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 an overturning positioning unit, a grabbing installation unit and an identification positioning unit, the overturning positioning unit comprises an overturning mechanism and a bearing part, and the overturning mechanism is used for driving the bearing part to overturn. And the grabbing and mounting unit is used for grabbing the photovoltaic panel and transferring the photovoltaic panel to a specified mounting position on the photovoltaic bracket. The identifying and positioning unit comprises a first identifying part and a second identifying part, the first identifying part is arranged on the moving unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining first position information, and the second identifying part is arranged on the grabbing and mounting unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining second position information; and the grabbing and mounting unit is used for identifying the mounting hole site in the photovoltaic support and obtaining second position information, and the grabbing and mounting unit adjusts the mounting position of the photovoltaic panel on the photovoltaic support according to the first position information and the second position information. According to the invention, high-precision and automatic installation of the photovoltaic panel on the photovoltaic support is realized, and the production efficiency is improved.

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 panels) arrives at the site, a forklift is used to unload the entire package into a centralized storage area. Before the PV panels are installed on the PV racks, the package must first be transported to the vicinity of the racks using a forklift. Two workers then lift the PV panels to the side of the racks and raise them above them. After aligning the bolt holes between the panels and the racks, they manually tighten the bolts with wrenches to complete the installation.

[0003] However, this manual installation method has the problem of low efficiency. Therefore, how to improve the installation efficiency of photovoltaic panels 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 component installation robot to improve the installation efficiency of photovoltaic panels.

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

[0006] A photovoltaic module installation robot comprises a moving unit, a flipping and positioning unit, a grasping and installing unit, and an identification and positioning unit;

[0007] The flipping and positioning unit includes a flipping mechanism and a supporting member, wherein the flipping mechanism is provided on the moving unit, the supporting member is used to support the photovoltaic panel, and the flipping mechanism is used to drive the supporting member to tilt in the direction where the grabbing and mounting unit is located;

[0008] a grabbing and mounting unit, disposed on the moving unit, for grabbing and transferring the photovoltaic panel located on the supporting member;

[0009] The identification and positioning unit includes a first identification component and a second identification component. The first identification component is arranged on the mobile unit, and is used to identify the connection hole position on the photovoltaic panel grasped by the grasping and installation unit and obtain first position information. The second identification component is arranged on the grasping and installation unit, and is used to identify the installation hole position on the photovoltaic bracket and obtain second position information. The grasping and installation unit adjusts the installation position of the photovoltaic panel on the photovoltaic bracket according to the first position information and the second position information.

[0010] Optionally, in the above-mentioned photovoltaic module installation robot, the grabbing and installation unit includes:

[0011] a mechanical arm, disposed on the mobile unit;

[0012] A suction cup hanger is arranged at the end of the mechanical arm and is provided with a suction cup for sucking the photovoltaic panel. The second identification component is arranged on the suction cup hanger.

[0013] Optionally, in the above-mentioned photovoltaic module installation robot, the grasping and installation unit further includes a third identification component, and the third identification component is provided on the robotic arm or the suction cup hanger, and is used to provide visual guidance to the robotic arm; or,

[0014] A distance sensor for detecting the distance between the suction cup hanger and the photovoltaic panel on the supporting member is provided at the end of the robotic arm or on the suction cup hanger.

[0015] Optionally, in the above-mentioned photovoltaic component installation robot, the position of the third identification component and / or the second identification component on the robotic arm or the suction cup hanger is adjustable.

[0016] Optionally, in the above-mentioned photovoltaic component installation robot, the third identification component is a 3D camera.

[0017] Optionally, in the above-mentioned photovoltaic assembly installation robot, when the suction cup hanger moves to the first fixed position, the first identification component is arranged toward the photovoltaic panel sucked by the suction cup hanger to identify the connection hole position of the photovoltaic panel sucked by the suction cup hanger, and obtain the first position information;

[0018] When the suction cup hanger moves to the second fixed position, the second identification component is arranged toward the photovoltaic support to obtain the second position information.

