A BIPV photovoltaic module pressing bolt fastening robot

Abstract

This utility model relates to a robot for tightening bolts in BIPV photovoltaic modules and its usage method, comprising: a stable moving platform, an execution mechanism, and a clamping mechanism; the clamping mechanism is located on both sides of a rotating gimbal, and slide rails are provided on the other two sides of the rotating gimbal, with the execution mechanism slidably connected to the slide rails; the clamping mechanism includes a lifting column, an electric push rod, and an L-shaped clamp; the L-shaped clamps are slidably connected to both ends of the electric push rod; the execution mechanism includes a lifting motor, an electric wrench, a screwdriver bit, and an industrial camera rotatably connected to the end of the execution mechanism. The beneficial effects of this utility model are: by using an electric wrench to detect and tighten the bolts, the detection and tightening are integrated, while the detection accuracy is high and the tightening error is small, ensuring that the bolts meet the wind-resistant design requirements; the tracked moving chassis and rotating gimbal allow the execution mechanism to position the bolts without blind spots; the electric telescopic outriggers have anti-slip pads at the bottom, which not only prevent slippage but also avoid damage to the photovoltaic panels from the top support.

Description

Technical Field

[0001] This utility model relates to the field of preventive maintenance equipment for building-integrated photovoltaics (BIPV), and in particular to a robot for tightening bolts on BIPV module clamps. Background Technology

[0002] Typhoons and severe convective weather are the main sources of risk for BIPV systems: BIPV photovoltaic modules are fixed to the roof or wall of a building with bolts. Long-term exposure to wind loads and temperature stress can easily cause the bolts to loosen. If they are not inspected and tightened in time before severe weather arrives, the modules may be blown off by strong winds, causing equipment damage or falling object safety accidents.

[0003] Currently, preventative maintenance still relies on manual labor: workers must conduct high-altitude inspections with torque wrenches after severe weather warnings are issued by the meteorological department, checking the torque of each bolt and tightening any loose parts. This method has three main problems:

[0004] 1. Significant safety risks: Although the warning window does not include severe weather, it is often accompanied by winds of level 5-6 and sporadic rainfall. The high-altitude work platform is prone to swaying, and the risk of personnel falling is significantly higher than that of regular operations.

[0005] 2. Low work efficiency: Manual inspection can only check 80-100 bolts per hour. Large-area BIPV projects (such as rooftop photovoltaic power stations) are difficult to complete full coverage within the warning window period, and loose bolts are easily missed.

[0006] 3. Unstable detection accuracy: Handheld wrenches are easily deflected by wind interference, and the torque detection error reaches ±15%, making it impossible to accurately identify "critically loose" bolts (torque slightly lower than the standard value but not completely loose), leaving safety hazards.

[0007] Existing automated equipment lacks adaptability and cannot meet the core requirement of "quickly completing preventative maintenance before severe weather".

[0008] Therefore, developing a specialized robot that is adaptable to the environment during the early warning period, can efficiently inspect and tighten equipment, and is safe and convenient to operate has become the key to solving the problem of preventive maintenance of BIPV systems before severe weather. Utility Model Content

[0009] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a robot for fastening bolts on BIPV photovoltaic modules.

[0010] This BIPV photovoltaic module clamping bolt fastening robot includes: a stable moving platform, an actuator, and a clamping mechanism; the stable moving platform includes a tracked mobile chassis and a rotating gimbal rotatably connected to the top of the tracked mobile chassis; the tracked mobile chassis has tracks on both sides and electrically telescopic outriggers on the other two sides; the clamping mechanism is symmetrically arranged on both sides of the rotating gimbal, and the other two sides of the rotating gimbal have symmetrically arranged slide rails, with the actuator slidably connected to the slide rails; the clamping mechanism includes a lifting column, an electric push rod, and an L-shaped clamp; the lifting column is symmetrically fixed on both sides of the rotating gimbal, and the electric push rod is horizontally fixed to the top of the lifting end of the lifting column; L-shaped clamps are symmetrically slidably connected to both ends of the electric push rod; the actuator includes a lifting motor, an electric wrench, a screwdriver bit, and an industrial camera rotatably connected to the end of the actuator, the industrial camera is located above the lifting motor, the electric wrench is connected to the bottom of the lifting end of the lifting motor, and the screwdriver bit is fixed to the bottom of the electric wrench through a sleeve; an anemometer is fixed to the top of the rotating gimbal.

