Photovoltaic module installation robot

Abstract

The utility model discloses a photovoltaic module installation robot, and relates to the technical field of automation, the photovoltaic module installation robot comprises a moving unit, an overturning positioning unit and a grabbing installation unit, the moving unit is used for moving on the ground to achieve transferring of the photovoltaic module installation robot, and the overturning positioning unit and the grabbing installation unit are both arranged on the moving unit to achieve grabbing installation of the photovoltaic module installation robot. The overturning positioning unit can move along with the moving unit and comprises an overturning mechanism and a pallet fork, the overturning mechanism is arranged on the moving unit, the pallet fork is arranged on the overturning mechanism and used for bearing the photovoltaic module, and the overturning mechanism is used for driving the pallet fork to overturn and enabling the photovoltaic module on the pallet fork to incline towards the direction where the grabbing mounting unit is located. And the grabbing and mounting unit is used for grabbing the photovoltaic module on the pallet fork and transferring the photovoltaic module to a specified mounting position. According to the invention, the automatic transfer of the photovoltaic module from the ground to the mounting bracket is realized, the production efficiency is improved, the production cost is reduced, and the production period is shortened. And meanwhile, the high-place operation risk existing in manual installation is avoided.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and more specifically, to a photovoltaic module installation robot. Background Art

[0002] During on-site construction, when a transport vehicle carrying a package of modules (including multiple PV modules) arrives at the site, a forklift is used to unload the package into a centralized storage area. Before the PV modules are installed on the mounting brackets, the package must first be transported to the vicinity of the brackets using a forklift. Two workers then lift the PV modules to the side of the brackets and raise them above them. After aligning the bolt holes between the PV modules and the brackets, they manually tighten the bolts with wrenches to complete the PV module installation.

[0003] However, this manual installation method has the problem of low efficiency. Therefore, how to improve the installation efficiency of photovoltaic modules has become a technical problem that those skilled in the art urgently need to solve. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a photovoltaic module installation robot to improve the installation efficiency of photovoltaic modules.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] A photovoltaic module installation robot, comprising:

[0007] A mobile unit for moving;

[0008] A flipping and positioning unit, comprising a flipping mechanism and a fork, wherein the flipping mechanism is provided on the mobile unit, and the fork is provided on the flipping mechanism and is used to support the photovoltaic module;

[0009] The grabbing and installing unit is arranged on the moving unit, and is used to grab the photovoltaic assembly on the fork and transfer it to the installation position. The flipping mechanism is used to tilt the photovoltaic assembly on the fork toward the direction where the grabbing and installing unit is located.

[0010] Optionally, in the above-mentioned photovoltaic module installation robot, the flipping and positioning unit further includes a lifting mechanism, and the lifting mechanism includes:

[0011] a lifting frame, movably disposed on the turning mechanism, and the cargo fork is disposed on the lifting frame;

[0012] The lifting drive assembly is arranged on the turning mechanism and is used to drive the lifting frame to move up and down.

[0013] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flipping mechanism is provided with a first reference detection component for detecting whether the lifting frame is in a longitudinal reference position.

[0014] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flipping and positioning unit further includes a transverse movement mechanism, and the transverse movement mechanism includes:

[0015] a transverse frame, movably disposed on the flip mechanism and connected to the lifting frame, wherein the moving direction of the transverse frame is perpendicular to the lifting direction of the lifting frame;

[0016] The transverse driving assembly is arranged on the turning mechanism or the lifting frame, and is used to drive the transverse frame to move.

[0017] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flipping mechanism is provided with a second reference detection component for detecting whether the transverse movement frame is in a transverse reference position.

[0018] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flipping mechanism includes:

[0019] a turning frame rotatably disposed on the moving unit, and the fork is disposed on the turning frame;

[0020] The flip driving assembly is arranged on the moving unit and connected to the flip frame, and is used for driving the flip frame to flip.

