Photovoltaic module installation robot

Abstract

This application discloses a photovoltaic module installation robot, relating to the field of photovoltaic technology, including a vehicle body, a loading mechanism, and a laying and pressing mechanism. The vehicle body can move along the installation direction of the photovoltaic modules, and the vehicle body defines one or more storage areas capable of stacking multiple photovoltaic modules. The loading mechanism can transport the photovoltaic modules from the storage area to the laying and pressing mechanism. The laying and pressing mechanism includes a laying device and a pressing device. The laying device can transport the photovoltaic modules to the photovoltaic support structure, and the pressing device can press the connection between the photovoltaic modules and the photovoltaic support structure during the movement of the vehicle body. The photovoltaic module installation robot provided by this application, through the cooperation of the loading mechanism and the laying and pressing mechanism, can realize the continuous installation of photovoltaic modules and improve the installation efficiency of photovoltaic modules.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more specifically, to a photovoltaic module installation robot. Background Technology

[0002] Traditional photovoltaic module installation robots typically employ an intermittent installation method. This means that after each installation action exceeds the robot arm's coverage area, it needs to move to the next installation point to reposition and then install again. This results in poor work continuity and low installation efficiency.

[0003] Therefore, how to achieve continuous installation of photovoltaic modules has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

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

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

[0006] A photovoltaic module installation robot includes a vehicle body, a loading mechanism, and a laying and pressing mechanism, wherein the loading mechanism and the laying and pressing mechanism are both located on the vehicle body, wherein:

[0007] The vehicle body can move along the installation direction of the photovoltaic modules, and the vehicle body defines one or more storage areas that can stack multiple photovoltaic modules;

[0008] The feeding mechanism can transport the photovoltaic modules in the storage area to the laying and pressing mechanism;

[0009] The laying and pressing mechanism includes a laying device and a pressing device. The laying device can transport the photovoltaic module to the photovoltaic bracket, and the pressing device can press the connection between the photovoltaic module and the photovoltaic bracket during the movement of the vehicle body.

[0010] Optionally, in the above-mentioned photovoltaic module installation robot, the installation device includes an installation frame and an installation conveyor. The installation conveyor is installed on the installation frame and can convey the photovoltaic module to the photovoltaic support. The installation frame is connected to the vehicle body through a correction mechanism, which can guide the installation direction of the photovoltaic module.

[0011] Optionally, in the photovoltaic module installation robot described above, the installation and conveying device includes two limiting plates arranged opposite to each other, and a plurality of limiting guide wheels are provided on one side opposite to the two limiting plates. The limiting guide wheels can guide the photovoltaic modules on the installation and conveying device.

[0012] Optionally, in the photovoltaic module installation robot described above, the clamping device is located on the output side of the installation device, and the clamping device includes a clamping drive component and a guide roller connected to the clamping drive component. The clamping drive component can drive the guide roller to move in a direction perpendicular to the photovoltaic module, and a second position detection sensor is provided on the input side of the guide roller away from the installation conveying device.

[0013] Optionally, in the photovoltaic module installation robot described above, the pressing drive assembly includes guide posts connected to both ends of the guide roller and guide sleeves sleeved on the outside of the guide posts. The guide sleeves are fixed to the installation device, the guide posts can move along the guide sleeves, and the outer side of the guide posts is provided with an abutment portion. A reset elastic element is connected between the guide sleeves and the abutment portion of the guide posts, and the reset elastic element can provide pressing force to the guide rollers.

[0014] Optionally, the photovoltaic module installation robot described above also includes a correction device mounted on the vehicle body, which is capable of identifying the relative position between the photovoltaic module and the photovoltaic support.

