A photovoltaic panel automatic laying robot

Abstract

The application discloses a kind of photovoltaic panel automatic laying robot, belong to photovoltaic module construction equipment technical field, including robot body, manipulator and vacuum chuck, vacuum chuck is equipped with linkage type protection mechanism;Protection mechanism includes lifting assembly, reset unit, drive assembly, fixed component and two groups of symmetrical protection unit;Depend on vacuum chuck pick and place plate action trigger pure mechanical linkage, combined spring buffer limiting locking, ratchet scroll spring one-way force storage structure, realize photovoltaic panel fence protection, prevent associated displacement, negative pressure failure anti-falling, automatic alignment function of adjusting joint.This application is pure mechanical structure, environmental adaptability is strong, can be adapted to different specifications photovoltaic panel, reduce plate knock damage, improve laying precision and construction safety, suitable for large-scale photovoltaic power station laying operation.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module construction equipment technology, and in particular to an automatic photovoltaic panel laying robot. Background Technology

[0002] Photovoltaic power generation, as an important component of the clean energy system, is a key support for promoting the transformation and upgrading of the energy structure and achieving sustainable ecological development. In recent years, the construction of photovoltaic power plants in China has shown a trend towards large-scale and centralized development, and the industry has increasingly stringent requirements for the construction efficiency, alignment accuracy, and standardized construction quality of photovoltaic modules. Traditional manual laying methods are inefficient, costly, and pose significant on-site safety risks. Furthermore, manual alignment relies on construction experience, resulting in poor consistency and low standardization, making it difficult to meet the large-scale, high-standard construction needs of large-scale photovoltaic bases. Therefore, automated photovoltaic laying robots have gradually replaced manual operations and have become the mainstream construction equipment for photovoltaic power plants. Currently, existing automated photovoltaic (PV) laying robots are widely used in engineering sites, effectively overcoming the industry pain points of low efficiency and insufficient safety of manual laying, and significantly improving the automation level of PV construction. However, under large-scale continuous laying conditions, existing equipment still has significant technical shortcomings. Conventional laying robots have a relatively simple operating mode, and it is difficult to accurately control the gap between modules during continuous laying, which easily leads to problems such as uneven panel gaps and misaligned layout, resulting in poor overall construction regularity of the PV array. At the same time, the equipment generally lacks an effective buffer protection mechanism, and PV modules are prone to rigid collisions during laying and alignment, causing irreversible damage such as glass breakage and microcracks in the cells, shortening the service life of the modules. In addition, existing equipment cannot meet the multiple performance requirements of construction efficiency, alignment accuracy, and module protection, and its overall operational adaptability has obvious shortcomings. In summary, while existing automated photovoltaic (PV) laying robots can achieve basic automated laying operations, they still have many shortcomings in terms of refined construction, component safety protection, and batch operation stability, and cannot meet the current construction needs of high-quality, standardized, and large-scale PV projects. In order to address the deficiencies of the existing technologies, this invention proposes an automated photovoltaic panel laying robot. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of poor laying regularity, easy damage to components, and insufficient overall adaptability in the existing technology, and to propose an automatic photovoltaic panel laying robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An automated photovoltaic panel laying robot includes a robot body, a robotic arm, and a vacuum suction cup; the robotic arm is fixedly mounted on the robot body, and the vacuum suction cup is fixedly assembled on the gripping end of the robotic arm; characterized in that the vacuum suction cup is equipped with a protective mechanism, the protective mechanism including a first protective unit and a second protective unit arranged symmetrically; the first protective unit and the second protective unit both swing left and right relative to the vacuum suction cup, and the first protective unit and the second protective unit are mechanically linked with the vacuum suction cup to form a two-sided enclosure for the photovoltaic panel.

[0005] By integrating the protective mechanism onto the vacuum suction cup, when adsorbing photovoltaic panels, the first and second protective units, symmetrically arranged on both sides of the vacuum suction cup, automatically swing synchronously to both sides of the photovoltaic panel through mechanical linkage with the vacuum suction cup, forming a physical constraint to prevent the panel from sliding and falling off horizontally; the double-sided symmetrical structure ensures uniform limiting force, prevents the panel from tilting and improves the flatness of the installation; and the whole is integrated onto the suction cup without interfering with the robot arm's movement, the pure mechanical transmission has no electrical delay, strong environmental adaptability and low failure rate.

[0006] Furthermore, both the first protective unit and the second protective unit include a gear and limiting blocks disposed on both sides of the gear; the limiting blocks are fixedly connected to the gear, and each limiting block has a circular base, the outer edge of which extends to form an inclined buffer surface.

