Photovoltaic panel dismounting and mounting equipment

Abstract

The utility model discloses photovoltaic panel dismounting and mounting equipment, and relates to the field of photovoltaic technologies. The photovoltaic panel dismounting and mounting equipment comprises a movable bearing device, a photovoltaic panel dismounting and mounting device and a photovoltaic panel storage device, the photovoltaic panel dismounting and mounting device and the photovoltaic panel storage device are both arranged on the movable bearing device, and the photovoltaic panel dismounting and mounting device comprises a first mechanical arm, a photovoltaic panel adsorption assembly and a second mechanical arm. The first mechanical arm and the second mechanical arm are both arranged on the movable bearing device, the photovoltaic panel adsorption assembly is connected with the first mechanical arm, the photovoltaic panel adsorption assembly is used for adsorbing a photovoltaic panel, and the second mechanical arm is used for disassembling and assembling a fastener used for connecting the photovoltaic panel and a photovoltaic panel support. According to the scheme, the problem that the dismounting efficiency is low in the process of dismounting the photovoltaic panel at present can be solved.

Description

Technical Field

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

[0002] With the rapid evolution of photovoltaic technology, existing photovoltaic conversion efficiency has significantly increased, and the cost of photovoltaic power generation has also significantly decreased. Furthermore, the long-term exposure of photovoltaic panels to wind, rain, and other natural factors outdoors has led to the early retirement of existing photovoltaic power plants. However, improper disposal of discarded photovoltaic panels can have a negative impact on the social environment. Therefore, it is necessary to dismantle discarded photovoltaic panels for resource recycling, thereby alleviating the pressure of semiconductor material supply shortages and reducing photovoltaic energy consumption and production costs.

[0003] At present, most people use manual disassembly of photovoltaic panels. Specifically, they manually remove the photovoltaic panels from the mounting brackets, and then a group of people lift the photovoltaic panels to the collection equipment. However, the manual disassembly and transportation of photovoltaic panels is inefficient, resulting in high costs. Of course, during the installation of photovoltaic panels, they are also transported and installed manually, so the above-mentioned problems also exist. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a photovoltaic panel disassembly and assembly device that can solve the problem of low disassembly and assembly efficiency in the current process of disassembling and assembling photovoltaic panels.

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

[0006] In a first aspect, the present application provides a photovoltaic panel disassembly and assembly device, comprising a movable carrying device, a photovoltaic panel disassembly and assembly device, and a photovoltaic panel storage device, wherein the photovoltaic panel disassembly and assembly device and the photovoltaic panel storage device are both arranged on the movable carrying device.

[0007] The photovoltaic panel assembly and disassembly device can be used to move the photovoltaic panel between the photovoltaic panel support and the photovoltaic panel storage device. During the entire photovoltaic panel assembly and disassembly process, no human intervention is required, which not only improves assembly and disassembly efficiency but also significantly reduces costs. Therefore, the embodiments of the present application can solve the current problem of low assembly and disassembly efficiency during photovoltaic panel assembly and disassembly.

[0008] Optionally, the photovoltaic panel disassembly and assembly device includes a first robotic arm, a photovoltaic panel adsorption assembly and a second robotic arm, the first robotic arm and the second robotic arm are both arranged on the movable carrying device, the photovoltaic panel adsorption assembly is connected to the first robotic arm, the photovoltaic panel adsorption assembly is used to adsorb the photovoltaic panel, and the second robotic arm is used to disassemble and assemble the fasteners used to connect the photovoltaic panel and the photovoltaic panel bracket.

[0009] Optionally, the movable carrying device is a tracked vehicle, and the movable carrying device includes a connected chassis and a carrying bracket, the chassis and the carrying bracket are arranged side by side along the length direction of the movable carrying device, the photovoltaic panel disassembly and assembly device is arranged on the chassis, and the photovoltaic panel storage device can be movably arranged on the carrying bracket, and the carrying surface of the carrying bracket is lower than the carrying surface of the chassis.

[0010] Optionally, the supporting bracket is provided with a positioning groove, and the bottom surface of the photovoltaic panel storage device is provided with a positioning rod, the positioning rod extends along the width direction of the chassis, and the positioning rod is positioned and matched with the positioning groove.

[0011] In the second aspect, the present application also provides a photovoltaic panel storage device, comprising a frame, a first driving mechanism and a supporting plate for supporting the photovoltaic panel, the frame being provided with a accommodating cavity for accommodating the photovoltaic panel, the supporting plate being movably arranged in the accommodating cavity, the first driving mechanism being arranged on the frame, the first driving mechanism being connected to the supporting plate, and the first driving mechanism being able to drive the supporting plate to rise and fall relative to the frame.

[0012] Optionally, the photovoltaic panel storage device further comprises a second driving mechanism, which is disposed on the top of the frame.

[0013] When the carrying plate is located at the first position, the second driving mechanism can drive the at least one photovoltaic panel to move horizontally, so that the at least one photovoltaic panel is separated from the frame.

[0014] Optionally, the second driving mechanism includes a second driving source and a push plate, and the photovoltaic panel storage device also includes a sliding guide rail and a slider, the guide rail and the second driving source are both arranged on the top surface of the frame, the slider is connected to the push plate, and the output shaft of the second driving source is connected to the slider, and the second driving source can drive the push plate to slide relative to the guide rail through the slider to push the at least one photovoltaic panel to move horizontally.

[0015] Optionally, the frame includes a frame body, a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are spaced apart along the width direction of the frame body, the position of the first connecting rod is lower than the position of the second connecting rod, the first driving mechanism, the second driving source and the guide rail are all arranged on the frame body, and the guide rail is located on the side of the first driving mechanism close to the second connecting rod.

[0016] Optionally, the frame further includes at least two baffles, each of which is arranged below the first connecting rod, one end of each baffle is connected to the first connecting rod, and the other end of each baffle is connected to the frame, and each baffle is arranged at intervals along the length direction of the frame.

[0017] Optionally, the photovoltaic panel storage device further includes a position detection component, which is used to detect the position of the supporting plate. The position detection component includes a transmitter and a receiver, one of the transmitter and the receiver is arranged on the supporting plate, and the other is arranged on the frame. The photovoltaic panel storage device further includes a control device, which is electrically connected to the transmitter, the receiver and the first drive mechanism. The control device can control the first drive mechanism to drive the supporting plate to rise and fall relative to the frame according to the receiving signal of the receiver.

[0018] Optionally, the photovoltaic panel storage device further comprises a positioning rod, which is provided on the bottom surface of the frame and extends along the length direction of the frame, and is used for positioning and cooperating with a bearing bracket of a movable bearing device.

[0019] Optionally, the first driving mechanism includes a first driving source and a screw rod, the first driving source is arranged on the frame, the screw rod is rotatably arranged on the frame, the output shaft of the first driving source is connected to the screw rod, and the supporting plate is sleeved on the screw rod. The first driving source can drive the screw rod to rotate so that the supporting plate can be lifted or lowered relative to the screw rod.

