Suspension type waterway dual-purpose photovoltaic module rapid installation robot

Abstract

The invention relates to a suspension type waterway dual-purpose photovoltaic module rapid installation robot which comprises a central main body, a feeding mechanism is arranged at the right end of the central main body, a transfer mechanical arm is arranged in the center of the upper end of the central main body, and an amphibious chassis module is arranged at the lower end of the central main body. A mounting mechanical arm is arranged on the left side of the transfer mechanical arm; seamless switching between the land environment and the water surface environment is achieved through a crawler-type advancing mechanism, a propeller thruster and an automatic inflation air bag. A double-mechanical-arm cooperative system is innovated, a transfer mechanical arm carries a vacuum suction cup with an elastic buffer layer and a visual recognition unit, and a mounting mechanical arm is matched with a suspension clamp to complete accurate butt joint; a millimeter wave radar, a tilt angle sensor and a water quality sensing device are integrated to construct a full-scene sensing system. According to the invention, environmental limitation is broken through, the installation efficiency is improved by three times compared with manual work, and an efficient intelligent solution is provided for water photovoltaic construction.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module installation robot technology, and in particular to a suspended water-based photovoltaic module rapid installation robot. Background Technology

[0002] With the accelerated transformation of the global energy structure, photovoltaic power plants, as an important carrier of clean energy, are continuously expanding in scale. Traditional photovoltaic power plants are mainly divided into two categories: terrestrial photovoltaic and floating photovoltaic. Traditional terrestrial installation equipment cannot operate on complex terrains such as water surfaces and swamps, while floating installation relies on manual operation by boat, which is inefficient and has high safety risks. In response to the problems of poor adaptability of existing photovoltaic module installation equipment in complex water and land environments, low efficiency of dual robotic arm collaboration, and insufficient installation accuracy, we propose a suspended water-based dual-purpose photovoltaic module rapid installation robot.

[0003] Chinese invention patent CN202511213300.2 discloses a method for correcting the pose of a robotic arm in a photovoltaic module installation robot and the photovoltaic module installation robot itself. The method includes: moving the robotic arm system to move an image acquisition device located at the end of the moving robotic arm system to an initial image capture point; acquiring the pose parameters of the image acquisition device, the support frame, and the photovoltaic module at the initial image capture point; controlling the photovoltaic module installation robot to move to the next installation point and acquiring the pose parameters of the support frame and the photovoltaic module at that installation point; and correcting the image capture posture and position of the image acquisition device based on the acquired pose parameters to obtain the corrected image capture position. The invention allows for real-time correction of the photographing position and posture in complex terrain. However, it suffers from several problems: firstly, it lacks the ability for dual-arm collaborative operation, requiring frequent switching between grasping and installation actions, resulting in a comprehensive efficiency of only 20-30 pieces / hour, which is insufficient to meet the needs of large-scale power plant construction; secondly, it lacks amphibious installation capabilities, as conventional photovoltaic module installation equipment has poor adaptability to complex water and land environments. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by setting up a belt-type traveling mechanism with a propeller, a feeding mechanism, a transfer robotic arm, an installation robotic arm, and a multi-modal environmental perception mode. This solves the technical problems of poor adaptability of traditional photovoltaic module installation equipment in complex water and land environments, low efficiency of dual robotic arm collaboration, and insufficient installation accuracy.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A suspended, amphibious photovoltaic module rapid installation robot includes a central body, a loading mechanism at the right end of the central body, a transfer robotic arm at the upper center of the central body, and an amphibious chassis module at the lower end of the central body. The amphibious chassis module includes two symmetrically arranged tracked moving mechanisms, a propeller between the two tracked moving mechanisms, and an automatically inflatable airbag between the propeller and the tracked moving mechanism. An installation robotic arm is located on the left side of the transfer robotic arm.

[0007] As a preferred embodiment, the feeding mechanism includes a support frame, the left end of which is fixedly connected to the central body, and hydraulic rods are symmetrically arranged at the front and rear ends of the support frame. The upper end of the piston rod of the hydraulic rod is fixedly connected to a load-bearing plate. Two forklift arms are provided at the right end of the load-bearing plate and are symmetrically arranged front and rear. A first limit bar is symmetrically arranged at the front and rear ends of the load-bearing plate, and a second limit bar is arranged at the left end of the load-bearing plate.

