Intelligent paving and disassembling robot for photovoltaic module

Abstract

The invention relates to the technical field of photovoltaic power station construction, in particular to a photovoltaic module intelligent paving and disassembling robot which comprises a crawler, material frames are symmetrically and fixedly installed at the upper end of the crawler, a mechanical arm is fixedly installed at the position, between the two material frames, of the upper end of the crawler, and a connecting frame is fixedly installed at the end, away from the crawler, of the mechanical arm. The photovoltaic panel cleaning device has the beneficial effects that the cleaning mechanism cleans the upper surface of a photovoltaic panel, the U-shaped baffle preliminarily scrapes cleaning water, the air knife swings up and down while the air knife moves, the air knife swings up and down while the air knife moves, the suction cup frame is fixedly installed on a sliding table of the first linear module, and a plurality of supporting pipes are fixedly installed on the suction cup frame. And finally, the water scraping mechanism moves along the upper surface of the photovoltaic panel, and the water stains and water films on the photovoltaic panel are scraped off through a water scraping plate, so that the cleanness of the upper surface of the photovoltaic panel is ensured.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic power plant construction technology, specifically to a smart robot for installing and dismantling photovoltaic modules. Background Technology

[0002] With the changing energy structure, the proportion of photovoltaic power generation is increasing. Photovoltaic module installation is a crucial step in the construction of photovoltaic power plants. Photovoltaic modules are large in size, making manual handling inconvenient. Furthermore, traditional manual installation methods are not only inefficient and labor-intensive, but also struggle to guarantee installation precision and consistency, which can easily lead to problems with the photovoltaic panels during subsequent use, affecting power generation efficiency.

[0003] Currently, photovoltaic (PV) panel installation robots are commonly used for PV panel installation. Some PV panel installation robots consist of a robot body, a frame, and a robotic arm. The robotic arm is mounted on the robot body, and a gripping device is located at the end of the robotic arm furthest from the robot body. When the PV panel installation robot is working, the robotic arm controls the gripping device to move and grab the PV panel within the frame, and moves it to the mounting bracket. Then, the operator uses bolts to connect the PV panel to the mounting bracket to complete the installation of the PV panel.

[0004] Most existing gripping devices use suction cups for adsorption and fixation. While these devices can grasp photovoltaic panels, they are only suitable for clean panels. They work well for laying and moving panels, but have limitations when removing them. Because photovoltaic panels are exposed to the elements for extended periods, dust, sand, and other debris accumulate on their surface. This prevents the suction cups from adhering tightly to the panel, making it easier for the robotic arm to handle and move the panels, potentially causing them to fall and break, which is detrimental to practical use. Summary of the Invention

[0005] The purpose of this invention is to provide a smart robot for installing and dismantling photovoltaic modules to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic module intelligent installation and dismantling robot, comprising a tracked vehicle, wherein material frames are symmetrically fixedly installed on the upper end of the tracked vehicle, and a robotic arm is fixedly installed on the upper end of the tracked vehicle between the two material frames. A connecting frame is fixedly installed on the end of the robotic arm away from the tracked vehicle, and a first linear module is fixedly installed on the side of the connecting frame. A suction cup frame is fixedly installed on the slide of the first linear module, and multiple support tubes are fixedly installed on the suction cup frame. A suction cup is fixedly installed on the end of the support tube away from the suction cup frame, and the suction cup is connected to the support tube. The suction cup frame has telescopic mechanisms symmetrically installed at both ends, and a second linear module is fixedly installed between the two telescopic mechanisms. Movable frames are symmetrically fixedly installed on both sides of the slide of the second linear module. An installation plate is fixedly installed on the side of the movable frame away from the second linear module. A cleaning mechanism for cleaning the photovoltaic panel is installed on the side of the installation plate away from the suction cup frame.

[0007] Preferably, the telescopic mechanism includes a support frame fixedly installed at one end of the suction cup frame. A horizontal plate is movably arranged on the side of the support frame away from the first linear module. Guide rods are symmetrically fixedly connected to the side of the horizontal plate near the support frame. The guide rods movably pass through the support frame. Electric push rods are symmetrically fixedly installed on the support frame. The inner rod of the electric push rod movably passes through the support frame and is fixedly connected to the horizontal plate. Side strips are symmetrically fixedly installed between the two horizontal plates. The second linear module is fixedly installed below the two horizontal plates.

[0008] Preferably, each of the two horizontal plates is slidably fitted with a sliding seat, and the two sliding seats are respectively fixedly connected to the adjacent mounting plate.

