Photovoltaic panel adsorption assembly and photovoltaic panel dismounting and mounting equipment

Abstract

The utility model discloses a photovoltaic panel adsorption assembly and photovoltaic panel disassembly and assembly equipment, and relates to the field of photovoltaic technologies. The photovoltaic panel adsorption assembly is applied to the photovoltaic panel disassembly and assembly equipment and comprises a support and suction cups, the support is used for being connected with a first mechanical arm of the photovoltaic panel disassembly and assembly equipment, the suction cups are arranged on the face, away from the first mechanical arm, of the support at intervals, and the first mechanical arm can drive the support to move. And the suction cup is attached to the photovoltaic panel. According to the scheme, the problems that in the process of disassembling and assembling the photovoltaic panel, the disassembling and assembling efficiency is low, and the photovoltaic panel is prone to being damaged can be solved.

Description

Technical Field

[0001] The present application belongs to the field of photovoltaic technology, and specifically relates to a photovoltaic panel adsorption component and photovoltaic panel disassembly and assembly equipment. Background Art

[0002] With the rapid iteration of photovoltaic technology, the existing photovoltaic conversion efficiency has been greatly improved, and the cost of photovoltaic power generation has also dropped significantly. In addition, photovoltaic panels have been exposed to various natural factors such as wind and rain for a long time outdoors, resulting in the early retirement of existing photovoltaic power stations. However, if the abandoned photovoltaic panels are not properly disposed of, it will have an adverse impact on the social environment. Therefore, it is necessary to dismantle the abandoned photovoltaic panels for resource recycling, thereby alleviating the pressure of the shortage of semiconductor materials and reducing the consumption and production costs of photovoltaic energy.

[0003] At present, most of the photovoltaic panels are disassembled manually, but the disassembly efficiency is low, resulting in long disassembly time and high cost. In addition, the photovoltaic panels are easily damaged during the manual disassembly process, thus affecting the amount of semiconductor materials recovered in the later stage. Of course, in the process of installing photovoltaic panels, there are also problems such as low installation rate, resulting in long installation time and high cost, and damage to the photovoltaic panels, which affects the light energy conversion rate of the photovoltaic panels. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a photovoltaic panel adsorption assembly and photovoltaic panel disassembly and assembly equipment, which can solve the current problems of low disassembly and assembly efficiency and easy damage to photovoltaic panels during the disassembly and assembly of photovoltaic panels.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In the first aspect, the present application provides a photovoltaic panel adsorption assembly, which is applied to photovoltaic panel disassembly and assembly equipment, including a bracket and a suction cup. The bracket is used to be connected to a first robotic arm of the photovoltaic panel disassembly and assembly equipment, and the suction cup is arranged on a side of the bracket away from the first robotic arm. The first robotic arm can drive the bracket to move so that the suction cup fits the photovoltaic panel.

[0007] In the second aspect, the present application also provides a photovoltaic panel disassembly and assembly equipment, including a photovoltaic panel disassembly and assembly device, the photovoltaic panel disassembly and assembly device includes a first robotic arm and the above-mentioned photovoltaic panel adsorption assembly, and the photovoltaic panel adsorption assembly is connected to the first robotic arm.

[0008] In the embodiments of the present application, during the process of disassembling the photovoltaic panel, the first robotic arm drives the photovoltaic panel adsorption assembly to move, so that the suction cup faces the photovoltaic panel and fits with the photovoltaic panel. After the suction cup adsorbs the photovoltaic panel, the first robotic arm drives the photovoltaic panel adsorption assembly to move, so as to move the photovoltaic panel away from the photovoltaic panel support; similarly, during the process of installing the photovoltaic panel, after the suction cup adsorbs the photovoltaic panel, the first robotic arm drives the photovoltaic panel adsorption assembly to move, so that the photovoltaic panel is placed on the photovoltaic panel support. This solution adsorbs the photovoltaic panel through the suction cup, which can not only improve the disassembly and installation efficiency of the photovoltaic panel, but also prevent the photovoltaic panel from being damaged. Therefore, the embodiments of the present application can solve the problems of low disassembly and installation efficiency and easy damage to the photovoltaic panel existing in the current process of disassembling and installing the photovoltaic panel. Description of the Drawings

[0009] Figure 1 It is a schematic structural diagram of the photovoltaic panel adsorption assembly disclosed in the embodiments of the present application;

[0010] Figure 2 is Figure 1 a partial enlarged view of;

[0011] Figure 3 It is a front view of the photovoltaic panel adsorption assembly disclosed in the embodiments of the present application;

[0012] Figure 4 It is a schematic structural diagram of the photovoltaic panel adsorption assembly disclosed in another embodiment of the present application;

[0013] Figure 5 It is a schematic structural diagram of the photovoltaic panel disassembly and installation device disclosed in the embodiments of the present application;

[0014] Figure 6 It is a schematic structural diagram of the photovoltaic panel disassembly and installation device in the process of disassembly and installation in the embodiments of the present application, wherein the arrow line is the movement direction of the photovoltaic panel disassembly and installation device;

[0015] Figures 7 to 8 It is a schematic structural diagram of the photovoltaic panel disassembly and installation device in another embodiment of the present application from different perspectives;

[0016] Figure 9 It is a schematic structural diagram of the photovoltaic panel storage device disclosed in the embodiments of the present application.