[0007] Furthermore, the protective mechanism also includes a lifting component, a reset unit, and a drive component; the lifting component is symmetrically arranged at both ends of the vacuum suction cup, the reset unit is assembled between the lifting component and the vacuum suction cup, and the drive component is fixedly assembled at the end of the lifting component away from the vacuum suction cup, and the drive component is respectively connected to the first protective unit and the second protective unit.

[0008] Furthermore, the lifting assembly includes a connecting plate, a pressing plate, and a connecting rod; the pressing plate is located between two sets of vacuum nozzles on the vacuum suction cup, and the connecting plate is arranged on the side where the vacuum suction cup connects to the robot arm; a fixing post is provided between the pressing plate and the connecting plate, the fixing post penetrates the vacuum suction cup, the pressing plate and the connecting plate are connected as one unit through the fixing post, and slide relative to the vacuum suction cup in the vertical direction; the connecting rod is fixedly installed on the side of the connecting plate away from the vacuum suction cup, and the connecting rod is fixedly connected to the drive assembly.

[0009] Furthermore, the drive assembly includes a drive rod and a toothed plate. The drive rod is fixed vertically to the end of the connecting rod away from the vacuum suction cup. The toothed plate is assembled at the bottom of the drive rod and meshes with the gear.

[0010] Furthermore, the drive assembly also includes a limiting rod and a sliding rod; the drive rod has a sliding groove, and the toothed plate is slidably assembled in the sliding groove via the sliding rod; the toothed plate has a mounting hole, and the limiting rod slides through the mounting hole; the inner wall of the sliding groove has a limiting hole, and the end of the limiting rod can extend into or out of the limiting hole; a first spring is sleeved on the limiting rod, and the two ends of the first spring abut against the toothed plate and the end of the limiting rod, respectively; the sliding rod is fixedly assembled on the top of the toothed plate, and a second spring is sleeved on the outside of the sliding rod, with the two ends of the second spring abutting against the drive rod and the toothed plate, respectively.

[0011] The locking and unlocking of the gear plate and the drive rod are achieved by the limit rod engaging or disengaging from the limit hole: when locked, the gear plate and the gear mesh precisely to ensure that the protective units on both sides swing synchronously and smoothly; when obstructed, the limit rod disengages from the limit hole, the gear plate slides along the slide groove and compresses the second spring to form a flexible buffer, preventing the mechanism from jamming and being damaged; after resetting, the limit rod re-engages into the limit hole to lock the protective unit in the enclosure posture, so that the limit block can still support the photovoltaic panel when the negative pressure fails, which has the functions of transmission rigidity, overload protection and failure fall prevention.

[0012] Furthermore, the lifting assembly also includes two mounting seats symmetrically arranged at both ends of the vacuum suction cup; each mounting seat is slidably fitted with a fixing component, the driving component slides in cooperation with the fixing component in the vertical direction, and the first protective unit and the second protective unit are respectively rotatably fitted to the bottom end of the corresponding fixing component.

[0013] Furthermore, the fixing assembly includes two fixing plates, an adjustment unit, and a blocking rod; both fixing plates are provided with grooves, the limiting rod is disposed in the groove and slides in the vertical direction, and the end face of the limiting rod abuts against the inner wall of the groove; the adjustment unit is assembled between the two fixing plates to adjust the position of the fixing assembly on the mounting base, and the blocking rod is fixedly assembled on the outside of the fixing plates.

[0014] Furthermore, the first protective unit is also provided with an abutment block; a spiral spring is assembled inside the abutment block, and a ratchet cap is fixedly connected to the other end of the spiral spring; a ratchet is fixedly installed on the outside of the limiting block, and the blocking rod abuts against the abutment block.

[0015] Furthermore, the ratchet cap is fitted onto the outside of the ratchet, and the ratchet cap and the ratchet form a one-way ratchet meshing structure; when the ratchet cap rotates in the opposite direction to the ratchet, it engages and locks, and the spiral spring twists.

[0016] Compared with the prior art, the present invention provides an automatic photovoltaic panel laying robot, which has the following beneficial effects.

[0017] 1. This invention integrates the protective mechanism 3 onto the vacuum suction cup 4. Utilizing the vertical displacement generated when the vacuum suction cup 4 adsorbs, lifts, and lowers the photovoltaic panel 11, it directly triggers the coordinated operation of the lifting component 31, the driving component 36, the first protective unit 34, and the second protective unit 35. This ensures real-time matching between the protective actions and the panel placement / removal actions, eliminating action delays and supporting long-term continuous batch laying operations. Simultaneously, the purely mechanical structure is dust-resistant and temperature-resistant, adapting to the complex outdoor conditions of photovoltaic power stations. It is less prone to circuit failures and air leaks, resulting in a low equipment failure rate and lower maintenance costs. Furthermore, the integrated arrangement of the protective mechanism does not occupy additional working space and does not interfere with the walking and posture adjustment movements of the robot body 1 and the robotic arm 2.