[0020] Optionally, the photovoltaic panel storage device further comprises at least two casters, each of the casters is arranged on the bottom surface of the frame, and each of the casters is arranged at intervals along the circumference of the frame.

[0021] On the third aspect, the present application also provides a photovoltaic panel adsorption assembly, including a bracket and a suction cup, wherein the bracket is used to be connected to the first robotic arm of the photovoltaic panel disassembly and assembly equipment, and the suction cup is arranged on the 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.

[0022] Optionally, the photovoltaic panel adsorption assembly also includes a control device and an image acquisition component, the image acquisition component is arranged on the bracket, the image acquisition component is used to acquire image information of the photovoltaic panel, the control device is electrically connected to the image acquisition component and the first robotic arm respectively, and the control device is used to control the movement of the first robotic arm to drive the bracket close to the photovoltaic panel so that the two are arranged relative to each other.

[0023] Optionally, the photovoltaic panel adsorption assembly also includes a control device and at least two distance detection components spaced apart on the bracket, the distance detection components being used to detect the distance between the bracket and the photovoltaic panel, the control device being electrically connected to the first robotic arm and each of the distance detection components, respectively, and the control device being used to control the movement of the first robotic arm so that the bracket is parallel to the photovoltaic panel.

[0024] Optionally, each of the distance detecting members is arranged on an edge of the bracket, and each of the distance detecting members is arranged at intervals along the circumference of the bracket.

[0025] Optionally, the suction cup is provided with a connecting shaft, which is slidably connected to the bracket. The photovoltaic panel adsorption assembly also includes an elastic deformable part, which is sleeved on the connecting shaft, and the two ends of the elastic deformable part respectively abut the bracket and the suction cup.

[0026] Optionally, the photovoltaic panel adsorption assembly also includes a control device and a pressure detection component, the pressure detection component is used to detect the adsorption pressure of the suction cup, the control device is electrically connected to the first robotic arm and the pressure detection component respectively, the control device is used to control the movement of the first robotic arm, and the bracket drives the elastic deformable component to deform so that the suction cup is adsorbed on the photovoltaic panel.

[0027] Optionally, the photovoltaic panel adsorption assembly further includes an adsorption gas source, which is connected to the suction cup.

[0028] The adsorption gas source is provided on the bracket, and the adsorption gas source is located in the accommodation space of the bracket; or,

[0029] The adsorption gas source is arranged on a movable carrying device of the photovoltaic panel disassembly and assembly equipment.

[0030] Optionally, the number of the suction cups is at least two, and the suction cups are arranged at intervals on a side of the bracket facing away from the first robotic arm.

[0031] Each of the suction cups is located at an edge of the bracket, and each of the suction cups is spaced apart along the circumference of the bracket; or,

[0032] The suction cups are arranged side by side along the length direction of the bracket.

[0033] Optionally, the photovoltaic panel adsorption assembly further includes a rotating mechanism, and the bracket is connected to the first mechanical arm via the rotating mechanism.

[0034] When the bracket is parallel to the photovoltaic panel, the rotating mechanism drives the bracket to rotate around the central axis of the rotating mechanism so that the bracket faces the photovoltaic panel.

[0035] Optionally, the photovoltaic panel adsorption assembly also includes a base, and the rotating mechanism is connected to the first robotic arm through the base, and the base includes a first plate segment, a second plate segment and a third plate segment connected in sequence, and the first plate segment and the third plate segment are both bent relative to the second plate segment, and the first plate segment and the third plate segment are arranged relative to each other, and at least a part of the rotating mechanism is arranged between the first plate segment and the third plate segment, and the rotating mechanism is connected to the bracket through the avoidance opening of the second plate segment.

[0036] Optionally, in the length direction of the bracket, the rotating mechanism is located in the middle area of ​​the bracket;

[0037] The rotating mechanism includes a driving member and a reducer. The driving member is connected to the first robotic arm, the output shaft of the driving member is connected to the reducer, and the reducer is connected to the bracket. The driving member can drive the bracket to rotate around the central axis of the reducer through the reducer.

[0038] In an embodiment of the present application, during the process of disassembling the photovoltaic panel, the photovoltaic panel adsorption assembly first adsorbs the photovoltaic panel on the photovoltaic panel bracket, and then the second robotic arm extends to the side of the photovoltaic panel facing away from the photovoltaic panel adsorption assembly to remove the fasteners connecting the photovoltaic panel and the photovoltaic panel bracket. During the process of the second robotic arm removing the fasteners, the photovoltaic panel adsorption assembly is used to fix the photovoltaic panel to prevent the photovoltaic panel from moving relative to the photovoltaic panel bracket, and then the first robotic arm drives the photovoltaic panel to move through the photovoltaic panel adsorption assembly, thereby placing the photovoltaic panel in the photovoltaic panel storage device; similarly, during the process of installing the photovoltaic panel, the photovoltaic panel adsorption assembly first adsorbs the photovoltaic panel in the photovoltaic panel storage device, and then the first robotic arm drives the photovoltaic panel to move through the photovoltaic panel adsorption assembly, thereby placing the photovoltaic panel adsorbed by the photovoltaic panel adsorption assembly on the photovoltaic panel bracket, and then the second robotic arm extends to the side of the photovoltaic panel facing away from the photovoltaic panel adsorption assembly, installs the fasteners for connecting the photovoltaic panel and the photovoltaic panel bracket, and tightens the fasteners. During the process of the second robotic arm installing and tightening the fasteners, the photovoltaic panel adsorption assembly always adsorbs the photovoltaic panel to fix the photovoltaic panel to prevent the photovoltaic panel from moving relative to the photovoltaic panel bracket.

[0039] The present application utilizes a first robotic arm and a photovoltaic panel adsorption assembly to move a photovoltaic panel between a photovoltaic panel storage device and a photovoltaic panel support to transport the photovoltaic panel. Once the photovoltaic panel is placed on the photovoltaic panel support, a second robotic arm cooperates with the first robotic arm and the photovoltaic panel adsorption assembly to remove and install the photovoltaic panel. The entire process of removing and installing the photovoltaic panel is free of human intervention, resulting in not only high removal efficiency but also significantly reduced costs. Therefore, the present application embodiment can address the current issue of low removal efficiency during the removal and installation of photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figures 1 to 2 Schematic diagrams of the structure of the photovoltaic panel disassembly and assembly equipment disclosed in the embodiments of the present application at different viewing angles;

[0041] Figure 3 This is a schematic diagram of the structure of the photovoltaic panel disassembly and assembly equipment disclosed in the embodiment of this application;

[0042] Figure 4 This is a schematic structural diagram of the photovoltaic panel disassembly and assembly device disclosed in an embodiment of the present application during the disassembly and assembly process, wherein the arrow line indicates the movement direction of the photovoltaic panel disassembly and assembly device;

[0043] Figure 5 This is a schematic structural diagram of the photovoltaic panel adsorption assembly disclosed in an embodiment of the present application;

[0044] Figure 6 for Figure 5 A partial enlarged view of

[0045] Figure 7 This is a front view of the photovoltaic panel adsorption assembly disclosed in an embodiment of the present application;

[0046] Figure 8 This is a schematic structural diagram of a photovoltaic panel adsorption assembly disclosed in another embodiment of the present application;

[0047] Figures 9 and 10 Schematic diagram of the structure of the photovoltaic panel storage device disclosed in the embodiment of the present application in different states.

