Photovoltaic purline full-process autonomous installation equipment and control method thereof

Abstract

The invention belongs to the technical field of photovoltaic automatic construction robots, and particularly relates to photovoltaic purline full-process autonomous installation equipment and a control method thereof.The photovoltaic purline full-process autonomous installation equipment comprises a base, a mechanical arm and a purline feeding mechanism, and a tool clamp is installed on the mechanical arm and comprises a double-layer clamping jaw, an arc-shaped clamping jaw and a nut sleeve; the purline feeding mechanism comprises a first feeding base, a first conveying belt, a positioning pin, a bolt feeding mechanism, a second feeding base of the bolt feeding mechanism, a second conveying belt, a bolt bottom support and a nut feeding mechanism. According to the tool clamp, the purline feeding mechanism, the bolt feeding mechanism, the nut feeding mechanism and the corresponding structures of the tool clamp, the purline feeding mechanism, the bolt feeding mechanism and the nut feeding mechanism, the whole installation process of the photovoltaic purline is automatic, and the functions of automatic feeding, accurate positioning, cooperative grabbing, visual guiding assembling and automatic locking of three special-shaped materials of the purline, the bolt and the nut are integrated; and full-closed-loop unmanned operation from material supply to installation completion is realized.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic automated construction robot technology, and in particular relates to a fully autonomous installation device for photovoltaic purlins and its control method. Background Technology

[0002] While the scale of photovoltaic (PV) projects is continuously expanding, the basic construction phase still heavily relies on manual labor. Purlins, as a key supporting structure for PV module installation, directly affect the flatness, stress uniformity, and overall power generation efficiency of subsequent modules. Traditional manual installation methods suffer from low efficiency, poor standardization, and inconsistent bolt tightening. Therefore, they lack a closed-loop control system covering the entire process from material supply to final tightening, and do not integrate modules for energy, pneumatics, visual perception, and intelligent control, making it difficult to achieve truly "unmanned" operation.

[0003] This invention designs an autonomous installation device and control method for the entire process of photovoltaic purlins to solve the above problems. Summary of the Invention

[0004] To achieve the above objectives, the present invention employs the following technical solutions: A fully automated installation device for photovoltaic purlins and its control method, comprising: The base has a moving mechanism installed at the bottom for movement on the construction site, and a PLC control cabinet and a power mechanism for providing energy are installed on the base. The robotic arm is mounted on a base and is equipped with tooling fixtures and a vision camera. The tooling fixtures include double-layer grippers, arc-shaped grippers, and nut sleeves. The purlin feeding mechanism includes a first feeding base mounted on a base, a first conveyor belt mounted on the first feeding base, a plurality of positioning pins mounted on the first conveyor belt, and a lifting gripper mounted on one end of the first feeding base. Bolt feeding mechanism, the bolt feeding mechanism is installed on the second feeding base on the base, the second feeding base is equipped with a second conveyor belt, the second conveyor belt is equipped with several bolt base supports, and the second feeding base is equipped with an opening and closing gripper. The nut feeding mechanism consists of two parts. Each nut feeding mechanism includes a directional rail mounted on a base, a clip-type hopper mounted on the directional rail, and an electric push rod mounted on the clip-type hopper.

[0005] As a preferred embodiment, the tooling fixture is equipped with a first vertical slide rail and a second vertical slide rail. A support frame is installed on the first vertical slide rail, and a first drive box is installed at the lower end of the support frame. Two opposing double-layer grippers are installed on the first drive box, and two nut sleeves are installed at the upper end of the support frame. A second drive box is installed on the second vertical slide rail, and two opposing arc-shaped grippers are installed on the second drive box, with the arc-shaped grippers located directly below the double-layer grippers.

[0006] As a preferred embodiment, a number of horizontally arranged fixing components are installed on the first conveyor belt. Each fixing component consists of two fixing seats that are spaced apart from each other, and a positioning pin is installed on the fixing seat.

[0007] As a preferred embodiment, a first cross slide is installed at one end of the first feeding base, and lifting grippers are installed on the first cross slide.

[0008] As a preferred option, a limiting groove is provided on the inner wall of the upper end of the bolt base.

[0009] As a preferred embodiment, a second cross slide is installed on the second feeding base, and an opening and closing gripper is installed on the second cross slide. Limiting openings are provided at both ends of the opening and closing gripper.

[0010] As a preferred embodiment, the power unit includes a generator and an air compressor mounted on a base.

