Spindle mounting device and automated installation system for photovoltaic power generation installations

Abstract

The application relates to the photovoltaic technical field and discloses a main shaft mounting device and an automatic mounting system of a photovoltaic power generation equipment, the main shaft mounting device is used for fixing a main shaft to a purlin assembly, the purlin assembly comprises a purlin and a hoop assembly, the hoop assembly is pre-installed on the purlin, the hoop assembly comprises two hoop arms, and the two hoop arms can embrace the outer wall of the main shaft in cooperation with the purlin. The device mainly comprises a rack, a driving assembly mounted on the rack, an execution part and a fastening assembly. When working, the driving assembly drives the execution part to move in the direction towards the hoop assembly, so that the execution part abuts against the corresponding hoop arm, the hoop assembly is changed from an open state to an embracing state, and then the two hoop arms are locked by the fastening assembly, so that the main shaft is stably embraced on the purlin. The embracing process of the hoop assembly is driven and controlled by the device, the labor intensity of the construction personnel can be obviously reduced, and the installation efficiency and assembly consistency of the photovoltaic main shaft are greatly improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and further to an automated installation system for a spindle mounting device and a photovoltaic power generation device. Background Technology

[0002] The on-site construction and installation of photovoltaic (PV) power generation equipment relies heavily on manual labor, resulting in low automation and high labor costs. Currently, core installation processes, such as the installation of the main shaft, primarily rely on manual labor to assist engineering equipment in outdoor environments to install the main shaft into the bearings of the column and then install the purlin assembly on the main shaft. In harsh environments such as deserts and Gobi, workers face difficult working conditions, leading to low construction efficiency. Furthermore, inconsistent construction quality is difficult to guarantee, potentially affecting the long-term reliability and power generation efficiency of the PV equipment. Moreover, large-scale manual construction results in persistently high construction costs, making it difficult to meet the demands of rapid and economical deployment in future ultra-large-scale PV bases. Summary of the Invention

[0003] To address the aforementioned technical problems, the purpose of this application is to provide an automated installation system for spindle mounting equipment and photovoltaic power generation equipment, which can improve installation efficiency and reduce reliance on manual operation.

[0004] To achieve the above objectives, this application provides a spindle mounting device for fixing a spindle to a purlin assembly. The purlin assembly includes a purlin and a clamp assembly. The clamp assembly is pre-installed on the purlin and includes two clamping arms that can rotate relative to the purlin. The two clamping arms can cooperate with the purlin to encircle the outer wall of the spindle. The spindle mounting device includes: A frame for mounting the purlin assembly on top of it; The drive assembly is mounted on the rack; At least two actuators, each connected to a corresponding drive assembly, wherein the drive assembly drives the actuators to move toward the clamp assembly, thereby causing the corresponding clamping arm to rotate from an open state to a closed state; and A fastening assembly is used to lock the two clamping arms when the clamping assembly is in the clamped state, thereby fixing the main shaft to the purlin assembly.

[0005] In some embodiments, the drive assembly includes a drive unit, and the actuator is connected to the power output end of the drive unit. The drive unit is used to drive the actuator to move along a preset trajectory to approach and abut the arm. The preset trajectory includes at least one straight segment and / or at least one curved segment.

[0006] In some embodiments, the spindle mounting device further includes a mounting position for receiving the clamp assembly and the purlin, the mounting position being disposed on the frame or disposed independently relative to the frame; The spindle mounting device is provided with at least two drive units, which are arranged opposite to each other on both sides of the mounting position. The number of actuators is at least two, and the power output end of each drive unit is connected to at least one actuator. At least two actuators can be driven to move in opposite directions toward the mounting position to apply force to the clamp assembly from both sides.

[0007] In some embodiments, each of the driving units includes a primary driving component and a secondary driving component; The primary drive assembly is fixedly mounted on the frame, and the fixed side of the secondary drive assembly is disposed at the power output end of the primary drive assembly to move with the primary drive assembly; the corresponding actuator is connected to the power output end of the secondary drive assembly. In operation, the primary drive component drives the secondary drive component to move along a first direction, and the secondary drive component drives the execution unit to move along a second direction; or, the primary drive component drives the secondary drive component to move along a second direction, and the secondary drive component drives the execution unit to move along a first direction; the first direction and the second direction form an angle.

[0008] In some embodiments, the first direction is the height direction, and the second direction is the horizontal direction toward the mounting position; The primary drive assembly includes a primary fixed seat and a primary movable seat. The primary fixed seat is fixedly mounted on the frame, and the primary movable seat can move up and down relative to the primary fixed seat under the drive action. The secondary drive assembly includes a secondary fixed seat and a secondary movable seat, and the secondary movable seat can move horizontally relative to the secondary fixed seat under the drive action. The secondary fixed seat is fixedly connected to the primary movable seat to follow the primary movable seat in moving along the first direction; the corresponding actuator is connected to the secondary movable seat to move along the second direction under the drive of the secondary drive assembly.

[0009] In some embodiments, the spindle mounting device further includes a guide base extending along a third direction; the frame is slidably disposed on the guide base to drive the drive unit and the actuator to move as a whole along the third direction; wherein, the third direction is the length direction of the spindle.

[0010] In some embodiments, the spindle mounting device further includes a pusher head, which is rotatably connected to the end of the actuator, and the pusher head rolls against the outer surface of the arm during the process of the actuator pushing the arm. And / or, the spindle mounting device further includes a mounting base, the actuator being connected to the secondary movable base via the mounting base, wherein the secondary movable base is connected to one side of the mounting base, and the actuator is disposed on the other side of the mounting base; The spindle mounting device further includes a guide structure disposed between the mounting base and the actuator to allow the actuator to generate displacement relative to the mounting base along the first direction during the pushing of the arm.

[0011] In some implementations, in the working state, the fastening assembly is at least partially located on the adjacent side of the corresponding clamp assembly; The fastening assembly includes a fastening tool, a feeding device, and a conveying pipeline; the feeding device is used to hold a plurality of fasteners, and the conveying pipeline is connected to the feeding device to convey the fasteners to a preset connection point, thereby enabling the fastening tool to apply force to the fasteners located at the preset connection point to drive the fasteners to fix the clamp assembly.

[0012] In some embodiments, the fastening assembly further includes a limiting mechanism that can be moved to the preset connection point; The limiting mechanism includes a clamping part having an open state and a closed state. In its closed state, the clamping part forms a limiting channel extending through its center. A portion of the fastener passes through the limiting channel to limit the radial offset of the fastener, thereby aligning the fastener with the mounting hole of the clamp assembly.

[0013] In some embodiments, the spindle mounting device further includes a transfer mechanism, wherein the clamp assembly forms an open receiving space or the purlin has an open receiving space in the open state, and the transfer mechanism is capable of gripping the spindle located in the material picking area and transporting the spindle into the receiving space; The transfer mechanism includes a transfer drive module and a gripping component. The gripping component is disposed at the end of the transfer drive module and is used to grip the main shaft. The transfer drive module is used to drive the gripping component to move, thereby transferring the main shaft between the material picking area and the receiving space.

[0014] In some embodiments, the gripping assembly includes at least one gripping group, the gripping group including two opposing grippers, each gripper having a gripping profile adapted to a portion of the main shaft's shape; and / or, the transfer mechanism further includes a displacement guide rail disposed along the length direction of the main shaft; the transfer drive module is slidably disposed on the displacement guide rail to drive the gripping assembly to move along the length direction of the main shaft.

[0015] Another aspect of this application also provides an automated installation system for photovoltaic power generation equipment, including: a purlin assembly and at least one spindle mounting device as described in any of the above embodiments; The clamp assembly is used to fix the main shaft to the purlin. The clamp assembly includes two clamp arms arranged opposite each other, and at least one of the two clamp arms is rotatably connected to the purlin. The clamping arm has a rotation center, and the actuator of the spindle mounting device is used to abut and push the corresponding clamping arm under the drive of the drive assembly, so that the clamping arm rotates around the rotation center, thereby bringing the two clamping arms closer to each other to clamp the spindle.

