Integrated photovoltaic construction operation and maintenance robot

Abstract

The application relates to the technical field of robot automation equipment, and discloses an integrated photovoltaic construction operation and maintenance robot, which comprises a mobile chassis and a main mechanical arm installed on the mobile chassis, the end of the main mechanical arm is fixedly connected with a clutch wrist part, the clutch wrist part is rigidly locked when bearing a static load lower than a preset stress threshold, and the clutch wrist part is released from the rigid locking and converted into a spring compliant damping state when bearing a transient dynamic load impact exceeding the preset stress threshold. Load separation is realized by using a constraint model of a bearing steel ball and a half-ball ring groove. In daily carrying, the clutch wrist part is converted into a rigid state within a safety threshold, so that the pre-crushing of damping elements by the dead weight of photovoltaic modules is avoided; and once the wind load impact exceeding the safety threshold is encountered, the rigid state of the clutch wrist part is instantaneously released, stress is forced to be borne by peripheral nonlinear variable stiffness spring struts, dynamic energy is consumed through high-frequency damping deformation, and the physical path for transmitting destructive force to the fragile panel is completely blocked.

Description

Technical Field

[0001] This invention relates to the field of robotic automation equipment technology, specifically to an integrated photovoltaic construction and maintenance robot. Background Technology

[0002] With the strategic transformation of the global energy structure, the focus of photovoltaic power plant construction is rapidly shifting to unstructured areas rich in solar energy resources but with extremely harsh natural environments, such as high-altitude areas, deserts, and rugged mountains. In these demanding scenarios, the traditional manual component installation and maintenance model is no longer sustainable, and is being replaced by highly integrated intelligent construction robots. Currently, mainstream photovoltaic installation robots in the industry generally use a heavy-duty mobile chassis combined with a rigid multi-axis robotic arm, and a fixed frame-type array of suction cups at the end effector. To cope with complex external force interference, existing research and development paths heavily rely on continuously stacked high-frequency three-dimensional force sensors and attempt to counteract environmental disturbances in real time through complex electro-hydraulic closed-loop algorithms such as nonlinear sliding mode control.

[0003] However, this paradigm of active rigid force control has gradually revealed its flaws when encountering extreme physical conditions at high altitudes. The unpredictable meteorological environment at high altitudes, with frequent strong gusts and wind shear directly impacting the large windward area of ​​photovoltaic modules, instantly generating highly destructive nonlinear shear and rollover moments. Existing electronic control feedback mechanisms suffer from an unavoidable physical time lag; from the moment sensors capture the abnormal stress field and the main controller calculates the reverse compensation command until the heavy-duty hydraulic valve completes its action, there is inevitably a response vacuum period of tens to hundreds of milliseconds. Within this brief lag window, the rigid mechanical transmission chain has already poured a massive amount of wind impact kinetic energy onto the fragile glass panel of the photovoltaic module without any attenuation, easily inducing microscopic cracks within the module or even directly causing structural fracture and failure.

[0004] Further exacerbating engineering risks lies in the inherent physical fragility of modern large-size double-glass photovoltaic modules. Under the combined pressure of stacking errors and their immense weight, large-size double-glass photovoltaic modules inevitably experience significant macroscopic bending deformation. Existing rigid suction cup frames with fixed geometries completely lack the physical capacity to accommodate complex curved surfaces. This results in some suction cups being forced to withstand extreme compressive stresses far exceeding the physical limits of glass when pressing down to grasp bent photovoltaic panels, while others often detach and remain suspended. This severe localized stress concentration caused by the rigid frame easily leads to a serious imbalance in the overall vacuum adsorption force of the system, creating a fatal risk of panel detachment and fall during mid-air flipping and transfer. Although some technologies attempt microscopic compensation by independently adjusting the pressure of individual suction cup chambers, the rigid nature of the main load-bearing frame prevents a complete resolution of the contact stress imbalance problem caused by the macroscopic deformation of the photovoltaic panel at the mechanical and topological level. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an integrated photovoltaic construction and maintenance robot, which solves the problems of transient impact damage to photovoltaic modules caused by the delayed response of active rigid force control when facing sudden strong gusts at high altitudes, as well as the problem of local contact stress concentration and adsorption imbalance caused by the inability of the rigid suction cup frame to adapt to the macroscopic bending deformation of large-size photovoltaic panels.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated photovoltaic construction and maintenance robot, comprising a mobile chassis and a main robotic arm mounted on the mobile chassis. The end of the main robotic arm is fixedly connected to a clutch wrist. The clutch wrist maintains rigid locking when subjected to static loads below a preset force threshold, and releases the rigid locking to a spring-loaded, compliant shock-absorbing state when subjected to transient dynamic load impacts exceeding the preset force threshold. A fractal suction cup matrix is ​​provided at the bottom of the clutch wrist. The fractal suction cup matrix includes multi-level branch rocker arms and vacuum rubber suction cups. The fractal suction cup matrix passively adapts to the curved surface of the photovoltaic panel and distributes the normal contact stress using a lever principle. A control component is provided within the fractal suction cup matrix. The control component uses the displacement after contact with the photovoltaic panel and the pressure difference in the vacuum pipeline as trigger sources, and uses air path redirection to drive the multi-level branch rocker arms to switch between an unloaded windproof state, a relaxed state, and a frozen state.

[0007] Preferably, the clutch wrist includes an upper flange and a lower flange. A central shaft is fixedly connected vertically downward to the center of the bottom surface of the upper flange. A concave hemispherical annular groove is machined on the outer cylindrical surface of the central shaft. A radial limiting sleeve is fixedly connected to the center of the top surface of the lower flange. The central shaft is inserted into the radial limiting sleeve with a clearance fit. The sidewall of the radial limiting sleeve has multiple radially penetrating circular holes evenly distributed along the circumference. A bearing steel ball is embedded in each of the circular holes.

[0008] Preferably, the radial limiting sleeve is fitted with a sliding sleeve that slides along its axial direction. The inner cavity of the sliding sleeve has a stepped cross-section, including a locking section in the upper half, a clearance section in the lower half, and a conical transition surface in the middle. A vertical preload spring is provided between the upper flange and the top surface of the sliding sleeve. When the clutch wrist is subjected to a force lower than the preset threshold, the vertical preload spring pushes the sliding sleeve downward, and the locking section forces the bearing steel ball to be stuck into the hemispherical annular groove. When the clutch wrist is subjected to a force exceeding the preset threshold, a relative axial displacement occurs between the central shaft and the sliding sleeve, and the bearing steel ball is squeezed through the conical transition surface to the clearance section to disengage from the hemispherical annular groove.