[0018] 2. In this invention, by relying on the height difference between the extrusion plate 312 and the vacuum nozzle, when the vacuum suction cup 4 moves downward, the extrusion plate 312 will first contact the photovoltaic panel 11, and use the reaction force of the panel to push the whole thing up, accurately triggering the subsequent action of the entire set of protective mechanisms, effectively avoiding the situation of the mechanism spinning idly and the linkage failing, and the action logic is rigorous; the through-type rigid connection structure of the fixed column makes the extrusion plate 312 and the connecting plate 311 form an integral force-bearing component, with high transmission rigidity, and it is not easy to loosen or deform in high-frequency reciprocating sliding operations, effectively extending the overall service life of the equipment.

[0019] 3. In this invention, the limiting rod 363 engages with the limiting hole 367, keeping the toothed plate 362 and the drive rod 361 locked. Both move vertically synchronously, transmitting power through the meshing of the toothed plate 362 and the gear 343. Linear motion is smoothly converted into rotational motion, resulting in high transmission precision and ensuring uniform swing angles of the limiting blocks 341 on both sides. When the limiting block 341 stops rotating due to obstruction by the photovoltaic panel below, the limiting rod 363 disengages from the limiting hole 367, and the toothed plate 362 slides relative to it along the slide groove 366. The second spring is stretched to provide flexible compensation, effectively releasing motion resistance and preventing the mechanism from jamming or parts from bending and being damaged, thus improving the equipment's operational tolerance. After the photovoltaic panel 11 is fully lifted, the second spring and the first spring rebound sequentially, and the limiting rod 363 engages with the limiting hole 367 again, re-locking the relative position of the toothed plate 362 and the drive rod 361, thus fixing the protective posture of the limiting block 341. Even if the vacuum suction cup 4 fails due to negative pressure, the limiting block 341 can still stably support the photovoltaic panel 11, structurally eliminating the risk of the panel falling from a height and greatly improving construction safety.

[0020] 4. In this invention, the adjusting unit 322 can drive the fixing plate 321 to slide on the mounting base 314, adjust the overall distance between the two sets of fixing components 32, and thus adapt to photovoltaic panels 11 of different widths and specifications, realize one machine for multiple uses, and complete the laying of various materials without changing the equipment, thereby reducing equipment procurement costs.

[0021] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the robotic arm structure of the present invention.

[0024] Figure 3 This is a schematic diagram of the first state of the vacuum suction cup and protective mechanism of the present invention.

[0025] Figure 4 This is a schematic diagram of the second state of the vacuum suction cup and protective mechanism of the present invention.

[0026] Figure 5 This is a schematic diagram of the protective mechanism of the present invention.

[0027] Figure 6 This is an exploded view of the protective mechanism of the present invention.

[0028] Figure 7 This is a cross-sectional structural diagram of the fixing component of the present invention.

[0029] Figure 8 This is an exploded view of the fixing component and the first protective unit of the present invention.

[0030] Figure 9 This is an assembly diagram of the fixing component and the driving component of the present invention.

[0031] Figure 10 For the present invention Figure 9 Enlarged view of the structure at point A in the middle.

[0032] Figure 11 This is an exploded view of the driving component of the present invention.

[0033] Figure 12 This is an exploded view of the first protective unit of the present invention.

[0034] Figure 13 This is a diagram showing the connection relationship of the sliding rod of the present invention.

[0035] In the picture: 1. Robot body; 11. Photovoltaic panel; 2. Robotic arm; 3. Protective mechanism; 31. Lifting assembly; 311. Connecting plate; 312. Extrusion plate; 313. Connecting rod; 314. Mounting base; 32. Fixing assembly; 321. Fixing plate; 322. Adjustment unit; 323. Groove; 324. Obstruction rod; 33. Reset unit; 34. First protective unit; 341. Limiting block; 342. Abutting block; 343. Gear; 344. Ratchet; 345. Ratchet cap; 346. Spiral spring; 35. Second protective unit; 36. Drive assembly; 361. Drive rod; 362. Toothed plate; 363. Limiting rod; 364. Mounting hole; 365. Sliding rod; 366. Slide groove; 367. Limiting hole; 4. Vacuum suction cup. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0037] The entire working process of this invention adopts a purely mechanical linkage mechanism. The relative displacement generated when the photovoltaic panel is adsorbed by the vacuum suction cup triggers the linkage swing of the entire protective mechanism. Combined with spring floating compensation, limit locking structure and ratchet spiral spring one-way power storage structure, it realizes anti-slip protection, laying alignment guidance and placement anti-slip bonding during the photovoltaic panel grasping process.