[0048] Description of reference numerals:

[0049] 100- movable carrying device, 110- chassis, 120- carrying bracket;

[0050] 200 - Photovoltaic panel disassembly and assembly device, 210 - First robotic arm, 220 - Photovoltaic panel adsorption assembly, 221 - Bracket, 222 - Suction cup, 223 - Rotation mechanism, 223a - Driving element, 223b - Reducer, 224 - Image acquisition element, 225 - Distance detection element, 226 - Elastic deformation element, 227 - Pressure detection element, 228 - Base, 228a - First panel segment, 228b - Second panel segment, 228c - Third panel segment, 229 - Adsorption gas source, 230 - Second robotic arm;

[0051] 300 - Photovoltaic panel storage device, 310 - Frame, 311 - Frame, 312 - First connecting rod, 313 - Second connecting rod, 314 - Block rod, 320 - First driving mechanism, 321 - First driving source, 322 - Screw rod, 330 - Carrying plate, 340 - Second driving mechanism, 341 - Second driving source, 342 - Push plate, 350 - Position detection assembly, 351 - Transmitter, 352 - Receiver, 360 - Guide rail, 370 - Slider, 380 - Positioning rod, 390 - Guide rod, 391 - Caster;

[0052] 410-photovoltaic panel, 420-photovoltaic panel bracket;

[0053] 500-control device;

[0054] 600-Power supply device. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0057] The photovoltaic panel disassembly and assembly equipment provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0058] like Figures 1 to 10 As shown, an embodiment of the present application discloses a photovoltaic panel disassembly and assembly device, which includes a movable carrying device 100, a photovoltaic panel disassembly and assembly device 200 and a photovoltaic panel storage device 300. The photovoltaic panel disassembly and assembly device 200 and the photovoltaic panel storage device 300 are both arranged on the movable carrying device 100. The movable carrying device 100 is used to carry the photovoltaic panel disassembly and assembly device 200 and the photovoltaic panel storage device 300, and drive the two to move together.

[0059] The photovoltaic panel assembly and disassembly device 200 includes a first robotic arm 210, a photovoltaic panel adsorption assembly 220, and a second robotic arm 230. The first robotic arm 210 and the second robotic arm 230 are both mounted on the movable carrier 100. The first robotic arm 210 and the second robotic arm 230 can be spaced apart to prevent mutual interference. The photovoltaic panel adsorption assembly 220 is connected to the first robotic arm 210 and 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 move the photovoltaic panel adsorption assembly 220 and the photovoltaic panel 410 together, thereby transporting the photovoltaic panel 410. The second robotic arm 230 is used to disassemble and assemble the fasteners connecting the photovoltaic panel 410 and the photovoltaic panel bracket 420.

[0060] In the process of disassembling the photovoltaic panel 410, the photovoltaic panel adsorption component 220 first adsorbs the photovoltaic panel 410 on the photovoltaic panel bracket 420, and then the second robotic arm 230 extends to the side of the photovoltaic panel 410 away from the photovoltaic panel adsorption component 220 to remove the fasteners connecting the photovoltaic panel 410 and the photovoltaic panel bracket 420. In the process of the second robotic arm 230 removing the fasteners, the photovoltaic panel adsorption component 220 is used to fix the photovoltaic panel 410 to prevent the photovoltaic panel 410 from moving relative to the photovoltaic panel bracket 420, and then the first robotic arm 210 drives the photovoltaic panel 410 to move through the photovoltaic panel adsorption component 220, so as to place the photovoltaic panel 410 in the photovoltaic panel storage device 300; similarly, in 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, and then the first robotic arm 210 drives the photovoltaic panel 410 to move through the photovoltaic panel adsorption assembly 220, so that the photovoltaic panel 410 adsorbed by the photovoltaic panel adsorption assembly 220 is placed on the photovoltaic panel bracket 420, and then the second robotic arm 230 extends to the side of the photovoltaic panel 410 away from the photovoltaic panel adsorption assembly 220, installs fasteners for connecting the photovoltaic panel 410 and the photovoltaic panel bracket 420, and tightens 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 bracket 420.

[0061] In the embodiment of the present application, 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 transport 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 remove and install the photovoltaic panel 410. During the entire process of removing and installing the photovoltaic panel 410, no human intervention is required, which not only improves the removal efficiency but also greatly reduces costs. Therefore, the embodiment of the present application can solve the problem of low removal efficiency in the process of removing and installing the photovoltaic panel 410.

[0062] In an optional embodiment, the movable carrier 100 is a tracked vehicle. Since the photovoltaic panels 410 are often installed in Gobi deserts and other desert areas, tracked vehicles are convenient for travel. Of course, the movable carrier 100 can also be a wheeled vehicle. The specific selection can be made based on the installation environment of the photovoltaic panels 410, and this embodiment of the application does not impose specific limitations on this.

[0063] Optionally, the movable carrier 100 includes a connected chassis 110 and a carrier support 120. The chassis 110 and the carrier support 120 are arranged side by side along the length of the movable carrier 100. The photovoltaic panel assembly and disassembly device 200 is mounted on the chassis 110, and the photovoltaic panel storage device 300 is movably mounted on the carrier support 120. That is, the photovoltaic panel assembly and disassembly device 200 and the photovoltaic panel storage device 300 are arranged side by side along the length of the movable carrier 100. This facilitates the first robotic arm 210 to remove photovoltaic panels 410 from the photovoltaic panel storage device 300 or to place photovoltaic panels 410 into the photovoltaic panel storage device 300. The bearing surface of the carrier support 120 is lower than the bearing surface of the chassis 110. When the photovoltaic panel storage device 300 is fully loaded, it is convenient to place it onto or remove it from the movable carrier 100. Of course, the bearing surface of the carrier support 120 may also be flush with the bearing surface of the chassis 110.

[0064] In alternative embodiments, the support bracket 120 and the photovoltaic panel storage device 300 may be secured relative to each other via friction. Alternatively, the support bracket 120 may be provided with a positioning slot, and a positioning rod 380 may be provided on the bottom surface of the photovoltaic panel storage device 300. The positioning rod 380 extends along the width of the chassis 110 and engages with the positioning slot. When the movable support device 100 moves, the photovoltaic panel storage device 300 may easily shift relative to the support bracket 120 due to inertia, or even fall off the support bracket 120. Therefore, the positioning rod 380 engages with the positioning slot to enhance the stability of the photovoltaic panel storage device 300 relative to the support bracket 120.