[0017] Description of the Reference Numerals:

[0018] 100 - Movable carrying device, 110 - Chassis, 120 - Carrying bracket;

[0019] 200 - Photovoltaic panel disassembly and assembly device, 210 - First robotic arm, 220 - Photovoltaic panel adsorption assembly, 221 - Bracket, 222 - Suction cup, 223 - Rotating mechanism, 223a - Driving part, 223b - Reducer, 224 - Image acquisition part, 225 - Distance detection part, 226 - Elastic deformation part, 227 - Pressure detection part, 228 - Base, 228a - First plate section, 228b - Second plate section, 228c - Third plate section, 229 - Adsorption air source, 230 - Second robotic arm;

[0020] 300 - Photovoltaic panel storage device, 310 - Frame, 320 - First driving mechanism, 330 - Carrier plate, 340 - Second driving mechanism, 380 - Positioning rod;

[0021] 410 - Photovoltaic panel, 420 - Photovoltaic panel bracket;

[0022] 500 - Control device;

[0023] 600 - Power supply device. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0025] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. usually belong to the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0026] Next, in conjunction with the accompanying drawings, the photovoltaic panel adsorption assembly provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0027] As Figures 1 to 4 shown, an embodiment of the present application discloses a photovoltaic panel adsorption assembly, which is applied to a photovoltaic panel disassembly and assembly device. Of course, this photovoltaic panel adsorption assembly can also be used to fix other structures, and the embodiments of the present application do not make specific limitations in this regard.

[0028] The photovoltaic panel adsorption assembly includes a bracket 221 and a suction cup 222. The bracket 221 is used to be connected to the first robotic arm 210 of the photovoltaic panel disassembly and assembly device. Optionally, the first robotic arm 210 has functions such as telescoping, rotating, and lifting. The suction cup 222 is disposed on a surface of the bracket 221 facing away from the first robotic arm 210. The first robotic arm 210 can drive the bracket 221 to move. At this time, the bracket 221 drives the suction cup 222 to move together. Through the flexible movement of the first robotic arm 210, the suction cup 222 is brought into contact with the photovoltaic panel 410, so that the suction cup 222 sucks the photovoltaic panel 410, and then the first robotic arm 210 drives the photovoltaic panel 410 to move together. Optionally, the first robotic arm 210 includes a connected arm and a gripper. The bracket 221 is connected to the gripper, and the arm is used to drive the gripper to perform activities such as telescoping, rotating, and lifting.

[0029] In the embodiment of the present application, during the process of disassembling the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly to move, so that the suction cup 222 faces the photovoltaic panel 410 and is brought into contact with the photovoltaic panel 410. After the suction cup 222 adsorbs the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly to move, so as to move the photovoltaic panel 410 away from the photovoltaic panel bracket 420; similarly, during the process of installing the photovoltaic panel 410, after the suction cup 222 adsorbs the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly to move, so that the photovoltaic panel 410 is placed on the photovoltaic panel bracket 420. This solution adsorbs the photovoltaic panel 410 through the suction cup 222, which can not only improve the disassembly and assembly efficiency of the photovoltaic panel 410, but also prevent the photovoltaic panel 410 from being damaged. Therefore, the embodiment of the present application can solve the problems of low disassembly and assembly efficiency and easy damage to the photovoltaic panel 410 existing in the current process of disassembling and assembling the photovoltaic panel 410.

[0030] In an alternative embodiment, the photovoltaic panel adsorption assembly further includes a control member and an image acquisition member 224. The image acquisition member 224 is disposed on the bracket 221 and is configured to acquire image information of the photovoltaic panel 410. Optionally, the image acquisition member 224 may be a camera, which may include a base and a lens. The lens can rotate relative to the base to expand its shooting range. Further optionally, the lens may be a wide-angle lens. When the photovoltaic panel adsorption assembly is relatively close to the photovoltaic panel 410, the lens can still acquire a relatively large image of the photovoltaic panel 410. The control member is electrically connected to the image acquisition member 224 and the first robotic arm 210 respectively. The control member is configured to control the movement of the first robotic arm 210 according to the image information acquired by the image acquisition member 224, so as to drive the bracket 221 closer to the photovoltaic panel 410 and make the two relatively arranged. When the image information acquired by the image acquisition member 224 is only part of the photovoltaic panel 410, or the photovoltaic panel 410 cannot be acquired, the control member controls the first robotic arm 210 to drive the bracket 221 to move together until the bracket 221 is relatively arranged with the photovoltaic panel 410 and the image acquisition member 224 can acquire the complete image information of the photovoltaic panel 410. Then, the first robotic arm 210 drives the bracket 221 closer to the photovoltaic panel 410 so that the suction cup 222 fits against the photovoltaic panel 410. Therefore, the position of the photovoltaic panel adsorption assembly relative to the photovoltaic panel 410 can be accurately adjusted through the image information acquired by the image acquisition member 224, which is beneficial to improving the efficiency of disassembling and assembling the photovoltaic panel 410.