[0038] Reference Figure 1-2 A photovoltaic panel automatic laying robot includes a robot body 1, a robotic arm 2, and a vacuum suction cup 4. The robot body 1 serves as a walking and supporting base, and can move and position itself along the photovoltaic array layout path. The robotic arm 2 is fixedly mounted on the upper part of the robot body 1 and is a multi-axis linkage robotic arm with lifting, translation, and rotation functions. The vacuum suction cup 4 is fixedly assembled at the end gripping end of the robotic arm 2 and is the core component for adsorbing and picking up photovoltaic panels 11.

[0039] The protective mechanism 3 is fully assembled on the vacuum suction cup 4, and the two form a linkage structure. The protective mechanism 3 moves synchronously with the vacuum suction cup 4, and completes the limiting, buffering and guiding actions in the whole process of grabbing, transferring and lowering the photovoltaic panel 11, solving the problems of easy collision, skewed arrangement and accidental fall of the panels in traditional equipment.

[0040] Reference Figures 3-6 The protective mechanism 3 is symmetrically arranged on both sides of the vacuum suction cup 4, and is composed of lifting component 31, fixing component 32, reset unit 33, first protective unit 34, second protective unit 35, and driving component 36.

[0041] The lifting assembly 31 is symmetrically installed on both sides of the vacuum suction cup 4, and the reset unit 33 is assembled between the lifting assembly 31 and the vacuum suction cup 4; the fixing assembly 32 is slidably mounted on the lifting assembly 31, and the driving assembly 36 is slidably engaged with the fixing assembly 32 in the vertical direction; the first protection unit 34 and the second protection unit 35 are respectively rotatably installed at the bottom of the fixing assemblies 32 on both sides, and the driving assembly 36 is connected to the two sets of protection units in a transmission manner.

[0042] When the vacuum suction cup 4 presses down to adsorb the photovoltaic panel 11, the photovoltaic panel 11 pushes the lifting component 31 in the opposite direction, causing it to slide upward relative to the vacuum suction cup 4 and compress the reset unit 33. The lifting component 31 drives the driving component 36 to move upward synchronously, and the driving component 36 further drives the first protection unit 34 and the second protection unit 35 to swing inward, forming side barriers around the photovoltaic panel 11. When the vacuum suction cup 4 is lifted and detached from the photovoltaic panel 11, the reset unit 33 elastically resets, pushing the lifting component 31 downward and driving the two sets of protection units to flip outward and reset.

[0043] The symmetrical layout on both sides ensures that the left and right movements are synchronized, avoiding the deviation of the photovoltaic panel 11 under force on one side, and ensuring the flatness of the laying arrangement from a structural point of view; relying on contact force to trigger linkage, the action response and material picking action are completely synchronized, without delay or asynchrony issues, and are suitable for continuous batch laying operations.

[0044] Reference Figure 3 , Figure 6 The lifting assembly 31 includes a connecting plate 311, a pressing plate 312, a connecting rod 313, and a mounting base 314. The mounting base 314 is fixed to both ends of the vacuum suction cup 4; the pressing plate 312 is located between the two sets of suction nozzles of the vacuum suction cup 4, and the connecting plate 311 is located on the connection side between the vacuum suction cup 4 and the robot arm 2; the pressing plate 312 and the connecting plate 311 are fixedly connected as a whole by a fixing post that passes through the vacuum suction cup 4, and can slide in the vertical direction; the connecting rod 313 is fixed on the connecting plate 311, and the other end is connected to the drive assembly 36; the vertical height of the pressing plate 312 is lower than the suction nozzle of the vacuum suction cup 4, and the mounting base 314 is provided with a sliding groove and multiple positioning holes for positioning. The drive assembly 36 passes through the sliding groove and is fixedly connected to the first protection unit 34 and the second protection unit 35.

[0045] When the vacuum suction cup 4 moves downward, the extrusion plate 312 first contacts the photovoltaic panel 11. The supporting force of the panel pushes the extrusion plate 312 and the connecting plate 311 to slide upward as a whole, transmitting the vertical force to the drive component 36. When the reset unit 33 rebounds, it drives the entire component to reset downward.

[0046] By utilizing the height difference between the extrusion plate 312 and the suction nozzle, the "contact first, then suction" action logic is realized, which accurately triggers the subsequent linkage mechanism and avoids the mechanism from idling. The through-type connection of the fixed column makes the extrusion plate 312 and the connecting plate 311 a rigid whole, with high transmission rigidity. It is not easy to loosen or deform during long-term reciprocating sliding, thus extending the service life of the equipment.

[0047] Reference Figure 3 , Figure 5 The reset unit 33 is a compression spring, which is respectively assembled between each lifting component 31 and the vacuum suction cup 4. The two ends of the spring abut against the vacuum suction cup 4 and the connecting plate 311 respectively, and the axis is consistent with the sliding direction of the lifting component.