[0021] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flip angle range of the flip frame is 25°~70°.

[0022] Optionally, in the above-mentioned photovoltaic module installation robot, the grabbing and installation unit includes:

[0023] a mechanical arm, disposed on the mobile unit;

[0024] A suction cup hanger is provided at the end of the mechanical arm and is provided with a suction cup for sucking the photovoltaic module;

[0025] A 3D visual guidance system is provided on the robotic arm or the suction cup hanger, and is used to provide visual guidance to the robotic arm.

[0026] Optionally, in the above-mentioned photovoltaic component installation robot, a distance sensor for detecting the distance between the suction cup hanger and the photovoltaic component on the fork is provided at the end of the robotic arm or on the suction cup hanger.

[0027] Optionally, in the above-mentioned photovoltaic assembly installation robot, the moving unit includes:

[0028] Mobile chassis;

[0029] The mounting platform is arranged on the mobile chassis, and the flip positioning unit and the grabbing and mounting unit are both arranged on the mounting platform.

[0030] Optionally, in the above-mentioned photovoltaic module installation robot, the installation platform is provided with an automatic navigation system, and the automatic navigation system is used to plan the moving path of the mobile chassis; or,

[0031] The moving path of the mobile chassis is controlled by manual remote control.

[0032] The photovoltaic module installation robot provided in the present application includes a mobile unit, a flipping and positioning unit, and a grasping and installing unit, wherein the mobile unit is used to move on the ground to realize the transfer of the photovoltaic module installation robot, the flipping and positioning unit and the grasping and installing unit are both arranged on the mobile unit and can move with the mobile unit, the flipping and positioning unit includes a flipping mechanism and a fork, the flipping mechanism is arranged on the mobile unit, the fork is arranged on the flipping mechanism, and is used to support the photovoltaic module, the flipping mechanism is used to drive the fork to flip and tilt the photovoltaic module on the fork toward the direction of the grasping and installing unit, and the grasping and installing unit is used to grab the photovoltaic module on the fork and transfer it to the designated installation position.

[0033] Compared to existing technologies, the photovoltaic module installation robot provided in this application automatically transfers photovoltaic modules from the ground to the mounting bracket, improving production efficiency, reducing production costs, and shortening production cycles. It also avoids the risks of working at heights associated with manual installation and ensures installation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 1 ;

[0036] Figure 2 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 2 ;

[0037] Figure 3 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 3 ;

[0038] Figure 4 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 4 ;

[0039] Figure 5 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 5 ;

[0040] Figure 6 This is a structural diagram of a flipping and positioning unit of a photovoltaic module installation robot disclosed in an embodiment of the present application;

[0041] Figure 7 Schematic diagram of the structure of the photovoltaic module installation robot when transporting photovoltaic modules disclosed in the embodiment of this application Figure 1 ;

[0042] Figure 8 Schematic diagram of the structure of the photovoltaic module installation robot when transporting photovoltaic modules disclosed in the embodiment of this application Figure 2 ;

[0043] Figure 9 Schematic diagram of the structure of the photovoltaic module installation robot when transporting photovoltaic modules disclosed in the embodiment of this application Figure 3 ;

[0044] Figure 10 Schematic diagram of the structure of the photovoltaic module installation robot when transporting photovoltaic modules disclosed in the embodiment of this application Figure 4 ;

[0045] Figure 11 Schematic diagram of the structure of the photovoltaic module installation robot when transporting photovoltaic modules disclosed in the embodiment of this application Figure 5 ;

[0046] Figure 12 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application before transporting the photovoltaic module Figure 1 ;

[0047] Figure 13 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application before transporting the photovoltaic module Figure 2 ;

[0048] Figure 14 This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application before transporting the photovoltaic module Figure 3 ;

[0049] Figure 15 This is a structural diagram of the photovoltaic module installation robot disclosed in an embodiment of the present application when installing photovoltaic modules.