[0016] Compared with the prior art, this application has at least the following beneficial effects: By utilizing the drive components and actuators to control the clamping arm, the clamping assembly can transition from an open to a closed state under controlled conditions. This allows for the pre-installation and fixation of the main shaft and purlins, reducing on-site assembly work and increasing the level of automation in photovoltaic power generation equipment installation. On one hand, the force application process of the actuators to the clamping arm is completed by the equipment, avoiding problems such as uneven force and positional misalignment during manual pushing, which helps improve the stability and reliability of the main shaft installation. On the other hand, it also ensures the repeatability and consistency of the clamping assembly's closing process, facilitating standardized operations on construction sites or assembly scenarios. Attached Figure Description

[0017] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this application.

[0018] Figure 1 This is a schematic diagram of the structure of the clamp assembly from the open state to the closed state in one embodiment of this application; Figure 2 This is a partial detail view of one embodiment of the present application when the clamp assembly and the main shaft are relatively fixed; Figure 3 This is a schematic diagram of the overall structure of the spindle mounting device in one embodiment of this application; Figure 4 This is a schematic diagram of the main structure of the spindle mounting device in one embodiment of this application; Figure 5 This is a side view of the driving unit in one embodiment of this application; Figure 6 and Figure 7 These are schematic diagrams of the main structure of the driving unit in one embodiment of this application from different perspectives; Figure 8 This is a schematic diagram of the structure of the limiting mechanism in one embodiment of this application; Figure 9 This is a schematic diagram of the limiting mechanism in an application scenario according to one embodiment of this application; Figure 10 This is a schematic diagram of the main structure of the fastening assembly in one embodiment of this application; Figure 11 This is a diagram showing the mating structure of the frame and guide base in one embodiment of this application; Figure 12 This is a schematic diagram of the relevant structure of the transfer mechanism in one embodiment of this application; Figure 13 This is a partial structural diagram of the transfer mechanism at its gripping component in one embodiment of this application; Figure 14 This is a partial detail view of the driving unit in one embodiment of this application.

[0019] Reference numerals: Frame 10; Guide base 11; Mounting position 12; Drive unit 21; Primary drive assembly 22; Primary fixed seat 221; Primary moving seat 222; First motor 2221; First slider 2222; First linear guide 2223; Secondary drive assembly 23; Secondary fixed seat 231; First primary fixed plate 2311; Secondary fixed block 2312; Secondary fixed plate 2313; Cylinder 2314; Bearing 2315; Secondary moving seat 232; First primary moving plate 2321; First through hole 23211; Push rod 2323; Slide rod 2324; Actuator 24; Push head 241; Limiting part 2411; Shaft part 2412; Roller 2413; Mounting seat 242; Guide structure 243; Second linear guide 2431; Second slider 2432; Limiting plate 2433; second through hole 24331; spring 2434; first bolt 2435; second bolt 2436; third bolt 2437; fastening assembly 30; fastening tool 31; feeding device 32; conveying pipeline 33; limiting mechanism 34; clamping part 341; driving device 342; third slider 343; groove part 3431; third linear guide 344; connector 345; limiting part 346; inclined surface 3461; first extension 347; fourth slider 348; fourth slide rail 349; second extension 350; first robotic arm 36; transfer mechanism 40; transfer drive module 41; gripping assembly 42; gripper 421; displacement guide rail 43; clamp assembly 50; clamp arm 51; main shaft 60; purlin 70; fastener 80; nut 81; photovoltaic module 90. Detailed Implementation

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0021] To keep the drawings concise, each drawing only schematically shows the parts relevant to the application; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one."

[0022] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0025] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] The on-site construction and installation of photovoltaic (PV) power generation equipment relies heavily on manual labor, with relatively low automation and high labor costs. Current PV installation work (such as main shaft installation) typically requires manual labor in conjunction with engineering equipment in open-air environments to install the main shaft into the bearings of the support column and to install the purlin assembly on the main shaft. In environments such as deserts and Gobi, the working conditions are complex, and construction efficiency is easily affected. At the same time, consistent construction quality is difficult to guarantee, potentially impacting the long-term reliability and power generation efficiency of the PV power generation equipment.

[0027] To address the problems in the prior art, in one embodiment, reference is made to the appendix to the specification. Figures 1 to 3 This application provides a spindle mounting device for fixing a spindle 60 to a purlin assembly. The purlin assembly includes a purlin 70 and a clamp assembly 50.

[0028] Specifically, before fixing the clamp assembly 50 to the main shaft 60 using the main shaft mounting equipment, the clamp assembly 50 and the purlin 70 are pre-installed together to form a purlin assembly, so that after the clamp assembly 50 is fixed to the main shaft 60, the main shaft 60 is also fixed to the purlin 70. In some embodiments, before fixing the clamp assembly 50 to the main shaft 60 using the main shaft mounting equipment, the clamp assembly 50, the purlin 70, and the photovoltaic module 90 are pre-installed together, so that after the clamp assembly 50 is fixed to the main shaft 60, the main shaft 60 is also fixed to the purlin 70 and the photovoltaic module 90. The number of tracking bracket components pre-installed can be flexibly selected according to the actual installation convenience, installation efficiency, and site settings, and this application is not limited to this.

[0029] The clamp assembly 50 has at least one clamping arm 51, which can wrap around at least a portion of the outer periphery of the main shaft 60 during installation, thereby constraining and fixing the main shaft 60. At least one clamping arm 51 is rotatably connected to the purlin 70. In some embodiments, the clamp assembly 50 includes two clamping arms 51, one rotatably connected to the purlin 70 and the other fixedly connected to the purlin 70. During installation, the two clamping arms 51 are in an open state, and the main shaft 60 passes through the open openings of the two clamping arms 51 and is placed between them. A portion of the surface of the main shaft 60 first comes into contact with the fixedly connected clamping arm 51, then the rotatably connected clamping arm 51 is rotated about its rotatable connection axis with the purlin 70, causing the rotatably connected clamping arm 51 to come into contact with another portion of the surface of the main shaft 60. Finally, the two clamping arms 51 are fixed together, thus achieving a fixed connection between the clamp assembly 50 and the main shaft 60, thereby fixing the main shaft 60 to the purlin 70. In other embodiments, the clamp assembly 50 includes two clamping arms 51, both of which are rotatably connected to the purlin 70. During installation, the two clamping arms 51 are in an open state, and the main shaft 60 passes through the open opening of the two clamping arms 51 and is placed between the two clamping arms 51. Part of the surface of the main shaft 60 first fits against the purlin 70 or the lower part of the two clamping arms 51, and then the two clamping arms 51 are rotated around the rotatable connecting shaft to the purlin 70, so that the other part of the surface of the two clamping arms 51 fits against the main shaft 60. Finally, the two clamping arms 51 are fixed together, so that the clamp assembly 50 and the main shaft 60 are fixedly connected, thereby fixing the main shaft 60 and the purlin 70.

[0030] like Figure 4As shown, the spindle mounting device includes a frame 10 and a drive assembly mounted on the frame 10. The frame 10 is used to support and mount various functional components. The drive assembly is mounted on the frame 10. The spindle mounting device also includes at least one movable actuator 24, which can generate controlled displacement movement under the drive of the drive assembly. In other embodiments, the spindle mounting device includes at least two movable actuators 24, each connected to a corresponding drive assembly and moving towards the clamp assembly 50 under the drive of the drive assembly. Thus, at least two actuators 24 can act on two clamping arms 51 respectively, driving the corresponding clamping arms 51 to rotate during the advancement process, causing the two clamping arms 51 to gradually change from an open state to a clamping state, and cooperate with the purlin 70 to form a ring-shaped fit against the outer wall of the spindle 60. After the clamp assembly 50 is in the clamping state, the fastening assembly 30 can lock the two clamping arms 51, thereby fixing the spindle to the purlin assembly.