[0011] A fully automated installation device for photovoltaic purlins and its control method, comprising the following steps: S1: The purlins and reinforcing ribs, which are fixed together, are manually placed onto the purlin feeding mechanism. The holes on the purlins and reinforcing ribs are aligned and inserted into the positioning pins of the purlin feeding mechanism. The U-bolts are manually inserted into the bolt base of the bolt feeding mechanism. The flange nuts are manually inserted into the spring-loaded hopper of the nut feeding mechanism; S2: The moving mechanism moves the base to the front of the main shaft to be installed, and the vision camera captures an image of the area of ​​the main shaft to be installed. Through image recognition and template matching algorithms, the photovoltaic purlin installation work is guided. S3: The lifting gripper of the purlin feeding mechanism will disengage the purlin from the positioning pin and move the purlin to the standard pick-up point. The opening and closing grippers of the bolt feeding mechanism detach the U-bolt from the bolt base and move the U-bolt to the standard pick-up point. S4: The robotic arm moves to each standard material picking point according to the set route, carrying the tooling fixtures. The double-layer gripper grabs the purlin, the arc-shaped gripper grabs the U-bolt, and the nut sleeve carries the nut. S5: The robotic arm carries a tooling fixture containing purlins, U-bolts and nuts, and moves to the spindle to be installed according to the set route. At this time, the purlins are above the spindle and the U-bolts are below. S6: The double-layer clamping jaws descend, the arc-shaped clamping jaws rise, the double-layer clamping jaws and the arc-shaped clamping jaws close up and down, the two ends of the upper side of the U-bolt are inserted into the purlin holes, and then the nuts are locked on the two ends of the upper side of the U-bolt. S7: Repeat steps S2 to S6 until all purlins are installed.

[0012] As a preferred embodiment, in step S3, the lifting jaws first lift vertically to disengage the purlin from the positioning pin, then the lifting jaws move horizontally to the standard picking point of the purlin, the opening and closing jaws first descend and clamp the upper two ends of the U-bolt, then lift to disengage the U-bolt from the bolt base, and then move forward to the standard picking point of the U-bolt.

[0013] As a preferred embodiment, in step S4, when the robotic arm carrying the tooling fixture moves to the standard picking point of the nut, the electric push rod of the nut feeding mechanism pushes the nut in the clip-type hopper onto the directional track, and the nut slides down the directional track to the standard picking point of the nut.

[0014] Compared with existing technologies, the advantages of this invention are: 1. The tooling fixture, purlin feeding mechanism, bolt feeding mechanism, nut feeding mechanism and their corresponding structures designed in this invention automate the entire process of photovoltaic purlin installation. It integrates automatic feeding, precise positioning, collaborative gripping, visual guidance assembly and automatic locking functions for three irregularly shaped materials: purlins, bolts and nuts, realizing a fully closed-loop unmanned operation from material supply to installation completion.

[0015] 2. The first conveyor belt, positioning pin, and lifting gripper designed in this invention complete the batch feeding of purlins to the designated standard picking point; the second conveyor belt, bolt base, and opening and closing gripper complete the batch feeding of U-bolts to the designated standard picking point; and the directional track and spring-loaded hopper complete the batch feeding of nuts. The three feeding mechanisms replace the manual feeding and handling process, realizing the efficient and automated conveying of materials such as purlins, U-bolts, and nuts, which greatly shortens the installation time of photovoltaic purlins, improves construction efficiency, and speeds up the project progress. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the present invention.

[0017] Figure 2 This is a schematic diagram of the tooling fixture of the present invention.

[0018] Figure 3 This is a front view schematic diagram of the tooling fixture of the present invention.

[0019] Figure 4 This is a schematic diagram of the purlin feeding mechanism of the present invention.

[0020] Figure 5 This is a schematic diagram of the positioning pin of the present invention.

[0021] Figure 6 This is a side view schematic diagram of the purlin feeding mechanism of the present invention.

[0022] Figure 7 This is a schematic diagram of the bolt feeding mechanism of the present invention.

[0023] Figure 8 This is a side view schematic diagram of the bolt feeding mechanism of the present invention.

[0024] Figure 9 This is a schematic diagram of the nut feeding mechanism of the present invention.

