Multifunctional all-in-one machine for photovoltaic module installation operation

Abstract

The utility model relates to a multifunctional all-in-one machine for photovoltaic module installation operation. The multifunctional all-in-one machine comprises a vehicle body, a first connecting arm, a second connecting arm, a tooling and a pallet fork assembly. One end of the first connecting arm is hinged to the vehicle body, one end of the second connecting arm is hinged to the end, extending outwards, of the first connecting arm, the tooling is arranged at the suspended end of the second connecting arm and comprises a camera and a plurality of suction cups, the camera is used for collecting image information of a photovoltaic module, and the suction cups are used for sucking the photovoltaic module; the pallet fork assembly comprises a pallet fork frame body, a goods blocking frame and a pallet fork, the pallet fork frame body is hinged to the vehicle body, the goods blocking frame is arranged on the pallet fork frame body, and the pallet fork is arranged on the goods blocking frame. The tooling is arranged on the vehicle body, so that the function of automatically sucking the photovoltaic modules can be realized, an independent forklift device does not need to be arranged, stacking transportation and sucking installation operation of the photovoltaic modules are realized, and the mounting requirements of small-scale photovoltaic modules are better met.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic, in particular to a multi-functional integrated machine for photovoltaic module installation operation. Background Art

[0002] The laying and installation of photovoltaic panels are one of the key steps in building a photovoltaic power station. The traditional installation method mainly relies on a series of manual operations such as unpacking, handling, placing, and fastening, which greatly consumes human resources and has low efficiency. In the prior art, to avoid the low efficiency problem caused by pure manual work, a technical solution of using multiple devices to assist handling is adopted. For example, a forklift is separately equipped to realize the stacking and handling of photovoltaic modules, and an installation fixture for independent photovoltaic modules is set to realize the clamping of photovoltaic modules. Another example is to set a photovoltaic installation robot to realize the automatic installation of photovoltaic modules. In these technical solutions, the separate configuration of the forklift and the installation fixture will directly occupy the installation area of the photovoltaic module, and the installation requirements of compact photovoltaic modules cannot be met. Moreover, the separate configuration cost of the photovoltaic installation robot is high, and in the installation area of some small-scale photovoltaic modules, the configuration cost of the photovoltaic installation robot is too high. Summary of the Utility Model

[0003] In view of the above problems, the utility model provides a multi-functional integrated machine for photovoltaic module installation operation, which solves the problem that the installation of small-scale photovoltaic modules mostly relies on manual labor or multiple independent devices, resulting in low installation efficiency of small-scale photovoltaic modules.

[0004] To achieve the above object, the present application provides a multi-functional integrated machine for photovoltaic module installation operation, including a vehicle body, a first connecting arm, a second connecting arm, an end effector, and a fork assembly; one end of the first connecting arm is hinged to the vehicle body, and the other end of the first connecting arm extends outward; one end of the second connecting arm is hinged to the end of the first connecting arm that extends outward, and the other end of the second connecting arm is suspended; the end effector is arranged at the suspended end of the second connecting arm, and the end effector includes a camera and a plurality of suction cups. The camera is used to collect image information of the photovoltaic module, and the suction cups are used to suck the photovoltaic module; the fork assembly includes a fork frame body, a retaining shelf, and forks. The fork frame body is hinged to the vehicle body, the retaining shelf is arranged on the fork frame body, and the forks are arranged on the retaining shelf and are arranged away from the fork frame body.

[0005] In some embodiments, the fork frame body includes a first connecting shaft, a second connecting shaft, and a third swinging unit. The number of the first connecting shafts is two, and the two first connecting shafts are arranged oppositely. The ends of the first connecting shafts are hinged to the vehicle body; the second connecting shaft is arranged between the two first connecting shafts; the third swinging unit is arranged on the vehicle body, and the movable end of the third swinging unit is hinged to the second connecting shaft.

[0006] In some embodiments, the end effector further includes a first housing, at least one swing arm, a plurality of first spring rods, and an indicator light. A plurality of suction cups are arranged on the lower surface of the first housing; at least one swing arm is connected to the first housing, and the swing arm is rotatable along a third direction; a plurality of first spring rods are arranged on the swing arm, and a suction cup is provided below each first spring rod; the indicator light is arranged on the first spring rod.

[0007] In some embodiments, the end effector further includes a vacuum pump and a vacuum tank. The vacuum pump is arranged in the first housing; the vacuum tank is arranged in the first housing and is connected to the vacuum pump.

[0008] In some embodiments, a connection assembly is further included. The connection assembly is arranged at the outwardly suspended end of the second connecting arm. The connection assembly includes a second housing, a first swing unit, and a second swing unit. The fixed end of the first swing unit is hinged to the second housing. The movable end of the first swing unit and the fixed end of the second swing unit are hinged at a point. The fixed end of the second swing unit is also hinged to the second housing at another point. The second housing is connected to the movable end of the second swing unit. The first swing unit drives the second swing unit to rotate along a first direction, and the second swing unit is rotatable along a second direction. The first direction and the second direction are not parallel.

