Photovoltaic panel installation robot

Abstract

The utility model relates to a photovoltaic panel installation robot which comprises a moving device used for moving to a target installation position, and the moving device comprises a platform playing a bearing role; the overturning device is arranged on the platform, the overturning device comprises an overturning mechanism and an overturning support with an opening, the opening is used for allowing a photovoltaic panel to enter the overturning support, and the overturning mechanism is used for driving the overturning support to rotate around a first direction so that the photovoltaic panel can be overturned from a first state to a second state; the transferring device comprises a mechanical arm and a panel connecting mechanism, the mechanical arm is arranged on the platform, the panel connecting mechanism is fixedly connected with the tail end of the mechanical arm, and the mechanical arm is used for driving the panel connecting mechanism to move so as to pick up the photovoltaic panel in the second state; and transferring the photovoltaic panel to a mounting bracket. According to the photovoltaic panel mounting robot, the photovoltaic panel can be automatically mounted, so that manpower is saved, and the mounting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic panel installation, and in particular to a photovoltaic panel installation robot. Background Art

[0002] Solar panels (also known as photovoltaic panels) are mainly used to absorb solar energy. They are devices that convert solar energy into electrical energy for storage. They are usually installed on solar panel mounting brackets. In the traditional installation method, a group of people carry the solar panels to the installation location, and then manually lift the solar panels to the mounting bracket. During the manual handling and installation process, the solar panels are easily damaged, and there are problems such as low installation efficiency and high labor costs. Therefore, it is necessary to study the use of automated mechanical installation equipment to replace manual installation to solve the above problems. Utility Model Content

[0003] Based on this, it is necessary to provide a photovoltaic panel installation robot to realize the automated installation of photovoltaic panels, thereby saving manpower and improving installation efficiency.

[0004] A photovoltaic panel installation robot, the photovoltaic panel installation robot comprising:

[0005] A moving device, used for traveling to a target installation location, the moving device comprising a platform that serves as a load-bearing device;

[0006] A flipping device is placed on the platform, the flipping device comprises a flipping mechanism and a flipping bracket with an opening, the opening is used for allowing the photovoltaic panel to enter the flipping bracket, and the flipping mechanism is used to drive the flipping bracket to rotate around a first direction to flip the photovoltaic panel from a first state to a second state;

[0007] The transfer device includes a robotic arm and a panel connecting mechanism, wherein the robotic arm is placed on the platform, and the panel connecting mechanism is fixedly connected to the end of the robotic arm. The robotic arm is used to drive the panel connecting mechanism to move so as to pick up the photovoltaic panel in the second state and transfer the photovoltaic panel to the mounting bracket.

[0008] In one embodiment, the flipping mechanism includes a hydraulic cylinder, which includes a cylinder barrel, a piston and a piston rod. One end of the piston rod is connected to the flipping bracket. The piston is configured to drive the piston rod to move toward or away from the cylinder barrel to drive the flipping bracket to rotate.

[0009] In one embodiment, the flipping device includes a first support plate, a second support plate and a third support plate, the first support plate, the second support plate and the third support plate together form the flipping bracket with the opening, the first support plate is rotatably connected to the platform, and one end of the piston rod is connected to the first support plate.

[0010] In one of the embodiments, the panel connecting mechanism includes a suction cup frame and a plurality of suction cups, the suction cup frame is fixedly connected to the end of the robotic arm, and the suction cups are evenly arranged on the suction cup frame.

[0011] In one of the embodiments, the end of the robotic arm is eccentrically disposed with respect to the suction cup frame.

[0012] In one embodiment, the moving device also includes a lower frame, a first driving member and a tire mechanism, the lower frame is fixed under the platform, the tire mechanism is hinged to the lower frame, the first driving member is hinged between the tire mechanism and the lower frame, and the first driving member is used to push and pull the tire mechanism so that the tire mechanism swings inward and outward in a horizontal plane relative to the lower frame.

[0013] In one embodiment, the tire mechanism includes a first connecting seat hinged to the lower frame and the first driving member, a tire assembly hinged to the first connecting seat, and a second driving member hinged between the first connecting seat and the tire assembly, the second driving member being used to push and pull the first connecting seat so that the first connecting seat swings up and down relative to the tire assembly.

