Photovoltaic module installation equipment and system

Abstract

The utility model discloses a photovoltaic assembly installation device and system, and the device comprises a grabbing assembly which is used for sucking a photovoltaic assembly; the carrying assembly is connected with the grabbing assembly and used for driving the grabbing assembly to move; the plurality of binocular vision cameras are connected to the grabbing assembly or the carrying assembly, the plurality of binocular vision cameras are respectively used for identifying the plurality of first mounting holes in the photovoltaic bracket, and the plurality of binocular vision cameras are electrically connected with the carrying assembly; each binocular vision camera is used for photographing at a plurality of reference positioning points, and the plurality of reference positioning points are located on the movement track of the carrying assembly. According to the embodiment of the utility model, the photovoltaic module can be automatically placed through the photovoltaic module installation equipment, and the placing efficiency and the placing quality of the photovoltaic module are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaics, and in particular to a photovoltaic component installation device and system. Background Art

[0002] Currently, when installing a photovoltaic module on a photovoltaic support, the photovoltaic module is usually manually carried and lifted to the installation location, and then the photovoltaic module and the photovoltaic support are connected and fastened.

[0003] However, the manual placement of photovoltaic modules requires climbing or low-altitude operations, which poses a great safety hazard and places high demands on the operator's operating level. It is difficult to ensure the accuracy of the placement of photovoltaic modules, and the placement quality and efficiency are poor. Utility Model Content

[0004] The utility model provides a photovoltaic component installation device and system, aiming to at least solve the technical problems of poor placement quality and low placement efficiency of photovoltaic components in the prior art.

[0005] In a first aspect, an embodiment of the utility model provides a photovoltaic module installation device, comprising:

[0006] Grabbing components, used to absorb photovoltaic components;

[0007] A transport assembly connected to the grabbing assembly, the transport assembly being used to drive the grabbing assembly to move;

[0008] A plurality of binocular vision cameras are connected to the grabbing assembly or the transporting assembly, and the plurality of binocular vision cameras are respectively used to identify a plurality of first mounting holes on the photovoltaic bracket, and the plurality of binocular vision cameras are all electrically connected to the transporting assembly; each of the binocular vision cameras is used to take pictures at a plurality of reference positioning points, and the plurality of reference positioning points are all on the motion trajectory of the transporting assembly.

[0009] Optionally, the plurality of binocular vision cameras include two binocular vision camera groups spaced apart along a first direction, and each binocular vision camera group includes two binocular vision cameras spaced apart along a second direction;

[0010] The distance between two binocular vision cameras in the binocular vision camera group is greater than the width of the photovoltaic assembly.

[0011] Optionally, the plurality of reference positioning points include a first reference positioning point and a second reference positioning point.

[0012] The photovoltaic support comprises a plurality of purlins;

[0013] Along a direction perpendicular to the plane where the plurality of purlins are located, the distance between the first reference positioning point and the plane where the plurality of purlins are located is 800 mm-1000 mm;

[0014] Along a direction perpendicular to the plane where the plurality of purlins are located, a distance between the second reference positioning point and the plane where the plurality of purlins are located is 300 mm-500 mm.

[0015] Optionally, a traveling vehicle body is further included, and the transport assembly is arranged on the traveling vehicle body.

[0016] Optionally, it further comprises a loading rack for accommodating the photovoltaic assembly, the loading rack having a side opening;

[0017] The loading rack is installed on the traveling vehicle body through a rotating assembly, and the rotating assembly is used to drive the loading rack to rotate so that the side opening faces toward or away from the transport assembly.

[0018] Optionally, the loading rack is tilted, and the loading rack includes a loading bottom plate, the loading bottom plate has a first end close to the side opening and a second end away from the side opening, and the first end of the loading bottom plate is higher than the second end of the loading bottom plate.

[0019] Optionally, the loading rack has an inclination angle of 15 degrees to 20 degrees.

[0020] Optionally, a power control box is further provided on the walking vehicle body, and the transport assembly is located between the power control box and the loading rack;

[0021] The difference between the torque of the power control box on the transport assembly and the torque of the loading rack on the transport assembly is smaller than the safety anti-overturning torque of the walking vehicle body.

[0022] Optionally, the transport assembly includes an industrial robot, and the industrial robot includes a base connected to the walking vehicle body;

[0023] The traveling vehicle body has a first side and a second side that are arranged opposite to each other, and the distance between the center of the base and the first side or the second side is 550 mm-650 mm.

[0024] Optionally, the arm span of the industrial robot covers the loading rack.

[0025] Optionally, a front radar and a rear radar are respectively provided at both ends of the walking vehicle body along a third direction, and the third direction is the length direction of the walking vehicle body; and / or,

[0026] The walking vehicle body is provided with a body posture sensor; and / or,

[0027] The walking vehicle body is provided with a distance meter, and the distance meter is used to measure the distance between the walking vehicle body and the photovoltaic support; and / or,

[0028] The walking vehicle body is provided with an unmanned driving module for controlling the walking of the walking vehicle body;

[0029] And / or, a walking control module for controlling the walking of the walking body is arranged on the walking body, and the walking control module is wirelessly connected to a remote controller.