[0009] In some embodiments, the second housing has a first connection surface, a second connection surface, and a third connection surface. The first connection surface and the third connection surface are arranged opposite to each other from top to bottom. The second connection surface is arranged between the first connection surface and the third connection surface. The second connecting arm is connected to the second housing at the second connection surface. The connection assembly further includes an anti-collision cushion block, a bridging plate, and a slip ring. The anti-collision cushion block is arranged on the first connection surface; the bridging plate is arranged on the third connection surface. The downwardly suspended end of the bridging plate is hinged to the fixed end of the second swing unit; the slip ring is sleeved on the movable end of the second swing unit, and the slip ring is also connected to the first housing.

[0010] In some embodiments, a first telescopic rod, a second telescopic rod, a third connecting arm, a third telescopic rod, and a third connecting shaft are further included. One end of the first telescopic rod is hinged to the vehicle body, and the other end of the first telescopic rod is hinged to the first connecting arm; one end of the second telescopic rod is hinged to the first connecting arm, and the other end of the second telescopic rod is also hinged to the second connecting arm; the third connecting arm has a first connection end and a second connection end. The first connection end is hinged to the second housing; one end of the third telescopic rod is hinged to the second connecting arm, and the other end of the third telescopic rod is hinged to the second connection end; one end of the third connecting shaft is hinged to the second connecting arm, and the other end of the third connecting shaft is hinged to the second connection end and is hinged to the third telescopic rod at the same point.

[0011] In some embodiments, it further includes a driver's seat and a control unit. The driver's seat is arranged on the vehicle body; the control unit is arranged on the vehicle body, and the control unit has an interaction module which is arranged facing the driver's seat.

[0012] In some embodiments, it further includes a moving component. The moving component includes a first crawler belt and a second crawler belt. The first crawler belt and the second crawler belt are arranged oppositely, and the vehicle body is arranged above the moving component.

[0013] In some embodiments, it further includes a chassis. The chassis is arranged between the first crawler belt and the second crawler belt. The vehicle body is arranged on the chassis, and the vehicle body can rotate relative to the chassis.

[0014] Different from the prior art, in the above technical solution, the multi-functional integrated machine for photovoltaic module installation operations includes a vehicle body, a first connecting arm, a second connecting arm, an end effector, and a forklift component; one end of the first connecting arm is hinged to the vehicle body, and the other end of the first connecting arm extends outward; one end of the second connecting arm is hinged to the end of the first connecting arm that extends outward, and the other end of the second connecting arm is arranged suspended; the end effector is arranged at the suspended end of the second connecting arm. The end effector includes a camera and a plurality of suction cups. The camera is used to collect image information of the photovoltaic module, and the suction cups are used to suck the photovoltaic module; the forklift component includes a forklift frame body, a retaining shelf, and a forklift. The forklift frame body is hinged to the vehicle body, the retaining shelf is arranged on the forklift frame body, and the forklift is arranged on the retaining shelf and is arranged away from the forklift frame body. This technical solution can realize the automatic suction function of the photovoltaic module by arranging the vehicle body and providing an end effector on the vehicle body. At the same time, the forklift component is integrated on the vehicle body, eliminating the need for a separate forklift device. Moreover, the manufacturing cost is lower than that of the automatic installation robot for photovoltaic modules, enabling the stacking and transportation of photovoltaic modules as well as the suction and installation operations of photovoltaic modules, which is more suitable for the installation requirements of small-scale photovoltaic modules.

[0015] The above relevant descriptions of the utility model content are only an overview of the technical solution of the utility model. In order to enable those of ordinary skill in the art to more clearly understand the technical solution of the utility model, and thus be able to implement it according to the content recorded in the description and the drawings, and in order to make the above objects, other objects, features, and advantages of the utility model more easily understood, the following is described in conjunction with the specific embodiments and drawings of the utility model. Description of the Drawings

[0016] The drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of the specific embodiments of the utility model and other related contents, and should not be regarded as a limitation to the utility model.

[0017] In the drawings of the specification:

[0018] Figure 1Schematic diagram of the multi-functional all-in-one machine described in the specific implementation manner;

[0019] Figure 2 Schematic diagram of the forklift component described in the specific implementation manner;

[0020] Figure 3 Schematic diagram of the end effector described in the specific implementation manner;

[0021] Figure 4 Schematic diagram of the connection between the connection component and the end effector described in the specific implementation manner;

[0022] Figure 5 Schematic diagram of the connection component described in the specific implementation manner.