[0048] When the lifting component 31 slides upward, it compresses the reset unit 33, and the spring stores elastic potential energy. When the pressing plate 312 loses the support of the photovoltaic panel 11, the spring releases the potential energy and pushes the lifting component 31 downward to complete the reset.

[0049] Reference Figure 9 , Figure 10 , Figure 11 , Figure 13 The drive assembly 36 consists of a drive rod 361, a toothed plate 362, a limiting rod 363, and a sliding rod 365. The drive rod 361 is vertically fixed to the end of the connecting rod 313, and the rod body has a sliding groove 366. The toothed plate 362 is slidably installed in the sliding groove 366 through the sliding rod 365. The limiting rod 363 passes through the mounting hole 364 of the toothed plate 362 and can extend into / out of the limiting hole 367 on the inner wall of the sliding groove 366. The limiting rod 363 is divided into a rod body and a rod shaft. A first spring is sleeved on the rod body. One end of the first spring is fixedly installed at the end of the rod shaft, and the other end is fixedly installed at the end of the rod body. A second spring is sleeved on the outside of the sliding rod 365. The toothed plate 362 meshes with the gear 343 of the protective unit for transmission.

[0050] In the initial stage of the upward movement of the drive rod 361, the limiting rod 363 engages with the limiting hole 367, and the gear plate and the drive rod lock synchronously, converting the linear motion into gear rotational motion; after the swing of the protective unit is obstructed, the limiting rod 363 disengages from the limiting hole 367, the rod shaft compresses the first spring, causing the sliding rod 365 to retract as a whole, the lock is released, the gear plate 363 slides relative to the drive rod, and the second spring stretches to form flexible compensation; after the photovoltaic panel 11 is lifted, the second and first springs rebound in sequence, and the limiting rod 363 engages with the limiting hole 367 again, re-locking the structure.

[0051] During normal transmission, it is rigidly locked, ensuring high transmission accuracy and uniform swing angle of the protective unit. When a component is obstructed, it automatically unlocks and slides, effectively avoiding problems such as mechanism jamming and component bending damage. The first and second springs respectively realize limit reset and floating buffer, so even if there is a slight height deviation in the placement of the photovoltaic panel 11, the mechanism can adaptively adjust, improving the fault tolerance rate of operation. After the photovoltaic panel is picked up, it is relocked. Even if the vacuum suction cup fails unexpectedly, the protective unit can still stably support the photovoltaic panel 11, completely eliminating the safety hazard of the panel falling from a height.

[0052] Reference Figures 7-9 The fixing assembly 32 includes two fixing plates 321, an adjusting unit 322, and a blocking rod 324. The fixing plates 321 are slidably mounted on the mounting base 314, and the adjusting unit 322 is provided between the two fixing plates. A groove 323 is formed on the inner side of the fixing plate 321. The groove 323 is a trapezoidal groove, and the limiting rod 363 slides vertically along the groove 323. The blocking rod 324 is fixed on the outer side of the fixing plate 321 and abuts against the contact block of the protective unit. The adjusting unit 322 is composed of two L-shaped plates. A positioning rod is fixedly connected to each of the two L-shaped plates, and a spring is fixedly connected between the two L-shaped plates. The positioning rod is slidably connected to the positioning hole on the mounting base 314.

[0053] Squeezing the two L-shaped plates causes the positioning rod to disengage from the positioning hole on the mounting base 314, causing the adjusting unit 322 to push the fixing plate 321 to slide on the mounting base 314, and then slide the positioning rod back into the positioning hole to complete the fixing, thereby changing the distance between the two sets of fixing components 32; during operation, the groove 323 plays a motion guiding role for the limiting rod 363, and prevents the rod 324 from restricting the free rotation of the contact block 342, thus completing the spring storage action.

[0054] The spacing of the fixing plate 321 can be adjusted by the adjustment unit 322 to accommodate photovoltaic panels 11 of different lengths and specifications. One device is compatible with multiple types of panels, expanding the applicability of the device. The inner wall of the groove fits against the outer wall of the limit rod, constraining the movement trajectory of the limit rod and preventing it from shifting to the left or right, ensuring that the locking and unlocking actions are accurate and reliable. The contact block is fixedly limited, providing a basis for the subsequent ratchet and spiral spring 346 to store force, ensuring that the storage action is stable and controllable.

[0055] Reference Figure 5 , Figure 8 , Figure 12 , Figure 13The two sets of protective units have identical structures, consisting of a gear 343, a limiting block 341, an abutment block 342, a ratchet 344, a ratchet cap 345, and a spiral spring 346. The gear 343 is rotatably mounted on the bottom of the fixed assembly 32. The limiting blocks 341 are fixedly connected to both sides of the gear 343, and the ratchet 344 is fixedly connected to the outside of the limiting blocks 341. The abutment block 342 has a built-in spiral spring 346, which is connected to the ratchet cap 345. The ratchet cap 345 is fitted over the ratchet 344, forming a one-way transmission structure. The outer edge of the limiting block 341 is provided with an inclined buffer surface, and the buffer slope is a flexible buffer pad layer.