[0015] Optionally, in the above-mentioned photovoltaic module installation robot, the feeding mechanism includes a first guide rail, a second guide rail, a lifting device, and a feeding gripper;

[0016] The second guide rail is disposed on the first guide rail and can move along the first guide rail. The second guide rail is perpendicular to the first guide rail. The lifting device is disposed on the second guide rail and can move along the second guide rail. The feeding gripper is installed on the lifting device. The lifting device can drive the feeding gripper to lift and lower. The feeding gripper can grab the photovoltaic modules in the storage area.

[0017] Optionally, the photovoltaic module installation robot described above also includes a buffer mechanism disposed on the vehicle body. The loading mechanism can transport the photovoltaic modules in the storage area to the buffer mechanism, so that the photovoltaic modules can be transported to the installation device through the buffer mechanism.

[0018] Optionally, in the above-mentioned photovoltaic module installation robot, the buffer mechanism includes a buffer bracket and a buffer conveying device. The buffer conveying device is installed on the buffer bracket and can convey the photovoltaic module to the installation device. The buffer bracket is connected to the vehicle body, and a first position detection sensor is provided on the output side of the buffer conveying device.

[0019] Optionally, in the above-mentioned photovoltaic module installation robot, the vehicle body includes a vehicle frame, a moving device, a power unit, and a control box. The moving device is located at the bottom of the vehicle frame and can drive the vehicle body to move along the installation direction of the photovoltaic modules. The power unit can provide a power source. The control box can control the movement of the moving device, the feeding mechanism, the buffer mechanism, and the laying and pressing mechanism. The power unit and the control box are both located at the top of the vehicle frame.

[0020] The photovoltaic module installation robot provided in this application can stack multiple photovoltaic modules in one or more storage areas on the vehicle body. A loading mechanism transports the photovoltaic modules from the storage areas to a laying device, which then sequentially transports the photovoltaic modules onto photovoltaic supports. During the process of the laying device transporting the photovoltaic modules onto the photovoltaic supports, a clamping device presses the photovoltaic modules firmly onto the photovoltaic supports as the vehicle body moves, thereby achieving continuous installation of photovoltaic modules. As can be seen from the above example, the photovoltaic module installation robot provided in this application, through the cooperation of the loading mechanism and the laying and clamping mechanism, can achieve continuous installation of photovoltaic modules, improving the installation efficiency.

[0021] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 An isometric view of the photovoltaic module installation robot provided in the embodiments of this application;

[0024] Figure 2 A front view of the photovoltaic module installation robot provided in the embodiments of this application;

[0025] Figure 3 A top view of the photovoltaic module installation robot provided in the embodiments of this application;

[0026] Figure 4A side view of the photovoltaic module installation robot provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the photovoltaic module installation robot provided in an embodiment of this application;

[0028] Figure 6 An isometric view of the caching mechanism provided in the embodiments of this application;

[0029] Figure 7 A front view of the caching mechanism provided in the embodiments of this application;

[0030] Figure 8 A top view of the caching mechanism provided in the embodiments of this application;

[0031] Figure 9 An isometric view of the laying and pressing mechanism provided in the embodiments of this application;

[0032] Figure 10 A front view of the laying and compacting mechanism provided in an embodiment of this application;

[0033] Figure 11 A top view of the laying and clamping mechanism provided in the embodiments of this application;

[0034] Figure 12 A side view of the laying and clamping mechanism provided in an embodiment of this application;

[0035] Figure 13 An isometric view of the clamping device provided in the embodiments of this application;

[0036] Figure 14 A front view of the clamping device provided in the embodiments of this application;

[0037] Figure 15 A top view of the clamping device provided in the embodiments of this application;

[0038] Figure 16 A side view of the clamping device provided in an embodiment of this application;

[0039] Figure 17 A flowchart of a photovoltaic module installation method provided in an embodiment of this application.