[0009] Preferably, multiple sets of nonlinear variable stiffness spring supports are evenly distributed and connected in parallel between the outer circumferential edges of the upper and lower flanges. When the bearing steel ball is disengaged from the hemispherical annular groove, the force path of the clutch wrist is automatically transferred to the outer nonlinear variable stiffness spring supports to absorb destructive kinetic energy.

[0010] Preferably, the multi-stage branch rocker arm includes a main beam, two primary rocker arms, and four secondary rocker arms. Both ends of the main beam and both ends of the primary rocker arms are fixedly connected to U-shaped hinge bases. A horizontal pin is fixedly connected to the midpoint of each primary rocker arm, and this horizontal pin is rotatably connected within the U-shaped hinge bases at both ends of the main beam. A horizontal pin is also fixedly connected to the midpoint of each secondary rocker arm, and this horizontal pin is rotatably connected within the U-shaped hinge bases at both ends of the primary rocker arms. The vacuum rubber suction cup is mounted to the end of the secondary rocker arm via a ball joint unit.

[0011] Preferably, a guide rail plate is fixedly connected to the outer wall of the U-shaped hinge base, and an arc-shaped sliding groove is formed on the plate body of the guide rail plate. Guide sliders are fixedly connected to the sides of the first-stage rocker arm and the second-stage rocker arm, and the guide sliders are inserted into the arc-shaped sliding groove.

[0012] Preferably, one end of the horizontal pin extends outward from one side wall of the U-shaped hinge base, and a tapered internal tooth locking ring is sleeved and slidably connected on the extended end. The inner hole of the tapered internal tooth locking ring is machined with teeth that match the straight spline on the surface of the horizontal pin. The end face of the tapered internal tooth locking ring facing the side wall of the U-shaped hinge base (9) is machined with an outer conical surface. The outer side wall of the guide plate is correspondingly provided with an inner conical hole that matches the outer conical surface. The double-acting cylinder is fixed to the outer side wall of the U-shaped hinge base, and its output end is fixedly connected to a limiting ring. The limiting ring is embedded and rotatably connected in a limiting groove opened on the outer end face of the tapered internal tooth locking ring.

[0013] Preferably, the control component includes a probe rod suspended at the geometric center of eight vacuum rubber suction cups. The probe rod abuts against the valve core of a micro-motion two-position three-way pneumatic valve, and a return spring is provided between them. The air inlet of the micro-motion two-position three-way pneumatic valve is connected to an on-board high-pressure air source, and the air outlet is connected to a double-acting cylinder through an air pipe. When the fractal suction cup matrix is ​​performing no-load tracking, the micro-motion two-position three-way pneumatic valve guides the high-pressure gas to the pull-back chamber of each double-acting cylinder, forcibly pulling the conical internal tooth locking ring into the inner conical hole. At this time, the multi-stage branch rocker arm is in a no-load windproof state. When the vacuum rubber suction cup contacts the photovoltaic panel and forces the probe rod to displace, the valve core of the micro-motion two-position three-way pneumatic valve is activated, redirecting the high-pressure gas to the push-out chamber of each double-acting cylinder, pulling the conical internal tooth locking ring out of the inner conical hole, and causing the multi-stage branch rocker arm to enter a relaxed state.

[0014] Preferably, the control component further includes a vacuum-sensitive valve connected in series with the main vacuum line of the vacuum rubber suction cup. When the vacuum rubber suction cup completes the curved surface fitting and a negative pressure exceeding the set threshold is established in the main vacuum line, the pressure difference triggers the vacuum-sensitive valve to operate, forcibly intercepting and reconstructing the airflow direction of the micro-motion two-position three-way pneumatic valve, and forcibly introducing the high-pressure gas back into the pull-back chamber of the double-acting cylinder, so that the multi-stage branch rocker arm enters the frozen state at the current adaptive deflection angle.

[0015] Preferably, the mobile chassis is a wide-section tracked chassis, with a vehicle-mounted photovoltaic panel storage rack fixed to the rear half of its upper surface, and a slewing bearing assembly horizontally fixed to the center of its front half. The tail of the main robotic arm is mounted on the slewing bearing assembly and driven by it to perform a full-circumference yaw motion.

[0016] This invention provides an integrated photovoltaic construction and maintenance robot. It has the following advantages: 1. This invention achieves load separation by utilizing a constraint model between the load-bearing steel ball and the hemispherical annular groove. During routine handling, the vertical preload spring presses the sliding sleeve to force the load-bearing steel ball into the groove, causing the clutch wrist to return to a rigid state within the safety threshold, thus preventing the massive weight of the photovoltaic module from prematurely crushing the damping element. However, once subjected to wind load impacts exceeding the safety threshold, the sliding sleeve is forced to retract, causing the load-bearing steel ball to disengage. The rigid state of the clutch wrist is instantly released, forcing the stress on the outer nonlinear variable stiffness spring support tube to dissipate kinetic energy through high-frequency damping deformation, completely blocking the physical path for transmitting destructive forces to the brittle panel.

[0017] 2. This invention, through a fractal suction cup matrix centered on cascaded multi-level branch rocker arms, endows the fractal suction cup matrix with topological reconstruction capabilities. Facing the nonlinear bending deformation inevitably caused by gravity and stacking errors in photovoltaic panels, the multi-level branch rocker arms spontaneously rotate and adhere around the pivot. Simultaneously, relying on the basic static lever principle, this network can achieve global uniform distribution of normal contact stress at a purely physical level without mobilizing any electronic control computing power, fundamentally eliminating local stress extremities that easily lead to glass microcracks. Furthermore, by adding guide plates and arc-shaped grooves to the sidewalls of the U-shaped hinge base, a rigid boundary is established in the multi-degree-of-freedom system. The guide slider inserted into the groove constructs a tangential physical fence without hindering the rocker arms' adaptive pitching and adhering along the normal direction. This allows the robot to resist lateral shear forces and torsional tearing moments when performing harsh posture handling tasks such as large-angle upright panel flipping, eliminating the engineering hazard of multi-level branch rocker arms tipping over and collapsing.