[0050] Among them, 100 is the mobile unit, 110 is the driving unit, 120 is the laser radar, 121 is the camera, and 130 is the control box;

[0051] 200 is a flip positioning unit, 210 is a fork, 211 is a lifting frame, 220 is a flip frame, 221 is a flip drive assembly, 222 is a fixing part, and 230 is a transverse frame;

[0052] 300 is the robotic arm, 310 is the suction cup spreader, 311 is the suction cup, and 320 is the 3D vision guidance system;

[0053] 400 is the photovoltaic module, 410 is the base;

[0054] 500 is the mounting bracket. DETAILED DESCRIPTION

[0055] The core of this application is to disclose a photovoltaic module installation robot to improve the installation efficiency of photovoltaic modules.

[0056] The following describes the embodiments with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the contents of the utility model described in the claims. Furthermore, the entire contents of the configurations shown in the following embodiments are not limited to those necessary for the solutions of the utility model described in the claims. It should be noted that, for ease of description, only the portions relevant to the utility model are shown in the accompanying drawings. The embodiments and features in the embodiments of this application may be combined with each other unless there is a conflict.

[0057] Combine Figure 1 、 Figure 7 and Figure 8 The photovoltaic component installation robot disclosed in the present invention includes a mobile unit 100, a flipping and positioning unit 200, and a grabbing and installing unit, wherein the mobile unit 100 is used to move on the ground to realize the transfer of the photovoltaic component installation robot, the flipping and positioning unit 200 and the grabbing and installing unit are both arranged on the mobile unit 100 and can move with the mobile unit 100, the flipping and positioning unit 200 includes a flipping mechanism and a fork 210, the flipping mechanism is arranged on the mobile unit 100, and the fork 210 is arranged on the flipping mechanism for supporting the photovoltaic component 400, the flipping mechanism is used to drive the fork 210 to flip and tilt the photovoltaic component 400 on the fork 210 toward the direction of the grabbing and installing unit, and the grabbing and installing unit is used to grab the photovoltaic component 400 located on the fork 210 and transfer it to a designated installation position.

[0058] Combine Figure 12 、 Figure 13 and Figure 15During the specific installation process of the photovoltaic assembly 400, the photovoltaic assembly installation robot moves to the location of the photovoltaic assembly 400 through the mobile unit 100 (the photovoltaic assembly 400 is usually placed on the ground), then uses the fork 210 to fork into the bottom of the photovoltaic assembly 400, and then uses the flipping mechanism to drive the fork 210 and the photovoltaic assembly 400 to flip together, so that the photovoltaic assembly 400 is separated from the ground and tilted in the direction of the grabbing and installation unit. Then, the mobile unit 100 drives the photovoltaic assembly 400 to move to the side of the mounting bracket 500 (in some embodiments, the photovoltaic assembly 400 is directly placed next to the mounting bracket 500. After the photovoltaic assembly installation robot supports and flips the photovoltaic assembly 400 through the flipping and positioning unit 200, it does not need to move, that is, it can directly transfer the photovoltaic assembly 400 to the designated installation position on the mounting bracket 500 through the grabbing and installation unit). The grabbing and installation unit grabs the photovoltaic assembly 400 on the fork 210 and transfers it to the designated installation position on the mounting bracket 500.

[0059] Compared to existing technologies, the disclosed photovoltaic module installation robot automatically transfers photovoltaic modules 400 from the ground to mounting brackets 500, improving production efficiency, reducing production costs, and shortening production cycles. It also avoids the risks of manual installation at height, ensures installation accuracy, and reduces the risk of uneven force on photovoltaic modules 400, which can cause panel cracking, hidden cracks, and backsheet scratches.