[0023] The descriptions of the reference numerals involved in the above-mentioned drawings are as follows:

[0024] 1, Vehicle body;

[0025] 11, First telescopic rod;

[0026] 12, Driver's seat;

[0027] 2, First connecting arm;

[0028] 21, Second telescopic rod;

[0029] 3, Second connecting arm;

[0030] 31, Third connecting shaft;

[0031] 4, End effector;

[0032] 41, Camera;

[0033] 42, Suction cup;

[0034] 43, First housing;

[0035] 44, Swing arm;

[0036] 45, First spring rod;

[0037] 46, Indicator light;

[0038] 5, Forklift component;

[0039] 51, Forklift frame;

[0040] 511, First connecting shaft;

[0041] 512, Second connecting shaft;

[0042] 52, Retaining shelf;

[0043] 53, Forklift;

[0044] 6. Connecting component;

[0045] 61. Second housing;

[0046] 611. Anti-collision cushion block;

[0047] 612. Bridging plate;

[0048] 62. First swing unit;

[0049] 63. Second swing unit;

[0050] 631. Electric slip ring;

[0051] 7. Third connecting arm;

[0052] 71. Third telescopic rod;

[0053] 8. Moving component;

[0054] 81. First crawler belt;

[0055] 82. Second crawler belt;

[0056] a. First direction;

[0057] b. Second direction;

[0058] c. Third direction. Detailed implementation manners

[0059] To illustrate in detail the possible application scenarios, technical principles, specific implementable solutions, achievable purposes and effects of the present utility model, the following is described in detail with reference to the specific examples listed and in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present utility model, and therefore are only used as examples and cannot be used to limit the protection scope of the present utility model.

[0060] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments may be included in at least one embodiment of the present utility model. The term "embodiment" appearing at various positions in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in the present utility model, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form the corresponding implementable technical solutions.

[0061] Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the technical field to which the present utility model belongs; the use of the relevant terms herein is only for describing specific embodiments and is not intended to limit the present utility model.

[0062] In the description of the present utility model, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that there can be three relationships. For example, A and / or B means: there is A, there is B, and there is both A and B at the same time. In addition, the character " / " in this article generally indicates that the related objects before and after are in an "or" logical relationship.

[0063] In the present utility model, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantitative, primary-secondary or sequential relationships between these entities or operations.

[0064] Without further limitation, in the present utility model, the expressions such as "comprising", "including", "having" or other similar expressions used in the statement are intended to cover non-exclusive inclusion. These expressions do not exclude that there may be additional elements in the process, method or product including the said elements. Thus, in a process, method or product including a series of elements, it can not only include those defined elements, but also include other elements not explicitly listed, or also include elements inherent to this process, method or product.

[0065] The same as the understanding in the "Examination Guidelines", in the present utility model, expressions such as "greater than", "less than", "exceeding" are understood as not including the number itself; expressions such as "above", "below", "within" are understood as including the number itself. In addition, in the description of the embodiments of the present utility model, the meaning of "a plurality of" is two or more (including two). Similar expressions related to "many", such as "multiple groups", "multiple times", etc., are also understood in this way, unless otherwise specifically defined.

[0066] In the description of the embodiments of the present utility model, the spatially related expressions used, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "perpendicular", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the specific embodiment or the drawings. It is only for the convenience of describing the specific embodiments of the present utility model or for the convenience of readers' understanding, rather than indicating or implying that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present utility model.

[0067] Unless otherwise clearly specified or defined, in the description of the embodiments of the present utility model, terms such as "installation", "connection", "linkage", "fixation", "setting", etc. shall be understood in a broad sense. For example, the "connection" may be a fixed connection, a detachable connection, or an integral setting; it may be a mechanical connection, an electrical connection, or a communication connection; it may be a direct connection or an indirect connection through an intermediate medium; it may be the communication inside two components or the interaction relationship between two components. For those skilled in the technical field to which the present utility model belongs, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0068] Please refer to Figures 1 to 5 , this embodiment provides a multi-functional integrated machine for photovoltaic module installation operations, including a vehicle body 1, a first connecting arm 2, a second connecting arm 3, an end effector 4, and a fork assembly 5; one end of the first connecting arm 2 is hinged to the vehicle body 1, and the other end of the first connecting arm 2 extends outward; one end of the second connecting arm 3 is hinged to the end of the first connecting arm 2 that extends outward, and the other end of the second connecting arm 3 is suspended; the end effector 4 is arranged at the suspended end of the second connecting arm 3, and the end effector 4 includes a camera 41 and a plurality of suction cups 42. The camera 41 is used to collect image information of the photovoltaic module, and the suction cups 42 are used to suck the photovoltaic module; the fork assembly 5 includes a fork frame body 51, a retaining shelf 52, and forks 53. The fork frame body 51 is hinged to the vehicle body 1, the retaining shelf 52 is arranged on the fork frame body 51, and the forks 53 are arranged on the retaining shelf 52 and are arranged away from the fork frame body 51.