[0008] As a preferred embodiment, the front end of the transfer robotic arm is provided with a suction cup clamp in the center, and a vision recognition unit structure is provided on the upper side of the front end of the transfer robotic arm. The suction cup clamp includes a suction cup mounting frame, and vacuum suction cups are evenly distributed at the front end of the suction cup mounting frame.

[0009] As a preferred embodiment, the front end of the installation robotic arm is provided with a suspended clamp, and a second visual recognition unit structure is provided at the front end of the installation robotic arm.

[0010] As a preferred embodiment, millimeter-wave radar devices are symmetrically arranged on the lower left side of the central main body, and the horizontal detection angle of the millimeter-wave radar devices is 120 degrees.

[0011] As a preferred embodiment, a water quality sensor is provided at the lower front side of the central body, and an angle sensor is provided at the lower center of the central body.

[0012] As a preferred embodiment, the propeller thruster is provided with a foldable protective cover on its outer side, and the surface of the protective cover is uniformly distributed with honeycomb-shaped water-permeable holes.

[0013] As a preferred embodiment, the edge of the vacuum suction cup is provided with an elastic buffer layer, and the vacuum suction pressure range of the vacuum suction cup is -0.08MPa to -0.05MPa.

[0014] The beneficial effects of this invention are:

[0015] (1) In this invention, by setting a tracked walking mechanism and a propeller propulsion device and equipping it with an automatic inflatable airbag, the operating mode can be freely switched between land, water and water-land transitional terrain; when walking on land, the airbag is deflated and the track provides traction; when working on water, the airbag is inflated to provide buoyancy and the propeller propels, which solves the limitation of traditional equipment operating in a single environment and greatly expands the applicable scenarios for photovoltaic module installation.

[0016] (2) In this invention, by setting up a feeding mechanism, a transfer robotic arm, and an installation robotic arm, the feeding mechanism realizes automatic stacking and gripping of components. The transfer robotic arm, in conjunction with a vacuum suction cup clamp and a first vision recognition unit, accurately completes the transfer of components from the stacking point to the installation position. The installation robotic arm is equipped with a suspension clamp and a second vision recognition unit, and uses image recognition to locate the installation bracket, reducing human visual error and improving installation accuracy. The collaborative operation of the two robotic arms effectively improves installation efficiency.

[0017] (3) In this invention, by setting a multimodal environmental perception mode, the millimeter-wave radar device can scan obstacles in real time, the tilt sensor can monitor the robot's balance state to avoid tilting and overturning, and the water quality sensor can monitor water parameters in real time to ensure the safety of the working environment and comprehensively protect the safety of equipment and components.

[0018] In summary, this invention has the advantages of simple structure, high installation accuracy, and full coverage of amphibious scenarios, and is especially suitable for the field of photovoltaic module installation robot technology. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure for installing the robot.

[0021] Figure 2 This is a structural schematic diagram of the amphibious chassis module.

[0022] Figure 3 This is a schematic diagram of the feeding mechanism.

[0023] Figure 4 This is a schematic diagram of the transfer robotic arm. Detailed Implementation