[0014] In one embodiment, the tire assembly includes a second connecting seat hinged to the first connecting seat and the second driving member, a tire frame hinged to the second connecting seat, and a third driving member hinged between the tire frame and the second connecting seat, and a tire mounted on the tire frame, wherein the third driving member is used to push and pull the tire frame so that the tire frame rotates inward and outward in a horizontal plane relative to the second connecting seat.

[0015] In one embodiment, the mobile device also includes a frame, and tracks and a support frame arranged side by side on both sides of the frame, the platform and the support frame are fixedly connected to the frame, each of the support frames includes a first end and a second end opposite to each other, a driving wheel is installed at the first end of each support frame, and a driven wheel is provided at the second end of each support frame, a driving device is provided on the inner side of the driving wheel to provide rotational power therefor, and the driven wheel is transmission-connected to the driving wheel through the tracks.

[0016] In one embodiment, a support roller is provided at one end of each support frame close to the platform, and a support wheel is provided at one end of each support frame away from the platform.

[0017] In one of the embodiments, the driving device includes a motor and a reducer, the driving wheel is connected to the motor through the reducer, and the outer periphery of the driving wheel is provided with driving teeth meshing with the track.

[0018] In the above-mentioned photovoltaic panel installation robot, the photovoltaic panel can enter the flip bracket through the opening on the flip bracket, so as to achieve loading. The moving device can drive the flip device and the transfer device to move to reach the target installation position. The flip mechanism can drive the flip bracket to rotate around the first direction, so that the photovoltaic panel in the flip mechanism is flipped from the first state to the second state, so as to be picked up by the panel connection mechanism. After the photovoltaic panel is flipped to the second state, the robotic arm can drive the panel connection mechanism to move to pick up the photovoltaic panel in the second state, and transfer the photovoltaic panel to the installation bracket, so as to complete the installation of the photovoltaic panel. In this way, there is no need for manual transportation and installation of the photovoltaic panel, the installation efficiency is higher, and it can save manpower and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of a photovoltaic panel installation robot according to an embodiment of the present application at a first viewing angle;

[0020] FIG2 is a schematic diagram of a photovoltaic panel installation robot according to an embodiment of the present application at a second viewing angle;

[0021] FIG3 is a schematic diagram of a photovoltaic panel installation robot according to an embodiment of the present application from a third viewing angle;

[0022] FIG4 is a schematic diagram of a transfer device of a photovoltaic panel installation robot according to an embodiment of the present application;

[0023] 5 is a schematic diagram of a flipping device of a photovoltaic panel installation robot according to an embodiment of the present application when the photovoltaic panel is in a second state;

[0024] 6 is a schematic diagram of a flipping device of a photovoltaic panel installation robot according to an embodiment of the present application when the photovoltaic panel is in a first state;

[0025] FIG7 is a schematic diagram of a photovoltaic panel installation robot installing a photovoltaic panel according to an embodiment of the present application;

[0026] FIG8 is a schematic diagram of a portion of the structure of a motion device of a photovoltaic panel installation robot according to an embodiment of the present application;

[0027] FIG9 is a schematic diagram of the installation of the upper and lower rows of photovoltaic panels of the mounting bracket when the polarities are the same;

[0028] FIG. 10 is a schematic diagram of the installation of the upper and lower rows of photovoltaic panels of the mounting bracket when the polarities are opposite.

[0029] Reference numerals:

[0030] 10. moving device; 11. crawler chassis; 111. platform; 112. crawler; 113. support frame; 114. driving wheel; 115. driven wheel; 116. support roller; 117. support wheel; 1181. motor; 1182. reducer; 119. gyroscope; 12. lower frame; 13. first driving member; 14. tire mechanism; 141. first connecting seat; 142. tire assembly; 1421. second connecting seat; 1422. tire frame; 1423. third driving member ; 1424, tire; 1425, tire drive; 143, second drive; 20, transfer device; 21, robotic arm; 22, panel connecting mechanism; 221, suction cup; 222, suction cup frame; 30, flipping device; 31, flipping bracket; 311, first support plate; 312, second support plate; 313, third support plate; 32, flipping mechanism; 321, cylinder; 322, piston rod; 41, first connecting rod; 42, second connecting rod; 43, hinge; 50, photovoltaic panel. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0032] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0033] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0037] Referring to FIGS. 1 to 3 and 7, a photovoltaic panel installation robot provided in an embodiment of the present application includes a moving device 10, a transfer device 20 and a flipping device 30. The moving device 10 is used to move to the target installation position, and the moving device 10 includes a platform 111 that plays a bearing role. The flipping device 30 is placed on the platform 111, and the flipping device 30 includes a flipping mechanism 32 and a flipping bracket 31 with an opening, the opening is used for the photovoltaic panel 50 to enter the flipping bracket 31, and the flipping mechanism 32 is used to drive the flipping bracket 31 to rotate around a first direction so that the photovoltaic panel 50 flips from the first state to the second state. The transfer device 20 includes a mechanical arm 21 and a panel connection mechanism 22, the mechanical arm 21 is placed on the platform 111, the panel connection mechanism 22 is fixedly connected to the end of the mechanical arm 21, and the mechanical arm 21 is used to drive the panel connection mechanism 22 to move, so as to pick up the photovoltaic panel 50 in the second state and transfer the photovoltaic panel 50 to the installation bracket.

