Floating type photovoltaic module installation equipment

Abstract

The utility model belongs to the field of photovoltaic technology, and discloses floating type photovoltaic module installation equipment. The floating type photovoltaic module installation equipment is arranged on one side of the installation frame and comprises a crawler chassis vehicle. A bottom plate is arranged on the top surface of the crawler chassis, a rotary material taking mechanism is arranged at one end of the bottom plate, a purline detection mechanism is arranged on the side, adjacent to the mounting frame, of the bottom plate, and a buckle mounting station area is further arranged on the bottom plate and is arranged at the position adjacent to the rotary material taking mechanism; a robot B used for moving the photovoltaic module is arranged on the bottom plate, a robot A used for moving the photovoltaic module to the mounting station of the mounting rack is further arranged on the bottom plate, a suspension clamp is arranged at the front end of the robot A, and a suction cup clamp is arranged at the front end of the robot B. The installation precision is high, the working efficiency is high, and the abrasion of the photovoltaic module in the installation process can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaics and relates to a floating photovoltaic component installation device. Background Art

[0002] Photovoltaic energy, as a clean, sustainable and efficient form of energy, has been widely used in the global energy supply. In the utilization of photovoltaic energy, the installation of photovoltaic modules is a key link, and the performance of its installation equipment directly affects the efficiency and stability of the photovoltaic system. The existing photovoltaic module installation relies on manual installation by operators, and there are mainly the following problems: first, the manual installation accuracy is not high, which is easy to cause damage to the photovoltaic modules or deviation of the installation position; second, the large number of operators leads to low installation efficiency and cannot meet the installation requirements of large-scale photovoltaic systems; third, there is a lack of comprehensive protection for photovoltaic modules, which is easy to cause damage during the installation process. Therefore, it is necessary to develop a photovoltaic module installation device to improve the installation accuracy, installation efficiency and protection of photovoltaic modules. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the above-mentioned background technology and provide a floating photovoltaic module installation device with high installation accuracy and high working efficiency, and can reduce the wear of the photovoltaic module during installation.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a floating photovoltaic component installation device, the floating photovoltaic component installation device is arranged on one side of the installation frame, and the device includes a crawler chassis vehicle; a bottom plate is arranged on the top surface of the crawler chassis vehicle, a rotating material-collecting mechanism is arranged at one end of the bottom plate, a purlin detection mechanism is arranged on the side of the bottom plate adjacent to the installation frame, a buckle installation station area is also arranged on the bottom plate, and the buckle installation station area is arranged adjacent to the rotating material-collecting mechanism; a robot B for moving photovoltaic components is arranged on the bottom plate, and a robot A for moving photovoltaic components to the installation station of the installation frame is also arranged on the bottom plate, a suspension clamp is arranged at the front end of the robot A, and a suction cup clamp is arranged at the front end of the robot B.

[0005] The rotating material-grabbing mechanism comprises a base, a rotating frame is arranged on the base, and a rotating assembly is arranged between the rotating frame and the base; a clamping cylinder is arranged at each end of one side of the rotating frame, and the output end of the clamping cylinder is respectively connected to a floating joint, and the other ends of the two floating joints are respectively connected to the two ends of the clamping lever; two anti-overturning columns are respectively arranged on the front and rear surfaces of the rotating frame, and an anti-overturning column displacement groove is arranged on the surface of the rotating frame, and a clamping cylinder is also arranged on the bottom surface of the rotating frame, and the output end of the clamping cylinder is connected to the bottom of the anti-overturning column fixing groove through a connecting piece.

[0006] The anti-overturning column displacement grooves are configured corresponding to the number of the anti-overturning columns.

[0007] The anti-overturning column is connected to the rotating frame in a detachable connection mode. The anti-overturning column is connected to the rotating frame through the anti-overturning column fixing groove.

[0008] There is no special limitation on the number of clamping cylinders, which can be set according to the working conditions. Preferably, two are set, and each clamping cylinder drives two anti-overturning columns to move.

[0009] The rotating assembly comprises a rotating servo motor and a rotating gear, wherein the gear of the rotating servo motor is meshedly connected with the rotating gear.

[0010] The rotating frame is also provided with a material presence sensor.

