A confined space photovoltaic module fastening method and apparatus

Abstract

The application belongs to the field of photovoltaic technology, and particularly relates to a limited space photovoltaic module fastening method and equipment, which comprises the following steps: controlling the extension of a nut clamp jaw, so that the front end of the nut clamp jaw coincides with the sleeve in the z-axis direction, that is, the bolt and the nut clamped by the module fastening tool coincide in the z-axis direction; according to the coordinates of the module fastening tool, the distance between the module fastening tool and the frame of the photovoltaic module, and the fixed height difference between the frame of the photovoltaic module and the bolt hole, the three-dimensional coordinates of the bolt hole in the coordinate system of the mechanical arm are converted, and the optimal moving track of the bolt is calculated. The bolt fastening method, the bolt fastening equipment and the moving track optimization of the bolt designed in the application realize the installation and fastening automation of the bolt and the nut in the narrow limited space between the photovoltaic module and the photovoltaic purlin, greatly reduce the material loss through the automatic standardized operation, greatly reduce the labor quantity required for photovoltaic installation, and reduce the engineering construction risk.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic technology, and in particular relates to a method and equipment for fastening photovoltaic modules in confined spaces. Background Technology

[0002] Photovoltaic power generation directly converts solar radiation energy into electrical energy, making it a clean and efficient energy source. However, the harsh ecological environments of deserts, Gobi, and wastelands necessitate a large workforce for outdoor construction of photovoltaic power plants. This involves working in harsh conditions such as high temperatures, sandstorms, and hail, resulting in challenges including frequent high-altitude work, low installation efficiency, difficulty in quality control, and disorganized on-site materials. Therefore, there is an urgent need to improve the mechanization and automation of photovoltaic construction.

[0003] Tightening the bolts between photovoltaic purlins and photovoltaic modules is a crucial step in photovoltaic installation. Current technology relies on manual installation, with workers performing the bolt tightening in open-air environments. This process exposes workers to harsh conditions such as high temperatures, rain, snow, direct sunlight, working at heights, and sandstorms, posing significant threats to their health. Furthermore, manual installation on-site suffers from inconsistent tightening quality, excessive bolt and nut wear, a large workload, and difficulties in managing personnel. Therefore, there is an urgent need to mechanize and automate the module tightening process.

[0004] Due to the design of photovoltaic modules and purlins, the working space for fastening the modules is extremely limited. The installation space under the photovoltaic panel is only about 2cm, and the opening height of the C-shaped photovoltaic purlin is only about 6-8cm. The fastening tools need to complete the alignment, drilling, and fastening of bolts and nuts in an extremely limited space. At the same time, due to the influence of installation accuracy and processing accuracy, the bolt hole position is not a fixed point, and the fastening tools are difficult to adapt to the deviation of the bolt hole position.

[0005] This invention designs a method and equipment for fastening photovoltaic modules in confined spaces to solve the above problems. Summary of the Invention

[0006] To achieve the above objectives, the present invention employs the following technical solutions: A method for securing photovoltaic modules in confined spaces includes the following steps: S1: The nut is picked up by the nut clamp in the component fastening fixture, and the bolt is picked up by the power wrench in the component fastening fixture; S2: Control the extension of the nut clamping jaws so that the front end of the nut clamping jaws coincides with the sleeve in the z-axis direction, that is, the bolt and nut clamped by the component fastening fixture coincide in the z-axis direction; S3: The bolt hole recognition mechanism obtains the planar coordinates (x1, y1) of the bolt hole in the robot arm coordinate system through the bolt hole recognition algorithm. The x-axis and y-axis directions of the robot arm coordinate system are set according to the rules of the robot arm coordinate system, and the z-axis direction is the positive direction, vertically upward. S4: The multi-axis robot's motion causes the ranging sensor to be vertically aligned with the frame of the photovoltaic module. At this time, the coordinates of the module fastening fixture in the robot arm coordinate system are (x0, y0, z0). The distance between the module fastening fixture and the frame of the photovoltaic module is measured by the ranging sensor as d, and the fixed height difference between the frame of the photovoltaic module and the bolt hole is △h. The three-dimensional coordinates of the bolt hole in the robot arm coordinate system are calculated as (x1, y1, z0+d+△h). S5: The multi-axis robot moves according to the three-dimensional coordinates of the bolt hole obtained in step S4, so that the entire fastening fixture clamps the bolt and nut and aligns them with the bolt hole; S6: The lifting cylinder drives the power wrench to rise vertically, so that the bolt passes through the bolt hole and contacts the nut; at the same time, it drives the sleeve to rotate, so that the threads of the bolt and nut engage, thereby fastening the photovoltaic purlin to the photovoltaic module. S7: The nut gripper opens to release the nut, the lifting cylinder drives the power wrench to descend and release the bolt, and the multi-axis robot moves to make the entire fastening fixture leave the bolt hole area and return to the standby position. S8. Repeat steps S1 to S7 until all bolt holes on the purlin are tightened.