[0031] During installation, the drive assembly drives the actuator 24 to move toward the clamp assembly 50, so that the actuator 24 gradually approaches and abuts against the outside of the corresponding clamp arm 51. As the actuator 24 continues to move, it applies a force to the clamp arm 51, thereby driving the clamp arm 51 to produce corresponding movement and / or deformation, so that the clamp assembly 50 changes from its original open state to a clamped state for holding the main shaft 60, thereby fixing the main shaft 60 on the purlin 70.

[0032] Understandably, through the structural configuration of this embodiment, the movement direction and force of the arm 51 are controlled by an automated drive component, avoiding the problems of uneven force and operational deviation during manual pushing, which is conducive to improving the stability and consistency of the spindle 60 installation.

[0033] Additionally, it should be noted that the "at least one clamping arm 51" included in the clamping assembly 50 can be multiple independent components that are separate from each other, or it can be a ring-like component that is integrally formed or integrally set. Specifically, in this case, the clamping arm 51 is integrally arranged to form a ring or near-ring contour for accommodating the main shaft 60, and its local position forms a structural area that can be deformed under force or relatively tightened.

[0034] At this time, the integrally formed retaining arm 51 forms an open section at at least one location in its circumference, and cantilever ends are formed on both sides of the open section. When the actuator 24 acts on the cantilever ends, the retaining arm 51 can reduce the inner diameter of its annular profile through overall deformation, thereby achieving a circumferential fixation of the main shaft 60. It can be understood from the above description that this application does not specifically limit the number of retaining arms 51 or their movement. For example, the retaining arm 51 may rotate, with the retaining arm 51 rotatably connected to the purlin 70; or, the retaining arm 51 may be segmented, including a first sub-retaining arm and a second sub-retaining arm, with the first sub-retaining arm fixedly connected to the purlin 70 and rotatably connected to the second sub-retaining arm. Another example is that the retaining arm 51 may slide, with the retaining arm 51 slidably connected to the purlin 70; or, the retaining arm 51 may be segmented, including a first sub-retaining arm and a second sub-retaining arm, with the first sub-retaining arm fixedly connected to the purlin 70 and slidably connected to the second sub-retaining arm.

[0035] In one embodiment, the drive assembly includes a drive unit 21, and an actuator 24 is connected to the power output end of the drive unit 21. The drive unit 21 is used to provide driving force to the actuator 24, thereby driving the actuator 24 to move along a preset trajectory to approach and abut against the arm 51.

[0036] The preset trajectory includes at least one straight segment and / or at least one curved segment, enabling the actuator 24 to adjust its posture or position before or during contact with the clamping arm 51. Specifically, during actual installation, the actuator 24 gradually approaches the outer area of ​​the clamping arm 51 along the preset trajectory, pre-aligning the clamping arm 51 before contact to improve processing efficiency and quality. For example, an industrial camera is installed above the working area of ​​the drive assembly or at the end of the drive assembly. After taking a picture, the vision system accurately identifies the position and angle of the clamping arm 51 through image processing algorithms. Through coordinate transformation and path correction, the drive assembly corrects its motion trajectory in real time based on the precise coordinates provided by the vision system to achieve pre-alignment between the actuator 24 and the clamping arm 51. After the actuator 24 forms a stable contact with the clamping arm 51, it applies a force towards the main shaft 60, thereby driving the clamping arm 51 to produce corresponding movement or deformation, causing the clamping assembly 50 to change from an open state to a closed state.

[0037] It should be understood that the specific shape of the preset trajectory can be designed according to the actual installation requirements. It is not limited to a specific curve or straight line. As long as it can guide the actuator 24 to complete the contact and push of the arm 51, the technical purpose of this application can be achieved.

[0038] For example, when the preset trajectory includes one or more straight segments, it includes one or more continuous translation strokes. At this time, the actuator 24 translates sequentially in the same or different directions to gradually approach the clamp arm 51 and push the clamp arm 51. In this process, multiple translation strokes can be combined to form a zigzag movement path to adapt to different parts of the clamp assembly 50 or different areas within the equipment.

[0039] The curved segment corresponds to the swing trajectory or arc-shaped motion trajectory formed by the actuator 24 during the movement. For example, the actuator 24 can swing around a pivot point. During the swing, its end contacts the clamping arm 51 and applies a force to the clamping arm 51, thereby driving the clamping assembly 50 from the open state to the closed state.

[0040] The aforementioned spindle mounting equipment also includes mounting positions 12 for receiving the clamp assembly 50 and the purlin 70. These mounting positions 12 are used to position and support the clamp assembly 50 and the purlin 70 during installation, ensuring that they maintain a relatively stable posture under the driving action of the actuator 24. The mounting positions 12 can be configured in various ways; they can be directly mounted on the frame 10 or set independently relative to the frame 10.

[0041] In one embodiment, the mounting position 12 is directly disposed on the frame 10, which has a support area for supporting the clamp assembly 50 and the purlin 70, which are pre-positioned before installation. By integrating the mounting position 12 with the frame 10, the structure can be made more compact and more stable.

[0042] In another embodiment, the mounting position 12 is set independently relative to the frame 10, such as a separate support platform. In this way, the frame 10 is mainly used to support the drive components, while the mounting position 12 is used to support related components such as the clamp assembly 50, the main shaft 60, the purlin 70, and the photovoltaic module, and has a certain degree of independence.

[0043] In one embodiment, such as Figure 4 As shown, the spindle mounting device is provided with at least two drive units 21, which are arranged opposite to each other on both sides of the mounting position 12 to apply forces to the clamp assembly 50 from different directions during the installation process. For example, the spindle mounting device includes two drive units 21, and the clamp assembly 50 includes two clamping arms 51. The two drive units 21 correspond one-to-one with the two clamping arms 51, and the two drive units 21 apply opposite forces to the two clamping arms 51, causing the two clamping arms 51 to move closer to each other under the action of opposite forces.

[0044] Each drive unit 21 is connected to at least one actuator 24. The actuator 24 is connected to the power output end of the corresponding drive unit 21 and moves under the drive of the drive unit 21. Accordingly, there are at least two actuators 24, each driven by a drive unit 21 located on both sides of the mounting position 12. When each drive unit 21 is connected to one actuator 24, one actuator 24 abuts against one arm 51. When each drive unit 21 is connected to at least two actuators 24, one actuator 24 abuts against one arm 51, then one drive unit 21 can simultaneously push at least two arms 51. This reduces the number of drive units 21, lowers costs, improves the synchronization of the arm 51's movement, and increases the installation efficiency of the spindle 60.

[0045] During installation, the actuators 24 can be driven to move toward the mounting position 12 in opposite directions, so that the actuators 24 gradually approach each other from opposite sides of the clamp assembly 50. When the actuators 24 abut against the corresponding clamping arms 51, they continue to move toward the mounting position 12 and apply a cooperating force to the clamping arms 51, thereby driving the clamp assembly 50 to change from an open state to a closed state.

[0046] Understandably, in this embodiment, by arranging the drive units 21 opposite to each other and having the actuators 24 apply force from both sides, the clamp assembly 50 can be subjected to more balanced force during the closing process, which is conducive to the synchronous movement or coordinated deformation of the clamping arms 51, thereby improving the stability of the spindle 60 installation process.

[0047] In actual production and assembly processes, the specific configuration of the spindle mounting equipment is usually determined based on the on-site installation requirements. In simpler applications, it is typically only necessary to install one actuator 24 on each side of the mounting position 12 to complete the closing operation of a single clamp assembly 50.

[0048] In other embodiments, multiple sets of actuators 24 may be arranged along the length of the main shaft 60, so that the multiple sets of actuators 24 correspond to the clamping assemblies 50 at different positions on the main shaft 60. In this way, multiple actuators 24 can simultaneously apply force to multiple clamping assemblies 50, causing the multiple clamping assemblies 50 to synchronously change from an open state to a closed state.