[0018] 3. This invention, through the configuration of control components, ensures that when the vacuum rubber suction cup completes curved surface contact and establishes a set negative pressure, the pressure difference directly triggers the vacuum-sensitive valve, causing the high-pressure airflow to backflow and push the conical internal tooth locking ring to firmly engage the spline, instantly solidifying the originally relaxed adaptive posture into a dedicated supporting rigid body fixture. This purely pneumatic automatic mechanism, which completely eliminates electronic response lag, not only makes the system reliable in strong winds and smooth when contacting the plate, but also ensures stable clamping during suspended transport. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a three-dimensional schematic diagram of the fractal suction cup matrix in this invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view at point B in the middle; Figure 5 This is a front view schematic diagram of the fractal suction cup matrix in this invention; Figure 6 for Figure 5 Enlarged view at point C; Figure 7 This is a schematic diagram of the clutch wrist mechanism in this invention.

[0020] The components include: 1. Mobile chassis; 2. Main robotic arm; 3. Clutch wrist; 301. Upper flange; 302. Lower flange; 303. Central shaft; 3031. Hemispherical annular groove; 304. Radial limiting sleeve; 305. Bearing steel ball; 306. Sliding sleeve; 307. Vertical preload spring; 308. Nonlinear variable stiffness spring support; 4. Vacuum rubber suction cup; 5. Main beam; 6. Primary rocker arm; 7. Secondary rocker arm; 8. Horizontal pin; 9. U-shaped hinge base; 10. Guide rail plate; 1001. Arc-shaped sliding groove; 11. Guide slider; 12. Conical internal tooth locking ring; 13. Double-acting cylinder; 14. Limiting ring; 15. Detection push rod; 16. Micro-motion two-position three-way pneumatic valve; 17. Return spring; 18. Vehicle-mounted photovoltaic panel storage rack. Detailed Implementation

[0021] 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.

[0022] Please see the appendix Figure 1 -Appendix Figure 7 This invention provides an integrated photovoltaic construction and maintenance robot for independently performing material extraction, transfer, and spatial assembly of large photovoltaic modules in complex terrain and extreme weather conditions. The integrated photovoltaic construction and maintenance robot includes a mobile chassis 1 and a main robotic arm 2 mounted on the mobile chassis 1. A clutch wrist 3 is fixedly connected to the end of the main robotic arm 2. The clutch wrist 3 maintains rigid locking when subjected to static loads below a preset force threshold, and releases the rigid locking to a spring-loaded, compliant shock-absorbing state when subjected to transient dynamic load impacts exceeding the preset force threshold. A fractal suction cup matrix is ​​provided at the bottom of the clutch wrist 3. The fractal suction cup matrix includes multi-level branch rocker arms and vacuum rubber suction cups 4. The fractal suction cup matrix passively adapts to the curved surface of the photovoltaic panel using leverage principles and distributes the normal contact stress. A control component is provided in the fractal suction cup matrix. The control component uses the displacement after contact with the photovoltaic panel and the pressure difference in the vacuum pipeline as trigger sources, and uses air path redirection to drive the multi-level branch rocker arms to switch between an unloaded windproof state, a relaxed state, and a frozen state.

[0023] The mobile chassis 1 is a wide-section tracked chassis. The rear half of its upper surface is fixed with a vehicle-mounted photovoltaic panel storage rack 18, and the center of its front half is horizontally fixed with a slewing bearing assembly. The tail of the main robotic arm 2 is mounted on the slewing bearing assembly and driven by it to perform a full-circumference yaw motion.

[0024] Based on the above structural distribution, the mobile chassis 1 provides ground physical support and mobility for the entire operating system. The mobile chassis 1 is a wide-section tracked chassis, relying on the tracked running gear on both sides to distribute the weight of the entire machine and provide high passability in unstructured off-road terrain. The upper surface of the mobile chassis 1 forms a unified load-bearing mounting plane.

[0025] A vehicle-mounted photovoltaic panel storage rack 18 is fixed to the rear half of the upper surface of the mobile chassis 1. The vehicle-mounted photovoltaic panel storage rack 18 adopts a double-chain plate structure design. Its functions are mainly divided into two parts: first, intelligent storage of photovoltaic panels. When the robot moves to the side of the photovoltaic panel storage area, it automatically identifies the location of the photovoltaic stack and uses a suction cup structure to precisely pick up the photovoltaic panels from the stack and transfer them to the vehicle-mounted photovoltaic panel storage rack 18. At this time, the storage structure in the vehicle-mounted photovoltaic panel storage rack 18 lowers one level, leaving the topmost photovoltaic panel placement position empty. This process continues until all photovoltaic panels are loaded using the suction cup structure. Second, photovoltaic panel installation. When the robot moves to the designated location where photovoltaic panels need to be installed, it picks up a photovoltaic panel from the vehicle-mounted photovoltaic panel storage rack 18 and places it in the designated position. Simultaneously, the storage structure in the vehicle-mounted photovoltaic panel storage rack 18 rises one level, ensuring that the topmost layer always has an uninstalled photovoltaic panel.

[0026] A slewing bearing assembly is horizontally fixed to the center of the front half of the upper surface of the mobile chassis 1. The tail of the main robotic arm 2 is mounted on the slewing bearing assembly. The slewing bearing assembly receives power from the chassis and drives the main robotic arm 2 to perform a full-circumference yaw motion around the vertical axis. The main robotic arm 2 has multiple nested extension and retraction degrees of freedom as well as pitch, used for tracking and coordinate positioning in three-dimensional space.

[0027] The end of the main robotic arm 2 is fixedly connected to a clutch wrist 3. The clutch wrist 3 serves as a force-bearing hub connecting the main robotic arm 2 and the fractal suction cup matrix, establishing a physical isolation boundary for load characteristics.

[0028] When subjected to static loads below the preset force threshold, the clutch wrist 3 maintains rigid locking to preserve spatial positioning accuracy during suspension and transport, preventing the shock-absorbing structure from being crushed by the weight of the photovoltaic panel. When subjected to transient dynamic load impacts exceeding the preset force threshold, the internal mechanical components of the clutch wrist 3 forcefully generate relative axial displacement and release the rigid locking, switching to a spring-compliant shock-absorbing state to block the transmission of rigid impact force to the photovoltaic panel.

[0029] A fractal suction cup matrix is ​​provided at the bottom of the clutch wrist 3. The fractal suction cup matrix extends downward in a cascaded manner, including a multi-level branched rocker arm and a vacuum rubber suction cup 4. The fractal suction cup matrix abandons the planar fixed frame and passively adapts to the curvature deformation of the photovoltaic panel surface by utilizing the principle of mechanical levers, and evenly distributes the normal contact stress of the vacuum rubber suction cup 4.