[0038] In the above-mentioned photovoltaic panel installation robot, the photovoltaic panel 50 can enter the flip bracket 31 through the opening on the flip bracket 31, so as to realize loading. The moving device 10 can drive the flip device 30 and the transfer device 20 to move and reach the target installation position. The flip mechanism 32 can drive the flip bracket 31 to rotate around the first direction, so that the photovoltaic panel 50 in the flip mechanism 32 is flipped from the first state to the second state, so as to be picked up by the panel connection mechanism 22. After the photovoltaic panel 50 is flipped to the second state, the robot arm 21 can drive the panel connection mechanism 22 to move to pick up the photovoltaic panel 50 in the second state, and transfer the photovoltaic panel 50 to the installation bracket, so as to complete the installation of the photovoltaic panel 50. In this way, there is no need for manual transportation and installation of the photovoltaic panel 50, the installation efficiency is higher, and it can save manpower and reduce costs.

[0039] Specifically, the first state of the photovoltaic panel 50 is the state in which the photovoltaic panel 50 is stacked vertically, that is, the thickness direction of the photovoltaic panel 50 is located in the horizontal plane; the second state is the state in which the front of the photovoltaic panel 50 is parallel to the ground, that is, the thickness direction of the photovoltaic panel 50 is perpendicular to the horizontal plane. The stacking state of the photovoltaic panel 50 is automatically adjusted by the flipping device 30, and the front of the photovoltaic panel 50 is flipped to be parallel to the ground, which saves manpower and improves the transportation efficiency of the photovoltaic panel 50; the photovoltaic panel 50 is transferred to the target installation position by the action device 10, and the action efficiency is high; the transfer device 20 transfers and installs the photovoltaic panel 50, which can realize efficient and long-term installation of the photovoltaic panel 50 outdoors, saving manpower and high installation efficiency.

[0040] Referring to Figures 2, 5 and 6, in some embodiments, the flip mechanism 32 includes a hydraulic cylinder, which includes a cylinder barrel 321, a piston and a piston rod 322. One end of the piston rod 322 is connected to the flip bracket 31. The piston is configured to drive the piston rod 322 to move toward or away from the cylinder barrel 321 to drive the flip bracket 31 to rotate.

[0041] Specifically, the cylinder 321 is hinged to the platform 111, one end of the piston rod 322 is hinged to the flip bracket 31, and the flip bracket 31 is hinged to the platform 111. When the piston rod 322 moves in the cylinder 321, it will push and pull the flip bracket 31 to rotate relative to the platform 111 around the first direction, so that the photovoltaic panel 50 is flipped from the first state to the second state.

[0042] The extension and retraction of the piston rod 322 can be controlled by the piston movement in the cylinder 321. In order to make the flipping of the flipping mechanism 32 more stable, the valve pressure of the hydraulic cylinder can be adjusted to balance the energy impact caused by excessive load on the flipping bracket 31, eliminate cavitation and load out-of-control phenomena in the hydraulic cylinder, make the flipping movement more stable, ensure the smooth flipping of the photovoltaic panel 50, and improve the safety of the photovoltaic panel 50 when flipping.

[0043] Of course, in other embodiments, a motor may be directly provided, the flip bracket 31 is connected to the rotating shaft of the motor, and the motor directly outputs rotational power to realize the flipping of the flip bracket 31. Alternatively, in other embodiments, the hydraulic cylinder may be replaced by a pneumatic cylinder.

