of the locking member 1450, and the multi-hinged joint design can accommodate assembly tolerances, improving the overall reliability of the mounting mechanism 140.

[0265] The following describes several photovoltaic module installation robots 100 according to embodiments of this application.

[0266] First, such as Figures 1-9 ,as well as Figures 12-16 As shown, the photovoltaic module installation robot 100 includes a walking mechanism 120, a carrying mechanism 156, an installation mechanism 140, a vehicle body 110, and a lifting mechanism 130.

[0267] The walking mechanism 120 includes at least one. The walking mechanism 120 is used for walking along a first direction X. The walking mechanism 120 includes multiple sets spaced apart along the walking direction of the photovoltaic module installation robot. The walking mechanism 120 includes a fixed rod 121 and walking wheels 122. The fixed rod 121 is mounted on the vehicle body 110. The walking wheels 122 include multiple sets spaced apart along a second direction Y, and the walking wheels 122 form mating grooves 128. The multiple walking wheels 122 are adapted to walk along the corresponding component cable 31 or rigid rod 32 through their respective mating grooves 128. The walking wheels 122 are mounted on the fixed rod 121. The vertical position of the walking wheels 122 is adjustable. The multiple walking wheels 122 of the same walking mechanism 120 are adapted to rotate synchronously. At least one walking mechanism 120 includes a first drive mechanism 123, the output end of which is dynamically coupled to the walking wheels 122. The first drive mechanism 123 includes a drive shaft 124 and a power source 126. The drive shaft 124 is supported on the fixed rod 121 via a connecting rod 125, and both ends of the drive shaft 124 are equipped with wheels 122. A limit frame 170 is rotatably mounted on the connecting rod 125. The rotation axis of the limit frame 170 and the opening of the limit frame 170 are located on both sides of the center of gravity of the limit frame 170, respectively. The opening of the limit frame 170 is used to accommodate the component cable 31 or rigid rod 32 of the photovoltaic support. A power source 126 is mounted on the fixed rod 121, and the output end of the power source 126 is dynamically coupled to the drive shaft 124.

[0268] The vehicle body 110 includes a crossbeam 111 and a longitudinal beam 112. A traveling mechanism 120 is mounted at both ends of the longitudinal beam 112. The crossbeam 111 is provided with a support seat 113, and a support seat 113 is also provided at the connection between the longitudinal beam 112 and the crossbeam 111. A clamping mechanism 1501 is slidably mounted on the support seat 113 along the second direction Y. The vehicle body 110 is also equipped with a traveling mechanism 120 at both ends along the first direction X.

[0269] The supporting mechanism 156 includes a clamping mechanism 1501 and a second driving mechanism 1502. The clamping mechanism 1501 is telescopically arranged relative to the vehicle body 110. The second driving mechanism 1502 is mounted on the vehicle body 110, and the output end of the second driving mechanism 1502 is connected to the clamping mechanism 1501. The clamping mechanism 1501 is slidably mounted on the vehicle body 110.

[0270] The mounting mechanism 140 is used to operate the component connector 22 to install the photovoltaic module 20 to be installed onto the photovoltaic bracket. The mounting mechanism 140 is mounted on the vehicle body 110. The mounting mechanism 140 includes a housing 1410, a tooling 1420, a first elastic member 1430, a locking member 1450, a second elastic member 1440, and an operating member 1460. The tooling 1420 is movably mounted on the housing 1410 along the fourth direction U between a first position and a second position. The first elastic member 1430 is elastically disposed between the tooling 1420 and the housing 1410, and is used to drive the tooling 1420 to move toward the first position. The locking member 1450 is movably mounted on the housing 1410 along the fifth direction V, between the third and fourth positions. When the fixture 1420 is in the second position and the locking member 1450 is in the fourth position, the locking member 1450 is locked to the fixture 1420. When the locking member 1450 is in the third position, the locking member 1450 is unlocked from the fixture 1420. The second elastic member 1440 is elastically disposed between the locking member 1450 and the housing 1410, and is used to drive the locking member 1450 to move towards the fourth position. The operating member 1460 is connected to the locking member 1450 and is used to drive the locking member 1450 to move towards the third position.

[0271] The lifting mechanism 130 is mounted on the vehicle body 110 and is poweredly coupled to the fixed rod 121 to drive the fixed rod 121 to rotate and adjust the vertical height of the walking wheels 122.

[0272] The guide wheel 191 is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward relative to the walking mechanism 120, and is used to clamp the side of the photovoltaic module 20 at the front of the forward direction of the photovoltaic module installation robot.

[0273] The guide wheel 192 is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward relative to the walking mechanism 120, and is used to walk along the top surface of the photovoltaic module 20 in front of the forward direction of the photovoltaic module installation robot.