[0030] Optionally, the length of the traveling vehicle body is 5400mm-5600mm.

[0031] In a second aspect, an embodiment of the utility model provides a photovoltaic module installation system, comprising any of the photovoltaic module installation devices described above.

[0032] Optionally, it further comprises a photovoltaic bracket, the photovoltaic bracket comprises a first purlin located at the bottom, and the photovoltaic assembly installation device comprises a walking vehicle body;

[0033] When the photovoltaic component installation device installs the photovoltaic component on the photovoltaic bracket, the distance between the traveling vehicle body and the first purlin along the fourth direction is 600mm-1000mm, and the fourth direction is the width direction of the traveling vehicle body.

[0034] In the embodiment of the utility model, the photovoltaic components can be automatically placed through the photovoltaic component installation equipment, and the photovoltaic components can be quickly transported to the installation position without being affected by manual delays, thereby improving the placement efficiency of the photovoltaic components compared to the manual placement method; in addition, since there is no need to manually place the photovoltaic components on the photovoltaic bracket, the safety hazards in the manual transportation process are avoided, and the risk of damage such as scratches and hidden cracks to the photovoltaic components caused by falls, misoperation, etc. when the photovoltaic components are manually transported is avoided.

[0035] In addition, in the embodiment of the utility model, a binocular vision camera is used to identify the position of the first mounting hole on the photovoltaic bracket. When the position of the first mounting hole deviates, the motion trajectory of the transport component will be adjusted to ensure the accuracy of the placement position of the photovoltaic component. In addition, the binocular vision camera is based on the parallax principle and determines the position information by taking two images taken from different positions. It is suitable for outdoor environments and can be used normally even under strong light with high accuracy, thereby ensuring the recognition accuracy of the position of the first mounting hole, so that the transport component can place the photovoltaic component at the accurate installation position, thereby improving the placement accuracy and quality of the photovoltaic component.

[0036] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of a photovoltaic module installation device provided by an embodiment of the utility model;

[0038] Figure 2 A schematic diagram of the structure of a grabbing assembly and a binocular vision camera in a photovoltaic assembly installation device provided by an embodiment of the utility model;

[0039] Figure 3 The structure diagram of the photovoltaic module installation device and photovoltaic bracket provided by the embodiment of the utility model Figure 1 ;

[0040] Figure 4 The structure diagram of the photovoltaic module installation device and photovoltaic bracket provided by the embodiment of the utility model Figure 2 ;

[0041] Figure 5 The structure diagram of the photovoltaic module installation device and photovoltaic bracket provided by the embodiment of the utility model Figure 3 ;

[0042] Figure 6 The structure diagram of the photovoltaic module installation device and photovoltaic bracket provided by the embodiment of the utility model Figure 4 .

[0043] Reference numerals:

[0044] 1-grabbing assembly, 11-frame, 12-suction cup, 2-handling assembly, 21-industrial robot, 211-base, 3-binocular vision camera, 4-walking body, 41-body, 411-bottom plate, 4111-first side, 42-track, 5-loading rack, 51-side opening, 52-support, 53-loading bottom plate, 6-rotating assembly, 7-power control box, 8-photovoltaic bracket, 81-purlin, 811-first purlin, 9-photovoltaic assembly. DETAILED DESCRIPTION

[0045] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0046] First, refer to Figures 1 to 3 The embodiment of the utility model discloses a photovoltaic component installation device, including: a grabbing component 1, used to absorb the photovoltaic component 9; a transporting component 2, connected to the grabbing component 1, and the transporting component 2 is used to drive the grabbing component 1 to move; multiple binocular vision cameras 3, connected to the grabbing component 1 or the transporting component 2, the multiple binocular vision cameras 3 are respectively used to identify multiple first mounting holes on the photovoltaic bracket 8, and the multiple binocular vision cameras 3 are all electrically connected to the transporting component 2; each binocular vision camera 3 is used to take pictures at multiple reference positioning points respectively, and the multiple reference positioning points are all on the movement trajectory of the transporting component 2.

[0047] The photovoltaic component installation equipment can realize the single-row placement, double-row vertical placement, four-row horizontal placement, etc. of photovoltaic components. The photovoltaic component installation equipment can be applied to the double-row placement of photovoltaic components 0.5m-2.5m above the ground. The photovoltaic component installation equipment is used to place the photovoltaic component 9 on the photovoltaic bracket 8. During placement, the grabbing component 1 first absorbs the photovoltaic component 9, and then the transporting component 2 drives the grabbing component 1 to move, so as to transport the photovoltaic component 9 absorbed by the grabbing component 1 to the installation position. In the embodiment of the utility model, the photovoltaic component installation equipment can automatically realize the placement of the photovoltaic component, and can quickly transport the photovoltaic component to the installation position without being affected by manual delays, thereby improving the placement efficiency of the photovoltaic component compared to the manual placement method; in addition, since there is no need to manually place the photovoltaic component on the photovoltaic bracket, the safety hazards existing in the manual transportation process are avoided, and the risk of damage such as scratches and hidden cracks on the photovoltaic component caused by personnel falling, misoperation, etc. when manually transporting the photovoltaic component is avoided.