[0065] Optionally, the number of positioning grooves can be at least two, and each positioning groove is arranged in sequence along the extension direction of the supporting bracket 120 to the chassis 110, and the positioning rod 380 is arranged one-to-one corresponding to the positioning groove to further improve the stability of the photovoltaic panel storage device 300 relative to the supporting bracket 120.

[0066] refer to Figures 9 and 10 In another optional embodiment, the photovoltaic panel storage device 300 includes a frame 310, a first driving mechanism 320 and a carrying plate 330 for carrying the photovoltaic panel 410. The frame 310 is provided with a accommodating cavity for accommodating the photovoltaic panel 410. The carrying plate 330 can be movably arranged in the accommodating cavity. The first driving mechanism 320 is arranged on the frame 310. The first driving mechanism 320 is connected to the carrying plate 330. The first driving mechanism 320 can drive the carrying plate 330 to rise and fall relative to the frame 310. When it is necessary to store the photovoltaic panel 410 in the photovoltaic panel storage device 300, the first robotic arm 210 first places the photovoltaic panel 410 on the carrier plate 330. At this time, the carrier plate 330 is located at the top of the accommodating cavity. Then, each time a photovoltaic panel 410 is placed on the carrier plate 330, the first driving mechanism 320 will drive the carrier plate 330 to descend a certain distance until the accommodating cavity of the photovoltaic panel storage device 300 is filled. Similarly, when it is necessary to take out the photovoltaic panel 410 in the photovoltaic panel storage device 300, each time a photovoltaic panel 410 is taken out, the first driving mechanism 320 will drive the carrier plate 330 to rise a certain distance so that the photovoltaic panel 410 placed on the top of the carrier plate 330 is always located at the opening of the accommodating cavity for easy transportation until all the photovoltaic panels 410 in the photovoltaic panel storage device 300 are taken out. In this solution, the photovoltaic panel storage device 300 is not only used to store the photovoltaic panels 410, but also can drive the photovoltaic panels 410 to be raised and lowered, so as to facilitate the placement and removal of the photovoltaic panels 410, thereby facilitating transportation, which is conducive to improving the efficiency of transporting the photovoltaic panels 410.

[0067] In an optional embodiment, the photovoltaic panel storage device further includes a second drive mechanism 340, which is disposed at the top of the frame 310. When the support plate 330 is in the first position, the second drive mechanism 340 can drive at least one photovoltaic panel 410 to move horizontally, thereby removing the at least one photovoltaic panel 410 from the frame 310. The first position herein can specifically be the position of the support plate 330 when the topmost photovoltaic panel 410 placed on the support plate 330 is located at the opening of the storage cavity. After the second drive mechanism 340 drives the at least one photovoltaic panel 410 to move horizontally and remove it from the frame 310, the first drive mechanism 320 drives the support plate 330 to rise a certain distance. Here, the raised distance of the support plate 330 can specifically be equal to the thickness of the photovoltaic panel 410 removed from the frame 310, so that the topmost photovoltaic panel 410 on the support plate 330 rises to the opening of the storage cavity. The provision of the second drive mechanism 340 further increases the versatility of the photovoltaic panel storage device, eliminating the need for human intervention in handling, thereby further saving manpower and transportation costs. Of course, the second driving mechanism 340 may not be provided. When the photovoltaic panel 410 placed on the top of the carrier plate 330 is located at the opening of the accommodating cavity, it can be moved manually.

[0068] In a further optional embodiment, the second driving mechanism 340 includes a second driving source 341, and the output shaft of the second driving source 341 can directly drive the photovoltaic panel 410 to move horizontally; or, the second driving mechanism 340 also includes a push plate 342 connected to the output shaft of the second driving source 341, and the second driving source 341 can push the photovoltaic panel 410 to move horizontally through the push plate 342. Since the contact area between the push plate 342 and the photovoltaic panel 410 is large, this is conducive to improving the movement stability of the photovoltaic panel 410. At the same time, the force exerted by the push plate 342 on the photovoltaic panel 410 is relatively dispersed, which can avoid stress concentration, thereby protecting the photovoltaic panel 410; further optionally, The photovoltaic panel storage device also includes a guide rail 360 and a slider 370 that slidably cooperate. The guide rail 360 and the second drive source 341 are both disposed on the top surface of the frame 310. The slider 370 is connected to the push plate 342, that is, the push plate 342 is connected to the frame 310 via the slider 370 and the guide rail 360. The output shaft of the second drive source 341 is connected to the slider 370, that is, the second drive source 341 is connected to the push plate 342 via the slider 370. The second drive source 341 can drive the push plate 342 to slide relative to the guide rail 360 via the slider 370, thereby pushing the at least one photovoltaic panel 410 described above to move horizontally, thereby separating the at least one photovoltaic panel 410 from the frame 310. This solution indirectly connects the push plate 342 to the frame 310 by providing the slider 370 and the guide rail 360, which helps improve the stability of the push plate 342 during horizontal movement.

[0069] In a further optional embodiment, the frame 310 includes a frame body 311, a first connecting rod 312, and a second connecting rod 313. The first connecting rod 312 and the second connecting rod 313 are spaced apart along the width direction of the frame body 311. The width direction here specifically refers to the direction of the frame body 311 in the width direction of the photovoltaic panel 410 when the photovoltaic panel 410 is placed in the frame 310. The frame body 311, the first connecting rod 312, and the second connecting rod 313 form the aforementioned accommodating cavity for accommodating the photovoltaic panel 410. The first connecting rod 312 is located lower than the second connecting rod 313. At this time, the first connecting rod 312 and the frame body 311 form an avoidance opening for avoiding the photovoltaic panel 410. The first drive mechanism 320, the second drive source 341, and the guide rail 360 are all disposed on the frame 311. The guide rail 360 is located on the side of the first drive mechanism 320 near the second connecting rod 313. Specifically, the push plate 342 used to push the photovoltaic panel 410 horizontally is located on the side of the first drive mechanism 320 facing away from the avoidance opening. When the first drive mechanism 320 drives the carrier plate 330 to rise to the first position, the second drive source 341 drives the push plate 342 to slide relative to the guide rail 360 via the slider 370, thereby pushing at least one photovoltaic panel 410 horizontally, causing the at least one photovoltaic panel 410 to fall from the avoidance opening and thus detach from the frame 310. This arrangement facilitates the detachment of the photovoltaic panel 410 from the frame 310 without the need for manual handling. Of course, the position of the first connecting rod 312 can be equal to the position of the second connecting rod 313. At this time, the photovoltaic panel 410 can be detached from the frame 310 from the side where the first connecting rod 312 is located, or it can be detached from the frame 310 from the side where the second connecting rod 313 is located. The embodiment of the present application does not impose any specific restrictions on this.