[0030] The fractal suction cup matrix contains a control component. This control component uses the physical displacement of the vacuum rubber suction cup 4 after contacting the photovoltaic panel and the pressure difference establishment process within the vacuum pipeline as the physical trigger source. It utilizes internal air path redirection to drive the multi-stage branch rocker arm to switch sequentially between unloaded windproof state, relaxed state, and frozen state. The entire system relies on the chassis and main arm to complete spatial transportation, and relies on the fractal suction cup matrix to complete load decoupling and shape reconstruction.

[0031] The clutch wrist 3 includes an upper flange 301 and a lower flange 302. A central shaft 303 is fixedly connected vertically downward to the center of the bottom surface of the upper flange 301. A concave hemispherical annular groove 3031 is machined on the outer cylindrical surface of the central shaft 303. A radial limiting sleeve 304 is fixedly connected to the center of the top surface of the lower flange 302. The central shaft 303 is inserted into the radial limiting sleeve 304 with a clearance fit. The side wall of the radial limiting sleeve 304 has multiple radially penetrating circular holes evenly distributed along the circumference. A bearing steel ball 305 is embedded in the circular hole.

[0032] The radial limiting sleeve 304 is surrounded by a sliding sleeve 306 that slides along its axial direction. The inner cavity of the sliding sleeve 306 is stepped, including a locking section in the upper half, a clearance section in the lower half, and a tapered transition surface in the middle. A vertical preload spring 307 is provided between the upper flange 301 and the top surface of the sliding sleeve 306. When the clutch wrist 3 is subjected to a force lower than the preset threshold, the vertical preload spring 307 pushes the sliding sleeve 306 downward, and the locking section forces the bearing steel ball 305 to be inserted into the hemispherical annular groove 3031. When the clutch wrist 3 is subjected to a force exceeding the preset threshold, a relative axial displacement occurs between the central shaft 303 and the sliding sleeve 306, and the bearing steel ball 305 is squeezed through the conical transition surface to the clearance section to disengage from the hemispherical annular groove 3031.

[0033] Between the outer circumferential edges of the upper flange 301 and the lower flange 302, there are multiple sets of nonlinear variable stiffness spring supports 308 evenly distributed in parallel. When the bearing steel ball 305 is disengaged from the hemispherical annular groove 3031, the force path of the clutch wrist 3 is automatically transferred to the outer nonlinear variable stiffness spring supports 308 to absorb destructive kinetic energy.

[0034] In this invention, the clutch wrist 3 establishes static and dynamic load determination boundaries based on the constraint model of the bearing steel ball 305 and the hemispherical annular groove 3031, thereby controlling the physical shear of the stress transmission path between rigid locking and compliant damping.

[0035] The main support frame of the clutch wrist 3 includes an upper flange 301 and a lower flange 302. The top surface of the upper flange 301 is fixedly connected to the end of the main robotic arm 2 by fasteners, and the lower flange 302 is arranged in parallel and suspended below the upper flange 301. A central shaft 303 is fixedly connected vertically downward to the center of the bottom surface of the upper flange 301. The central shaft 303 is a solid metal cylinder, and a hemispherical groove 3031 that is recessed inward is machined at a certain height on its outer cylindrical surface.

[0036] The top surface of the lower flange 302 has an upwardly protruding center and is fixedly connected to a radial limiting sleeve 304. The inner cavity of the radial limiting sleeve 304 matches the outer diameter of the central shaft 303. The lower half of the central shaft 303 is inserted into the radial limiting sleeve 304, and the two are in a clearance fit that allows relative axial sliding. The side wall of the radial limiting sleeve 304 has multiple circular holes that penetrate the wall thickness evenly distributed along its circumference. A bearing steel ball 305 is movably embedded inside each circular hole. The diameter of the bearing steel ball 305 is larger than the wall thickness of the radial limiting sleeve 304 to ensure that part of the ball enters the hemispherical annular groove 3031 when it is squeezed inward.

[0037] A sliding sleeve 306 is coaxially fitted around the outer periphery of the radial limiting sleeve 304. The sliding sleeve 306 can slide axially up and down against the outer wall of the radial limiting sleeve 304. The inner surface of the sliding sleeve 306 is not a uniform diameter structure; its longitudinal section shows a clear stepped distribution, including a locking section, a tapered transition surface, and a clearance section from top to bottom. The locking section is located in the upper half and has a very small inner diameter, closely fitting the outer spherical surface of the bearing steel ball 305; the clearance section is located in the lower half and widens radially outward; the tapered transition surface in the middle section smoothly connects the locking section and the clearance section.

[0038] A vertical preload spring 307 is axially clamped between the bottom surface of the upper flange 301 and the top surface of the sliding sleeve 306. The vertical preload spring 307 always provides a downward pushing force, attempting to push the sliding sleeve 306 to the lowest point of its stroke. Between the outer circumferential edges of the upper flange 301 and the lower flange 302, multiple sets of nonlinear variable stiffness spring supports 308 are evenly distributed and connected in parallel.

[0039] In routine handling operations, the gravitational component of the suspended photovoltaic panel and the inertial force of the main robotic arm 2 moving smoothly are defined as static loads below a preset stress threshold. Under this stress state, the preload of the vertical preload spring 307 pushes the sliding sleeve 306 downwards to its bottom. The locking section of the upper half of the sliding sleeve 306 precisely covers and seals the outer ends of all the circular holes. The bearing steel ball 305 is subjected to radial pressure from the locking section, with one half of the ball engaging in the hemispherical groove 3031 and the other half embedded in the circular hole. At this time, the bearing steel ball 305 forms a rigid shear pin in the Z-axis direction to restrict the movement of the central shaft 303, achieving rigid locking between the upper flange 301 and the lower flange 302 in multiple degrees of freedom. In this locked state, the peripheral nonlinear variable stiffness spring support 308 is protected from static crushing.

[0040] When the system encounters strong gusts of wind at high altitudes or sudden equipment shutdowns causing significant inertial potential energy, the destructive force is converted into a transient dynamic load impact exceeding the preset stress threshold. This impact force forces the central shaft 303 to attempt violent separation or misalignment, causing the arc surface of its hemispherical annular groove 3031 to strongly compress the bearing steel ball 305 outwards. The bearing steel ball 305 bulges outwards under this radial repulsive force and generates an upward axial lifting force along the conical transition surface.