[0044] Referring to Figures 2, 5 and 6, in some embodiments, the flip device 30 includes a first support plate 311, a second support plate 312 and a third support plate 313. The first support plate 311, the second support plate 312 and the third support plate 313 together form a flip bracket 31 with an opening. The first support plate 311 is rotatably connected to the platform 111, and one end of the piston rod 322 is connected to the first support plate 311.

[0045] Specifically, the first support plate 311 is hinged to the platform 111. When the piston rod 322 moves toward or away from the cylinder 321, the flip bracket 31 is driven to flip, and its opening faces different directions. When its opening faces one side in the horizontal direction, the photovoltaic panel 50 can be pushed into the flip bracket 31 through the opening, and the photovoltaic panel 50 is in the first state; when its opening faces upward, the photovoltaic panel 50 is in the second state, and the mechanical arm 21 is close to the flip bracket 31, which can facilitate the mechanical arm 21 to drive the panel connection mechanism 22 to move, so as to pick up the photovoltaic panel 50 in the second state and transfer the photovoltaic panel 50 to the mounting bracket.

[0046] Referring to FIG. 5 and FIG. 6 , in some embodiments, the specific connection structure of the flip mechanism 32 and the flip bracket 31 includes a first connecting rod 41, a second connecting rod 42 and a hinge 43. The first connecting rod 41 and the second connecting rod 42 are both fixed to the platform 111. The first connecting rod 41 and the second connecting rod 42 form a triangular support to provide a support point for the flip bracket 31. The hinge 43 is formed at the intersection of the first connecting rod 41 and the second connecting rod 42 to provide a flipping degree of freedom. The hydraulic cylinder is an actuator that provides a flipping action.

[0047] 2 and 4 , in some embodiments, the panel connection mechanism 22 is a vacuum suction cup mechanism, which includes a suction cup 221 frame and a plurality of suction cups 221 , the suction cup 221 frame is fixedly connected to the end of the robot arm 21 , and each suction cup 221 is evenly arranged on the suction cup 221 frame.

[0048] Specifically, the robot arm 21 is fixed on the platform 111. The robot arm 21 is a six-axis robot arm, and each joint can perform rotational motion. Through the cooperative motion of the six joints, the robot arm 21 can perform a variety of complex movements and operations in three-dimensional space. Each suction cup 221 is evenly arranged on the suction cup frame 222 to provide uniform suction when sucking the photovoltaic panel 50, thereby improving the stability when sucking the photovoltaic panel 50. The robot arm 21 can drive the suction cup frame 222 to move, so as to transfer the photovoltaic panel 50 sucked by the suction cup 221 to the mounting bracket.

[0049] Preferably, in some embodiments, the end of the mechanical arm 21 is eccentrically arranged with respect to the suction cup 221. In this way, the working space range of the mechanical arm 21 can be further increased, and the photovoltaic panel 50 can be grasped and placed in a large range, thereby increasing the flexibility of the mechanical arm 21.

[0050] In some embodiments, the vacuum suction cup mechanism also includes vacuum equipment, including a vacuum pump, a filter pressure reducing valve, an air valve and a vacuum generator (not shown in the figure), so that negative air pressure is generated inside the suction cup 221, so that the suction cup 221 and the photovoltaic panel 50 are firmly sucked. In order to improve the suction force of the suction cup 221 and ensure the safety of the vacuum suction cup mechanism, the number of negative pressure generating circuits can be increased. The inlet of the vacuum pump is designed with a filter pressure reducing valve to ensure that the vacuum pump has a stable air pressure input; the front end of the suction cup 221 is designed with an air pressure monitoring device, which can detect the air pressure state of the suction cup and is used to determine whether the current air pressure meets the suction force requirements of the suction cup 221. In order to ensure the energy saving of the suction cup 221, an energy-saving vacuum generator can also be provided to automatically maintain the pressure according to the current air pressure requirements.

[0051] In some embodiments, the vacuum suction cup mechanism is also provided with a deceleration and limit sensor, which determines the compression amount of the spring by detecting the sensor signal, and autonomously controls the deceleration of the robot arm 21 during grasping and the action of sucking the photovoltaic panel 50 after stopping.

[0052] In some embodiments, the panel connection mechanism can also be a gripping mechanism, which fixes the photovoltaic panel 50 by gripping the edge of the photovoltaic panel 50, and then the photovoltaic panel 50 is transferred and installed on the mounting bracket under the movement of the mechanical arm. The panel connection mechanism can be set according to actual needs by the staff in this field, which is only an example here.

