Photovoltaic installation robot device

Abstract

The application relates to a photovoltaic installation robot device, which comprises a walking vehicle body, a lifting mechanism, a turnover mechanism, a bearing mechanism and a mechanical arm. The lifting mechanism is connected to the walking vehicle body, the turnover mechanism is connected to the lifting mechanism, and the bearing mechanism is connected to the turnover mechanism. The lifting mechanism can drive the turnover mechanism and the bearing mechanism to lift, the turnover mechanism can drive the bearing mechanism to turn over by a preset angle, and the bearing mechanism is used for bearing a photovoltaic panel. The mechanical arm is connected to the lifting mechanism, and an execution end of the mechanical arm is used for grabbing the photovoltaic panel. The photovoltaic installation robot device of the application integrates the functions of forking, lifting, turning over and grabbing in one, does not need external equipment to cooperate with feeding and installation, solves the problems of single function and fragmented process of the existing equipment, improves the overall efficiency of photovoltaic panel installation, and reduces the operation cost and the risk of manual intervention.

Description

Technical Field

[0001] This application relates to the field of photovoltaic panel installation technology, and in particular to a photovoltaic installation robot device. Background Technology

[0002] With the large-scale application and development of photovoltaic power generation technology, the component installation process in the construction of photovoltaic power plants is evolving towards automation and intelligence. Photovoltaic installation robots have emerged to replace manual labor, aiming to improve installation efficiency and reduce operating costs and risks.

[0003] In related technologies, existing photovoltaic installation equipment generally suffers from low integration. For example, one type of photovoltaic panel transport and installation vehicle has independent functions such as fork flipping, material transfer, and robotic arm installation, resulting in cumbersome workflows and difficulties in collaboration. Another type of photovoltaic panel flipping device has even simpler functions, only capable of flipping and unable to independently complete tasks such as moving, picking up, and installing.

[0004] Therefore, existing photovoltaic installation robot equipment has limited functionality and fragmented process links. The loading process often requires the cooperation of external forklifts, and it fails to integrate the functions of forking, lifting, and flipping, resulting in a complex overall operation process and high equipment costs. Utility Model Content

[0005] Therefore, it is necessary to provide a photovoltaic installation robot to address the issue of limited functionality in some existing photovoltaic installation robot equipment.

[0006] This application provides a photovoltaic installation robot device, the photovoltaic installation robot device comprising:

[0007] Walking vehicle body;

[0008] The vehicle includes a lifting mechanism, a tilting mechanism, and a carrying mechanism. The lifting mechanism is connected to the vehicle body, the tilting mechanism is connected to the lifting mechanism, and the carrying mechanism is connected to the tilting mechanism. The lifting mechanism can drive the tilting mechanism and the carrying mechanism to rise and fall, and the tilting mechanism can drive the carrying mechanism to tilt at a preset angle. The carrying mechanism is used to carry photovoltaic panels.

[0009] A robotic arm is connected to the lifting mechanism, and the actuator of the robotic arm is used to grasp the photovoltaic panel.

[0010] In one embodiment, the lifting mechanism includes a lifting drive and a four-bar linkage. The output end of the lifting drive is connected to one of the links of the four-bar linkage, causing the four-bar linkage to move and drive the tilting mechanism and the load-bearing mechanism to rise and fall.

[0011] In one embodiment, the four-bar linkage includes a first link, a second link, a lifting platform, and the frame of the vehicle body;

[0012] One end of the first link and one end of the second link are rotatably connected to the vehicle frame, respectively;

[0013] The other ends of the first connecting rod and the other ends of the second connecting rod are rotatably connected to the two ends of the lifting platform, respectively.

[0014] The fixed part of the lifting drive component is rotatably connected to the vehicle frame, and the output end of the lifting drive component is rotatably connected to the first connecting rod.

[0015] In one embodiment, the photovoltaic installation robot equipment further includes a locking plate and a lock cylinder. The locking plate is rotatably connected to the second linkage and has upwardly inclined teeth. The lock cylinder is mounted on the frame and can engage with the teeth. The teeth are configured to form a locking engagement with the lock cylinder under gravity to prevent the four-bar linkage from moving downward.