[0019] Optionally, in the above photovoltaic module installation robot, the first recognition component is a 2D camera; and / or,

[0020] The second recognition component is a 2D camera.

[0021] Optionally, in the above-mentioned photovoltaic module installation robot, the mobile unit is provided with a folding bracket and a folding drive component, the folding drive component is transmission-connected to the folding bracket to drive the folding bracket to switch between an extended state and a folded state, and the first identification component is provided on the folding bracket;

[0022] When the folding bracket is in the extended state, the first identification component is arranged toward the second fixed point position. When the folding bracket is in the folded state, the folding bracket is retracted on the moving unit.

[0023] Optionally, in the above-mentioned photovoltaic assembly installation robot, the flipping mechanism includes:

[0024] A turning frame is rotatably arranged on the moving unit, and the supporting member is arranged on the turning frame;

[0025] 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.

[0026] Optionally, in the above-mentioned photovoltaic module installation robot, the flipping and positioning unit further includes a lifting mechanism, and the lifting mechanism includes:

[0027] A lifting frame is movably arranged on the turning mechanism, and the supporting member is arranged on the lifting frame;

[0028] The lifting drive assembly is arranged on the turning mechanism and is used to drive the lifting frame to move up and down.

[0029] 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:

[0030] 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;

[0031] The transverse driving assembly is arranged on the turning mechanism or the lifting frame, and is used to drive the transverse frame to move.

[0032] Optionally, in the above-mentioned photovoltaic module installation robot, the mobile unit includes a mobile chassis and an installation platform, the installation platform is provided on the mobile chassis, and the flip positioning unit and the grasping and installation unit are both provided on the installation platform;

[0033] 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 the moving path of the mobile chassis is manually remotely controlled.

[0034] The photovoltaic module installation robot provided in the present application includes a mobile unit, a flipping and positioning unit, a grasping and installing unit, and an identification and positioning unit, wherein the mobile unit is used to move on the ground to realize the transfer of the position of the photovoltaic module installation robot, and 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 supporting member, the flipping mechanism is arranged on the mobile unit, the supporting member is arranged on the flipping mechanism, and is used to support the photovoltaic panel, and the flipping mechanism is used to drive the supporting member to flip and tilt the photovoltaic panel on the supporting member in the direction of the grasping and installing unit, so that the photovoltaic panel on the supporting member is located within the grasping range of the grasping and installing unit. The grasping and installing unit is arranged on the mobile unit, and is used to grasp the photovoltaic panel located on the supporting member and transfer it to the designated installation position on the photovoltaic bracket. The identification and positioning unit includes a first identification component and a second identification component. The first identification component is arranged on the mobile unit, and is used to identify the connection hole position on the photovoltaic panel grasped by the grasping and installing unit, and obtain the first position information. The second identification component is arranged on the grasping and installing unit, and is used to identify the installation hole position on the photovoltaic bracket and obtain the second position information. The grasping and installing unit adjusts the installation position of the photovoltaic panel on the photovoltaic bracket according to the first position information and the second position information.

[0035] Compared with the existing technology, the photovoltaic module installation robot provided by this application realizes the automatic transfer of photovoltaic panels from the ground to the photovoltaic bracket, as well as fast, precise and highly automated installation, which improves production efficiency, reduces production costs and shortens the production cycle; at the same time, it reduces the labor intensity of operators and avoids the risks of high-altitude operations in manual installation; in addition, the highly automated operation also ensures the accuracy and reliability of the installation, providing strong technical support for the construction of photovoltaic power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] 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 ;

[0038] 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 ;

[0039] Figure 3This is a schematic diagram of the structure of the photovoltaic module installation robot disclosed in the embodiment of this application. Figure 3 ;

[0040] Figure 4 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 5 Schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application Figure 1 ;

[0042] Figure 6 Schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application Figure 2 ;