[0053] Referring to FIG. 1 , in order to improve the accuracy of the operating position of the robot arm 21, a gyroscope 119 is provided on the platform 111 to measure and track the posture, direction and movement of the robot arm 21. The current azimuth angle of each joint of the robot arm 21 can be obtained according to the data returned by the gyroscope, and the end posture angle of the robot arm 21 can be compensated, so that the robot arm 21 can reach the target position to absorb and place the photovoltaic panel 50 more accurately, meeting the requirements of installation brackets with different inclination angles. It avoids adjusting the installation posture of the robot arm 21 by adjusting the position of the vehicle, thereby improving work efficiency.

[0054] Referring to Figures 1 to 3, in some embodiments, the mobile device 10 includes a track chassis 11, the track chassis 11 includes a platform 111, a frame, and tracks 112 and a support frame 113 arranged side by side on both sides of the frame. The platform 111 and the support frame 113 are fixedly connected to the frame, and each support frame 113 includes a first end and a second end opposite to each other. A driving wheel 114 is installed at the first end of each support frame 113, and a driven wheel 115 is provided at the second end of each support frame 113. A driving device for providing rotational power to the driving wheel 114 is provided on the inner side of the driving wheel 114, and the driven wheel 115 is transmission-connected to the driving wheel 114 through the track 112.

[0055] Specifically, the crawler belt 112 is mounted on the driving wheel 114 and the driven wheel 115, and the crawler belt 112 is tensioned. The driving device drives the driving wheel 114 to rotate, and then drives the driven wheel 115 to rotate, thereby achieving forward movement.

[0056] 1 to 3 , in some embodiments, a support roller 116 is disposed at one end of each support frame 113 close to the platform 111 , and a support wheel 117 is disposed at one end of each support frame 113 away from the platform 111 .

[0057] Specifically, the number of support wheels 117 can be set according to actual needs. In this embodiment, each row of tracks 112 is provided with 12 support wheels 117. The frame adopts a multi-support beam structure to increase the load capacity of the track chassis 11; the support frame 113 connects various structures of the track chassis 11; the track roller 116 is used to prevent the track 112 of the track chassis 11 from jumping up and down during movement; and the support wheel 117 is used to bear the weight of the track chassis 11.

[0058] 1 to 3 , in some embodiments, the driving device includes a motor 1181 and a reducer 1182 , the driving wheel 114 is connected to the motor 1181 via the reducer 1182 , and the outer periphery of the driving wheel 114 is provided with driving teeth meshing with the track 112 .

[0059] Specifically, the motor 1181 is an electric motor, which can provide high torque and high speed for the driving wheel 114, so that the vehicle has higher transmission efficiency, more flexible operation and longer service life. The electric motor power is provided by the battery in the battery box to drive the driving wheel 114 to rotate, and then drive the driven wheel 115, the support wheel 117 and the track 112 to rotate.

[0060] Preferably, the battery box can be placed in the vacant part of the support frame 113 to save chassis space. By adjusting the speed of the two driving wheels 114, the crawler chassis 11 can move forward, backward and turn. Preferably, the electric drive part adopts a specially customized permanent magnet motor and a coreless armature structure to eliminate the torque pulsation caused by the tooth slot; the axial air gap magnetic field technology is adopted to eliminate the influence of hysteresis and eddy current, and the conversion efficiency is increased to more than 90%; while improving the power density, a smaller axial size is obtained. The motor 1181 and the reducer 1182 are directly connected and installed, which can reduce the axial and longitudinal space of the crawler chassis 11, improve the transmission efficiency, save electric energy, have high efficiency of use, and high control accuracy, so that the mobile device 10 can adapt to multi-terrain driving (such as outdoor scenes such as Gobi and grassland), and the range of travel space is wide; and the electric drive module has a large torque and can drive a load of more than 10 tons. In a preferred embodiment, a communication module may be provided on the crawler chassis 11 , and the moving position and moving direction of the crawler chassis 11 may be remotely controlled by a remote control device, thereby saving manpower and facilitating the installation of the photovoltaic panel 50 .

[0061] In other embodiments, the motor 1181 may also be a hydraulic motor. Those skilled in the art may select the motor type according to actual needs, and no specific limitation is made here.