[0031] In another alternative embodiment, the photovoltaic panel adsorption assembly further includes a control member and at least two distance detection members 225 spaced apart on the bracket 221. The distance detection members 225 are configured to detect the distance between the bracket 221 and the photovoltaic panel 410. The control member is electrically connected to the first robotic arm 210 and each distance detection member 225 respectively. The control member is configured to control the movement of the first robotic arm 210 according to the detected distances of the distance detection members 225 so that the bracket 221 is parallel to the photovoltaic panel 410. When the detected distances of the distance detection members 225 are not equal, the control member controls the first robotic arm 210 to drive the bracket 221 to perform a revolution movement until the detected distances of the distance detection members 225 are basically the same, which indicates that the bracket 221 is parallel to or approximately parallel to the photovoltaic panel 410. Then, the first robotic arm 210 drives the bracket 221 closer to the photovoltaic panel 410 so that the suction cup 222 fits against the photovoltaic panel 410. Therefore, the position of the photovoltaic panel adsorption assembly relative to the photovoltaic panel 410 can be accurately adjusted through multiple distance detection members 225, which is beneficial to improving the efficiency of disassembling and assembling the photovoltaic panel 410.

[0032] In a further optional embodiment, in the width direction of the bracket 221, each distance detection member 225 may be located at the middle position of the bracket 221; alternatively, each distance detection member 225 is disposed at the edge of the bracket 221, and the distance detection members 225 are arranged at intervals along the circumferential direction of the bracket 221, so that the distance detection members 225 are arranged more dispersedly, thereby increasing the detection range of each distance detection member 225, and further improving the detection accuracy thereof.

[0033] Optionally, when the bracket 221 is a rectangular structure, distance detection members 225 may be provided at the respective corners of the bracket 221 to further expand the detection range of each distance detection member 225 and improve the detection accuracy thereof.

[0034] In another optional embodiment, the suction cup 222 is provided with a connecting shaft, and the connecting shaft is slidably connected to the bracket 221, that is, the connecting shaft can perform telescopic movement relative to the bracket 221. The photovoltaic panel adsorption assembly further includes an elastic deformation member 226. Optionally, the elastic deformation member 226 may be a spring, which has a simple structure and is easy to manufacture. The elastic deformation member 226 is sleeved on the connecting shaft, and the two ends of the elastic deformation member 226 respectively abut against the bracket 221 and the suction cup 222. When the suction cup 222 contacts the photovoltaic panel 410, the elastic deformation member 226 can deform, so that the suction cup 222 is in full contact with the photovoltaic panel 410, thereby better fitting on the photovoltaic panel 410, and further better adsorbing the photovoltaic panel 410. By providing the elastic deformation member 226 in this solution, the bracket 221 does not need to be parallel to the photovoltaic panel 410, which can reduce the difficulty of the first robotic arm 210 in adjusting the photovoltaic panel adsorption assembly.

[0035] In a further optional embodiment, the photovoltaic panel adsorption assembly further includes a control member and a pressure detection member 227. The pressure detection member 227 is used to detect the adsorption pressure of the suction cup 222. The control member is electrically connected to the first robotic arm 210 and the pressure detection member 227 respectively. The control member is used to control the movement of the first robotic arm 210 according to the detected pressure of the pressure detection member 227, and the bracket 221 drives the elastic deformation member 226 to deform, so that the suction cup 222 adsorbs on the photovoltaic panel 410. When the pressure detected by the pressure detection member 227 is less than the preset value, it indicates that the suction cup 222 corresponding to the pressure detection member 227 is not fully adsorbed on the photovoltaic panel 410. At this time, the control member controls the first robotic arm 210 to drive the bracket 221 to move towards the photovoltaic panel 410. At this time, the bracket 221 drives the elastic deformation member 226 to deform, so that the suction cup 222 adsorbs on the photovoltaic panel 410, thereby improving the adsorption efficiency of the suction cup 222 for adsorbing the photovoltaic panel 410 and enabling the two to be stably adsorbed and connected. Of course, the pressure detection member 227 may not be provided. Optionally, when the number of suction cups 222 is multiple, the pressure detection members 227 are arranged in one-to-one correspondence with the suction cups 222, that is, each pressure detection member 227 is respectively used to detect the pressure of each suction cup 222.

[0036] In an alternative implementation, the photovoltaic panel adsorption assembly in the above implementation further includes at least one of an image acquisition member 224 and a distance detection member 225. The control member can first control the movement of the first robotic arm 210 according to the image information and / or the detected distance, so that the bracket 221 is parallel to the photovoltaic panel 410, and then drive the bracket 221 to move towards the photovoltaic panel 410, so that the suction cup 222 contacts the photovoltaic panel 410, and at the same time the elastic deformation member 226 deforms. Then, the movement of the first robotic arm 210 is controlled according to the detected pressure, so that the suction cup 222 is firmly adsorbed on the photovoltaic panel 410, thereby improving the efficiency of disassembling and assembling the photovoltaic panel 410 and the stability of the photovoltaic panel 410 during transportation.

[0037] In another alternative embodiment, the photovoltaic panel adsorption assembly further includes an adsorption air source 229. The adsorption air source 229 is connected to the suction cup 222. When the suction cup 222 is attached to the photovoltaic panel 410, the adsorption air source 229 is used to suck the air between the suction cup 222 and the photovoltaic panel 410, so that the air pressure between the suction cup 222 and the photovoltaic panel 410 is lower than the ambient air pressure, thereby enabling the suction cup 222 to be adsorbed on the photovoltaic panel 410.