[0060] Combine Figure 6 、 Figure 9 and Figure 10 The flipping mechanism includes a flipping frame 220 and a flipping drive assembly 221. The flipping frame 220 is rotatably arranged on the mobile unit 100, and the fork 210 is arranged on the flipping frame 220, so that the fork 210 and the photovoltaic assembly 400 on the fork 210 can flip together with the flipping frame 220. The flipping drive assembly 221 is arranged on the mobile unit 100 and is connected to the flipping frame 220, and is used to drive the flipping frame 220 to rotate so that the photovoltaic assembly 400 on the fork 210 is tilted toward the direction where the grabbing installation unit is located.

[0061] After the fork 210 forks into the bottom of the photovoltaic assembly 400, the flip drive assembly 221 drives the flip frame 220 to flip the photovoltaic assembly 400 toward the direction where the grabbing and mounting unit is located. Specifically, Figure 8 , so that the panel surface of the photovoltaic assembly 400 facing away from the flip frame 220 is tilted in the direction where the grabbing and installing unit is located, so as to facilitate the grabbing and installing unit to be grabbed.

[0062] Among them, the flipping drive component 221 can specifically be a driving cylinder, a hydraulic cylinder, etc. Taking the driving cylinder as an example, the middle position of the flipping frame 220 is hinged to the mobile unit 100, and the fixed ends of the two driving cylinders are fixedly connected to the mobile unit 100 through the fixing parts 222, and the telescopic ends are hinged to the bottom of the flipping frame 220. When the driving cylinder is extended, the bottom of the flipping frame 220 flips upward.

[0063] It will be understood by those skilled in the art that in order to ensure the continuity and rhythm of the installation, a flipping and positioning unit 200 is provided to carry a whole package of components (including multiple photovoltaic components 400 and a base 410) at a time. After the photovoltaic component installation robot transports the whole package of components to the location of the installation bracket 500, it uses the grasping and installation unit to grasp each photovoltaic component 400 in turn for installation.

[0064] Because a single package of modules weighs nearly one ton, a large tilt angle for the photovoltaic module 400 could severely compress and crush the bottommost module 400 after flipping. Therefore, the tilt angle of the photovoltaic module 400 is preferably controlled between 25° and 75°. This tilt angle is determined by the rotation center of the flip frame 220 and the telescopic length of the drive cylinder (flip drive assembly 221). By selecting drive cylinders with different telescopic lengths, the flip frame 220 can be adjusted to different tilt angles.

[0065] Further, combined with Figure 6 In some embodiments, to prevent the fork 210 from interfering with the ground during the movement of the photovoltaic panel installation robot, the flipping and positioning unit 200 further includes a lifting mechanism. The lifting mechanism includes a lifting frame 211 and a lifting drive assembly. The lifting frame 211 is movably mounted on the flipping mechanism, and the fork 210 is mounted on the lifting frame 211 and can be raised and lowered along with the lifting frame 211. The lifting drive assembly is mounted on the flipping mechanism and is used to drive the lifting frame 211 to rise and fall. During the movement of the photovoltaic panel installation robot, the fork 210 is raised to a preset height by the lifting frame 211, thereby reducing the impact of uneven ground during movement.

[0066] The photovoltaic module 400 is placed on the ground through the base 410 (wooden support). Figure 6 The forks 210 are typically symmetrically arranged on the lifting frame 211 and can be inserted between the legs of the base 410. In some embodiments, after the forks 210 are inserted into the gap between the ground and the base 410, the forks 210 are first lifted to a certain height by the lifting frame 211 and then tilted by the tilting mechanism.

[0067] The lifting mechanism rises and falls on the tilting frame 220. Specifically, a lifting guide rail is provided on the tilting frame 220, and the lifting frame 211 is driven by the lifting drive assembly to move up and down along the lifting guide rail. To facilitate the positioning and grasping of the grabbing and mounting unit, the tilting frame 220 is also provided with a first reference detection component. The first reference detection component can specifically detect whether the lifting frame 211 or the fork 210 is in a preset longitudinal reference position.