[0011] The suspension clamp includes a frame A, a frame B, a frame C, and a frame D which are arranged in sequence from top to bottom. A downward pressure cylinder is arranged on the frame A, a horizontal movement cylinder is arranged on the frame B, a horizontal suspension cylinder is arranged on the frame C, cylinder fixing plates are arranged on both sides of the frame D, a plurality of suspension cylinders are arranged on each cylinder fixing plate, and a suction cup assembly is arranged at the bottom of each suspension cylinder; the front end of the output end of the downward pressure cylinder is connected to the frame B, and the front end of the output end of the horizontal movement cylinder is connected to the frame C through a connecting plate; the front end of the output end of the horizontal suspension cylinder is connected to the frame D through a connecting plate.

[0012] The transverse suspension cylinder is equipped with a laser distance measuring sensor. The output end of the transverse suspension cylinder is arranged in a direction opposite to the output end of the transverse movement cylinder.

[0013] A linear guide rail and a slider are arranged between the frame B and the frame C, and preferably two linear guide rails and two sliders are arranged respectively.

[0014] A linear guide rail and a slider are arranged between the frame C and the frame D, and preferably two linear guide rails and two sliders are arranged respectively.

[0015] Preferably, four downward pressure cylinders are provided, which are arranged at the four corners of frame A.

[0016] A robot connection plate is also provided in the center area of ​​frame A.

[0017] Several suspension cylinders are arranged at equal distances. A laser distance measuring sensor is arranged on each of the four suspension cylinders at the four corners. A displacement sensor is also arranged on each of the four suspension cylinders at the four corners to measure the telescopic distance of the detector, and a pull rope displacement sensor is preferably used.

[0018] The front end of the output end of the downward pressure cylinder is connected to the frame B through a fixed joint, so that the downward pressure cylinder drives the frames B, C and D to move downward.

[0019] The suction cup assembly comprises a fixing plate, a joint bearing, a transfer block and a suction cup which are sequentially connected from top to bottom; a spring is sleeved on the outside of the joint bearing.

[0020] The suction cup is connected to the vacuum generator through an air path.

[0021] The purlin detection mechanism includes a vertical plate and a horizontal bar. The horizontal bar is arranged on the vertical plate. The vertical plate is equipped with a vertical cylinder for realizing the vertical plate up and down displacement. The vertical cylinder is arranged on a fixed seat. The output end of the vertical cylinder is connected to the vertical plate through a connecting plate. The horizontal bar is equipped with a transverse cylinder for the front and rear displacement of the horizontal bar. The transverse cylinder is fixed to the upper part of the vertical plate through a cylinder bracket. The output end of the transverse cylinder is connected to the measuring head through a connecting plate. And the transverse cylinder and the vertical cylinder are each equipped with a displacement sensor.

[0022] The suction cup fixture comprises a fixture frame, on which a plurality of suction cups are arranged, and the suction cups are connected to the vacuum generator through an air path. A connecting plate for the connecting piece is also arranged on the fixture frame.

[0023] A hydraulic outrigger is provided at each of the four corners of the crawler chassis.

[0024] The buckle installation station area can install the buckle on the photovoltaic module by manual operation or existing equipment, without special restrictions, and can be installed on the photovoltaic module. The buckle installation station area is set with a material placement position, and the material placement position is provided with a material presence sensor.

[0025] The equipment is also equipped with an auxiliary lifting device, which is a commercially available product. Its function is to place the operator in the front end basket of the lifting device and move the operator to the installation position of the mounting frame through the lifting device. The lifting device is not specifically limited, as long as it can achieve its working function.

[0026] Robot A will hang the photovoltaic modules with the installed buckles on the purlins of the mounting frame. Subsequent installation and adjustment work will be completed manually.

[0027] The robot B and the robot A are five-axis robots or six-axis robots.

[0028] The equipment is also equipped with a PLC control system. The crawler chassis, clamping cylinder, robot B, robot A, clamping cylinder, pressing cylinder, suspension cylinder, lateral movement cylinder, lateral suspension cylinder, vacuum generator, vertical cylinder, lateral cylinder, laser ranging sensor, lifting equipment, material presence sensor, and rotary servo motor are respectively connected to the PLC control system, and are not limited to a specific model, as long as their specific working functions are realized.

[0029] Compared with the prior art, the utility model has the following beneficial effects:

[0030] The utility model provides a floating photovoltaic module installation device with high installation accuracy and high work efficiency, and can reduce the wear of photovoltaic modules during installation and reduce the risk of collision. After specific application, it can effectively reduce the number of operators, greatly improve labor costs, and the limited rotating material taking mechanism can reduce manual operation and reduce the risk of manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0032] Figure 1 The utility model is a schematic diagram of a floating photovoltaic assembly installation device.