[0009] Preferably, the cleaning mechanism includes a circular cover fixedly installed on the side of the mounting plate away from the suction cup holder. A rotating base is rotatably installed on the side of the circular cover away from the mounting plate. A sealing ring is fixedly connected to the side of the rotating base and rotatably connected to the inner side of the circular cover. A round shaft is fixedly connected to the side of the rotating base that contacts the circular cover. The round shaft passes through the circular cover and is driven by the motor shaft of a servo motor fixedly installed on the side of the mounting plate. Multiple water nozzles are fixedly installed in a circular array on the side of the rotating base away from the circular cover, and multiple soft brushes are fixedly installed in a circular array on the side of the rotating base away from the circular cover.

[0010] Preferably, a water-blocking mechanism is installed on the side of the mounting plate outside the cleaning mechanism. The water-blocking mechanism includes a U-shaped baffle fixedly installed on the side of the mounting plate away from the suction cup frame. The U-shaped baffle is distributed on the outside of the cleaning mechanism, and a U-shaped flexible strip is fixedly connected to the side of the U-shaped baffle away from the mounting plate.

[0011] Preferably, a blower mechanism is fixedly mounted on the mounting plate. The blower mechanism includes a concave frame fixedly mounted on the mounting plate. A swing seat is rotatably mounted on the inner side of the concave frame via a rotating shaft. An air knife is fixedly mounted on one side of the swing seat. A vibration component is mounted on the side of the concave frame.

[0012] Preferably, the shaking assembly includes a shaking seat fixedly connected to the side of the concave frame. The side of the shaking seat has symmetrically formed convex grooves. A guide rod is fixedly connected to each of the two convex grooves. A return spring and a convex block are sequentially movably sleeved on each of the two guide rods. The two convex blocks are slidably connected to the adjacent convex grooves. A shaking plate is slidably mounted on the side of the shaking seat. A drive frame is fixedly connected to one side of the shaking plate. One end of the drive frame extends to the side of the swing seat. A drive gear plate is fixedly connected to the side of the drive frame near the swing seat. A transmission gear meshes with the side of the drive gear plate. The transmission gear is fixedly sleeved on the outside of the swing seat. A pressing assembly is fixedly connected to the side of the shaking seat away from the drive frame.

[0013] Preferably, the extrusion assembly includes a transmission plate fixedly connected to the side of the vibrating seat. One end of the transmission plate extends to the bottom of the side strip plate. A positioning wheel is rotatably mounted on the end of the transmission plate below the side strip plate via a wheel frame. Several extrusion blocks are fixedly connected at equal intervals on the side of the side strip plate near the transmission plate.

[0014] Preferably, a wiping mechanism is fixedly connected to the end of the concave frame away from the mounting plate. The wiping mechanism includes an extension frame fixedly connected to the end of the concave frame. A curved plate is fixedly installed on the side of the extension frame away from the concave frame, and a wiping blade is fixedly connected to the side of the curved plate away from the extension frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the present invention has a reasonable structural design and strong functionality, and has the following advantages: 1. When it is necessary to disassemble the photovoltaic panel, first move the tracked vehicle to the position to be disassembled. The robotic arm drives the telescopic mechanism to move via the suction cup frame. The telescopic mechanism drives the second linear module, cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism to move, bringing them above the photovoltaic panel. Then, the telescopic mechanism extends, positioning the cleaning mechanism at the top of the photovoltaic panel. At the same time, the soft brush and U-shaped soft strip in the cleaning mechanism and the squeegee in the squeegee mechanism are all in contact with the upper surface of the photovoltaic panel. The slide of the second linear module drives the mounting plate to move, and the mounting plate drives the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism to move. The cleaning mechanism and the squeegee move synchronously, allowing the cleaning mechanism to clean the upper surface of the photovoltaic panel. The U-shaped baffle initially removes the water. Through the cooperation of the blower mechanism, the shaking component, and the squeezing component, the air knife moves and swings up and down. Its blowing trajectory is a continuous overlapping impact zone on the photovoltaic panel surface, ensuring that every point is subjected to airflow from different angles, resulting in uniform and thorough drying. This allows the blower mechanism to effectively dry the water stains on the photovoltaic panel. Finally, the squeegee moves along the upper surface of the photovoltaic panel and scrapes away the water stains and water film on the photovoltaic panel with the squeegee, ensuring the cleanliness of the upper surface of the photovoltaic panel. 2. The telescopic mechanism retracts, moving the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism between the suction cup and the suction cup frame. The robotic arm then controls the suction cup to adhere tightly to the clean photovoltaic panel surface, gripping the panel and separating it from the mounting frame. The robotic arm then transports the photovoltaic panel into the material frame, completing the disassembly. After the robotic arm places the photovoltaic panel in the material frame, the slide of the second linear module resets, resetting the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism, ready for the next photovoltaic panel disassembly. Before disassembling the photovoltaic panel, it is cleaned from top to bottom, and water stains are removed to ensure the suction cup can stably grip the panel.