[0007] As a preferred embodiment, step S1 further includes: S11: The drive cylinder controls the nut gripper to open. The telescopic cylinder controls the nut gripper to extend by moving the drive cylinder. The multi-axis robot controls the tooling frame to move so that the nut gripper moves to the nut feeding mechanism and aligns with the nut to be gripped. S12: The drive cylinder controls the nut gripper to retract and clamp the nut. The multi-axis robot controls the tooling frame to move vertically upward, so that the nut held by the nut gripper is released from the nut feeding mechanism. The telescopic cylinder controls the nut gripper to retract. S13: The multi-axis robot controls the movement of the tooling frame, so that the power wrench moves to the bolt feeding mechanism and aligns with the bolt to be picked up; S14: Control the tooling frame to move vertically downwards, and at the same time start the power wrench to drive the socket to rotate and take the bolt. Then control the tooling frame to move vertically upwards, so that the power wrench carries the bolt away from the bolt feeding mechanism.

[0008] As a preferred embodiment, in step S3, if the multi-axis robot receives the bolt hole coordinates, it continues to step S4; if it receives a message that it cannot be tightened, it skips steps S4 to S6 and directly executes step S7. In steps S1 to S9, if the multi-axis robot's range of motion cannot reach the target point, the robot's seventh axis is activated, causing the multi-axis robot to move back and forth along the direction of the seventh axis, ensuring that the multi-axis robot's set actions can be executed.

[0009] As a preferred embodiment, h1 is the distance between the stud end of the bolt and the lower end face of the nut in step S2. h2 is the distance between the bottom of the sleeve and the upper end face of the bolt stud in step S2. h3 is the height of the sleeve. h4 is the height of the small flange of the purlin. h5 is the net height of the C-shaped opening of the purlin. Where h4 < h1 < lifting cylinder stroke, h2 < h5, h3 > h4.

[0010] A confined space photovoltaic module fastening device is used to perform a confined space photovoltaic module fastening method. The device includes: a module fastening fixture, a multi-axis robot, a seventh axis of the robot, a bolt hole recognition mechanism, a control cabinet and an electrical cabinet, a nut feeding mechanism, and a bolt feeding mechanism. The multi-axis robot is mounted on the seventh axis of the robot, and the bolt hole recognition mechanism, the control cabinet and electrical cabinet, the nut feeding mechanism, and the bolt feeding mechanism are distributed around the seventh axis of the robot. The component fastening fixture includes a fixture frame mounted on the output axis of a multi-axis robot. A ranging sensor is mounted on the fixture frame. A wrench module and a nut clamping module are also mounted on the fixture frame. The wrench module includes a lifting cylinder mounted on the fixture frame. A fixed frame is connected to the piston rod of the lifting cylinder. A power wrench is mounted on the fixed frame. A sleeve is provided on the power wrench. The nut clamping module includes a telescopic cylinder mounted on the fixture frame. A drive cylinder is connected to the piston rod of the telescopic cylinder. A nut gripper is mounted on the drive cylinder. The sleeve and the nut gripper coincide in the z-axis direction.

[0011] As a preferred embodiment, the nut clamp consists of two clamping rods symmetrically distributed on the drive cylinder. The ends of the clamping rods are provided with grooves, and the ends of the clamping rods coincide with the sleeve in the z-axis direction.

[0012] As a preferred embodiment, the nut feeding mechanism is a nut vibratory feeder, and a first top-feeding cylinder is installed at the discharge end of the nut feeding mechanism. The bolt feeding mechanism is a bolt vibratory feeder, and a second top-feeding cylinder is installed at the discharge end of the bolt feeding mechanism. A feeding mechanism is installed on the second top-feeding cylinder, and a sensing sensor located on the side of the feeding mechanism is installed on the bolt feeding mechanism.