[0049] In other embodiments, multiple sets of actuators 24 correspond to one clamping assembly 50. During the multiple stages of the clamping assembly 50 changing from an open state to a closed state, each stage applies force through a different actuator 24 to meet the needs of the clamping assembly 50 for force in different directions at different stages, so that multiple clamping assemblies 50 change from an open state to a closed state synchronously.

[0050] Furthermore, the above design, combined with the fastening component 30 described later, allows for the fastening of multiple positions of the clamping component 50 after it has been closed. This enables the main shaft 60 to be quickly fixed to the purlin 70 at multiple locations, making it more suitable for mass production. It is understood that the different configurations described above are all structural adjustments based on the same fundamental technical solution and do not affect the overall working principle; therefore, they should all be included within the scope of protection of this application.

[0051] Furthermore, in one embodiment, such as Figure 5 As shown, each drive unit 21 includes a primary drive assembly 22 and a secondary drive assembly 23 arranged in series. The primary drive assembly 22 is fixedly mounted on the frame 10, and its power output end is connected to the fixed side of the secondary drive assembly 23, so that the secondary drive assembly 23 can move as a whole when the primary drive assembly 22 moves. The actuator 24 is connected to the power output end of the secondary drive assembly 23. When the drive unit 21 is working, the movement of the actuator 24 is jointly accomplished by the primary drive assembly 22 and the secondary drive assembly 23, thereby realizing movement in different directions.

[0052] Understandably, the primary drive assembly 22 and the secondary drive assembly 23 generate driving forces in different directions during operation. Depending on the actual installation requirements, the primary drive assembly 22 can drive the secondary drive assembly 23 to move in a first direction, and the secondary drive assembly 23, in turn, drives the actuator 24 to move in a second direction. Alternatively, the primary drive assembly 22 can drive the secondary drive assembly 23 to move in the second direction, and the secondary drive assembly 23 can then drive the actuator 24 to move in the first direction, where the first and second directions form an angle, such as 30°, 45°, 60°, or 90°. In this way, the actuator 24 can move in two different directions, thereby approaching and contacting the arm 51.

[0053] Specifically, as the actuator 24 gradually approaches the clamping arm 51, one of the drive components first adjusts its position to ensure a suitable relative position between the actuator 24 and the clamping arm 51. Then, the other drive component continues to drive the actuator 24 towards the clamping arm 51 and applies force, causing the clamping arm 51 to move or deform accordingly. This prevents the actuator 24 from directly pushing the clamping arm 51 if it deviates from the predetermined position, thus avoiding affecting the accuracy of the clamping assembly 50's engagement. Of course, the position adjustment can also be completed by both drive components, and the movement of the actuator 24 towards the clamping arm 51 and the application of force can also be accomplished by both drive components.

[0054] In one embodiment, such as Figures 5 to 7As shown, the first direction is set as the height direction, and the second direction is set as the horizontal direction towards the mounting position 12. Furthermore, the primary drive assembly 22 includes a primary fixed base 221 and a primary movable base 222. The primary fixed base 221 is fixedly mounted on the frame 10, and the primary movable base 222 can perform linear vertical movement relative to the primary fixed base 221 under drive action. The secondary drive assembly 23 includes a secondary fixed base 231 and a secondary movable base 232. The secondary movable base 232 can perform linear horizontal movement relative to the secondary fixed base 231 under drive action.

[0055] Please refer to the attached document. Figure 7 The secondary fixed seat 231 is fixedly connected to the primary moving seat 222, so that the secondary drive assembly 23 can move as a whole with the primary moving seat 222 along the first direction, and the corresponding actuator 24 is connected to the secondary moving seat 232, so that the secondary drive assembly 23 can continue to drive the actuator 24 to move in a straight horizontal direction along the second direction.

[0056] It should be noted that during the process of the actuator 24 approaching the arm 51, the position of the actuator 24 in the height direction can be adjusted by the primary drive assembly 22 so that it is within a suitable height range with the arm 51. Then, the secondary drive assembly 23 drives the actuator 24 to move in the horizontal direction toward the mounting position 12, forming contact with the arm 51 and continuing to apply force, thereby pushing the arm 51 to complete the corresponding movement or deformation.

[0057] In this way, by separating the vertical lifting motion and the horizontal pushing motion, the actuator 24 can complete the necessary position adjustment before contacting the clamp arm 51, reducing interference or uneven force caused by height deviation, and making the closing process of the clamp assembly 50 more stable.

[0058] In specific implementation, the primary drive assembly 22 and the secondary drive assembly 23 can adopt cylinder, electric cylinder or hydraulic cylinder structure. For example, the primary drive assembly 22 is set as a cylinder arranged in the height direction and the secondary drive assembly 23 is set as a cylinder arranged in the horizontal direction, so as to realize independent linear motion. At the same time, the cylinder structure is relatively common, which makes it easy to select and adjust the cylinder specifications, stroke length and installation position according to the actual installation requirements, which is beneficial to the assembly and maintenance of the equipment.

[0059] Additionally, it should be noted that in this embodiment, the primary moving base 222 and the secondary moving base 232 serve as power transmission and output during actual operation. Therefore, in some implementations, the power output end of the corresponding drive component can itself serve as the primary moving base 222 or the secondary moving base 232. Another common scenario is that the primary moving base 222 or the secondary moving base 232 is not directly used as the power output end. Specifically, the power output end of the drive component can be first connected to the moving base, and then the moving base moves the subsequent structure along with it. In this case, the moving base itself primarily serves as a receiving and transitional element, as seen in the design of the mounting base 242 described later.

[0060] In the latter case, the movable seat is usually made in the form of a plate or block. This is to facilitate connection with the power output end and to increase the contact area with subsequent structures, thereby improving structural stability and compatibility.

[0061] like Figure 7 As shown, the primary moving base 222 includes a first motor 2221, a first slider 2222, and a first linear guide 2223. The first motor 2221 and the first linear guide 2223 are disposed on the primary fixed base 221. The first slider 2222 is slidably connected to the first linear guide 2223. The first motor 2221 drives the slider 2222 to slide up and down on the first linear guide 2223. Figure 6 As shown, the secondary fixing base 231 includes a primary fixing plate 2311 and a secondary fixing block 2312. The secondary fixing block 2312 is fixedly connected to the first slider 2222, and the primary fixing plate 2311 is fixedly connected to the secondary fixing block 2312, so that the primary fixing plate 2311 can move up and down with the first slider 2222.

[0062] In some embodiments, a first slider 2222 and a first linear guide 2223 are provided on both opposite sides of the primary fixing base 221. A first motor 2221 is provided on one side of the primary fixing base 221, and the first motor 2221 drives the first slider 2222 on the same side to slide, while the first slider 2222 on the other side is driven. The opposite sides of the primary fixing plate 2311 are respectively fixedly connected to two secondary fixing blocks 2312, and the two secondary fixing blocks 2312 are respectively connected to the first sliders 2222 on both sides, thereby improving the stability of the primary fixing plate 2311 in vertical movement.

[0063] Multiple first sliders 2222 can be set on the same first linear guide 2223, such as two. The two first sliders 2222 are connected to the same secondary fixing block 2312 to improve the stability of the secondary fixing block 2312 moving up and down, thereby improving the stability of the primary fixing plate 2311 moving up and down.

[0064] like Figure 7As shown, the secondary fixing base 231 also includes a second secondary fixing plate 2313, which is fixedly connected to the first primary fixing plate 2311, and the second secondary fixing plate 2313 and the first primary fixing plate 2311 are perpendicular to each other. The secondary moving seat 232 includes a primary moving plate 2321, and the spindle mounting device also includes a mounting base 242. The secondary fixed seat 231 also includes a cylinder body 2314, and the secondary moving seat 232 also includes a push rod 2323. The cylinder body 2314 and the push rod 2323 form a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder. The cylinder body 2314 is fixedly connected to the secondary fixed plate 2313. The free end of the push rod 2323 is fixedly connected to the mounting base 242. The mounting base 242 is connected to the actuator 24. The free end of the push rod 2323 is located on one side of the mounting base 242, and the actuator 24 is located on the other side of the mounting base 242. The length direction of the push rod 2323 is perpendicular to the secondary fixed plate 2313 and the mounting base 242. Thus, when the push rod 2323 reciprocates under the drive of the cylinder body 2314, the mounting base 242 reciprocates with the push rod 2323, causing the actuator 24 to adjust its position to approach or push the arm 51.