[0274] Second, such as Figure 3 , Figure 4 ,as well as Figures 10-16 As shown, the photovoltaic module installation robot 100 includes a walking mechanism 120, a carrying mechanism 156, an installation mechanism 140, a vehicle body 110, and a third drive mechanism.

[0275] The walking mechanism 120 includes at least one. The walking mechanism 120 is used for walking along a first direction X. The walking mechanism 120 includes multiple sets spaced apart along the walking direction of the photovoltaic module installation robot. The walking mechanism 120 includes a fixed rod 121 and walking wheels 122. The fixed rod 121 is mounted on the vehicle body 110. The walking wheels 122 include multiple sets spaced apart along a second direction Y, and the walking wheels 122 form mating grooves 128. The multiple walking wheels 122 are adapted to walk along the corresponding component cable 31 or rigid rod 32 through their respective mating grooves 128. The walking wheels 122 are mounted on the fixed rod 121. The vertical position of the walking wheels 122 is adjustable. The multiple walking wheels 122 of the same walking mechanism 120 are adapted to rotate synchronously. At least one walking mechanism 120 includes a first drive mechanism 123, the output end of which is dynamically coupled to the walking wheels 122. The first drive mechanism 123 includes a drive shaft 124 and a power source 126. The drive shaft 124 is supported on the fixed rod 121 via a connecting rod 125, and both ends of the drive shaft 124 are equipped with wheels 122. A limit frame 170 is rotatably mounted on the connecting rod 125. The rotation axis of the limit frame 170 and the opening of the limit frame 170 are located on both sides of the center of gravity of the limit frame 170, respectively. The opening of the limit frame 170 is used to accommodate the component cable 31 or rigid rod 32 of the photovoltaic support. A power source 126 is mounted on the fixed rod 121, and the output end of the power source 126 is dynamically coupled to the drive shaft 124.

[0276] A support mechanism 156 is mounted on the vehicle body 110 to support the photovoltaic module 20 to be installed. The support mechanism 156 includes a connecting arm 1601 and a supporting arm 1602. The connecting arm 1601 is mounted on the vehicle body 110. The supporting arm 1602 is connected to the connecting arm 1601 and supports the photovoltaic module 20 to be installed.

[0277] The mounting mechanism 140 is used to operate the component connector 22 to install the photovoltaic module 20 to be installed onto the photovoltaic bracket. The mounting mechanism 140 is mounted on the support mechanism 156. The mounting mechanism 140 includes a housing 1410, a tooling 1420, a first elastic member 1430, a locking member 1450, a second elastic member 1440, and an operating member 1460. The tooling 1420 is movably mounted on the housing 1410 along the fourth direction U between a first position and a second position. The first elastic member 1430 is elastically disposed between the tooling 1420 and the housing 1410, and is used to drive the tooling 1420 to move toward the first position. The locking member 1450 is movably mounted on the housing 1410 along the fifth direction V, between the third and fourth positions. When the fixture 1420 is in the second position and the locking member 1450 is in the fourth position, the locking member 1450 is locked to the fixture 1420. When the locking member 1450 is in the third position, the locking member 1450 is unlocked from the fixture 1420. The second elastic member 1440 is elastically disposed between the locking member 1450 and the housing 1410, and is used to drive the locking member 1450 to move towards the fourth position. The operating member 1460 is connected to the locking member 1450 and is used to drive the locking member 1450 to move towards the third position.

[0278] The third drive mechanism is mounted on the vehicle body 110. The output end of the third drive mechanism is connected to the connecting arm 1601 and is used to drive the connecting arm 1601 to move in at least one of the second direction Y and the third direction Z.

[0279] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0280] In the description of this application, 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", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0281] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0282] In the description of this application, "multiple" means two or more.

[0283] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0284] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0285] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0286] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A photovoltaic module installation robot, characterized in that, include: At least one walking mechanism (120) is used for walking in a first direction. The walking mechanism (120) includes a plurality of walking wheels (122) spaced apart in a second direction. The walking wheels (122) form mating grooves (128). The plurality of walking wheels (122) are adapted to walk along corresponding component cables (31) or rigid rods (32) through their respective mating grooves (128). At least one of the walking mechanisms (120) includes a first drive mechanism (123) with its output end dynamically coupled to the walking wheels (122). A lifting mechanism (130) is used to drive the vertical height adjustment of the walking wheels (122); The support mechanism (156) is used to support the photovoltaic module (20) to be installed. Installation mechanism (140) for operating component connector (22) to install the photovoltaic module (20) to be installed on the photovoltaic bracket; The guide wheel (191) is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward in the first direction relative to the walking mechanism (120) for clamping the side of the photovoltaic module (20) at the front of the forward direction of the photovoltaic module installation robot. The guide wheel (192) is located at the first end of the walking direction of the photovoltaic module installation robot and protrudes outward relative to the walking mechanism (120) for walking along the top surface of the photovoltaic module (20) in front of the forward direction of the photovoltaic module installation robot.