[0041] When the axial lifting force overcomes the downward thrust of the vertical preload spring 307, the sliding sleeve 306 is forcibly pushed upward by the bearing steel ball 305. The upward movement of the sliding sleeve 306 raises the clearance section to the outside of the circular hole, and the bearing steel ball 305 instantly springs into the clearance section, completely disengaging from the hemispherical annular groove 3031. The rigid connection between the central shaft 303 and the lower flange 302 is immediately released.

[0042] After the bearing steel ball 305 disengages from the hemispherical annular groove 3031, the internal rigid force path is cut off. At this time, the overall force path of the clutch wrist 3 is automatically and forcibly transferred to the pre-positioned nonlinear variable stiffness spring support 308 on the periphery. The nonlinear variable stiffness spring support 308 absorbs and dissipates high-frequency destructive kinetic energy on-site through its own tensile, compressive, and multi-axial torsional violent damping deformation. After the dynamic load dissipates, the vertical preload spring 307 pushes the sliding sleeve 306 down, and the conical transition surface guides the bearing steel ball 305 back to the hemispherical annular groove 3031, and the clutch wrist 3 automatically returns to the rigid locking state.

[0043] The multi-stage branch rocker arm includes a main beam 5, two primary rocker arms 6, and four secondary rocker arms 7. Both ends of the main beam 5 and both ends of the primary rocker arms 6 are fixedly connected to U-shaped hinge bases 9. A horizontal pin 8 is fixedly connected to the midpoint of the primary rocker arm 6, and the horizontal pin 8 is rotatably connected to the U-shaped hinge bases 9 at both ends of the main beam 5. A horizontal pin 8 is also fixedly connected to the midpoint of the secondary rocker arm 7, and the horizontal pin 8 is rotatably connected to the U-shaped hinge bases 9 at both ends of the primary rocker arm 6. A vacuum rubber suction cup 4 is installed at the end of the secondary rocker arm 7 through a ball joint unit.

[0044] A guide rail plate 10 is fixedly connected to the outer wall of the U-shaped hinge base 9. A circular arc groove 1001 is provided on the plate body of the guide rail plate 10. A guide slider 11 is fixedly connected to the side of the first-stage rocker arm 6 and the second-stage rocker arm 7. The guide slider 11 is inserted into the circular arc groove 1001.

[0045] In this embodiment, the fractal suction cup matrix is ​​constructed based on a multi-level lever suspension system, which abandons the absolute limitation of contact stress by a single rigid planar frame and establishes a matrix gripping basis that allows for adaptive reconstruction.

[0046] The fractal suction cup matrix has a multi-level branched rocker arm structure that diverges downwards, specifically including a main beam 5, two primary rocker arms 6, and four secondary rocker arms 7. The main beam 5 is a horizontally arranged metal beam, whose top surface center is fixedly connected to the bottom surface of the lower flange 302.

[0047] At the lower ends of both ends of the main beam 5, a U-shaped hinge base 9 with its opening facing downwards is fixedly installed. A horizontal pin 8 is horizontally fitted between the two side walls of the U-shaped hinge base 9. The midpoint of the length of the first-stage rocker arm 6 is fitted and connected to the horizontal pin 8 at the end of the main beam 5, forming two sets of first-stage lever units symmetrically distributed based on the main beam 5.

[0048] Each primary rocker arm 6 has a U-shaped hinge base 9 and a horizontal pin 8 fixedly installed at both ends of its lower part. The midpoint of the length of the secondary rocker arm 7 is fitted onto the horizontal pin 8 at the end of the primary rocker arm 6, extending to form four sets of secondary lever units. There are eight vacuum rubber suction cups 4, which are suspended and installed at the ends of the four secondary rocker arms 7 through their own miniature ball joint units.

[0049] Based on the aforementioned cascaded assembly relationship, the total downward pressure force applied by the main robotic arm 2 is introduced into the main beam 5 from the clutch wrist 3, and then transmitted and distributed to the first-stage rocker arm 6 and the second-stage rocker arm 7 through the horizontal pin 8. Based on the mechanical lever principle of equal lever arms, each rocker arm freely deflects and pitches around its respective horizontal pin 8, so that all vacuum rubber suction cups 4 automatically adhere to the curved surface of the photovoltaic panel due to its own weight or stacking error, and the force is evenly distributed at each contact point.

[0050] To address the issue of lateral tilting and collapse that is prone to occur when multi-level movable hinges bear three-dimensional posture changes such as photovoltaic panel facade flipping, an orthogonal cross guide mechanism is installed on the outer side of each U-shaped hinge base 9 connecting different levels of rocker arms.

[0051] The orthogonal guiding mechanism includes a guide rail plate 10 and a guide slider 11. The guide rail plate 10 is fixedly connected to the vertical outer wall of the U-shaped hinge base 9. An arc-shaped groove 1001 is hollowed out on the plate body of the guide rail plate 10, and the geometric center of the arc-shaped groove 1001 coincides with the axis of the corresponding horizontal pin 8. The guide slider 11 is a solid cylindrical pin, and its root is vertically fixedly connected to the side surface of the primary rocker arm 6 and the secondary rocker arm 7.

[0052] During assembly, the guide slider 11 is directly inserted into the corresponding arc-shaped groove 1001. When the fractal suction cup matrix presses against the horizontally placed photovoltaic panel, each level of the rocker arm performs a normal pitching and fitting action, and the guide slider 11 moves smoothly within the cavity of the arc-shaped groove 1001 without obstructing the flipping action of the rocker arm.

[0053] When the robot lifts and flips the photovoltaic panel, the gravitational component generates an off-center torque at the hinge node, attempting to laterally twist or shear the horizontal pin 8. At this moment, the cylindrical sidewall of the guide slider 11, which is synchronously stressed with the rocker arm, violently collides with and abuts against the side wall of the arc-shaped slide 1001. Since the guide plate 10 is rigidly connected to the U-shaped hinge base 9, this destructive tangential torsional stress is forcibly absorbed by the wall of the arc-shaped slide 1001 and transmitted to the next-level crossbeam. The tangential physical constraint established in this way, while retaining the normal adaptive characteristics, gives the multi-level branch rocker arm structural toughness to resist shear forces.

