Movable mechanical arm for installing photovoltaic module plate steel frame

Abstract

The utility model discloses a mobile mechanical arm for installing a photovoltaic module plate steel frame, which comprises a walking six-axis robot, a mobile platform is arranged below the walking six-axis robot, and a bearing frame is installed on the mobile platform. The photovoltaic panel is clamped through the clamping assembly, compared with a traditional suction cup structure, the damage rate of the photovoltaic panel in the carrying process can be greatly reduced, due to the structural advantages, in the grabbing process, a concave cavity of a steel frame can be well utilized, the advantages of clamping and edge buckling are utilized, the photovoltaic panel is safely carried, and the photovoltaic panel carrying efficiency is improved. The hidden crack probability of the surface of the glass plate in the carrying process can be reduced, photovoltaic panels of different sizes can be clamped, fixed and installed through the walking six-axis robot and the transverse moving type servo sliding rail, a large amount of manual operation is omitted, the installation efficiency is improved, meanwhile, the labor intensity of installation workers is reduced, and the production cost is reduced. And cost reduction and efficiency improvement are effectively achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic components, in particular to a mobile mechanical arm used for installing a steel frame of a photovoltaic component plate. Background Art

[0002] In the context of today's global energy transformation, photovoltaic technology, as an important part of the renewable energy field, is experiencing unprecedented rapid development. As the core of photovoltaic technology, photovoltaic modules realize the conversion of light energy into electrical energy. Its technical background covers the evolution of various advanced technologies from amorphous silicon, polycrystalline silicon to monocrystalline silicon, PERC, HJT, TOPCon, etc. The continuous advancement of these technologies not only improves the conversion efficiency of photovoltaic modules, but also enhances their stability and durability, enabling photovoltaic modules to operate stably for a long time in various harsh environments. At the same time, the integration of intelligent and Internet of Things technologies has also made the monitoring, operation and maintenance and management of photovoltaic modules more efficient and convenient, driving the global energy structure to a cleaner and more sustainable direction.

[0003] The installation of photovoltaic modules is an important preparation before using them. In the existing technology, it is usually necessary to build a frame to carry the photovoltaic modules first, and then install them on the frame. The traditional installation method mostly uses 4 photovoltaic modules to share 5 purlins, by adding a pallet to the purlin and bolting the photovoltaic modules to the pallet. Although this method has certain practicality, it reveals some technical and design limitations in actual operation.

[0004] Specifically, this installation method has many obvious disadvantages: first, it adds a bracket and a bolt kit for locking the bracket, resulting in a higher overall cost; second, when installing the bracket, an additional process of installing the bracket is required, which not only prolongs the installation time, but also requires at least a group of four people to cooperate at the same time to complete, making the installation efficiency low and labor-intensive. In addition, the photovoltaic module is only subjected to force at four points under conditions such as tailwind, headwind, and snow accumulation, and the strength is relatively weak. When it is against the wind, the holes of the aluminum alloy frame are prone to tearing, affecting the stability and service life of the module. Finally, there is a lack of up and down and left and right positioning devices on the bracket, and the photovoltaic module is easy to slip during installation. It is also difficult to match the bolts with the holes when locking the bolts, which increases the difficulty and risk of installation. If a traditional robotic arm is used to install the photovoltaic panel, although manual operation can be omitted, due to structural limitations, a vacuum suction cup is often used to absorb the glass panel surface, which is easy to cause hidden cracks on the panel surface of the component. In addition, when the air pressure of the vacuum suction cup is unstable, the suction force is insufficient, resulting in the module falling off and damage during the handling process of the robotic arm, and possible safety accidents. Utility Model Content

[0005] The purpose of the utility model is to provide a mobile mechanical arm for installing a photovoltaic module panel steel frame to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mobile mechanical arm for installing a steel frame of a photovoltaic component panel, comprising a walking six-axis robot, a mobile platform is arranged below the walking six-axis robot, a bearing frame is installed on the mobile platform, a gripper connecting seat is arranged on the walking six-axis robot, and transversely movable servo slides are slidably installed at both ends of the gripper connecting seat, two clamping components are internally connected to the two transversely movable servo slides, a photovoltaic panel is clamped between the two clamping components, side walls on both sides of the photovoltaic panel are provided with steel frames, and a connecting component is arranged between the steel frames and the bearing frame.

[0007] As a further description of the above technical solution: the clamping assembly includes a connecting frame, the connecting frame is slidably connected to the transversely movable servo slide rail, and a fixed clamping claw is fixedly installed on the connecting frame.

