CN115890609A - Photovoltaic module configuration equipment, photovoltaic module installation method and photovoltaic module maintenance method - Google Patents

Abstract

The invention relates to the technical field of photovoltaics, and discloses photovoltaic module configuration equipment, a photovoltaic module installation method and a photovoltaic module maintenance method. The photovoltaic module configuration equipment comprises a running vehicle and an execution device; the running vehicle comprises a vehicle body and a supporting device, wherein the executing device is connected with the vehicle body, and the supporting device is used for supporting the photovoltaic module; the actuating device comprises a mechanical arm and an actuating mechanism arranged at the tail end of the mechanical arm, and the actuating mechanism is configured to be capable of disassembling and/or maintaining the photovoltaic assembly. This photovoltaic module configuration equipment passes through automobile body, supporting device and final controlling element's cooperation, can integrate photovoltaic module's transport, dismouting and maintenance function, and degree of automation is high, and use equipment is few, is favorable to reduce cost.

Description

Photovoltaic module configuration equipment, photovoltaic module installation method and photovoltaic module maintenance method

Technical Field

The invention relates to the technical field of photovoltaics, in particular to photovoltaic module configuration equipment, a photovoltaic module installation method and a photovoltaic module maintenance method.

Background

Photovoltaic modules are continuously developed towards high power, and the size of the modules is also increased. Traditional photovoltaic module size is less, and one is moved and is adopted artifical transport installation. Along with the grow of photovoltaic module size, photovoltaic module weight also increases thereupon, and generally can take the mode of double perpendicular dress or multirow horizontal dress to install photovoltaic module on the mounting bracket among the ground power station, photovoltaic module terrain clearance is higher this moment, lifts photovoltaic module through artifical transport and manual work and installs comparatively labouring.

Therefore, mechanical equipment is adopted in the industry to cooperate to complete the carrying, the installation and the maintenance of the photovoltaic module, but the carrying, the installation and the maintenance need to adopt corresponding equipment independently, so that the equipment cost is increased.

Therefore, a photovoltaic module arrangement apparatus is needed to solve the above problems.

Disclosure of Invention

An object of the present invention is to provide a photovoltaic module configuration device, which can realize the transportation, disassembly, assembly, and maintenance of a photovoltaic module, and reduce the cost of the device.

In order to achieve the purpose, the invention adopts the following technical scheme:

a photovoltaic module deployment apparatus comprising:

the operation vehicle comprises a vehicle body and a supporting device, wherein the supporting device is connected with the vehicle body and is used for supporting the photovoltaic module;

the executing device is arranged on the vehicle body and comprises a mechanical arm and an executing mechanism arranged at the tail end of the mechanical arm, and the executing mechanism is configured to be capable of disassembling and/or maintaining the photovoltaic module.

Through automobile body, supporting device and final controlling element's cooperation, can integrate photovoltaic module's transport and installation maintenance function, degree of automation is high, and the use equipment is few, is favorable to reduce cost.

Wherein the actuator mechanism comprises at least two actuator assemblies, and the end of the robotic arm is configured to selectively mount at least one of the actuator assemblies.

According to the arrangement, the required execution assembly can be selectively installed according to the requirement, so that the function of the photovoltaic assembly configuration equipment is increased.

The executing device further comprises a switching mechanism, the switching mechanism comprises a first switching part and a second switching part which are detachably connected, the first switching part is arranged at the tail end of the mechanical arm, and each executing assembly is correspondingly connected with the second switching part.

The disassembly and assembly of the execution assembly and the mechanical arm are realized through the switching mechanism, and the operation is convenient.

One of the first switching part and the second switching part is provided with a threaded mounting hole, the other one of the first switching part and the second switching part is provided with a threaded mounting column, and the threaded mounting column is in threaded fit with the threaded mounting hole;

or the first switching part and the second switching part are clamped and fixed;

or the first switching part and the second switching part are fixed through a fastening piece.

Adopt above-mentioned mode to realize the detachable connections of first switching portion and second switching portion, simple structure.

Wherein the actuator comprises:

the rotating seat is rotatably arranged at the tail end of the mechanical arm;

the executing assemblies are arranged on the rotating seat and are circularly arranged around the rotating center of the rotating seat, so that any one executing assembly rotates to a working position along with the rotating seat.

Through the roating seat rotation, realize the switching of executive component, do not need the dismouting, convenient operation, it is efficient.