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0025] Example 1

[0026] like Figures 1 to 4As shown, this invention provides a suspended, amphibious photovoltaic module rapid installation robot, including a central body 1, which serves as the core control and load-bearing unit, integrating a power system, control system, and sensor modules. Internally, it houses a central control module, including a main controller, a 5G communication unit, and a power management module. The main controller uses an industrial-grade ARM Cortex-A9 processor and runs a real-time operating system. The 5G communication unit supports SA / NSA dual-mode, enabling remote monitoring and multi-robot collaborative operation. The power management module provides a stable power supply to all modules and is equipped with a lithium battery pack, providing a runtime of over 8 hours. A loading mechanism 2 is located at the right end of the central body 1, which forks up the photovoltaic panels on the material plate for automatic loading. A transfer robotic arm 3 is located at the upper center of the central body 1, transferring the photovoltaic panels from the loading mechanism 2 to the photovoltaic panel mounting bracket. Furthermore, an amphibious chassis module 4 is located at the lower end of the central body 1, allowing for free switching between land, water, and transitional water-land terrain operation modes. This invention overcomes the limitations of traditional equipment operating in a single environment and significantly expands the applicable scenarios for photovoltaic module installation. The amphibious chassis module 4 includes two symmetrical tracked walking mechanisms 41. The track surface is equipped with anti-slip teeth with a tooth depth of 8mm and a pitch of 50mm, adapting to complex terrains such as mud and shallow water. It is controlled by a central control module within the central body 1. A propeller thruster 42 is provided between the two tracked walking mechanisms 41 for underwater propulsion, providing power for the installation robot to move in the water. An automatic inflatable airbag 43 is provided between the propeller thruster 42 and the tracked walking mechanism 41. The automatic inflatable airbag 43 is a key component for the installation robot to achieve amphibious functionality. Its operation is closely coordinated with environmental perception and operation mode switching: when the installation robot detects water ahead through millimeter-wave radar 6, when the water quality sensor 7 contacts the water surface, or when it receives the "water mode" command, the central control module starts the electric air pump to inject air into the airbag. The pressure sensor monitors and controls the inflation pressure in real time between 0.1-0.Within a 2MPa range, the airbags are designed to deploy and form a balanced dual-airbag structure. The tilt sensor dynamically adjusts the inflation volume on both sides to maintain a level water surface. When the tracked propulsion mechanism 41 contacts land and detects friction feedback, or receives a "land mode" command, the electric exhaust valve at the bottom of the airbag opens, releasing air in two stages. After fully inflating, it is mechanically secured to the outside of the track to prevent interference with land movement. In emergency situations, if the tilt sensor detects a tilt angle >15°, the airbags will trigger a rapid inflation mode to enhance buoyancy and stability. The system features a leak-proof sensor that monitors for air leakage in real time, automatically replenishing air and triggering an alarm when necessary. The automatic inflatable airbag 43 is made of aging-resistant, acid- and alkali-resistant neoprene rubber, adaptable to complex environments ranging from -10℃ to 50℃ and with pH values ​​of 4-10. Through coordination with the propeller thruster 42, tracked propulsion mechanism 41, and sensor system, the robot achieves stable switching and safe operation in both water and land environments. The left side of the transfer robotic arm 3 is equipped with an installation robotic arm 5, which works in conjunction with the transfer robotic arm 3 to install photovoltaic panels.

[0027] Furthermore, such as Figure 3 As shown, the feeding mechanism 2 includes a support frame 21. The left end of the support frame 21 is fixedly connected to the central body 1, and hydraulic rods 22 are symmetrically arranged at both ends of the support frame 21. The upper end of the piston rod of the hydraulic rod 22 is fixedly connected to a load-bearing plate 23. The right end of the load-bearing plate 23 is provided with two forklift arms 24, which are symmetrically arranged. The front and rear ends of the load-bearing plate 23 are symmetrically provided with a first limit bar 26, and the left end of the load-bearing plate 23 is provided with a second limit bar 25. When the installation robot moves to the feeding point, the symmetrically arranged hydraulic rods 22 receive power support from the hydraulic cylinder, and their piston rods extend upward, driving the load-bearing plate 23 fixedly connected at the upper end to rise synchronously to the same height as the loading point. The photovoltaic modules are to be grabbed at a position that matches the stack height. At this time, the two forklift arms 24) on the right end of the load-bearing plate 23 are inserted into the bottom gap of the module stack to initially support the photovoltaic modules. At the same time, the first limit bar 26) at the front and rear ends of the load-bearing plate 23 and the second limit bar 25) at the left end form an enclosing structure to limit and fix the stacked photovoltaic modules from the front, rear and left sides to prevent the risk of slippage due to robot movement or lifting and lowering of the load-bearing plate during subsequent transfer. After the module grabbing and limiting are completed, the piston rod of the hydraulic rod 22 retracts, driving the load-bearing plate 23 and the photovoltaic modules it carries to descend to the preset transfer height, waiting for the transfer robot arm 3 to perform the next grabbing operation.