[0040] Among them, 10 is the vehicle body, 11 is the storage area, 12 is the vehicle frame, 13 is the moving device, 14 is the power unit, 15 is the control box, 20 is the feeding mechanism, 21 is the first guide rail, 22 is the second guide rail, 23 is the lifting device, 24 is the feeding gripper, 30 is the buffer mechanism, 31 is the buffer bracket, 32 is the buffer conveying device, 33 is the first position detection sensor, 40 is the laying and pressing mechanism, 41 is the laying device, 411 is the laying mounting frame, 412 is the laying conveying device, 41... 21 is a limiting plate, 4122 is a limiting guide wheel, 413 is a correction mechanism, 4131 is a correction lateral movement drive, 4132 is a correction lifting drive, 4133 is a correction rotation drive, 42 is a clamping device, 421 is a clamping drive assembly, 4211 is a guide post, 4212 is a guide sleeve, 4213 is an abutment part, 4214 is a reset elastic element, 422 is a guide roller, 423 is a second position detection sensor, 50 is a photovoltaic module, 60 is a photovoltaic bracket, and 70 is a correction device. Detailed Implementation

[0041] The core of this application is to provide a photovoltaic module installation robot to achieve continuous installation of photovoltaic modules.

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] Photovoltaic (PV) mounting systems come in various forms, including fixed systems, tracking systems, and tilt-adjustable systems. Tracking systems can include horizontal single-axis tracking PV systems (hereinafter referred to as horizontal single-axis PV systems), inclined single-axis tracking PV systems, and dual-axis tracking PV systems. Horizontal single-axis PV systems have the ability to rotate along the purlin support axis. When installing PV modules on a horizontal single-axis PV system, the purlins of the PV modules to be installed can be rotated to an angle parallel to the ground before installation.

[0044] When installing photovoltaic modules on a single-axis photovoltaic support, photovoltaic module installation robots are usually used. However, traditional photovoltaic module installation robots usually adopt an intermittent installation method. That is, after each installation action exceeds the working coverage of the robotic arm, it is necessary to move to the next installation point to reposition and install again. This results in poor work continuity and low installation efficiency.

[0045] Therefore, such as Figure 1As shown in the figure, this application discloses a photovoltaic module installation robot, including a vehicle body 10, a feeding mechanism 20, and a laying and pressing mechanism 40, both of which are located on the vehicle body 10. Through the cooperation of the feeding mechanism 20 and the laying and pressing mechanism 40, continuous installation of photovoltaic modules 50 can be achieved, improving the installation efficiency of the photovoltaic modules 50.

[0046] The following will combine Figures 1 to 16 The photovoltaic module installation robot disclosed in the embodiments of this application will be explained and described in detail.

[0047] Among them, such as Figure 5 As shown, the vehicle body 10 can move along the installation direction of the photovoltaic modules 50, and one or more storage areas 11 can be formed on the vehicle body 10. That is, the storage area 11 can be one, two or more, so that multiple photovoltaic modules 50 can be stacked in the storage area 11 of the vehicle body 10.

[0048] In some embodiments, such as Figures 1 to 4 As shown, the vehicle body 10 may include a vehicle frame 12, a moving device 13, a power unit 14, and a control box 15. The moving device 13 may be located at the bottom of the vehicle frame 12 to drive the vehicle body 10 to move along the paving direction. The power unit 14 can provide a power source for the photovoltaic module paving robot and can control the movement of the photovoltaic module paving robot through the control box 15. At the same time, the power unit 14 and the control box 15 may both be located at the top of the vehicle frame 12, thereby forming a paving space for photovoltaic modules 50 in the middle area of ​​the vehicle frame 12. In addition, two storage areas 11 may be used, both of which are located in front of the vehicle frame 12, and a space is reserved between the two storage areas 11 for the photovoltaic bracket 60 to pass through, so as to ensure that the photovoltaic bracket 60 can pass through the middle area of ​​the vehicle body 10, thereby facilitating the paving of photovoltaic modules 50. The mobile device 13 can use a tracked structure to move the vehicle body 10 along the paving direction, or it can use a wheeled structure to move the vehicle body 10 along the paving direction. Alternatively, the mobile device 13 can combine a wheeled structure and a tracked structure; for example, a wheeled structure can be used below the storage area 11, and a tracked structure can be used at the bottom of the vehicle frame 12. Figure 4 As shown. It should be noted that, unless otherwise specified, in this application, "front" and "rear" refer to "front" and "rear" relative to the paving direction.