[0054] One end of the horizontal pin 8 extends outward from one side wall of the U-shaped hinge base 9. A tapered internal tooth locking ring 12 is sleeved and slidably connected on the extended end. The inner hole of the tapered internal tooth locking ring 12 is machined with teeth that match the straight spline on the surface of the horizontal pin 8. The end face of the tapered internal tooth locking ring 12 facing the side wall of the U-shaped hinge base 9 is machined with an outer conical surface. The outer side wall of the guide plate 10 is correspondingly provided with an inner conical hole that matches the outer conical surface. The double-acting cylinder 13 is fixed to the outer side wall of the U-shaped hinge base 9. Its output end is fixedly connected to a limiting ring 14. The limiting ring 14 is embedded and rotatably connected in a limiting groove opened on the outer end face of the tapered internal tooth locking ring 12.

[0055] The control component includes a probe push rod 15 suspended at the geometric center of eight vacuum rubber suction cups 4. The probe push rod 15 abuts against the valve core of a micro-motion two-position three-way pneumatic valve 16, and a return spring 17 is provided between the two. The air inlet of the micro-motion two-position three-way pneumatic valve 16 is connected to the vehicle-mounted high-pressure air source, and the air outlet is connected to the double-acting cylinder 13 through an air pipe. When the fractal suction cup matrix is ​​performing no-load tracking, the micro-motion two-position three-way pneumatic valve 16 guides the high-pressure gas to the pull-back chamber of each double-acting cylinder 13, forcibly pulling the conical internal tooth locking ring 12 into the inner conical hole. At this time, the multi-stage branch rocker arm is in a no-load windproof state. When the vacuum rubber suction cup 4 contacts the photovoltaic panel and forces the probe push rod 15 to move, the valve core of the micro-motion two-position three-way pneumatic valve 16 is moved to redirect the high-pressure gas to the push-out chamber of each double-acting cylinder 13, pulling the conical internal tooth locking ring 12 out of the inner conical hole, so that the multi-stage branch rocker arm enters a relaxed state.

[0056] The control components also include a vacuum-sensitive valve connected in series with the main vacuum line of the vacuum rubber suction cup 4. When the vacuum rubber suction cup 4 completes the curved surface fitting and a negative pressure exceeding the set threshold is established in the main vacuum line, the pressure difference triggers the vacuum-sensitive valve to act, forcibly intercepting and reconstructing the airflow direction of the micro-motion two-position three-way pneumatic valve 16, and forcibly introducing the high-pressure gas back into the pull-back chamber of the double-acting cylinder 13, so that the multi-stage branch rocker arm enters the frozen state under the current adaptive deflection angle.

[0057] In this embodiment, the horizontal pin 8 is fixedly inserted at the midpoint of the corresponding primary rocker arm 6 or secondary rocker arm 7. When the multi-stage branch rocker arm pitches, the horizontal pin 8 rotates synchronously within the bearing hole of the U-shaped hinge base 9. One end of the horizontal pin 8 extends outward from one side wall of the U-shaped hinge base 9 to form an extended shaft head, on which a tapered internal tooth locking ring 12 is fitted. The inner hole of the tapered internal tooth locking ring 12 is machined with teeth that match the straight spline on the surface of the horizontal pin 8. The two can slide relative to each other in the axial direction and maintain synchronous linkage in the circumferential direction. The end face of the tapered internal tooth locking ring 12 facing the side wall of the U-shaped hinge base 9 is machined with an outer conical surface, and the guide plate 10, which is fixedly connected to the outer side wall of the U-shaped hinge base 9, is machined with an inner conical hole with the same taper as the outer conical surface.

[0058] The double-acting cylinder 13 is fixed to the outer wall of the U-shaped hinge base 9, with its cylinder axis parallel to the axis of the horizontal pin 8. A limiting ring 14 is fixedly connected to the piston rod end of the double-acting cylinder 13. The limiting ring 14 is embedded in and rotatably connected to a limiting groove opened on the outer end face of the tapered internal tooth locking ring 12. This rotatable connection allows the tapered internal tooth locking ring 12 to rotate freely with the shaft in a relaxed state, while ensuring that the axial pushing and pulling force of the double-acting cylinder 13 is completely transmitted to the tapered internal tooth locking ring 12.

[0059] The entire locking actuator is located on the outside of the U-shaped hinge base 9, completely isolated from the rocker arm entity in the inner cavity, eliminating any spatial interference.

[0060] A probe rod 15 is vertically suspended at the geometric center surrounded by eight vacuum rubber suction cups 4. The top of the probe rod 15 mechanically abuts against the bottom of the valve core of a micro-motion two-position three-way pneumatic valve 16. A return spring 17 is sleeved between the probe rod 15 and the micro-motion two-position three-way pneumatic valve 16. The spring force of the return spring 17 is extremely low, only maintaining the probe rod 15 in its natural downward position. The air inlet of the micro-motion two-position three-way pneumatic valve 16 is connected to the on-board high-pressure air source on the mobile chassis 1, and its air outlet is connected to the corresponding air chamber of all double-acting cylinders 13 through a network of flexible air pipes. At the same time, a vacuum-sensitive valve is connected in parallel and in series on the main vacuum pipeline to monitor the pressure difference of the pipeline network and influence the pilot airflow direction in series.

[0061] During the no-load tracking operation of the photovoltaic panel grasping process, the probe 15 is suspended and unloaded. The micro-motion two-position three-way pneumatic valve 16 directly injects high-pressure gas from the chassis into the pull-back chambers of each double-acting cylinder 13. The retraction drive limit ring 14 pushes the conical internal tooth locking ring 12, which rotates with the rocker arm, hard against the side wall of the U-shaped hinge base 9. At this instant, the outer conical surface of the conical internal tooth locking ring 12 is firmly wedged into the stationary inner conical hole. Utilizing the huge frictional self-locking effect generated by the conical surface engagement, the rotation of the conical internal tooth locking ring 12 is instantly braked. The transmission chain thus achieves closed loop: the stationary U-shaped hinge base 9 locks the conical internal tooth locking ring 12, and the inner teeth of the conical internal tooth locking ring 12 lock the horizontal pin 8, ultimately depriving all rocker arms of their swinging ability and forcibly locking the entire fractal suction cup matrix into a wind-resistant rigid planar skeleton.

[0062] When the system is pressed down and the bottom of the probe push rod 15 contacts the surface of the photovoltaic panel glass, it only needs to overcome the weak spring force of the return spring 17 to generate a retraction displacement of a few millimeters. This displacement physically lifts and actuates the valve core of the micro-motion two-position three-way pneumatic valve 16. The high-pressure airflow is instantly diverted to fill the ejection chamber of each double-acting cylinder 13. The cylinders eject, pulling the conical internal tooth locking ring 12 out of the inner conical hole. The friction self-locking of the conical surface is broken, and the multi-stage branch rocker arm immediately regains its rotational freedom and enters a relaxed state, gently covering and adapting to the natural curvature surface of the photovoltaic panel.