2. The photovoltaic module installation robot according to claim 1, characterized in that, include: The vehicle body (110), the walking mechanism (120) is mounted on the vehicle body (110), and / or the load-bearing mechanism (156) is mounted on the vehicle body (110).

3. The photovoltaic module installation robot according to claim 2, characterized in that, The walking mechanism (120) includes: A fixing rod (121) is installed on the vehicle body (110); The walking wheel (122) is mounted on the fixed rod (121).

4. The photovoltaic module installation robot according to claim 3, characterized in that, At least one of the walking mechanisms (120) includes: The first drive mechanism (123) is poweredly coupled to the walking wheel (122) at its output end.

5. The photovoltaic module installation robot according to claim 4, characterized in that, The first drive mechanism (123) includes: The drive shaft (124) is supported on the fixed rod (121) by the connecting rod (125), and the driving wheels (122) are installed at both ends of the drive shaft (124). A power source (126) is installed on the fixed rod (121), and the output end of the power source (126) is dynamically coupled to the drive shaft (124).

6. The photovoltaic module installation robot according to claim 5, characterized in that, The connecting rod (125) is rotatably mounted with a limiting frame (170). The rotation axis of the limiting frame (170) and the opening of the limiting frame (170) are located on both sides of the center of gravity of the limiting frame (170). The opening of the limiting frame (170) is used to accommodate the component cable (31) or rigid rod (32) of the photovoltaic bracket.

7. The photovoltaic module installation robot according to claim 5, characterized in that, include: The lifting mechanism (130) is installed on the vehicle body (110) and is dynamically coupled to the fixed rod (121) to drive the fixed rod (121) to rotate in order to adjust the vertical height of the walking wheel (122).

8. The photovoltaic module installation robot according to claim 2, characterized in that, The walking wheels (122) are adjustable in height, and the photovoltaic module installation robot includes: a rotatable limiting frame (170), the rotation axis of the limiting frame (170) and the opening of the limiting frame (170) are located on both sides of the center of gravity of the limiting frame (170), and the opening of the limiting frame (170) is used to accommodate the component cable (31) or rigid rod (32) of the photovoltaic bracket.

9. The photovoltaic module installation robot according to any one of claims 1-8, characterized in that, The plurality of traveling wheels (122) of the same traveling mechanism (120) are adapted to rotate synchronously.

10. The photovoltaic module installation robot according to any one of claims 1-8, characterized in that, The walking mechanism (120) includes multiple sets of such mechanisms spaced apart along the walking direction of the photovoltaic module installation robot.

11. The photovoltaic module installation robot according to any one of claims 2-8, characterized in that, The bearing mechanism (156) includes a clamping mechanism (1501) that is telescopically disposed relative to the vehicle body (110).

12. The photovoltaic module installation robot according to claim 11, characterized in that, The supporting mechanism (156) includes: The second drive mechanism (1502) is installed on the vehicle body (110). The output end of the second drive mechanism (1502) is connected to the clamping mechanism (1501), and the clamping mechanism (1501) is slidably installed on the vehicle body (110).

13. The photovoltaic module installation robot according to claim 12, characterized in that, The vehicle body (110) includes: A crossbeam (111) and a longitudinal beam (112) are provided, with the walking mechanism (120) installed at both ends of the longitudinal beam (112). A support seat (113) is provided at the connection between the crossbeam (111) and / or the longitudinal beam (112) and the crossbeam (111). The clamping mechanism (1501) is slidably installed on the support seat (113) along the second direction.

14. The photovoltaic module installation robot according to any one of claims 2-8, characterized in that, The supporting mechanism (156) includes: A connecting arm (1601) is mounted on the vehicle body (110). A support arm (1602), connected to the connecting arm (1601), is used to support the photovoltaic module (20) to be installed.

15. The photovoltaic module installation robot according to claim 14, characterized in that, include: A third drive mechanism is installed on the vehicle body (110), and its output end is connected to the connecting arm (1601) for driving the connecting arm (1601) to move in at least one of the second and third directions.

16. The photovoltaic module installation robot according to any one of claims 2-8, characterized in that, The mounting mechanism (140) is mounted on the vehicle body (110) or the load-bearing mechanism (156).

17. The photovoltaic module installation robot according to any one of claims 1-8, characterized in that, The installation mechanism (140) includes: Casing (1410); The tooling (1420) is movably mounted on the housing (1410) between the first position and the second position along the fourth direction. A locking member (1450) is movably mounted on the housing (1410) along a fifth direction between a third position and a fourth position, the fifth direction intersecting the fourth direction. When the tooling (1420) is in the second position and the locking member (1450) is in the fourth position, the locking member (1450) is used to lock with the tooling (1420). When the locking member (1450) is in the third position, the locking member (1450) is unlocked from the tooling (1420). An operating element (1460) is connected to the locking element (1450) and is used to drive the locking element (1450) to move toward a third position.

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