[0008] As a further description of the above technical solution: the clamping assembly also includes an electric push rod, which is fixedly installed above the connecting frame, and the output end of the electric push rod is transmission-connected to the first rotating shaft, on which an anti-slip clamp is rotatably installed, and a pre-fixed clamping plate is fixedly installed at one end of the connecting frame, and the pre-fixed clamping plate cover is arranged on the outside of the anti-slip clamp, and a second rotating shaft is rotatably installed on the inner wall of the pre-fixed clamp, and the second rotating shaft passes through the side wall of the anti-slip clamp and is rotatably connected to the anti-slip clamp.

[0009] As a further description of the above technical solution: rubber pads are fixedly installed on the bottom end of the connecting frame and the inner wall of the pre-fixed clamping plate.

[0010] As a further description of the above technical solution: the load-bearing frame includes a plurality of inclined beams, the plurality of inclined beams are fixedly arranged above the mobile platform, and purlins are fixedly installed between the inclined beams.

[0011] As a further description of the above technical solution: the connecting assembly includes a mounting frame, bolts and threaded holes, the mounting frame is fixedly installed on the bottom end of the steel frame, the threaded holes are opened at the top end of the purlin, an elastic pressure block is fixedly installed inside the mounting frame, and an elastic gasket is arranged on the bolt.

[0012] As a further description of the above technical solution: the connecting assembly includes a card block and a card slot, the card block is elastically mounted on the side wall of the mounting frame, the card slot is opened on the side wall of the purlin, and the card block and the card slot are adapted to each other.

[0013] The utility model provides a mobile mechanical arm for installing the steel frame of photovoltaic module panels. It has the following beneficial effects:

[0014] 1. The photovoltaic panels are clamped by the clamping components. Compared with the traditional suction cup structure, the damage rate of the photovoltaic panels during transportation can be greatly reduced. Due to the structural advantages, the concave cavity of the steel frame can be well utilized during the grasping process. The advantages of clamping and buckling can be used to safely transport the photovoltaic panels and reduce the probability of hidden cracks on the glass panel during the handling process.

[0015] 2. Through the walking six-axis robot and the horizontally movable servo slide rail, photovoltaic panels of different sizes can be clamped, fixed and installed, which saves a lot of manual operations and reduces the labor intensity of the installation workers.

[0016] 3. On the previously constructed load-bearing components, by setting elastic pressure blocks, elastic gaskets and bolts or by setting snap-on structures, in cooperation with assembly robots, the above two sets of connection components can realize the rapid installation between the steel structure frame of the side wall of the photovoltaic panel and the purlin, thereby improving the installation efficiency and reducing the labor intensity of the installation workers, effectively achieving cost reduction and efficiency improvement.

[0017] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0018] This application document provides an overview of various implementations or examples of the technology described in the present disclosure, and is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a mobile mechanical arm for installing a photovoltaic module panel steel frame proposed by the utility model;

[0020] Figure 2 It is a three-dimensional structural schematic diagram of the photovoltaic panel installation process of the utility model;

[0021] Figure 3 It is a three-dimensional structural schematic diagram of the fixed clamping jaw of the utility model;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the anti-dropping clamping claw of the utility model;

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the load-bearing frame of the utility model;

[0024] Figure 6 It is a schematic diagram of the planar structure of the connection assembly of the utility model;

[0025] Figure 7 This is a schematic diagram of the planar structure after the connection assembly of the utility model connects the purlin and the steel frame;

[0026] Figure 8 This is a schematic diagram of the planar structure of a connecting assembly according to another embodiment of the utility model;

[0027] Fig. 9 This is a schematic diagram of the planar structure after the connection assembly of another embodiment of the utility model connects the purlin and the steel frame.

[0028] Legend:

[0029] 1. Inclined beam; 2. Purlin; 4. Photovoltaic panel; 5. Elastic pressure block; 6. Bolt; 7. Threaded hole; 8. Elastic gasket; 9. Steel frame; 10. Mounting frame; 11. Block; 12. Slot; 13. Walking six-axis robot; 14. Gripper connecting seat; 15. Laterally movable servo slide rail; 16. Gripping assembly; 17. Connecting frame; 18. Fixed clamp; 19. Electric push rod; 20. First rotating shaft; 21. Anti-drop clamp; 22. Pre-fixed clamp plate; 23. Rubber pad; 24. Moving platform; 25. Second rotating shaft. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0031] Reference Figure 1-7A mobile mechanical arm for installing a steel frame of a photovoltaic component panel comprises a walking six-axis robot 13, a moving platform 24 is arranged below the walking six-axis robot 13, a carrying frame is installed on the moving platform 24, a gripper connecting seat 14 is arranged on the walking six-axis robot 13, and transversely movable servo slides 15 are slidably installed at both ends of the gripper connecting seat 14, two clamping assemblies 16 are internally connected to the two transversely movable servo slides 15 for transmission, a photovoltaic panel 4 is clamped between the two clamping assemblies 16, and the side walls on both sides of the photovoltaic panel 4 are provided with steel frames 9, and a connecting assembly is arranged between the steel frames 9 and the carrying frame; after the carrying frame is built, the six-axis robot clamps the photovoltaic panel 4 through the clamping assembly 16, and the transversely movable servo slide 15 can realize transverse The spacing adjustment is used to adapt to the clamping of photovoltaic panels 4 of different lengths, and the clamping component 16 can slide on the laterally movable servo slide rail 15 to adapt to the clamping of photovoltaic panels 4 of different widths. The six-axis robot manipulation mechanical arm and the clamping hand connecting seat 14 can move the photovoltaic panel 4 to the corresponding position on the load-bearing frame, and the steel frame 9 of the side wall of the photovoltaic panel 4 is connected to the purlins 2 on the two beams through the connecting component to achieve the installation of the photovoltaic panel 4. The photovoltaic panel 4 is clamped by the clamping component 16. Compared with the traditional suction cup structure, the damage rate of the photovoltaic panel 4 during transportation can be greatly reduced. Due to the structural advantage, the concave cavity of the steel frame 9 can be well utilized during the grasping process. By utilizing the advantages of clamping and buckling, the photovoltaic panel 4 can be safely transported, and the probability of hidden cracks on the glass plate surface during the handling process can be reduced.

[0032] As a preferred technical solution of this embodiment, the clamping assembly 16 includes a connecting frame 17, which is slidably connected to the transversely movable servo slide rail 15, and a fixed clamp 18 is fixedly installed on the connecting frame 17; when the concave groove gap of the steel frame 9 on the side of the photovoltaic panel 4 is large, the steel frame 9 can be directly fixed by the fixed clamp 18, thereby achieving fixed clamping of the photovoltaic panel 4.

[0033] As a preferred technical solution of this embodiment, the clamping assembly 16 also includes an electric push rod 19, which is fixedly installed above the connecting frame 17. The output end of the electric push rod 19 is transmission-connected to the first rotating shaft 20. An anti-slip clamp 21 is rotatably installed on the first rotating shaft 20. A pre-fixed card plate 22 is fixedly installed at one end of the connecting frame 17. The pre-fixed card plate 22 is covered on the outside of the anti-slip clamp 21. A second rotating shaft 25 is rotatably installed on the inner wall of the pre-fixed card plate 22. The second rotating shaft 25 passes through the side wall of the anti-slip gripping clamp 21 and is connected to the anti-slip gripping clamp 21. The anti-slip clamp 21 is rotatably connected; when the concave groove gap of the steel frame 9 on the side of the photovoltaic panel 4 is small, it is easy to cause the steel frame 9 to fall off if it is fixed only by the fixed clamp 18. First, the pre-fixed card plate 22 is clamped on the side wall of the steel frame 9, and then the first rotating shaft 20 on the anti-slip clamp 21 is pushed by the electric push rod 19, so that the anti-slip clamp 21 rotates with the pre-fixed card plate 22 through the second rotating shaft 25, and further the bottom of the anti-slip clamp 21 is clamped into the groove of the steel frame 9, thereby realizing the fixed clamping of the photovoltaic panel 4 of the steel frame 9 with a small concave groove gap.

[0034] As a preferred technical solution of this embodiment, rubber pads 23 are fixedly installed on the bottom end of the connecting frame 17 and the inner wall of the pre-fixed clamping plate 22; the rubber pads 23 are relatively soft, and when clamping and fixing the photovoltaic panel 4 on the steel frame 9, the clamping part can be protected to prevent the clamping claws from causing wear to the photovoltaic panel 4 and the steel frame 9.

[0035] As a preferred technical solution of this embodiment, the supporting frame includes a plurality of inclined beams 1, which are fixedly arranged above the mobile platform 24, and purlins 2 are fixedly installed between the inclined beams 1; the supporting frame is configured to support photovoltaic panels 4 and provide a suitable working environment for the photovoltaic panels 4.

[0036] As the preferred technical solution of this embodiment, the connecting assembly includes a mounting frame 10, a bolt 6 and a threaded hole 7. The mounting frame 10 is fixedly installed on the bottom end of the steel frame 9, and the threaded hole 7 is opened at the top end of the purlin 2. An elastic pressure block 5 is fixedly installed inside the mounting frame 10, and an elastic gasket 8 is arranged on the bolt 6; the mounting frame 10 on the steel frame 9 is aligned with the threaded hole 7, and the bolt 6 is inserted into the threaded hole 7. Under the action of the elastic gasket 8 and the elastic pressure block 5, the mounting frame 10 and the purlin 2 are pre-fixed. Subsequently, it only needs to tighten the bolt 6 to achieve stable installation. This installation method is suitable for the case where there are ribs on the facade of the steel frame 9.