[0048] The binocular vision camera 3 is preferably connected to a side of the gripping component 1 close to the conveying component 2. The gripping component 1 includes a frame 11 and a plurality of suction cups 12 arranged on the frame 11, the plurality of suction cups 12 are used to absorb the photovoltaic component 9, the frame 11 is connected to the conveying component 2, and the binocular vision camera 3 is installed on the frame 11. Both the suction cup 12 and the binocular vision camera 3 can be installed on the frame 11 by bolts. Both the suction cup 12 and the binocular vision camera 3 can adopt a positioning method of pin hole positioning. The number of suction cups 12 can be set according to actual needs, such as four to eight. The suction cup 12 can adopt a suction cup with a buffer device. The method of using the suction cup 12 to absorb the photovoltaic component 9 can protect the photovoltaic component and avoid scratches, bumps and other defects on the surface of the photovoltaic component during the placement process. The conveying component 2 can adopt an industrial robot with multiple degrees of freedom so that the position of the photovoltaic component can be adjusted arbitrarily during the placement process. The industrial robot includes a mechanical arm and a controller for controlling the movement of the mechanical arm, and the mechanical arm is connected to the gripping component 1.

[0049] The photovoltaic support 8 includes a plurality of purlins 81, and a first mounting hole for mounting the photovoltaic module 9 is provided on the purlin 81. The photovoltaic module 9 includes a frame, and a second mounting hole is provided on the frame, and the first mounting hole and the second mounting hole can be connected by bolts. When the photovoltaic module 9 is connected to the purlin 81 by bolts, it is necessary to ensure that the position of the first mounting hole is aligned with the position of the second mounting hole. The number of binocular vision cameras 3 is equal to the number of first mounting holes required for mounting a single photovoltaic module 9. When the number of first mounting holes required for mounting a single photovoltaic module 9 is four, the number of binocular vision cameras 3 is also four. At this time, the four binocular vision cameras 3 are respectively used to identify the positions of the four first mounting holes on the photovoltaic support 8.

[0050] The photovoltaic module installation equipment also includes a visual industrial computer and a control module. The binocular visual camera 3 can be electrically connected to the controller in the transport component 2 through the visual industrial computer and the control module. The visual industrial computer is connected to multiple binocular visual cameras 3. After the binocular visual camera 3 takes a photo to identify the position information of the first mounting hole, the visual industrial computer calculates according to the current position information of the first mounting hole and the position information of the first mounting hole during the previous installation, thereby obtaining the position deviation of the first mounting hole, and corrects the position of the industrial robot in combination with the position deviation to obtain correction data. The visual industrial computer sends the correction data to the controller in the industrial robot through the control module, so that the controller adjusts the motion path of the robot arm according to the correction data to ensure that after the photovoltaic module is placed, the position of the first mounting hole is aligned with the position of the second mounting hole.

[0051] Existing visual cameras such as 3D laser cameras are mainly used indoors and are easily disturbed by ambient light. The construction area of ​​the photovoltaic power station belongs to a high-intensity lighting environment. If the existing visual camera is directly used, the reflection under strong outdoor light will cause large recognition errors, frequent error reports, and the position information cannot be accurately recognized. In the embodiment of the utility model, a binocular visual camera 3 is used to identify the position of the first mounting hole on the photovoltaic bracket 8. When the position of the first mounting hole deviates, the motion trajectory of the transport component 2 will be adjusted to ensure the accuracy of the placement position of the photovoltaic component; in addition, the binocular visual camera 3 is based on the parallax principle, and determines the position information by taking two images taken from different positions. It is suitable for outdoor environments and can be used normally under strong light. It has high accuracy, thereby ensuring the recognition accuracy of the position of the first mounting hole, so that the transport component 2 can place the photovoltaic component at the accurate installation position, thereby improving the placement accuracy and placement quality of the photovoltaic component.

[0052] The binocular vision camera 3 itself includes two cameras. The binocular vision camera 3 uses a high-resolution camera in conjunction with a recognition algorithm to realize position recognition, and can achieve mm-level visual positioning. The single camera in the binocular vision camera 3 itself is a 2D (2-dimensional) camera. The binocular vision camera 3 uses two cameras to quickly obtain different perspective images of the first mounting hole on the purlin, and uses the difference in the position of the first mounting hole photographed in the two images to calculate the position information, thereby accurately calculating the spatial distance and position of the first mounting hole on the purlin. The above-mentioned use of the difference in the position of the first mounting hole photographed in the two images to calculate the position information is a 3D (3-dimensional) algorithm.