[0068] Combine Figure 5 and Figure 6 In order to facilitate the precise grasping of the grasping and installation unit and the precise installation of the photovoltaic component 400, the flipping and positioning unit 200 also includes a transverse movement mechanism, which includes a transverse movement frame 230 and a transverse movement drive assembly. The transverse movement frame 230 is movably arranged on the flipping mechanism and is connected to the lifting frame 211, and the moving direction of the transverse movement frame 230 is perpendicular to the lifting direction of the lifting frame 211; the transverse movement drive assembly is arranged on the flipping mechanism to drive the transverse movement frame 230 to move.

[0069] At the installation site, since the entire package of components is randomly placed, a transverse mechanism is required to adjust the position of the fork 210 to facilitate smooth insertion of the fork 210 into the bottom of the base 410 before inserting the fork 210 into the base 410. After the photovoltaic component 400 is lifted off the ground by the lifting mechanism or the flipping mechanism, the transverse drive assembly moves the transverse frame 230 to a transverse reference position for the grabbing and installation unit to grasp, facilitating the grabbing and installation unit to accurately grasp the photovoltaic component 400 and accurately place the photovoltaic component 400 on the mounting bracket 500.

[0070] In order to ensure the accuracy of the moving position of the transverse frame 230, the photovoltaic component installation robot also includes a second reference detection component for detecting whether the transverse frame 230 is in the transverse reference position. Exemplarily, the first reference detection component and the second reference detection component can be travel limit switches.

[0071] It is understood by those skilled in the art that when the lifting mechanism and the traverse mechanism are provided together, Figure 6 , the transverse frame 230 can be movably set on the lifting frame 211, and the lifting frame 211 can be movably set on the flipping frame 220 for arrangement, and correspondingly, the first reference detection component is set on the flipping frame 220, and the second reference detection component is set on the lifting frame 211; or, the lifting frame 211 can be movably set on the transverse frame 230, and the transverse frame 230 can be movably set on the flipping frame 220 for arrangement, and correspondingly, the first reference detection component is set on the transverse frame 230, and the second reference detection component is set on the flipping frame 220.

[0072] In some embodiments, combined Figure 3 and Figure 4 The grabbing and mounting unit includes a robotic arm 300 and a suction cup hanger 310. The robotic arm 300 is mounted on the mobile unit 100. The suction cup hanger 310 is located at the end of the robotic arm 300 and is equipped with multiple suction cups 311 for holding the photovoltaic module 400. The robotic arm can move the suction cup hanger 310 and use the suction cups 311 to pick up and place the photovoltaic module 400.

[0073] In order to ensure the accuracy of the placement of the photovoltaic component 400 on the mounting bracket 500, the gripping and installation unit also includes a 3D visual guidance system 320. The 3D visual guidance system 320 is arranged on the robotic arm 300 or the suction cup hanger 310, and is used to provide visual guidance to the robotic arm 300 to accurately position the photovoltaic component 400 to the installation position.

[0074] Specifically, the 3D visual guidance system 320 may be a camera that can take pictures and locate the purlin features of the photovoltaic assembly 400 and the mounting bracket 500 , and transmit the coordinates to the robotic arm 300 , thereby guiding the robotic arm 300 to move to the corresponding position.

[0075] In addition, a distance sensor such as a laser displacement sensor is provided at the end of the robotic arm 300 or on the suction cup hanger 310 for detecting the distance between the suction cup hanger 310 and the photovoltaic assembly 400 on the fork 210 .