[0038] Optionally, the adsorption air source 229 is disposed on the bracket 221, and the adsorption air source 229 is located in the accommodation space of the bracket 221, that is, the accommodation space of the bracket 221 itself is used to dispose the adsorption air source 229, avoiding the adsorption air source 229 from occupying extra space and preventing the volume of the photovoltaic panel adsorption assembly from increasing. Optionally, when the adsorption air source 229 is disposed on the bracket 221, since the adsorption air source 229 will generate a certain vibration during operation, the size of the suction cup 222 can be set larger, thereby improving the adsorption performance of the suction cup 222. Optionally, the adsorption air source 229 can be an air compressor, which has the characteristics of high compression efficiency and good stability.

[0039] Alternatively, in other embodiments, the adsorption air source 229 is disposed on the movable carrier device 100 of the photovoltaic panel disassembly and assembly device. At this time, the weight of the entire photovoltaic panel adsorption assembly is small, which is convenient for the flexible movement of the first robotic arm 210; at the same time, a plurality of small-sized suction cups 222 can be provided. At this time, the adsorption air source 229 can quickly extract the air between each suction cup 222 and the photovoltaic panel 410, so that the suction cup 222 is quickly adsorbed on the photovoltaic panel 410. Optionally, the adsorption air source 229 can be a vacuum pump, which has the characteristics of reliable operation and strong self-priming ability.

[0040] In another alternative embodiment, the number of the suction cups 222 may be one, or the number of the suction cups 222 is at least two, and the suction cups 222 are spaced apart and arranged on a surface of the bracket 221 facing away from the first robotic arm 210. By providing a plurality of suction cups 222, the firmness of the photovoltaic panel adsorption assembly for adsorbing the photovoltaic panel 410 is improved, thereby enhancing the stability of the photovoltaic panel 410 during the handling process by the first robotic arm 210.

[0041] Optionally, each of the suction cups 222 is located at the edge of the bracket 221, and the suction cups 222 are spaced apart along the circumferential direction of the bracket 221. At this time, the suction cups 222 are arranged relatively dispersedly. When each of the suction cups 222 adsorbs to the photovoltaic panel 410, the adsorption force received by the photovoltaic panel 410 is relatively dispersed, which is beneficial to improving the stability of the photovoltaic panel 410. Optionally, in the embodiment where the adsorption air source 229 is arranged on the movable carrying device 100 of the photovoltaic panel disassembly and assembly device, each of the suction cups 222 is arranged at the edge of the bracket 221, and the suction cups 222 are spaced apart along the circumferential direction of the bracket 221. At this time, the plurality of suction cups 222 are arranged relatively dispersedly, which is convenient for the layout of the air pipes communicating between the suction cups 222 and the adsorption air source 229.

[0042] Alternatively, in other embodiments, the suction cups 222 are arranged side by side along the length direction of the bracket 221. At this time, the size of each suction cup 222 can be increased, so as to make full use of the installation space of the bracket 221 to arrange the suction cups 222. Optionally, in the embodiment where the adsorption air source 229 is arranged on the bracket 221, the suction cups 222 may be arranged side by side along the length direction of the bracket 221. At this time, the suction cups 222 are arranged relatively concentratedly, which is convenient for communicating with the adsorption air source 229.

[0043] In an alternative embodiment, the photovoltaic panel adsorption assembly further includes a rotating mechanism 223. The bracket 221 is connected to the first robotic arm 210 through the rotating mechanism 223. When the bracket 221 is parallel to the photovoltaic panel 410, the rotating mechanism 223 drives the bracket 221 to rotate around the central axis of the rotating mechanism 223, so that the bracket 221 faces the photovoltaic panel 410. Here, the bracket 221 facing the photovoltaic panel 410 specifically means that in the direction perpendicular to the photovoltaic panel 410, the orthographic projection of the bracket 221 is located within the orthographic projection of the photovoltaic panel 410. The first robotic arm 210 drives the photovoltaic panel adsorption assembly to move until the bracket 221 is parallel to the photovoltaic panel 410. At this time, the suction cup 222 is also parallel to the photovoltaic panel 410. Then, the rotating mechanism 223 is used to drive the bracket 221 to rotate so that it faces the photovoltaic panel 410. Then, the first robotic arm 210 drives the photovoltaic panel adsorption assembly to move in the direction of the photovoltaic panel 410, so that the suction cup 222 fits with the photovoltaic panel 410, thereby adsorbing the photovoltaic panel 410. At this time, the contact area between the photovoltaic panel adsorption assembly and the photovoltaic panel 410 is relatively large, which is beneficial to improving the stability of the photovoltaic panel 410 when it is adsorbed. Of course, the rotating mechanism 223 may not be provided, and in the direction perpendicular to the photovoltaic panel 410, a part of the orthographic projection of the bracket 221 is located outside the orthographic projection of the photovoltaic panel 410.