[0070] In a further optional embodiment, since there is sliding friction between the photovoltaic panel 410 and its adjacent photovoltaic panel 410 during the horizontal movement, which will drive the adjacent photovoltaic panel 410 to have a movement trend, a baffle can be set below the first connecting rod 312; or, in other embodiments, the frame 310 also includes at least two baffles 314, each baffle 314 is set below the first connecting rod 312, one end of each baffle 314 is connected to the first connecting rod 312, and the other end of each baffle 314 is connected to the frame 311, and each baffle 314 is arranged at intervals along the length direction of the frame 311. The length direction here specifically refers to the direction of the frame 311 in the length direction of the photovoltaic panel 410 when the photovoltaic panel 410 is placed in the frame 310. Under the obstruction of the blocking rod 314, adjacent photovoltaic panels 410 can be prevented from moving with the horizontally moving photovoltaic panel 410, thereby facilitating the orderly progress of the next process; and, by using multiple blocking rods 314 arranged at intervals along the length direction of the frame 311, the weight and production cost of the frame 310 can be reduced.

[0071] In another optional embodiment, the photovoltaic panel storage device further includes a position detection assembly 350 for detecting the position of the carrier plate 330. The position detection assembly 350 includes a transmitter 351 and a receiver 352, one of which is disposed on the carrier plate 330 and the other is disposed on the frame 310. The photovoltaic panel storage device further includes a control device 500, which is electrically connected to the transmitter 351, the receiver 352, and the first drive mechanism 320. The control device 500 can control the first drive mechanism 320 to drive the carrier plate 330 to move up and down relative to the frame 310 based on a signal received by the receiver 352. When the carrier plate 330 moves up and down relative to the frame 310, the first drive mechanism 320 drives the carrier plate 330 to move a predetermined distance relative to the frame 310 based on the signal received by the receiver 352. The predetermined distance can be the thickness of one photovoltaic panel 410 or the thickness of two photovoltaic panels 410, and this is not specifically limited herein. This solution, by providing a position detection assembly 350, helps improve the accuracy of the first drive mechanism 320 in driving the carrier plate 330. Of course, the position detection assembly 350 can also be a magnetic scale and a magnetic head, one of which can be provided on the carrier plate 330 and the other on the frame 310.

[0072] In another optional embodiment, the photovoltaic panel storage device further includes a positioning rod 380 disposed on the bottom surface of the frame 310. The positioning rod 380 extends along the length of the frame 310. The length here specifically refers to the direction of the frame 310 along the length of the photovoltaic panel 410 when the photovoltaic panel 410 is placed within the frame 310. The positioning rod 380 is used to position and cooperate with the support bracket 120 of the movable support device 100. When the photovoltaic panel storage device is placed on the support bracket 120 and the movable support device 100 moves, the photovoltaic panel storage device is susceptible to falling due to inertia. Therefore, the positioning rod 380 is provided to position and cooperate with the support bracket 120 to improve the stability of the photovoltaic panel storage device and prevent the photovoltaic panel storage device from falling off the support bracket 120 of the movable support device 100.

[0073] Optionally, the positioning rod 380 may be a positioning prism, which has a large curvature change rate, which is conducive to increasing the positioning stability between the positioning rod 380 and the supporting bracket 120.

[0074] In an optional embodiment, the first drive mechanism 320 can be a cylinder, a hydraulic cylinder, etc.; or, the first drive mechanism 320 includes a first drive source 321 and a screw rod 322. Optionally, the first drive source 321 can be a motor, the first drive source 321 is arranged on the frame 310, the screw rod 322 is rotatably arranged on the frame 310, the output shaft of the first drive source 321 is connected to the screw rod 322, and the supporting plate 330 is sleeved on the screw rod 322. The first drive source 321 can drive the screw rod 322 to rotate so that the supporting plate 330 is lifted or lowered relative to the screw rod 322. In this solution, the screw rod 322 and the supporting plate 330 form a screw-nut mechanism, which has the characteristics of high transmission efficiency, high positioning accuracy and good stability, which is conducive to improving the movement accuracy of the supporting plate 330. In addition, when the supporting plate 330 is lifted or lowered relative to the screw rod 322, the screw rod 322 can provide a guide for the supporting plate 330 so that the supporting plate 330 is lifted or lowered along a preset direction.

[0075] In a further optional embodiment, the photovoltaic panel storage device further includes a guide rod 390, which is disposed on the frame 310. The guide rod 390 and the screw rod 322 are spaced apart along the width direction of the frame 310. The width direction here specifically refers to the direction of the frame 310 in the width direction of the photovoltaic panel 410 when the photovoltaic panel 410 is placed in the frame 310. The support plate 330 is mounted on the guide rod 390 and can slide relative to the guide rod 390. When the support plate 330 is raised or lowered, the guide rod 390 can provide guidance for the support plate 330, allowing the support plate 330 to be raised or lowered in a predetermined direction, preventing the guide rod 390 from tilting and getting stuck, thereby improving the lifting stability of the support plate 330.

[0076] Optionally, there are at least two guide rods 390 , and each guide rod 390 is evenly disposed on both sides of the screw rod 322 to further improve the accuracy of the lifting and lowering of the supporting plate 330 .

[0077] In another optional embodiment, the photovoltaic panel storage device further includes at least two casters 391, each of which is disposed on the bottom surface of the frame 310 and spaced apart along the circumference of the frame 310. The provision of casters 391 allows for mobility of the photovoltaic panel storage device. When the photovoltaic panel storage device is placed on the ground or other infrastructure and needs to be moved, the photovoltaic panel storage device can be manually pushed to move it, thereby saving manpower. Of course, casters 391 are also optional.

[0078] In another optional embodiment, the photovoltaic panel assembly and disassembly apparatus further includes a radar detector disposed on the movable carrier 100. The radar detector is used to detect whether the carrier plate 330 is in its initial position when the photovoltaic panel storage device 300 is fully loaded. When the photovoltaic panel storage device 300 is fully loaded, the radar detector is used to perform zero calibration on the carrier plate 330 of the photovoltaic panel storage device 300. This allows the first drive mechanism 320 to move the carrier plate 330 relative to the frame 310 by a predetermined distance (the predetermined distance may be the thickness of one photovoltaic panel 410) when the number of photovoltaic panels 410 in the storage chamber of the photovoltaic panel storage device 300 decreases. This allows the first drive mechanism 320 to move the carrier plate 330 relative to the frame 310 by a predetermined distance (the predetermined distance may be the thickness of one photovoltaic panel 410) to position the topmost photovoltaic panel 410 at the opening of the storage chamber, thereby facilitating suction by the photovoltaic panel suction assembly 220 or facilitating actuation by the second drive mechanism 340. Alternatively, the radar detector may be omitted, and the carrier plate 330 may be manually observed to determine whether it is in its initial position when the photovoltaic panel storage device 300 is fully loaded.