[0025] Labels in the diagram: 100, base; 101, power mechanism; 102, generator; 103, air compressor; 104, PLC control cabinet; 105, purlin; 106, U-bolt; 107, moving mechanism; 200. Robotic arm; 201. Tooling fixture; 202. Double-layer gripper; 203. Arc-shaped gripper; 204. Nut sleeve; 205. First vertical slide rail; 206. Second vertical slide rail; 207. First drive box; 208. Second drive box; 300. Purlin feeding mechanism; 301. First feeding base; 302. First conveyor belt; 303. Positioning pin; 304. Lifting gripper; 305. Fixed seat; 306. First cross slide; 400. Bolt feeding mechanism; 401. Second feeding base; 402. Second conveyor belt; 403. Bolt base support; 404. Opening and closing gripper; 405. Second cross slide; 500. Nut feeding mechanism; 501. Directional track; 502. Magazine-type hopper; 503. Electric push rod. Detailed Implementation

[0026] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following embodiments and drawings are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0027] A fully automated installation device for photovoltaic purlins and its control method, such as... Figures 1 to 9 As shown, it includes: The base 100 has a moving mechanism 107 installed at the bottom for moving on the construction site, and a PLC control cabinet 104 and a power mechanism 101 for providing energy are installed on the base 100. Robotic arm 200 is mounted on base 100. Tooling fixture 201 and vision camera are mounted on robotic arm 200. Tooling fixture 201 includes double-layer gripper 202, arc-shaped gripper 203 and nut sleeve 204. The purlin feeding mechanism 300 includes a first feeding base 301 mounted on a base 100, a first conveyor belt 302 mounted on the first feeding base 301, a plurality of positioning pins 303 mounted on the first conveyor belt 302, and a lifting gripper 304 mounted on one end of the first feeding base 301. Bolt feeding mechanism 400, bolt feeding mechanism 400 is mounted on base 100 second feeding base 401, second conveyor belt 402 is mounted on second feeding base 401, several bolt base supports 403 are mounted on second conveyor belt 402, and openable gripper 404 is mounted on second feeding base 401. Nut feeding mechanism 500, there are two nut feeding mechanisms 500. The nut feeding mechanism 500 includes a directional rail 501 installed on the base 100, a clip-type hopper 502 installed on the directional rail 501, and an electric push rod 503 installed on the clip-type hopper 502.

[0028] The base 100 serves as the basic support structure for the entire device, used to fix all other components. Its position can be adjusted via the moving mechanism 07 to adapt to the needs of different workstations. The moving mechanism 07 can adopt a tracked, wheeled, or other mobile vehicle structure; for example, the moving mechanism 107 is a tracked chassis device.

[0029] The robotic arm 200 is one of the core actuators of this device, possessing multi-degree-of-freedom motion capabilities. It can precisely move the dedicated tooling fixture 201 to a designated position to complete a series of operations such as material gripping, assembly, and locking. The double-layer gripper 202 is used to grip and fix the purlins and reinforcing ribs, while the arc-shaped gripper 203 is specially designed to hold U-bolts. The double-layer gripper 202 and the arc-shaped gripper 203 work together to complete the purlin assembly process. The tooling fixture 201 can achieve seamless connection of the three actions of "piercing - sleeve - locking", and the entire process is completed by the same tooling fixture 201 without the need to change the end effector.

[0030] Unlike scattered material stacking or vibratory feeder feeding, this invention uses a series of positioning pins 303, bolt bases 403, and spring clip-type hoppers 502 to pre-arrange three types of irregularly shaped materials—purlins, U-bolts, and nuts—in a structured manner. This ensures that no secondary posture adjustment is required during subsequent gripping, simplifies the feeding logic, and achieves a high-cycle automated feeding function.

[0031] The installation of photovoltaic purlins is fully automated, integrating automatic feeding, precise positioning, collaborative gripping, vision-guided assembly, and automatic locking functions for three types of irregularly shaped materials: purlins, bolts, and nuts. This achieves a fully closed-loop unmanned operation from material supply to installation completion.

[0032] like Figure 2 and Figure 3 As shown, the tooling fixture 201 is equipped with a first vertical slide rail 205 and a second vertical slide rail 206. A first drive box 207 is installed on the first vertical slide rail 205. Two opposing double-layer grippers 202 are installed on the first drive box 207. Two nut sleeves 204 are installed on the upper end of the support frame. A second drive box 208 is installed on the second vertical slide rail 206. Two opposing arc-shaped grippers 203 are installed on the second drive box 208. The arc-shaped grippers 203 are located directly below the double-layer grippers 202.