[0049] like Figure 5As shown, the laying and pressing mechanism 40 may include a laying device 41 and a pressing device 42. The feeding mechanism 20 can transport the photovoltaic module 50 to the laying device 41. The laying device 41 can transport the photovoltaic module 50 to the photovoltaic bracket 60. While the vehicle body 10 moves along the laying direction, the pressing device 42 can press the connection between the photovoltaic module 50 and the photovoltaic bracket 60, thereby realizing the continuous laying of the photovoltaic module 50 and improving the laying efficiency of the photovoltaic module 50.

[0050] In some embodiments, such as Figure 1 As shown, the loading mechanism 20 may include a first guide rail 21, a second guide rail 22, a lifting device 23, and a loading gripper 24. The first guide rail 21 is laterally mounted on the vehicle frame 12. The second guide rail 22 is mounted on the first guide rail 21 and can move laterally along it, while also being perpendicular to it, i.e., longitudinally mounted. The lifting device 23 is mounted on the second guide rail 22 and can move longitudinally along it. The loading gripper 24 is mounted on the lifting device 23. The lifting device 23 can lift and lower the loading gripper 24, allowing it to grab the photovoltaic modules 50 in the storage area 11. The first and second guide rails 21 and 22 respectively drive the photovoltaic modules 50 grabbed by the loading gripper 24 to move laterally and longitudinally, facilitating the placement of the photovoltaic modules 50 onto the laying device 41. It should be noted that, unless otherwise specified, in this application, "lateral" refers to the direction perpendicular to the paving direction on a horizontal plane, and "longitudinal" refers to the direction parallel to the paving direction on a horizontal plane.

[0051] In the above embodiments, the feeding gripper 24 may employ four, six or more vacuum suction cups, and each vacuum suction cup is symmetrically distributed, so that the photovoltaic module 50 can be stably adsorbed by each vacuum suction cup, thereby driving the photovoltaic module 50 to move onto the laying device 41.

[0052] In some embodiments, such as Figure 1 As shown, the photovoltaic module installation robot may also include a buffer mechanism 30 installed on the vehicle body 10, and the loading mechanism 20 can transport the photovoltaic modules 50 in the storage area 11 to the buffer mechanism 30, so that the photovoltaic modules 50 can be transported to the installation device 41 through the buffer mechanism 30. Thus, the buffer mechanism 30 can temporarily store the photovoltaic modules 50, thereby facilitating the continuous installation of the photovoltaic modules 50 and improving the installation efficiency of the photovoltaic modules 50.

[0053] In some embodiments, such as Figure 1 , Figures 6 to 8As shown, the buffer mechanism 30 may include a buffer support 31 and a buffer conveying device 32. The buffer conveying device 32 is mounted on the buffer support 31 and can convey the photovoltaic module 50 to the laying device 41. The buffer support 31 can be connected to the vehicle frame 12 of the vehicle body 10. The buffer conveying device 32 has an input side and an output side. The input side of the buffer conveying device 32 is the initial position of the photovoltaic module 50 placed on the buffer conveying device 32, and the output side of the buffer conveying device 32 is the position where the photovoltaic module 50 leaves the buffer conveying device 32. At the same time, a first position detection sensor 33 can be provided on the output side of the buffer conveying device 32, so as to detect whether the photovoltaic module 50 has left the buffer conveying device 32, so as to provide feedback to the control box 15, and control the feeding mechanism 20 to feed the photovoltaic module 50.