[0069] In this embodiment, the first connecting arm 2 is a long-arm structure. Optionally, the first connecting arm 2 includes a first branch arm and a second branch arm, and the first branch arm and the second branch arm are arranged at an angle. Optionally, the first branch arm and the second branch arm can be integrally formed. The first branch arm is hinged to the vehicle body 1, and the second branch arm is hinged to one end of the second connecting arm 3. One end of the second connecting arm 3 is joined to the second branch arm, and the other end of the second branch arm is hinged to the end effector 4 or can also be hinged to the connection component 6 described later to form a multi-joint crank and connecting rod structure.

[0070] In some embodiments, it further includes a first telescopic rod 11, a second telescopic rod 21, a third connecting arm 7, a third telescopic rod 71, and a third connecting shaft 31. One end of the first telescopic rod 11 is hinged to the vehicle body 1, and the other end of the first telescopic rod 11 is hinged to the first connecting arm 2; one end of the second telescopic rod 21 is hinged to the first connecting arm 2, and the other end of the second telescopic rod 21 is also hinged to the second connecting arm 3; the third connecting arm 7 has a first connecting end and a second connecting end, and the first connecting end is hinged to the second housing 61 of the connecting component 6 described later; one end of the third telescopic rod 71 is hinged to the second connecting arm 3, and the other end of the third telescopic rod 71 is hinged to the second connecting end; one end of the third connecting shaft 31 is hinged to the second connecting arm 3, and the other end of the third connecting shaft 31 is hinged to the second connecting end, and is hinged to the third telescopic rod 71 at the same point.

[0071] As Figure 1 shown, two first telescopic rods 11 are provided on both sides of the first support arm. One end of the first telescopic rod 11 is hinged to the vehicle body 1, and the other end of the first telescopic rod 11 is hinged to the first support arm. Then, the first support arm, the first telescopic rod 11, and the vehicle body 1 form a triangular crank - connecting rod structure. The reciprocating telescopic operation of the first telescopic rod 11 can drive the first support arm and the second support arm to rotate relative to the vehicle body 1. Similarly, one end of the second telescopic rod 21 is hinged to the second support arm, and the other end of the second telescopic rod 21 is hinged to the second connecting arm 3. Then, the second connecting arm 3, the second support arm, and the second telescopic rod 21 form a triangular crank - connecting rod structure. The reciprocating telescopic operation of the second telescopic rod 21 can drive the second connecting arm 3 to rotate relative to the second support arm, so as to drive the out - hanging end of the second connecting arm 3 to adjust the pitching angle.

[0072] Furthermore, to improve the adjustable precision of the end - effector 4 in the pitching angle, this embodiment further introduces a third connecting arm 7, a third telescopic rod 71, and a third connecting shaft 31. One end of the third telescopic rod 71 is hinged to the second connecting arm 3, and the other end of the third telescopic rod 71 is hinged to the third connecting arm 7. One end of the third connecting shaft 31 is hinged to the second connecting arm 3, and the other end of the third connecting shaft 31 is hinged to the third connecting arm 7. Denote the hinge axis of the third connecting shaft 31 and the third connecting arm 7 as the first hinge axis, and denote the hinge axis of the third telescopic rod 71 and the third connecting arm 7 as the second hinge axis. Then, the first hinge axis and the second hinge axis are coaxially arranged, specifically as Figure 1As shown, the third connecting arm 7, the third connecting shaft 31, the third telescopic rod 71, and the second connecting arm 3 form a four-axis crank-rocker mechanism. On this basis, the third connecting arm 7 and the second connecting arm 3 are respectively hinged to the end effector 4 independently. It should be noted that the first telescopic rod 11, the second telescopic rod 21, and the third telescopic rod 71 shown in this embodiment are configured to be driven based on driving power. The specific driving power can be driving devices such as hydraulic cylinders, air cylinders, oil cylinders, magnetic cylinders, and electric cylinders. By reasonably adjusting the output power of the power, the first telescopic rod 11, the second telescopic rod 21, and the third telescopic rod 71 can be telescoped to different degrees.

[0073] Regarding the movement process of the end effector 4, the first connecting arm 2, the second connecting arm 3, and the third connecting arm 7: The first connecting arm 2 is controlled by the first telescopic rod 11, and the second connecting arm 3 is controlled by the second telescopic rod 21, so as to drive the second connecting arm 3 and the first connecting arm 2 to rotate relative to the vehicle body 1 in sequence within a certain angle range. Then, by controlling the third telescopic rod 71, the third connecting arm 7 is driven to rotate relative to the second connecting arm 3, thereby driving the end effector 4 to rotate around its hinge axis with the second connecting arm 3, so as to realize the adjustment of a small pitching angle.

