Photovoltaic panel mounting equipment

Abstract

The utility model belongs to the technical field of automation equipment, and discloses photovoltaic panel mounting equipment, which comprises a traveling mechanism, an upper vehicle base, a mechanical arm and a transfer turnover platform. The upper vehicle base is rotationally arranged on the walking mechanism, and a rotation detection assembly is arranged between the walking mechanism and the upper vehicle base. One end of the mechanical arm is arranged on the upper vehicle base, the other end of the mechanical arm is provided with the grabbing assembly, the rotation angle of the mechanical arm can be obtained by measuring the rotation angle of the upper vehicle base through the rotation detection assembly, and therefore the mechanical arm can accurately grab and install the photovoltaic panel. According to the photovoltaic panel mounting equipment, the turnover oil cylinder drives the transfer turnover platform to rotate and switch between the forking posture and the mounting posture, so that the photovoltaic panel mounting equipment can transfer and mount a photovoltaic panel in a forking mode, manual intervention is not needed, automatic turnover of the photovoltaic panel can be achieved, and the photovoltaic panel can be grabbed by the grabbing assembly conveniently; and the rotation angle of the upper vehicle base is detected through the rotation detection assembly, so that the rotation angle of the mechanical arm is detected.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a photovoltaic panel installation device. Background Technology

[0002] In the field of photovoltaic panel installation, photovoltaic panel installation robots are commonly used to reduce the labor intensity of manual installation. A typical photovoltaic panel installation robot includes a walking mechanism, a robotic arm, and a frame. The frame is located at the front end of the walking mechanism and is used to hold the photovoltaic panels. The robotic arm is mounted on the walking mechanism, and the end of the robotic arm away from the walking mechanism is equipped with a gripping component for grasping the photovoltaic panels in the frame.

[0003] The aforementioned photovoltaic panel installation robot requires manual placement of the photovoltaic panels within the frame before the robotic arm can grip the panels. This process wastes a significant amount of manpower. Furthermore, the existing photovoltaic panel installation robot has low intelligence and cannot detect the rotation angle of the robotic arm. Consequently, manual assistance is required to ensure accurate positioning of the gripped components during the process of picking up the photovoltaic panels and installing them on the photovoltaic mounting frame, which is detrimental to improving work efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a photovoltaic panel installation device that can effectively improve work efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Photovoltaic panel installation equipment, including:

[0007] Walking mechanism;

[0008] The upper base is rotatably mounted on the traveling mechanism, and a rotation detection component is provided between the traveling mechanism and the upper base;

[0009] The robotic arm has one end mounted on the upper base and the other end equipped with a gripping component;

[0010] A transfer and tilting platform is hinged to the front end of the walking mechanism, and a tilting cylinder is hinged between the transfer and tilting platform and the walking mechanism. The tilting cylinder drives the transfer and tilting platform to rotate and switch between a forklift posture and an installation posture, so that the transfer and tilting platform can forklift photovoltaic panels in the forklift posture and tilt the photovoltaic panels when the transfer and tilting platform switches to the installation posture.

[0011] The upper vehicle base can drive the mechanical arm to rotate and switch between the transfer and overturning platform and the photovoltaic mounting rack, so that the mechanical arm can grasp the photovoltaic panel and install it on the photovoltaic mounting rack, and the slewing detection assembly is used for detecting the rotation angle of the upper vehicle base.

[0012] As an optional solution, a slewing joint is arranged between the upper vehicle base and the traveling mechanism, the slewing joint comprises a slewing fixed part and a slewing rotating part, the slewing fixed part is connected to the traveling mechanism, and the slewing rotating part is connected to the upper vehicle base.

[0013] The slewing detection assembly comprises a bracket, an encoder and a transmission component, the bracket is arranged on the slewing fixed part, the encoder is arranged on the bracket, and the input shaft of the encoder is in transmission connection with the slewing rotating part through the transmission component.