[0013] As a preferred embodiment, the feeding mechanism includes a fixed base mounted on the second top-feeding cylinder, a feeding movable seat mounted on the fixed base, a U-shaped groove with an opening facing the discharge end of the bolt feeding mechanism, and a baffle located on one side of the feeding movable seat at the discharge end of the bolt feeding mechanism.

[0014] As a preferred solution, the robot control cabinet is used to control the movement of the multi-axis robot, and the electrical cabinet is used to control the start and stop of the multi-axis robot, the robot's seventh axis, the nut feeding mechanism, and the bolt feeding mechanism.

[0015] Compared with existing technologies, the advantages of this invention are: 1. The bolt fastening method, bolt fastening equipment, and bolt movement trajectory optimization designed in this invention realize the automation of bolt and nut installation and fastening in the narrow and confined space between photovoltaic modules and photovoltaic purlins. Through automated and standardized operations, material waste is greatly reduced, the amount of labor required for photovoltaic installation is significantly reduced, and the construction risks of the project are reduced.

[0016] 2. The bolt hole recognition mechanism, sensing sensor, and corresponding structure designed in this invention ensure the stability and reliability of the photovoltaic module fastening process, bolt material handling process, and module fastening process. It avoids collisions between various devices during the loading and fastening process of the module fastening fixture, reduces the probability of equipment failure, ensures stable and efficient fastening of photovoltaic module bolts, and at the same time ensures stable and reliable module fastening quality, thereby improving the construction efficiency of photovoltaic installation projects. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention.

[0018] Figure 2 This is a schematic diagram of the present invention.

[0019] Figure 3 This is a front view schematic diagram of the present invention.

[0020] Figure 4 This is a schematic diagram of the left side of the present invention.

[0021] Figure 5 This is a top view schematic diagram of the present invention.

[0022] Figure 6 This is a schematic diagram of the fastening fixture for the components of the present invention.

[0023] Figure 7 This is a schematic diagram of the nut feeding mechanism and bolt feeding mechanism of the present invention.

[0024] Figure 8 This is a schematic diagram of the fastening fixture of the present invention clamping the nut.

[0025] Figure 9This is a schematic diagram of the fastening fixture of the present invention clamping the bolts.

[0026] Figure 10 This is a schematic diagram of the fastening fixture for installing nuts and bolts in the components of this invention.

[0027] Figure 11 This is a schematic diagram of the nut clamp of the present invention.

[0028] Figure 12 This is a schematic diagram of the feeding mechanism of the present invention.

[0029] Figure 13 This is a schematic diagram of the bolts of the present invention being inserted into the feeding moving seat.

[0030] Figure 14 This is a schematic diagram of the feeding moving seat of the present invention pushing the bolt to the clamping position.

[0031] The diagram labels are as follows: 1. Component fastening fixture; 101. Fixture frame; 10101. Distance sensor; 102. Wrench module; 10201. Lifting cylinder; 10202. Fixed frame; 10203. Power wrench; 103. Nut clamping module; 10301. Telescopic cylinder; 10302. Drive cylinder; 10303. Nut gripper; 2. Multi-axis robot; 3. Robot's seventh axis; 4. Bolt hole recognition mechanism; 5. Robot control cabinet; 6. Electrical cabinet; 7. Nut feeding mechanism; 701. First top-loading cylinder; 8. Bolt feeding mechanism; 801. Second top-loading cylinder; 802. Loading mechanism; 803. Sensor; 80201. Fixed base; 80202. Loading moving seat; 80203. U-shaped channel; 80204, baffle; 9, photovoltaic purlin; 10, photovoltaic module; 11, bolt; 12, nut. Detailed Implementation