[0054] In some embodiments, such as Figure 6 As shown, the buffer support 31 may include a buffer base plate and buffer side plates located on both sides of the buffer base plate. A buffer connector for connecting to the vehicle frame 12 is provided on the opposite side of the two buffer side plates. Meanwhile, the first position detection sensor 33 may be located behind the buffer base plate to detect the position of the photovoltaic module 50. The buffer conveying device 32 may consist of multiple parallel rollers, each roller may be located between the two buffer side plates, and each roller may rotate synchronously under the drive of a motor, thereby transporting the photovoltaic module 50 to the laying device 41.

[0055] In some embodiments, such as Figures 9 to 12 As shown, the laying device 41 may include a laying mounting frame 411 and a laying conveying device 412. The laying conveying device 412 may be installed on the laying mounting frame 411 to convey the photovoltaic module 50 to the photovoltaic bracket 60. At the same time, the laying mounting frame 411 may be connected to the vehicle frame 12 of the vehicle body 10 through a correction mechanism 413 that can realize up-down, left-right and rotational movements. Thus, the correction mechanism 413 can guide the laying direction of the photovoltaic module 50, avoid the photovoltaic module 50 from tilting during the laying process, and ensure the stability and reliability of the photovoltaic module 50 laying.

[0056] In some embodiments, such as Figure 9As shown, the correction mechanism 413 may include a correction lateral movement drive 4131, a correction lifting drive 4132, and a correction rotation drive 4133. A transverse track may be provided on the vehicle frame 12 of the vehicle body 10, and a transverse sliding seat may be provided on the transverse track. The correction lateral movement drive 4131 may be installed on the transverse sliding seat to drive the transverse sliding seat to move laterally along the transverse track, i.e., to move perpendicular to the paving direction. Simultaneously, a vertical guide column is installed on the transverse sliding seat. The correction lifting drive 4132 may be installed on the vertical guide column to drive the vertical guide column to rise and fall along the transverse sliding seat. The correction rotation drive 4133 may be installed at the end of the vertical guide column. The paving mounting frame 411 is also included. Mounted on the correction rotation drive 4133, the correction rotation drive 4133 can drive the laying installation frame 411 to rotate horizontally. This allows for the adjustment of the laying conveyor 412's vertical, horizontal, and angular movement via the correction lateral movement drive 4131, correction lifting drive 4132, and correction rotation drive 4133. This, in turn, corrects the laying direction of the photovoltaic module 50, preventing skewness during installation and ensuring the stability and reliability of the photovoltaic module 50 installation. It should be noted that the correction lateral movement drive 4131, correction lifting drive 4132, and correction rotation drive 4133 can employ drive mechanisms such as motors or cylinders, which will not be elaborated upon here.

[0057] In some embodiments, such as Figures 1 to 5 As shown, the photovoltaic module installation robot may also include a correction device 70 located behind the vehicle frame 12 of the vehicle body 10. The correction device 70 can identify the relative position between the photovoltaic module 50 and the photovoltaic support 60 and feed it back to the control box 15. The control box 15 can then control the correction mechanism 413 to make corresponding adjustments, thereby correcting the installation direction of the photovoltaic module 50, preventing the photovoltaic module 50 from tilting during the installation process, and ensuring the stability and reliability of the photovoltaic module 50 installation.

[0058] In some embodiments, such as Figure 9 and Figure 11As shown, the laying and conveying device 412 may include two opposing limiting plates 4121. Multiple synchronously rotating laying rollers are arranged parallel between the two limiting plates 4121, allowing each laying roller to rotate synchronously under the drive of a motor, thereby moving the photovoltaic module 50 onto the photovoltaic support 60. The laying and mounting frame 411 can be connected to the outer side of the two limiting plates 4121, i.e., the side where the two limiting plates 4121 are opposite to each other. Furthermore, multiple limiting guide wheels 4122 are arranged on the inner side of the two limiting plates 4121, i.e., the opposite side of the two limiting plates 4121. These limiting guide wheels 4122 can limit the position of the photovoltaic module 50 while simultaneously guiding the photovoltaic module 50 onto the laying and conveying device 412, preventing skew during placement of the photovoltaic module 50 and ensuring the reliability of the photovoltaic module 50 installation.