[0062] The embodiment of the present application also provides a hydraulic brake device and an energy recovery device (not shown in the figure). The hydraulic brake device can effectively prevent the mobile device 10 from sliding down a slope when it stops on a slope during operation; the mobile device 10 will generate braking energy during braking and deceleration, which can be recovered into the battery box through the energy recovery device or consumed through the bypass resistor device. During the braking and deceleration process, the mobile device 10 will read the battery information in the battery box. When the battery power is higher than the preset threshold, it will automatically switch to the bypass resistor and consume the collected power through the bypass resistor; and when the battery power is lower than the preset threshold and the battery temperature is normal, the recovered power will charge the battery, which can save the power in the battery box.

[0063] 1 and 8 , in some embodiments, the mobile device 10 further includes a lower frame 12, a first driving member 13 and a tire mechanism 14. The lower frame 12 is fixed below the platform 111. The tire mechanism 14 is hinged to the lower frame 12. The first driving member 13 is hinged between the tire mechanism 14 and the lower frame 12. The first driving member 13 is used to push and pull the tire mechanism 14 so that the tire mechanism 14 swings inward and outward in a horizontal plane relative to the lower frame 12.

[0064] Specifically, the mobile device 10 includes four tire mechanisms 14 and four corresponding first driving members 13, and each of the four corners of the lower frame 12 is hinged with a tire mechanism 14. The first driving member 13 is a cylinder, a hydraulic cylinder or an electric push rod, one end of which is hinged to the tire mechanism 14 and the other end is hinged to the lower frame 12. By extending and retracting the telescopic end of the first driving member 13, the corresponding tire mechanism 14 can be driven to swing inward and outward relative to the lower frame 12 in a horizontal plane, thereby adjusting the position of the tire mechanism 14 to adapt to different terrains and avoid obstacles when encountering obstacles.

[0065] The inward and outward swings of the four tire mechanisms 14 do not interfere with each other. Only some of the tire mechanisms 14 can be swung inward and outward, or all four tire mechanisms 14 can be swung inward and outward together. When multiple tire mechanisms 14 are swung inward and outward at the same time, the swing directions can be the same or opposite; the swing angles can be the same or different, so that the flexibility of the position adjustment of the tire mechanisms 14 can be further improved to better adapt to different terrains and avoid obstacles.

[0066] The structures of the four tire mechanisms 14 are the same, and one set of the tire mechanisms 14 is taken as an example for description below.

[0067] Referring to Figures 1 and 8, further, in some embodiments, the tire mechanism 14 includes a first connecting seat 141 hinged to the lower frame 12 and the first driving member 13, and also includes a tire assembly 142 hinged to the first connecting seat 141, and a second driving member 143 hinged between the first connecting seat 141 and the tire assembly 142. The second driving member 143 is used to push and pull the first connecting seat 141 so that the first connecting seat 141 swings up and down relative to the tire assembly 142.

[0068] Specifically, one end of the first driving member 13 facing away from the lower frame 12 is hinged to the first connecting seat 141. The second driving member 143 is a cylinder, a hydraulic cylinder or an electric push rod, one end of which is hinged to the first connecting seat 141, and the other end is hinged to the tire assembly 142. By extending and retracting the telescopic end of the second driving member 143, the corresponding first connecting seat 141 can be driven to swing up and down relative to the tire assembly 142, thereby adjusting the height of the first connecting seat 141 and the lower frame 12 to adapt to different terrains and avoid obstacles when encountering obstacles.

[0069] By swinging the tire mechanism 14 inward and outward as a whole in the horizontal plane, and the first connecting seat 141 and the lower frame 12 up and down, the flexibility of position adjustment can be further improved to better adapt to different terrains and avoid obstacles.

[0070] Referring to Figures 1 and 8, further, in some embodiments, the tire assembly 142 includes a second connecting seat 1421 hinged to the first connecting seat 141 and the second driving member 143, and also includes a tire frame 1422 hinged to the second connecting seat 1421, and a third driving member 1423 hinged between the tire frame 1422 and the second connecting seat 1421, and also includes a tire 1424 installed on the tire frame 1422. The third driving member 1423 is used to push and pull the tire frame 1422 so that the tire frame 1422 rotates inward and outward in a horizontal plane relative to the second connecting seat 1421.