[0032] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following embodiments and drawings are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0033] A method for securing photovoltaic modules in confined spaces includes the following steps: S1: The nut is gripped by the nut clamp 10303 in the component fastening fixture 1, and the bolt is taken out by the power wrench 10203 in the component fastening fixture 1; S2: Control the extension of the nut clamp 10303 so that the front end of the nut clamp 10303 coincides with the sleeve 10204 in the z-axis direction, that is, the bolt and nut clamped by the component fastening fixture 1 coincide in the z-axis direction. S3: The bolt hole recognition mechanism 4 obtains the planar coordinates (x1, y1) of the bolt hole in the robot arm coordinate system through the bolt hole recognition algorithm. The x-axis and y-axis directions of the robot arm coordinate system are set according to the rules of the robot arm coordinate system, and the z-axis direction is the positive direction, vertically upward. S4: The multi-axis robot 2 moves to align the ranging sensor 10101 vertically upward with the frame of the photovoltaic module. At this time, the coordinates of the module fastening fixture 1 in the robot arm coordinate system are (x0, y0, z0). The distance d between the module fastening fixture 1 and the frame of the photovoltaic module is measured by the ranging sensor 10101, and the fixed height difference between the frame of the photovoltaic module 1 and the bolt hole is △h. The three-dimensional coordinates of the bolt hole in the robot arm coordinate system are calculated as (x1, y1, z0+d+△h). S5: The multi-axis robot 2 moves according to the three-dimensional coordinates of the bolt hole obtained in step S4, so that the entire fastening fixture 1 clamps the bolt and nut and aligns with the bolt hole; S6: The lifting cylinder 10201 drives the power wrench 10203 to rise vertically, so that the bolt passes through the bolt hole and contacts the nut; at the same time, it drives the sleeve 10204 to rotate, so that the threads of the bolt and nut are engaged, thereby fastening the photovoltaic purlin to the photovoltaic module. S7: Nut gripper 10303 opens to release nut, lifting cylinder 10201 drives power wrench 10203 to descend and release bolt 11, multi-axis robot 2 moves to make the entire fastening fixture 1 leave the bolt hole area and return to the standby position. S8. Repeat steps S1 to S7 until all bolt holes on the purlin are tightened.

[0034] Step S1 also includes: S11: Drive cylinder 10302 controls nut gripper 10303 to open, telescopic cylinder 10301 controls nut gripper 10303 to extend by driving drive cylinder 10302 to move, multi-axis robot 2 controls tooling frame 101 to move, so that nut gripper 10303 moves to nut feeding mechanism 7 and is aligned with nut to be gripped. S12: Drive cylinder 10302 controls nut gripper 10303 to retract and clamp nut, multi-axis robot 2 controls tooling frame 101 to move vertically upward, so that nut gripper 10303 is released from nut feeding mechanism 7, telescopic cylinder 10301 controls nut gripper 10303 to retract. S13: The multi-axis robot 2 controls the tooling frame 101 to move, so that the power wrench 10203 moves to the bolt feeding mechanism 8 and aligns with the bolt to be picked up; S14: Control the tooling frame 101 to move vertically downwards, and at the same time start the power wrench 10203 to drive the socket 10204 to rotate and take the bolt, and then control the tooling frame 101 to move vertically upwards, so that the power wrench 10203 carries the bolt away from the bolt feeding mechanism 8.

[0035] In step S8, if it is determined that there is no bolt inside the sleeve 10204, then continue to step S1; if it is determined that there is a bolt inside the sleeve 10204, then skip step S1 and directly execute step S2.

[0036] In step S3, if the multi-axis robot 2 receives the bolt hole coordinates, it continues to step S4; if it receives a message that it cannot be tightened, it skips steps S4 to S6 and directly executes step S7. In steps S1 to S9, if the activity range of the multi-axis robot 2 cannot reach the target point, the seventh axis 3 of the robot is activated, so that the multi-axis robot 2 moves back and forth along the movement direction of the seventh axis 3, ensuring that the set actions of the multi-axis robot 2 can be executed.

[0037] h1 is the distance between the stud end of the bolt and the lower end face of the nut in step S2. h2 is the distance between the bottom of the sleeve 10204 and the upper end face of the bolt stud in step S2. h3 is the height of the 10204mm sleeve. h4 is the height of the small flange of the purlin. h5 is the net height of the C-shaped opening of the purlin. Where h4 < h1 < stroke of lifting cylinder 10201, h2 < h5, h3 > h4.