[0011] Preferably, the actuator is also provided with a slider, one end of which is slidably connected to the slide rail, and the other end of the slider is provided with a groove, in which an extension block is slidably connected, the extension block extends out of the groove, and the end of the extension block is fixed with the fixed end of the lifting motor.

[0012] Preferably, the industrial camera is rotatably connected to the top of the extension block where the lifting motor is fixed, and the lens of the industrial camera is surrounded by a supplementary lighting ring.

[0013] Preferably, the mounting planes of the electric telescopic outriggers are located on the same horizontal plane, and the bottom of the electric telescopic outriggers is equipped with anti-slip pads.

[0014] The beneficial effects of this utility model are:

[0015] 1) The tracked mobile chassis and rotating gimbal of this utility model can initially adjust the horizontal position of the electric wrench. The slide rail and slider of the actuator can further and precisely adjust the horizontal position of the electric wrench, so that the electric wrench can be aligned with the bolt for operation. The lifting motor of the actuator enables the bit of the electric wrench to cooperate with the bolt, rotate the bolt, and realize the detection and tightening of the bolt.

[0016] 2) The bottom of the electric telescopic support leg of this utility model is equipped with an anti-slip pad. The anti-slip pad has a large contact area, which can play an anti-slip role while avoiding damage to the photovoltaic panel by the top support.

[0017] 3) The industrial camera of this utility model can rotate and adjust the viewing angle, which can obtain the viewing angle when the robot moves, as well as the viewing angle when the bit is positioned and rotated, thus realizing the detection of the robot's walking position and the precise positioning of the bit.

[0018] 4) Both ends of the stable moving platform of this utility model are equipped with adjustable actuators, so that when the stable moving platform is fixed, the maintenance of all bolts on both sides of a single photovoltaic panel can be completed in one go by adjusting the position of the electric wrench of the actuator, thus improving maintenance efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robot's overall structure;

[0020] Figure 2 This is a schematic diagram of a stable mobile platform structure;

[0021] Figure 3 This is a schematic diagram of the actuator structure;

[0022] Figure 4 yes Figure 1 A magnified view of part A in the middle.

[0023] Explanation of reference numerals in the attached drawings: 1. Tracked mobile chassis; 3. Electric telescopic outriggers; 4. Anti-slip mat; 5. Anemometer; 6. Rotating gimbal; 7. Track; 8. Lifting column; 9. Electric push rod; 10. L-shaped clamp; 11. Limiting plate; 12. Extension block; 13. Industrial camera; 14. Light ring; 15. Lifting motor; 16. Electric wrench; 17. Socket; 18. Screwdriver bit; 19. Photovoltaic panel; 20. Pressing arch; 21. Bolt; 22. Stabilized moving platform; 23. Actuator; 24. Clamping mechanism; 25. Slide rail; 26. Slider. Detailed Implementation

[0024] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that, for those skilled in the art, several modifications can be made to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0025] As one embodiment, a robot for fastening bolts on BIPV photovoltaic module clamps is proposed, such as... Figure 1-4 As shown, it includes a stable mobile platform 22, an actuator 23, and a clamping mechanism 24. The stable mobile platform 22 includes a tracked mobile chassis 1 and a rotating gimbal 6 rotatably connected to the top of the tracked mobile chassis 1. The rotating gimbal 6 rotates through a gimbal motor set on the tracked mobile chassis 1 and a bearing between the tracked mobile chassis 1 and the rotating gimbal 6. The tracked mobile chassis 1 and the rotating gimbal 6 enable the actuator 23 to position the bolt 21 without dead angles, which also meets the maintenance needs of bolts in multiple directions and improves inspection efficiency.

[0026] The stable mobile platform 22 has a built-in control board and battery. The control board is used to control the movement of each component. The control board integrates GPS positioning function. The control board can receive BIPV photovoltaic module layout information and plan the inspection path according to the BIPV photovoltaic module layout information and GPS positioning data. At the same time, it controls the movement of the stable mobile platform 22 according to the inspection path and GPS positioning data. The battery is used to power each component and adopts a detachable design so that it can be replaced when the power is insufficient.

[0027] The tracked mobile chassis 1 is equipped with tracks 7 on both sides. The tracks 7 are rotated by track motors and are used to move on the photovoltaic panels 19. In addition, there are electric telescopic outriggers 3 on both sides to stabilize the mobile platform 22 after it stops.