[0014] As an optional solution, the transmission component comprises a first gear and a second gear in meshing with each other, the first gear is sleeved on the slewing rotating part and fixedly connected with the slewing rotating part, and the second gear is fixedly connected with the input shaft of the encoder.

[0015] As an optional solution, the front end of the traveling mechanism is hinged with a connecting frame, the transfer and overturning platform is hinged to one end of the connecting frame away from the traveling mechanism, the overturning oil cylinder is hinged between the connecting frame and the transfer and overturning platform, and an amplitude changing oil cylinder is hinged between the connecting frame and the traveling mechanism, the amplitude changing oil cylinder drives the connecting frame to swing relative to the traveling mechanism to drive the transfer and overturning platform to lift.

[0016] As an optional solution, the transfer and overturning platform comprises a support frame and a fork tooth, the support frame is hinged with the front end of the traveling mechanism, and the fork tooth is connected perpendicularly with the support frame.

[0017] When the transfer and overturning platform is in the forking posture, the fork tooth is horizontally arranged, and the support frame is vertically arranged, and when the transfer and overturning platform is in the installation posture, the support frame is horizontally arranged, and the fork tooth is vertically arranged.

[0018] As an optional solution, the mechanical arm comprises a boom, a stick, a boom oil cylinder, a stick oil cylinder and a grabbing oil cylinder, one end of the boom is arranged on the upper vehicle base, the stick is hinged to the other end of the boom, the grabbing assembly is arranged on one end of the stick away from the boom, the boom oil cylinder is hinged between the upper vehicle base and the boom, the stick oil cylinder is hinged between the boom and the stick, and the grabbing oil cylinder is hinged between the stick and the grabbing assembly.

[0019] Length sensors are arranged in the boom cylinder, the stick cylinder and the grab cylinder.

[0020] As an alternative, a plurality of distance sensors are arranged on the grab assembly, the distance sensors being used to measure the distance between the photovoltaic panel and the grab assembly, the boom cylinder, the stick cylinder and the grab cylinder adjusting the extension length according to the distance detected by the plurality of distance sensors, so as to ensure that the grab assembly and the panel surface of the photovoltaic panel are parallel.

[0021] As an alternative, a radar is arranged on the traveling mechanism, the radar being used to measure the distance between the traveling mechanism and the photovoltaic mounting frame.

[0022] As an alternative, an inclination sensor is arranged on the mechanical arm, the inclination sensor being used to measure the angle between the traveling mechanism and the horizontal plane.

[0023] As an alternative, an angle sensor is arranged at the other end of the mechanical arm, the angle sensor being used to detect the rotation angle of the grab assembly.

[0024] The photovoltaic panel mounting equipment provided by the utility model has the advantages of the following beneficial effects:

[0025] The photovoltaic panel mounting equipment provided by the utility model has the advantages of the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a structural schematic view of the photovoltaic panel mounting equipment provided by the utility model embodiment;

[0027] Fig. 2 is a structural schematic view of the swivel joint connected between the upper vehicle base and the traveling chassis;

[0028] Fig. 3 is a structural schematic view of the swivel detection assembly arranged on the swivel joint.

[0029] In the drawings:

[0030] 1, traveling mechanism; 11, traveling chassis; 111, connecting frame; 12, track;

[0031] 2. Mounting base;

[0032] 3. Rotation detection assembly; 31. Bracket; 32. Encoder; 33. First gear; 34. Second gear;

[0033] 4. Robotic arm; 41. Boom; 42. Stick; 43. Boom cylinder; 44. Stick cylinder; 45. Grasping cylinder; 46. Grasping assembly; 461. Grasping frame; 462. Suction cup; 463. Distance sensor; 47. Angle sensor;

[0034] 5. Transfer and tilting platform; 51. Support frame; 52. Fork teeth;

[0035] 6. Tilting the hydraulic cylinder;

[0036] 7. Rotary joint; 71. Rotary fixing part; 72. Rotary rotating part; 721. Shift fork;

[0037] 8. Radar;

[0038] 9. Tilt sensor;

[0039] 10. Luffing cylinder. Detailed Implementation

[0040] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0041] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] like Figs. 1-3 As shown in the figure, this utility model embodiment provides a photovoltaic panel installation device, which includes a walking mechanism 1, a vehicle base 2, a robotic arm 4, and a transfer and flipping platform 5.