[0043] Figure 7 Schematic diagram of the structure of the photovoltaic assembly installation robot transporting photovoltaic panels disclosed in the embodiment of this application Figure 1 ;

[0044] Figure 8 Schematic diagram of the structure of the photovoltaic assembly installation robot transporting photovoltaic panels disclosed in the embodiment of this application Figure 2 ;

[0045] Figure 9 This is a schematic diagram of the structure of the photovoltaic assembly installation robot disclosed in an embodiment of the present application before transporting photovoltaic panels;

[0046] Figure 10 This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application at the third fixed point position Figure 1 ;

[0047] Figure 11 This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application at the third fixed point position Figure 2 ;

[0048] Figure 12 This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application in the first fixed position Figure 1 ;

[0049] Figure 13 This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application in the first fixed position Figure 2 ;

[0050] Figure 14 This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application in the second fixed point position Figure 1 ;

[0051] Figure 15This is a schematic diagram of the structure of the suction cup hanger of the photovoltaic module installation robot disclosed in the embodiment of this application in the second fixed point position Figure 2 .

[0052] 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;

[0053] 200 is a flip positioning unit, 210 is a supporting member, 211 is a lifting frame, 220 is a flip frame, 221 is a flip driving assembly, 222 is a fixing member, and 230 is a transverse frame;

[0054] 300 is a robotic arm, 310 is a suction cup hanger, 311 is a suction cup, 320 is a third identification component, 321 is a first identification component, 322 is a second identification component, 323 is a folding bracket, and 324 is a mounting plate;

[0055] 400 is the photovoltaic panel, 410 is the base;

[0056] 500 is a photovoltaic bracket. DETAILED DESCRIPTION

[0057] The core of this application is to disclose a photovoltaic component installation robot to improve the installation efficiency of photovoltaic panels.

[0058] 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.

[0059] Combine Figures 1-15The photovoltaic module installation robot disclosed in this application includes a mobile unit 100, a flipping and positioning unit 200, a grasping and installation unit, and an identification and positioning unit. The mobile unit 100 is used to move on the ground to achieve the position transfer of the photovoltaic module installation robot. The flipping and positioning unit 200 and the grasping and installation 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 supporting member 210. The flipping mechanism is arranged on the mobile unit 100. The supporting member 210 is arranged on the flipping mechanism and is used to support the photovoltaic panel 400. The flipping mechanism is used to drive the supporting member 210 to flip and tilt the photovoltaic panel 400 on the supporting member 210 toward the direction of the grasping and installation unit, so that the photovoltaic panel 400 on the supporting member 210 is located within the grasping range of the grasping and installation unit. The grasping and installation unit is arranged on the mobile unit 100 and is used to grasp the photovoltaic panel 400 located on the supporting member 210 and transfer it to a designated installation position on the photovoltaic bracket 500.

[0060] The identification and positioning unit includes a first identification component 321 and a second identification component 322. The first identification component 321 is arranged on the mobile unit 100, and is used to identify the connection hole position on the photovoltaic panel 400 grasped by the grasping and installation unit, and obtain the first position information. The second identification component 322 is arranged on the grasping and installation unit, and is used to identify the installation hole position on the photovoltaic bracket 500, and obtain the second position information. The grasping and installation unit adjusts the installation position of the photovoltaic panel 400 on the photovoltaic bracket 500 according to the first position information and the second position information.

[0061] During the specific installation process of the photovoltaic panel 400, the photovoltaic assembly installation robot moves to the position of the photovoltaic panel 400 through the mobile unit 100 (the photovoltaic panel 400 is usually placed on the ground), and then forks in the bottom of the photovoltaic panel 400 through the supporting member 210, and then drives the supporting member 210 and the photovoltaic panel 400 to flip together through the flipping mechanism, so that the photovoltaic panel 400 is separated from the ground and tilted in the direction of the grabbing and installing unit, and then drives the photovoltaic panel 400 to move to the side of the photovoltaic bracket 500 through the mobile unit 100. The grabbing and installing unit grabs the photovoltaic panel 400 located on the supporting member 210 and transfers it to the designated installation position on the photovoltaic bracket 500. During the transfer process of the photovoltaic panel 400 to different positions, the first identification component 321 and the second identification component 322 can respectively identify and record the connection hole positions on the photovoltaic panel 400 and the installation hole positions on the photovoltaic bracket 500, so that the grabbing and installing unit aligns the connection hole positions of the photovoltaic panel 400 with the installation hole positions of the photovoltaic bracket 500, which is convenient for subsequent manual or mechanical bolt connection.