[0056] The toothed plate 362 drives the gear 343 to rotate in the forward direction, and the limiting block 341 swings to block the photovoltaic panel 11. At this time, the ratchet 344 rotates freely and the spiral spring 346 does not store force. When the gear 343 rotates in the reverse direction, the ratchet 344 engages and locks with the ratchet cap 345, driving the spiral spring 346 to twist and store energy. After the vacuum suction cup 4 is separated from the plate, the spiral spring 346 releases potential energy and pushes the contact block 342 to push the photovoltaic panel 11 laterally, which, together with the inclined buffer surface, completes the guidance and correction.

[0057] The inclined buffer surface is a flexible contact surface that forms a buffer when photovoltaic panels come into contact, avoiding rigid impacts between panels or between panels and equipment. This effectively prevents photovoltaic glass from shattering and solar cells from developing microcracks, extending the lifespan of the photovoltaic panels. At the same time, the inclined surface has a guiding function, assisting in the sliding and alignment of the panels. Utilizing unidirectional transmission characteristics, it achieves a step-by-step action of "swinging the enclosure without accumulating force, flipping and resetting to accumulate force, and releasing and correcting laterally." It can complete the lateral pushing and correction of photovoltaic panels without additional power, automatically correcting panel offset, uniformly controlling the gap between panels, and significantly improving the overall regularity of the photovoltaic array layout. The left and right limit blocks act on both sides of the photovoltaic panels simultaneously, preventing the panels below from being dragged along during the gripping process, solving the problem of panel displacement and chaotic layout during continuous installation.

[0058] Working principle: In this invention, the fixing component 32 is slid on the mounting base 314 by the adjustment unit 322 in advance, and the fixing component 32 is adjusted to the installation position that matches the size of the photovoltaic panel 11 to be operated, thus completing the initial adjustment of the mechanism.

[0059] The robot body 1 transports the photovoltaic panel 11 to the installation area. The robotic arm 2, carrying the vacuum suction cup 4 and the overall protective mechanism 3, moves to directly above the photovoltaic panel 11. Then, the robotic arm 2 drives the vacuum suction cup 4 to move down and adhere to the surface of the photovoltaic panel 11. The vacuum suction cup 4 activates negative pressure to complete the adsorption and fixation of the photovoltaic panel 11.

[0060] The vertical position of the extrusion plate 312 is lower than the suction nozzle position of the vacuum suction cup 4. Therefore, during the downward adsorption process of the vacuum suction cup 4, the extrusion plate 312 first contacts the photovoltaic panel 11 and is subjected to the top force of the panel, causing the extrusion plate 312 to drive the connecting plate 311 to slide upward relative to the vacuum suction cup 4 through the fixed column, and simultaneously compress the reset unit 33.

[0061] The connecting rod 313 moves upward synchronously with the connecting plate 311. The connecting rod 313 drives the toothed plate 362 to move upward as a whole through the drive rod 361. Through the meshing transmission of the toothed plate 362 and the gear 343, the limiting blocks 341 on the first protection unit 34 and the second protection unit 35 are driven to swing and retract toward the photovoltaic panel 11.

[0062] In the initial stage of the upward movement of the drive rod 361, the limiting rod 363 is limited and constrained by the groove 323 of the fixed plate 321, and its end is inserted into the limiting hole 367 of the drive rod 361, thereby achieving relative locking between the toothed plate 362 and the drive rod 361. The toothed plate 362 moves upward synchronously and stably with the drive rod 361, and the limiting block 341 swings smoothly through the transmission of the gear 343.

[0063] After the limiting block 341 swings to a preset angle and contacts the adjacent photovoltaic panel 11 below, the limiting block 341 stops rotating due to the obstruction of the panel. The limiting rod 363 moves with the driving rod 361 to the bottom of the groove 323. The limiting rod 363 disengages from the limiting hole 367, and the driving rod 361 and the toothed plate 362 are unlocked and slide relative to each other. Because the groove 323 is a trapezoidal structure, the limiting rod 363 is misaligned with the limiting hole 367 after moving upwards and cannot be locked in again. This, combined with the first spring, enables the rod to self-adaptively retract and avoid collisions.

[0064] During the relative sliding process, the second spring on the sliding rod 365 is stretched and stores energy, so that the inclined buffer surface of the limiting block 341 always abuts against and adheres to the photovoltaic panel 11 below; the flexible layer set on the inclined surface of the limiting block 341 can effectively prevent the robot arm 2 from causing the lower plate to move when it grabs the photovoltaic panel 11, thus achieving joint protection; at the same time, the groove 323 is a trapezoidal structure. After the limiting rod 363 moves upward, the limiting rod 363 and the limiting hole 367 are misaligned and cannot be inserted into the limiting hole 367. The end of the limiting rod 363 is squeezed and compresses the first spring, thus achieving adaptive retraction and avoidance of the rod.