[0076] Specifically, the entire machine uses the installation position of the robotic arm 300 as the absolute coordinate, and the center of the suction cup hanger 310 at the end of the robotic arm 300 as the working coordinate. In order to ensure that the grabbing and installation unit accurately grabs the photovoltaic component 400, it is required that the photovoltaic component 400 is flipped into position and fixed relative to the end of the robotic arm 300 or the suction cup hanger 310. The moving directions of the lifting mechanism and the transverse movement mechanism are defined as the XY directions, respectively. Correspondingly, the first reference detection component and the second reference detection component in the above embodiment are used to respectively detect whether the lifting mechanism and the transverse movement mechanism are at the zero position in the XY direction. The plane where the suction cup hanger 310 is located is used as the XY reference plane. When the flip positioning unit 200 is flipped into place, the suction cup hanger 310 is parallel to the plane where the photovoltaic component 400 on the fork 210 is located, and the vertical direction between the suction cup hanger 310 and the photovoltaic component 400 (that is, the thickness direction of the photovoltaic component 400, the thickness of a single photovoltaic component 400 is about 30 mm) is the Z direction. When the photovoltaic components 400 are grabbed and installed piece by piece, the size of the thickness direction will gradually change. Therefore, the distance sensor set at the end of the robotic arm 300 or on the suction cup hanger 310 can give the Z coordinate of the photovoltaic component 400 to the robotic arm 300 when the robotic arm 300 returns to the reference position, and then the robotic arm 300 grabs the photovoltaic component 400 again.

[0077] The above-mentioned mobile unit 100 includes a mobile chassis, an installation platform and an automatic navigation system. The installation platform is set on the mobile chassis, and the flip positioning unit 200 and the grasping installation unit are both set on the installation platform; the automatic navigation system is set on the installation platform for planning the moving path of the mobile chassis.

[0078] The installation platform includes a vehicle frame and a drive unit 110 (generator or battery pack). The flipping and positioning unit 200 and the gripping and installation unit are both mounted on the vehicle frame. The drive unit 110 is also mounted on the vehicle frame and provides electrical, hydraulic, or pneumatic power to the flipping and positioning unit 200 and the gripping and installation unit. The control box 130, also mounted on the vehicle frame, houses various control components and circuits for the photovoltaic panel installation robot.

[0079] The mobile chassis can be a tracked chassis or a wheeled chassis, preferably a tracked chassis, which is easier to control and more adaptable to different surfaces. The mobile chassis can be moved to the location of the photovoltaic module 400 and the mounting bracket 500 along a planned path and nodes by manual remote control or by an autonomous navigation system on the mounting platform.

[0080] Combine Figure 2 and Figure 11 The aforementioned automated guidance system includes sensors and an edge AI computing platform. The sensors include a Real-Time Kinematic (RTK) system, an inertial measurement unit (IMU), a LiDAR (LiDAR) 120, and a camera 121. The edge AI computing platform includes a central processing unit (CPU) and a neural processing unit (NPU). Specifically, the automated guidance system's environmental perception function utilizes the LiDAR 120 and camera 121 to scan the terrain and the layout of the photovoltaic panels 400. The point cloud data acquired by the LiDAR 120 and image recognition technology are used to analyze the position, orientation, and possible obstructions of the photovoltaic panels 400. The automated guidance system's data processing and decision-making rely on data provided by the RTK and IMU to assist the machine in localizing itself. The CPU and NPU process all data, utilize pre-trained algorithm models for decision support, and plan the installation path. The automated guidance system's path planning function constructs an environmental map based on the layout of the photovoltaic panels 400 and terrain data. Using the positioning data sensed by the RTK and IMU, the system calculates the optimal movement path to ensure coverage of all installation areas.

[0081] In addition, the photovoltaic module installation robot also includes a communication unit for data transmission and communication.

[0082] A specific implementation process of the present disclosure, combined with Figure 13-15PV modules 400 are moved manually or using a machine (typically a forklift) to the mounting bracket 500. The PV module installation robot enters the installation site and uses the flip positioning unit 200 to fork in the entire package, lift it, and flip it horizontally to the reference position. The grasping and installation unit then grabs the PV module 400 and uses the 3D vision guidance system to guide the robotic arm 300 to move the PV module 400 to the purlin installation position on the mounting bracket 500. After the PV module 400 is placed, the bolts are manually tightened. After tightening, the robotic arm 300 returns to the reference position and prepares for the next grasping step. After a package of modules is installed, the mobile unit 100 activates the fixed-distance travel function and moves to the next package of modules for the next installation cycle.