[0079] In an optional embodiment, a counter and an alarm are provided on the first robotic arm 210, and the photovoltaic panel disassembly and assembly equipment further includes a control device 500, which is provided 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 moved by the first robotic arm 210, and the alarm is used to issue an alarm message when the photovoltaic panel storage device 300 is fully loaded. When the number of photovoltaic panels 410 carried by the first robotic arm 210 recorded by the counter reaches the point where the photovoltaic panel storage device 300 is fully loaded, the counter sends this information to the control device 500, which controls the alarm to issue an alarm message to prompt the staff to replace the photovoltaic panel storage device 300. Of course, the counter may not be set. When the position detection component 350 detects that the supporting plate 330 has dropped to the initial position, the position detection component 350 sends the information to the control device 500, and the control device 500 controls the alarm to issue an alarm message; or, neither the counter nor the alarm may be set, and whether the photovoltaic panel storage device 300 is in a fully loaded state can be determined by manual observation.

[0080] refer to Figures 5 to 8In another optional embodiment, the photovoltaic panel adsorption assembly 220 includes a bracket 221 and a suction cup 222. The bracket 221 is connected to the first robotic arm 210. The suction cup 222 is arranged on the side of the bracket 221 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. The photovoltaic panel adsorption assembly 220 is driven by the first robotic arm 210 to move flexibly, so that the suction cup 222 is in contact with the photovoltaic panel 410, so that the suction cup 222 adsorbs the photovoltaic panel 410, and then the first robotic arm 210 drives the photovoltaic panel 410 to move together. During the removal of the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly 220 to move, causing the suction cup 222 to face the photovoltaic panel 410 and adhere to the photovoltaic panel 410. After the suction cup 222 has attached to the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly 220 to move, thereby removing the photovoltaic panel 410 from the photovoltaic panel support 420. Similarly, during the installation of the photovoltaic panel 410, after the suction cup 222 has attached to the photovoltaic panel 410, the first robotic arm 210 drives the photovoltaic panel adsorption assembly 220 to move, placing the photovoltaic panel 410 on the photovoltaic panel support 420. This solution uses the suction cup 222 to adsorb the photovoltaic panel 410, which not only improves the efficiency of disassembly and installation of the photovoltaic panel 410, but also prevents damage to the photovoltaic panel 410.

[0081] 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 extension, rotation, and lifting.

[0082] In a further optional embodiment, the photovoltaic panel adsorption assembly 220 further includes at least one of an image acquisition component 224 and a distance detection component 225. The image acquisition component 224 is disposed on the bracket 221 and is used to acquire image information of the photovoltaic panel 410. Optionally, the image acquisition component 224 can be a camera, which can include a base and a lens. The lens can rotate relative to the base to expand its shooting range. Further, the lens can be a wide-angle lens. When the photovoltaic panel adsorption assembly 220 is close to the photovoltaic panel 410, the lens can still capture a larger image of the photovoltaic panel 410. The bracket 221 is provided with at least two distance detection components 225 spaced apart from each other. The distance detection components 225 are used to detect the distance between the bracket 221 and the photovoltaic panel 410. The photovoltaic panel disassembly and assembly apparatus further includes a control device 500. The control device 500 is disposed on the movable carrier 100 and is electrically connected to the image acquisition component 224, the first robotic arm 210, and each distance detection component 225.

[0083] Specifically, when the image information acquired by the image acquisition component 224 is only part of the photovoltaic panel 410, or the photovoltaic panel 410 cannot be acquired, the control device 500 controls the first robotic arm 210 to drive the bracket 221 to move together until the bracket 221 is arranged relative to the photovoltaic panel 410, so that the image acquisition component 224 can acquire the complete image information of the photovoltaic panel 410, and then the first robotic arm 210 drives the bracket 221 close to the photovoltaic panel 410 to make the suction cup 222 fit the photovoltaic panel 410; or, when the distances detected by the distance detection components 225 are not equal, the control device 500 controls the first robotic arm 210 to drive the bracket 221 to perform a revolution motion until the distances detected by the distance detection components 225 are basically the same, indicating that the bracket 221 is parallel to or approximately parallel to the photovoltaic panel 410, and then the first robotic arm 210 drives the bracket 221 close to the photovoltaic panel 410 to make the suction cup 222 fit the photovoltaic panel 410. Therefore, this solution uses the image information acquired by the image acquisition component 224 or the distance detected by multiple distance detection components 225 to accurately adjust the position of the photovoltaic panel adsorption assembly 220 relative to the photovoltaic panel 410, which is conducive to improving the efficiency of disassembling and assembling the photovoltaic panel 410.

[0084] In a further optional embodiment, in the width direction of the bracket 221, each distance detection member 225 can be located in the middle position of the bracket 221; or, each distance detection member 225 is arranged at the edge of the bracket 221, and each distance detection member 225 is arranged at intervals along the circumference of the bracket 221, so that each distance detection member 225 is arranged more dispersed, thereby increasing the detection range of each distance detection member 225, and thereby improving its detection accuracy.

[0085] Optionally, when the bracket 221 is a rectangular structure, distance detection elements 225 may be provided at each corner of the bracket 221 to further expand the detection range of each distance detection element 225 and improve its detection accuracy.

[0086] In another optional embodiment, the suction cup 222 is provided with a connecting shaft, which is slidably connected to the bracket 221, that is, the connecting shaft can perform telescopic movement relative to the bracket 221, and the photovoltaic panel adsorption assembly 220 also includes an elastic deformable member 226. Optionally, the elastic deformable member 226 can be a spring, which has a simple structure and is easy to manufacture. The elastic deformable member 226 is sleeved on the connecting shaft, and the two ends of the elastic deformable member 226 respectively abut the bracket 221 and the suction cup 222. When the suction cup 222 contacts the photovoltaic panel 410, the elastic deformable member 226 can be deformed to allow the suction cup 222 to fully contact the photovoltaic panel 410, thereby better fitting on the photovoltaic panel 410 and further better adsorbing the photovoltaic panel 410. By providing the elastic deformable member 226, this solution does not require the bracket 221 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 220.

[0087] In a further optional embodiment, the photovoltaic panel adsorption assembly 220 further includes a control device 500 and a pressure detection member 227. The pressure detection member 227 is configured to detect the adsorption pressure of the suction cup 222. The control device 500 is electrically connected to the first robotic arm 210 and the pressure detection member 227, respectively. The control device 500 is configured to control the movement of the first robotic arm 210 based on the pressure detected by the pressure detection member 227, and the bracket 221 drives the elastic deformable member 226 to deform, so that the suction cup 222 is adsorbed onto the photovoltaic panel 410. When the pressure detected by the pressure detection member 227 is less than a preset value, indicating that the suction cup 222 corresponding to the pressure detection member 227 is not fully adsorbed onto the photovoltaic panel 410, the control device 500 controls the first robotic arm 210 to drive the bracket 221 to move toward the photovoltaic panel 410. At this time, the bracket 221 drives the elastic deformable member 226 to deform, so that the suction cup 222 is adsorbed onto the photovoltaic panel 410, thereby improving the adsorption efficiency of the suction cup 222 to the photovoltaic panel 410 and ensuring a stable adsorption connection between the suction cup 222 and the photovoltaic panel 410. Of course, the pressure detection member 227 may not be provided. Optionally, when there are multiple suction cups 222 , each pressure detection member 227 is provided in a one-to-one correspondence with each suction cup 222 , that is, each pressure detection member 227 is used to detect the pressure of each suction cup 222 .