[0053] During the process of the transport component 2 transporting the photovoltaic component to the installation position, the binocular vision camera 3 will take pictures at multiple reference positioning points in sequence. Each time a picture is taken, the position of the first installation hole will be determined based on the photographed picture to perform deviation correction. By taking pictures at multiple reference positioning points in sequence, multiple deviation corrections can be performed to improve the placement accuracy of the photovoltaic component. The number of reference positioning points can be set according to actual needs, such as two. At this time, during the process of the transport component 2 transporting the photovoltaic component to the installation position, the binocular vision camera 3 will take pictures at two reference positioning points to determine the position of the first installation hole. Both reference positioning points are on the motion trajectory of the transport component 2.

[0054] The multiple reference positioning points include a first reference positioning point and a second reference positioning point, and the direction perpendicular to the plane where the multiple purlins 81 are located is the fifth direction. Along the fifth direction, the distance between the first reference positioning point and the plane where the multiple purlins 81 are located is 800mm-1000mm; along the fifth direction, the distance between the second reference positioning point and the plane where the multiple purlins 81 are located is 300mm-500mm. The distance between the first reference positioning point and the plane where the multiple purlins 81 are located can be 800mm, 850mm, 880mm, 900mm, 950mm, 1000mm, etc. The distance between the second reference positioning point and the plane where the multiple purlins 81 are located can be 300mm, 320mm, 350mm, 400mm, 450mm, 500mm, etc.

[0055] The recognition algorithm of the binocular vision camera 3 will first calculate the plane and depth information formed by the four first mounting holes on the purlin for mounting a single photovoltaic module 9 based on the position information of the first mounting hole obtained by the binocular vision camera 3 at the first reference positioning point, and pass it to the transport component 2, and the transport component 2 will perform deviation correction accordingly to adjust the photovoltaic module to be parallel to the above plane; then, the binocular vision camera 3 takes a picture at the next reference positioning point, calculates the plane and depth information formed by the four first mounting holes on the purlin again, and passes it to the transport component 2, and the transport component 2 then verifies the relative spatial position of the photovoltaic module and the first mounting hole on the purlin, and continues to correct the deviation until the installation accuracy is within the required range. The depth information of the above-mentioned first mounting hole specifically refers to the distance between the first mounting hole and the binocular vision camera along the fifth direction.

[0056] Reference Figure 2 The multiple binocular vision cameras 3 include two binocular vision camera groups spaced apart along a first direction, and each binocular vision camera group includes two binocular vision cameras 3 spaced apart along a second direction; the distance between the two binocular vision cameras 3 in the binocular vision camera group is greater than the width of the photovoltaic component 9.

[0057] Specifically, the first direction is preferably perpendicular to the second direction. When the grabbing assembly 1 absorbs the photovoltaic assembly 9, the second direction is preferably the width direction of the photovoltaic assembly 9. The first direction is specifically the length direction of the grabbing assembly 1, which can be referred to as Figure 2 The second direction is specifically the width direction of the grabbing assembly 1, which can be referred to Figure 2 The distance between the two binocular vision cameras 3 in the binocular vision camera group is greater than the width of the photovoltaic component 9, that is, when the grabbing component 1 absorbs the photovoltaic component 9, the two binocular vision cameras 3 in the binocular vision camera group are respectively located on both sides of the photovoltaic component 9 along its width direction. In the embodiment of the utility model, by setting the distance between the two binocular vision cameras 3 in the binocular vision camera group to be greater than the width of the photovoltaic component 9, it is possible to avoid the binocular vision camera 3 being blocked by the photovoltaic component 9 absorbed by the grabbing component 1.

[0058] The photovoltaic component installation device provided in the embodiment of the utility model further includes a traveling vehicle body 4 , and the transporting component 2 is arranged on the traveling vehicle body 4 .

[0059] Specifically, the transport assembly 2 can be mounted on the walking vehicle body 4 by bolts. The walking vehicle body 4 can be driven manually, unmanned, remotely controlled, etc. The walking vehicle body 4 can be a crawler chassis vehicle, in which case the walking vehicle body 4 includes a vehicle body 41 and crawlers 42 arranged on the vehicle body 41. The crawler chassis vehicle can work under harsh walking conditions and can adapt to bumpy areas such as deserts, hills, and sand dunes, so that the photovoltaic module installation equipment can adapt to a variety of construction environments and can maintain stable walking when placing photovoltaic modules in different construction environments.

[0060] The photovoltaic component installation equipment also includes an automatic navigation module, which is used to guide the walking of the walking vehicle body 4 and the positioning of the photovoltaic component installation equipment, so that the walking vehicle body 4 walks according to the set route, so as to realize automatic guidance of the walking vehicle body 4. The automatic navigation module can adopt an RTK (Real-time Kinematic) high-precision navigation module. Through the automatic navigation module, the walking vehicle body 4 can walk according to the set route to ensure that the distance between the walking vehicle body 4 and the photovoltaic bracket 8 is within a preset range. The photovoltaic component installation equipment adjusts the route of the walking vehicle body 4 and the motion trajectory of the transport component 2 in real time based on the positioning of the automatic navigation module, the distance between the walking vehicle body 4 and the photovoltaic bracket 8 fed back by the rangefinder, and the position of the first mounting hole fed back by the binocular vision camera 3, so that the driving of the photovoltaic component installation equipment is controllable, thereby ensuring the accurate placement of the photovoltaic component.