[0028] The clamping mechanism 24 is symmetrically arranged on both sides of the rotating gimbal 6 to fix the stable moving platform 22 on the photovoltaic panel 19. The other two sides of the rotating gimbal 6 are symmetrically arranged with the actuator 23. This arrangement of the actuator 23 allows for the maintenance of all bolts 21 on both sides of a single photovoltaic panel 19 in one go by adjusting the position of the electric wrench 16 of the actuator 23 when the stable moving platform 22 is fixed, thus improving maintenance efficiency. The clamping mechanism 24 includes a lifting column 8, an electric push rod 9, and an L-shaped clamp 10. The lifting column 8 is symmetrically fixed on both sides of the rotating gimbal 6, and the electric push rod 9 is horizontally fixed to the top of the lifting end of the lifting column 8. The L-shaped clamp 10 is symmetrically slidably connected to both ends of the electric push rod 9.

[0029] The actuator 23 includes a lifting motor 15, an electric wrench 16, a screwdriver bit 18, and an industrial camera 13 rotatably connected to the end of the actuator 23. The industrial camera 13 is located above the lifting motor 15. The industrial camera 13 can adjust its rotation angle according to the operation requirements, so as to obtain both the view of the robot moving and the view of the screwdriver bit 18 positioning and rotation, thus realizing the detection of the robot's walking position and the precise positioning of the screwdriver bit 18. The industrial camera 13 can transmit visual data to the control board, and the control board can fine-tune the rotation angle of the industrial camera 13 in real time according to the visual data to keep the industrial camera 13 at the best viewing angle. The electric wrench 16 is connected to the bottom of the lifting end of the lifting motor 15. The screwdriver bit 18 is fixed to the bottom of the electric wrench 16 through a sleeve 17. The sleeve 17 is an adaptive sleeve that can adapt to common bolts such as M8-M12. The electric wrench 16 is used to rotate the screwdriver bit 18.

[0030] The top of the rotating gimbal 6 is fixed with an anemometer 5, which is used to measure the current wind speed. When the wind speed is greater than level six, the control board controls the robot to complete the maintenance of the current bolt, and then immediately stops the operation and returns.

[0031] like Figure 1As shown, a photovoltaic panel 19 is attached to the bottom of the stable mobile platform 22. A pressure arch 20 is fixed in the gap between the photovoltaic panels 19, and a bolt 21 passes through the center of the pressure arch 20. The photovoltaic panels 19 are fixed to the outside through the bolt 21. When the bolt 21 is inspected and stabilized, the bottom of the electric telescopic outrigger 3 is attached to the photovoltaic panel 19, and the bottom end of the screwdriver bit 18 extends into the head of the bolt 21. For bolt inspection, the electric wrench 16 is reversed, and the control board compares the torque value data returned by the electric wrench 16 with the standard value to determine the tightness of the bolt. The control board compares the torque value data returned by the electric wrench 16 with the standard torque value of the bolt 21. If it is less than 80% of the standard torque, it is considered loose. The inspection time for a single bolt 21 is ≤4 seconds. For bolt tightening, the electric wrench 16 is rotated forward until the bolt 21 is tightened. The torque adjustment range of the electric wrench 16 is 12-20 N·m, which is large enough to ensure that the bolt 21 can meet the wind resistance design requirements after tightening.

[0032] like Figure 2 As shown, the mounting planes of the electric telescopic outriggers 3 are located on the same horizontal plane, which provides a foundation for stabilizing the horizontal position of the mobile platform 22. The bottom of the electric telescopic outriggers 3 is equipped with anti-slip pads. The anti-slip pads have a large contact area, which not only prevents slipping but also avoids damage to the photovoltaic panel 19 caused by the top support.

[0033] like Figure 3 As shown, the actuator 23 is also equipped with an extension block 12 and a slider 26. One end of the slider 26 is slidably connected to the slide rail 25, and the other end of the slider 26 is provided with a groove. The extension block 12 is slidably connected in the groove, and the extension block 12 extends out of the groove. The fixed end of the lifting motor 15 is fixed to the end of the extension block 12. This allows the electric wrench 16 connected to the lifting motor 15 to perform precise multi-directional operations after the stable moving platform 22 has come to a stable stop. Specifically, the tracked mobile chassis 1 and the rotating gimbal 6 can initially adjust the electric wrench 16. The horizontal position of the actuator 23 is further precisely adjusted by the slide rail 25 and slider 26, so that the electric wrench 16 can be aligned with the bolt 21 for operation. The extension block 12 is fixed with the top of the lifting motor 15 and an industrial camera 13 is installed. The industrial camera 13 adopts an IP65 waterproof design and has a certain waterproof effect. The industrial camera 13 has a built-in small heating defogging plate to avoid lens fogging caused by high humidity during the warning period. The lens of the industrial camera 13 is surrounded by a supplementary light ring 14, which makes the observation effect of the industrial camera 13 better.