[0016] 3. During installation, the tracked vehicle is moved to the installation position. The robotic arm moves the suction cups via the suction cup frame, allowing the suction cups to adhere and fix to the upper part of the photovoltaic panel, thus completing the gripping of the photovoltaic panel. Then, the robotic arm controls the photovoltaic panel to move to the installation position on the mounting bracket, causing the suction cups to release their grip on the photovoltaic panel. Finally, the operator uses bolts to connect the photovoltaic panel to the mounting bracket, completing the installation of the photovoltaic panel. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural view of the intelligent paving and dismantling robot of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention when gripping a photovoltaic panel; Figure 3 This is a partial side view of the structure during the gripping of the photovoltaic panel according to the present invention; Figure 4This is a schematic diagram of the structure during the cleaning of photovoltaic panels according to the present invention; Figure 5 This is a side view of the structure of the photovoltaic panel during cleaning according to the present invention; Figure 6 for Figure 5 Enlarged schematic diagram of the structure at point A in the middle; Figure 7 This is a schematic diagram of the cleaning mechanism, blower mechanism, and squeegee mechanism of the present invention; Figure 8 This is a cross-sectional view of the mounting plate and cleaning mechanism structure of the present invention; Figure 9 This is a schematic diagram of the shaking mechanism and the wiping mechanism of the present invention; Figure 10 This is a bottom view of the cleaning mechanism, blower mechanism, and squeegee mechanism of the present invention; Figure 11 This is a schematic diagram of the cleaning mechanism, blower mechanism, shaking component, squeezing assembly and squeegee mechanism of the present invention. Figure 12 This is an exploded view of the structure of the shaking component and the squeezing component of the present invention.

[0018] In the diagram: 1. Tracked vehicle; 11. Material frame; 12. Robotic arm; 13. Connecting frame; 14. First linear module; 15. Suction cup frame; 16. Support tube; 17. Suction cup; 2. Bearing frame; 21. Horizontal plate; 22. Side strip; 23. Guide rod; 24. Electric push rod; 25. Second linear module; 3. Movable frame; 31. Mounting plate; 32. Sliding seat; 33. U-shaped baffle; 34. U-shaped flexible strip; 4. Circular box cover; 41. Rotating bottom 42. Sealing ring; 43. Round shaft; 44. Water nozzle; 45. Soft brush; 5. Concave frame; 51. Swing seat; 52. Air knife; 53. Transmission gear; 6. Vibrating seat; 61. Convex groove; 62. Smooth rod; 63. Return spring; 64. Convex block; 65. Vibrating plate; 66. Drive frame; 67. Drive gear plate; 7. Transmission plate; 71. Positioning wheel; 72. Extrusion block; 8. Extension frame; 81. Bending plate; 82. Squeegee. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 12This invention provides a technical solution: a smart photovoltaic module installation and dismantling robot, including a tracked vehicle 1, with material frames 11 symmetrically fixedly installed on the upper end of the tracked vehicle 1, and a robotic arm 12 fixedly installed between the two material frames 11 on the upper end of the tracked vehicle 1. The robot arm 12 is characterized in that: a connecting frame 13 is fixedly installed at the end of the robotic arm 12 away from the tracked vehicle 1, a first linear module 14 is fixedly installed on the side of the connecting frame 13, a suction cup frame 15 is fixedly installed on the slide of the first linear module 14, a plurality of support tubes 16 are fixedly installed on the suction cup frame 15, a suction cup 17 is fixedly installed at the end of the support tube 16 away from the suction cup frame 15, the suction cup 17 is connected to the support tube 16, and the end of the support tube 16 away from the suction cup 17 is connected to the output end of a set of air pumps through an air guide hose. The suction cup frame 15 is symmetrically equipped with telescopic mechanisms at both ends, and a second linear module 25 is fixedly installed between the two telescopic mechanisms. Movable frames 3 are symmetrically fixedly installed on both sides of the slide of the second linear module 25. An installation plate 31 is fixedly installed on the side of the movable frame 3 away from the second linear module 25. A cleaning mechanism for cleaning the photovoltaic panel is installed on the side of the installation plate 31 away from the suction cup frame 15.

[0021] A vision sensor is fixedly installed on the suction cup holder 15, which can effectively identify the working position and enable the robotic arm 12 to work accurately.

[0022] The tracked vehicle 1 is equipped with a mobile power supply, a water tank, a water pump, and two sets of air pumps. The mobile power supply is used to power the robot, while the water pump and air pump are used to supply water and air to the equipment to ensure its normal operation.

