Semi-automatic mounting robot

Abstract

The utility model relates to the technical field of photovoltaics, and provides a semi-automatic installation robot which comprises a movable carrying table; the tops of the supporting seats are provided with sliding grooves formed in the length directions of the supporting seats, the multiple supporting seats are arranged in parallel at intervals and detachably installed on the movable carrying table, the sliding grooves are used for containing oblique beams, and the multiple supporting seats are suitable for supporting purlins; the tightening modules are detachably mounted on the movable carrying table and can move parallel to the movable carrying table and move perpendicular to the movable carrying table; the tightening module is used for automatically tightening bolts in the bolt assemblies so that the oblique beams arranged in the sliding grooves can be connected with the purlins arranged on the multiple supporting bases through the bolt assemblies. The movable platform deck is ingenious in design, connection of the purline and the oblique beam can be completed before the oblique beam is installed on the stand column, high-place operation of workers is not needed, and in addition, automatic installation of the purline on the movable platform deck can reduce the installation difficulty and improve the installation efficiency.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic technology, and in particular to a semi-automatic installation robot. Background Art

[0002] At present, photovoltaic arrays are generally built in the following order: first install the columns, then install the diagonal beams or main beams on the columns, then install the purlins on the diagonal beams or main beams, and then install the photovoltaic panels. In the above process, the installation of purlins on the diagonal beams or main beams is generally done manually, which requires the installers to work at high altitudes, which is highly dangerous. In addition, the installers need to move back and forth for installation, which further increases the danger of working at high altitudes. In addition, manual installation is labor-intensive, inefficient, and has high labor costs, which is not conducive to the construction period and cost control of photovoltaic power station construction projects. Utility Model Content

[0003] In order to solve the above problems, the present application provides a semi-automatic installation robot with an ingenious design. It can complete the connection between the purlin and the inclined beam before the inclined beam is installed on the column, and then lift the bracket formed after the purlin and the inclined beam are connected to the installation position, and then connect the bracket to the column. When installing the purlin, there is no need for workers to work at high altitude. In addition, the automatic installation of the purlin on the mobile platform can improve the installation efficiency. The technical solutions adopted in this application are as follows:

[0004] A semi-automatic installation robot is used to install a photovoltaic bracket, wherein the photovoltaic bracket includes an inclined beam and a purlin, wherein the inclined beam and the purlin are suitable for being connected by a bolt assembly, comprising:

[0005] Moving stage;

[0006] A plurality of support seats, wherein the top of the support seats is provided with a slide groove arranged along the length direction of the support seats, the plurality of support seats are arranged in parallel and spaced apart and detachably mounted on the movable platform, the slide groove is used to place the inclined beam, and the plurality of support seats are suitable for supporting the purlins;

[0007] A plurality of tightening modules are detachably mounted on the movable platform and can move parallel to and perpendicular to the movable platform; the tightening modules are used for automatically tightening the bolts in the bolt assembly to connect the inclined beam placed in the slide groove with the purlins placed on the plurality of support seats through the bolt assembly.

[0008] By completing the automatic connection between the purlin and the diagonal beam on the mobile platform, the installation process of the purlin is moved from the traditional high-altitude operation to the low-altitude operation, avoiding the risks brought by high-altitude operation. In addition, the tightening module is used to automatically tighten the bolts to complete the installation of the purlin, which can improve the efficiency of purlin installation and save labor costs.

[0009] In some embodiments, a plurality of conveying modules are further included. The conveying modules are detachably mounted on the movable platform. The conveying direction of the conveying modules is perpendicular to the support seat and parallel to the movable platform. The conveying modules are used to convey the purlins.

[0010] By setting up a conveying module, after one end of the purlin is placed on the conveying module, the purlin will move along the conveying direction under the drive of the conveying module. There is no need to push the purlin manually, or the thrust required for manually pushing the purlin is reduced, thereby reducing the work intensity of the workers and improving the efficiency of placing the purlin on the support seat.

[0011] In some embodiments, a plurality of limit blocks are further included, which are detachably mounted on the movable platform and located in the conveying direction of the conveying module, and the plurality of limit blocks are used to prevent the movement of the purlins and align the plurality of purlins with each other.

[0012] By setting a limit stopper, the movement of the purlin can be blocked. When the purlin moves to the installation position, it will automatically stop moving and complete the alignment under the action of the limit stopper, without manual operation, saving manpower.

