Oblique beam lifting device and photovoltaic support mounting robot

Abstract

The utility model discloses an oblique beam lifting device and a photovoltaic support installation robot, which are used for clamping and lifting a photovoltaic support, and the oblique beam lifting device comprises a portal frame, a lifting assembly, an overturning assembly and a clamping assembly, the portal frame is arranged into n stages; the lifting assembly is arranged on the door frame and provided with a lifting end. The nth-stage gantry is connected with the lifting end of the lifting assembly of the (n-1) th-stage gantry; the overturning assembly is arranged at the lifting end of the lifting assembly on the nth-stage portal frame; the clamping assembly is arranged on the overturning assembly; when the oblique beam lifting device provided by the utility model is used, the oblique beam of a photovoltaic bracket is clamped by utilizing the clamping assembly, then the angle of the oblique beam is overturned and adjusted through the overturning assembly, and finally, the lifting assembly drives the multi-stage door frame to lift in sequence to lift the oblique beam to a mounting position. The whole installation process is calculated by the robot and installation is carried out, the installation efficiency and the installation precision can be effectively improved, and the safety risk is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic automation installation, and in particular to an inclined beam lifting device and a photovoltaic support installation robot. Background Art

[0002] As an important part of the photovoltaic power generation system, the development history and technological changes of the photovoltaic bracket's inclined beam installation technology are closely related to the overall development of the photovoltaic power generation industry. In the early stage, the installation of the photovoltaic bracket's inclined beam mainly relied on manual operation. Due to the lack of technical level and safety measures, the installation process was inefficient and there were great safety hazards. With the advancement of science and technology and the continuous maturity of photovoltaic power generation technology, the photovoltaic bracket's inclined beam installation technology is also gradually improving. However, in the existing technology, the installation of photovoltaic brackets' inclined beams still faces many challenges. Among them, manual climbing is a major problem in the installation process. Since photovoltaic brackets are usually installed at higher positions, such as roofs or ground brackets, installers need to climb to a certain height to work, which not only increases the difficulty of installation, but also increases safety risks. During the operation, workers may face dangers such as falling and slipping, especially in severe weather conditions, where safety hazards are more prominent. In addition, manual installation also faces efficiency issues. Since the installation of the inclined beam requires precise calculation and meticulous operation of the installation angle of the inclined beam, manual installation often takes a long time and it is difficult to ensure the consistency of installation quality. This not only affects the overall performance of the photovoltaic power generation system, but also increases the difficulty and cost of later maintenance. Therefore, how to improve the installation technology of the inclined beams of photovoltaic brackets, improve installation efficiency, and reduce safety risks has become an urgent problem to be solved in the current photovoltaic power generation industry. Utility Model Content

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the relevant technology. The present invention provides an inclined beam lifting device and a photovoltaic bracket installation robot.

[0004] The utility model provides the following technical solutions:

[0005] A diagonal beam lifting device can be installed on a photovoltaic support installation robot and is used to clamp and lift the photovoltaic support. The diagonal beam lifting device includes a door frame, a lifting assembly, a flip assembly, and a clamping assembly.

[0006] The gantry is provided with n levels, wherein n is a natural number and n≥2; the lifting assembly is correspondingly arranged on the gantry, and the lifting assembly has a lifting end; the nth-level gantry is connected to the lifting end of the lifting assembly of the n-1th-level gantry; the flipping assembly is arranged on the lifting end of the lifting assembly on the nth-level gantry; and the clamping assembly is arranged on the flipping assembly.

[0007] As a further improvement of the above technical solution, the lifting assembly includes a first telescopic cylinder, which is arranged on the gantry, and a pulley is arranged on the movable rod of the first telescopic cylinder. A transmission chain is mounted on the pulley, one end of the transmission chain is fixedly connected to the gantry, and the other end of the transmission chain forms the lifting end; the movable rod of the first telescopic cylinder is telescopic, and can drive the lifting end to perform lifting and lowering movements through the transmission chain.

[0008] As a further improvement of the above technical solution, two pulleys are provided and are symmetrically arranged on both sides of the movable rod of the first telescopic cylinder.

[0009] As a further improvement of the above technical solution, a first guide wheel is provided on the nth level gantry, a first guide groove corresponding to the first guide wheel is provided on the n-1th level gantry, and the first guide wheel is arranged in the first guide groove.