[0063] When the suction cups are completely pressed against the photovoltaic panel, and a strong negative pressure exceeding the set threshold is established inside the main vacuum pipeline, the vacuum pressure difference directly triggers the vacuum-sensitive valve. The triggered vacuum-sensitive valve forcibly intercepts and reverses the airflow, causing the high-pressure gas to flow back into the pull-back chambers of each double-acting cylinder 13. The high-pressure gas once again weds the conical internal tooth locking ring 12 into the inner conical hole. At this point, the multi-stage branch rocker arms have tilted to conform to the curvature of the photovoltaic panel, and the double wedging mechanism freezes these rocker arms at the current adaptive angle. The fractal suction cup matrix instantly transforms into a rigid support enveloping the current curved surface of the photovoltaic panel.

[0064] In this embodiment, the robot's single standard construction operation process covers four physical action modes that are triggered or activated in sequence: no-load tracking and wind protection, micro-force contact relaxation, in-situ irregular shape freezing, and dynamic load over-limit decoupling.

[0065] The robot arrives at the photovoltaic power station site via the mobile chassis 1. The slewing bearing assembly drives the main robotic arm 2 to rotate above the vehicle-mounted photovoltaic panel storage rack 18. The multi-segment sleeve structure gradually extends, guiding the fractal suction cup matrix to approach the photovoltaic panel to be assembled. At this time, the main vacuum pipeline has no negative pressure, the probe push rod 15 is not physically touched, and the micro-motion two-position three-way pneumatic valve 16 continuously injects high-pressure gas into the pull-back chambers of each double-acting cylinder 13 based on the initial mechanical position. The forcibly pushed out and engaged conical internal tooth locking ring 12 makes the fractal suction cup matrix composed of multi-stage branch rocker arms exhibit absolute rigidity in an unloaded and windproof state. At the same time, the clutch wrist 3 maintains the locking of the bearing steel ball 305 by the strong downward pressure of the vertical preload spring 307. At this time, the entire execution end suspended by the main robotic arm 2 ignores the blowing disturbance of the strong cross-cutting wind at high altitude and accurately travels to the designated coordinates directly above the photovoltaic panel.

[0066] The main robotic arm 2 presses down, forcing the vacuum rubber suction cups 4 closer to the photovoltaic panel. The probe push rod 15, suspended at the bottom, is the first to touch the glass layer of the photovoltaic panel. The photovoltaic panel, with its extremely weak reverse support force, overcomes the resistance of the return spring 17, forcing the probe push rod 15 to move up a few millimeters and open the valve core of the micro-motion two-position three-way pneumatic valve 16. The airflow is instantly redirected and cuts into the ejection chambers of each double-acting cylinder 13. The air pressure does work to pull out the conical internal tooth locking ring 12, and the rigid metal frame relaxes completely in an instant. The downward pressure potential energy of the main robotic arm 2 is then evenly distributed to all the vacuum rubber suction cups 4 through the relaxed main beam 5 and the various levels of hinges. At this time, the multi-stage branch rocker arm conforms to the actual macroscopic gravitational deflection of the photovoltaic panel and naturally deflects and attaches to the irregular surface, completing the passive distribution of lattice stress.

[0067] After each rocker arm completes its adaptive pitch and deflection, the chassis air source equipment initiates vacuum suction. As each vacuum rubber suction cup 4 firmly adheres to the photovoltaic panel, the air pressure inside the main vacuum pipeline drops rapidly. When the negative pressure in this pipeline exceeds the preset safety clamping threshold, the pressure difference directly triggers the parallel vacuum-sensitive valve. The vacuum-sensitive valve forcibly cuts off the pilot valve's airflow in the gas pipeline network, re-injecting high-pressure gas into the pull-back chamber of the double-acting cylinder 13. The high-pressure airflow forces the conical internal tooth locking ring 12 to re-insert into the spline groove of the horizontal pin 8. At this point, each rocker arm is forcibly frozen at the irregular geometric angle formed after attaching to the curved surface. The fractal suction cup matrix is ​​instantly recast from a loose network into a dedicated suction cup matrix that fits the specific contour of the photovoltaic panel, thereby ensuring that the photovoltaic panel is not damaged by secondary gravity suspension during the lifting and large-span displacement transfer of the main robotic arm 2.

[0068] During the process of lifting photovoltaic panels and performing high-altitude lateral movement by the main robotic arm 2, it occasionally encounters wind shear caused by extreme weather or vibrations caused by uneven ground. This disturbance transmits enormous destructive kinetic energy to the clutch wrist 3. When this transient destructive dynamic load is converted into a pull-out force of the central shaft 303, and the component force generated by its compression of the bearing steel ball 305 exceeds the force threshold of the vertical preload spring 307, the sliding sleeve 306 is forcibly lifted. The bearing steel ball 305 instantly springs into the avoidance section, causing the central shaft 303 to rigidly disengage. The clutch wrist 3 disintegrates into a multi-dimensional compliant movable joint, with the parallel peripheral nonlinear variable stiffness spring support 308 taking over the entire stretching and lateral sliding, absorbing the violent shock wave through severe damping. Once the wind speed drops and the peak dynamic load falls to within the safe threshold, the sliding sleeve 306 automatically moves down under the spring force, the forced bearing steel ball 305 is forced into the groove to reset, the clutch wrist 3 is smoothly healed and returns to the rigid conveying state, until the photovoltaic panel is finally non-destructively attached and fixed to the pre-installed bracket.