[0034] like Figure 4As shown, the photovoltaic panel 19 has a slot on its frame surface, and the L-shaped clamp 10 has a limiting piece 11 on its inner side. The bottom of the limiting piece 11 has a protrusion, and the protrusion and the slot are matched in shape and size. The L-shaped clamp 10 is used to make the stable moving platform 22 more stable. When the bolt 21 is inspected and secured, the inner side of the L-shaped clamp 10 is attached to the frame of the photovoltaic panel 19. The L-shaped clamp 10 has a pressure sensor on its inner side, which detects the clamping force in real time. The fixed force is set at 200-250N, and it automatically stops when it exceeds 250N to prevent the frame of the module from deforming. The protrusion of the limiting piece 11 and the slot of the photovoltaic panel 19 frame are attached to each other, which further improves the fixing stability of the L-shaped clamp 10 and avoids lateral displacement. When clamped, the contact area between the L-shaped clamp 10 and the frame of the photovoltaic panel 19 is 120cm². 2 To meet stable demand and avoid damage to photovoltaic panels 19.

[0035] The method of using this BIPV photovoltaic module clamping bolt fastening robot includes the following steps:

[0036] Step 1: Place the stable mobile platform 22 on the photovoltaic panel 19, and the control board inside the stable mobile platform 22 performs a self-test;

[0037] Specifically, the control board is connected to a controller, which has a touchscreen and supports one-button start. It automatically loads preset parameters such as the standard torque of bolt 21, inspection priority, and wind speed pause threshold. By clicking the touchscreen, a self-test control signal is transmitted to the control board. The control board performs self-tests on the wind speed data obtained from the anemometer 5, the lithium battery power data within the stable moving platform 22, and the functions of each structure. When the wind speed exceeds level six, the lithium battery power is less than 30%, or a structural function malfunction occurs, a fault prompt is triggered, and the fault information is transmitted to the controller. The corresponding fault is displayed on the controller's touchscreen. The lithium battery is designed to be replaceable to ensure battery life. After the self-test passes, the controller's touchscreen displays "Maintenance Ready."

[0038] Step 2: The stable moving platform 22 is moved to the target position by the control board and industrial camera 13. The electric telescopic legs 3 extend to the bottom and attach to the photovoltaic panel 19. The control board adjusts the extension length of the electric telescopic legs 3 to keep the stable moving platform 22 horizontal.

[0039] Specifically, such as Figure 1 and Figure 4As shown, a pressure arch 20 is fixed at the gap between the photovoltaic panels 19, and a bolt 21 passes through the center of the pressure arch 20. The photovoltaic panels 19 are fixed to the outside through the bolt 21. The layout information of the BIPV photovoltaic module is imported into the controller. The controller transmits the layout information of the BIPV photovoltaic module to the control board. The control board integrates GPS positioning function. The control board plans the inspection path according to the layout information of the BIPV photovoltaic module and the GPS positioning data. The control board controls the stable moving platform 22 to move according to the inspection path and the GPS positioning data. The industrial camera 13 transmits visual data to the control board. The control board fine-tunes the rotation angle of the industrial camera 13 in real time according to the visual data to keep the industrial camera 13 at the best viewing angle. The control board controls the actuator 23 to slide until the bit 18 is directly above the bolt 21. Then the control board controls the stable moving platform 22 to stop moving and controls the actuator 23 to stop sliding.

[0040] Step 3: The control panel controls the lifting column 8 and the electric push rod 9 to secure the L-shaped clamp 10 and the frame of the photovoltaic panel 19.