[0033] The first vertical slide rail 205 is used to control the movement of the double-layer gripper 202 on the tooling fixture 201, the first drive box 207 is used to control the double-layer gripper 202 to grip and release the purlin, the second vertical slide rail 206 is used to control the movement of the arc-shaped gripper 203 on the tooling fixture 201, and the second drive box 208 is used to control the arc-shaped gripper 203 to grip and release the U-bolt.

[0034] like Figures 4 to 6 As shown, several horizontally arranged fixing components are installed on the first conveyor belt 302. Each fixing component consists of two fixed seats 305 spaced apart front to back, and a positioning pin 303 is installed on the fixed seat 305. A first cross slide 306 is installed at one end of the first feeding base 301, and a lifting gripper 304 is installed on the first cross slide 306.

[0035] The lifting gripper 304 pushes the purlin in the following manner: the lifting gripper 304 contacts the purlin fixed on the positioning pin 303 from bottom to top. While the lifting gripper 304 clamps the purlin, it carries the purlin up and then moves forward to the standard pick-up point of the purlin. When the tooling fixture 201 removes the purlin, the lifting gripper 304 releases the purlin and resets.

[0036] like Figure 7 and Figure 8 As shown, the upper inner wall of the bolt base 403 is provided with a limiting groove. A second cross slide 405 is installed on the second feeding base 401, and an opening and closing gripper 404 is installed on the second cross slide 405. The opening and closing gripper 404 is provided with limiting openings at both ends.

[0037] The opening and closing gripper 404 pushes the U-bolt in the following manner: the opening and closing gripper 404 contacts the U-bolt fixed in the bolt base 403 from the upper right to the lower right. The opening and closing gripper 404 opens, and the two ends of the upper side of the U-bolt are respectively inserted into the two limiting openings of the opening and closing gripper 404. Then it moves forward to the standard picking point of the U-bolt. When the tooling fixture 201 removes the U-bolt, the lifting gripper 304 retracts, separates from the U-bolt, and resets.

[0038] like Figure 1 As shown, the power unit 101 includes a generator 102 and an air compressor 103 mounted on a base 100.

[0039] The double-layer gripper 202 and arc-shaped gripper 203 in the tooling fixture 201, the lifting gripper 304 in the purlin feeding mechanism 300, and the opening and closing gripper 404 on the bolt feeding mechanism 400 are all controlled by a pneumatic telescopic device to open and close.

[0040] The generator 102, air compressor 103, PLC control cabinet 104, and vision camera are all existing technologies. The generator 102 provides the power required for the entire equipment, ensuring independent operation in the field without being limited by external power sources. The air compressor 103 provides compressed air for pneumatically driven components, such as the actuators of the robotic arm 200 and the opening and closing of the grippers, ensuring the normal operation of each pneumatic component.

[0041] The vision camera can identify the position and orientation of the main shaft through image recognition and template matching, and calculate the installation position of the next purlin on the main shaft, feeding back the precise positioning data to the robotic arm 200. The image recognition and template matching algorithms adapted to the vision camera are separately designed and adjusted. The vision camera, through image recognition and template matching algorithms, outputs in real time the 3D model of the main shaft, the position of the main shaft centerline, the pre-installation point of the purlin, surface tilt and occlusion judgment, etc., and can still stably identify the hole position under strong sunlight or weak texture conditions.

[0042] PLC control cabinet 104 is responsible for receiving information from the vision camera and data from corresponding sensors. After processing, it sends instructions to each actuator to coordinate the orderly operation of the entire device and achieve automated control. PLC control cabinet 104 has the function of low-level hardware self-testing, including the position sensors of each cylinder, limit switches, emergency stop circuit, and air / power supply status. It adopts a heterogeneous collaborative control architecture of "PLC + industrial computer", with PLC ensuring real-time performance and safety, and industrial computer responsible for advanced perception and decision-making.