[0062] In some embodiments, the photovoltaic panel 400 is placed directly next to the photovoltaic bracket 500. After the photovoltaic assembly installation robot supports and flips the photovoltaic panel 400 through the flipping positioning unit 200, it can directly transfer the photovoltaic panel 400 to the designated installation position on the photovoltaic bracket 500 through the grasping installation unit without moving.

[0063] Compared with the existing technology, the photovoltaic component installation robot of the present application realizes the automatic transfer of the photovoltaic panel 400 from the ground to the photovoltaic bracket 500, as well as fast, precise and highly automated installation, which improves production efficiency, reduces production costs and shortens the production cycle; at the same time, it reduces the labor intensity of the operators and avoids the risks of high-altitude operations in manual installation; in addition, the highly automated operation also ensures the accuracy and reliability of the installation, providing strong technical support for the construction of photovoltaic power stations.

[0064] The types of the supporting member 210 include but are not limited to a fork, a supporting plate, a supporting rod, etc., as long as they can support the photovoltaic panel 400.

[0065] Combine Figure 4 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. The supporting member 210 is arranged on the flipping frame 220, so that the supporting member 210 and the photovoltaic panel 400 on the supporting member 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 panel 400 on the supporting member 210 is tilted toward the direction where the grabbing installation unit is located.

[0066] After the supporting member 210 is inserted into the bottom of the photovoltaic panel 400, the flip driving assembly 221 drives the flip frame 220 to flip the photovoltaic panel 400 toward the direction where the grabbing and mounting unit is located. Specifically, Figure 7 and Figure 8 , so that the panel surface of the photovoltaic panel 400 facing away from the flip frame 220 is tilted in the direction where the grabbing and mounting unit is located, so as to facilitate the grabbing and mounting unit to be grabbed.

[0067] 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.

[0068] 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 set to carry a whole package of components (including multiple photovoltaic panels 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 photovoltaic bracket 500, it uses the grasping and installation unit to grasp each photovoltaic panel 400 in turn for installation.

[0069] Because a single package weighs nearly one ton, a large tilt angle for the photovoltaic panel 400 could severely compress and crush the bottommost panel 400 after flipping. Therefore, the tilt angle of the photovoltaic panel 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.

[0070] Further, combined with Figure 4 In some embodiments, to prevent the support member 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 support member 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 lifting frame 211 is used to lift the support member 210 to a preset height, thereby reducing the impact of uneven ground during movement.

[0071] The photovoltaic panel 400 is placed on the ground through a base 410 (wooden support). Figure 4 The supporting members 210 are typically two symmetrically arranged on the lifting frame 211 and can be inserted between the legs of the base 410. In some embodiments, after the supporting members 210 are inserted into the gap between the ground and the base 410, the supporting members 210 are first lifted to a certain height by the lifting frame 211 and then flipped by the flip mechanism.

[0072] The lifting mechanism rises and falls on the flip frame 220. Specifically, a lifting guide rail is provided on the flip 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 mounting unit, the flip 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 supporting member 210 is in a preset longitudinal reference position.

[0073] Combine Figure 4In order to facilitate the precise grasping of the grasping and installation unit and the precise installation of the photovoltaic panel 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.