[0088] In an optional implementation, the photovoltaic panel adsorption assembly 220 in the above implementation also includes at least one of an image acquisition component 224 and a distance detection component 225. The control device 500 can first control the movement of the first robotic arm 210 according to the image information and / or the detection distance to make the bracket 221 parallel to the photovoltaic panel 410, and then drive the bracket 221 to move toward the photovoltaic panel 410 to make the suction cup 222 contact the photovoltaic panel 410, and at the same time the elastic deformation component 226 is deformed, and then the movement of the first robotic arm 210 is controlled according to the detection pressure to make the suction cup 222 firmly adsorbed on the photovoltaic panel 410, thereby improving the efficiency of disassembly and assembly of the photovoltaic panel 410 and the stability of the photovoltaic panel 410 during transportation.

[0089] In another optional embodiment, the photovoltaic panel adsorption assembly 220 also includes an adsorption gas source 229, which is connected to the suction cup 222. When the suction cup 222 is in contact with the photovoltaic panel 410, the adsorption gas source 229 is used to absorb 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 allowing the suction cup 222 to be adsorbed on the photovoltaic panel 410.

[0090] Optionally, the adsorption gas source 229 is mounted on the bracket 221 and located within the storage space of the bracket 221. This utilizes the storage space of the bracket 221 to accommodate the adsorption gas source 229, thereby avoiding the adsorption gas source 229 occupying additional space and increasing the volume of the photovoltaic panel adsorption assembly 220. Optionally, when the adsorption gas source 229 is mounted on the bracket 221, the adsorption gas source 229 generates a certain amount of vibration during operation, so the size of the suction cup 222 can be set larger, thereby improving the adsorption performance of the suction cup 222. Optionally, the adsorption gas source 229 can be an air compressor, which has the characteristics of high compression efficiency and good stability.

[0091] Alternatively, in other embodiments, the adsorption gas source 229 is disposed on the movable carrier 100 of the photovoltaic panel assembly and disassembly equipment. In this case, the entire photovoltaic panel adsorption assembly 220 is relatively light, facilitating the flexible movement of the first robotic arm 210. Furthermore, a plurality of small suction cups 222 can be provided. In this case, the adsorption gas source 229 can rapidly extract the air between each suction cup 222 and the photovoltaic panel 410, allowing the suction cup 222 to quickly adhere to the photovoltaic panel 410. Alternatively, the adsorption gas source 229 can be a vacuum pump, which has the characteristics of reliable operation and strong self-priming capability.

[0092] In another optional embodiment, the number of suction cups 222 can be one, or at least two, and each suction cup 222 is disposed at intervals on a side of the bracket 221 facing away from the first robotic arm 210. By providing multiple suction cups 222, the photovoltaic panel adsorption assembly can be more securely attached to the photovoltaic panel 410, thereby improving the stability of the photovoltaic panel 410 during the handling process of the first robotic arm 210.

[0093] Optionally, each suction cup 222 is located at the edge of the bracket 221, and each suction cup 222 is spaced apart along the circumference of the bracket 221. In this case, each suction cup 222 is relatively dispersed. When each suction cup 222 is adsorbed on the photovoltaic panel 410, the adsorption force on the photovoltaic panel 410 is relatively dispersed, which helps to improve the stability of the photovoltaic panel 410. Optionally, in an embodiment in which the adsorption gas source 229 is provided on the movable carrier device 100 of the photovoltaic panel disassembly and assembly equipment, each suction cup 222 is located at the edge of the bracket 221, and each suction cup 222 is spaced apart along the circumference of the bracket 221. In this case, the plurality of suction cups 222 are relatively dispersed, which can facilitate the arrangement of the gas pipes connecting the suction cups 222 and the adsorption gas source 229.

[0094] Alternatively, in other embodiments, the suction cups 222 are arranged side by side along the length of the bracket 221. In this case, the size of each suction cup 222 can be increased to fully utilize the installation space of the bracket 221 to arrange the suction cups 222. Alternatively, in an embodiment in which the adsorption gas source 229 is provided on the bracket 221, the suction cups 222 can be arranged side by side along the length of the bracket 221. In this case, the suction cups 222 are arranged more closely together, facilitating communication with the adsorption gas source 229.

[0095] In an optional embodiment, the photovoltaic panel adsorption assembly 220 also 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 is facing the photovoltaic panel 410. Here, the bracket 221 is facing the photovoltaic panel 410, which specifically means that in a 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, and the orthographic projection of the bracket 221 is located in the central area of ​​the orthographic projection of the photovoltaic panel 410. The first robotic arm 210 drives the photovoltaic panel adsorption assembly 220 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 bracket 221 is driven to rotate by the rotating mechanism 223 so that it is directly opposite the photovoltaic panel 410. Then, the first robotic arm 210 drives the photovoltaic panel adsorption assembly 220 to move toward the photovoltaic panel 410 so that the suction cup 222 is in contact with the photovoltaic panel 410, thereby adsorbing the photovoltaic panel 410. At this time, the contact area between the photovoltaic panel adsorption assembly 220 and the photovoltaic panel 410 is large, which is conducive to improving the stability of the photovoltaic panel 410 when being adsorbed. Of course, the rotating mechanism 223 can also be omitted. In the direction perpendicular to the photovoltaic panel 410, the orthographic projection of the bracket 221 is located outside the orthographic projection of the photovoltaic panel 410.

[0096] Optionally, the shape of the bracket 221 can be adapted to the shape of the photovoltaic panel 410. When the photovoltaic panel 410 is in a rectangular structure, the bracket 221 can also be in 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 larger to further increase the contact area between the photovoltaic panel adsorption assembly 220 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, but 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 of the suction cup 222 on the bracket 221 to absorb the photovoltaic panel 410 is more flexible, which is conducive to reducing the working difficulty of the first robotic arm 210.