[0065] After the vacuum suction cup 4 completely adsorbs the photovoltaic panel 11, the robotic arm 2 lifts and picks up the photovoltaic panel 11, causing it to be removed from its original position and transferred to the installation station. After the photovoltaic panel 11 is lifted and removed from the support, the second spring releases its elastic potential energy, pulling the sliding rod 365 and the toothed plate 362 to move upward relative to each other, causing the limiting block 341 to continue swinging towards the photovoltaic panel 11 until the inclined surface of the limiting block 341 stably contacts the bottom of the photovoltaic panel 11. The limiting rod 363 is re-aligned with the limiting hole 367, and the first spring pushes the end of the limiting rod 363 into the limiting hole 367, locking the relative position of the toothed plate 362 and the driving rod 361 again, fixing the protective posture of the limiting block 341. This ensures that even if the vacuum suction cup 4 fails due to negative pressure, the limiting block 341 can still stably support and protect the photovoltaic panel 11, eliminating the risk of the panel falling.

[0066] During the process of the limiting block 341 retracting and swinging towards the inside of the photovoltaic panel 11, the abutting block 342 on the first protective unit 34 rotates synchronously with the structure and abuts against the obstruction rod 324 on the outside of the fixed plate 321. The ratchet 344 rotates synchronously with the limiting block 341, while the ratchet cap 345 and the abutting block 342 remain stationary. Due to the unidirectional meshing transmission characteristics of the ratchet 344 and the ratchet cap 345, the rotation direction is in an idle state, the ratchet structure does not transmit torque, and the spiral spring 346 remains in a state of no force and no energy storage.

[0067] After the photovoltaic panel 11 is moved to the installation position, the robot arm 2 puts down the panel, the vacuum suction cup 4 releases the negative pressure adsorption, and places the photovoltaic panel 11 on the mounting frame; then the robot arm 2 drives the vacuum suction cup 4 to move upward and reset, the reset unit 33 is released elastically, pushing the connecting plate 311 and the pressing plate 312 to move downward and reset to fit the surface of the panel, the connecting rod 313 moves downward with the connecting plate 311, and drives the drive rod 361 to move downward synchronously, the drive rod 361 pushes the toothed plate 362 to slide in the opposite direction, and drives the limiting block 341 to flip and open away from the outside of the photovoltaic panel 11 through the gear 343.

[0068] When the photovoltaic panel is installed, the first protective unit 34 is located on the side diagonally above the photovoltaic panel. As the limiting block 341 flips outward and opens, the ratchet 344 fixed on the outside of the limiting block 341 rotates synchronously with the structure, causing the ratchet cap 345 to rotate in the opposite direction relative to the contact block 342. This rotation direction is the transmission and locking direction of the ratchet 344 structure, which can effectively drive the spiral spring 346 to twist and store energy. At this time, the photovoltaic panel 11 is still above the limiting block 341, and the contact block 342 abuts against the side of the photovoltaic panel 11. It cannot rotate freely due to the limitation of the plate material, ensuring that the spiral spring 346 stores energy stably.

[0069] As the vacuum suction cup 4 continues to rise, the pressing disc 312 eventually detaches from the surface of the photovoltaic panel 11, causing the panel to slide under its own weight. The stored energy in the spiral spring 346 gradually releases its elastic potential energy, driving the contact block 342 to laterally push against the photovoltaic panel 11, ensuring that the other end of the photovoltaic panel 11 remains in contact with the inclined buffer surface of the limiting block 341 as it slides on the mounting frame. Simultaneously, the outward-folding limiting blocks 341 on both sides form a trumpet-shaped guide opening, whose inclined buffer surface guides and buffers the sliding photovoltaic panel 11, reducing the gap between the panels and preventing collisions and damage. Ultimately, this achieves automated, stable installation and precise alignment of the photovoltaic panel. The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A photovoltaic panel automatic laying robot, comprising a robot body (1), a robotic arm (2), and a vacuum suction cup (4); wherein the robotic arm (2) is fixedly mounted on the robot body (1), and the vacuum suction cup (4) is fixedly assembled on the gripping end of the robotic arm (2); characterized in that, The vacuum suction cup (4) is equipped with a protective mechanism (3); the protective mechanism (3) includes a first protective unit (34) and a second protective unit (35) arranged symmetrically; the first protective unit (34) and the second protective unit (35) both swing left and right relative to the vacuum suction cup (4), and the first protective unit (34) and the second protective unit (35) are mechanically linked with the vacuum suction cup (4) to form a two-sided enclosure for the photovoltaic panel (11).