[0061] Reference Figure 4 and Figure 5 The photovoltaic module installation equipment provided by the embodiment of the utility model also includes a loading rack 5 for accommodating photovoltaic modules 9, and the loading rack 5 has a side opening 51; the loading rack 5 is installed on the walking body 4 through a rotating assembly 6, and the rotating assembly 6 is used to drive the loading rack 5 to rotate so that the side opening 51 is toward or away from the transport assembly 2.

[0062] Specifically, the loading rack 5 accommodates multiple photovoltaic modules 9. The rotating assembly 6 can be installed on the walking vehicle body 4 by bolts. When the photovoltaic module installation equipment installs the photovoltaic module 9 on the photovoltaic bracket 8, the side opening 51 faces the conveying assembly 2, and the grabbing assembly 1 absorbs the photovoltaic module 9 on the loading rack 5 from the side opening 51. After all the multiple photovoltaic modules 9 on the loading rack 5 are taken out, the rotating assembly 6 drives the loading rack 5 to rotate 180 degrees, and the side opening 51 rotates to the side away from the conveying assembly 2, and then the multiple photovoltaic modules 9 are reloaded into the loading rack 5 from the side opening 51. After the loading is completed on the loading rack 5, the rotating assembly 6 drives the loading rack 5 to rotate 180 degrees again, and the side opening 51 faces the conveying assembly 2 again. Through the setting of the rotating assembly 6, the loading rack 5 can be rotated to the side opening 51 facing or away from the conveying assembly 2, so that the grabbing assembly 1 connected to the conveying assembly 2 can absorb the photovoltaic modules 9 from the side opening 51 and the loading of the photovoltaic modules 9.

[0063] Reference Figure 1 and Figure 4 The loading rack 5 is tilted and includes a loading bottom plate 53 . The loading bottom plate 53 has a first end close to the side opening 51 and a second end away from the side opening 51 . The first end of the loading bottom plate 53 is higher than the second end of the loading bottom plate 53 .

[0064] Specifically, the loading rack 5 further includes a support member 52 arranged opposite to the side opening 51. The loading rack 5 is arranged to be inclined along its width direction, at which time, the first end of the loading bottom plate 53 close to the side opening 51 is higher than the second end of the loading bottom plate 53, and the photovoltaic modules on the loading rack 5 are kept tilted backward by their own weight, so as to prevent the photovoltaic modules from tipping over and being damaged due to the photovoltaic modules tilting forward toward the side opening 51.

[0065] The inclination angle of the loading rack 5 is 15 degrees to 20 degrees. The inclination angle of the loading rack 5 is specifically the angle between the plane where the loading bottom plate 53 is located and the horizontal plane. The inclination angle of the loading rack 5 can be 15 degrees, 16 degrees, 17 degrees, 18 degrees, 19 degrees, 20 degrees, etc. When the inclination angle of the loading rack 5 is within the above range, it has been verified through actual stacking that the photovoltaic modules have no risk of hidden cracks caused by slippage, pressure, etc.

[0066] A power control box 7 is also provided on the traveling body 4, and the transport component 2 is located between the power control box 7 and the loading rack 5; the difference between the torque of the power control box 7 on the transport component 2 and the torque of the loading rack 5 on the transport component 2 is less than the safety anti-overturning torque of the traveling body 4.

[0067] Specifically, the power control box 7 can be installed on the walking body 4 by bolts. The handling assembly 2, the rotating assembly 6 and the power control box 7 can all be positioned by pin hole positioning. A dual motor can be used to provide walking power for the walking body 4, and a lithium battery can be used to provide electric power for the dual motor. The power control box 7 can include the above-mentioned control module, a visual industrial computer and a lithium battery. The power control box 7 and the loading rack 5 are respectively located on both sides of the walking body 4 along its length direction. Considering the balance of the overall configuration of the photovoltaic component installation equipment, the handling assembly 2 is arranged between the power control box 7 and the loading rack 5. If the difference between the torque of the power control box 7 on the handling assembly 2 and the torque of the loading rack 5 on the handling assembly 2 is greater than the safety anti-overturning torque of the walking body 4, the photovoltaic component installation equipment will be subject to the risk of overturning. In the embodiment of the utility model, the difference between the torque of the power control box 7 on the handling assembly 2 and the torque of the loading rack 5 on the handling assembly 2 is less than the safety anti-overturning torque of the walking body 4, which can prevent the photovoltaic component installation equipment from overturning.

[0068] Reference Figure 6 The transport assembly 2 includes an industrial robot 21, which includes a base 211 connected to a traveling body 4; the traveling body 4 has a first side 4111 and a second side that are relatively arranged, and the distance between the center of the base 211 and the first side 4111 or the second side is 550mm-650mm.