[0016] In one embodiment, the flipping mechanism includes a flipping table and a flipping drive, the flipping table being rotatably connected to the lifting platform, the output end of the flipping drive being rotatably connected to the flipping table, and the flipping drive being configured to drive the flipping table to rotate relative to the lifting platform through its telescopic movement.

[0017] In one embodiment, the photovoltaic installation robot equipment further includes a turntable, which includes a fixed part and a rotating part. The fixed part is connected to the flipping table, and the rotating part is connected to the carrying mechanism. The turntable is configured to drive the carrying mechanism to rotate about a bearing surface perpendicular to the carrying mechanism.

[0018] In one embodiment, the bearing surface includes a bearing disk, a first set of forks and a second set of forks, wherein the first set of forks is located on the first side of the two adjacent sides of the bearing disk, and the second set of forks is located on the second side of the two adjacent sides of the bearing disk.

[0019] In one embodiment, at least two teeth in the first set of forks are configured to slide relative to the bearing plate to adjust the spacing between adjacent forks; and / or,

[0020] At least two of the second set of forks are configured to slide relative to the bearing plate to adjust the spacing between two adjacent forks.

[0021] In one embodiment, the carrier tray includes a tray back panel and a sub-back panel, the sub-back panel being detachably connected to the tray back panel.

[0022] In one embodiment, the photovoltaic installation robot equipment further includes a suction cup mounted on the execution end of the robotic arm, the suction cup being used to adsorb the photovoltaic panel.

[0023] The aforementioned photovoltaic installation robot equipment uses a mobile chassis as its foundation, allowing the equipment to flexibly reach the photovoltaic panel installation area. A lifting mechanism connects the mobile chassis to a tilting mechanism, which can lift and lower the tilting and carrying mechanisms, enabling the transfer and docking of photovoltaic panels at different heights. The tilting mechanism is connected to the carrying mechanism, which supports the photovoltaic panels. The tilting mechanism tilts the carrying mechanism to a preset angle, adapting to the different angles required for photovoltaic panels during installation. Simultaneously, the robotic arm connected to the lifting mechanism can directly grab the photovoltaic panels from the carrying mechanism and complete the installation operation. This photovoltaic installation robot equipment integrates forking, lifting, tilting, and grabbing functions, eliminating the need for external equipment for loading and installation. It solves the problems of limited functionality and fragmented processes in existing equipment, improving the overall efficiency of photovoltaic panel installation and reducing operating costs and the risk of manual intervention. Attached Figure Description

[0024] Figure 1 This is a first-view structural schematic diagram of the photovoltaic installation robot equipment provided in the embodiments of this application.

[0025] Figure 2 This is a second-view structural schematic diagram of the photovoltaic installation robot equipment provided in the embodiments of this application.

[0026] Figure 3 This is a schematic diagram of the lock cylinder being engaged with the hook teeth according to an embodiment of this application.

[0027] Figure 4 This is a schematic diagram of the flipping mechanism provided in an embodiment of this application.

[0028] Figure 5 This is a schematic diagram of the structure of a turntable mounted on a flipping platform according to an embodiment of this application.

[0029] Figure 6 This is a schematic diagram of the connection between the tilting table and the carrier plate provided in an embodiment of this application.

[0030] Figure label:

[0031] 100. Vehicle body; 110. Chassis; 120. Tracks;

[0032] 200. Lifting mechanism; 210. Lifting drive component; 220. First link; 230. Second link; 240. Lifting platform;

[0033] 300. Tilting mechanism; 310. Tilting table; 320. Tilting drive component;

[0034] 400. Carrying tray; 410. Pallet back panel; 420. Secondary back panel;

[0035] 500. Robotic arm;

[0036] 610. First set of fork teeth; 620. Second set of fork teeth;

[0037] 700. Locking plate; 710. Hook tooth; 720. Lock cylinder;

[0038] 800, turntable;

[0039] 900, suction cup. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0042] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0046] This application provides a photovoltaic installation robot device, such as... Figures 1 to 6 As shown, the photovoltaic installation robot equipment includes:

[0047] The vehicle body is 100 meters long.