[0059] In some embodiments, such as Figure 5 As shown, the buffer mechanism 30 can be arranged parallel to the photovoltaic support 60, and the laying device 41 can be tilted towards the photovoltaic support 60, that is, the front of the laying device 41 is higher than the rear of the laying device 41, as shown. Figure 12 As shown, this facilitates the stable placement of the photovoltaic module 50 on the photovoltaic support 60, thereby ensuring the reliability of the photovoltaic module 50 installation.

[0060] In some embodiments, such as Figure 12 As shown, the laying device 41 has an input side and an output side, with the input side higher than the output side, to ensure the photovoltaic module 50 is stably placed on the photovoltaic support 60, thereby guaranteeing the reliability of the photovoltaic module 50 installation. The input side of the laying device 41 is close to the output side of the buffer mechanism 30, so that the photovoltaic module 50 can be transported from the output side of the buffer mechanism 30 to the laying device 41 and then moved from the output side of the laying device 41 onto the photovoltaic support 60. Simultaneously, a clamping device 42 can be located on the output side of the laying device 41 to clamp the connection between the photovoltaic module 50 and the photovoltaic support 60.

[0061] In some embodiments, such as Figures 13 to 16 As shown, the clamping device 42 may include a clamping drive assembly 421 and a guide roller 422 connected to the clamping drive assembly 421. The clamping drive assembly 421 can drive the guide roller 422 to move in a direction perpendicular to the photovoltaic module 50, thereby clamping the connection between the photovoltaic module 50 and the photovoltaic support 60. At the same time, a second position detection sensor 423 may be provided behind the guide roller 422, that is, on the input side of the guide roller 422 away from the laying and conveying device 412. The second position detection sensor 423 can detect whether the photovoltaic module 50 has been conveyed into place, that is, the relative position of the photovoltaic module 50 and the photovoltaic support 60, and feed the feedback to the control box 15, which controls the clamping action of the clamping device 42.

[0062] In some embodiments, such as Figures 13 to 16 As shown, the clamping drive assembly 421 may include guide posts 4211 connected to both ends of the guide roller 422 and guide sleeves 4212 sleeved on the outside of the guide posts 4211. The guide sleeves 4212 are fixed to the laying mounting frame 411 of the laying device 41 and extend rearward by a certain length, so that the guide roller 422 can be clamped from one end of the photovoltaic module 50 to the other end during the movement of the vehicle body 10. Simultaneously, the guide posts 4211 can extend and retract along the guide sleeves 4212, and the outer side of the guide posts 4211 is provided with an abutment portion 4213. A reset elastic element 4214 is connected between the guide sleeve 4212 and the abutment portion 4213 of the guide posts 4211, thereby providing clamping force to the guide roller 422 through the reset elastic element 4214. When the photovoltaic module 50 moves on the laying device 41, the guide roller 422 of the pressing device 42 can press against the upper surface of the photovoltaic module 50. As the photovoltaic module 50 gradually moves out of the laying device 41, the pressing device 42 can continuously apply a pressing force to the upper surface of the photovoltaic module 50 under the elastic force of the reset elastic member 4214. At the same time, during the movement of the vehicle body 10, the pressing device 42 can move synchronously with the vehicle body 10 along the paving direction, so that the guide roller 422 of the pressing device 42 can press from one end of the photovoltaic module 50 to the other end until the photovoltaic module 50 is completely detached from the laying device 41 and installed on the photovoltaic bracket 60.

[0063] In some embodiments, the pressing drive assembly 421 can also drive the guide post 4211 to move along the guide sleeve 4212 through a telescopic cylinder or motor, and the telescopic cylinder or motor can be controlled by the control box 15 to realize the extension and retraction of the guide post 4211, thereby realizing the pressing action of the guide roller 422 on the photovoltaic module 50.