[0083] The above description of the disclosed embodiments enables professionals in the field to implement or use the present disclosure. Various modifications to these embodiments will be apparent to professionals in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. The specific technical means in some embodiments may be incorporated into another embodiment in part or in whole, unless expressly excluded by another embodiment. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic module installation robot, characterized in that: include: A moving unit (100), configured to move; A flip positioning unit (200) comprising a flip mechanism and a fork (210), wherein the flip mechanism is arranged on the mobile unit (100), and the fork (210) is arranged on the flip mechanism and is used to support the photovoltaic assembly (400); A grabbing and installing unit is provided on the moving unit (100) and is used to grab the photovoltaic assembly (400) on the fork (210) and transfer it to an installation position, and the flipping mechanism is used to tilt the photovoltaic assembly (400) on the fork (210) toward the direction where the grabbing and installing unit is located.

2. The photovoltaic module installation robot according to claim 1, characterized in that: The flipping and positioning unit (200) further comprises a lifting mechanism, which comprises: A lifting frame (211) is movably arranged on the turning mechanism, and the fork (210) is arranged on the lifting frame (211); A lifting drive assembly is provided on the turnover mechanism and is used to drive the lifting frame (211) to lift.

3. The photovoltaic module installation robot according to claim 2, characterized in that: The turnover mechanism is provided with a first reference detection component for detecting whether the lifting frame (211) is in a longitudinal reference position.

4. The photovoltaic module installation robot according to claim 2, characterized in that: The flipping and positioning unit (200) further includes a transverse movement mechanism, which includes: A transverse moving frame (230) is movably arranged on the turning mechanism and connected to the lifting frame (211), and the moving direction of the transverse moving frame (230) is perpendicular to the lifting direction of the lifting frame (211); A transverse driving assembly is provided on the turnover mechanism or the lifting frame (211) and is used to drive the transverse frame (230) to move.

5. The photovoltaic module installation robot according to claim 4, characterized in that: The turnover mechanism is provided with a second reference detection component for detecting whether the transverse movement frame (230) is in a transverse reference position.

6. The photovoltaic module installation robot according to claim 1, characterized in that: The turning mechanism comprises: A turning frame (220) is rotatably disposed on the moving unit (100), and the fork (210) is disposed on the turning frame (220); A flip driving assembly (221) is provided on the mobile unit (100) and connected to the flip frame (220), and is used to drive the flip frame (220) to flip.

7. The photovoltaic module installation robot according to claim 6, characterized in that: The flipping angle of the flipping frame (220) ranges from 25° to 70°.

8. The photovoltaic module installation robot according to claim 1, wherein: The grabbing and mounting unit comprises: A mechanical arm (300) is provided on the mobile unit (100); A suction cup hanger (310) is provided at the end of the mechanical arm (300) and is provided with a suction cup (311) for sucking the photovoltaic assembly (400); A 3D visual guidance system (320) is provided on the robotic arm (300) or the suction cup hanger (310) and is used to provide visual guidance to the robotic arm (300).

9. The photovoltaic module installation robot according to claim 8, characterized in that: A distance sensor for detecting the distance between the suction cup hanger (310) and the photovoltaic assembly (400) on the fork (210) is provided at the end of the mechanical arm (300) or on the suction cup hanger (310).

10. The photovoltaic module installation robot according to claim 1, wherein: The mobile unit (100) comprises: Mobile chassis; The mounting platform is arranged on the mobile chassis, and the flip positioning unit (200) and the grabbing and mounting unit are both arranged on the mounting platform.

11. The photovoltaic module installation robot according to claim 10, characterized in that: An automatic navigation system is provided on the installation platform, and the automatic navigation system is used to plan the moving path of the mobile chassis; or The moving path of the mobile chassis is controlled by manual remote control.

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