[0023] Please see Figure 2 , Figure 4 , Figure 5 and Figure 7 The telescopic mechanism includes a support frame 2 fixedly installed at one end of the suction cup frame 15. A horizontal plate 21 is movably arranged on the side of the support frame 2 away from the first linear module 14. A guide rod 23 is symmetrically fixedly connected to the side of the horizontal plate 21 close to the support frame 2. The guide rod 23 movably passes through the support frame 2. An electric push rod 24 is symmetrically fixedly installed on the support frame 2. The inner rod of the electric push rod 24 movably passes through the support frame 2 and is fixedly connected to the horizontal plate 21. Side strips 22 are symmetrically fixedly installed between the two horizontal plates 21. The two side strips 22 are respectively fixedly installed at both ends of the two horizontal plates 21. The two horizontal plates 21 and the two side strips 22 form a frame. The second linear module 25 is fixedly installed below the two horizontal plates 21 and spans across the bottom of the two horizontal plates 21.

[0024] Closed-loop feedback synchronous control is used to achieve synchronous extension and retraction of the inner rods of multiple electric push rods 24. The electric push rods 24 are usually servo motors or stepper motors with encoders. Their real-time positions are fed back to the central controller through the encoder. The controller compares the position of each push rod with that of the main push rod, thereby performing calculations and corrections to enable the inner rods of multiple electric push rods 24 to extend and retract synchronously.

[0025] The extension and retraction of the inner rods of multiple electric push rods 24 drives the movement of two horizontal plates 21 and two side plates 22, moving them closer to or away from the first linear module 14. The two horizontal plates 21 drive the movement of the second linear module 25 closer to or away from the first linear module 14. The second linear module 25 then drives the movement of two movable frames 3, with the two side plates 22 cooperating in this movement. Each of the two horizontal plates 21 is slidably fitted with a sliding seat 32, and the two sliding seats 32 are respectively fixedly connected to the adjacent mounting plate 31.

[0026] By sliding the sliding seat 32 with the horizontal plate 21, the second linear module 25 can stably drive the mounting plate 31 to move. Specifically, the second linear module 25 drives the two movable frames 3 to move through the slide table, and the two movable frames 3 drive the two mounting plates 31 to move. When the mounting plate 31 moves, it drives the two sliding seats 32 to slide along the two horizontal plates 21, thereby enabling the mounting plate 31 to move stably.

[0027] Please see Figures 3 to 8 , Figure 10 and Figure 11 The cleaning mechanism includes a circular cover 4 fixedly installed on the side of the mounting plate 31 away from the suction cup holder 15. The side of the circular cover 4 away from the mounting plate 31 is open. A rotating base 41 is rotatably mounted on the side of the circular cover 4 away from the mounting plate 31. A sealing ring 42 is fixedly connected to the side of the rotating base 41. The sealing ring 42 is rotatably connected to the inner side of the circular cover 4. A sealing gasket is provided protruding from the side of the sealing ring 42. The sealing gasket is adapted to the inner side of the circular cover 4, and the sealing ring 42 and the circular cover 4 are rotatably sealed together. The side of the rotating base 41 that contacts the circular cover 4 is fixed. A circular shaft 43 is connected, which passes through the circular cover 4 and is rotatably connected to the circular cover 4 via bearings. The circular shaft 43 is coaxial with the circular cover 4 and the rotating base 41. The circular shaft 43 is driven by the motor shaft of a servo motor fixedly installed on the side of the mounting plate 31. Multiple water nozzles 44 are fixedly installed in a ring array on the side of the rotating base 41 away from the circular cover 4. The water nozzles 44 are connected to the inner cavity of the circular cover 4. Multiple soft brushes 45 are fixedly installed in a ring array on the side of the rotating base 41 away from the circular cover 4. The soft brushes 45 are staggered from the water nozzles 44.

[0028] A water inlet pipe is fixedly inserted through the side of the circular cover 4. The water inlet pipe passes through the mounting plate 31. The end of the water inlet pipe away from the circular cover 4 is connected to the output end of the water pump through a soft water pipe. The water pump is connected to the water storage tank through a water pumping pipe. The soft brush 45 is usually made of soft nylon or PVA sponge. The water pressure and speed of the water spray from the water nozzle 44 can be adjusted as needed to avoid damaging the surface of the photovoltaic panel.

[0029] When the photovoltaic panels need to be cleaned, the water pump draws out the cleaning water from the storage tank and then sends the cleaning water into the inner cavity of the circular cover 4 through the soft water pipe and the inlet pipe. Finally, the water is sprayed out along the water nozzles 44 to wash away the dust and other impurities on the surface of the photovoltaic panels. At this time, the motor shaft of the servo motor drives the circular shaft 43 to rotate, and the circular shaft 43 drives the rotating base 41 to rotate synchronously. The rotating base 41 drives the sealing ring 42 to rotate along the inner side wall of the circular cover 4. The rotating base 41 drives the multiple water nozzles 44 and multiple soft brushes 45 on it to rotate synchronously, so that the water nozzles 44 and multiple soft brushes 45 can effectively clean the dust and other impurities on the surface of the photovoltaic panels.