[0074] At the installation site, since the entire package of components is randomly placed, a transverse movement mechanism is required to adjust the position of the support member 210 so that it can be smoothly inserted into the bottom of the base 410. The support member 210 is then inserted into the base 410. After the photovoltaic panel 400 is separated from the ground by the lifting mechanism or the flipping mechanism, the transverse movement frame 230 is moved to a transverse reference position for the grabbing and installation unit to grasp, thereby facilitating the grabbing and installation unit to accurately grasp the photovoltaic panel 400 and accurately place the photovoltaic panel 400 on the photovoltaic bracket 500.

[0075] 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.

[0076] It is understood by those skilled in the art that when the lifting mechanism and the traverse mechanism are provided together, Figure 4 , 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.

[0077] In some embodiments, combined Figure 7The grabbing and installation unit includes a robotic arm 300 and a suction cup hanger 310. The robotic arm 300 is set on the mobile unit 100. The suction cup hanger 310 is set at the end of the robotic arm 300 and is provided with multiple suction cups 311 for sucking the photovoltaic panel 400. The robotic arm 300 can drive the suction cup hanger 310 to move, and the photovoltaic panel 400 can be sucked and placed by the suction cups 311. Among them, the robotic arm 300 is a six-axis robotic arm. The six-axis robotic arm has high flexibility and precision, and can accurately perform grabbing and placement operations. The suction cup 311 generates a stable negative pressure by the air compressor set on the mobile unit 100.

[0078] To ensure the accuracy of the placement of the photovoltaic panel 400 on the photovoltaic support 500, the gripping and installation unit further includes a third recognition component 320. The third recognition component 320 is disposed on the robotic arm 300 or the suction cup hanger 310 and is used to provide visual guidance to the robotic arm 300 to facilitate accurate pickup of the photovoltaic panel 400 located on the support 210, as well as to guide the position in space, guiding the suction cup hanger 310 to guide the photovoltaic panel 400 to the photovoltaic support 500. The third recognition component 320 can be a 3D camera, which obtains spatial coordinates and angle information of the photovoltaic panel 400 by taking pictures. This information is then transmitted to the control system of the photovoltaic module installation robot, which in turn controls the movements of the robotic arm 300.

[0079] 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 panel 400 on the supporting member 210 .

[0080] 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 panel 400, it is required that the photovoltaic panel 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 panel 400 on the supporting member 210 is located, and the vertical direction of the suction cup hanger 310 and the photovoltaic panel 400 (that is, the thickness direction of the photovoltaic panel 400, the thickness of a single photovoltaic panel 400 is about 30 mm) is the Z direction. When the photovoltaic panels 400 are grabbed and installed piece by piece, the size of the thickness direction will gradually change. Therefore, the third identification component 320 and / or distance sensor provided at the end of the robotic arm 300 or on the suction cup hanger 310 can give the Z coordinate of the photovoltaic panel 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 panel 400 again.

[0081] The suction cup hanger 310 is defined as being used to absorb the first side of the photovoltaic panel 400. The connection holes (non-through holes) of the photovoltaic panel 400 are located on the second side of the photovoltaic panel 400, and the gripping and mounting unit is used to place the photovoltaic panel 400 on the photovoltaic bracket 500 with the second side facing the photovoltaic bracket 500. Therefore, the first identification component 321 needs to be arranged toward the second side of the photovoltaic panel 400 to be able to identify the connection holes on the photovoltaic panel 400, and the second identification component 322 needs to be arranged toward the photovoltaic bracket 500 to be able to identify the mounting holes on the photovoltaic bracket 500.

[0082] In one embodiment, the suction cup hanger 310 has three fixed positions relative to the mobile unit 100. At the first fixed position, the second side of the photovoltaic panel 400 sucked by the suction cup hanger 310 is arranged toward the first identification component 321, and can be photographed by the first identification component 321 and obtain the first position information; the second fixed position is located near the photovoltaic bracket 500. At the second fixed position, the second identification component 322 can photograph the installation hole position on the photovoltaic bracket 500 to obtain the second position information, and combined with Figure 14 and Figure 15At this time, the photovoltaic panel 400 is parallel to the installation plane of the photovoltaic bracket 500, and the subsequent robotic arm 300 only performs translational adjustment on the plane of the photovoltaic panel 400 according to the first position information and the second position information; at the third fixed position, the third identification component 320 can obtain the spatial position information of the suction cup hanger 310 and the photovoltaic panel 400 on the supporting member 210, so as to facilitate it to absorb the photovoltaic panel 400 on the supporting member 210.