[0045] The traveling mechanism 1 includes a traveling base 11 and tracks 12 disposed on both sides of the traveling base 11. An upper base 2 is rotatably mounted on the traveling base 11, and a rotation detection component 3 is disposed between the traveling base 11 and the upper base 2. The rotation detection component 3 measures the rotation angle of the upper base 2. One end of the robotic arm 4 is disposed on the upper base 2, and the other end is equipped with a gripping component 46. The rotation detection component 3 measures the rotation angle of the upper base 2 to determine the rotation angle of the robotic arm 4, enabling the robotic arm 4 to accurately grip and install photovoltaic panels. In other words, the upper base 2 rotates the same angle each time to accurately grip and install photovoltaic panels on the photovoltaic mounting frame, effectively improving efficiency.

[0046] The transfer and tilting platform 5 is hinged to the front end of the traveling mechanism 1, and a tilting cylinder 6 is hinged between the transfer and tilting platform 5 and the traveling mechanism 1. The tilting cylinder 6 can drive the transfer and tilting platform 5 to rotate and switch between a forklift posture and an installation posture. That is, when the photovoltaic panel installation equipment is transferring photovoltaic panels, the tilting cylinder 6 drives the transfer and tilting platform 5 to rotate to the forklift posture, and the traveling mechanism 1 drives the transfer and tilting platform 5 to move towards the photovoltaic panel so that the transfer and tilting platform 5 can fork the photovoltaic panel; when the photovoltaic panel installation equipment is installing photovoltaic panels, the tilting cylinder 6 drives the transfer and tilting platform 5 to rotate and switch to the installation posture to tilt the photovoltaic panel, so that the grabbing module 46 can grab the photovoltaic panel.

[0047] This photovoltaic panel installation equipment uses a tilting cylinder 6 to drive the transfer and tilting platform 5 to rotate and switch between a forklift posture and an installation posture. This enables the photovoltaic panel installation equipment to forklift, transfer, and install photovoltaic panels without manual intervention, achieving automatic tilting of the photovoltaic panels to facilitate the gripping component 46 to grip the photovoltaic panels. Furthermore, the rotation detection component 3 detects the rotation angle of the upper base 2 to detect the rotation angle of the robotic arm 4, allowing for precise control of the robotic arm 4's rotation angle. This enables the robotic arm 4 to rotate quickly and accurately between the transfer and tilting platform 5 and the photovoltaic mounting frame, improving the efficiency of photovoltaic panel installation.

[0048] In this embodiment, as Figs. 2-3 As shown, a rotary joint 7 is provided between the upper base 2 and the traveling frame 11 of the traveling mechanism 1. The rotary joint 7 is used to transmit media (such as hydraulic oil or gas), that is, the rotary joint 7 can prevent the pipeline from rotating with the upper base 2. Specifically, the rotary joint 7 includes a rotary fixing part 71 and a rotary rotating part 72. The rotary fixing part 71 is connected to the traveling frame 11 of the traveling mechanism 1. The rotary rotating part 72 is provided with a shift fork 721, which is connected to the upper base 2. When the upper base 2 rotates, the shift fork 721 drives the rotary rotating part 72 to rotate simultaneously.