[0030] Please see Figure 3 , Figure 6 , Figure 10 and Figure 11 A water-blocking mechanism is installed on the side of the mounting plate 31 on the outside of the cleaning mechanism to prevent the soft brush 45 from splashing water everywhere. The water-blocking mechanism includes a U-shaped baffle 33 fixedly installed on the side of the mounting plate 31 away from the suction cup frame 15. The U-shaped baffle 33 is distributed on the outside of the cleaning mechanism. A U-shaped soft strip 34 is fixedly connected to the side of the U-shaped baffle 33 away from the mounting plate 31.

[0031] The photovoltaic panels are installed at an angle. When cleaning the photovoltaic panels, the cleaning starts from the higher end of the photovoltaic panel and proceeds downwards. At this time, the soft brush 45 and U-shaped soft strip 34 in the cleaning mechanism are controlled by the telescopic mechanism to contact the upper surface of the photovoltaic panel. Then, the sliding mounting plate 31 of the second linear module 25 moves from top to bottom along the upper surface of the photovoltaic panel. At the same time, the photovoltaic panel is cleaned by the cleaning mechanism. At this time, the U-shaped baffle 33 restricts the cleaning mechanism to prevent water stains from splashing everywhere. After cleaning, the water stains on the photovoltaic panel are initially scraped off by the U-shaped soft strip 34.

[0032] Please see Figure 3 , Figure 6 , Figure 8 , Figure 10 and Figure 11A blower mechanism is fixedly installed on the mounting plate 31. The blower mechanism includes a concave frame 5 fixedly installed on the mounting plate 31. A swing seat 51 is rotatably installed on the inner side of the concave frame 5 via a rotating shaft. An air knife 52 is fixedly installed on one side of the swing seat 51. The air knife 52 is inclined and the air outlet of the air knife 52 is inclined towards the upper surface of the photovoltaic panel. A shaking component is installed on the side of the concave frame 5.

[0033] Please see Figures 7 to 9 , Figure 11 and Figure 12 The shaking assembly includes a shaking seat 6 fixedly connected to the side of the concave frame 5. A reinforcing plate is fixedly connected to the upper end of the shaking seat 6, and the reinforcing plate is fixedly connected to the concave frame 5. The side of the shaking seat 6 is symmetrically provided with convex grooves 61. A light rod 62 is fixedly connected to each of the two convex grooves 61. A return spring 63 and a convex block 64 are sequentially movably sleeved on each of the two light rods 62. The convex block 64 is located at the end of the light rod 62 near the suction cup frame 15. The convex block 64 is slidably sleeved on the outside of the light rod 62. The two convex blocks 64 are slidably connected to the adjacent convex grooves 61 respectively. The two ends of the return spring 63 are respectively connected to the convex grooves 61. The groove 61 and the convex block 64 abut against each other, and the return spring 63 applies elastic force to the convex block 64. A shaking plate 65 is slidably installed on the side of the shaking seat 6. A drive frame 66 is fixedly connected to one side of the shaking plate 65. One end of the drive frame 66 extends to the side of the swing seat 51. A drive tooth plate 67 is fixedly connected to the side of the drive frame 66 near the swing seat 51. A transmission gear 53 is meshed on the side of the drive tooth plate 67. The transmission gear 53 is fixedly sleeved on the outside of the swing seat 51, and the transmission gear 53 is coaxial with the rotating shafts at both ends of the swing seat 51. A pressing component is fixedly connected to the side of the shaking seat 6 away from the drive frame 66.

[0034] Please see Figure 6 , Figure 7 , Figures 10 to 12 The extrusion assembly includes a transmission plate 7 fixedly connected to the side of the vibrating seat 6. One end of the transmission plate 7 extends to the bottom of the side strip plate 22. The end of the transmission plate 7 located below the side strip plate 22 is rotatably mounted with a positioning wheel 71 via a wheel frame. Several extrusion blocks 72 are fixedly connected at equal intervals on the side of the side strip plate 22 near the transmission plate 7. The two sides of the extrusion blocks 72 are symmetrically cut off to form extrusion slopes. The two extrusion slopes are distributed in an inverted V-shape. The extrusion blocks 72 are located on the moving path of the positioning wheel 71. Initially, the positioning wheel 71 rolls in contact with the side of the side strip plate 22.