[0064] The photovoltaic module installation robot disclosed in this application can stack multiple photovoltaic modules 50 in one or more storage areas 11 of the vehicle body 10. The feeding mechanism 20 can place the photovoltaic modules 50 in the storage area 11 sequentially on the buffer mechanism 30, and then the buffer mechanism 30 can transport the photovoltaic modules 50 sequentially to the installation device 41. The installation device 41 can transport the photovoltaic modules 50 sequentially to the photovoltaic bracket 60. During the process of the installation device 41 transporting the photovoltaic modules 50 to the photovoltaic bracket 60, the pressing device 42 can press the photovoltaic modules 50 onto the photovoltaic bracket 60, thereby achieving the purpose of continuous installation of photovoltaic modules 50.

[0065] The photovoltaic module installation robot disclosed in this application can achieve continuous installation of photovoltaic modules 50 by cooperating with the feeding mechanism 20, the buffer mechanism 30 and the laying and pressing mechanism 40, thereby improving the installation efficiency of photovoltaic modules 50.

[0066] This application also discloses a photovoltaic module installation method, which uses the photovoltaic module installation robot disclosed in the above embodiments. Therefore, it combines all the technical effects of the aforementioned photovoltaic module installation robot, and will not be repeated here. Figure 17 As shown, the photovoltaic module installation method includes step S100 stacking materials, step S200 feeding materials, and step S300 installation, wherein:

[0067] Step S100, material stacking;

[0068] A tray of photovoltaic modules 50 is moved to a position below the loading mechanism 20 using a handling tool and stacked into one or more storage areas 11.

[0069] Step S200: Loading materials;

[0070] The feeding gripper 24 of the feeding mechanism 20 sequentially grabs the photovoltaic module 50 in the storage area 11 and places it on the buffer conveying device 32 of the buffer mechanism 30. The photovoltaic module 50 is then conveyed to the laying conveying device 412 of the laying device 41 through the buffer conveying device 32 of the buffer mechanism 30.

[0071] Step S300, paving;

[0072] The laying and conveying device 412 of the laying device 41 sequentially moves the photovoltaic module 50 onto the photovoltaic bracket 60, while the vehicle body 10 moves along the laying direction of the photovoltaic module 50. At this time, the clamping device 42 can clamp the connection between the photovoltaic module 50 and the photovoltaic bracket 60 along the laying direction of the photovoltaic module 50, thereby completing the laying of a single photovoltaic module 50. By repeating the above process, the continuous laying of photovoltaic modules 50 can be achieved. It should be noted that after the single photovoltaic module 50 is laid, it is then fixed onto the photovoltaic bracket 60 manually or automatically, thus completing the installation of the entire photovoltaic system.

[0073] The terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather not listed.

[0074] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic module paving robot, characterized by, It includes a vehicle body (10), a feeding mechanism (20), and a laying and pressing mechanism (40), wherein the feeding mechanism (20) and the laying and pressing mechanism (40) are both located on the vehicle body (10), wherein: The vehicle body (10) can move along the paving direction of the photovoltaic modules (50), and the vehicle body (10) defines one or more storage areas (11) that can stack multiple photovoltaic modules (50). The feeding mechanism (20) can transport the photovoltaic modules (50) in the storage area (11) to the laying and pressing mechanism (40); The laying and pressing mechanism (40) includes a laying device (41) and a pressing device (42). The laying device (41) can transport the photovoltaic module (50) to the photovoltaic bracket (60), and the pressing device (42) can press the connection between the photovoltaic module (50) and the photovoltaic bracket (60) during the movement of the vehicle body (10).

2. Photovoltaic assembly paving robot according to claim 1, characterized in that, The laying device (41) includes a laying mounting frame (411) and a laying conveying device (412). The laying conveying device (412) is installed on the laying mounting frame (411) and can convey the photovoltaic module (50) to the photovoltaic bracket (60). The laying mounting frame (411) is connected to the vehicle body (10) through a correction mechanism (413) and can correct the laying direction of the photovoltaic module (50).