[0013] In some embodiments, the conveying module is a belt conveyor. Compared with a roller conveyor, a belt conveyor has low cost, light weight, and is easy to disassemble and assemble.

[0014] In some embodiments, a cantilever crane is installed at one end of the movable platform, and the cantilever crane is used to lift the photovoltaic support connected with the purlin and the inclined beam.

[0015] By setting up a cantilever crane, the bracket formed by connecting the purlin and the inclined beam can be lifted by the cantilever crane to complete the installation of the bracket and the column without arranging additional lifting equipment.

[0016] In some embodiments, the cantilever of the cantilever crane is retractable.

[0017] The use of a retractable cantilever, on the one hand, the rotation radius of the cantilever crane can be changed within a certain range, which can improve the application range of the cantilever crane; on the other hand, after the cantilever is retracted, the space occupied by the cantilever crane becomes smaller, which is conducive to the storage and transportation of the cantilever crane.

[0018] In some embodiments, the table top of the movable platform includes a fixed frame and at least two movable frames, and all of the movable frames are evenly distributed on both sides of the fixed frame along the conveying direction of the conveying module and are hinged to the fixed frame.

[0019] By hingedly connecting the movable frame to the fixed frame, the movable frame can rotate relative to the fixed frame. When the angle between the movable frame and the fixed frame is 180°, it is the expanded state of the mobile platform. When the angle between the movable frame and the fixed frame is 90° or 0°, it is the retracted state of the mobile platform. The mobile platform in the expanded state can provide a larger working surface for the installation of purlins, while the mobile platform in the retracted state occupies a small area, which is convenient for moving on the road or in the photovoltaic array.

[0020] In some embodiments, a plurality of support rods are further included. The support rods can be movably stored in the bottom of the fixed frame and can be extended from the bottom of the fixed frame. When the support rods are extended from the bottom of the fixed frame, they can support the movable frame.

[0021] By providing support rods and using the support rods to support the movable frame in the unfolded state, the load-bearing capacity of the movable frame can be improved, the risk of shaking of the movable frame can be reduced, and the overall rigidity of the mobile platform in the unfolded state can be improved.

[0022] In some embodiments, a plurality of moving wheels are provided at the bottom of the fixed frame, and the moving platform is moved by the moving wheels.

[0023] Compared with using tracks as the walking components of the mobile platform, using moving wheels as the walking components of the mobile platform can facilitate the turning of the mobile platform and improve the flexibility of the mobile platform.

[0024] In some embodiments, it also includes a guide rail module, which includes a first guide rail, a second guide rail and a telescopic guide rail, the first guide rail, the second guide rail and the telescopic guide rail are perpendicular to each other and form a spatial vertical relationship with each other, the second guide rail is installed at the moving end of the first guide rail, and the telescopic guide rail is installed at the moving end of the second guide rail, the moving direction of the moving end of the first guide rail is the same as the length direction of the support seat, the moving direction of the moving end of the second guide rail is perpendicular to the length direction of the support seat and parallel to the moving platform, the moving direction of the moving end of the telescopic guide rail is perpendicular to the moving platform, the tightening module is installed at the moving end of the telescopic guide rail, the heights of the first guide rail and the second guide rail are lower than the top surface height of the support seat, and the telescopic guide rail can be lowered to below the top surface height of the support seat together with the tightening module.

[0025] Compared with using a robotic arm to achieve the movement of the tightening module, using a guide rail module to achieve the movement of the tightening module can reduce the cost of moving the tightening module. The guide rail module has a lower procurement cost than a robotic arm and is easy to debug and maintain.

[0026] The semi-automatic installation robot provided in the present application has at least one of the following beneficial effects:

[0027] 1. The semi-automatic installation robot provided by the present application automatically connects the purlins and the diagonal beams on a mobile platform, that is, the installation process of the purlins is moved from the traditional high-altitude operation to the low-altitude operation, thus avoiding the risks brought by the high-altitude operation. In addition, the tightening module is used to automatically tighten the bolts to complete the installation of the purlins, which can improve the efficiency of the purlin installation and save labor costs.

[0028] 2. The present application provides a semi-automatic installation robot. By setting a conveying module, after one end of the purlin is placed on the conveying module, the purlin will move along the conveying direction driven by the conveying module. There is no need to manually push the purlin, or the thrust required for manually pushing the purlin is reduced, thereby reducing the work intensity of the workers and improving the efficiency of placing the purlin on the support seat.