[0037] See also Figure 8-9In another embodiment of the utility model, the connecting assembly includes a block 11 and a slot 12, the block 11 is elastically mounted on the side wall of the mounting frame 10, the slot 12 is provided on the side wall of the purlin 2, and the block 11 and the slot 12 are adapted to each other; by sliding the mounting frame 10 and the top side wall of the purlin 2, the block 11 slides toward the inner wall of the mounting frame 10 under the extrusion of the inner wall of the purlin 2, and when the block 11 moves to the position of the slot 12, the block 11 is snapped into the slot 12 due to the action of the elastic force, thereby realizing the snap connection between the steel frame 9 and the purlin 2. This installation method is suitable for the case where the vertical surface of the steel frame 9 has no reinforcement.

[0038] The connection components in the above two embodiments can realize the rapid connection and assembly between the steel frame 9 of the photovoltaic panel 4 and the purlin 2. This assembly method reduces the original 4 to 5 shifts to 2 to 3 shifts. The mobile mechanical arm visually locates the anti-slip groove of the new bracket and quickly lays the components. The installation efficiency is increased from 50 pieces / day to more than 300 pieces / day. The installation efficiency is increased by more than 6 times. At the same time, the labor intensity of the installation workers is reduced.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mobile mechanical arm for installing a photovoltaic module panel steel frame, comprising a walking six-axis robot (13), a mobile platform (24) is arranged below the walking six-axis robot (13), and a bearing frame is installed on the mobile platform (24), characterized in that: The walking six-axis robot (13) is provided with a gripper connection seat (14), and transversely movable servo slide rails (15) are slidably installed at both ends of the gripper connection seat (14). Two gripping assemblies (16) are internally connected to the two transversely movable servo slide rails (15) for transmission, and a photovoltaic panel (4) is clamped between the two gripping assemblies (16). The side walls on both sides of the photovoltaic panel (4) are provided with steel frames (9), and a connection assembly is provided between the steel frames (9) and the supporting frame.

2. A mobile mechanical arm for installing a photovoltaic module steel frame according to claim 1, characterized in that: The clamping assembly (16) comprises a connecting frame (17), the connecting frame (17) is slidably connected to a transversely movable servo slide rail (15), and a fixed clamping claw (18) is fixedly mounted on the connecting frame (17).

3. A mobile mechanical arm for installing a photovoltaic module steel frame according to claim 2, characterized in that: The clamping assembly (16) further comprises an electric push rod (19), wherein the electric push rod (19) is fixedly mounted above the connecting frame (17), wherein the output end of the electric push rod (19) is transmission-connected to a first rotating shaft (20), wherein an anti-slipping clamping claw (21) is rotatably mounted on the first rotating shaft (20), wherein a pre-fixed clamping plate (22) is fixedly mounted on one end of the connecting frame (17), wherein the pre-fixed clamping plate (22) is covered on the outside of the anti-slipping clamping claw (21), wherein a second rotating shaft (25) is rotatably mounted on the inner wall of the pre-fixed clamping plate (22), wherein the second rotating shaft (25) passes through the side wall of the anti-slipping clamping claw (21) and is rotationally connected to the anti-slipping clamp.

4. A mobile mechanical arm for installing a photovoltaic module steel frame according to claim 3, characterized in that: The bottom end of the connecting frame (17) and the inner wall of the pre-fixed clamping plate (22) are both fixedly mounted with rubber pads (23).

5. The mobile mechanical arm for installing a photovoltaic module steel frame according to claim 1, characterized in that: The load-bearing frame comprises a plurality of inclined beams (1), wherein the plurality of inclined beams (1) are fixedly arranged above the mobile platform (24), and purlins (2) are fixedly installed between the inclined beams (1).

6. A mobile mechanical arm for installing a photovoltaic module steel frame according to claim 5, characterized in that: The connection assembly comprises a mounting frame (10), a bolt (6) and a threaded hole (7); the mounting frame (10) is fixedly mounted on the bottom end of the steel frame (9); the threaded hole (7) is provided at the top end of the purlin (2); an elastic pressure block (5) is fixedly mounted inside the mounting frame (10); and an elastic gasket (8) is provided on the bolt (6).

7. The mobile mechanical arm for installing a photovoltaic module steel frame according to claim 1, characterized in that: The connection assembly comprises a clamping block (11) and a clamping slot (12); the clamping block (11) is elastically mounted on a side wall of a mounting frame (10); the clamping slot (12) is provided on a side wall of a purlin (2); and the clamping block (11) and the clamping slot (12) are adapted to each other.

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