[0069] 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. An integrated photovoltaic construction and maintenance robot, comprising a mobile chassis (1) and a main robotic arm (2) mounted on the mobile chassis (1), characterized in that, The end of the main robotic arm (2) is fixedly connected to a clutch wrist (3). The clutch wrist (3) remains rigidly locked when subjected to static loads below the preset force threshold. When subjected to transient dynamic load impacts exceeding the preset force threshold, the rigid lock is released and it switches to a spring-compliant damping state. A fractal suction cup matrix is ​​provided at the bottom of the clutch wrist (3). The fractal suction cup matrix includes a multi-level branch rocker arm and a vacuum rubber suction cup (4). The fractal suction cup matrix passively adapts to the curved surface of the photovoltaic panel and distributes the normal contact stress using the lever principle. A control component is provided in the fractal suction cup matrix. The control component uses the displacement after contact with the photovoltaic panel and the pressure difference of the vacuum pipeline as the trigger source, and uses the air path redirection to drive the multi-level branch rocker arm to switch between the no-load windproof state, the relaxed state and the frozen state. The clutch wrist (3) includes an upper flange (301) and a lower flange (302). A central shaft (303) is fixedly connected vertically downward to the center of the bottom surface of the upper flange (301). A concave hemispherical annular groove (3031) is machined on the outer cylindrical surface of the central shaft (303). A radial limiting sleeve (304) is fixedly connected to the center of the top surface of the lower flange (302). The central shaft (303) is inserted into the radial limiting sleeve (304) with a clearance fit. The side wall of the radial limiting sleeve (304) has multiple radially penetrating circular holes evenly distributed along the circumference. A bearing steel ball (305) is embedded in the circular hole. The radial limiting sleeve (304) is surrounded by a sliding sleeve (306) that slides along its axial direction. The inner cavity of the sliding sleeve (306) is stepped, including a locking section in the upper half, a clearance section in the lower half, and a tapered transition surface in the middle. A vertical preload spring (307) is provided between the upper flange (301) and the top surface of the sliding sleeve (306). When the clutch wrist (3) is subjected to a force lower than the preset threshold, the vertical preload spring (307) pushes the sliding sleeve (306) downward, and the locking section forces the bearing steel ball (305) to be inserted into the hemispherical annular groove (3031); When the clutch wrist (3) is subjected to a force exceeding the preset threshold, a relative axial displacement is generated between the central shaft (303) and the sliding sleeve (306), and the bearing steel ball (305) is squeezed through the conical transition surface to the avoidance section to disengage from the hemispherical annular groove (3031). The multi-stage branch rocker arm includes a main beam (5), two primary rocker arms (6) and four secondary rocker arms (7). The two ends of the main beam (5) and the two ends of the primary rocker arms (6) are respectively fixedly connected to U-shaped hinge bases (9). The midpoint of the primary rocker arm (6) is fixedly connected to a horizontal pin (8), and the horizontal pin (8) is rotatably connected in the U-shaped hinge bases (9) at both ends of the main beam (5). The midpoint of the secondary rocker arm (7) is also fixedly connected to a horizontal pin (8), and the horizontal pin (8) is rotatably connected in the U-shaped hinge bases (9) at both ends of the primary rocker arm (6). The vacuum rubber suction cup (4) is installed at the end of the secondary rocker arm (7) through a ball joint unit. The outer wall of the U-shaped hinge base (9) is fixedly connected to a guide rail plate (10), and the plate body of the guide rail plate (10) is provided with an arc-shaped sliding groove (1001). The sides of the first-stage rocker arm (6) and the second-stage rocker arm (7) are fixedly connected to guide sliders (11), and the guide sliders (11) are inserted into the arc-shaped sliding grooves (1001). One end of the horizontal pin (8) extends outward from one side wall of the U-shaped hinge base (9). A tapered internal tooth locking ring (12) is sleeved and slidably connected on the extended end. The inner hole of the tapered internal tooth locking ring (12) is machined with teeth that match the straight tooth spline on the surface of the horizontal pin (8). The end face of the tapered internal tooth locking ring (12) facing the side wall of the U-shaped hinge base (9) is machined with an outer conical surface. The outer side wall of the guide plate (10) is correspondingly provided with an inner conical hole that matches the outer conical surface. The double-acting cylinder (13) is fixed to the outer side wall of the U-shaped hinge base (9). Its output end is fixedly connected to a limiting ring (14). The limiting ring (14) is embedded and rotatably connected in the limiting groove opened on the outer end face of the tapered internal tooth locking ring (12). The control component includes a probe push rod (15) suspended at the geometric center of eight vacuum rubber suction cups (4). The probe push rod (15) abuts against the valve core of a micro-motion two-position three-way pneumatic valve (16), and a return spring (17) is provided between them. The air inlet of the micro-motion two-position three-way pneumatic valve (16) is connected to an on-board high-pressure air source, and the air outlet is connected to a double-acting cylinder (13) through an air pipe. When the fractal suction cup matrix performs no-load tracking, the micro-motion two-position three-way pneumatic valve (16) will... The compressed gas is directed to the pull-back chamber of each double-acting cylinder (13), forcibly pulling the conical internal tooth locking ring (12) into the inner conical hole. At this time, the multi-stage branch rocker arm is in an unloaded windproof state. When the vacuum rubber suction cup (4) contacts the photovoltaic panel and forces the detection push rod (15) to move, the valve core of the micro-motion two-position three-way pneumatic valve (16) is activated, redirecting the high-pressure gas to the push-out chamber of each double-acting cylinder (13), pulling the conical internal tooth locking ring (12) out of the inner conical hole, so that the multi-stage branch rocker arm enters a relaxed state.

2. The integrated photovoltaic construction and maintenance robot according to claim 1, characterized in that, Between the outer circumferential edges of the upper flange (301) and the lower flange (302), there are multiple sets of nonlinear variable stiffness spring supports (308) evenly distributed in parallel. When the bearing steel ball (305) is disengaged from the hemispherical annular groove (3031), the force path of the clutch wrist (3) is automatically transferred to the outer nonlinear variable stiffness spring supports (308) to absorb destructive kinetic energy.

3. The integrated photovoltaic construction and maintenance robot according to claim 1, characterized in that, The control component also includes a vacuum-sensitive valve connected in series with the main vacuum pipeline of the vacuum rubber chuck (4). When the vacuum rubber chuck (4) completes the curved surface fitting and a negative pressure exceeding the set threshold is established in the main vacuum pipeline, the pressure difference triggers the vacuum-sensitive valve to act, forcibly intercepts and reconstructs the airflow direction of the micro-motion two-position three-way pneumatic valve (16), and forces the high-pressure gas back into the pull-back chamber of the double-acting cylinder (13), so that the multi-stage branch rocker arm enters the frozen state under the current adaptive deflection angle.

4. The integrated photovoltaic construction and maintenance robot according to claim 1, characterized in that, The mobile chassis (1) is a wide-section tracked chassis. The rear half of its upper surface is fixed with a vehicle-mounted photovoltaic panel storage rack (18), and the center of its front half is horizontally fixed with a slewing bearing assembly. The tail of the main robotic arm (2) is mounted on the slewing bearing assembly and driven by it to perform a full-circumference yaw motion.

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