[0029] 3. The present application provides a semi-automatic installation robot which can block the movement of the purlins by setting limit blocks. When the purlins move to the installation position, they will automatically stop moving and complete alignment under the action of the limit blocks, without the need for manual operation, thus saving manpower.

[0030] 4. The semi-automatic installation robot provided in the present application has low cost, light weight and is easy to assemble and disassemble compared to the roller conveyor.

[0031] 5. The present application provides a semi-automatic installation robot, which can lift the bracket formed by connecting the purlin and the inclined beam by means of a cantilever crane to complete the installation of the bracket and the column without the need to arrange additional lifting equipment.

[0032] 6. The present application provides a semi-automatic installation robot which adopts a retractable cantilever. On the one hand, the rotation radius of the cantilever crane can be varied within a certain range, thereby improving the applicable scope of the cantilever crane. On the other hand, after the cantilever crane is retracted, the space occupied by the cantilever crane becomes smaller, which is conducive to the storage and transportation of the cantilever crane.

[0033] 7. The present application provides a semi-automatic installation robot, in which a movable frame is hinged to a fixed frame so that the movable frame can rotate relative to the fixed frame. When the angle between the movable frame and the fixed frame is 180°, it is the extended state of the mobile platform. When the angle between the movable frame and the fixed frame is 90° or 0°, it is the retracted state of the mobile platform. The mobile platform in the extended state can provide a larger working surface for the installation of purlins, while the mobile platform in the retracted state occupies a small area, which is convenient for movement on the road or in the photovoltaic array.

[0034] 8. The semi-automatic installation robot provided in the present application can improve the load-bearing capacity of the movable frame, reduce the risk of shaking of the movable frame, and improve the overall rigidity of the mobile platform in the unfolded state by setting support rods and using the support rods to support the movable frame in the unfolded state.

[0035] 9. Compared with using tracks as the walking component of a mobile platform, a semi-automatic installation robot provided in the present application uses moving wheels as the walking component of a mobile platform, which can facilitate the turning of the mobile platform and improve the flexibility of the mobile platform.

[0036] 10. The semi-automatic installation robot provided in the present application utilizes a guide rail module to realize the movement of the tightening module, compared with the use of a robotic arm to realize the movement of the tightening module, which can reduce the cost of realizing the movement of the tightening module. The guide rail module has a lower procurement cost than the robotic arm and is easy to debug and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The following will explain the preferred implementation mode in a clear and understandable manner with reference to the accompanying drawings, and further explain the above characteristics, technical features, advantages and implementation methods of a semi-automatic installation robot:

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0039] Figure 2 yes Figure 1 A partial schematic diagram of an embodiment;

[0040] Figure 3 yes Figure 2 A partial enlarged view of an embodiment;

[0041] Figure 4 It is a schematic diagram of the structure of the mobile platform in the embodiment of the present application.

[0042] Description of Figure Numbers:

[0043] Mobile platform 1, fixed frame 2, movable frame 3, support seat 4, slide 5, tightening module 6, conveying module 7, cantilever crane 8, moving wheel 9, guide rail module 10, purlin 11, inclined beam 12, first guide rail 13, second guide rail 14, telescopic guide rail 15. DETAILED DESCRIPTION

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0045] In order to simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0046] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0049] refer to Figure 1-Figure 4 The present application provides a semi-automatic installation robot for installing a photovoltaic bracket, wherein the photovoltaic bracket includes an inclined beam 12 and a purlin 11, wherein the inclined beam 12 and the purlin 11 are suitable for being connected by a bolt assembly, and includes:

[0050] Moving stage 1;

[0051] A plurality of support seats 4, a slide groove 5 is provided on the top of the support seat 4 along the length direction of the support seat 4, the plurality of support seats 4 are arranged in parallel and spaced apart and detachably mounted on the mobile platform 1, the slide groove 5 is used to place the inclined beam 12, and the plurality of support seats 4 are suitable for supporting the purlin 11;

[0052] A plurality of tightening modules 6 are detachably mounted on the mobile platform 1 and can move parallel to and perpendicular to the mobile platform 1; the tightening modules 6 are used to automatically tighten the bolts in the bolt assembly to connect the inclined beam 12 placed in the slide groove 5 with the purlin 11 placed on the plurality of support seats 4 through the bolt assembly.