[0065] The secondary fixed seat 231 also includes a bearing 2315, and the secondary movable seat 232 also includes a slide rod 2324. The slide rod 2324 passes through the bearing 2315 and reciprocates relative to the bearing 2315. The bearing 2315 is fixed to the secondary fixed plate 2313. One end of the slide rod 2324 is fixedly connected to the primary movable plate 2321, and the other end of the slide rod 2324 is fixedly connected to the mounting seat 242. When the push rod 2323 reciprocates under the drive of the cylinder 2314, the primary movable plate 2321 and the mounting seat 242 reciprocate with the push rod 2323, driving the slide rod 2324 to reciprocate. The bearing 2315 and the slide rod 2324 improve the end rigidity of the push rod 2323, the motion accuracy, and the service life of the system.

[0066] It should be noted that when the length of the cylinder body 2314 is relatively long, it is easy for the cylinder body 2314 to come into contact with the first stage moving plate 2321 during its reciprocating motion. In this case, the first stage moving plate 2321 includes a first through hole 23211, and the cylinder body 2314 passes through the first through hole 23211 without contacting it. In this way, when the first stage moving plate 2321 reciprocates, the cylinder body 2314 does not interfere with the first stage moving plate 2321, which is beneficial to improving the stability of the secondary moving seat 232.

[0067] In some embodiments, the secondary fixed seat 231 includes at least two bearings 2315, and the secondary movable seat 232 includes at least two slide rods 2324. The at least two bearings 2315 correspond one-to-one with the at least two slide rods 2324, forming a relatively stable guiding system. Each slide rod 2324 slides in cooperation with its corresponding bearing 2315, limiting the attitude deviation of the mounting seat 242 relative to the secondary fixed seat 231, thus making the pushing stroke of the push rod 2323 more controllable. Figure 7 As shown, the secondary fixed base 231 includes four bearings 2315, and the secondary movable base 232 includes four slide rods 2324. The four bearings 2315 are respectively located at the four corners of the secondary fixed plate 2313. One end of each slide rod 2324 is located at one corner of the primary movable plate 2321, and the other end is located at one corner of the mounting base 242. The cylinder body 2314 is located in the middle of the secondary fixed plate 2313, and the free end of the push rod 2323 is located in the middle of the mounting base 242. This arrangement helps improve the overall stability of the secondary drive assembly 23. It should be noted that the number of bearings 2315 and slide rods 2324 can be two, three, or more, and they can be symmetrically or evenly arranged according to the force and spatial arrangement of the mounting base 242; the four-corner arrangement is merely an example for ease of understanding.

[0068] In one embodiment, such as Figure 4 and Figure 11 As shown, the spindle mounting equipment also includes a guide base 11 extending along a third direction. The frame 10 is slidably mounted on the guide base 11, allowing the frame 10 to be displaced relative to the guide base 11 along the third direction. The drive unit 21 and the actuator 24 connected thereto are both mounted on the frame 10. When the frame 10 slides along the guide base 11, the drive unit 21 and the actuator 24 can move together with the frame 10 along the third direction. The third direction corresponds to the length direction of the spindle 60, allowing the equipment to be adjusted in position along the axial direction of the spindle 60 during installation. The first direction, the second direction, and the third direction are perpendicular to each other.

[0069] During actual installation, by moving the frame 10 along the guide base 11 in a third-order upward direction, the actuator 24 can sequentially correspond to the clamping assemblies 50 at different axial positions on the main shaft 60. Thus, after tightening the clamping assembly 50 at one position, the position of the frame 10 on the guide base 11 can be adjusted using automated equipment to continue installing the clamping assembly 50 at the next position, facilitating continuous operation along the length of the main shaft 60. Furthermore, in some embodiments, multiple frames 10 are arranged along a third-order direction, with a corresponding drive unit 21 and actuator 24 installed on each frame 10, thereby forming multiple installation modules at various positions within the equipment. This achieves the effect of simultaneous installation at multiple positions, and the positions of the multiple frames 10 are adjustable, making production more flexible.

[0070] The guide base 11 can be a guide rail structure set at the bottom of the equipment or on the mounting base. Its specific form can be selected according to the overall layout of the equipment, as long as it can constrain the sliding direction of the frame 10 and ensure the smooth movement of the frame 10 in the third direction.

[0071] Thus, through the configuration of this embodiment, a sliding fit is formed between the frame 10 and the guide base 11, enabling the spindle mounting equipment to simultaneously have the adjustment capabilities in the first direction, the second direction, and the third direction in space, thereby improving installation flexibility.

[0072] In one embodiment, the actuator 24 is connected to the secondary movable seat 232 via the mounting base 242. The secondary movable seat 232 is disposed on one side of the mounting base 242, and the actuator 24 is disposed on the other side of the mounting base 242, so that the mounting base 242 is located between the secondary movable seat 232 and the actuator 24. The displacement generated by the secondary movable seat 232 under the driving action is transmitted to the actuator 24 via the mounting base 242, and then the actuator 24 completes the contact and pushing of the arm 51.

[0073] like Figure 6 As shown, a guide structure 243 is provided between the mounting base 242 and the actuator 24. The guide structure 243 is used to guide the movement of the actuator 24, so that the actuator 24 can be displaced relative to the mounting base 242 along a first direction during the process of pushing the arm 51. When the actuator 24 moves towards the mounting position 12 along a second direction and forms contact with the arm 51, as the pushing process continues, the actuator 24 can move synchronously along the outer periphery of the arm 51 along the first direction under the constraint of the guide structure 243, so as to adapt to the actual movement state of the arm 51 during the closing process.

[0074] Understandably, during the process of the actuator 24 pushing the arm 51, the actuator 24 first moves towards the mounting position 12 along the second direction under the drive of the secondary drive assembly 23, applying a lateral thrust to the arm 51. Under the action of the thrust, the arm 51 gradually moves or deforms, and the docking position between the actuator 24 and the arm 51 will change to some extent during the closing process. In this case, if the movement of the actuator 24 in the first direction is completely restricted, the contact position between it and the arm 51 is prone to local force concentration. By setting a guide structure 243 between the mounting base 242 and the actuator 24, the actuator 24 is given a certain degree of mobility in the first direction. When the actuator 24 pushes laterally, it can move synchronously along the first direction, thereby better conforming to the changes in the outer contour of the arm 51.

[0075] In one embodiment, a pusher head 241 is provided at the end of the actuator 24. The pusher head 241 is mounted at the end of the actuator 24 and is rotatably connected to the actuator 24. During the process of the actuator 24 pushing the arm 51, the pusher head 241 forms a rolling contact with the outer surface of the arm 51. As the actuator 24 continues to advance forward, the pusher head 241 rotates at the contact position with the arm 51, so that the force applied by the actuator 24 to the arm 51 is transmitted to the outer side of the arm 51 by rolling.

[0076] Thus, in this embodiment, by providing a rotatable pusher 241 at the end of the actuator 24, the contact state between the pusher 241 and the clamping arm 51 changes from sliding contact to rolling contact during the process of the actuator 24 pushing the clamping arm 51. During the movement or deformation of the clamping arm 51, the pusher 241 can rotate with the change in relative position of the outer surface of the clamping arm 51, thereby making the pushing process of the actuator 24 on the clamping arm 51 smoother, helping to reduce the frictional resistance generated during the pushing process, and making the closing action of the clamping arm 51 more continuous.