[0074] In some embodiments, the end effector 4 further includes a first housing 43, at least one swing arm 44, a plurality of first spring rods 45, and an indicator light 46. A plurality of suction cups 42 are arranged on the lower surface of the first housing 43; at least one swing arm 44 is connected to the first housing 43, and the swing arm 44 can rotate along the third direction c; a plurality of first spring rods 45 are arranged on the swing arm 44, and a suction cup 42 is arranged below each first spring rod 45; the indicator light 46 is arranged on the first spring rod 45.

[0075] In this embodiment, the end effector 4 has a swing arm 44. The swing arm 44 has a rectangular structure. A swing shaft is arranged below the swing arm 44. The swing arm 44 is driven to rotate by the swing shaft, that is, to rotate along the third direction c, so as to adjust the angle of the suction cup 42 on the swing arm 44 relative to the upper surface of the photovoltaic module, thereby balancing the error generated by the adjustment. Further, the first spring rods 45 are arranged on the swing arm 44, and the suction cups 42 are arranged at the ends of the first spring rods 45. Specifically, the number of the first spring rods 45 can be two, which are respectively arranged at both ends of the swing arm 44.

[0076] In some alternative embodiments, the indicator light 46 is arranged on the first spring rod 45. The indicator light 46 has three colors: red, yellow, and green. When the indicator light 46 turns green, it indicates successful suction. Yellow indicates that suction is in progress or the end effector is in contact with the upper surface of the photovoltaic module. Red indicates that the suction cup 42 is not in contact with the photovoltaic module.

[0077] In some embodiments, the end effector 4 further includes a vacuum pump and a vacuum tank. The vacuum pump is disposed within the first housing 43; the vacuum tank is disposed within the first housing 43 and is connected to the vacuum pump. The vacuum pump is respectively connected to a plurality of suction cups 42. When it is necessary to form a vacuum, the vacuum pump pumps the air within the suction cups 42 and causes it to enter the vacuum tank, thereby forming a negative pressure of vacuum on the suction cups 42 to suck the photovoltaic module.

[0078] The camera 41 may also be disposed on the swing arm 44. During use, after the integrated machine transports the photovoltaic module to the designated position, the third connecting arm 7 and the second connecting arm 3 swing the end effector 4 through the connecting assembly 6 to move it to directly in front of the photovoltaic module. First, it is detected whether there is any damage on the outer surface of the photovoltaic module. The vision sensor (i.e., the camera 41) can convert the optical image into an electrical signal. These electrical signals are converted into digital image signals through an external sampling amplifier and analog-to-digital conversion circuit and transmitted to a dedicated image processing system. After receiving the digital image signal, the image processing system performs various operations on it to extract the features of the target, extracts information such as the shape, size, and position of the target, and through these processes, identifies the specific features of the photovoltaic module and locates the center position, thereby effectively adsorbing the photovoltaic module. The surface of the suction cup 42 is in close contact with the surface of the photovoltaic module to be sucked. By the device sucking air, the inside of the vacuum suction cup 42 becomes a vacuum state, thereby generating suction force to pick up the photovoltaic module. The indicator light 46 changing from red to green represents the completion of adsorption; the vehicle body rotates and translates in combination with the swing arm 44 to move the photovoltaic module to directly above the installation position, slowly descends to a certain position, and manually operates to lift the photovoltaic module so that the first spring rod 45 at the upper end of the suction cup 42 retracts. After the sensors on the first spring rod 45 are all in place, air is filled into the vacuum suction cup 42 to restore the atmospheric pressure inside the suction cup 42 to normal, and the photovoltaic module is separated from the suction cup 42. The indicator light 46 changing from green to red represents the completion of placement. The end effector 4 is moved away to pick up the next photovoltaic module, and the remaining assembly work is completed manually.

[0079] In this embodiment, the movement error amount is balanced and compensated by the first spring rod 45 and the swing arm 44. Among them, the rocker spring disposed on the swing arm 44 is used to balance the rotation angle error, and the first spring rod 45 is used to balance the height error; the rotation spring disposed on the suction cup 42 is used to balance the pitch angle error; through functions such as intelligent recognition, it is ensured to grasp the intact photovoltaic module, and the suction position of the end effector 4 is always at the center position of the photovoltaic module, ensuring that the photovoltaic module will not fall due to eccentricity and other problems.

[0080] In this embodiment, a fork assembly 5 is further included. Specifically, the fork assembly 5 includes a fork frame body 51, a retaining shelf 52, and forks 53. The fork frame body 51 is hinged to the vehicle body 1, and the retaining shelf 52 is connected to the fork frame body 51. That is, the fork frame body 51 and the retaining shelf 52 are fixedly connected. The forks 53 are long strip structures extending to the outside, and the forks 53 can extend under the pallet to lift the pallet, so that the photovoltaic modules stacked on the pallet can be inclined upward, facilitating the end effector 4 to grab the photovoltaic modules one by one.