[0053] Specifically, before the inclined beam 12 is placed in the chute 5, the rivet nut is pre-installed on the inclined beam 12. After the inclined beam 12 is placed in the chute 5, the opening of the chute 5 is flush with the inclined beam 12. The purlin 11 is provided with a screw hole, and when the purlin 11 is placed on the support seat 4, the screw hole needs to correspond to the position of the rivet nut. In order to fix the position of the inclined beam 12 and the purlin 11 and prevent the displacement of the inclined beam 12 and the purlin 11 during the installation of the purlin 11, the inclined beam 12 and the purlin 11 can be fixed by a pneumatic clamp. It can be understood that the tightening module 6 has an automatic positioning function, and the automatic positioning function can be realized by a visual camera. When the bolt is manually placed in the screw hole of the purlin 11 or the bolt is loaded by a loading mechanism, the tightening module 6 can automatically locate the bolt and tighten the bolt. The above features of the tightening module 6 are more common in automation equipment, especially in a robot arm or a robot, and will not be repeated here.

[0054] In this embodiment, the purlin 11 and the inclined beam 12 are automatically connected on the mobile platform 1, that is, the installation process of the purlin 11 is moved from the traditional high-altitude operation to the low-altitude operation, thereby avoiding the risks brought by the high-altitude operation. In addition, the tightening module 6 is used to automatically tighten the bolts to complete the installation of the purlin 11, which can improve the installation efficiency of the purlin 11 and save labor costs.

[0055] In other embodiments, by reasonably setting the matching positions of the support seat, conveying module, tightening module, and guide rail module, the connection and fixation of structural parts such as purlins, main beams, and diagonal braces can be completed on the mobile platform 1 to form a preliminary bracket frame of the photovoltaic tracking bracket, which will not be repeated here.

[0056] Understandably, reference Figure 1 The purlin 11 is gradually placed on the support seat 4 from the rear end of the mobile platform 1 and in a direction perpendicular to the support seat 4. When the purlin 11 is placed manually, it is necessary to manually push the purlin 11 into place, which increases the labor intensity of the workers and the placement efficiency of the purlin 11 is low. In order to solve the above problems, reference is made to Figure 1-Figure 3 , a plurality of conveying modules 7 can be provided, and the conveying modules 7 can be detachably installed on the mobile platform 1. The conveying direction of the conveying modules 7 is perpendicular to the support seat 4 and parallel to the mobile platform 1. By providing the conveying modules 7, after one end of the purlin 11 is placed on the conveying modules 7, the purlin 11 will move along the conveying direction under the drive of the conveying modules 7. There is no need to manually push the purlin 11, or the thrust required for manually pushing the purlin 11 is reduced, thereby reducing the work intensity of the workers and improving the efficiency of placing the purlin 11 on the support seat 4.

[0057] In one embodiment, in order to control the position of the purlin 11, the installation robot also includes a plurality of limit blocks (not shown in the figure), which are detachably mounted on the mobile platform 1 and located in the conveying direction of the conveying module 7. The plurality of limit blocks are used to prevent the movement of the purlin 11 and align multiple purlins 11 with each other. By setting the limit blocks, the movement of the purlin 11 can be blocked. When the purlin 11 moves to the installation position, it will automatically stop moving and complete the alignment under the action of the limit blocks, without manual operation, saving manpower. In other embodiments, the control of the movement of the purlin 11 is realized by infrared sensing, for example: the infrared sensing device is electrically connected to the conveying module 7, and when the purlin 11 moves to the installation position, the receiver of the infrared sensing device will sense the purlin 11, and then the infrared sensing device or other controller sends a power-off signal or a stop signal to the conveying module 7, so that the conveying module 7 stops running and stops the purlin 11 at the installation position. The technology of realizing start and stop by infrared sensing belongs to the prior art and will not be repeated here.

[0058] refer to Figure 1-Figure 3 In one embodiment, the conveying module 7 is a belt conveyor. Compared with a roller conveyor, a belt conveyor has low cost, light weight, and is easy to disassemble and assemble.