[0048] The lifting mechanism 200, the tilting mechanism 300, and the carrying mechanism are provided. The lifting mechanism 200 is connected to the traveling vehicle body 100, the tilting mechanism 300 is connected to the lifting mechanism 200, and the carrying mechanism is connected to the tilting mechanism 300. The lifting mechanism 200 can drive the tilting mechanism 300 and the carrying mechanism to lift and lower, and the tilting mechanism 300 can drive the carrying mechanism to tilt to a preset angle.

[0049] Robotic arm 500 is connected to lifting mechanism 200. The actuator of robotic arm 500 is used to grasp photovoltaic panels.

[0050] The aforementioned photovoltaic installation robot equipment uses a mobile chassis 100 as its base for movement, allowing the equipment to flexibly reach the photovoltaic panel installation area. A lifting mechanism 200 connects the mobile chassis 100 to a tilting mechanism 300. The lifting mechanism 200 can drive the tilting mechanism 300 and the carrying mechanism to move up and down, thereby enabling the transfer and docking of photovoltaic panels at different heights. The tilting mechanism 300 is connected to the carrying mechanism, which carries the photovoltaic panels. The tilting mechanism 300 drives the carrying mechanism to tilt at a preset angle, adapting to the different angles required for photovoltaic panels during installation. Simultaneously, the robotic arm 500 connected to the lifting mechanism 200 can directly grab the photovoltaic panels on the carrying mechanism and complete the installation operation through its execution end. This photovoltaic installation robot equipment integrates forking, lifting, tilting, and grabbing functions, eliminating the need for external equipment for material loading and installation. It solves the problems of single-function and fragmented processes in existing equipment, improving the overall efficiency of photovoltaic panel installation and reducing operating costs and the risk of manual intervention.

[0051] In this embodiment, as Figure 1 and Figure 2 As shown, the vehicle body 100 includes a frame 110 and a track 120 connected together. The lifting mechanism 200 is connected to the frame 110, and the track 120 can drive the frame 110 to move.

[0052] In one embodiment, such as Figures 1 to 6 As shown, the lifting mechanism 200 includes a lifting drive component 210 and a four-bar linkage assembly. The output end of the lifting drive component 210 is connected to one of the links of the four-bar linkage assembly, causing the four-bar linkage assembly to move and drive the tilting mechanism 300 and the load-bearing mechanism to rise and fall. The lifting drive component 210 provides power for the movement of the four-bar linkage assembly, which in turn acts as a transmission structure to convert the power of the drive component into lifting action. Compared to the lifting method using a single drive rod, the four-bar linkage assembly can distribute the force, preventing the tilting mechanism 300 and the load-bearing mechanism from swaying or shifting during the lifting process.

[0053] In this embodiment, the lifting drive component 210 is a hydraulic cylinder. In other embodiments, the lifting drive component 210 may also be a pneumatic cylinder.

[0054] In one embodiment, such as Figures 1 to 6 As shown, the four-bar linkage includes a first link 220, a second link 230, a lifting platform 240, and a frame 110 of the vehicle body 100; one end of the first link 220 and one end of the second link 230 are rotatably connected to the frame 110; the other end of the first link 220 and the other end of the second link 230 are rotatably connected to the two ends of the lifting platform 240; the fixed part of the lifting drive 210 is rotatably connected to the frame 110, and the output end of the lifting drive 210 is rotatably connected to the first link 220.