[0010] As a further improvement of the above technical solution, a plurality of first guide wheels are provided along the first guide groove, and the plurality of first guide wheels are provided as a group, and two groups of the first guide wheels are symmetrically provided relative to the corresponding door frame.

[0011] As a further improvement of the above technical solution, the flipping assembly includes a lifting seat, a flipping beam, and a second telescopic cylinder. The lifting seat is connected to the lifting end of the lifting assembly on the n-th level gantry, the flipping beam is hinged to the lifting seat, the second telescopic cylinder is hinged to the lifting seat, the telescopic rod of the second telescopic cylinder is hinged to the flipping beam, and the clamping assembly is arranged on the flipping beam.

[0012] As a further improvement of the above technical solution, two clamping assemblies are provided, which are arranged at both ends of the flip beam, and the middle part of the flip beam is hinged to the lifting seat.

[0013] As a further improvement of the above technical solution, the second telescopic cylinder controls the flipping beam to flip at an angle ranging from 0° to 40°, with a preferred angle of 15°.

[0014] As a further improvement of the above technical solution, a second guide wheel is provided on the lifting seat, a second guide groove corresponding to the second guide wheel is provided on the nth-level gantry, and the second guide wheel is arranged in the second guide groove.

[0015] As a further improvement of the above technical solution, a plurality of second guide wheels are provided along the second guide groove, and a plurality of second guide wheels are provided as a group, and two groups of second guide wheels are symmetrically provided relative to the lifting seat.

[0016] As a further improvement of the above technical solution, the clamping assembly includes a clamping seat, a movable plate, and a third telescopic cylinder. The third telescopic cylinder is installed on the clamping seat, the telescopic rod of the third telescopic cylinder is connected to the movable plate, and a fixed plate corresponding to the movable plate is provided on the clamping seat. The telescopic movement of the third telescopic cylinder can drive the movable plate to move toward or away from the fixed plate.

[0017] As a further improvement of the above technical solution, anti-slip pads are provided on the opposite end surfaces of the fixed plate and the movable plate.

[0018] As a further improvement of the above technical solution, a positioning probe is provided on the end surface of the fixed plate away from the movable plate.

[0019] As a further improvement of the above technical solution, the positioning probe is a laser probe.

[0020] The utility model also provides a photovoltaic support installation robot, comprising the inclined beam lifting device as described in any one of the above.

[0021] Compared with the related art, the beneficial effects of the utility model are:

[0022] The inclined beam lifting device provided by the utility model has shown excellent performance and convenience in practical applications. First, when it is necessary to install a photovoltaic bracket, the photovoltaic bracket installation robot will accurately move to the vicinity of the inclined beam of the photovoltaic bracket to be installed. Once it reaches the vicinity of the inclined beam, the robot will start the clamping assembly, which can firmly clamp the inclined beam of the photovoltaic bracket. After the robot completes the clamping of the inclined beam, it will transport the inclined beam to the specified position, and then further use the flip assembly to control the flipping beam to flip, and then adjust the tilt of the inclined beam. After the inclined beam flips to the specified angle, the lifting assembly is used to drive the multi-level door frame to lift in sequence, lift the position of the inclined beam, and finally lift the inclined beam to the specified installation position to install the inclined beam. The entire installation process, from the movement, clamping, flipping to lifting of the robot, is autonomously calculated and executed by the robot. This not only greatly improves the installation efficiency and reduces the complexity and difficulty of manual operation, but also improves the installation accuracy and reduces the safety risk. Therefore, the inclined beam clamping device provided by the utility model has a wide range of application prospects and important practical value in the field of photovoltaic bracket installation.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic structural diagram of an inclined beam lifting device in one embodiment of the utility model from one perspective is shown;

[0026] Figure 2 A partial structural schematic diagram of an inclined beam lifting device from one perspective in one embodiment of the utility model is shown.

[0027] Description of main component symbols:

[0028] 100-gantry; 110-first guide wheel; 120-first guide groove; 130-second guide groove; 200-lifting assembly; 210-first telescopic cylinder; 220-pulley; 230-transmission chain; 240-lifting end; 300-turning assembly; 310-lifting seat; 311-second guide wheel; 320-turning beam; 330-second telescopic cylinder; 400-clamping assembly; 410-clamping seat; 411-fixed plate; 420-movable plate; 430-third telescopic cylinder; 440-positioning probe. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it should be understood that 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" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a 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. A first feature being "below", "below" or "below" a 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.