[0081] In this embodiment, by providing the vehicle body 1 and arranging the end effector 4 on the vehicle body 1, the automatic suction function of the photovoltaic modules can be realized. At the same time, the fork assembly 5 is integrated on the vehicle body 1, eliminating the need for a separate forklift device. Meanwhile, the manufacturing cost is lower than that of the automatic installation robot for photovoltaic modules, achieving the stacking and transportation of photovoltaic modules and the suction and installation operations of photovoltaic modules, and being more suitable for the installation requirements of small-scale photovoltaic modules.

[0082] In some embodiments, the fork frame body 51 includes a first connecting shaft 511, a second connecting shaft 512, and a third swing unit. The number of the first connecting shafts 511 is two, and the two first connecting shafts 511 are arranged oppositely. The ends of the first connecting shafts 511 are hinged to the vehicle body 1. The second connecting shaft 512 is arranged between the two first connecting shafts 511. The third swing unit is arranged on the vehicle body 1, and the movable end of the third swing unit is hinged to the second connecting shaft 512.

[0083] In this embodiment, the first connecting shaft 511 and the second connecting shaft 512 are in a hinged relationship, that is, the second connecting shaft 512 can rotate relative to the first connecting shaft 511. Further, a third swing unit is further included. The third swing unit can be a hydraulic cylinder or a pneumatic cylinder with a telescopic function, and the third swing unit is hinged to the second connecting shaft 512. It should be noted that the second connecting shaft 512, the first connecting shaft 511, the vehicle body 1, and the third swing unit form a four-axis crank and connecting rod mechanism, enabling the first connecting shaft 511 to rotate relative to the vehicle body 1 to realize the rotation of the forks 53.

[0084] In some embodiments, a connecting component 6 is further included. The connecting component 6 is arranged at the end of the second connecting arm 3 that extends outwards and hangs. The connecting component 6 includes a second housing 61, a first swinging unit 62 and a second swinging unit 63. The fixed end of the first swinging unit 62 is hinged to the second housing 61. The movable end of the first swinging unit 62 and the fixed end of the second swinging unit 63 are hinged at a point. The fixed end of the second swinging unit 63 is also hinged to the second housing 61 at another point. The second housing 61 is connected to the movable end of the second swinging unit 63. The first swinging unit 62 drives the second swinging unit 63 to rotate along a first direction a, and the second swinging unit 63 can rotate along a second direction b. The first direction a and the second direction b are not parallel.

[0085] The connecting component 6 shown in this embodiment further introduces the first swinging unit 62 and the second swinging unit 63 to achieve rotation in two directions. Among them, the first swinging unit 62 is used to drive the second swinging unit 63 to rotate along the first direction a, so as to realize a slight angular adjustment of the second swinging unit 63 and the other components thereon in the pitching direction, making the movement orientation adjustment of the entire end effector 4 more accurate.

[0086] Specifically, the first swinging unit 62 is arranged on the second housing 61. The first swinging unit 62 can be a cylinder or a hydraulic cylinder. For the convenience of description, the movable end of the first swinging unit 62 is denoted as the first movable end, and the fixed end of the first swinging unit 62 is denoted as the first fixed end. The first movable end can reciprocate relative to the first fixed end. For the convenience of connection, a transfer plate is also provided in this embodiment. The transfer plate is provided with a first connecting portion and a second connecting portion. The first connecting portion is hinged to the first movable end at a third hinge axis, and the second connecting portion is hinged to the second housing 61 at a fourth hinge axis. The third hinge axis and the fourth hinge axis are arranged in parallel. The second swinging unit 63 is fixed at the other end of the transfer plate. The second swinging unit 63 is a rotating hydraulic cylinder or a hydraulic motor and can drive the end effector 4 to rotate around its axis.

[0087] That is, in use, the first swinging unit 62 drives the first movable end to reciprocate telescopically to drive the second swinging unit 63 and the end effector 4 to rotate around the fourth hinge axis to achieve precise adjustment of the pitching angle. After the adjustment, the second swinging unit 63 drives the end effector 4 to rotate so that it rotates to an angle convenient for sucking the photovoltaic module, and then the photovoltaic module is sucked.

[0088] In some embodiments, the second shell 61 has a first connecting surface, a second connecting surface and a third connecting surface, the first connecting surface and the third connecting surface are arranged opposite to each other from top to bottom, the second connecting surface is arranged between the first connecting surface and the third connecting surface, the second connecting arm 3 and the second shell 61 are connected to the second connecting surface, and the connecting assembly 6 also includes an anti-collision pad 611, a bridging plate 612 and an electric slip ring 631, the anti-collision pad 611 is arranged on the first connecting surface; the bridging plate 612 is arranged on the third connecting surface, and the downwardly suspended end of the bridging plate 612 is hinged to the fixed end of the second swing unit 63; the electric slip ring 631 is sleeved on the movable end of the second swing unit 63, and the electric slip ring 631 is also connected to the first shell 43.