[0033] Figure 2 The utility model is a schematic diagram of the use of a floating photovoltaic component installation device.

[0034] Figure 3 It is a stereoscopic diagram of the rotary material taking mechanism.

[0035] Figure 4 It is a structural diagram of the rotary feeding mechanism.

[0036] Figure 5 This is the front view of the suspension fixture.

[0037] Figure 6 It is a structural schematic diagram of the suspension fixture.

[0038] Figure 7 Schematic diagram of the structure of the suction cup assembly.

[0039] In the figure, 1. mounting frame, 2. purlin detection mechanism, 3. robot A, 4. crawler chassis, 5. bottom plate, 6. rotating material taking mechanism, 7. suspension fixture, 8. robot B, 9. suction cup fixture, 601. rotating frame, 602. base, 603. rotating assembly, 604. clamping cylinder, 605. anti-overturning column, 606. close cylinder, 607. close lever, 701. pressing cylinder, 702. suspension cylinder, 703. suction cup assembly, 704. frame A, 705. frame B, 706. frame C, 707. frame D, 708. lateral moving cylinder, 709. lateral suspension cylinder, 710. robot connecting plate, 711. fixing plate, 712. joint bearing, 713. spring, 714. adapter block, 715. suction cup. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0041] Example 1

[0042] A floating photovoltaic module installation device, such as Figure 1-Figure 7 As shown, the floating photovoltaic module installation equipment is arranged on one side of the mounting frame 1, and the equipment includes a crawler chassis 4; a bottom plate 5 is arranged on the top surface of the crawler chassis 4, a rotating material-collecting mechanism 6 is arranged on one end of the bottom plate 5, a purlin detection mechanism 2 is arranged on the side of the bottom plate 5 adjacent to the mounting frame 1, and a buckle installation station area is also arranged on the bottom plate 5, and the buckle installation station area is arranged adjacent to the rotating material-collecting mechanism 6; a robot B 8 for removing photovoltaic modules is arranged on the bottom plate 5, and a robot A 3 for removing photovoltaic modules to the installation station of the mounting frame 1 is also arranged on the bottom plate 5, a suspension clamp 7 is arranged at the front end of the robot A3, and a suction cup clamp 9 is arranged at the front end of the robot B 8.

[0043] The rotating material-grabbing mechanism 6 includes a base 602, on which a rotating frame 601 is arranged, and a rotating assembly 603 is arranged between the rotating frame 601 and the base 602; a clamping cylinder 606 is arranged at each of the two ends of one side of the rotating frame 601, and the output end of the clamping cylinder 606 is respectively connected to a floating joint, and the other ends of the two floating joints are respectively connected to the two ends of the clamping lever 607; two anti-overturning columns 605 are respectively arranged on the front and rear surfaces of the rotating frame 601, and an anti-overturning column displacement groove is arranged on the surface of the rotating frame 601, and a clamping cylinder 604 is also arranged on the bottom surface of the rotating frame 601, and the output end of the clamping cylinder 604 is connected to the bottom of the anti-overturning column fixing groove through a connecting piece.

[0044] The anti-overturning column displacement grooves are configured corresponding to the number of the anti-overturning columns 605 .

[0045] The anti-overturning column 605 is detachably connected to the rotating frame 601. The anti-overturning column 605 is connected to the rotating frame 601 through an anti-overturning column fixing groove.

[0046] There is no special limitation on the number of the clamping cylinders 604 , which can be set according to the working conditions. Preferably, two clamping cylinders 604 are set, and each clamping cylinder 604 drives two anti-overturning columns 605 to move.

[0047] The rotating assembly 603 includes a rotating servo motor and a rotating gear, and the gear of the rotating servo motor is meshedly connected with the rotating gear.

[0048] The rotating frame 601 is also provided with a material presence sensor.

[0049] The suspension fixture 7 includes a frame A 704, a frame B 705, a frame C 706, and a frame D 707 which are sequentially arranged from top to bottom. A downward pressure cylinder 701 is arranged on the frame A 704, a horizontal movement cylinder 708 is arranged on the frame B 705, and a horizontal suspension cylinder 709 is arranged on the frame C 706. Cylinder fixing plates are respectively arranged on both sides of the frame D 707, and a plurality of suspension cylinders 702 are arranged on each cylinder fixing plate. A suction cup assembly 703 is arranged at the bottom of each suspension cylinder 702; the front end of the output end of the downward pressure cylinder 701 is connected to the frame B 705, and the front end of the output end of the horizontal movement cylinder 708 is connected to the frame C 706 through a connecting plate; the front end of the output end of the horizontal suspension cylinder 709 is connected to the frame D 707 through a connecting plate.