[0035] When the mounting plate 31 moves from top to bottom along the upper surface of the photovoltaic panel, the mounting plate 31 drives the blower mechanism, the shaking component and the squeezing component to move synchronously. At this time, the air knife 52 in the blower mechanism blows air onto the upper surface of the photovoltaic panel. The air inlet of the air knife 52 is connected to the output end of another set of air pumps through the air inlet hose. The air pump introduces gas into the air knife 52, so that the air outlet of the air knife 52 can blow out a high-speed, uniform, sheet-like airflow, which can effectively dry the water stains on the upper surface of the photovoltaic panel. When the extrusion assembly moves, the positioning wheel 71 rolls along the side of the side plate 22. At this time, the positioning wheel 71 first contacts the extrusion slope of the extrusion block. Then, the positioning wheel 71 rolls down along the extrusion slope. At the same time, the extrusion block pushes the positioning wheel 71 away from the side plate 22. The positioning wheel 71 drives the transmission plate 7 to move away from the side plate 22. The transmission plate 7 drives the shaking plate 65 to move. The shaking plate 65 drives the convex block 64 to slide along the convex groove 61. At the same time, the convex block 64 squeezes the return spring 63. When the positioning wheel 71 separates from the extrusion block 72, the convex block 64 moves upward and resets under the action of the return spring 63. The convex block 64 drives the shaking plate 65 to move upward and reset. The shaking plate 65 drives the transmission plate 7 to reset. The transmission plate 7 drives the positioning wheel 71 to roll until it contacts the side of the side strip plate 22. As the extrusion assembly continues to move, the positioning wheel 71 contacts and then separates from several extrusion blocks on the side of the side strip plate 22. This process repeats. The extrusion assembly drives the shaking mechanism to shake back and forth. At this time, the shaking plate 65 in the shaking mechanism drives the drive tooth plate 67 to move back and forth through the drive frame 66. When the drive tooth plate 67 moves, it drives the transmission gear 53 on its side to rotate back and forth. The transmission gear 53 drives the swing seat 51 to swing back and forth along the concave frame 5. The swing seat 51 drives the air knife 52 to swing back and forth, so that the airflow blown out by the air knife 52 can swing back and forth, thereby better cleaning and drying the water stains on the surface of the photovoltaic panel.

[0036] Please see Figure 3 , Figure 5 , Figure 6 , Figures 9 to 11 A squeegee mechanism is fixedly connected to one end of the concave frame 5 away from the mounting plate 31. The squeegee mechanism includes an extension frame 8 fixedly connected to the end of the concave frame 5. A curved plate 81 is fixedly installed on the side of the extension frame 8 away from the concave frame 5. A squeegee 82 is fixedly connected to the side of the curved plate 81 away from the extension frame 8. The squeegee 82 is made of soft material, such as silicone squeegee strips, which does not damage the glass, can closely adhere to the upper surface of the photovoltaic panel, has a good squeegee effect, and is durable and not easily contaminated.

[0037] When cleaning the upper surface of the photovoltaic panel, the squeegee 82 contacts the upper surface of the photovoltaic panel. When the blower mechanism moves, it drives the extension frame 8 to move synchronously. The extension frame 8 drives the squeegee 82 to move through the bending plate 81, so that the squeegee 82 can further scrape off the water stains on the upper surface of the photovoltaic panel. The cleaning mechanism first cleans the dust and other impurities on the upper surface of the photovoltaic panel. The U-shaped soft strip 34 first scrapes off the water stains on the photovoltaic panel. Then, the blower mechanism, the shaking component and the squeezing component work together to dry the water stains on the photovoltaic panel. Finally, the squeegee mechanism scrapes off the water stains and water film on the photovoltaic panel to ensure the cleanliness of the upper surface of the photovoltaic panel. This allows the suction cup 17 to reliably grip the dry and clean photovoltaic panel surface, ensuring that the photovoltaic panel can be moved stably.

[0038] Working principle: During installation, the telescopic mechanism retracts. At this time, the second linear module 25, cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism are all close to the suction cup frame 15. The cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism are all located between the suction cup 17 and the suction cup frame 15. When the photovoltaic panel is gripped, the suction cup 17 contacts the surface of the photovoltaic panel, while the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism do not contact the photovoltaic panel.

[0039] The tracked vehicle 1 is moved to the paving position. The robotic arm 12 drives the first linear module 14 to move through the connecting frame 13. The slide of the first linear module 14 drives the suction cup 17 to move through the suction cup frame 15, so that the suction cup 17 is attached and fixed to the upper end of the photovoltaic panel, completing the gripping of the photovoltaic panel. Then, the robotic arm 12 controls the photovoltaic panel to move to the paving position on the mounting bracket, so that the suction cup 17 releases its grip on the photovoltaic panel. Then, the operator uses bolts to connect the photovoltaic panel to the mounting bracket, completing the installation of the photovoltaic panel.