[0038] A confined space photovoltaic module fastening device, such as Figures 2 to 10 As shown, the system includes component fastening fixture 1, multi-axis robot 2, robot seventh axis 3, bolt hole recognition mechanism 4, control cabinet 5, electrical cabinet 6, nut feeding mechanism 7, and bolt feeding mechanism 8. Multi-axis robot 2 is mounted on robot seventh axis 3, and bolt hole recognition mechanism 4, control cabinet 5, electrical cabinet 6, nut feeding mechanism 7, and bolt feeding mechanism 8 are distributed around robot seventh axis 3. The component fastening fixture 1 is used to clamp several bolts 11 through the bolt holes on the photovoltaic purlin 9 and the photovoltaic module 10, and to tighten the clamped bolts 11 and the clamped nuts 12. The multi-axis robot 2 is used to drive the component fastening fixture 1 to realize the clamping and tightening action of the bolts 11 and nuts 12. The robot's seventh axis 3 is used to drive the multi-axis robot 2 to move back and forth along the movement direction of the robot's seventh axis 3. Depending on the usage environment, multi-axis robots can be selected from types such as six-axis / five-axis industrial robotic arms and six-axis / five-axis collaborative robotic arms. The selection criteria are based on the ability to meet the motion requirements of fastening operations, and the selection is made in combination with the working conditions. In this embodiment, the multi-axis robot selected is a six-axis collaborative robotic arm with a wrist load of 10kg.

[0039] like Figures 6 to 10 As shown, the component fastening fixture 1 includes a fixture frame 101 mounted on the output axis of the multi-axis robot 2. A ranging sensor 10101 is mounted on the fixture frame 101. A wrench module 102 and a nut clamping module 103 are mounted on the fixture frame 101. The wrench module 102 includes a lifting cylinder 10201 mounted on the fixture frame 101. A fixed frame 10202 is connected to the piston rod of the lifting cylinder 10201. A power wrench 10203 is mounted on the fixed frame 10202. A sleeve 10204 is provided on the power wrench 10203. The nut clamping module 103 includes a telescopic cylinder 10301 mounted on the fixture frame 101. A drive cylinder 10302 is connected to the piston rod of the telescopic cylinder 10301. A nut gripper 10303 is mounted on the drive cylinder 10302. The sleeve 10204 and the nut gripper 10303 coincide in the z-axis direction.

[0040] The telescopic cylinder 10301 is designed to retract the nut clamping module 103 a certain distance when picking up materials, so as to avoid interference between the component fastening fixture 1 and the bolt feeding mechanism 8 when picking up the bolt 11. The bolt hole recognition mechanism 4 is a recognition camera used to identify the coordinates of the overlapping area of ​​the bolt holes of the photovoltaic purlin 9 and the bolt holes of the photovoltaic module 10 relative to the multi-axis robot 2. The number of bolt hole recognition mechanisms 4 is less than or equal to the number of bolts required to be tightened when installing a single photovoltaic module 10. Each bolt hole recognition mechanism 4 is fixed below the corresponding bolt hole and can completely capture the area of ​​the entire bolt hole without colliding with the multi-axis robot 2.

[0041] The identification algorithm of the bolt hole identification mechanism 4 is designed separately. The bolt hole identification mechanism 4 can identify whether the bolt hole position meets the fastening conditions. If it can be fastened, it calculates the coordinates of the bolt hole relative to the multi-axis robot 2 and sends them to the multi-axis robot 2. If it cannot be fastened, it sends the information that it cannot be fastened to the multi-axis robot 2. In this embodiment, there are 4 bolt hole positions between each photovoltaic module 10 and the photovoltaic purlin 9. Each bolt hole position is equipped with a bolt hole identification mechanism 4 for identifying the hole position. The camera adopts an eye-out layout design, which can save the need for the multi-axis robot 2 to move to a specific position in the eye-out layout, thereby reducing the volume of the component fastening fixture 1, improving the fastening efficiency and avoiding the impact of fastening vibration on visual accuracy.

[0042] like Figure 11As shown, the nut clamp 10303 consists of two clamping rods symmetrically distributed on the drive cylinder 10302. The ends of the clamping rods are provided with grooves, and the ends of the clamping rods coincide with the sleeve 10204 in the z-axis direction.

[0043] The drive cylinder 10302 can control the two gripper bars to move closer or further apart. The grooves on the two gripper bars are arranged opposite each other, and the nut is clamped between the two grooves. The lower end of the groove has a baffle. When the two gripper bars clamp the nut, the nut will be placed on the two baffles, and the bolt can pass through the gap between the two baffles. This design reduces the clamping force required for the nut gripper 10303 and does not affect the separation action of the nut and the nut gripper 10303.