[0034] Example 1

[0035] Combination Figure 1 , Figure 2 As shown, this embodiment provides an inclined beam lifting device that can be installed on a photovoltaic bracket installation robot and is used to clamp and lift the photovoltaic bracket. The inclined beam lifting device includes a door frame 100, a lifting assembly 200, a flip assembly 300, and a clamping assembly 400.

[0036] The gantry 100 is provided with n levels, wherein n is a natural number and n≥2; the lifting assembly 200 is correspondingly arranged on the gantry 100, and the lifting assembly 200 has a lifting end 240; the gantry 100 of the nth level is connected with the lifting end 240 of the lifting assembly 200 of the gantry 100 of the n-1th level; the flipping assembly 300 is arranged on the lifting end 240 of the lifting assembly 200 on the gantry 100 of the nth level; the clamping assembly 400 is arranged on the flipping assembly 300.

[0037] Specifically, the inclined beam lifting device provided in this embodiment has a four-level gantry 100, the flip assembly 300 is arranged on the lifting end 240 of the lifting assembly 200 on the fourth-level gantry 100, and the first-level gantry 100 is fixedly mounted on the body of the photovoltaic bracket installation robot.

[0038] The inclined beam lifting device provided in this embodiment shows excellent performance and convenience in practical applications. First, when it is necessary to install a photovoltaic bracket, the photovoltaic bracket installation robot will accurately move to the vicinity of the inclined beam of the photovoltaic bracket to be installed. Once it reaches the vicinity of the inclined beam, the robot will start the clamping assembly 400, which can firmly clamp the inclined beam of the photovoltaic bracket. After the robot completes the clamping of the inclined beam, it will transport the inclined beam to the specified position, and then further use the flip assembly 300 to control the flip beam 320 to flip, and then adjust the tilt of the inclined beam. After the inclined beam flips to the specified angle, the lifting assembly 200 is used to drive the multi-level gantry 100 to lift in sequence, lift the position of the inclined beam, and finally lift the inclined beam to the specified installation position to install the inclined beam. The entire installation process, from the movement, clamping, flipping to lifting of the robot, is autonomously calculated and executed by the robot. This not only greatly improves the installation efficiency and reduces the complexity and difficulty of manual operation, but also improves the installation accuracy and reduces safety risks. Therefore, the inclined beam clamping device provided in this embodiment has broad application prospects and important practical value in the field of photovoltaic bracket installation.

[0039] In some embodiments, the lifting assembly 200 includes a first telescopic cylinder 210, which is arranged on the gantry 100, and a pulley 220 is arranged on the movable rod of the first telescopic cylinder 210, and a transmission chain 230 is set on the pulley 220, one end of the transmission chain 230 is fixedly connected to the gantry 100, and the other end of the transmission chain 230 forms the lifting end 240; the movable rod of the first telescopic cylinder 210 is telescopic, and the lifting end 240 can be driven to perform lifting movement through the transmission chain 230; by controlling the telescopic movement of the first telescopic cylinder 210, its movable rod is driven to reciprocate in the vertical direction, thereby driving the pulley 220 installed on the movable rod to move up and down. This action can then drive the movable end (i.e., the lifting end 240) of the transmission chain 230 to move up and down, and finally drive the upper-level gantry 100 to move up and down or drive the lifting seat 310 to move up and down, so as to lift the inclined beam. The whole process is efficient and smooth.

[0040] In some embodiments, there are two pulleys 220, which are symmetrically arranged on both sides of the movable rod of the first telescopic cylinder 210, so that the first telescopic cylinder 210 can be subjected to more stable force in the process of controlling the extension and retraction of its movable rod, thereby avoiding bending and damage of the movable rod on the first telescopic cylinder 210 due to uneven force, thereby improving the reliability of the use of the first telescopic cylinder 210.

[0041] In some embodiments, a first guide wheel 110 is provided on the n-th level gantry 100, and a first guide groove 120 corresponding to the first guide wheel 110 is provided on the n-1-th level gantry 100, and the first guide wheel 110 is arranged in the first guide groove 120; when the lifting assembly 200 on the n-1-th level gantry 100 drives the n-th level gantry 100 to move, the first guide wheel 110 on the n-th level gantry 100 moves along the first guide groove 120 corresponding to the first guide wheel 110 on the n-1-th level gantry 100, thereby guiding the movement of the n-th level gantry 100 to prevent the gantry 100 from shaking due to external force, thereby reducing the danger when lifting the inclined beam; of course, in other embodiments of the utility model, guide rods and other structures can be provided to guide the lifting and lowering movement of the gantry 100.