[0028] Furthermore, such as Figure 4As shown, the front end of the transfer robotic arm 3 is centrally located with a suction cup gripper 31, and a first visual recognition unit structure is located on the upper side of the front end of the transfer robotic arm 3. The suction cup gripper 31 includes a suction cup mounting frame 32, with vacuum suction cups 33 evenly distributed at the front end of the suction cup mounting frame 32. After the photovoltaic module is positioned by the loading mechanism 2, the transfer robotic arm 3 starts operation according to the instructions of the central control module in the central body 1. The first visual recognition unit structure on the upper side of its front end first performs image scanning and positioning of the photovoltaic module on the load-bearing plate 23, identifies the outline, corners and center point of the module, and feeds the coordinate data back to the control system to plan the gripping path. Subsequently, the transfer robotic arm 3 drives the suction cup gripper 31 centrally located at the front end to move directly above the module. At this time, the vacuum suction cups 33 evenly distributed at the front end of the suction cup mounting frame 32 are parallel and aligned with the surface of the module. The central control module fine-tunes the machine according to the visual recognition results. The robotic arm is positioned to ensure that the vacuum suction cup 33 completely covers the effective adsorption area of ​​the module. Then, the vacuum system is activated, and a negative pressure of -0.08MPa to -0.05MPa is formed inside the vacuum suction cup 33. The photovoltaic module is firmly adsorbed by atmospheric pressure. At the same time, the elastic buffer layer at the edge of the suction cup can adapt to the slight unevenness of the module surface and avoid damage to the module due to hard contact. After adsorption, the transfer robotic arm 3 smoothly transfers the module from the load-bearing plate 23 to the working range or preset temporary storage position of the installation robotic arm 5 through the coordinated movement of multiple joints. During the transfer, the first vision recognition unit monitors the module posture in real time. If a deviation occurs, it is corrected by fine adjustment of the robotic arm joints to ensure that the module remains horizontal and stable in the transfer path. Finally, it is accurately placed in the gripping area of ​​the suspended clamp 51 of the installation robotic arm 5 or directly docked with the installation station. After the transfer task is completed, the vacuum suction cup 33 releases the negative pressure, and the robotic arm resets to wait for the next work cycle.

[0029] Furthermore, such as Figure 1As shown, the installation robotic arm 5 has a centrally located suspended gripper 51 at its front end. A second visual recognition unit structure is located at the front end of the installation robotic arm 5. When the transfer robotic arm 3 transfers the photovoltaic module to the preset installation area, the second visual recognition unit structure at the front end of the installation robotic arm 5 is activated first. It performs image acquisition and feature recognition on the docking position of the mounting bracket or the already installed module, accurately locating key coordinates such as the bracket mounting holes and frame baselines, and feeding the data back to the central control module to plan the module installation path and attitude adjustment parameters. Subsequently, the installation robotic arm 5 drives the centrally located suspended gripper 51 to move to the gripping position of the module to be installed. The suspended gripper 51 generates non-contact gripping force or flexible contact force through electromagnetic or pneumatic levitation technology, gripping the module from the side or edge. The component is held securely in place, avoiding the squeezing damage to the component surface or frame caused by traditional rigid clamps. Under the real-time guidance of the second vision recognition unit, the installation robotic arm 5 adjusts the component to a position parallel to the mounting bracket through multi-joint coordinated movement, and slowly approaches the installation position along the planned path. During the process, the vision unit dynamically monitors the relative positional deviation between the component and the bracket, and the central control module fine-tunes the robotic arm joints in real time based on the deviation data to ensure that the component mounting holes and bracket bolt holes are precisely aligned. After alignment, the suspended clamp 51 keeps the component stable and completes the fixed connection between the component and the bracket with the auxiliary installation tools. After fixing, the suspended clamp 51 releases the clamping force, and the robotic arm returns to the waiting position, waiting for the next installation cycle. The entire process realizes fully automated operation from component gripping and posture adjustment to precise installation.

[0030] Furthermore, such as Figure 2 As shown, millimeter-wave radar devices 6 are symmetrically arranged at the lower left side of the central main body 1. The horizontal detection angle of the millimeter-wave radar devices 6 is 120 degrees. The millimeter-wave radar devices 6 continuously scan the area in front of and to the side of the robot at a horizontal detection angle of 120 degrees. It analyzes the distance, orientation, and relative speed of obstacles in real time by emitting high-frequency millimeter-wave signals and receiving the reflected echoes from the targets. During the robot's movement, the millimeter-wave radar devices 6 will prioritize detecting whether there are fixed or dynamic obstacles in front of the path. When an obstacle is detected at a distance less than a safety threshold, the safety threshold is dynamically adjusted according to the movement speed. When the obstacle is 1 meter away at low speed and 3 meters away at high speed, the coordinates and risk level of the obstacle are immediately fed back to the central control module. The central control module combines the current position, direction of travel and task of the installation robot to make a comprehensive judgment on whether it is necessary to slow down, detour or stop. It can achieve active obstacle avoidance by adjusting the steering of the tracked travel mechanism 41, the thrust distribution of the propeller thruster 42 or triggering the attitude adjustment of the automatic inflatable airbag 43. At the same time, the millimeter-wave radar device 6 can also help identify the distribution of the support array in the installation area, providing environmental reference data for the positioning of the installation robot arm 5, ensuring the accuracy of path planning and the safety of operation of the installation robot in complex operation scenarios.