[0069] Specifically, the first side 4111 is specifically the side of the walking body 4 close to the photovoltaic bracket 8, and the center of the base 211 is preferably 550mm-650mm away from the first side 4111. The base 211 of the industrial robot 21 is fixed relative to the walking body 4. The walking body 4 includes a vehicle bottom plate 411, and the handling assembly 2, the rotating assembly 6 and the power control box 7 are all installed on the vehicle bottom plate 411. The vehicle bottom plate 411 has a first side 4111 close to the photovoltaic bracket 8. The length of the photovoltaic assembly installation device can be 5500mm, the width can be 2400mm, and the height can be 4000mm. The length of the walking body 4 is 5400mm-5600mm, and can be specifically 5400mm, 5450mm, 5500mm, 5550mm, 5580mm, 5600mm, etc. The length of the walking body 4 is preferably 5500mm, which is convenient for the walking body 4 to turn, thereby reducing the walking distance during operation.

[0070] Along the fourth direction, the distance between the center of the base 211 and the first side 4111 or the second side of the walking body 4 can be 550mm, 560mm, 580mm, 600mm, 620mm, 650mm, etc. When the distance between the center of the base 211 and the first side 4111 or the second side of the walking body 4 is within the above range, the accessibility of the movement position when the industrial robot 21 places the photovoltaic module on the photovoltaic support can be ensured, and at the same time, the overall weight of the photovoltaic module installation equipment is ensured to be reasonable, so as to prevent the photovoltaic module installation equipment from overturning.

[0071] Reference Figure 4 The arm span of the industrial robot 21 covers the loading rack 5 .

[0072] Specifically, the loading rack 5 includes a support member 52 arranged opposite to the side opening 51 , the support member 52 is used to support the photovoltaic assembly 9 , and the distance between the center of the base 211 and the support member 52 is smaller than the arm span of the industrial robot 21 .

[0073] The layout of the position of the industrial robot 21 needs to consider the overall counterweight of the photovoltaic module installation equipment, and also needs to consider the arm span range of the industrial robot 21. The arm span range of the industrial robot 21 is 3m-4m, such as the arm span range of the industrial robot 21 can be 3.1m. The support member 52 may include a plurality of support rods. The distance between the center of the base 211 and the support member 52 can specifically be the distance between the center of the base 211 and the plane where the plurality of support rods are located along the third direction. When the arm span range of the industrial robot 21 covers the loading rack 5, the grabbing assembly 1 connected to the industrial robot 21 can absorb a photovoltaic module farthest from the base 211, thereby ensuring the accessibility of the moving position of the grabbing assembly 1 connected to the industrial robot 21.

[0074] The walking body 4 is respectively provided with a front radar and a rear radar at both ends along the third direction, and the third direction is the length direction of the walking body 4; and / or, a body posture sensor is provided on the walking body 4; and / or, a rangefinder is provided on the walking body 4, and the rangefinder is used to measure the distance between the walking body 4 and the photovoltaic bracket 8; and / or, an unmanned driving module for controlling the walking of the walking body 4 is provided on the walking body 4; and / or, a walking control module for controlling the walking of the walking body 4 is provided on the walking body 4, and the walking control module is wirelessly connected to a remote control.

[0075] For details, please refer to the third party Figure 3 The direction indicated by the arrow C in the figure. Both the front radar and the rear radar can be laser radars. When the vehicle body 4 moves forward or reverses backward, the front radar and the rear radar can monitor in real time whether there are obstacles or people in the direction of travel, so that the vehicle body 4 stops moving when an obstacle or a person enters the set range, so as to prevent injury or collision with obstacles.

[0076] The vehicle body posture sensor is used to monitor the posture of the traveling vehicle body 4 in the horizontal direction, so as to achieve horizontal adjustment of the posture of the traveling vehicle body 4, and further ensure that the distance between the traveling vehicle body 4 and the photovoltaic support 8 is within a preset range.

[0077] The rangefinder can be a laser radar, which has a high ranging accuracy, and the power of the laser radar can be set to be larger to reduce the influence of ambient light on it. The photovoltaic bracket 8 includes a first purlin 811 located at the bottom, and the rangefinder is specifically used to measure the distance between the walking body 4 and the first purlin 811 along the fourth direction, and the fourth direction is the width direction of the walking body 4. Along the fourth direction, the distance between the walking body 4 and the first purlin 811 needs to be maintained at 600mm-1000mm to ensure that the operating range of the transport component 2 can cover the installation area and ensure the accessibility of the movement position of the industrial robot 21 in the transport component 2.

[0078] The walking body 4 may be provided with an unmanned driving module for controlling the walking of the walking body 4. The rangefinder is electrically connected to the control module, and the control module is electrically connected to the unmanned driving module. In the embodiment of the utility model, through the setting of the rangefinder, the distance between the walking body 4 and the photovoltaic bracket 8 can be monitored in real time, so that when the distance deviates, the travel route of the walking body 4 can be corrected to ensure that the distance between the walking body 4 and the photovoltaic bracket 8 is within a preset range, so as to ensure that the operating range of the transport component 2 can cover the installation area.