[0055] The first link 220, the lifting platform 240, the second link 230, and the frame 110 are sequentially rotatably connected. The four-bar structure with multiple rotatable connections forms a stable quadrilateral transmission mechanism, ensuring that the lifting platform 240 remains horizontal during lifting and lowering, thus avoiding the risk of photovoltaic panels slipping due to tilting of the load-bearing mechanism caused by lifting and lowering. Moreover, the fixed part of the lifting drive component 210 is rotatably connected to the frame 110, and the output end is rotatably connected to the first link 220. The lifting drive component 210 drives the first link 220 to rotate, thereby driving the entire four-bar assembly to move. The power transmission is more uniform, which can effectively reduce the stress load on individual components.

[0056] In this embodiment, as Figures 1 to 6 As shown, the lifting platform 240 has an inverted L-shaped structure, and the first connecting rod 220 and the second connecting rod 230 are respectively connected to the two ends of the lifting platform 240 with the inverted L-shaped structure.

[0057] In one embodiment, such as Figure 3 As shown, the photovoltaic installation robot equipment also includes a locking plate 700 and a lock cylinder 720. The locking plate 700 is rotatably connected to the second link 230, and the locking plate 700 has upwardly inclined hook teeth 710. The lock cylinder 720 is located on the frame 110 and can engage with the hook teeth 710. The hook teeth 710 are configured to form a locking engagement with the lock cylinder 720 under the action of gravity to prevent the four-bar linkage assembly from moving downward. By setting the locking plate 700 and the lock cylinder 720, when the lifting mechanism 200 drives the lifting platform 240 to rise to the target height, under the action of gravity, the hook teeth 710 on the locking plate 700 will automatically engage with the lock cylinder 720 on the frame 110 to form a mechanical lock, preventing the four-bar linkage assembly from moving downward due to external force or its own gravity, avoiding accidental descent of the lifting platform 240 that could damage the photovoltaic panels or cause a safety accident. This locking method does not require additional power drive and can achieve automatic locking by relying on gravity, reducing energy consumption.

[0058] In this embodiment, as Figure 3 As shown, the latching tooth 710 includes a connected sliding part and multiple slots, which are arranged at intervals. The lock cylinder 720 can be selectively engaged with one of the slots.

[0059] Understandably, the locking plate 700 has upwardly inclined teeth 710, which, under the action of gravity, form a locking engagement with the lock cylinder 720 to prevent the four-bar linkage assembly from moving downward. When the equipment needs to be lowered to adjust its height, the lock cylinder 720 can be manually moved to disengage it from the slot of the teeth 710 and slide it into the groove, thus achieving manual unlocking.

[0060] In one embodiment, such as Figure 4As shown, the flipping mechanism 300 includes a flipping table 310 and a flipping drive 320. The flipping table 310 is rotatably connected to the lifting platform 240, and the output end of the flipping drive 320 is rotatably connected to the flipping table 310. The flipping drive 320 is configured to drive the flipping table 310 to rotate relative to the lifting platform 240 through its telescopic movement. The flipping table 310 serves as the connecting carrier between the flipping mechanism 300 and the supporting mechanism. The rotatable connection between the flipping table 310 and the lifting platform 240 provides the basis for the flipping action. The flipping drive 320 directly drives the flipping table 310 to rotate through its telescopic movement, meeting the angle requirements of the photovoltaic panel under different installation postures.

[0061] In this embodiment, the tilting drive 320 is a hydraulic cylinder. In other embodiments, the tilting drive 320 may also be a pneumatic cylinder.

[0062] In one embodiment, such as Figure 5 and Figure 6 As shown, the photovoltaic installation robot equipment also includes a turntable 800, which includes a fixed part and a rotating part. The fixed part is connected to the tilting platform 310, and the rotating part is connected to the carrying mechanism. The turntable 800 is configured to drive the carrying mechanism to rotate around a bearing surface perpendicular to the carrying mechanism. By setting the turntable 800 on the tilting platform 310, and connecting the tilting platform 310 to the carrying mechanism via the turntable 800, the turntable 800 enables the rotation adjustment of the carrying mechanism in a direction perpendicular to the bearing surface of the carrying mechanism. After the tilting mechanism 300 completes the angle tilting of the photovoltaic panel, the turntable 800 can drive the carrying mechanism to rotate, adjusting the photovoltaic panel so that it can be aligned with the installation position. This eliminates the need to move the entire traveling vehicle 100 to adjust the horizontal orientation of the photovoltaic panel, reducing the number of equipment movements and improving installation positioning efficiency. At the same time, the turntable 800 makes the posture adjustment of the photovoltaic panel more flexible, meeting the installation needs of photovoltaic brackets with different arrangements, and expanding the applicability of the equipment.