[0059] refer to Figure 1 , Figure 4 In one embodiment, a cantilever crane 8 is installed at one end of the mobile platform 1, and the cantilever crane 8 is used to lift the photovoltaic bracket connected with the purlin 11 and the inclined beam 12. By setting the cantilever crane 8, the bracket formed by connecting the purlin 11 and the inclined beam 12 can be lifted by the cantilever crane 8 to complete the installation of the bracket and the column, without arranging additional lifting equipment.

[0060] It is understandable that the cantilever of the cantilever crane 8 preferably adopts a retractable cantilever. With a retractable cantilever, on the one hand, the turning radius of the cantilever crane 8 can be changed within a certain range, which can improve the applicable scope of the cantilever crane 8. On the other hand, after the cantilever crane is retracted, the space occupied by the cantilever crane 8 becomes smaller, which is conducive to the storage and transportation of the cantilever crane 8. In other embodiments, the length of the cantilever is fixed.

[0061] refer to Figure 1 , Figure 4 In one embodiment, the table top of the movable platform 1 includes a fixed frame 2 and at least two movable frames 3, and all the movable frames 3 are evenly distributed on both sides of the fixed frame 2 along the conveying direction of the conveying module 7 and are hinged to the fixed frame 2.

[0062] It is worth noting that by hingedly connecting the movable frame 3 to the fixed frame 2, the movable frame 3 can rotate relative to the fixed frame 2. When the angle between the movable frame 3 and the fixed frame 2 is 180°, it is the expanded state of the mobile platform 1. When the angle between the movable frame 3 and the fixed frame 2 is 90° or 0°, it is the retracted state of the mobile platform 1. The mobile platform 1 in the expanded state can provide a larger working surface for the installation of the purlin 11, while the mobile platform 1 in the retracted state occupies a small area, which is convenient for moving on the road or in the photovoltaic array.

[0063] In one embodiment, the installation robot also includes a plurality of support rods (not shown in the figure), which can be movably stored at the bottom of the fixed frame 2 and can be extended from the bottom of the fixed frame 2. When the support rods are extended from the bottom of the fixed frame 2, they can support the movable frame 3.

[0064] In this embodiment, by providing support rods and using the support rods to support the movable frame 3 in the unfolded state, the load-bearing capacity of the movable frame 3 can be improved, the risk of shaking of the movable frame 3 can be reduced, and the overall rigidity of the mobile platform 1 in the unfolded state can be improved.

[0065] refer to Figure 1 , Figure 2 In one embodiment, a plurality of moving wheels 9 are provided at the bottom of the fixed frame 2, and the moving platform 1 is moved by the moving wheels 9. In other embodiments, the moving wheels 9 are replaced by tracks. Compared with using tracks as the walking components of the mobile platform 1, using the moving wheels 9 as the walking components of the mobile platform 1 can facilitate the turning of the mobile platform 1 and improve the flexibility of the mobile platform 1.

[0066] refer to Figure 1-Figure 3 In one embodiment, it also includes a guide rail module 10, the guide rail module 10 includes a first guide rail 13, a second guide rail 14 and a telescopic guide rail 15, the first guide rail 13, the second guide rail 14 and the telescopic guide rail 15 are perpendicular to each other, the second guide rail 14 is installed at the moving end of the first guide rail 13, the telescopic guide rail 15 is installed at the moving end of the second guide rail 14, the moving direction of the moving end of the first guide rail 13 is the same as the length direction of the support seat 4, the moving direction of the moving end of the second guide rail 14 is perpendicular to the length direction of the support seat 4 and parallel to the moving platform 1, the moving direction of the moving end of the telescopic guide rail 15 is perpendicular to the moving platform 1, the tightening module 6 is installed at the moving end of the telescopic guide rail 15, the height of the first guide rail 13 and the second guide rail 14 is lower than the top surface height of the support seat 4, and the telescopic guide rail 15 can be lowered to below the top surface height of the support seat 4 together with the tightening module 6.