[0077] During the actual pressing process, the actuator 24 moves towards the mounting position 12 along the second direction and forms a rolling contact with the retaining arm 51 through the push head 241. As the position of the retaining arm 51 changes during the closing process, the actuator 24, while rolling in cooperation with the push head 241, can also be displaced along the first direction under the guidance of the guide structure 243. In this way, the rotation of the push head 241 combined with the displacement of the actuator 24 in the first direction allows the actuator 24 to more naturally conform to the outer contour of the retaining arm 51 during the pressing process, keeping the contact state between the actuator 24 and the retaining arm 51 relatively stable throughout the pressing process.

[0078] In some embodiments, refer to the appendix. Figure 14The push head 241 includes a limiting part 2411, a shaft part 2412, and a roller 2413. The two limiting parts 2411 are arranged opposite to each other. One end of the shaft part 2412 is fixed to one limiting part 2411, and the other end of the shaft part 2412 is fixed to the other limiting part 2411. The roller 2413 is sleeved on the shaft part 2412. When the push head 241 approaches the clamping arm 51, the two limiting parts 2411 abut against the opposite sides of the clamping arm 51, clamping part of the clamping arm 51 between the two limiting parts 2411 to limit the horizontal swaying of the clamping arm 51. The roller 2413 abuts against the outer side of the clamping arm 51 to push the clamping arm 51 to close. In this way, by the limiting parts 2411 and the roller 2413 abutting against the clamping arm 51 in two mutually perpendicular directions, the clamping arm 51 is accurately positioned during the closing process and is less prone to misalignment.

[0079] like Figure 6 As shown, the guide structure 243 includes a second linear rail 2431 and a second slider 2432. The second linear rail 2431 is fixed to the mounting base 242, and the second slider 2432 is slidably connected to the second linear rail 2431. The actuator 24 is fixedly connected to the second slider 2432 so that the actuator 24 moves along the first direction with the second slider 2432, so that the actuator 24 can more naturally conform to the outer contour of the arm 51 during the pressing process, and the contact state between the actuator 24 and the arm 51 remains relatively stable throughout the pressing process.

[0080] In some embodiments, such as Figure 6 and Figure 14 As shown, the guide structure 243 also includes a limiting plate 2433, a spring 2434, and a first bolt 2435. The limiting plate 2433 is disposed above the second slider 2432 and is vertically fixedly connected to the mounting base 242. The limiting plate 2433 has a second through hole 24331. One end of the screw of the first bolt 2435 is fixedly connected to the actuator 24, and the other end of the screw of the first bolt 2435 passes through the second through hole 24331 and is locked by the nut of the first bolt 2435. The spring 2434 is sleeved on the outside of the screw. There is a gap between the screw and the second through hole 24331. Therefore, the screw can move up and down within the elastic range of the spring 2434. The nut limits the screw to prevent it from disengaging from the limiting plate 2433. On the one hand, the spring 2434 is pre-compressed by the nut, storing a certain amount of elastic force. When the actuator 24 contacts the retaining arm 51 downwards, if there is a height tolerance in the retaining arm 51, the spring 2434 can be further compressed or released, thereby ensuring that the pressure applied to the spring 2434 remains within a relatively constant range, preventing damage to the retaining arm 51 due to overpressure. On the other hand, at the moment when the actuator 24 rapidly descends and contacts the retaining arm 51, the spring 2434 can absorb the impact energy, avoiding noise, vibration, and damage to the retaining arm 51 caused by rigid collisions, making the movement smoother and gentler.

[0081] The guide structure 243 also includes a second bolt 2436 and a third bolt 2437. The nuts of the second bolt 2436 and the third bolt 2437 are located on both sides of the first bolt 2435. The nuts of the second bolt 2436 and the third bolt 2437 are fixedly connected to the limiting plate 2433. The limiting plate 2433 has through holes at corresponding positions of the nuts of the second bolt 2436 and the third bolt 2437. The screw of the second bolt 2436 passes through the corresponding nut and the through hole in sequence, and abuts against the actuator 24 when it approaches the limiting plate 2433. The screw of the third bolt 2437 passes through the corresponding nut and the through hole in sequence, and abuts against the actuator 24 when it approaches the limiting plate 2433. The second bolt 2436 and the third bolt 2437 adjust and limit the highest position reached by the actuator 24. By screwing the second bolt 2436 and the third bolt 2437 in or out, the initial position or stroke limit of the actuator 24 in the first direction can be adjusted to prevent the second slider 2432 from dislodging from the second linear guide 2431 and to prevent the actuator 24 from colliding with the limit plate 2433.

[0082] In one embodiment, such as Figure 3 and Figure 10 As shown, the spindle mounting equipment also includes a fastening assembly 30. In the working state, the fastening assembly 30 is at least partially located on the adjacent side of the corresponding clamp assembly 50, so that the fastening assembly 30 can be used to fix the clamp assembly 50 after it is closed. The fastening assembly 30 includes a fastening tool 31, a feeding device 32, and a conveying pipeline 33. The feeding device 32 is used to accommodate a plurality of fasteners 80, and the conveying pipeline 33 is connected to the feeding device 32 to sequentially convey the fasteners 80 to a preset connection point.

[0083] In actual operation, the fastener 80 in the feeding device 32 is guided by the conveying pipeline 33 to the preset connection point and docks with the corresponding structure on the clamp assembly 50. The fastening tool 31 is positioned near the preset connection point with its working end facing the preset connection point, so that the fastening tool 31 can apply force to the fastener 80 located at that position, thereby driving the fastener 80 to complete screwing, pressing, or other fixing actions to fix the clamp assembly 50 in the corresponding position.

[0084] Through the design of this embodiment, the clamp assembly 50 can be directly fastened at the same workstation after completing the closing action, thus ensuring good continuity in the installation process. In some embodiments, the feeding device 32 can be a vibratory feeder, a hopper, or other structural form capable of directional arrangement and output of the fasteners 80; in other embodiments, the fastening tool 31 can be selected as an electric, pneumatic, or other type of tool depending on the type of fastener 80, and no specific limitation is made in this embodiment.

[0085] It should be noted that the preset connection point refers to the position where the fastener 80 will engage with the clamp assembly 50 and be fastened after the fastener 80 has been conveyed. This preset connection point is usually defined by a corresponding structure on the clamp assembly 50, such as a through hole, threaded hole, or other hole structure pre-set on the clamp assembly 50 for the fastener 80 to pass through. After the fastener 80 is output from the end of the conveying pipeline 33, it can naturally fall into or align with the corresponding hole structure; the fastening tool 31 locks the fastener 80 at this position, so that the fastener 80 and the clamp assembly 50 are connected.

[0086] Specifically, in practical applications, the fastening tool 31 in the fastening assembly 30 can be an electric screwdriver, and the conveying pipeline 33 can be an air hose. One end of the air hose is connected to the feeding device 32, and the other end extends to the vicinity of the preset connection point, used to sequentially convey the fasteners 80 to the fastening position.

[0087] The fastening assembly 30 also includes a first robotic arm 36, with a fastening tool 31 disposed at the end of the first robotic arm 36 to adjust the relative position of the fastening tool 31 and the fastener 80 via the first robotic arm 36.

[0088] In some cases, such as Figure 2 As shown, mating parts that cooperate with fastener 80, such as nut 81, can be pre-installed on clamp assembly 50 to keep it in a fixed position during installation. In this way, during the tightening operation, only the fasteners 80, such as screws, need to be fed to the preset connection point and screwed in by an electric screwdriver to fix clamp assembly 50, without the need to place or adjust nut 81 separately during installation.

[0089] Furthermore, in one embodiment, such as Figure 8 and Figure 9 As shown, the fastening assembly 30 also includes a limiting mechanism 34, which can be moved to the location of a preset connection point in the working state to limit the fastener 80.

[0090] The limiting mechanism 34 includes a closable clamping portion 341, which forms a limiting channel penetrating its center when closed. The inner circumferential contour of the limiting channel is adapted to at least a portion of the outer circumferential contour of the fastener 80, allowing the clamping portion 341 to surround a portion of the outer circumference of the fastener 80 after closure. In this embodiment, the clamping portion 341 can be configured as an integral or split structure depending on the specifications and shape of the fastener 80. As shown in the accompanying drawings, the clamping portion 341 includes two opposing claws.