[0083] Both the first recognition component 321 and the second recognition component 322 may be 2D cameras. 2D cameras have powerful visual recognition capabilities and can obtain planar coordinate information of connection and installation hole locations, ensuring the accuracy and precision of photovoltaic panel 400 installation. Furthermore, 2D cameras offer higher imaging accuracy than 3D cameras, effectively improving the positional accuracy of photovoltaic panel 400 installation.

[0084] Furthermore, the position of the third identification component 320 and / or the second identification component 322 on the robot arm 300 or the suction cup hanger 310 is adjustable. Figure 5 and Figure 6 Taking the example that the third identification component 320 and the second identification component 322 are both set on the suction cup hanger 310 through the mounting plate 324, a strip-shaped mounting groove can be opened on the mounting plate 324, and the third identification component 320 and the second identification component 322 are respectively fixed at the mounting groove through connecting parts, and according to actual conditions, the fixed positions of the third identification component 320 and the second identification component 322 in the mounting groove can be adjusted, or a plurality of groups of fixing holes are set on the mounting plate 324. According to actual conditions, the third identification component 320 and the second identification component 322 can be respectively connected to different mounting holes through connecting parts, and then fixed at different positions to achieve position adjustment.

[0085] The position adjustment of the third identification component 320 and the second identification component 322 can be achieved through manual operation. In addition, the mounting plate 324 can also be arranged on the suction cup hanger 310 as a movable connection, that is, the fixed position of the third identification component 320 and the second identification component 322 on the mounting plate 324 remains unchanged, and the position of the third identification component 320 and the second identification component 322 is changed by moving the mounting plate 324 on the suction cup hanger 310, thereby expanding the recognition range of the third identification component 320 and the second identification component 322. Specifically, the position movement of the mounting plate 324 on the suction cup hanger 310 can be achieved through manual operation or by a drive component such as a motor. In addition, corresponding slide rail structures can be provided on the mounting plate 324 and the suction cup hanger 310 to facilitate the position movement of the mounting plate 324 on the suction cup hanger 310.

[0086] In one embodiment, to facilitate the second identification component 322 in identifying the photovoltaic panel 400 at the second fixed position, a folding bracket 323 and a folding drive component are provided on the mobile unit 100. The folding drive component is transmission-connected to the folding bracket 323 to drive the folding bracket 323 to switch between an extended state and a folded state. The first identification component 321 is provided on the folding bracket 323. When the folding bracket 323 is in the extended state, the first identification component 321 is arranged toward the second fixed position. When the folding bracket 323 is in the folded state, the folding bracket 323 is retracted on the mobile unit 100 of the photovoltaic panel installation robot. The provision of the folding bracket 323 facilitates the switching of the first identification component 321 between a position that facilitates photographing the photovoltaic panel 400 and a position that does not affect the movement of the photovoltaic panel installation robot, while also preventing obstruction by the flipping positioning unit 200 during photographing.

[0087] Among them, the types of folding drive components include but are not limited to cylinders, hydraulic cylinders and motors, and the folding methods of the folding bracket 323 include but are not limited to flipping, telescoping, etc., which will not be repeated here.

[0088] 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.

[0089] 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.

[0090] The mobile chassis can be a tracked chassis or a wheeled chassis, preferably a tracked chassis, which is easy to control and more adaptable to different ground conditions, allowing the photovoltaic panel installation robot to move flexibly in various terrain conditions. The mobile chassis can be moved to the location of the photovoltaic panels 400 and photovoltaic brackets 500 along a planned path and nodes by manual remote control or by an autonomous navigation system on the installation platform.