[0040] When it is necessary to disassemble the photovoltaic panel, the tracked vehicle 1 is first moved to the position to be disassembled. The robotic arm 12 drives the first linear module 14 to move through the connecting frame 13. The slide of the first linear module 14 drives the suction cup frame 15 to move. The suction cup frame 15 drives the telescopic mechanism to move. The telescopic mechanism drives the second linear module 25, the cleaning mechanism, the blower mechanism, the shaking component, the squeezing component, and the squeegee mechanism to move, so that they are moved above the photovoltaic panel. At this time, the connecting frame 13, the first linear module 14, the telescopic mechanism, the second linear module 25, the cleaning mechanism, the blower mechanism, the shaking component, the squeezing component, and the squeegee mechanism are all tilted and parallel to the photovoltaic panel. At this time, the slide of the second linear module 25 is close to the tilted upper end of the photovoltaic panel. Then, the horizontal plate 21 extends through the telescopic mechanism, causing the second linear module 25 to move. The second linear module 25 moves the cleaning mechanism, the blower mechanism, the shaking component, the squeezing component, and the squeegee mechanism through the mounting plate 31, so that the cleaning mechanism is at the top of the photovoltaic panel. At the same time, the soft brush 45, the U-shaped soft strip 34 in the cleaning mechanism, and the squeegee 82 in the squeegee mechanism are all in contact with the upper surface of the photovoltaic panel. The sliding table of the second linear module 25 drives the movable frame 3 to move diagonally downward. The movable frame 3 drives the mounting plate 31 and the sliding seat 32 to move synchronously. At this time, the sliding seat 32 slides along the side strip, so that the mounting plate 31 can move stably. The mounting plate 31 drives the cleaning mechanism, the blower mechanism, the shaking component, the squeezing component and the water scraping mechanism to move synchronously. At the same time, the servo motor, the water pump and the air pump are started, so that the cleaning mechanism cleans the upper surface of the photovoltaic panel. The U-shaped baffle 33 initially scrapes away the water during cleaning. Then, through the combined action of the blower mechanism, the shaking component, and the squeezing component, the air knife 52 moves and swings up and down. Its blowing trajectory is a continuous overlapping impact zone on the photovoltaic panel surface, ensuring that each point is subjected to airflow from different angles, resulting in uniform and thorough drying. This allows the blower mechanism to effectively dry the water stains on the photovoltaic panel. Finally, the squeegee mechanism moves along the upper surface of the photovoltaic panel and uses the squeegee 82 to scrape away the water stains and water film on the photovoltaic panel, ensuring the cleanliness of the upper surface of the photovoltaic panel and minimizing the risk of slippage of the suction cup 17 later. The telescopic mechanism is then retracted, causing the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism to move between the suction cup 17 and the suction cup frame 15. The robotic arm 12 then controls the suction cup 17 to adhere tightly to the clean photovoltaic panel surface, allowing the suction cup 17 to grip the photovoltaic panel and separate it from the mounting frame. The robotic arm 12 then transports the photovoltaic panel into the material frame 11, thus completing the removal of the photovoltaic panel. After the robotic arm 12 places the photovoltaic panel into the material frame 11, the slide of the second linear module 25 resets, thereby resetting the cleaning mechanism, blower mechanism, shaking component, squeezing component, and squeegee mechanism, ready for the next photovoltaic panel removal.

[0041] Before disassembling the photovoltaic panel, clean it from top to bottom, and then remove any water stains to ensure that the suction cup 17 can stably grip the photovoltaic panel.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic module intelligent installation and dismantling robot, comprising a tracked vehicle (1), wherein material frames (11) are symmetrically fixedly installed on the upper end of the tracked vehicle (1), and a robotic arm (12) is fixedly installed on the upper end of the tracked vehicle (1) between the two material frames (11), characterized in that: A connecting frame (13) is fixedly installed at one end of the robotic arm (1) away from the tracked vehicle (1). A first linear module (14) is fixedly installed on the side of the connecting frame (13). A suction cup frame (15) is fixedly installed on the slide of the first linear module (14). Multiple support tubes (16) are fixedly installed on the suction cup frame (15). A suction cup (17) is fixedly installed at one end of the support tube (16) away from the suction cup frame (15). The suction cup (17) is connected to the support tube (16). Telescopic mechanisms are symmetrically installed at both ends of the suction cup frame (15), and a second linear module (25) is fixedly installed between the two telescopic mechanisms. Movable frames (3) are symmetrically fixedly installed on both sides of the slide of the second linear module (25). An installation plate (31) is fixedly installed on the side of the movable frame (3) away from the second linear module (25). A cleaning mechanism for cleaning the photovoltaic panel is installed on the side of the installation plate (31) away from the suction cup frame (15).