[0044] Optionally, the shape of the bracket 221 may be adapted to the shape of the photovoltaic panel 410. When the photovoltaic panel 410 has a rectangular structure, the bracket 221 may also have a rectangular structure. At this time, the length direction of the bracket 221 is the same as the length direction of the photovoltaic panel 410, and the width direction of the bracket 221 is the same as the width direction of the photovoltaic panel 410. At this time, the size of the bracket 221 can be set to be relatively large to further increase the contact area between the photovoltaic panel adsorption assembly and the photovoltaic panel 410, thereby further improving the stability of the photovoltaic panel 410; or, the width direction of the bracket 221 is the same as the length direction of the photovoltaic panel 410, and the length direction of the bracket 221 is the same as the width direction of the photovoltaic panel 410. However, at this time, the length of the bracket 221 needs to be less than or equal to the width of the photovoltaic panel 410. With this setting method, the position where the suction cup 222 on the bracket 221 sucks the photovoltaic panel 410 is more flexible, which is beneficial to reducing the working difficulty of the first robotic arm 210.

[0045] In a further optional embodiment, the photovoltaic panel adsorption assembly further includes a base 228. The rotating mechanism 223 is connected to the first robotic arm 210 through the base 228, that is, the base 228 is connected to the first robotic arm 210, and the rotating mechanism 223 is disposed on the base 228. Optionally, the base 228 and the first robotic arm 210 can be detachably connected through fasteners such as screws and bolts to facilitate the disassembly and assembly of the photovoltaic panel adsorption assembly. The base 228 includes a first plate segment 228a, a second plate segment 228b, and a third plate segment 228c that are connected in sequence. Both the first plate segment 228a and the third plate segment 228c are bent relative to the second plate segment 228b, and the first plate segment 228a and the third plate segment 228c are oppositely disposed. At least a part of the rotating mechanism 223 is disposed between the first plate segment 228a and the third plate segment 228c, and the rotating mechanism 223 is connected to the bracket 221 through an avoidance opening of the second plate segment 228b. In this solution, the rotating mechanism 223 is indirectly connected to the first robotic arm 210 through the base 228 to increase the connection area between the rotating mechanism 223 and the first robotic arm 210, thereby improving the connection stability and firmness of the photovoltaic panel adsorption assembly; moreover, the base 228 of this type adopts a three-section structure to form a receiving space for accommodating the rotating mechanism 223, which can play a role in protecting the rotating mechanism 223. Of course, the base 228 can also be a flat plate structure.

[0046] In another optional embodiment, in the length direction of the bracket 221, the rotating mechanism 223 is located in the middle region of the bracket 221, that is, the sizes of the brackets 221 on both sides of the rotating mechanism 223 are basically the same. During the process of the rotating mechanism 223 driving the bracket 221 to rotate, the inclination of the bracket 221 can be avoided, which is beneficial to improving the rotation stability of the bracket 221. Of course, in the length direction of the bracket 221, the rotating mechanism 223 can also be located on one side of the central axis of the bracket 221.

[0047] Optionally, the rotating mechanism 223 includes a driving member 223a and a speed reducer 223b. Optionally, the driving member 223a can be a motor, a hydraulic rotary motor, etc., and the embodiments of the present application do not specifically limit this; optionally, the speed reducer 223b can be a rotary speed reducer 223b, which has the characteristics of high precision, compact structure and large load-bearing capacity. The driving member 223a is connected to the first robotic arm 210, the output shaft of the driving member 223a is connected to the speed reducer 223b, and the speed reducer 223b is connected to the bracket 221, that is, the driving member 223a is connected to the bracket 221 through the speed reducer 223b, and the driving member 223a can drive the bracket 221 to rotate around the central axis of the speed reducer 223b through the speed reducer 223b. This solution reduces the speed and increases the torque through the speed reducer 223b, so that the driving force output by the driving member 223a is decelerated by the speed reducer 223b and then transmitted to the bracket 221, thereby reducing the rotational inertia of the bracket 221 and further improving the rotational stability of the bracket 221. Of course, the speed reducer 223b may not be provided, and the power of the driving member 223a can be reduced and other methods can be used to reduce the driving force output by it.

[0048] As Figures 5 to 9 shown, based on the photovoltaic panel adsorption assembly disclosed in the embodiments of the present application, the embodiments of the present application also disclose a photovoltaic panel disassembly and assembly device, which includes a photovoltaic panel disassembly and assembly device 200. The photovoltaic panel disassembly and assembly device 200 includes a first robotic arm 210 and the photovoltaic panel adsorption assembly 220 in any of the above embodiments. The photovoltaic panel adsorption assembly 220 is connected to the first robotic arm 210, and the photovoltaic panel adsorption assembly 220 is used to adsorb the photovoltaic panel 410. After the photovoltaic panel adsorption assembly 220 adsorbs the photovoltaic panel 410, the first robotic arm 210 can drive the photovoltaic panel adsorption assembly 220 and the photovoltaic panel 410 to move together, thereby carrying the photovoltaic panel 410.

[0049] Optionally, the photovoltaic panel disassembly and assembly device further includes a control device 500, a movable carrying device 100, and a photovoltaic panel storage device 300. Among them, the movable carrying device 100, the photovoltaic panel disassembly and assembly device 200, and the photovoltaic panel storage device 300 are all electrically connected to the control device 500. The first robotic arm 210, the photovoltaic panel storage device 300, and the control device 500 are all arranged on the movable carrying device 100. The movable carrying device 100 serves as the installation basis for setting each structure and can drive each structure to move at the same time, without manual handling; the photovoltaic panel storage device 300 is used to store the old photovoltaic panels 410 disassembled from the photovoltaic panel bracket 420, or to store the new photovoltaic panels 410. The photovoltaic panel adsorption assembly 220 is connected to the first robotic arm 210. Optionally, the control device 500 here and the control member described above can be the same structure; or, the above control device 500 and the control member described above are different structures, and the control device 500 can be used to control the control member described above to work.