3. Photovoltaic assembly paving robot according to claim 2, characterized in that, The laying and conveying device (412) includes two limiting plates (4121) arranged opposite to each other, and a plurality of limiting guide wheels (4122) are provided on the opposite side of the two limiting plates (4121). The limiting guide wheels (4122) can guide the photovoltaic module (50) on the laying and conveying device (412).

4. The photovoltaic assembly paving robot according to claim 2, characterized in that, The clamping device (42) is located on the output side of the laying device (41), and the clamping device (42) includes a clamping drive assembly (421) and a guide roller (422) connected to the clamping drive assembly (421). The clamping drive assembly (421) can drive the guide roller (422) to move in a direction perpendicular to the photovoltaic module (50). A second position detection sensor (423) is provided on the input side of the guide roller (422) away from the laying conveyor (412).

5. The photovoltaic assembly paving robot according to claim 4, characterized in that, The clamping drive assembly (421) includes a guide post (4211) connected to both ends of the guide roller (422) and a guide sleeve (4212) sleeved on the outside of the guide post (4211). The guide sleeve (4212) is fixed on the laying device (41). The guide post (4211) can move along the guide sleeve (4212). An abutment portion (4213) is provided on the outside of the guide post (4211). A reset elastic element (4214) is connected between the guide sleeve (4212) and the abutment portion (4213) of the guide post (4211). The reset elastic element (4214) can provide clamping force to the guide roller (422).

6. The photovoltaic assembly paving robot according to claim 1, characterized in that, It also includes a correction device (70) disposed on the vehicle body (10), the correction device (70) being able to identify the relative position between the photovoltaic module (50) and the photovoltaic bracket (60).

7. The photovoltaic assembly paving robot according to claim 1, characterized in that, The feeding mechanism (20) includes a first guide rail (21), a second guide rail (22), a lifting device (23), and a feeding gripper (24). The second guide rail (22) is disposed on the first guide rail (21) and can move along the first guide rail (21). The second guide rail (22) and the first guide rail (21) are disposed perpendicular to each other. The lifting device (23) is disposed on the second guide rail (22) and can move along the second guide rail (22). The loading gripper (24) is installed on the lifting device (23). The lifting device (23) can drive the loading gripper (24) to lift and lower. The loading gripper (24) can grab the photovoltaic module (50) of the storage area (11).

8. The photovoltaic assembly paving robot of claim 1, wherein, It also includes a buffer mechanism (30) disposed on the vehicle body (10), wherein the feeding mechanism (20) is capable of transporting the photovoltaic modules (50) of the storage area (11) to the buffer mechanism (30) so as to transport the photovoltaic modules (50) to the laying device (41) through the buffer mechanism (30).

9. Photovoltaic assembly paving robot according to claim 8, characterized in that, The buffer mechanism (30) includes a buffer bracket (31) and a buffer conveying device (32). The buffer conveying device (32) is installed on the buffer bracket (31) and can convey the photovoltaic module (50) to the laying device (41). The buffer bracket (31) is connected to the vehicle body (10). A first position detection sensor (33) is provided on the output side of the buffer conveying device (32).

10. The photovoltaic assembly paving robot according to claim 8, characterized in that, The vehicle body (10) includes a vehicle frame (12), a moving device (13), a power device (14), and a control box (15). The moving device (13) is located at the bottom of the vehicle frame (12). The moving device (13) can drive the vehicle body (10) to move along the paving direction of the photovoltaic module (50). The power device (14) can provide a power source. The control box (15) can control the movement of the moving device (13), the feeding mechanism (20), the buffer mechanism (30), and the paving and pressing mechanism (40). The power device (14) and the control box (15) are both located at the top of the vehicle frame (12).

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