2. The intelligent photovoltaic module installation and dismantling robot according to claim 1, characterized in that: The telescopic mechanism includes a support frame (2) fixedly installed at one end of the suction cup frame (15). A horizontal plate (21) is movably arranged on the side of the support frame (2) away from the first linear module (14). A guide rod (23) is symmetrically fixedly connected on the side of the horizontal plate (21) close to the support frame (2). The guide rod (23) movably passes through the support frame (2). An electric push rod (24) is symmetrically fixedly installed on the support frame (2). The inner rod of the electric push rod (24) movably passes through the support frame (2) and is fixedly connected to the horizontal plate (21). A side strip plate (22) is symmetrically fixedly installed between the two horizontal plates (21). The second linear module (25) is fixedly installed below the two horizontal plates (21).

3. The intelligent photovoltaic module installation and dismantling robot according to claim 2, characterized in that: Each of the two horizontal plates (21) is slidably fitted with a sliding seat (32), and the two sliding seats (32) are respectively fixedly connected to the adjacent mounting plate (31).

4. The intelligent photovoltaic module installation and dismantling robot according to claim 1, characterized in that: The cleaning mechanism includes a circular cover (4) fixedly installed on the side of the mounting plate (31) away from the suction cup frame (15). A rotating base (41) is rotatably installed on the side of the circular cover (4) away from the mounting plate (31). A sealing ring (42) is fixedly connected to the side of the rotating base (41). The sealing ring (42) is rotatably connected to the inner side of the circular cover (4). A round shaft (43) is fixedly connected to the side of the rotating base (41) that contacts the circular cover (4). The round shaft (43) passes through the circular cover (4). The round shaft (43) is driven by the motor shaft of a servo motor fixedly installed on the side of the mounting plate (31). Multiple water nozzles (44) are fixedly installed in a ring array on the side of the rotating base (41) away from the circular cover (4). Multiple soft brushes (45) are fixedly installed in a ring array on the side of the rotating base (41) away from the circular cover (4).

5. The intelligent photovoltaic module installation and dismantling robot according to claim 4, characterized in that: A water-blocking mechanism is installed on the side of the mounting plate (31) on the outside of the cleaning mechanism. The water-blocking mechanism includes a U-shaped baffle (33) fixedly installed on the side of the mounting plate (31) away from the suction cup frame (15). The U-shaped baffle (33) is distributed on the outside of the cleaning mechanism. A U-shaped soft strip (34) is fixedly connected to the side of the U-shaped baffle (33) away from the mounting plate (31).

6. The intelligent photovoltaic module installation and dismantling robot according to claim 2, characterized in that: A blower mechanism is fixedly installed on the mounting plate (31). The blower mechanism includes a concave frame (5) fixedly installed on the mounting plate (31). A swing seat (51) is rotatably installed on the inner side of the concave frame (5) via a rotating shaft. An air knife (52) is fixedly installed on one side of the swing seat (51). A shaking component is installed on the side of the concave frame (5).

7. The intelligent photovoltaic module installation and dismantling robot according to claim 6, characterized in that: The shaking assembly includes a shaking seat (6) fixedly connected to the side of the concave frame (5). The side of the shaking seat (6) is symmetrically provided with convex grooves (61). A light rod (62) is fixedly connected in each of the two convex grooves (61). A return spring (63) and a convex block (64) are sequentially movably sleeved on each of the two light rods (62). The two convex blocks (64) are slidably connected to the adjacent convex grooves (61). A shaking plate (65) is slidably installed on the side of the shaking seat (6). A drive frame (66) is fixedly connected to one side of the shaking plate (65). One end of the drive frame (66) extends to the side of the swing seat (51). A drive gear plate (67) is fixedly connected to the side of the drive frame (66) near the swing seat (51). A transmission gear (53) meshes with the side of the drive gear plate (67). The transmission gear (53) is fixedly sleeved on the outside of the swing seat (51). A pressing component is fixedly connected to the side of the shaking seat (6) away from the drive frame (66).

8. The intelligent photovoltaic module installation and dismantling robot according to claim 7, characterized in that: The extrusion assembly includes a transmission plate (7) fixedly connected to the side of the vibrating seat (6). One end of the transmission plate (7) extends to the bottom of the side strip plate (22). The end of the transmission plate (7) below the side strip plate (22) is rotatably mounted with a positioning wheel (71) via a wheel frame. Several extrusion blocks (72) are fixedly connected at equal intervals on the side of the side strip plate (22) near the transmission plate (7).

9. A photovoltaic module intelligent installation and dismantling robot according to claim 6, characterized in that: The concave frame (5) is fixedly connected to a wiping mechanism at one end away from the mounting plate (31). The wiping mechanism includes an extension frame (8) fixedly connected to the end of the concave frame (5). A curved plate (81) is fixedly installed on the side of the extension frame (8) away from the concave frame (5). A wiping blade (82) is fixedly connected to the side of the curved plate (81) away from the extension frame (8).

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