[0043] A fully automated installation device for photovoltaic purlins and its control method, comprising the following steps: S1: The purlins and reinforcing ribs, which are fixed together, are manually placed onto the purlin feeding mechanism 300. The holes on the purlins and reinforcing ribs are aligned and inserted into the positioning pins 303 of the purlin feeding mechanism 300. The U-bolts are manually inserted into the bolt base 403 of the bolt feeding mechanism 400. The flange nut is manually inserted into the spring clip type hopper 502 of the nut feeding mechanism 500; S2: The moving mechanism 107 moves the base 100 to the front of the main shaft to be installed, and the vision camera captures an image of the area of ​​the main shaft to be installed. Through image recognition and template matching algorithms, the photovoltaic purlin installation work is guided. S3: The lifting gripper 304 of the purlin feeding mechanism 300 will disengage the purlin from the positioning pin 303 and move the purlin to the standard pick-up point of the purlin. The opening and closing gripper 404 of the bolt feeding mechanism 400 disengages the U-bolt from the bolt base 403 and moves the U-bolt to the standard picking point for the U-bolt. S4: The robotic arm 200 moves to each standard material picking point according to the set route, carrying the tooling fixture 201. Among them, the double-layer gripper 202 grabs the purlin, the arc-shaped gripper 203 grabs the U-bolt, and the nut sleeve 204 carries the nut. S5: The robotic arm 200 carries a tooling fixture 201 containing purlins, U-bolts and nuts, and moves to the spindle to be installed according to the set route. At this time, the purlins are above the spindle and the U-bolts are below. S6: The double-layer clamp 202 descends, the arc-shaped clamp 203 rises, the double-layer clamp 202 and the arc-shaped clamp 203 close vertically, the two ends of the upper side of the U-bolt are inserted into the purlin holes, and then the nuts are locked on the two ends of the upper side of the U-bolt. S7: Repeat steps S2 to S6 until all purlins are installed.

[0044] In step S3, the lifting jaw 304 first lifts vertically to disengage the purlin from the positioning pin 303, then the lifting jaw 304 moves horizontally to the standard picking point of the purlin, the opening and closing jaw 404 first descends and clamps the upper two ends of the U-bolt, then lifts to disengage the U-bolt from the bolt base 403, and then moves forward to the standard picking point of the U-bolt.

[0045] In step S4, when the robotic arm 200 carrying the tooling fixture 201 moves to the standard picking point of the nut, the electric push rod 503 of the nut feeding mechanism 500 pushes the nut in the clip-type hopper 502 onto the directional track 501, and the nut slides down along the directional track 501 to the standard picking point of the nut.

[0046] Upon completion of each purlin installation, the system automatically records relevant construction operation and quality data, including installation time, location, visual recognition results, torque estimation, and any abnormal alarm logs. This data is simultaneously uploaded to the cloud or local server, supporting quality traceability and progress dashboards. This transforms traditional "black box" construction into a quantifiable, traceable, and analyzable digital process, providing a data foundation for the full lifecycle management of photovoltaic power plants.

[0047] The system uses a vision camera to identify bracket hole positions in real time and re-inspect installation results. Combined with a high-precision robotic arm 200 and a special tooling fixture 201, it ensures the consistency of purlin spacing, parallelism, and bolt tightening torque. All installation data (time, location, image, status) is automatically recorded and archived to meet the needs of photovoltaic project quality management and subsequent operation and maintenance traceability.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A fully automated installation device for photovoltaic purlins, characterized in that, include: A base (100) is provided with a moving mechanism (107) for moving on the construction site at the bottom of the base (100), and a PLC control cabinet (104) and a power mechanism (101) for providing energy are provided on the base (100). A robotic arm (200) is mounted on a base (100). The robotic arm (200) is equipped with a tooling fixture (201) and a vision camera. The tooling fixture (201) includes a double-layer gripper (202), an arc-shaped gripper (203), and a nut sleeve (204). A purlin feeding mechanism (300) includes a first feeding base (301) mounted on a base (100), a first conveyor belt (302) mounted on the first feeding base (301), a plurality of positioning pins (303) mounted on the first conveyor belt (302), and a lifting gripper (304) mounted at one end of the first feeding base (301). Bolt feeding mechanism (400), the bolt feeding mechanism (400) is installed on the second feeding base (401) on the base (100), the second feeding base (401) is equipped with a second conveyor belt (402), the second conveyor belt (402) is equipped with a plurality of bolt base supports (403), and the second feeding base (401) is equipped with an opening and closing gripper (404). Nut feeding mechanism (500), there are two nut feeding mechanisms (500), each nut feeding mechanism (500) includes a directional rail (501) installed on a base (100), a clip-type hopper (502) installed on the directional rail (501), and an electric push rod (503) installed on the clip-type hopper (502).