[0050] In an alternative embodiment, the photovoltaic panel disassembly and assembly device 200 further includes a second robotic arm 230. Both the first robotic arm 210 and the second robotic arm 230 are disposed on the movable carrier device 100, and the first robotic arm 210 and the second robotic arm 230 can be arranged at intervals to avoid mutual influence between them. The second robotic arm 230 is used for disassembling and assembling the fasteners connecting the photovoltaic panel 410 and the photovoltaic panel support 420.

[0051] Specifically, during the process of disassembling the photovoltaic panel 410, first, the photovoltaic panel adsorption assembly 220 adsorbs the photovoltaic panel 410 on the photovoltaic panel support 420. Then, the second robotic arm 230 extends to the side of the photovoltaic panel 410 away from the photovoltaic panel adsorption assembly 220 to disassemble the fasteners connecting the photovoltaic panel 410 and the photovoltaic panel support 420. During the process of the second robotic arm 230 disassembling the fasteners, the photovoltaic panel adsorption assembly 220 is used to fix the photovoltaic panel 410 to prevent the photovoltaic panel 410 from moving relative to the photovoltaic panel support 420. Then, the first robotic arm 210 drives the photovoltaic panel 410 to move through the photovoltaic panel adsorption assembly 220, so as to place the photovoltaic panel 410 into the photovoltaic panel storage device 300. Similarly, during the process of installing the photovoltaic panel 410, first, the photovoltaic panel adsorption assembly 220 adsorbs the photovoltaic panel 410 in the photovoltaic panel storage device 300. Then, the first robotic arm 210 drives the photovoltaic panel 410 to move through the photovoltaic panel adsorption assembly 220, so as to place the photovoltaic panel 410 adsorbed by the photovoltaic panel adsorption assembly 220 on the photovoltaic panel support 420. Then, the second robotic arm 230 extends to the side of the photovoltaic panel 410 away from the photovoltaic panel adsorption assembly 220 to install the fasteners connecting the photovoltaic panel 410 and the photovoltaic panel support 420 and tighten the fasteners. During the process of the second robotic arm 230 installing and tightening the fasteners, the photovoltaic panel adsorption assembly 220 always adsorbs the photovoltaic panel 410 to fix the photovoltaic panel 410 and prevent the photovoltaic panel 410 from moving relative to the photovoltaic panel support 420.

[0052] In the above embodiment, the first robotic arm 210 and the photovoltaic panel adsorption assembly 220 drive the photovoltaic panel 410 to move between the photovoltaic panel storage device 300 and the photovoltaic panel support 420 to carry the photovoltaic panel 410. When the photovoltaic panel 410 is placed on the photovoltaic panel support 420, the second robotic arm 230 cooperates with the first robotic arm 210 and the photovoltaic panel adsorption assembly 220 to disassemble and assemble the photovoltaic panel 410. During the whole process of disassembling and assembling the photovoltaic panel 410, no human participation is required, which not only has a high disassembly and assembly efficiency but also can greatly reduce costs.

[0053] In an alternative embodiment, the movable carrier device 100 is a crawler vehicle. Since most of the photovoltaic panels 410 are installed in gobi deserts, desert areas, etc., the crawler vehicle is convenient for traveling. Of course, the movable carrier device 100 can also be a wheeled vehicle, which can be specifically selected according to the installation environment of the photovoltaic panels 410. The embodiments of the present application do not make specific limitations in this regard.

[0054] Optionally, the movable carrier device 100 includes a chassis 110 and a carrier bracket 120 connected to each other. The chassis 110 and the carrier bracket 120 are arranged side by side along the length direction of the movable carrier device 100. The photovoltaic panel disassembly and assembly device 200 is arranged on the chassis 110, and the photovoltaic panel storage device 300 is movably arranged on the carrier bracket 120. That is, the photovoltaic panel disassembly and assembly device 200 and the photovoltaic panel storage device 300 are arranged side by side along the length direction of the movable carrier device 100, which facilitates the first robotic arm 210 to pick up the photovoltaic panel 410 in the photovoltaic panel storage device 300 or place the photovoltaic panel 410 in the photovoltaic panel storage device 300. The bearing surface of the carrier bracket 120 is lower than the bearing surface of the chassis 110. When the photovoltaic panel storage device 300 is in a full-load state, it is convenient to place it on the movable carrier device 100 or carry it down from the movable carrier device 100. Of course, the bearing surface of the carrier bracket 120 can also be flush with the bearing surface of the chassis 110.