[0071] Specifically, one end of the second driving member 143 away from the first connecting seat 141 is hinged to the second connecting seat 1421. A tire driving member 1425 is fixedly installed on the tire frame 1422, and the tire 1424 is connected to the power output end of the tire driving member 1425, so that it rotates around its own axis under the drive of the tire driving member 1425, thereby realizing forward movement. The third driving member 1423 uses a cylinder, a hydraulic cylinder or an electric push rod, one end of which is hinged to the second connecting seat 1421, and the other end is hinged to the tire frame 1422. And the length direction of the third driving member 1423 and the axial direction of the tire 1424 do not overlap, that is, there is an angle between the two. By telescoping the telescopic end of the third driving member 1423, the corresponding tire frame 1422, the tire driving member 1425 and the tire 1424 can be driven to swing inward and outward relative to the second connecting seat 1421, thereby adjusting the position of the tire 1424 to adapt to different terrains and avoid obstacles when encountering obstacles.

[0072] By the inward and outward swinging of the tire mechanism 14 as a whole in the horizontal plane, the up and down swinging of the first connecting seat 141 and the lower frame 12, and the inward and outward swinging of the tire 1424, the flexibility of position adjustment can be further improved to better adapt to different terrains and avoid obstacles.

[0073] Referring to FIG. 2 and FIG. 5 , at this time, the opening direction of the flip bracket 31 and the front of the photovoltaic panel 50 placed in the flip bracket 31 are both facing upward, and the front of the photovoltaic panel 50 is parallel to the plane of the platform 111. At this time, the mechanical arm 21 is close to the flip bracket 31, and the mechanical arm 21 and the vacuum suction cup mechanism can easily and smoothly absorb the photovoltaic panel 50 for mobile installation. The initial state of each photovoltaic panel 50 is only different in height, and the rest of the positions are consistent. When the photovoltaic panel 50 in the flip bracket 31 is installed, the piston rod 322 is controlled to move toward the end close to the cylinder 321, and the flip bracket 31 rotates around the first direction under the movement of the piston rod 322, so that the second support plate 312 of the flip bracket 31 rotates to be parallel to the platform 111, and the opening of the flip bracket 31 faces the front of the action device 10 (away from the action device 10), as shown in FIG. 6 . Push the front side of the packaged photovoltaic panel 50 forward to the flip bracket 31, control the piston rod 322 to move away from the cylinder 321, and when the flip device rotates 90° again, the opening of the flip bracket 31 rotates again to the state shown in Figures 2 and 5, the front side of the photovoltaic panel 50 and the opening direction face upward, the first support plate 311 is parallel to the platform 111, and the transfer device 20 is controlled to start a new round of panel installation work.

[0074] The photovoltaic panel installation robot also includes a control device and a shell. The control device includes a first control device for controlling the robotic arm 21, a second control device for controlling the action device, and a hydraulic box, etc.; a cavity is provided inside the shell, and the control device is placed in the cavity to protect the control device and reduce the impact of the external environment on the control device, so that the photovoltaic panel installation robot can still work normally in a humid outdoor environment.

[0075] Preferably, the embodiment of the present application also provides a water cooling device (not shown in the figure) for cooling the motor and reducing the operating temperature of the motor; the embodiment of the present application also provides an oil cooling system for cooling the operating temperature of the reducer. When the reducer is working, the coolant in the oil circuit circulates in the reducer to physically cool the reducer.

[0076] Referring to FIG9 , the positive poles of the photovoltaic panels 50 in the first row (upper row) and the second row (lower row) of the mounting bracket are on the left relative to the center line of the panel, and the negative poles are on the right relative to the center line of the panel, that is, the polarities of the photovoltaic panels 50 in the two rows on the mounting bracket are the same. Referring to FIG10 , the positive poles of the photovoltaic panels 50 in the first row (upper row) are on the left relative to the center line of the panel, and the positive poles of the photovoltaic panels 50 in the second row (lower row) are on the right relative to the center line of the panel, that is, the polarities of the photovoltaic panels 50 in the two rows are opposite.

[0077] It should be noted that when the polarities of the first and second rows of photovoltaic panels 50 of the mounting bracket are opposite, after the installation of the first row of photovoltaic panels 50 is completed, when installing the second row of photovoltaic panels 50, it is necessary to control the end of the robotic arm to rotate 180°, that is, adjust the positive pole of the photovoltaic panel 50 to the right relative to the center line of the panel, and the negative pole to the left relative to the center line of the panel, thereby completing the installation when the polarities of the upper and lower rows of photovoltaic panels 50 of the mounting bracket are opposite.