2. The photovoltaic panel automatic laying robot according to claim 1, characterized in that, The first protective unit (34) and the second protective unit (35) both include a gear (343) and a limiting block (341) disposed on both sides of the gear (343); the limiting block (341) is fixedly connected to the gear (343), and each limiting block (341) has a circular base, the outer edge of the circular base extending to form an inclined buffer surface.

3. The photovoltaic panel automatic laying robot according to claim 2, characterized in that, The protective mechanism (3) further includes a lifting component (31), a reset unit (33), and a drive component (36); the lifting component (31) is symmetrically arranged at both ends of the vacuum suction cup (4), the reset unit (33) is assembled between the lifting component (31) and the vacuum suction cup (4), and the drive component (36) is fixedly assembled at one end of the lifting component (31) away from the vacuum suction cup (4). The drive component (36) is connected to the first protective unit (34) and the second protective unit (35) respectively.

4. The photovoltaic panel automatic laying robot according to claim 3, characterized in that, The lifting assembly (31) includes a connecting plate (311), a pressing plate (312), and a connecting rod (313). The pressing plate (312) is located between two sets of vacuum nozzles on the vacuum suction cup (4). The connecting plate (311) is arranged on the side where the vacuum suction cup (4) connects to the robot (2). A fixing column is provided between the pressing plate (312) and the connecting plate (311). The fixing column passes through the vacuum suction cup (4). The pressing plate (312) and the connecting plate (311) are connected as one unit through the fixing column and slide relative to the vacuum suction cup (4) in the vertical direction. The connecting rod (313) is fixedly installed on the side of the connecting plate (311) away from the vacuum suction cup (4). The connecting rod (313) is fixedly connected to the drive assembly (36).

5. The photovoltaic panel automatic laying robot according to claim 4, characterized in that, The drive assembly (36) includes a drive rod (361) and a toothed plate (362). The drive rod (361) is fixed vertically to the end of the connecting rod (313) away from the vacuum suction cup (4). The toothed plate (362) is mounted on the bottom of the drive rod (361) and meshes with the gear (343).

6. The photovoltaic panel automatic laying robot according to claim 5, characterized in that, The drive assembly (36) further includes a limiting rod (363) and a sliding rod (365); the drive rod (361) has a groove (366), and the toothed plate (362) is slidably mounted in the groove (366) via the sliding rod (365); the toothed plate (362) has a mounting hole (364), and the limiting rod (363) slides through the mounting hole (364); the inner wall of the groove (366) has a limiting hole (367), and the end of the limiting rod (363) can extend into or out of the limiting hole (367); a first spring is sleeved on the limiting rod (363), and the first spring is used to limit the rod (363) to retract and reset; the sliding rod (365) is fixedly mounted on the top of the toothed plate (362), and a second spring is sleeved on the outside of the sliding rod (365), and the two ends of the second spring abut against the drive rod (361) and the toothed plate (362) respectively.

7. The photovoltaic panel automatic laying robot according to claim 6, characterized in that, The lifting assembly (31) also includes two mounting seats (314) symmetrically arranged at both ends of the vacuum suction cup (4); each mounting seat (314) is slidably fitted with a fixing assembly (32), the driving assembly (36) slides in cooperation with the fixing assembly (32) in the vertical direction, and the first protective unit (34) and the second protective unit (35) are respectively rotatably fitted at the bottom end of the corresponding fixing assembly (32).

8. The photovoltaic panel automatic laying robot according to claim 7, characterized in that, The fixing component (32) includes two fixing plates (321), an adjustment unit (322), and a blocking rod (324); both fixing plates (321) are provided with grooves (323), the limiting rod (363) is provided in the grooves (323) and slides in the vertical direction, and the end face of the limiting rod (363) abuts against the inner wall of the groove (323); the adjustment unit (322) is assembled between the two fixing plates (321) to adjust the position of the fixing component (32) on the mounting base (314), and the blocking rod (324) is fixedly assembled on the outside of the fixing plate (321).

9. The photovoltaic panel automatic laying robot according to claim 8, characterized in that, The first protective unit (34) is also provided with an abutment block (342); a spiral spring (346) is installed inside the abutment block (342), and a ratchet cap (345) is fixedly connected to the other end of the spiral spring (346); a ratchet (344) is fixedly installed on the outside of the limiting block (341), and the blocking rod (324) abuts against the abutment block (342).

10. The photovoltaic panel automatic laying robot according to claim 9, characterized in that, The ratchet cap (345) is fitted onto the outside of the ratchet (344), and the ratchet cap (345) and the ratchet (344) form a one-way ratchet meshing structure; when the ratchet cap (345) rotates in the opposite direction to the ratchet (344), it engages and locks, and the spiral spring (346) twists.

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