[0063] In one embodiment, such as Figure 6 As shown, the supporting mechanism includes a supporting disk 400, a first set of forks 610, and a second set of forks 620. The first set of forks 610 is located on the first of two adjacent sides of the supporting disk 400, and the second set of forks 620 is located on the second of two adjacent sides of the supporting disk 400. The supporting disk 400 is connected to the flipping table 310 of the flipping mechanism 300. The first set of forks 610 and the second set of forks 620 are respectively located on two adjacent sides of the supporting disk 400, limiting the photovoltaic panel from both adjacent sides, preventing the photovoltaic panel from shifting laterally or longitudinally on the supporting disk 400, and improving the supporting stability of the photovoltaic panel.

[0064] Compared to a single set of forks that only limits movement from one side, two sets of forks on adjacent sides can better adapt to the rectangular structure of the photovoltaic panel, making the photovoltaic panel more regularly placed on the support plate 400. This provides a good foundation for the subsequent precise grasping of the photovoltaic panel by the robotic arm 500 and reduces grasping deviation.

[0065] In this embodiment, the carrier plate 400 is a cuboid structure. In other embodiments, the carrier plate 400 can be adjusted to any shape according to actual operational needs, such as pentagon, hexagon or even more.

[0066] In this embodiment, the carrier plate 400 is connected to the tilting table 310 via the turntable 800.

[0067] In one embodiment, such as Figure 6 As shown, at least two forks in the first set of forks 610 are configured to slide relative to the support plate 400 to adjust the spacing between adjacent forks; and / or, at least two forks in the second set of forks 620 are configured to slide relative to the support plate 400 to adjust the spacing between adjacent forks. By adjusting the fork spacing of the first set of forks 610 and / or the second set of forks 620, the support mechanism can adapt to photovoltaic panels of different sizes and specifications. When the size of the photovoltaic panel changes, there is no need to replace the forks; only the fork spacing needs to be adjusted by sliding the forks, thus improving the equipment's compatibility with different types of photovoltaic panels.

[0068] In this embodiment, as Figure 6 As shown, the first set of fork teeth 610 includes two fork teeth, and the second set of fork teeth 620 includes two fork teeth. In other embodiments, the number of fork teeth in the first set of fork teeth 610 and / or the second set of fork teeth 620 is set according to actual operational needs, such as three, four, or even more.

[0069] In one embodiment, please refer to the reference. Figure 1 and Figure 2 The carrier tray 400 includes a tray back plate 410 and a sub-back plate 420, with the sub-back plate 420 detachably connected to the tray back plate 410. The detachable design of the sub-back plate 420 allows the carrier tray 400 to be adjusted according to actual needs. For example, when supporting larger photovoltaic panels, the sub-back plate 420 can be added to increase the supporting area; when supporting smaller photovoltaic panels, the sub-back plate 420 can be removed.

[0070] In one embodiment, such as Figure 1 and Figure 2As shown, the photovoltaic installation robot also includes a suction cup 900 mounted on the execution end of the robotic arm 500, which is used to adsorb photovoltaic panels. By using the suction cup 900 to grip the photovoltaic panels, compared with traditional mechanical clamping methods, it avoids squeezing or scratching the surface of the photovoltaic panels, protecting their appearance and performance; at the same time, the suction cup 900 can be adjusted to adapt to photovoltaic panels of different weights.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A photovoltaic installation robot device, characterized in that, The photovoltaic installation robot equipment includes: Walking vehicle body (100); The vehicle includes a lifting mechanism (200), a tilting mechanism (300), and a carrying mechanism. The lifting mechanism (200) is connected to the vehicle body (100), the tilting mechanism (300) is connected to the lifting mechanism (200), and the carrying mechanism is connected to the tilting mechanism (300). The lifting mechanism (200) can drive the tilting mechanism (300) and the carrying mechanism to rise and fall. The tilting mechanism (300) can drive the carrying mechanism to tilt at a preset angle. The carrying mechanism is used to carry photovoltaic panels. A robotic arm (500) is connected to the lifting mechanism (200), and the actuator of the robotic arm (500) is used to grasp the photovoltaic panel.