[0091] Combine Figure 2 and Figure 3The 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 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 positioning data from the RTK and IMU, the system calculates the optimal movement path to ensure coverage of all installation areas.

[0092] In addition, the photovoltaic module installation robot also includes a communication unit for data transmission and communication.

[0093] A specific implementation process of this application, combined with Figures 9-15, the photovoltaic panel 400 is moved to the side of the photovoltaic bracket 500 manually or using an instrument (usually a forklift); the photovoltaic component installation robot enters the site, uses the flip positioning unit 200 to fork the entire package of components, lifts it, flips it and moves it horizontally to the reference position, the robotic arm 300 drives the suction cup hanger 310 to move to the first fixed point position, and the third recognition component 320 performs a high-precision photo-taking program on the photovoltaic panel 400, quickly captures and outputs the coordinate point information of the photovoltaic panel 400 to the control system; the control system of the photovoltaic component installation robot controls the robotic arm 300 to perform the grasping action, and the suction cup 311 extracts Apply vacuum to firmly fix the photovoltaic panel 400; the robotic arm 300 drives the suction cup hanger 310 to move the photovoltaic panel 400 to a second fixed position, and the first identification component 321 identifies the connection holes on the photovoltaic panel 400, obtains first position information and stores it in the control system; the robotic arm 300 drives the suction cup hanger 310 to move the photovoltaic panel 400 to a third fixed position, and the third identification component 320 identifies the shape of the purlin of the photovoltaic bracket 500, and at the same time the second identification component 322 takes a picture of the photovoltaic bracket 500 to obtain second position information of the installation holes on the purlin. The control system performs a collective operation on the first and second position information, calculating a slight error value. Based on this error value, the position information obtained by the 3D camera is corrected. Robotic arm 300 then performs a translational adjustment of the photovoltaic panel 400 to ensure accurate installation. After position adjustment, robotic arm 300 accurately places the photovoltaic panel 400 at the designated installation location on photovoltaic bracket 500. Manual bolts are then tightened. After tightening, robotic arm 300 returns to its reference position, preparing for the next grab. After a full package of components is installed, mobile unit 100 activates its fixed-distance travel function and moves to the next full package installation location for the next installation cycle.

[0094] The photovoltaic module installation robot disclosed in this application has the following advantages:

[0095] (1) Highly automated installation process: This application achieves a high degree of automation in the installation process of the photovoltaic panels 400. The entire installation process, from transporting, flipping, positioning to grabbing, placing, and fastening the photovoltaic panels 400, requires almost no human intervention, which significantly improves the installation efficiency.

[0096] (2) Precise positioning and grasping technology: By utilizing the precise coordination of 3D cameras and 2D cameras, the present application can accurately obtain the coordinate information of the photovoltaic panel 400 and its installation location, and achieve high-precision positioning and grasping through intelligent algorithms, thereby ensuring the accuracy of installation and reducing the risk of damage to the photovoltaic panel 400.

[0097] (3) Intelligent error correction system: The control system of the photovoltaic module installation robot of the present application integrates an intelligent error correction system. It performs intelligent analysis on the data captured by the 3D camera and the 2D camera through set operations, calculates a slight error value, and accurately corrects the installation position based on it, thereby ensuring the accuracy of the installation position and further improving the installation quality.

[0098] (4) Modular and scalable design: Different parts of this application can be flexibly configured and expanded according to actual needs, providing greater flexibility and convenience for the installation of the photovoltaic panel 400.

[0099] (5) Efficient and low-cost solution: By implementing an automated, precise, and intelligent installation process, this application significantly improves the installation efficiency of the photovoltaic panels 400 and reduces labor costs. At the same time, due to the reduction of manual operation and intervention, operational risks and maintenance costs are also reduced, providing an efficient and low-cost solution for the construction of photovoltaic power stations.