[0079] When the walking mode of the walking vehicle body 4 is the unmanned driving mode, the unmanned driving module controls the walking vehicle body 4 to walk according to the set travel route. When the walking mode of the walking vehicle body 4 is the remote control mode, the remote control is manually operated to control the walking vehicle body 4 to walk. Through the setting of the unmanned driving module, the walking control module and the remote control, it is possible to prevent personnel from directly reaching a harsh construction environment, and the unmanned driving mode can prevent errors in personnel operation.

[0080] The route of the installation vehicle 4 can be preliminarily determined according to the planning layout of the photovoltaic power station. The route of the vehicle 4 includes the starting position, the end position, and the turning position of each photovoltaic sub-array installation. The vehicle 4 moves along the set route based on the guidance of the automatic navigation module. When each photovoltaic sub-array is installed, because each photovoltaic sub-array is a sub-string connected in a straight line, the vehicle 4 moves in a straight line in a single photovoltaic sub-array.

[0081] When the walking vehicle 4 reaches the initial position, that is, when it enters the placement operation channel of a photovoltaic sub-array, the placement operation begins. During the process of placing photovoltaic modules by the photovoltaic module installation equipment, the walking vehicle 4 stops twice at a distance of 3.4m, and installs 3 rows, that is, 6 photovoltaic modules, at a single stop until the installation of a sub-array is completed. The walking vehicle 4 stops once, and the photovoltaic module installation equipment can place 6 photovoltaic modules, thereby maximizing the placement efficiency and reducing the walking time of the walking vehicle 4 within the reachable range of the industrial robot 21.

[0082] The process of placing photovoltaic modules using the above photovoltaic module installation equipment is as follows:

[0083] In the first step, the photovoltaic module installation equipment drives into the photovoltaic module installation construction site and stops at the feeding platform where multiple module boxes are stacked. Then the operator uses a forklift to put the module box on the loading rack 5. After loading, the rotating component 6 drives the loading rack 5 to rotate 180 degrees so that the side opening 51 faces the handling component 2;

[0084] In the second step, the photovoltaic module installation equipment is parked at a photovoltaic sub-array placement operation channel, and all mechanisms are in standby mode;

[0085] The third step is that the photovoltaic module installation equipment moves to the installation position of the first group of three rows of photovoltaic modules to be installed and stops in the middle of the installation position of the three rows of photovoltaic modules;

[0086] In the fourth step, the transport component 2 and the grabbing component 1 start working to pick up a photovoltaic component 9 from the loading rack 5;

[0087] Step 5: The binocular vision camera 3 searches for a set of first mounting holes on the purlin 81 and identifies the positions. When the positions of the first mounting holes deviate, the motion trajectory of the industrial robot 21 is adjusted, and then the photovoltaic module 9 is hung on the purlin 81.

[0088] Step 6: Repeat the steps 4 and 5 in sequence, and continuously place the photovoltaic modules;

[0089] In the seventh step, the photovoltaic module installation equipment moves forward a distance of 3.4m and starts the second section placement operation.

[0090] It should be noted that after the photovoltaic assembly 9 is hung on the purlin 81, bolts are required to connect and fasten the photovoltaic assembly 9 and the purlin 81. The photovoltaic assembly 9 is provided with a hanging hole, and the purlin 81 is provided with a hook to achieve the hanging of the photovoltaic assembly 9.

[0091] It should be noted that the above-mentioned photovoltaic module installation equipment can be used for the installation of sheet products with similar appearance to photovoltaic modules. For example, it can be used for the automated installation of exterior wall glass, tiles, etc. in the construction industry.

[0092] In the second aspect, the embodiment of the utility model further discloses a photovoltaic module 9 installation system, including any of the photovoltaic module installation devices described above. Since the photovoltaic module 9 installation system includes the photovoltaic module installation device described above, it also has the beneficial effects of the photovoltaic module installation device described above, which will not be described in detail here.

[0093] Reference Figure 5 The photovoltaic component 9 installation system also includes a photovoltaic bracket 8, the photovoltaic bracket 8 includes a first purlin 811 located at the bottom, and the photovoltaic component installation equipment includes a walking body 4; when the photovoltaic component installation equipment installs the photovoltaic component 9 on the photovoltaic bracket 8, along the fourth direction, the distance between the walking body 4 and the first purlin 811 is 600mm-1000mm, and the fourth direction is the width direction of the walking body 4.

[0094] Specifically, the fourth direction can refer to Figure 3 In the fourth direction, the distance between the traveling vehicle body 4 and the first purlin 811 can be 600mm, 700mm, 800mm, 850mm, 900mm, 1000mm, etc. When the distance between the traveling vehicle body 4 and the first purlin 811 is within the above range, it can ensure that the operating range of the transport assembly 2 can cover the installation area, and ensure the accessibility of the movement position of the industrial robot 21 in the transport assembly 2.