[0091] Before or during the fastening operation, the limiting mechanism 34 is moved to the vicinity of the preset connection point and the fastener 80 is inserted into the limiting channel, so that the clamping part 341 can constrain the position of the fastener 80 in the radial direction, so that the fastener 80 can maintain a relatively stable posture when the fastening tool 31 applies force, which is beneficial for it to keep aligned with the mounting hole on the clamp assembly 50.

[0092] It should be noted that the limiting mechanism 34 mainly plays an auxiliary positioning role during the installation process and does not affect the normal movement of the fastener 80 in the axial direction.

[0093] The limiting mechanism 34 also includes a driving device 342, a third slider 343, a third linear guide 344, a connector 345, a limiting member 346, a first extension 347, a fourth slider 348, a fourth slide rail 349, and a second extension 350. The driving device 342 and the connector 345 are fixed to the first extension 347. The connector 345 extends towards the clamp assembly 50. The limiting member 346 is fixedly connected to the connector 345 and is located in the middle position below the driving device 342. The third linear guide 344 is fixedly connected to the drive device 342. The third linear guide 344 is located on the side of the drive device 342 near the clamp assembly 50. The length direction of the third linear guide 344 is perpendicular to the length direction of the fastener 80. The third slider 343 is slidably connected to the third linear guide 344. The clamping part 341 is fixedly connected to the third slider 343. When the clamping part 341 slides with the third slider 343 to the vicinity of the preset connection point, the third slider 343 abuts against the limiting member 346. The limiting member 346 provides physical limitation to prevent the clamping part 341 from being over-closed and colliding. The limiting member 346 defines the end position of the clamping part 341 when it is fully closed, ensuring that the clamping parts 341 on both sides will not exceed the preset minimum distance, preventing the drive device 342 from continuing to drive after the clamping part 341 is closed in place, which would cause the internal lead screw, gear and other transmission components to be subjected to abnormal stress and damaged.

[0094] When the clamping arm 51 closes, its free end abuts against the limiting member 346. The limiting member 346 assists in positioning the clamping arm 51 and includes an inclined surface 3461 to guide the clamping arm 51 to the abutment position. The third slider 343 includes a groove 3431 located on the side of the third slider 343 near the limiting member 346. The shape of the groove 3431 matches the shape of the limiting member 346. When the clamping part 341 slides with the third slider 343 to the vicinity of the preset connection point, the third slider 343 and the limiting member 346 abut against each other in a concave-convex fit, reducing the risk of slippage after abutment.

[0095] The first extension 347 is fixedly connected to the fourth slider 348, the fourth slider 348 is slidably connected to the fourth slide rail 349, the fourth slide rail 349 extends along the height direction, the fourth slide rail 349 is fixedly connected to the second extension 350, the second extension 350 is fixedly connected to the mounting base 242, and the second extension 350 and the actuator 24 are on the same side of the mounting base 242. When the push rod 2323 pushes the mounting base 242 to move horizontally closer to the clamping assembly 50, the actuator 24 and the limiting mechanism 34 simultaneously move horizontally closer to the clamping assembly 50. The fourth slider 348 and the fourth slide rail 349 can adjust the distance between the clamping part 341 and the clamping assembly 50 in the height direction, thereby realizing the position adjustment of the clamping part 341 in both the horizontal and height directions.

[0096] The first extension 347 and the second extension 350 can be selected in different shapes depending on the position of the clamping part 341, such as L-shaped. Depending on the selected shape, reinforcing ribs can be added to improve the connection strength, but this application is not limited to this.

[0097] In one embodiment, the spindle mounting device further includes a transfer mechanism 40 for transporting the spindle 60 into the clamp assembly 50 after the clamp assembly 50 has fully opened. The clamp assembly 50, in its open state, forms an open receiving space, or the purlin 70 forms an open receiving space, which is used to receive at least a portion of the outer periphery of the spindle 60, so that the spindle 60 is in a ready-to-install state after entering the receiving space. The transfer mechanism 40 is located near the material handling area, and is capable of gripping the spindle 60 from the material handling area and transporting the spindle 60 into the corresponding receiving space.

[0098] like Figure 12 and Figure 13 As shown, the transfer mechanism 40 includes a transfer drive module 41 and a gripping component 42. The gripping component 42 is located at the end of the transfer drive module 41 and performs gripping and transporting actions under the drive of the transfer drive module 41. The transfer drive module 41 drives the gripping component 42 to move in space, enabling the gripping component 42 to reciprocate between the picking area and the receiving space, thereby realizing the transfer of the spindle 60. When the gripping component 42 approaches the picking area, it grips the spindle 60 and, under the drive of the transfer drive module 41, transports the spindle 60 into the receiving space formed by the opening of the clamping assembly 50. For example, the transfer drive module 41 is a robotic arm.

[0099] After the spindle 60 is transferred to the receiving space, the gripping assembly 42 releases its grip on the spindle 60, and the clamp assembly 50 initially limits the spindle 60. Subsequently, the aforementioned actuator 24 applies force to the clamping arm 51, causing the clamp assembly 50 to change from an open state to a closed state, completing the engagement between the spindle 60 and the clamp assembly 50. By setting up the transfer mechanism 40, the handling operation of the spindle 60 can also be completed by equipment, which helps to reduce labor costs and burden.

[0100] Furthermore, the gripping assembly 42 includes at least one gripping group, each gripping group including two opposing grippers 421. In operation, the two grippers 421 can move towards each other to clamp the spindle 60. The gripping profile of each gripper 421 is adapted to a portion of the spindle 60's shape, enabling the gripper 421 to form a close contact with the outer periphery of the spindle 60 when clamping it, thereby stably gripping the spindle 60.

[0101] In practical implementation, the gripping assembly 42 can be configured with two or more gripping groups depending on the length and weight of the spindle 60. When multiple gripping groups are configured, each gripping group is arranged at intervals along the length of the spindle 60. When gripping the spindle 60, multiple gripping groups can simultaneously clamp the spindle 60, thereby forming multi-point clamping. This makes the force on the spindle 60 more uniform during the transfer process and reduces the shaking or deflection of the spindle 60 during transportation.

[0102] In one embodiment, the transfer mechanism 40 further includes a displacement guide rail 43 arranged along the length direction of the main shaft 60. The transfer drive module 41 is slidably disposed on the displacement guide rail 43, enabling the transfer drive module 41 to be displaced along the length direction of the main shaft 60. The gripping component 42 is disposed at the end of the transfer drive module 41. When the transfer drive module 41 moves along the displacement guide rail 43, the gripping component 42 and the main shaft 60 it grips can move synchronously along the length direction of the main shaft 60 as a whole.

[0103] Thus, when it is necessary to adapt to spindles 60 of different lengths, the position of the transfer drive module 41 on the displacement guide rail 43 can be adjusted so that the gripping component 42 corresponds to different gripping positions in the length direction of the spindle 60, so that the same transfer mechanism 40 can adapt to spindles 60 of different specifications.

[0104] During the transfer process, after the spindle 60 is clamped by the gripping component 42, as the transfer drive module 41 moves along the displacement guide rail 43, the spindle 60 can be driven to move in the length direction, thereby adapting to the mounting position 12 of the clamping component 50 in the length direction, which helps to improve the installation accuracy and quality of the equipment and reduce the possibility of rework.

[0105] In some embodiments, the transfer mechanism 40 includes at least two displacement guides 43 and at least two transfer drive modules 41. The at least two displacement guides 43 correspond one-to-one with the at least two transfer drive modules 41, and the at least two displacement guides 43 are arranged along the length of the spindle 60. When the spindle 60 is long and one transfer drive module 41 is insufficient to ensure the stability of the spindle 60 during movement, by setting at least two displacement guides 43 and at least two transfer drive modules 41, the at least two transfer drive modules 41 can simultaneously transport one spindle 60, providing multiple gripping positions for the spindle 60 during movement and reducing the possibility of the spindle 60 wobbling during movement.