[0100] The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present application. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined in this article can be implemented in other embodiments without departing from the spirit or scope of this application. 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 application 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: It comprises a moving unit (100), a flipping and positioning unit (200), a grabbing and installing unit, and an identifying and positioning unit; The flipping and positioning unit (200) comprises a flipping mechanism and a supporting member (210), wherein the flipping mechanism is arranged on the moving unit (100), the supporting member (210) is used to support the photovoltaic panel (400), and the flipping mechanism is used to drive the supporting member (210) to tilt in the direction where the grabbing and mounting unit is located; a grabbing and mounting unit, disposed on the moving unit (100), and used for grabbing and transferring the photovoltaic panel (400) located on the supporting member (210); An identification and positioning unit comprises a first identification component (321) and a second identification component (322), wherein the first identification component (321) is arranged on the mobile unit (100) and is used to identify the connection hole position on the photovoltaic panel (400) grasped by the grasping and installing unit and obtain first position information, and the second identification component (322) is arranged on the grasping and installing unit and is used to identify the installation hole position on the photovoltaic bracket (500) and obtain second position information, and the grasping and installing unit adjusts the installation position of the photovoltaic panel (400) on the photovoltaic bracket (500) according to the first position information and the second position information.

2. The photovoltaic module installation robot according to claim 1, characterized in that: 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 panel (400), and the second identification component (322) is provided on the suction cup hanger (310).

3. The photovoltaic module installation robot according to claim 2, characterized in that: The grabbing and mounting unit further comprises a third identification component (320), the third identification component (320) being arranged on the robotic arm (300) or the suction cup hanger (310) and being used to provide visual guidance to the robotic arm (300); and / or, A distance sensor for detecting the distance between the suction cup hanger (310) and the photovoltaic panel (400) on the supporting member (210) is provided at the end of the mechanical arm (300) or on the suction cup hanger (310).

4. The photovoltaic module installation robot according to claim 3, characterized in that: The positions of the third identification component (320) and / or the second identification component (322) on the robotic arm (300) or the suction cup hanger (310) are adjustable.

5. The photovoltaic module installation robot according to claim 3, characterized in that: The third recognition component (320) is a 3D camera.

6. The photovoltaic module installation robot according to claim 2, characterized in that: When the suction cup hanger (310) moves to a first fixed position, the first identification component (321) is arranged toward the photovoltaic panel (400) sucked by the suction cup hanger (310) to identify the connection hole position of the photovoltaic panel (400) sucked by the suction cup hanger (310) and obtain the first position information; When the suction cup hanger (310) moves to a second fixed position, the second identification component (322) is arranged toward the photovoltaic support (500) to obtain the second position information.

7. The photovoltaic module installation robot according to claim 6, characterized in that: The first recognition component (321) is a 2D camera; and / or, The second recognition component (322) is a 2D camera.

8. The photovoltaic module installation robot according to claim 6, characterized in that: The mobile unit (100) is provided with a folding bracket (323) and a folding driving component, the folding driving component is in transmission connection with the folding bracket (323) to drive the folding bracket (323) to switch between an extended state and a folded state, and the first identification component (321) is provided on the folding bracket (323); When the folding bracket (323) is in the extended state, the first identification component (321) is arranged toward the second fixed point position, and when the folding bracket (323) is in the folded state, the folding bracket (323) is folded on the mobile unit (100).

9. The photovoltaic module installation robot according to any one of claims 1 to 8, characterized in that: The turning mechanism comprises: A turning frame (220) is rotatably disposed on the moving unit (100), and the supporting member (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.

10. The photovoltaic module installation robot according to any one of claims 1 to 8, 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 supporting member (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.

11. The photovoltaic module installation robot according to claim 10, 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.

12. The photovoltaic module installation robot according to claim 1, wherein: The mobile unit (100) comprises a mobile chassis and a mounting platform, 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; 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 the moving path of the mobile chassis is manually remotely controlled.

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