[0089] In this embodiment, the second shell 61 has a first connection surface, a second connection surface and a third connection surface, which are sequentially connected to form a U-shaped structure, the first connection surface is arranged opposite to the third connection surface, and the second connection surface is hinged to the third connection arm 7 and the second connection arm 3. An anti-collision pad 611 is provided on the first connection surface. It should be noted that the number of anti-collision pads 611 can be multiple, and the material of the anti-collision pad 611 can be polyurethane or soft materials such as foam. The anti-collision pad 611 can protect the connection component 6 when the connection component 6 rotates excessively, and at the same time prevent the upper part of the connection component 6 from being scratched by the photovoltaic component and damaging the photovoltaic component.

[0090] Furthermore, in this embodiment, the bridge plate 612 is L-shaped, and the bridge plate 612 is hinged to the second connection portion of the adapter plate described above, serving as one of the rotation fulcrums of the second swing unit 63 and the first housing 43. Furthermore, the electric slip ring 631 is connected to the movable end of the second swing unit 63, and the other end of the electric slip ring 631 is connected to the end pick 4 through a flange to increase the tightness of the connection between the end pick 4 and the electric slip ring 631. When the second swing unit 63 rotates, the electric slip ring 631 and the end pick 4 can be driven to rotate. The electrical signal of the end pick 4 is transmitted through the electric slip ring 631 fixed on the shaft, avoiding the risk of wire harness entanglement and wear caused by the traditional winding installation, and through this structural design, a shorter connecting shaft can be used for installation, making the overall structure more compact and safe.

[0091] In some embodiments, a moving assembly 8 is further included, and the moving assembly 8 includes a first crawler 81 and a second crawler 82, the first crawler 81 and the second crawler 82 are arranged opposite to each other, and the vehicle body 1 is arranged above the moving assembly 8. This embodiment uses crawlers as the main moving parts, and the crawlers have the ability to walk and climb in multiple environments. This method can make the entire integrated machine more adaptable to different installation environments of photovoltaic modules and meet the use requirements.

[0092] In some embodiments, it further includes a chassis disposed between the first crawler belt 81 and the second crawler belt 82. A vehicle body 1 is provided on the chassis, and the vehicle body 1 is rotatable relative to the chassis. In this embodiment, a rotating bearing can be provided above the chassis to achieve a rotating connection with the vehicle body 1. This method can improve the rotation flexibility of the entire multi-functional machine and meet the actual use requirements.

[0093] Furthermore, in some embodiments, it further includes a driver's seat 12 and a control unit. The driver's seat 12 is provided on the vehicle body 1; the control unit is provided on the vehicle body 1, and the control unit has an interaction module which is oriented towards the driver's seat 12. In this embodiment, a user can sit on the driver's seat 12 and use the interaction module to input logical instructions on the control unit to complete the installation operation of the photovoltaic module, which is convenient for use.

[0094] In the above technical solution, the multi-functional machine for photovoltaic module installation operation includes a vehicle body 1, a first connecting arm 2, a second connecting arm 3, an end effector 4, and a fork assembly 5; one end of the first connecting arm 2 is hinged to the vehicle body 1, and the other end of the first connecting arm 2 extends outward; one end of the second connecting arm 3 is hinged to the end of the first connecting arm 2 that extends outward, and the other end of the second connecting arm 3 is suspended; the end effector 4 is provided at the suspended end of the second connecting arm 3. The end effector 4 includes a camera 41 and a plurality of suction cups 42. The camera 41 is used to collect image information of the photovoltaic module, and the suction cups 42 are used to suck the photovoltaic module; the fork assembly 5 includes a fork frame body 51, a retaining shelf 52, and forks 53. The fork frame body 51 is hinged to the vehicle body 1, the retaining shelf 52 is provided on the fork frame body 51, and the forks 53 are provided on the retaining shelf 52 and are arranged away from the fork frame body 51. Through the setting of the vehicle body 1 and the end effector 4 provided on the vehicle body 1 in this technical solution, the automatic suction function of the photovoltaic module can be realized. At the same time, the fork assembly 5 is integrated on the vehicle body 1, eliminating the need for a separate forklift device. Moreover, the manufacturing cost is lower than that of an automatic installation robot for photovoltaic modules, enabling the stacking and transportation of photovoltaic modules and the suction and installation operations of photovoltaic modules, and being more suitable for the installation requirements of small-scale photovoltaic modules.

[0095] Finally, it should be noted that although the above embodiments have been described in the text and drawings of the specification of the present invention, this does not limit the scope of patent protection of the present invention. Any technical solutions obtained by equivalent structural or equivalent process substitution or modification based on the essential concept of the present invention and using the content recorded in the text and drawings of the specification of the present invention, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are all included in the scope of patent protection of the present invention.