[0055] In an alternative embodiment, the carrier bracket 120 and the photovoltaic panel storage device 300 can be relatively fixed by friction; or, the carrier bracket 120 is provided with a positioning groove, and the bottom surface of the photovoltaic panel storage device 300 is provided with a positioning rod 380. The positioning rod 380 extends along the width direction of the chassis 110, and the positioning rod 380 is in positioning cooperation with the positioning groove. When the movable carrier device 100 moves, due to inertia, the photovoltaic panel storage device 300 is likely to move relative to the carrier bracket 120 or even fall off the carrier bracket 120. Therefore, the positioning rod 380 is in positioning cooperation with the positioning groove to improve the stability of the photovoltaic panel storage device 300 relative to the carrier bracket 120.

[0056] Optionally, the number of the positioning grooves can be at least two, and the positioning grooves are sequentially arranged at intervals along the extending direction of the carrier bracket 120 towards the chassis 110. The positioning rod 380 is arranged in one-to-one correspondence with the positioning grooves to further improve the stability of the photovoltaic panel storage device 300 relative to the carrier bracket 120.

[0057] In an alternative embodiment, the photovoltaic panel disassembly and assembly equipment further includes a power supply device 600. The power supply device 600 is arranged on the movable carrier device 100, and the power supply device 600 is electrically connected to the movable carrier device 100, the first robotic arm 210, the photovoltaic panel adsorption assembly 220, and the second robotic arm 230. The power supply device 600 is used to supply power to each structure of the photovoltaic panel disassembly and assembly equipment.

[0058] Optionally, the photovoltaic panel storage device 300 includes a frame 310, a first driving mechanism 320, a second driving mechanism 340, a position detection component, and a carrier plate 330 for carrying the photovoltaic panel 410. The frame 310 is provided with a receiving cavity for receiving the photovoltaic panel 410. The carrier plate 330 is movably disposed in the receiving cavity. The first driving mechanism 320 is disposed on the frame 310. The first driving mechanism 320 is connected to the carrier plate 330, and the first driving mechanism 320 can drive the carrier plate 330 to move up and down relative to the frame 310. The second driving mechanism 340 is disposed at the top of the frame 310. When the carrier plate 330 is in the first position, the second driving mechanism 340 can drive at least one photovoltaic panel 410 to move horizontally so that at least one photovoltaic panel 410 is separated from the frame 310. The position detection component is used to detect the position of the carrier plate 330.

[0059] In an alternative embodiment, the photovoltaic panel disassembly and assembly device further includes a radar detector disposed on the movable carrier device 100. The radar detector is used to detect whether the carrier plate 330 is in the initial position when the photovoltaic panel storage device 300 is in a full load state. When the photovoltaic panel storage device 300 is in a full load state, the radar detector is used to perform zero position calibration on the carrier plate 330 of the photovoltaic panel storage device 300. So that when the number of photovoltaic panels 410 in the receiving cavity of the photovoltaic panel storage device 300 decreases later, the first driving mechanism 320 can drive the carrier plate 330 to move a preset distance (the preset distance can be the thickness of one photovoltaic panel 410) relative to the frame 310, so that the photovoltaic panel 410 at the uppermost position of the carrier plate 330 is located at the opening of the receiving cavity, which is convenient for the photovoltaic panel adsorption assembly 220 to suck, or convenient for the second driving mechanism 340 to drive. Of course, the radar detector may not be provided, and by manual observation, it can be checked whether the carrier plate 330 is in the initial position when the photovoltaic panel storage device 300 is in a full load state.

[0060] In an alternative embodiment, a counter and an alarm are provided on the first robotic arm 210. The control device 500 is disposed on the movable carrying device 100. The control device 500 is electrically connected to the first robotic arm 210, the counter, and the alarm. The counter is used to record the number of photovoltaic panels 410 operated by the first robotic arm 210, and the alarm is used to send an alarm message when the photovoltaic panel storage device 300 is in a full-load state. When the number of photovoltaic panels 410 carried by the first robotic arm 210 recorded by the counter reaches the full-load state of the photovoltaic panel storage device 300, the counter sends this information to the control device 500, and the control device 500 controls the alarm to send an alarm message to prompt the staff to replace the photovoltaic panel storage device 300. Of course, the counter may not be provided. When the position detection component detects that the carrier plate 330 has descended to the initial position, the position detection component sends this information to the control device 500, and the control device 500 controls the alarm to send an alarm message; or, neither the counter nor the alarm may be provided, and the full-load state of the photovoltaic panel storage device 300 is observed manually.

[0061] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A photovoltaic panel adsorption assembly, which is applied to a photovoltaic panel disassembly and assembly device, and is characterized in that The invention comprises a bracket (221) and a suction cup (222), wherein the bracket (221) is used to be connected to a first mechanical arm (210) of the photovoltaic panel disassembly and assembly equipment, and the suction cup (222) is arranged on a side of the bracket (221) away from the first mechanical arm (210), and the first mechanical arm (210) can drive the bracket (221) to move so that the suction cup (222) fits the photovoltaic panel (410).

2. The photovoltaic panel adsorption assembly according to claim 1, characterized in that, The photovoltaic panel adsorption assembly also includes a control component and an image acquisition component (224). The image acquisition component (224) is arranged on the bracket (221). The image acquisition component (224) is used to acquire image information of the photovoltaic panel (410). The control component is electrically connected to the image acquisition component (224) and the first mechanical arm (210) respectively. The control component is used to control the movement of the first mechanical arm (210) to drive the bracket (221) to approach the photovoltaic panel (410) so that the two are arranged relative to each other.