[0031] Furthermore, a water quality sensor 7 is installed at the lower front of the central main body 1, equipped with a retractable probe that automatically retracts during land operations to avoid collision damage. When the installation robot enters the water surface operation mode, the probe of the water quality sensor 7 contacts the water body and collects water quality parameters in real time, including pH value, turbidity, dissolved oxygen content, etc. The data is converted into electrical signals by the internal sensor module and transmitted to the central control module to assess the environmental safety of the operation area. For example, an abnormal pH value may indicate a risk of corrosion, and excessive turbidity may affect the accuracy of underwater obstacle recognition. If the parameters exceed the safety threshold, the central control module will trigger an alarm and suspend the operation, restarting it after the environment returns to normal or after manual intervention. Additionally, a tilt sensor is installed at the lower center of the central main body 1, and the tilt sensor is present throughout the entire operation cycle of the installation robot. The system continuously monitors the tilt angle and attitude changes of the robot. Through the built-in accelerometer and gyroscope, it provides real-time feedback on the tilt angle data of the X-axis forward and backward tilt and the Y-axis left and right tilt. When the robot's tilt angle is detected to exceed the preset safety threshold, which can be set to >8° when walking on land and >3° when floating on water, the system immediately transmits the signal to the control system. The system combines the obstacle data from the millimeter-wave radar 6 with the status of the automatic inflatable airbag 43 to dynamically adjust the speed distribution of the tracked walking mechanism 41, the thrust direction of the propeller thruster 42, or the inflation and deflation volume of the automatic inflatable airbag 43. For example, it can replenish airbags on one side to balance the tilt, ensuring that the installation robot always maintains a stable posture and avoids the risk of overturning due to terrain bumps, water waves, or center of gravity shift. The two work together to provide real-time data support for the environmental adaptability and operational safety of the installation robot.

[0032] Furthermore, the propeller thruster 42 is equipped with a foldable protective cover on its outer side, and the surface of the protective cover is evenly distributed with honeycomb-shaped water-permeable holes. When the installation robot enters the water surface operation mode, the foldable protective cover on the outer side of the propeller thruster 42 automatically unfolds. The evenly distributed honeycomb-shaped water-permeable holes on its surface ensure smooth water flow while effectively blocking impurities such as aquatic plants and floating objects from entering the propeller area, preventing the propeller from becoming entangled or damaged. Subsequently, the propeller thruster 42 starts, and the speed and direction are adjusted through the central control module to provide power for the installation robot to move on the water surface, propelling the installation robot to move smoothly on the water surface. When the installation robot needs to switch from water surface to land operation, the propeller thruster stops working, and the foldable protective cover automatically retracts, fitting tightly against the outside of the propeller to reduce resistance when walking on land and ensure that the tracked travel mechanism 41 can function normally. Throughout the entire operation, the protective cover always protects the propeller, while the honeycomb-shaped water-permeable holes ensure propulsion efficiency, enabling the propeller thruster 42 to operate stably and reliably in complex aquatic environments.

[0033] Furthermore, such as Figure 4As shown, the vacuum suction cup 33 has an elastic buffer layer on its edge, and the vacuum pressure range of the vacuum suction cup 33 is -0.08MPa to -0.05MPa. When the transfer robotic arm 3 moves the suction cup mounting frame 31 to the surface of the photovoltaic module, the vacuum suction cup 33 first contacts the module surface through the elastic buffer layer on its edge. The elastic deformation of the buffer layer adapts to the slight unevenness of the module surface, ensuring a good seal between the suction cup and the module. Subsequently, the vacuum system is activated, and the air inside the suction cup is extracted by the air extraction device, so that the internal pressure of the vacuum suction cup 33 gradually drops to a negative pressure range of -0.05MPa to -0.08MPa. Under atmospheric pressure, the suction cup firmly adheres to the photovoltaic module, achieving stable gripping of the module. During the transfer process, the vacuum system continuously maintains the set negative pressure, and the elastic buffer layer also plays a buffering role to prevent the module from being damaged by vibration or collision. When the module is transferred to the target position, the vacuum system stops evacuating and releases the negative pressure, the vacuum suction cup 33 separates from the module surface, completing the gripping task, and then waits for the next operation cycle.