[0095] The photovoltaic module 9 installation system also includes a feeder and a forklift. A plurality of component boxes are stacked at the feeder, and each component box includes a plurality of photovoltaic modules 9. The component boxes at the feeder can be placed on the loading rack 5 by a forklift.

[0096] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0097] The embodiments of the utility model are described above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the utility model, ordinary technicians in this field can also make many forms without departing from the scope of protection of the utility model and the claims, which all fall within the protection of the utility model.

Claims

1. A photovoltaic module installation device, characterized in that: include: Grabbing components, used to absorb photovoltaic components; A transport assembly connected to the grabbing assembly, the transport assembly being used to drive the grabbing assembly to move; A plurality of binocular vision cameras are connected to the grabbing assembly or the transporting assembly, and the plurality of binocular vision cameras are respectively used to identify a plurality of first mounting holes on the photovoltaic bracket, and the plurality of binocular vision cameras are all electrically connected to the transporting assembly; each of the binocular vision cameras is used to take pictures at a plurality of reference positioning points, and the plurality of reference positioning points are all on the motion trajectory of the transporting assembly.

2. The photovoltaic module installation device according to claim 1, characterized in that: The plurality of binocular vision cameras include two binocular vision camera groups spaced apart along a first direction, and each binocular vision camera group includes two binocular vision cameras spaced apart along a second direction; The distance between two binocular vision cameras in the binocular vision camera group is greater than the width of the photovoltaic assembly.

3. The photovoltaic module installation device according to claim 1, characterized in that: The plurality of reference positioning points include a first reference positioning point and a second reference positioning point, and the photovoltaic support includes a plurality of purlins; Along a direction perpendicular to the plane where the plurality of purlins are located, the distance between the first reference positioning point and the plane where the plurality of purlins are located is 800 mm-1000 mm; Along a direction perpendicular to the plane where the plurality of purlins are located, a distance between the second reference positioning point and the plane where the plurality of purlins are located is 300 mm-500 mm.

4. The photovoltaic module installation device according to claim 1, characterized in that: It also includes a traveling vehicle body, and the transport assembly is arranged on the traveling vehicle body.

5. The photovoltaic module installation device according to claim 4, characterized in that: Also included is a loading rack for accommodating the photovoltaic assembly, the loading rack having a side opening; The loading rack is installed on the traveling vehicle body through a rotating assembly, and the rotating assembly is used to drive the loading rack to rotate so that the side opening faces toward or away from the transport assembly.

6. The photovoltaic module installation device according to claim 5, characterized in that: The loading rack is tilted and includes a loading bottom plate having a first end close to the side opening and a second end away from the side opening, wherein the first end of the loading bottom plate is higher than the second end of the loading bottom plate.

7. The photovoltaic module installation device according to claim 5, characterized in that: The loading rack has an inclination angle of 15 to 20 degrees.

8. The photovoltaic module installation device according to claim 5, characterized in that: The walking vehicle body is also provided with a power control box, and the transport assembly is located between the power control box and the loading rack; The difference between the torque of the power control box on the transport assembly and the torque of the loading rack on the transport assembly is smaller than the safety anti-overturning torque of the walking vehicle body.

9. The photovoltaic module installation device according to any one of claims 5 to 8, characterized in that: The handling assembly includes an industrial robot, and the industrial robot includes a base connected to the walking vehicle body; The traveling vehicle body has a first side and a second side that are arranged opposite to each other, and the distance between the center of the base and the first side or the second side is 550 mm-650 mm.

10. The photovoltaic module installation device according to claim 9, characterized in that: The arm span of the industrial robot covers the loading rack.

11. The photovoltaic module installation device according to any one of claims 4 to 8, characterized in that: The two ends of the traveling vehicle body along the third direction are respectively provided with a front radar and a rear radar, wherein the third direction is the length direction of the traveling vehicle body; and / or, The walking vehicle body is provided with a body posture sensor; and / or, The walking vehicle body is provided with a distance meter, and the distance meter is used to measure the distance between the walking vehicle body and the photovoltaic support; and / or, The walking vehicle body is provided with an unmanned driving module for controlling the walking of the walking vehicle body; And / or, a walking control module for controlling the walking of the walking body is arranged on the walking body, and the walking control module is wirelessly connected to a remote controller.

12. The photovoltaic module installation device according to any one of claims 4 to 8, characterized in that: The length of the traveling vehicle body is 5400mm-5600mm.

13. A photovoltaic module installation system, characterized in that: The photovoltaic module installation device comprises the photovoltaic module installation device according to any one of claims 1 to 12.

14. The photovoltaic module installation system according to claim 13, characterized in that: It also includes a photovoltaic bracket, the photovoltaic bracket includes a first purlin located at the bottom, and the photovoltaic assembly installation equipment includes a walking body; When the photovoltaic component installation device installs the photovoltaic component on the photovoltaic bracket, the distance between the traveling vehicle body and the first purlin along the fourth direction is 600mm-1000mm, and the fourth direction is the width direction of the traveling vehicle body.

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