[0097] In a further optional embodiment, the photovoltaic panel adsorption assembly 220 further includes a base 228, through which the rotating mechanism 223 is connected to the first robotic arm 210. Specifically, 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 using fasteners such as screws and bolts to facilitate assembly and disassembly of the photovoltaic panel adsorption assembly 220. The base 228 includes a first plate segment 228a, a second plate segment 228b, and a third plate segment 228c, which are sequentially connected. The first plate segment 228a and the third plate segment 228c are both bent relative to the second plate segment 228b. The first plate segment 228a and the third plate segment 228c are disposed opposite each other. At least a portion of the rotating mechanism 223 is disposed between the first plate segment 228a and the third plate segment 228c. The rotating mechanism 223 is connected to the bracket 221 through an escape opening in the second plate segment 228b. This solution indirectly connects the rotating mechanism 223 and the first robotic arm 210 via a base 228, thereby increasing 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 220. Furthermore, this type of base 228 adopts a three-section structure to form a storage space for the rotating mechanism 223, which can also play a role in protecting the rotating mechanism 223. Of course, the base 228 can also be a flat plate structure.

[0098] In another optional embodiment, the rotating mechanism 223 is located in the middle region of the bracket 221 along the length direction of the bracket 221. That is, the brackets 221 on both sides of the rotating mechanism 223 have substantially the same size. This prevents the bracket 221 from tilting during the rotation of the bracket 221 by the rotating mechanism 223, thereby improving the rotational stability of the bracket 221. Of course, the rotating mechanism 223 may also be located on one side of the central axis of the bracket 221 along the length direction of the bracket 221.

[0099] Optionally, the rotating mechanism 223 includes a driving member 223a and a reducer 223b. Optionally, the driving member 223a can be a motor, a hydraulic rotary motor, etc., which is not specifically limited in the embodiments of the present application; optionally, the reducer 223b can be a rotary 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, and the output shaft of the driving member 223a is connected to the reducer 223b, which is connected to the bracket 221. That is, the driving member 223a is connected to the bracket 221 through the reducer 223b, and the driving member 223a can drive the bracket 221 to rotate around the central axis of the reducer 223b through the reducer 223b. This solution uses the reducer 223b to reduce the speed and increase the torque, so that the driving force output by the driving member 223a is decelerated by the reducer 223b before being transmitted to the bracket 221, thereby reducing the rotational inertia of the bracket 221 and improving the rotational stability of the bracket 221. Of course, the speed reducer 223b may not be provided, and the driving force output by the driving member 223a may be reduced by reducing the power thereof.

[0100] In an optional embodiment, the photovoltaic panel disassembly and assembly equipment also includes a power supply device 600, which is arranged on the movable carrying device 100. The power supply device 600 is electrically connected to the movable carrying 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 various structures of the photovoltaic panel disassembly and assembly equipment.

[0101] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A photovoltaic panel disassembly and assembly device, characterized in that: The invention comprises a movable carrying device (100), a photovoltaic panel disassembly and assembly device (200) and a photovoltaic panel storage device (300), wherein the photovoltaic panel disassembly and assembly device (200) and the photovoltaic panel storage device (300) are both arranged on the movable carrying device (100). The photovoltaic panel disassembly and assembly device (200) includes a first mechanical arm (210), a photovoltaic panel adsorption assembly (220) and a second mechanical arm (230), wherein the first mechanical arm (210) and the second mechanical arm (230) are both arranged on the movable carrying device (100), the photovoltaic panel adsorption assembly (220) is connected to the first mechanical arm (210), the photovoltaic panel adsorption assembly (220) is used to adsorb the photovoltaic panel (410), and the second mechanical arm (230) is used to disassemble and assemble fasteners used to connect the photovoltaic panel (410) and the photovoltaic panel bracket (420).

2. The photovoltaic panel disassembly and assembly equipment according to claim 1, characterized in that: The movable carrying device (100) is a tracked vehicle, and the movable carrying device (100) includes a connected chassis (110) and a carrying bracket (120). The chassis (110) and the carrying bracket (120) are arranged side by side along the length direction of the movable carrying device (100). The photovoltaic panel disassembly and assembly device (200) is arranged on the chassis (110). The photovoltaic panel storage device (300) is movably arranged on the carrying bracket (120). The carrying surface of the carrying bracket (120) is lower than the carrying surface of the chassis (110).

3. The photovoltaic panel disassembly and assembly equipment according to claim 2, characterized in that: The supporting 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 positioned and matched with the positioning groove.

4. The photovoltaic panel disassembly and assembly equipment according to claim 1, characterized in that: The photovoltaic panel storage device (300) comprises a frame (310), a first driving mechanism (320) and a supporting plate (330) for supporting the photovoltaic panel (410); the frame (310) is provided with a receiving cavity for accommodating the photovoltaic panel (410); the supporting plate (330) is movably arranged in the receiving cavity; the first driving mechanism (320) is arranged on the frame (310); the first driving mechanism (320) is connected to the supporting plate (330); and the first driving mechanism (320) can drive the supporting plate (330) to rise and fall relative to the frame (310).

5. The photovoltaic panel disassembly and assembly equipment according to claim 4, characterized in that: The photovoltaic panel disassembly and assembly equipment further comprises a radar detection component, which is arranged on the movable carrying device (100) and is used to detect whether the carrying plate (330) is in an initial position when the photovoltaic panel storage device (300) is in a fully loaded state.

6. The photovoltaic panel disassembly and assembly equipment according to claim 1, characterized in that: The first robotic arm (210) is provided with a counter and an alarm. The photovoltaic panel disassembly and assembly equipment further comprises a control device (500). The control device (500) is provided 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). The alarm is used to issue an alarm message when the photovoltaic panel storage device (300) is in a fully loaded state.

7. The photovoltaic panel disassembly and assembly equipment according to claim 1, characterized in that: The photovoltaic panel adsorption assembly (220) includes a bracket (221) and a suction cup (222), wherein the bracket (221) is connected to the first mechanical arm (210), and the suction cup (222) is arranged on a side of the bracket (221) facing 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) is in contact with the photovoltaic panel (410).

8. The photovoltaic panel disassembly and assembly equipment according to claim 7, characterized in that: The photovoltaic panel adsorption assembly (220) further includes at least one of an image acquisition component (224) and a distance detection component (225); 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); at least two distance detection components (225) are arranged at intervals on the edge of the bracket (221); the distance detection components (225) are used to detect the distance between the bracket (221) and the photovoltaic panel (410); the photovoltaic panel disassembly and assembly equipment further includes a control device (500); the control device (500) is arranged on the movable carrying device (100); the control device (500) is electrically connected to the image acquisition component (224), the first mechanical arm (210) and each of the distance detection components (225), respectively.

9. The photovoltaic panel disassembly and assembly equipment according to claim 7, characterized in that: The photovoltaic panel adsorption assembly further includes a rotating mechanism (223), and the bracket (221) is connected to the first mechanical arm (210) via 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) is facing the photovoltaic panel (410).

10. The photovoltaic panel disassembly and assembly equipment according to claim 1, characterized in that: The photovoltaic panel disassembly and assembly equipment further comprises a power supply device (600), wherein the power supply device (600) is arranged on the movable carrying device (100), and the power supply device (600) is electrically connected to the movable carrying device (100), the first mechanical arm (210), the photovoltaic panel adsorption assembly (220) and the second mechanical arm (230).

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