[0049] Optionally, the rotation detection assembly 3 includes a bracket 31, an encoder 32, and a transmission component. The bracket 31 is mounted on the rotation fixing part 71, and the encoder 32 is mounted on the bracket 31. The input shaft of the encoder 32 is connected to the rotation part 72 via the transmission component. That is, when the rotation part 72 rotates, the transmission component drives the input shaft of the encoder 32 to rotate simultaneously. The encoder 32 detects the rotation angle of the upper base 2 by detecting the number of rotations of the input shaft. This structure, by mounting the rotation detection assembly 3 on the rotary joint 7, allows the rotary joint 7 to detect the rotation angle of the upper base 2 while rotating with the upper base 2 to transmit the medium. By utilizing the rotary joint 7 to detect the rotation angle of the upper base 2, the rotation characteristics of the rotary joint 7 are cleverly utilized. The structural design is simple and can effectively control costs.

[0050] Furthermore, the transmission component includes a first gear 33 and a second gear 34 that mesh with each other. The first gear 33 is sleeved on the rotary part 72 and fixedly connected to the rotary part 72. The second gear 34 is fixedly connected to the input shaft of the encoder 32. When the rotary part 72 rotates, it drives the first gear 33 to rotate, and at the same time, the first gear 33 drives the second gear 34 to rotate, so that the input shaft of the encoder 32 follows the rotation of the upper base 2. This structure is simple and easy to assemble.

[0051] In this embodiment, the number of teeth of the first gear 33 is greater than the number of teeth of the second gear 34.

[0052] In order to enable the transfer and tilting platform 5 to rise and fall vertically, and referring to... Fig. 1 As shown, a connecting frame 111 is hinged to the front end of the traveling base 11 of the traveling mechanism 1. The transfer and tilting platform 5 is hinged to the end of the connecting frame 111 away from the traveling base 11. The tilting cylinder 6 is hinged between the connecting frame 111 and the transfer and tilting platform 5. A luffing cylinder 10 is hinged between the connecting frame 111 and the traveling base 11 of the traveling mechanism 1. The luffing cylinder 10 can drive the connecting frame 111 to swing up and down relative to the traveling base 11 of the traveling mechanism 1. The transfer and tilting platform 5 is located at the end of the connecting frame 111 away from the traveling base 11, so that when the connecting frame 111 swings, it can drive the transfer and tilting platform 5 to rise and fall, so that the transfer and tilting platform 5 can forklift photovoltaic panels stacked at different heights when in a forklift posture.

[0053] Optionally, the transfer and flipping platform 5 includes a support frame 51 and forks 52. The middle part of the support frame 51 is hinged to the end of the connecting frame 111 away from the traveling base frame 11, and the forks 52 are vertically connected to the support frame 51. When the transfer and flipping platform 5 is in the fork-loading posture, the forks 52 can horizontally fork the photovoltaic panel, and the support frame 51 is set vertically to stop the photovoltaic panel. When the transfer and flipping platform 5 is in the installation posture, the forks 52 switch to the vertical setting so that the photovoltaic panel is flipped 90°, and the support frame 51 is set horizontally so that the flipped photovoltaic panel is placed flat on the support frame 51 to facilitate the gripping component 46 to grip the photovoltaic panel.

[0054] In this embodiment, the robotic arm 4 includes a boom 41, a stick 42, a boom cylinder 43, a stick cylinder 44, and a gripping cylinder 45. One end of the boom 41 is mounted on the upper base 2, and the stick 42 is hinged to the other end of the boom 41. The gripping assembly 46 is located at the end of the stick 42 away from the boom 41. The boom cylinder 43 is hinged between the upper base 2 and the boom 41, the stick cylinder 44 is hinged between the boom 41 and the stick 42, and the gripping cylinder 45 is hinged between the stick 42 and the gripping assembly 46. By adjusting the extension length of the boom cylinder 43, the stick cylinder 44, and the gripping cylinder 45, the gripping assembly 46 can accurately grip the photovoltaic panel.