[0106] In one embodiment, according to another aspect of this application, a photovoltaic bracket installation system is further provided, including a spindle 60, a purlin 70, a clamp assembly 50, and at least a spindle mounting device as described in any of the preceding embodiments. The spindle 60 is fixed to the purlin 70 by the clamp assembly 50, which connects the spindle 60 to the purlin 70 and clamps the spindle 60 during installation.

[0107] Please refer to the attached document. Figure 1 The clamp assembly 50 has two opposing clamping arms 51, which are in an open state when not closed, and spaces for accommodating the main shaft 60 can be formed on the clamping arms 51 or the purlin 70. At least one of the clamping arms 51 is rotatably connected to the purlin 70, allowing the clamping arm 51 to rotate relative to the purlin 70 about its rotation center. In the installed state, the main shaft 60 is placed between the two clamping arms 51, and as the clamping arms 51 rotate and move closer to each other, the two clamping arms 51 gradually clamp the main shaft 60.

[0108] Understandably, the actuator 24 in the spindle mounting equipment can move towards the corresponding clamping arm 51 under the drive of the drive assembly, and form contact with the clamping arm 51. With the continuous pushing of the actuator 24, the clamping arm 51, which is rotatably connected to the purlin 70, rotates around its rotation center, causing the two clamping arms 51 to gradually approach each other, thereby clamping and fixing the spindle 60 located between them onto the purlin 70. In this way, the installation process of the spindle 60 is completed by the spindle mounting equipment, reducing manual operation. At the same time, the installation process is more seamless, which is beneficial to improving production efficiency and quality.

[0109] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A spindle mounting device, characterized in that, Used to fix the spindle to the purlin assembly, the purlin assembly including purlins and clamp assembly, the clamp assembly being pre-installed on the purlin, the clamp assembly including two clamping arms that can rotate relative to the purlin, the two clamping arms being able to cooperate with the purlin to encircle the outer wall of the spindle; The spindle mounting equipment includes: A frame for mounting the purlin assembly on top of it; The drive assembly is mounted on the rack; At least two actuators, each connected to a corresponding drive assembly, wherein the drive assembly drives the actuators to move toward the clamp assembly, thereby causing the corresponding clamping arm to rotate from an open state to a closed state; and A fastening assembly is used to lock the two clamping arms when the clamping assembly is in the clamped state, thereby fixing the main shaft to the purlin assembly.

2. The spindle mounting device according to claim 1, characterized in that, The drive assembly includes a drive unit, and the actuator is connected to the power output end of the drive unit. The drive unit is used to drive the actuator to move along a preset trajectory to approach and abut the arm. The preset trajectory includes at least one straight segment and / or at least one curved segment.

3. The spindle mounting device according to claim 2, characterized in that, The spindle mounting equipment also includes a mounting position for receiving the clamp assembly and the purlin, the mounting position being disposed on the frame or disposed independently relative to the frame; The spindle mounting device is provided with at least two drive units, which are arranged opposite to each other on both sides of the mounting position. The number of actuators is at least two, and the power output end of each drive unit is connected to at least one actuator. At least two actuators can be driven to move in opposite directions toward the mounting position to apply force to the clamp assembly from both sides.

4. The spindle mounting device according to claim 3, characterized in that, Each of the aforementioned drive units includes a primary drive component and a secondary drive component; The primary drive assembly is fixedly mounted on the frame, and the fixed side of the secondary drive assembly is disposed at the power output end of the primary drive assembly to move with the primary drive assembly; the corresponding actuator is connected to the power output end of the secondary drive assembly. In operation, the primary drive component is used to drive the secondary drive component to move along a first direction, and the secondary drive component is used to drive the execution unit to move along a second direction; or, the primary drive component is used to drive the secondary drive component to move along a second direction, and the secondary drive component is used to drive the execution unit to move along a first direction. The first direction and the second direction form an angle.

5. The spindle mounting device according to claim 4, characterized in that, The first direction is the height direction, and the second direction is the horizontal direction toward the mounting position; The primary drive assembly includes a primary fixed seat and a primary movable seat. The primary fixed seat is fixedly mounted on the frame, and the primary movable seat can move up and down relative to the primary fixed seat under the drive action. The secondary drive assembly includes a secondary fixed seat and a secondary movable seat, and the secondary movable seat can move horizontally relative to the secondary fixed seat under the drive action. The secondary fixed seat is fixedly connected to the primary movable seat to follow the primary movable seat in moving along the first direction; the corresponding actuator is connected to the secondary movable seat to move along the second direction under the drive of the secondary drive assembly.

6. The spindle mounting device according to claim 4 or 5, characterized in that, The spindle mounting device further includes a guide base extending along a third direction; the frame is slidably disposed on the guide base to drive the drive unit and the actuator to move as a whole along the third direction; Wherein, the third direction is the length direction of the main shaft.

7. The spindle mounting device according to claim 5, characterized in that, The spindle mounting device also includes a pusher head, which rotates with the end of the actuator, and the pusher head rolls against the outer surface of the arm during the process of the actuator pushing the arm. And / or, The spindle mounting device further includes a mounting base, and the actuator is connected to the secondary movable base through the mounting base, wherein the secondary movable base is connected to one side of the mounting base, and the actuator is disposed on the other side of the mounting base; The spindle mounting device further includes a guide structure disposed between the mounting base and the actuator to allow the actuator to generate displacement relative to the mounting base along the first direction during the pushing of the arm.

8. The spindle mounting device according to any one of claims 1-5 and 7, characterized in that, In the working state, the fastening assembly is at least partially located on the adjacent side of the corresponding clamp assembly; The fastening assembly includes a fastening tool, a feeding device, and a conveying pipeline; the feeding device is used to hold a plurality of fasteners, and the conveying pipeline is connected to the feeding device to convey the fasteners to a preset connection point, thereby enabling the fastening tool to apply force to the fasteners located at the preset connection point to drive the fasteners to fix the clamp assembly.

9. The spindle mounting device according to claim 8, characterized in that, The fastening assembly also includes a limiting mechanism that can be moved to the preset connection point; The limiting mechanism includes a clamping part having an open state and a closed state. In its closed state, the clamping part forms a limiting channel extending through its center. A portion of the fastener passes through the limiting channel to limit the radial offset of the fastener, thereby aligning the fastener with the mounting hole of the clamp assembly.

10. The spindle mounting device according to any one of claims 1-5, 7, and 9, characterized in that, The spindle mounting equipment also includes a transfer mechanism. The clamp assembly forms an open receiving space when it is in the open state, or the purlin has an open receiving space. The transfer mechanism can grab the spindle located in the material picking area and transport the spindle into the receiving space. The transfer mechanism includes a transfer drive module and a gripping component. The gripping component is disposed at the end of the transfer drive module and is used to grip the main shaft. The transfer drive module is used to drive the gripping component to move, thereby transferring the main shaft between the material picking area and the receiving space.

11. The spindle mounting device according to claim 10, characterized in that, The gripping assembly includes at least one gripping group, each gripping group comprising two opposing jaws, the gripping profile of each jaw being adapted to a portion of the spindle's shape; and / or, The transfer mechanism further includes a displacement guide rail arranged along the length direction of the main shaft; the transfer drive module is slidably arranged on the displacement guide rail to drive the gripping component to move along the length direction of the main shaft.

12. An automated installation system for photovoltaic power generation equipment, characterized in that, include: Purlin assembly and spindle mounting device as described in any one of claims 1-11; The clamp assembly is used to fix the main shaft to the purlin. The clamp assembly includes two clamp arms arranged opposite each other, and at least one of the two clamp arms is rotatably connected to the purlin. The clamping arm has a rotation center, and the actuator of the spindle mounting device is used to abut and push the corresponding clamping arm under the drive of the drive assembly, so that the clamping arm rotates around the rotation center, thereby bringing the two clamping arms closer to each other to clamp the spindle.

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