[0044] like Figure 7 As shown, the nut feeding mechanism 7 is a nut vibrating plate. The discharge end of the nut feeding mechanism 7 is equipped with a first lifting cylinder 701, which can lift the nut 12 from the discharge end of the nut feeding mechanism 7. The nut feeding mechanism 7 is a nut vibratory plate, and a first top-feeding cylinder 701 is installed at the discharge end of the nut feeding mechanism 7. The bolt feeding mechanism 8 is a bolt vibratory plate, and a second top-feeding cylinder 801 is installed at the discharge end of the bolt feeding mechanism 8. A feeding mechanism 802 is installed on the second top-feeding cylinder 801. A sensing sensor 803 located on the side of the feeding mechanism 802 is installed on the bolt feeding mechanism 8. The second top-feeding cylinder 801, in conjunction with the feeding mechanism 802, can drive the bolt 11 to move horizontally out from the discharge end of the bolt feeding mechanism 8.

[0045] The sensing sensor 803 is used to detect whether there is a bolt 11 inside the sleeve of the tightening wrench 10203. The bolt sensing sensor 803 can be selected from sensors that can detect the presence or absence of objects, such as photoelectric sensing switches, proximity switches, laser rangefinders, ultrasonic rangefinders, and limit switches. In this embodiment, a photoelectric sensing switch is used to detect the bolt.

[0046] like Figures 12 to 14 As shown, the feeding mechanism 802 includes a fixed base 80201 mounted on the second top material cylinder 801, a feeding movable seat 80202 mounted on the fixed base 80201, a U-shaped groove 80203 with an opening facing the discharge end of the bolt feeding mechanism 8, and a baffle 80204 located on one side of the feeding movable seat 80202 at the discharge end of the bolt feeding mechanism 8.

[0047] The U-shaped groove 80203 is stepped on the feeding moving seat 80202. The upper end of the U-shaped groove 80203 is lower than the upper end of the feeding moving seat 80202. The stud part inside the U-shaped groove 80203 is used to place the bolt, and the nut part at the upper end of the U-shaped groove 80203 is used to place the bolt. The bolt feeding mechanism 8 feeds the bolts from the direct vibration outlet into the U-shaped groove 80203 of the feeding moving seat 80202. The second ejector cylinder 801 drives the feeding moving seat 80202 to move horizontally with the bolts until the bolts are removed. After the component fastening fixture 1 removes the bolts, the second ejector cylinder 801 drives the feeding moving seat 80202 to reset. During the movement of the feeding moving seat 80202, the end face of the bolt feeding mechanism 8 at the discharge end cooperates with the baffle 80204 to prevent the bolts from falling out of the U-shaped groove 80203 of the feeding moving seat 80202.

[0048] The robot control cabinet 5, electrical cabinet 6, nut feeding mechanism 7, and bolt feeding mechanism 8 are all existing technologies; the robot control cabinet 5 is used to control the movement of the multi-axis robot 2; the electrical cabinet 6 is used to control the start and stop of the multi-axis robot 2, the robot's seventh axis 3, the nut feeding mechanism 7, and the bolt feeding mechanism 8; the nut feeding mechanism 7 is used to feed the nuts 12 one by one in sequence; the bolt feeding mechanism 8 is used to feed the bolts 11 one by one in sequence.

[0049] The size and model of the lifting cylinder 10201 need to be selected specifically according to the opening width of the C-type photovoltaic purlin 9 to ensure that when the power wrench 10203 is in the low position, the bolt 11 can enter the inner bolt hole of the C-type photovoltaic purlin 9 without interfering with the small flange of the photovoltaic purlin 9. At the same time, when the lifting cylinder 10201 is extended, the power wrench 10203 needs to be able to be raised to a sufficient height to ensure that the bolt 11 can pass through the bolt hole and engage with the nut 12. The power wrench 10203 can be either a pneumatic wrench or an electric wrench, and the selection needs to be based on the opening width and tightening torque requirements of the C-type photovoltaic purlin 9. The socket 10204 model is selected according to the bolt specifications. In this embodiment, the tightening wrench 9 is a pneumatic wrench, and the socket 10204 is suitable for M8×16 flange bolts.