[0078] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A photovoltaic panel installation robot, characterized in that: The photovoltaic panel installation robot comprises: A moving device, used for traveling to a target installation location, the moving device comprising a platform that serves as a load-bearing device; a flipping device, disposed on the platform, comprising a flipping mechanism and a flipping bracket with an opening, wherein the opening is used for allowing the photovoltaic panel to enter the flipping bracket, and the flipping mechanism is used for driving the flipping bracket to rotate around a first direction so that the photovoltaic panel flips from a first state to a second state; and The transfer device includes a robotic arm and a panel connecting mechanism, wherein the robotic arm is placed on the platform, and the panel connecting mechanism is fixedly connected to the end of the robotic arm. The robotic arm is used to drive the panel connecting mechanism to move so as to pick up the photovoltaic panel in the second state and transfer the photovoltaic panel to the mounting bracket.

2. The photovoltaic panel installation robot according to claim 1, characterized in that: The flip mechanism includes a hydraulic cylinder, which includes a cylinder barrel, a piston and a piston rod. One end of the piston rod is connected to the flip bracket. The piston is configured to drive the piston rod to move toward or away from the cylinder barrel to drive the flip bracket to rotate.

3. The photovoltaic panel installation robot according to claim 2, characterized in that: The flipping device includes a first support plate, a second support plate and a third support plate, the first support plate, the second support plate and the third support plate together form the flipping bracket with the opening, the first support plate is rotatably connected to the platform, and one end of the piston rod is connected to the first support plate.

4. The photovoltaic panel installation robot according to claim 1, characterized in that: The panel connection mechanism includes a suction cup frame and a plurality of suction cups. The suction cup frame is fixedly connected to the end of the mechanical arm, and the suction cups are evenly arranged on the suction cup frame.

5. The photovoltaic panel installation robot according to claim 4, characterized in that: The end of the mechanical arm is eccentrically arranged with respect to the suction cup frame.

6. The photovoltaic panel installation robot according to any one of claims 1 to 5, characterized in that: The moving device also includes a lower frame, a first driving member and a tire mechanism, wherein the lower frame is fixed below the platform, the tire mechanism is hinged to the lower frame, the first driving member is hinged between the tire mechanism and the lower frame, and the first driving member is used to push and pull the tire mechanism so that the tire mechanism swings inward and outward in a horizontal plane relative to the lower frame.

7. The photovoltaic panel installation robot according to claim 6, characterized in that: The tire mechanism includes a first connecting seat hinged to the lower frame and the first driving member, a tire assembly hinged to the first connecting seat, and a second driving member hinged between the first connecting seat and the tire assembly, wherein the second driving member is used to push and pull the first connecting seat so that the first connecting seat swings up and down relative to the tire assembly.

8. The photovoltaic panel installation robot according to claim 7, characterized in that: The tire assembly includes a second connecting seat hinged to the first connecting seat and the second driving member, a tire frame hinged to the second connecting seat, and a third driving member hinged between the tire frame and the second connecting seat, and a tire mounted on the tire frame, wherein the third driving member is used to push and pull the tire frame so that the tire frame rotates inward and outward in a horizontal plane relative to the second connecting seat.

9. The photovoltaic panel installation robot according to any one of claims 1 to 5, characterized in that: The moving device also includes a frame, and tracks and a support frame arranged side by side on both sides of the frame, the platform and the support frame are fixedly connected to the frame, each of the support frames includes a first end and a second end opposite to each other, a driving wheel is installed at the first end of each of the support frames, and a driven wheel is provided at the second end of each of the support frames, a driving device for providing rotational power therefor is provided on the inner side of the driving wheel, and the driven wheel is connected to the driving wheel through the tracks.

10. The photovoltaic panel installation robot according to claim 9, characterized in that: A belt-carrying roller is arranged at one end of each support frame close to the platform, and a supporting wheel is arranged at one end of each support frame away from the platform.

11. The photovoltaic panel installation robot according to claim 9, characterized in that: The driving device comprises a motor and a reducer, the driving wheel is connected to the motor through the reducer, and the outer periphery of the driving wheel is provided with driving teeth meshing with the crawler track.

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