[0041] Specifically, such as Figure 4 As shown, the photovoltaic panel 19 has a slot on its frame surface, and the L-shaped clamp 10 has a limiting piece 11 on its inner side. The bottom of the limiting piece 11 has a protrusion, and the shape and size of the protrusion match the slot. The industrial camera 13 is adjusted to a suitable angle, and the control board, combined with the visual data from the industrial camera 13, controls the electric push rod 9 to extend until the L-shaped clamp 10 is above the gap of the photovoltaic panel 19. Then, the control board controls the lifting column 8 to descend until the bottom of the L-shaped clamp 10 is within the gap of the photovoltaic panel 19. Finally, the control board controls the electric push rod 9 to retract to the L-shaped clamp 10. The inner side of the L-shaped clamp 10 is fitted to the frame of the photovoltaic panel 19. A pressure sensor is installed inside the L-shaped clamp 10 to detect the clamping force in real time. The pressure sensor is fixed at 200-250N, and automatically stops when it exceeds 250N to prevent deformation of the module frame. The control board controls the lifting column 8 to descend until it aligns with the protrusion of the limit plate 11 and the slot of the photovoltaic panel 19 frame, further improving the stability of the L-shaped clamp 10 and preventing lateral displacement. When clamped, the contact area between the L-shaped clamp 10 and the photovoltaic panel 19 frame is 120cm². 2 To meet stable demand and avoid damage to photovoltaic panels 19;

[0042] Step 4: The control panel controls the lifting motor 15 to descend, and the screwdriver bit 18 is inserted into the head of the bolt 21 fixed between the photovoltaic panels 19. The control panel judges the tightness of the bolt 21. When the bolt 21 is tight, the lifting motor 15 rises. When the bolt 21 is loose, the electric wrench 16 rotates forward until the bolt 21 is tightened and the lifting motor 15 rises.

[0043] Specifically, after the bit 18 is inserted into the head of the bolt 21 fixed between the photovoltaic panels 19, the electric wrench 16 reverses, and the control board compares the torque value data transmitted back by the electric wrench 16 with the standard value to determine the tightness of the bolt.

[0044] Furthermore, the control board compares the torque value data transmitted back by the electric wrench 16 with the standard torque value of the bolt 21. If the torque is 80% lower than the standard torque, it is judged as loose. The detection time for a single bolt 21 is ≤4 seconds. The torque adjustment range of the electric wrench 16 is 12-20 N·m, which is large enough to ensure that the bolt 21 can meet the wind resistance design requirements after tightening.

[0045] Step 5: Retract the clamping mechanisms 24 on both sides of the rotating gimbal 6, and repeat steps 2 to 4 until all bolts 21 have been maintained.

[0046] Specifically, when repeating steps two to four, the anemometer 5 fixed on the top of the rotating gimbal 6 monitors the wind speed in real time and transmits the wind speed data to the control board. When the control board determines that the wind speed is greater than level six, it stops the operation after completing the current cycle.

[0047] Step 6: After maintenance is completed, retract the actuator 23 and clamping mechanism 24, and return the stable mobile platform 22.

Claims

1. A BIPV photovoltaic module press block bolt fastening robot, characterized by, include: The system comprises a stable mobile platform, an actuator, and a clamping mechanism. The stable mobile platform includes a tracked mobile chassis and a rotating gimbal rotatably connected to the top of the tracked mobile chassis. The tracked mobile chassis has tracks on both sides and electrically telescopic outriggers on the other two sides. The clamping mechanism is symmetrically located on both sides of the rotating gimbal, with slide rails symmetrically located on the other two sides of the rotating gimbal. The slide rails are slidably connected to the actuator. The clamping mechanism includes a lifting column, an electric push rod, and L-shaped clamps. The lifting column is symmetrically fixed to both sides of the rotating gimbal, and the electric push rod is horizontally fixed to the top of the lifting end of the lifting column. L-shaped clamps are symmetrically slidably connected to both ends of the electric push rod. The actuator includes a lifting motor, an electric wrench, a screwdriver bit, and an industrial camera rotatably connected to the end of the actuator. The industrial camera is located above the lifting motor, the electric wrench is connected to the bottom of the lifting end of the lifting motor, and the screwdriver bit is fixed to the bottom of the electric wrench via a sleeve. An anemometer is fixed to the top of the rotating gimbal.

2. The BIPV photovoltaic module press block bolting robot according to claim 1, characterized in that, The actuator is also equipped with a slider, one end of which is slidably connected to the slide rail, and the other end of the slider is provided with a groove, in which an extension block is slidably connected. The extension block extends out of the groove, and the end of the extension block is fixed to the fixed end of the lifting motor.

3. The BIPV photovoltaic module press block bolting robot according to claim 2, characterized in that, The industrial camera is rotatably connected to the top of the extension block, where a lifting motor is fixed. The lens of the industrial camera is surrounded by a supplementary lighting ring.

4. The BIPV photovoltaic module press block bolting robot according to claim 1, wherein, The mounting planes of the electric telescopic outriggers are on the same horizontal plane, and the bottom of the electric telescopic outriggers is equipped with anti-slip pads.

Images