[0050] The selection and position of the telescopic cylinder 10301 must ensure that when the telescopic cylinder 10301 is extended, the clamped nut 12 can coincide with the bolt 11 grabbed by the power wrench 10203 in the z-axis direction, so as to ensure that the bolt 11 and nut 12 can be aligned when tightening. The opening width of the nut clamp 10303 needs to be adapted to the nut 12 specification. In this embodiment, it is adapted to the M8 nut 12.

[0051] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for fastening photovoltaic modules in confined spaces, characterized in that, The steps include the following: S1: The nut is clamped by the nut jaws (10303) in the component fastening fixture (1), and the bolt is taken out by the power wrench (10203) in the component fastening fixture (1); S2: Control the extension of the nut clamp (10303) so that the front end of the nut clamp (10303) coincides with the sleeve (10204) in the z-axis direction, that is, the bolt and nut clamped by the component fastening fixture (1) coincide in the z-axis direction; S3: Bolt hole recognition mechanism (4) obtains the planar coordinates (x1, y1) of the bolt hole in the robot coordinate system through the bolt hole recognition algorithm. The x-axis and y-axis directions of the robot coordinate system are set according to the rules of the robot coordinate system, and the z-axis direction is the positive direction, vertically upward. S4: The multi-axis robot (2) moves to make the distance sensor (10101) vertically upward aligned with the frame of the photovoltaic module. At this time, the coordinates of the module fastening fixture (1) in the robot arm coordinate system are (x0, y0, z0). The distance between the module fastening fixture (1) and the frame of the photovoltaic module is measured by the distance sensor (10101) as d, and the fixed height difference between the frame of the photovoltaic module (1) and the bolt hole is △h. The three-dimensional coordinates of the bolt hole in the robot arm coordinate system are calculated as (x1, y1, z0+d+△h). S5: The multi-axis robot (2) moves according to the three-dimensional coordinates of the bolt hole obtained in step S4, so that the entire fastening fixture (1) clamps the bolt and nut and aligns them with the bolt hole; S6: The lifting cylinder (10201) drives the power wrench (10203) to rise vertically, so that the bolt passes through the bolt hole and contacts the nut; at the same time, it drives the sleeve (10204) to rotate, so that the threads of the bolt and nut are engaged, thereby fastening the photovoltaic purlin to the photovoltaic module. S7: The nut gripper (10303) opens to release the nut, the lifting cylinder (10201) drives the power wrench (10203) to descend and release the bolt (11), and the multi-axis robot (2) moves to make the entire fastening fixture (1) leave the bolt hole area and return to the standby position; S8. Repeat steps S1 to S7 until all bolt holes on the purlin are tightened.

2. The method for fastening photovoltaic modules in confined space according to claim 1, characterized in that, Step S1 also includes: S11: The drive cylinder (10302) controls the nut gripper (10303) to open. The telescopic cylinder (10301) controls the nut gripper (10303) to extend by driving the drive cylinder (10302) to move. The multi-axis robot (2) controls the tooling frame (101) to move, so that the nut gripper (10303) moves to the nut feeding mechanism (7) and is aligned with the nut to be gripped. S12: The drive cylinder (10302) controls the nut gripper (10303) to retract and clamp the nut. The multi-axis robot (2) controls the tooling frame (101) to move vertically upward, so that the nut held by the nut gripper (10303) is released from the nut feeding mechanism (7). The telescopic cylinder (10301) controls the nut gripper (10303) to retract. S13: The multi-axis robot (2) controls the tooling frame (101) to move, so that the power wrench (10203) moves to the bolt feeding mechanism (8) and aligns with the bolt to be picked up; S14: Control the tooling frame (101) to move vertically downwards, and at the same time start the power wrench (10203) to drive the socket (10204) to rotate and take the bolt. Then control the tooling frame (101) to move vertically upwards, so that the power wrench (10203) carries the bolt away from the bolt feeding mechanism (8).

3. A method for securing photovoltaic modules in confined spaces according to claim 1 or 2, characterized in that, In step S8, if it is determined that there is no bolt inside the sleeve (10204), then continue to step S1; if it is determined that there is a bolt inside the sleeve (10204), then skip step S1 and directly execute step S2.