2. The photovoltaic installation robot equipment according to claim 1, characterized in that, The lifting mechanism (200) includes a lifting drive (210) and a four-bar linkage. The output end of the lifting drive (210) is connected to one of the links of the four-bar linkage, so that the four-bar linkage moves to drive the tilting mechanism (300) and the bearing mechanism to lift.

3. The photovoltaic installation robot equipment according to claim 2, characterized in that, The four-bar linkage includes a first link (220), a second link (230), a lifting platform (240), and the frame (110) of the traveling vehicle (100); One end of the first link (220) and one end of the second link (230) are rotatably connected to the frame (110); The other end of the first connecting rod (220) and the other end of the second connecting rod (230) are respectively rotatably connected to the two ends of the lifting platform (240); The fixed part of the lifting drive (210) is rotatably connected to the frame (110), and the output end of the lifting drive (210) is rotatably connected to the first connecting rod (220).

4. The photovoltaic installation robot equipment according to claim 3, characterized in that, The photovoltaic installation robot equipment also includes a locking plate (700) and a lock cylinder (720). The locking plate (700) is rotatably connected to the second link (230). The locking plate (700) is provided with an upwardly inclined hook tooth (710). The lock cylinder (720) is located on the frame (110) and can be engaged with the hook tooth (710). The hook tooth (710) is configured to form a locking engagement with the lock cylinder (720) under the action of gravity to prevent the four-bar linkage from moving downward.

5. The photovoltaic installation robot equipment according to claim 3 or 4, characterized in that, The flipping mechanism (300) includes a flipping table (310) and a flipping drive (320). The flipping table (310) is rotatably connected to the lifting platform (240). The output end of the flipping drive (320) is rotatably connected to the flipping table (310). The flipping drive (320) is configured to drive the flipping table (310) to rotate relative to the lifting platform (240) through its telescopic movement.

6. The photovoltaic installation robot equipment according to claim 5, characterized in that, The photovoltaic installation robot equipment also includes a turntable (800), which includes a fixed part and a rotating part. The fixed part is connected to the flipping table (310), and the rotating part is connected to the bearing mechanism. The turntable (800) is configured to drive the mechanism to rotate about a bearing surface perpendicular to the bearing mechanism.

7. The photovoltaic installation robot equipment according to claim 1, characterized in that, The bearing mechanism includes a bearing disk (400), a first set of forks (610) and a second set of forks (620). The first set of forks (610) is located on the first side of the two adjacent sides of the bearing disk (400), and the second set of forks (620) is located on the second side of the two adjacent sides of the bearing disk (400). The bearing disk (400) is connected to the flipping mechanism (300).

8. The photovoltaic installation robot equipment according to claim 7, characterized in that, At least two of the first set of fork teeth (610) are configured to slide relative to the bearing plate (400) to adjust the spacing between two adjacent fork teeth; And / or, At least two of the forks in the second set of forks (620) are configured to slide relative to the bearing plate (400) to adjust the spacing between two adjacent forks.

9. The photovoltaic installation robot equipment according to claim 7, characterized in that, The carrying tray (400) includes a tray back plate (410) and a sub-back plate (420), the sub-back plate (420) being detachably connected to the tray back plate (410).

10. The photovoltaic installation robot equipment according to claim 1, characterized in that, The photovoltaic installation robot equipment also includes a suction cup (900) installed on the execution end of the robotic arm (500), the suction cup (900) being used to adsorb the photovoltaic panel.

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