[0042] In some embodiments, a plurality of first guide wheels 110 are provided along the first guide groove 120, and the plurality of first guide wheels 110 are set as a group. The first guide wheels 110 are symmetrically provided with two groups relative to the corresponding door frame 100. By providing a plurality of groups of first guide wheels 110, it is convenient to improve the guiding effect on the moving trajectory of the door frame 100 and to ensure the stability of the door frame 100 during the lifting process.

[0043] In some embodiments, the flipping assembly 300 includes a lifting seat 310, a flipping beam 320, and a second telescopic cylinder 330. The lifting seat 310 is connected to the lifting end 240 of the lifting assembly 200 on the nth level of the gantry 100. The flipping beam 320 is hinged to the lifting seat 310. The second telescopic cylinder 330 is hinged to the lifting seat 310. The telescopic rod of the second telescopic cylinder 330 is hinged to the flipping beam 320. The clamping assembly 400 is arranged on the flipping beam 320. By driving the movable rod of the second telescopic cylinder 330 to extend and retract, the flipping beam 320 is driven to flip and adjust relative to the lifting seat 310, thereby flipping and adjusting the inclination angle of the inclined beam clamped by the clamping assembly 400. The adjustment process can effectively reduce manual participation, reduce the safety risk of operation, and improve the adjustment accuracy of the inclination angle of the inclined beam.

[0044] In some embodiments, two clamping assemblies 400 are provided, which are arranged at both ends of the flip beam 320, and the middle part of the flip beam 320 is hinged to the lifting seat 310; by respectively arranging the two clamping assemblies 400 at both ends of the flip beam 320, it can be ensured that during the clamping process, regardless of the size and shape of the inclined beam, a uniform and firm clamping force can be obtained. The middle part of the flip beam 320 is connected to the lifting seat 310 by an articulated manner. Such a structure not only allows the flip beam 320 to rotate when necessary to adjust the clamping angle, but also increases the stability and durability of the device; of course, in other embodiments of the utility model, the clamping assemblies can also be set to other numbers or arranged in other forms.

[0045] In some embodiments, the second telescopic cylinder 330 controls the flipping beam 320 to flip at an angle ranging from 0° to 40°, preferably 15°; specifically, the second telescopic cylinder 330 can control the flipping beam 320 to flip within a range of 0° to 40°, which means that the flipping beam 320 can adjust its tilt angle according to actual needs, thereby adapting to photovoltaic support inclined beams of different shapes and sizes. Within this angle range, we particularly recommend 15° as the preferred angle, because the inclined beam installed at this angle shows good support stability and use effect in actual applications.

[0046] Of course, in other embodiments, the angle between the flip beam 320 and the horizontal plane after flipping can also be 2°, 5°, 8°, 10°, 13°, 16°, 19°, 22°, 25°, 28°, 34°, 37°, 39°, etc., which are not listed here one by one.

[0047] In some embodiments, the lifting seat 310 is provided with a second guide wheel 311, and the n-th level gantry 100 is provided with a second guide groove 130 corresponding to the second guide wheel 311, and the second guide wheel 311 is arranged in the second guide groove 130. A plurality of second guide wheels 311 are provided along the second guide groove 130, and a plurality of second guide wheels 311 are set as a group, and two groups of second guide wheels 311 are symmetrically provided with respect to the lifting seat 310; it is convenient to limit and guide the moving track of the lifting seat 310, avoid relative shaking of the lifting seat 310 when the lifting seat 310 moves relative to the gantry 100, and ensure the stability of the lifting seat 310 during the lifting process.

[0048] In some embodiments, the clamping assembly 400 includes a clamping seat 410, a movable plate 420, and a third telescopic cylinder 430. The third telescopic cylinder 430 is installed on the clamping seat 410, and the telescopic rod of the third telescopic cylinder 430 is connected to the movable plate 420. The clamping seat 410 is provided with a fixed plate 411 corresponding to the movable plate 420. The telescopic movement of the third telescopic cylinder 430 can drive the movable plate 420 to move toward or away from the fixed plate 411. During the process, the photovoltaic bracket installation robot is first used to drive the clamping assembly 400 and the inclined beam to be installed to move relative to each other, and finally the inclined beam is located between the fixed plate 411 and the movable plate 420. At this time, the telescopic rod on the third telescopic cylinder 430 is extended to push the movable plate 420 to move toward the fixed plate 411, and clamp the inclined beam together with the fixed plate 411, and then transport the inclined beam. In this process, no manual operation is required, which is safe and efficient, and facilitates improving the installation efficiency of the inclined beam.