Claims

1. A multifunctional all-in-one machine for photovoltaic module installation, characterized in that: include: Vehicle body; A first connecting arm, one end of which is hinged to the vehicle body, and the other end of which extends outward; A second connecting arm, one end of which is hinged to the end portion of the first connecting arm extending outward, and the other end of which is suspended in the air; An end picker is arranged at one end of the second connecting arm that is suspended in the air, and the end picker comprises a camera and a plurality of suction cups, the camera is used to collect image information of the photovoltaic component, and the suction cup is used to absorb the photovoltaic component; The fork assembly comprises a fork frame, a cargo shelf and a cargo fork, wherein the fork frame is hinged to the vehicle body, the cargo shelf is arranged on the fork frame, and the cargo fork is arranged on the cargo shelf and away from the fork frame.

2. The photovoltaic module installation multifunctional all-in-one machine according to claim 1, characterized in that: The fork frame body comprises: A first connecting shaft, wherein the number of the first connecting shafts is two, and the two first connecting shafts are arranged opposite to each other, and the ends of the first connecting shafts are hinged to the vehicle body; A second connecting shaft, arranged between the two first connecting shafts; The third swing unit is arranged on the vehicle body, and the movable end of the third swing unit is hinged to the second connecting shaft.

3. The photovoltaic module installation operation multifunctional all-in-one machine according to claim 1, characterized in that: The end picker also includes: A first shell, wherein the plurality of suction cups are arranged on a lower surface of the first shell; At least one swing arm connected to the first housing, the swing arm being rotatable along a third direction; A plurality of first spring rods are arranged on the swing arm, and a suction cup is arranged below each of the first spring rods; The indicator light is arranged on the first spring rod.

4. The photovoltaic module installation multifunctional all-in-one machine according to claim 3, characterized in that: The end picker also includes: a vacuum pump, disposed in the first housing; A vacuum tank is arranged in the first shell, and the vacuum tank is connected to the vacuum pump.

5. The photovoltaic module installation multifunctional all-in-one machine according to claim 4, characterized in that: Also includes: A connecting component is arranged at the end of the second connecting arm that is suspended outwardly, and the connecting component includes a second shell, a first swing unit and a second swing unit. The fixed end of the first swing unit is hinged to the second shell, the movable end of the first swing unit is hinged to the fixed end of the second swing unit at one point, and the fixed end of the second swing unit is also hinged to the second shell at another point. The second shell is connected to the movable end of the second swing unit, the first swing unit drives the second swing unit to rotate along the first direction, and the second swing unit can rotate along the second direction, and the first direction is not parallel to the second direction.

6. The photovoltaic module installation multifunctional all-in-one machine according to claim 5, characterized in that: The second shell has a first connection surface, a second connection surface and a third connection surface, the first connection surface and the third connection surface are arranged opposite to each other from top to bottom, the second connection surface is arranged between the first connection surface and the third connection surface, the second connection arm and the second shell are connected to the second connection surface, and the connection assembly further includes: An anti-collision pad, arranged on the first connecting surface; A bridging plate, arranged on the third connecting surface, wherein an end of the bridging plate suspended downward is hinged to a fixed end of the second swing unit; An electric slip ring is sleeved on the movable end of the second swing unit, and the electric slip ring is also connected to the first housing.

7. The photovoltaic module installation multifunctional all-in-one machine according to claim 6, characterized in that: Also includes: a first telescopic rod, one end of which is hinged to the vehicle body, and the other end of which is hinged to the first connecting arm; a second telescopic rod, one end of the second telescopic rod being hinged to the first connecting arm, and the other end of the second telescopic rod being also hinged to the second connecting arm; A third connecting arm, the third connecting arm having a first connecting end and a second connecting end, the first connecting end being hinged to the second shell; a third telescopic rod, one end of which is hinged to the second connecting arm, and the other end of which is hinged to the second connecting end; A third connecting shaft, one end of the third connecting shaft is hinged to the second connecting arm, the other end of the third connecting shaft is hinged to the second connecting end, and is hinged to the third telescopic rod at the same point.

8. The photovoltaic module installation multifunctional all-in-one machine according to claim 7, characterized in that: Also includes: A driver's seat, arranged on the vehicle body; A control unit is arranged on the vehicle body, and the control unit has an interaction module, and the interaction module is arranged toward the driver's seat.

9. The photovoltaic module installation multifunctional all-in-one machine according to claim 8, characterized in that: Also includes: The moving assembly comprises a first crawler track and a second crawler track, wherein the first crawler track and the second crawler track are arranged opposite to each other, and the vehicle body is arranged above the moving assembly.

10. The photovoltaic module installation multifunctional all-in-one machine according to claim 9, characterized in that: Also includes: A chassis is arranged between the first crawler track and the second crawler track. The vehicle body is arranged on the chassis, and the vehicle body can rotate relative to the chassis.

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