[0034] Working process: First, the installation robot moves on land or water via the tracked travel mechanism 41 or propeller propulsion unit 42 of the amphibious chassis module. Upon reaching the work area, the hydraulic rod 22 of the loading mechanism 2 drives the forklift arm 24 to pick up the stacked photovoltaic modules, and the limit bar on the load-bearing plate 23 secures the modules to prevent slippage. Next, after the first vision recognition unit at the front end of the transfer robotic arm 3 locates the module, it controls the vacuum suction cup 33 to adsorb the module and smoothly transfer it to the working range of the installation robotic arm 5. Then, the installation robotic arm 5 identifies the coordinates of the installation bracket through the second vision recognition unit, uses the suspension clamp 51 to hold the module and adjust its posture, precisely completing the docking and installation with the bracket. During the operation, the millimeter-wave radar 6 scans obstacles in real time, the tilt sensor monitors the balance of the installation robot, the water quality sensor 7 assesses the aquatic environment, and the automatic inflation airbag 43 switches between amphibious and land modes to ensure buoyancy and stability. All systems work together to achieve fully automated operation of the photovoltaic modules from automatic loading and intelligent transfer to precise installation.

[0035] In the description of this invention, it should be understood that the terms "front and back", "left and right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0036] Of course, those skilled in the art should understand that the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. The term "a" should not be understood as a limitation on the quantity.

[0037] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art under the technical guidance of the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A floating, water-based dual-purpose photovoltaic module rapid installation robot, characterized in that: Including the central body (1), the right end of the central body (1) is provided with a feeding mechanism (2), and the upper end center position of the central body (1) is provided with a transfer mechanical arm (3), and the lower end of the central body (1) is provided with an amphibious chassis module (4), the amphibious chassis module (4) includes two caterpillar traveling mechanisms (41) which are symmetrical in front and back, a propeller (42) is arranged between the two caterpillar traveling mechanisms (41), an automatic inflatable air bag (43) is arranged between the propeller (42) and the caterpillar traveling mechanism (41), and the left side of the transfer mechanical arm (3) is provided with a mounting mechanical arm (5).

2. The quick installation robot for a floating waterway dual-purpose photovoltaic module according to claim 1, characterized in that, The feeding mechanism (2) includes a support frame (21), the left end of the support frame (21) is fixedly connected with the central body (1), and the front and rear ends of the support frame (21) are symmetrically provided with hydraulic rods (22), the upper end of the piston rod of the hydraulic rod (22) is fixedly connected with a bearing plate (23), the right end of the bearing plate (23) is provided with two forklift arms (24) which are symmetrically arranged, and the front and rear ends of the bearing plate (23) are symmetrically provided with a first limiting fence (26), and the left end of the bearing plate (23) is provided with a second limiting fence (25).

3. The quick installation robot for a floating waterway dual-purpose photovoltaic module according to claim 1, characterized in that, The front end of the transfer mechanical arm (3) is centrally provided with a suction cup clamp (31), and a first visual recognition unit structure is arranged at the front end of the transfer mechanical arm (3) on the upper side, the suction cup clamp (31) includes a suction cup mounting frame (32), and the front end of the suction cup mounting frame (32) is uniformly distributed with vacuum suction cups (33).

4. The quick installation robot for floating and waterway dual-purpose photovoltaic module according to claim 1, characterized in that, The front end of the mounting mechanical arm (5) is centrally provided with a suspension clamp (51), and a second visual recognition unit structure is arranged at the front end of the mounting mechanical arm (5).

5. The quick installation robot for floating and waterway dual-purpose photovoltaic module according to claim 1, characterized in that, The left side of the lower end of the central body (1) is symmetrically provided with a millimeter wave radar device (6), and the horizontal detection angle of the millimeter wave radar device (6) is 120 degrees.

6. The quick installation robot for floating and waterway dual-purpose photovoltaic module according to claim 1, characterized in that, The front side of the lower end of the central body (1) is provided with a water quality sensing device (7), and the central position of the lower end of the central body (1) is provided with an inclination sensor.

7. The quick installation robot for floating and waterway dual-purpose photovoltaic module according to claim 6, characterized in that, The outer side of the propeller (42) is provided with a foldable protective cover, and the surface of the protective cover is uniformly distributed with honeycomb-shaped water-permeable holes.

8. The quick installation robot for a floating waterway dual-purpose photovoltaic module according to claim 5, characterized in that, The edge of the vacuum suction cup (33) is provided with an elastic buffer layer, and the vacuum suction cup (33) has a vacuum pressure range of -0.08MPa to -0.05MPa.

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