[0055] Furthermore, by installing length sensors in the boom cylinder 43, stick cylinder 44, and gripping cylinder 45, the length sensors can accurately calculate the extension length of the boom cylinder 43, stick cylinder 44, and gripping cylinder 45 to ensure accurate gripping.

[0056] Optionally, the gripping component 46 includes a gripping frame 461 and a plurality of suction cups 462 disposed at the lower end of the gripping frame 461. The plurality of suction cups 462 are simultaneously adsorbed onto the photovoltaic panel to achieve the adsorption of the photovoltaic panel.

[0057] To ensure that all suction cups 462 can stably adhere to the photovoltaic panel, the surface of the photovoltaic panel needs to be parallel to the plane formed by the suction cups 462. Therefore, the gripping frame 461 of the gripping assembly 46 is equipped with multiple distance sensors 463. Two distance sensors 463 can be set up, arranged diagonally, or three distance sensors 463 can be set up, arranged in a triangle, or four distance sensors 463 can be set up, distributed at the four corners of the gripping frame 461, or more can be set up, which will not be elaborated here. The distribution of distance sensors 463 is not limited to the above layout. By measuring the distance between the gripping frame 461 and the corresponding position of the photovoltaic panel through multiple distance sensors 463, it is ensured that the surface of the photovoltaic panel can remain parallel to the suction cups 462. That is, when the distance detected by each distance sensor 463 is the same, the surface of the photovoltaic panel is parallel to the plane formed by the suction cups 462.

[0058] Furthermore, after the distance sensor 463 detects the distance, the boom cylinder 43, stick cylinder 44, and grab cylinder 45 adjust their extension lengths respectively to adjust the posture of the grab frame 461.

[0059] Optionally, an angle sensor 47 is provided at the end of the boom 42 of the robotic arm 4 away from the boom 41. The angle sensor 47 is used to detect the rotation angle of the gripping frame 461 of the gripping assembly 46 to ensure that the multiple suction cups 462 can be directly aligned with the photovoltaic panel.

[0060] Optionally, a radar 8 is provided on the traveling base 11 of the traveling mechanism 1. The radar 8 can detect the distance between the photovoltaic mounting frame and the traveling base 11 to ensure that the photovoltaic panel installation equipment and the photovoltaic mounting frame are kept at a set distance, thus ensuring the accurate installation of the photovoltaic panel.

[0061] Optionally, the boom 41 of the robotic arm 4 is equipped with a tilt sensor 7. The tilt sensor 7 can measure the angle between the walking base 11 of the walking mechanism 1 and the horizontal plane. That is, when the walking mechanism 1 is on an inclined ground, the tilt sensor 7 can measure the tilt angle. During the process of installing photovoltaic panels, tilt compensation can be performed to achieve precise installation.

[0062] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A photovoltaic panel installation device, characterized in that, include: Walking mechanism (1); The upper base (2) is rotatably mounted on the walking mechanism (1), and a rotation detection component (3) is provided between the walking mechanism (1) and the upper base (2); The robotic arm (4) has one end mounted on the upper base (2) and the other end mounted on a gripping component (46); A transfer and flipping platform (5) is hinged to the front end of the walking mechanism (1), and a flipping cylinder (6) is hinged between the transfer and flipping platform (5) and the walking mechanism (1). The flipping cylinder (6) drives the transfer and flipping platform (5) to rotate and switch between the forklift posture and the installation posture, so that the transfer and flipping platform (5) can forklift photovoltaic panels in the forklift posture and flip the photovoltaic panels when the transfer and flipping platform (5) switches to the installation posture. The upper base (2) can drive the robotic arm (4) to rotate and switch between the transfer and flipping platform (5) and the photovoltaic mounting frame, so that the robotic arm (4) can grab the photovoltaic panel and install it on the photovoltaic mounting frame. The rotation detection component (3) is used to detect the rotation angle of the upper base (2).