[0050] A laser distance measuring sensor is provided on the transverse suspension cylinder 709. The output end of the transverse suspension cylinder 709 is arranged in a direction opposite to the output end of the transverse movement cylinder 708.

[0051] A linear guide rail and a slider are provided between frame B 705 and frame C 706, and preferably two linear guide rails and two sliders are provided respectively.

[0052] A linear guide rail and a slider are provided between the frame C 706 and the frame D 707, and preferably two linear guide rails and two sliders are provided respectively.

[0053] It is preferred that four downward pressure cylinders 701 are provided, which are arranged at the four corners of the frame A704.

[0054] A robot connecting plate 710 is also provided in the center area of ​​the frame A704.

[0055] A plurality of suspension cylinders 702 are arranged at equal distances. A laser distance measuring sensor is provided on each of the suspension cylinders 702 at the four corners.

[0056] The front end of the output end of the downward pressure cylinder 701 is connected to the frame B 705 through a fixed joint, so that the downward pressure cylinder 701 drives the frame B 705, the frame C 706, and the frame D 707 to move downward.

[0057] The suction cup assembly 703 includes a fixing plate 711 , a joint bearing 712 , a transfer block 714 , and a suction cup 715 which are sequentially connected from top to bottom; a spring 713 is sleeved outside the joint bearing 712 .

[0058] The suction cup 715 is connected to the vacuum generator through an air path.

[0059] The purlin detection mechanism 2 includes a vertical plate and a horizontal bar. The horizontal bar is arranged on the vertical plate. The vertical plate is equipped with a vertical cylinder for realizing the vertical plate up and down displacement. The vertical cylinder is arranged on a fixed seat. The output end of the vertical cylinder is connected to the vertical plate through a connecting plate. The horizontal bar is equipped with a transverse cylinder for the front and rear displacement of the horizontal bar. The transverse cylinder is fixed to the upper part of the vertical plate through a cylinder bracket. The output end of the transverse cylinder is connected to the measuring head through a connecting plate. And the transverse cylinder and the vertical cylinder are each equipped with a displacement sensor. A pull rope displacement sensor is preferred.

[0060] The suction cup fixture 9 comprises a fixture frame, on which a plurality of suction cups are arranged, and the suction cups are connected to the vacuum generator through an air path. A connecting plate for connecting the connecting piece is also arranged on the fixture frame.

[0061] A hydraulic support leg is respectively arranged at the four corners of the crawler chassis 4.

[0062] The buckle installation station area can install the buckle on the photovoltaic module by manual operation or existing equipment, without special restrictions, and can be installed on the photovoltaic module. The buckle installation station area is set with a material placement position, and the material placement position is provided with a material presence sensor.

[0063] The equipment is also equipped with an auxiliary lifting device, which is a commercially available product. Its function is to place the operator in the front end hanging basket of the lifting device, and move the operator to the installation position of the mounting frame to be installed through the lifting device. The lifting device is not specifically limited, and it only needs to achieve its working function.

[0064] The robot A 3 hangs the photovoltaic module with the installed buckles on the purlins of the mounting frame 1, and the subsequent installation and adjustment work will be completed manually.

[0065] The robot B 8 and the robot A 3 are five-axis robots or six-axis robots.

[0066] The equipment is also equipped with a PLC control system. The crawler chassis 4, clamping cylinder 604, robot B 8, robot A 3, close cylinder 606, pressing cylinder 701, suspension cylinder 702, lateral movement cylinder 708, lateral suspension cylinder 709, vacuum generator, displacement sensor, vertical cylinder, lateral cylinder, laser ranging sensor, lifting equipment, material presence sensor, and rotary servo motor are respectively connected to the PLC control system, and are not limited to a specific model, and can realize their specific working functions.