[0049] In some embodiments, anti-slip pads are provided on the opposite end surfaces of the fixed plate 411 and the movable plate 420 to increase the friction between the fixed plate 411 and the movable plate 420 and the inclined beam during the clamping process to prevent the inclined beam from slipping.

[0050] In some embodiments, a positioning probe 440 is provided on the end surface of the fixed plate 411 away from the movable plate 420 to accurately detect the position and posture of the inclined beam to ensure that the subsequent clamping and installation process can proceed smoothly.

[0051] In some embodiments, the positioning probe 440 is a laser probe, which is widely used in the field of industrial automation due to its high precision, high speed, high anti-interference and other characteristics. Here, the laser probe can emit a laser beam and receive the reflected laser signal to accurately detect the position and posture of the inclined beam.

[0052] Example 2

[0053] The utility model also provides a photovoltaic bracket installation robot, which is used to transport and install various components of the photovoltaic bracket, including the inclined beam lifting device described in Example 1. The photovoltaic bracket installation robot has all the beneficial effects of the inclined beam lifting device, which will not be described in detail here.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0055] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An inclined beam lifting device, which can be installed on a photovoltaic bracket installation robot and is used to clamp and lift the photovoltaic bracket, characterized in that: The inclined beam lifting device comprises: A gantry, wherein the gantry is provided with n levels, wherein n is a natural number, and n≥2; A lifting assembly is correspondingly arranged on the gantry, and the lifting assembly has a lifting end; the n-th level gantry is connected to the lifting end of the lifting assembly of the n-1-th level gantry; A turning assembly is arranged on the lifting end of the lifting assembly on the n-th stage door frame; The clamping assembly is arranged on the flipping assembly.

2. The inclined beam lifting device according to claim 1, characterized in that: The lifting assembly includes a first telescopic cylinder, which is arranged on the gantry. A pulley is arranged on the movable rod of the first telescopic cylinder, and a transmission chain is mounted on the pulley. One end of the transmission chain is fixedly connected to the gantry, and the other end of the transmission chain forms the lifting end. The movable rod of the first telescopic cylinder is telescopic, and can drive the lifting end to perform lifting and lowering movements through the transmission chain.

3. The inclined beam lifting device according to claim 2, characterized in that: The pulleys are provided with two and are symmetrically arranged on both sides of the movable rod of the first telescopic cylinder.

4. The inclined beam lifting device according to claim 1, characterized in that: The nth-level portal frame is provided with a first guide wheel, the n-1th-level portal frame is provided with a first guide groove corresponding to the first guide wheel, and the first guide wheel is arranged in the first guide groove.

5. The inclined beam lifting device according to claim 1, characterized in that: The flip assembly includes a lifting seat, a flip beam, and a second telescopic cylinder. The lifting seat is connected to the lifting end of the lifting assembly on the nth level gantry. The flip beam is hinged to the lifting seat. The second telescopic cylinder is hinged to the lifting seat. The telescopic rod of the second telescopic cylinder is hinged to the flip beam. The clamping assembly is arranged on the flip beam.

6. The inclined beam lifting device according to claim 5, characterized in that: The clamping assemblies are provided with two and are arranged at the two ends of the flip beam, and the middle part of the flip beam is hinged to the lifting seat.

7. The inclined beam lifting device according to claim 5, characterized in that: The lifting seat is provided with a second guide wheel, the n-th stage door frame is provided with a second guide groove corresponding to the second guide wheel, and the second guide wheel is arranged in the second guide groove.

8. The inclined beam lifting device according to claim 1, characterized in that: The clamping assembly includes a clamping seat, a movable plate, and a third telescopic cylinder. The third telescopic cylinder is installed on the clamping seat. The telescopic rod of the third telescopic cylinder is connected to the movable plate. A fixed plate corresponding to the movable plate is provided on the clamping seat. The telescopic movement of the third telescopic cylinder can drive the movable plate to move toward or away from the fixed plate.

9. The inclined beam lifting device according to claim 8, characterized in that: The end surface of the fixed plate away from the movable plate is provided with a positioning probe.

10. A photovoltaic support installation robot, characterized in that: It comprises the inclined beam lifting device as claimed in any one of claims 1 to 9.

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