2. The photovoltaic purlin fully automated installation equipment according to claim 1, characterized in that: The tooling fixture (201) is equipped with a first vertical slide rail (205) and a second vertical slide rail (206). A support frame is installed on the first vertical slide rail (205), and a first drive box (207) is installed at the lower end of the support frame. Two opposing double-layer grippers (202) are installed on the first drive box (207), and two nut sleeves (204) are installed on the upper end of the support frame. A second drive box (208) is installed on the second vertical slide rail (206), and two opposing arc-shaped grippers (203) are installed on the second drive box (208). The arc-shaped grippers (203) are located directly below the double-layer grippers (202).

3. A fully automated photovoltaic purlin installation device according to claim 1 or 2, characterized in that: The first conveyor belt (302) is equipped with several horizontally arranged fixing components. Each fixing component consists of two fixing seats (305) spaced apart front and back, and a positioning pin (303) is installed on the fixing seat (305).

4. The photovoltaic purlin fully automated installation equipment according to claim 3, characterized in that: The first feeding base (301) is equipped with a first cross slide (306) at one end, and the lifting gripper (304) is installed on the first cross slide (306).

5. A fully automated photovoltaic purlin installation device according to claim 1 or 2, characterized in that: The upper inner wall of the bolt base (403) is provided with a limiting groove.

6. The photovoltaic purlin fully automated installation equipment according to claim 5, characterized in that: A second cross slide (405) is installed on the second feeding base (401), and an opening and closing gripper (404) is installed on the second cross slide (405). The opening and closing gripper (404) has limiting openings at both ends.

7. The photovoltaic purlin fully automated installation equipment according to claim 1, characterized in that: The power mechanism (101) includes a generator (102) and an air compressor (103) mounted on a base (100).

8. The control method for a fully automated photovoltaic purlin installation device according to claim 1, comprising the following steps: S1: The purlins and reinforcing ribs, which are fixed together, are placed on the purlin feeding mechanism (300) by hand. The holes on the purlins and reinforcing ribs are aligned and inserted into the positioning pins (303) of the purlin feeding mechanism (300). The U-bolts are manually inserted into the bolt base (403) of the bolt feeding mechanism (400). The flange nuts are manually inserted into the spring clip hopper (502) of the nut feeding mechanism (500); S2: The moving mechanism (107) moves the base (100) to the front of the main shaft to be installed, and the vision camera captures an image of the area of ​​the main shaft to be installed. Through image recognition and template matching algorithms, the photovoltaic purlin installation work is guided. S3: The lifting gripper (304) of the purlin feeding mechanism (300) will disengage the purlin from the positioning pin (303) and move the purlin to the standard pick-up point of the purlin. The opening and closing grippers (404) of the bolt feeding mechanism (400) disengage the U-bolt from the bolt base (403) and move the U-bolt to the standard pick-up point for the U-bolt. S4: The robotic arm (200) moves to each standard material picking point according to the set route, carrying the tooling fixture (201). The double-layer gripper (202) grabs the purlin, the arc-shaped gripper (203) grabs the U-bolt, and the nut sleeve (204) carries the nut. S5: The robotic arm (200) carries a tooling fixture (201) containing purlins, U-bolts and nuts, and moves to the spindle to be installed according to the set route. At this time, the purlins are above the spindle and the U-bolts are below. S6: The double-layer clamp (202) descends, the arc-shaped clamp (203) rises, the double-layer clamp (202) and the arc-shaped clamp (203) close up and down, the two ends of the upper side of the U-bolt are inserted into the purlin hole, and then the nut is locked on the two ends of the upper side of the U-bolt. S7: Repeat steps S2 to S6 until all purlins are installed.

9. The control method for a fully automated photovoltaic purlin installation device according to claim 8, characterized in that: In step S3, the lifting jaw (304) first lifts vertically to disengage the purlin from the positioning pin (303), then the lifting jaw (304) moves horizontally to the standard picking point of the purlin, the opening and closing jaw (404) first descends and clamps the upper two ends of the U-bolt, then lifts to disengage the U-bolt from the bolt base (403), and then moves forward to the standard picking point of the U-bolt.

10. The control method for a fully automated photovoltaic purlin installation device according to claim 8, characterized in that: In step S4, when the robotic arm (200) moves with the tooling fixture (201) to the standard picking point of the nut, the electric push rod (503) of the nut feeding mechanism (500) pushes the nut in the clip-type hopper (502) onto the directional track (501), and the nut slides down along the directional track (501) to the standard picking point of the nut.

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