[0067] During the specific work, first manually determine whether the orientation of the material is correct after it is in place. The reason is that the front of the first and last sheets in a batch of materials are both set to face outward, but the other internal ones are all in the same orientation as the first sheet. If the orientation is found to be opposite, the rotating material-picking mechanism 6 is rotated to ensure the accuracy of the material orientation. The photovoltaic components on the rotating material-picking mechanism 6 are moved to the buckle installation station area by robot B 8 and the suction cup clamp 9 set at its front end. The buckle is installed on the photovoltaic component manually or with existing equipment. The installed photovoltaic component is transferred to the material placement position. Robot A 3 transfers the photovoltaic component with the buckle installed to the corresponding installation position of the mounting frame 1 through the suspension clamp 7, and is assisted by the operator in the lifting equipment basket. The purlin detection mechanism 2 is mainly used to measure the spatial distance and angle between the purlin on the mounting frame 1 and the body of the crawler chassis 4, and can provide corrected real-time data for the parallelism between the body and the purlin. After the vehicle body is leveled, the angle difference calculated by measurement, height difference and distance difference can be fed back to the PLC control system to correct the ground flatness, position deviation and angle deviation, further improving the installation position accuracy.

[0068] Although the utility model has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. A floating photovoltaic module installation device, characterized in that: The floating photovoltaic module installation device is arranged on one side of a mounting frame (1), and the device comprises a crawler chassis (4); a bottom plate (5) is arranged on the top surface of the crawler chassis (4); a rotating material taking mechanism (6) is arranged on one end of the bottom plate (5); a purlin detection mechanism (2) is arranged on the side of the bottom plate (5) adjacent to the mounting frame (1); a buckle installation station area is also arranged on the bottom plate (5); the buckle installation station area is arranged adjacent to the rotating material taking mechanism (6); a robot B (8) for removing photovoltaic modules is arranged on the bottom plate (5); a robot A (3) for removing photovoltaic modules to the mounting station of the mounting frame (1) is also arranged on the bottom plate (5); a suspension clamp (7) is arranged at the front end of the robot A (3); and a suction cup clamp (9) is arranged at the front end of the robot B (8).

2. A floating photovoltaic module installation device as claimed in claim 1, characterized in that: The purlin detection mechanism (2) comprises a vertical plate and a cross bar, the cross bar is arranged on the vertical plate, the vertical plate is equipped with a vertical cylinder for realizing the vertical plate upward and downward displacement, the vertical cylinder is arranged on a fixed seat, and the output end of the vertical cylinder is connected to the vertical plate through a connecting plate; the cross bar is equipped with a transverse cylinder for the forward and backward displacement of the cross bar; the transverse cylinder is fixed to the upper part of the vertical plate through a cylinder bracket, and the output end of the transverse cylinder is connected to the measuring head through the connecting plate.

3. A floating photovoltaic module installation device as claimed in claim 1, characterized in that: The rotating material taking mechanism (6) comprises a base (602), a rotating frame (601) is arranged on the base (602), and a rotating assembly (603) is arranged between the rotating frame (601) and the base (602); a close-fitting cylinder (606) is arranged at both ends of one side of the rotating frame (601), the output end of the close-fitting cylinder (606) is respectively connected to a floating joint, and the other ends of the two floating joints are respectively connected to the two ends of the close-fitting lever (607); two anti-overturning columns (605) are respectively arranged on the front and rear surfaces of the rotating frame (601), and an anti-overturning column displacement groove is arranged on the surface of the rotating frame (601), and a clamping cylinder (604) is also arranged on the bottom surface of the rotating frame (601), and the output end of the clamping cylinder (604) is connected to the bottom of the anti-overturning column fixing groove through a connecting piece.

4. A floating photovoltaic module installation device as claimed in claim 1, characterized in that: The suspension fixture (7) comprises a frame A (704), a frame B (705), a frame C (706), and a frame D (707) which are arranged in sequence from top to bottom. A downward pressure cylinder (701) is arranged on the frame A (704), a horizontal movement cylinder (708) is arranged on the frame B (705), and a horizontal suspension cylinder (709) is arranged on the frame C (706). Cylinder fixing plates are respectively arranged on both sides of the frame D (707), and a plurality of suspension cylinders (702) are arranged on each cylinder fixing plate. A suction cup assembly (703) is arranged at the bottom of each suspension cylinder (702); the front end of the output end of the downward pressure cylinder (701) is connected to the frame B (705), and the front end of the output end of the horizontal movement cylinder (708) is connected to the frame C (706) through a connecting plate; and the front end of the output end of the horizontal suspension cylinder (709) is connected to the frame D (707) through a connecting plate.

5. A floating photovoltaic module installation device as claimed in claim 4, characterized in that: The suction cup assembly (703) comprises a fixing plate (711), a joint bearing (712), a transfer block (714), and a suction cup (715) which are sequentially connected from top to bottom; a spring (713) is sleeved outside the joint bearing (712).

6. A floating photovoltaic module installation device as claimed in claim 1, characterized in that: A material placement position is set in the buckle installation work area.

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