3. The photovoltaic panel adsorption assembly according to claim 1, wherein The photovoltaic panel adsorption assembly also includes a control component and at least two distance detection components (225) arranged at intervals on the bracket (221), the distance detection components (225) being used to detect the distance between the bracket (221) and the photovoltaic panel (410), the control component being electrically connected to the first mechanical arm (210) and each of the distance detection components (225), and the control component being used to control the movement of the first mechanical arm (210) so that the bracket (221) is parallel to the photovoltaic panel (410).

4. The photovoltaic panel adsorption assembly according to claim 3, wherein, Each of the distance detection components (225) is arranged on an edge of the bracket (221), and each of the distance detection components (225) is arranged at intervals along the circumference of the bracket (221).

5. The photovoltaic panel adsorption assembly according to claim 1, wherein, The suction cup (222) is provided with a connecting shaft, and the connecting shaft is slidably connected to the bracket (221). The photovoltaic panel adsorption assembly also includes an elastic deformation member (226), and the elastic deformation member (226) is sleeved on the connecting shaft. The two ends of the elastic deformation member (226) are respectively abutted against the bracket (221) and the suction cup (222).

6. The photovoltaic panel adsorption assembly according to claim 5, wherein, The photovoltaic panel adsorption assembly also includes a control component and a pressure detection component (227), wherein the pressure detection component (227) is used to detect the adsorption pressure of the suction cup (222), and the control component is electrically connected to the first mechanical arm (210) and the pressure detection component (227), respectively, and the control component is used to control the movement of the first mechanical arm (210), and the bracket (221) drives the elastic deformation component (226) to deform so that the suction cup (222) is adsorbed on the photovoltaic panel (410).

7. The photovoltaic panel adsorption assembly according to claim 1, wherein, The photovoltaic panel adsorption assembly further comprises an adsorption gas source (229), wherein the adsorption gas source (229) is connected to the suction cup (222). The adsorption gas source (229) is disposed on the support (221), and the adsorption gas source (229) is located in the accommodation space of the support (221); or, The adsorption gas source (229) is arranged on a movable carrying device (100) of the photovoltaic panel disassembly and assembly equipment.

8. The photovoltaic panel adsorption assembly according to claim 1, wherein, The number of the suction cups (222) is at least two, and each of the suction cups (222) is disposed at intervals on a surface of the bracket (221) facing away from the first robotic arm (210). Each of the suction cups (222) is located at an edge of the bracket (221), and the suction cups (222) are arranged at intervals along the circumferential direction of the bracket (221); or, The suction cups (222) are arranged side by side along the length direction of the bracket (221).

9. The photovoltaic panel adsorption assembly according to claim 1, characterized in that, The photovoltaic panel adsorption assembly further includes a rotating mechanism (223), and the bracket (221) is connected to the first robotic arm (210) through the rotating mechanism (223). When the bracket (221) is parallel to the photovoltaic panel (410), the rotating mechanism (223) drives the bracket (221) to rotate around the central axis of the rotating mechanism (223) so that the bracket (221) faces the photovoltaic panel (410).

10. The photovoltaic panel adsorption assembly according to claim 9, wherein, The photovoltaic panel adsorption assembly further includes a base (228), the rotating mechanism (223) is connected to the first robotic arm (210) through the base (228), the base (228) includes a first plate segment (228a), a second plate segment (228b) and a third plate segment (228c) connected in sequence, both the first plate segment (228a) and the third plate segment (228c) are bent relative to the second plate segment (228b), the first plate segment (228a) and the third plate segment (228c) are oppositely arranged, at least a part of the rotating mechanism (223) is disposed between the first plate segment (228a) and the third plate segment (228c), and the rotating mechanism (223) is connected to the bracket (221) through an avoidance opening of the second plate segment (228b).

11. The photovoltaic panel adsorption assembly according to claim 9, wherein, In the length direction of the bracket (221), the rotating mechanism (223) is located in the middle area of the bracket (221). The rotating mechanism (223) includes a driving member (223a) and a speed reducer (223b), the driving member (223a) is connected to the first robotic arm (210), an output shaft of the driving member (223a) is connected to the speed reducer (223b), the speed reducer (223b) is connected to the bracket (221), and the driving member (223a) can drive the bracket (221) to rotate around the central axis of the speed reducer (223b) through the speed reducer (223b).

12. A photovoltaic panel disassembly and assembly device, characterized in that It includes a photovoltaic panel dismounting and mounting device (200), the photovoltaic panel dismounting and mounting device (200) includes a first robotic arm (210) and the photovoltaic panel adsorption assembly (220) according to any one of claims 1 to 11, and the photovoltaic panel adsorption assembly (220) is connected to the first robotic arm (210).

13. The photovoltaic panel disassembly and assembly device according to claim 12, characterized in that, The photovoltaic panel disassembly and assembly device further includes a control device (500), a movable carrying device (100), and a photovoltaic panel storage device (300). Among them, the movable carrying device (100), the photovoltaic panel disassembly and assembly device (200), and the photovoltaic panel storage device (300) are all electrically connected to the control device (500). The first robotic arm (210), the photovoltaic panel storage device (300), and the control device (500) are all arranged on the movable carrying device (100).

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