2. The photovoltaic panel installation equipment according to claim 1, characterized in that, A rotary joint (7) is provided between the upper base (2) and the traveling mechanism (1). The rotary joint (7) includes a rotary fixing part (71) and a rotary rotating part (72). The rotary fixing part (71) is connected to the traveling mechanism (1), and the rotary rotating part (72) is connected to the upper base (2). The rotation detection component (3) includes a bracket (31), an encoder (32) and a transmission component. The bracket (31) is mounted on the rotation fixing part (71), and the encoder (32) is mounted on the bracket (31). The input shaft of the encoder (32) is connected to the rotation rotating part (72) through the transmission component.

3. The photovoltaic panel installation equipment according to claim 2, characterized in that, The transmission component includes a first gear (33) and a second gear (34) that mesh with each other. The first gear (33) is sleeved on the rotary part (72) and fixedly connected to the rotary part (72). The second gear (34) is fixedly connected to the input shaft of the encoder (32).

4. The photovoltaic panel installation equipment according to claim 1, characterized in that, The front end of the walking mechanism (1) is hinged to a connecting frame (111), and the transfer and tilting platform (5) is hinged to the end of the connecting frame (111) away from the walking mechanism (1). The tilting cylinder (6) is hinged between the connecting frame (111) and the transfer and tilting platform (5). A luffing cylinder (10) is hinged between the connecting frame (111) and the walking mechanism (1). The luffing cylinder (10) drives the connecting frame (111) to swing relative to the walking mechanism (1) so as to drive the transfer and tilting platform (5) to rise and fall.

5. The photovoltaic panel installation equipment according to claim 1, characterized in that, The transfer and flipping platform (5) includes a support frame (51) and a fork (52). The support frame (51) is hinged to the front end of the walking mechanism (1), and the fork (52) is perpendicularly connected to the support frame (51). When the transfer and flipping platform (5) is in the fork-loading posture, the fork teeth (52) are horizontally set and the support frame (51) is vertically set. When the transfer and flipping platform (5) is in the installation posture, the support frame (51) is horizontally set and the fork teeth (52) are vertically set.

6. The photovoltaic panel installation equipment according to claim 1, characterized in that, The robotic arm (4) includes a boom (41), a stick (42), a boom cylinder (43), a stick cylinder (44), and a gripping cylinder (45). One end of the boom (41) is mounted on the upper base (2), and the stick (42) is hinged to the other end of the boom (41). The gripping assembly (46) is located at the end of the stick (42) away from the boom (41). The boom cylinder (43) is hinged between the upper base (2) and the boom (41). The stick cylinder (44) is hinged between the boom (41) and the stick (42). The gripping cylinder (45) is hinged between the stick (42) and the gripping assembly (46). Length sensors are installed in the boom cylinder (43), the stick cylinder (44), and the gripping cylinder (45).

7. The photovoltaic panel installation equipment according to claim 6, characterized in that, The gripping assembly (46) is equipped with multiple distance sensors (463), which are used to measure the distance between the photovoltaic panel and the gripping assembly (46). The boom cylinder (43), the stick cylinder (44), and the gripping cylinder (45) adjust their extension length according to the distance detected by the multiple distance sensors (463) to ensure that the gripping assembly (46) and the photovoltaic panel are parallel.

8. The photovoltaic panel installation equipment according to any one of claims 1-6, characterized in that, The walking mechanism (1) is equipped with a radar (8), which is used to measure the distance between the walking mechanism (1) and the photovoltaic mounting frame.

9. The photovoltaic panel installation equipment according to any one of claims 1-6, characterized in that, The robotic arm (4) is equipped with an inclination sensor (9), which is used to measure the angle between the walking mechanism (1) and the horizontal plane.

10. The photovoltaic panel installation equipment according to any one of claims 1-6, characterized in that, An angle sensor (47) is provided at the other end of the robotic arm (4), and the angle sensor (47) is used to detect the rotation angle of the gripping component (46).

Images