4. The method for fastening photovoltaic modules in confined space according to claim 1, characterized in that, In step S3, if the multi-axis robot (2) receives the bolt hole coordinates, it continues to step S4; if it receives information that it cannot be tightened, it skips steps S4 to S6 and directly executes step S7. In steps S1 to S9, if the activity range of the multi-axis robot (2) cannot reach the target point, the seventh axis (3) of the robot is activated, so that the multi-axis robot (2) moves back and forth along the movement direction of the seventh axis (3) of the robot, ensuring that the set action of the multi-axis robot (2) can be executed.

5. A method for securing photovoltaic modules in confined space according to claim 1, comprising: h1 is the distance between the stud end of the bolt and the lower end face of the nut in step S2. h2 is the distance between the bottom of the sleeve (10204) and the upper end face of the bolt stud in step S2. h3 is the height of the sleeve (10204). h4 is the height of the small flange of the purlin. h5 is the net height of the C-shaped opening of the purlin. Where h4 < h1 < stroke of lifting cylinder (10201), h2 < h5, h3 > h4.

6. A confined space photovoltaic module fastening device, characterized in that: The device is used to perform a confined space photovoltaic module fastening method as described in any one of claims 1-4, the device comprising: The components include fastening fixture (1), multi-axis robot (2), robot seventh axis (3), bolt hole recognition mechanism (4), control cabinet (5) and electrical cabinet (6), nut feeding mechanism (7), and bolt feeding mechanism (8). The multi-axis robot (2) is mounted on robot seventh axis (3), and bolt hole recognition mechanism (4), control cabinet (5) and electrical cabinet (6), nut feeding mechanism (7), and bolt feeding mechanism (8) are distributed around robot seventh axis (3). The component fastening fixture (1) includes a fixture frame (101) mounted on the output axis of the multi-axis robot (2). A distance sensor (10101) is mounted on the fixture frame (101). A wrench module (102) and a nut clamping module (103) are mounted on the fixture frame (101). The wrench module (102) includes a lifting cylinder (10201) mounted on the fixture frame (101). A fixed frame (10202) is connected to the piston rod of the lifting cylinder (10201). A power wrench (10203) is installed on the power wrench (10203), and a sleeve (10204) is provided on the power wrench (10203). The nut clamping module (103) includes a telescopic cylinder (10301) installed on the tooling frame (101). A drive cylinder (10302) is connected to the piston rod of the telescopic cylinder (10301). A nut clamp (10303) is installed on the drive cylinder (10302). The sleeve (10204) and the nut clamp (10303) coincide in the z-axis direction.

7. A confined space photovoltaic module fastening device according to claim 6, characterized in that: The nut clamp (10303) consists of two clamp rods symmetrically distributed on the drive cylinder (10302). The ends of the clamp rods are provided with grooves, and the ends of the clamp rods coincide with the sleeve (10204) in the z-axis direction.

8. A confined space photovoltaic module fastening device according to claim 6, characterized in that: The nut feeding mechanism (7) is a nut vibratory plate. A first top-feeding cylinder (701) is installed at the discharge end of the nut feeding mechanism (7). The bolt feeding mechanism (8) is a bolt vibratory plate. A second top-feeding cylinder (801) is installed at the discharge end of the bolt feeding mechanism (8). A feeding mechanism (802) is installed on the second top-feeding cylinder (801). A sensing sensor (803) located on the side of the feeding mechanism (802) is installed on the bolt feeding mechanism (8).

9. A confined space photovoltaic module fastening device according to claim 8, characterized in that: The feeding mechanism (802) includes a fixed base (80201) installed on the second top material cylinder (801), a feeding moving seat (80202) installed on the fixed base (80201), a U-shaped groove (80203) with an opening facing the discharge end of the bolt feeding mechanism (8) is provided on the feeding moving seat (80202), and a baffle (80204) located on one side of the feeding moving seat (80202) is installed at the discharge end of the bolt feeding mechanism (8).

10. A confined space photovoltaic module fastening device according to claim 6, characterized in that: The robot control cabinet (5) is used to control the movement of the multi-axis robot (2), and the electrical cabinet (6) is used to control the start and stop of the multi-axis robot (2), the robot's seventh axis (3), the nut feeding mechanism (7), and the bolt feeding mechanism (8).

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