[0067] Specifically, the tightening module 6 can be translated in three-dimensional space through the guide rail module 10. It is worth noting that when the tightening module 6 follows the guide rail module 10 to move between the purlins 11, the height of the tightening module 6 and the guide rail module 10 needs to be lowered to between the movable platform 1 and the purlin 11, that is, it needs to be lowered below the top surface height of the support seat 4, so as to prevent the purlin 11 from interfering with the tightening module 6 and the guide rail module 10, thereby affecting the free movement of the tightening module 6. When the tightening module 6 needs to be tightened to install the bolts, the moving end of the first guide rail 13 carries the second guide rail 14 and moves to the vicinity of the installation position, and then the telescopic guide rail 15 is used to make the tightening module 6 higher than the purlin 11, and then the horizontal distance between the execution end of the tightening module 6 and the screw hole on the purlin 11 is adjusted by the second guide rail 14, so that the execution end of the tightening module 6 is aligned with the screw hole, and finally the bolt is screwed into the rivet nut through the execution end of the tightening module 6 to complete the screw connection between the purlin 11 and the inclined beam 12. In other embodiments, the guide rail module 10 is replaced by a robot arm. Compared with using a robot arm to realize the movement of the tightening module 6, using the guide rail module 10 to realize the movement of the tightening module 6 can reduce the cost of realizing the movement of the tightening module 6. Compared with the purchase cost of the guide rail module 10 of the robot arm, it is easy to debug and maintain.

[0068] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A semi-automatic installation robot for installing a photovoltaic bracket, wherein the photovoltaic bracket comprises an inclined beam and a purlin, wherein the inclined beam and the purlin are suitable for being connected by a bolt assembly, wherein: include: Moving stage; A plurality of support seats, wherein the top of the support seats is provided with a slide groove arranged along the length direction of the support seats, the plurality of support seats are arranged in parallel and spaced apart and detachably mounted on the movable platform, the slide groove is used to place the inclined beam, and the plurality of support seats are suitable for supporting the purlins; A plurality of tightening modules are detachably mounted on the movable platform and can move parallel to and perpendicular to the movable platform; the tightening modules are used for automatically tightening the bolts in the bolt assembly to connect the inclined beam placed in the slide groove with the purlins placed on the plurality of support seats through the bolt assembly.

2. A semi-automatic installation robot according to claim 1, characterized in that: It also includes a plurality of conveying modules, which are detachably mounted on the movable platform, and whose conveying directions are perpendicular to the support seat and parallel to the movable platform, and are used for conveying the purlins.

3. A semi-automatic installation robot according to claim 2, characterized in that: It also includes a plurality of limit blocks, which are detachably mounted on the movable platform and located in the conveying direction of the conveying module, and the plurality of limit blocks are used to prevent the movement of the purlins and align the plurality of purlins with each other.

4. A semi-automatic installation robot according to claim 2, characterized in that: The conveying module is a belt conveyor.

5. A semi-automatic installation robot according to any one of claims 1 to 4, characterized in that: A cantilever crane is installed at one end of the mobile platform, and the cantilever crane is used to lift the photovoltaic support connected with the purlin and the inclined beam.

6. A semi-automatic installation robot according to claim 5, characterized in that: The cantilever of the cantilever crane is retractable.

7. A semi-automatic installation robot according to any one of claims 2 to 4, characterized in that: The table top of the movable platform includes a fixed frame and at least two movable frames, and all the movable frames are evenly distributed on both sides of the fixed frame along the conveying direction of the conveying module and are hinged to the fixed frame.

8. A semi-automatic installation robot according to claim 7, characterized in that: It also includes a plurality of support rods, which are movably stored in the bottom of the fixed frame and can be extended from the bottom of the fixed frame. When the support rods are extended from the bottom of the fixed frame, they can support the movable frame.

9. A semi-automatic installation robot according to claim 8, characterized in that: A plurality of moving wheels are arranged at the bottom of the fixed frame, and the moving platform is moved by the moving wheels.

10. The semi-automatic installation robot according to claim 1, characterized in that: It also includes a guide rail module, which includes a first guide rail, a second guide rail and a telescopic guide rail. The first guide rail, the second guide rail and the telescopic guide rail are perpendicular to each other and form a spatial perpendicular relationship with each other. The second guide rail is installed at the moving end of the first guide rail, and the telescopic guide rail is installed at the moving end of the second guide rail. The moving direction of the moving end of the first guide rail is the same as the length direction of the support seat, the moving direction of the moving end of the second guide rail is perpendicular to the length direction of the support seat and parallel to the moving platform, the moving direction of the moving end of the telescopic guide rail is perpendicular to the moving platform, and the tightening module is installed at the moving end of the telescopic guide rail. The heights of the first guide rail and the second guide rail are lower than the top surface height of the support seat, and the telescopic guide rail can be lowered to below the top surface height of the support seat together with the tightening module.

Images