Wherein, the execution component is a grabbing component, an electric screw driver, a spraying component or a cleaning brush.

The above-mentioned executive component can realize grabbing, dismounting and cleaning functions of the photovoltaic component respectively.

The photovoltaic module configuration equipment further comprises a visual positioning mechanism, the visual positioning mechanism is arranged on the mechanical arm and is configured to acquire three-dimensional coordinates of the supporting device, the photovoltaic module on the supporting device and the preset installation position, and the mechanical arm moves according to the three-dimensional coordinates.

Through setting up vision positioning mechanism, can improve the work precision of photovoltaic module configuration equipment to guarantee photovoltaic module's installation accuracy.

Wherein, the supporting device includes:

the supporting component is used for supporting the photovoltaic component;

and the driving mechanism is arranged on the vehicle body and can drive the bearing component to lift, horizontally move and/or turn relative to the vehicle body.

Through the removal of actuating mechanism drive bearing subassembly realization bearing photovoltaic module, the automobile body need not remove, and efficiency is higher.

Wherein the drive mechanism comprises:

the translational driving component can drive the bearing component to lift and/or reciprocate along a first horizontal direction, and the first horizontal direction is the arrangement direction of the vehicle body and the bearing device;

and/or the overturning driving component can drive the bearing component to rotate around an axis extending along a second horizontal direction, and the second horizontal direction is vertical to the first horizontal direction.

The photovoltaic component can be conveniently forked by arranging the translation driving component; through setting up upset drive assembly, can reduce photovoltaic module's focus, improve the stability in the handling.

Wherein the tumble drive assembly includes:

the fixed seat can rotate around an axis extending along the second horizontal direction relative to the vehicle body, and the supporting device is installed on the fixed seat;

the telescopic driving part is hinged to the vehicle body, and the telescopic end of the telescopic driving part is hinged to the fixing seat.

The overturning driving assembly is simple in structure.

The automobile body is provided with an avoiding notch, and the overturning driving assembly can drive the bearing assembly to rotate so as to enable at least part of the photovoltaic assembly to be located in the avoiding notch.

The avoiding notch is arranged, so that the size of the photovoltaic module configuration equipment during carrying of the photovoltaic module can be reduced, and the photovoltaic module configuration equipment is more flexible to move.

Wherein the holding assembly comprises:

a mounting frame;

the fork tooth group comprises at least two fork teeth which are arranged on the mounting rack in parallel at intervals;

the side keeps off the subassembly with the mounting bracket or the prong, the fork tooth group lies in two side keeps off the subassembly between opposite setting two.

Through setting up two side fender subassemblies, can prevent that the photovoltaic module on the bearing subassembly from empting.

Wherein the distance between the two side stop assemblies is adjustable.

Through adjusting the distance between two side fender subassemblies, can compatible not unidimensional photovoltaic module.

Wherein, the side keeps off the subassembly and includes:

a mount configured to be reciprocally movable in a horizontal direction perpendicular to the length direction of the tine;

the side blocking piece is arranged on the mounting seat.

Through the slip of mount pad, drive the side and keep off the piece and remove, can adjust the distance between two side fender subassemblies, simple structure.

Wherein the side stop is pivotally connected to the mounting base such that the side stop is able to pivot about an axis extending along the length of the tine.

By adjusting the angle of the side stopper, the side stopper can be prevented from interfering with the matching of the fork teeth and the photovoltaic module.

Wherein, one side that the top surface of mount pad was kept away from the prong is provided with the mounting groove, the side keeps off the piece rotate set up in the mounting groove, the top surface of mount pad with the top surface parallel and level of prong.

The top surface of mount pad can support photovoltaic module jointly with the prong cooperation, improves the stability that photovoltaic module placed.

Another object of the present invention is to provide a photovoltaic module installation method and a photovoltaic module maintenance method, which can reduce the number of devices used and reduce the cost.

A photovoltaic module installation method applies the photovoltaic module configuration equipment, and the photovoltaic module installation, operation and maintenance method comprises the following steps:

the vehicle body moves to a position where the photovoltaic module is to be installed;

the supporting device supports the photovoltaic module to be installed, and the vehicle body moves to a position near a preset installation position;

and the executing device is used for installing the photovoltaic assembly.

A photovoltaic module maintenance method applies the photovoltaic module configuration equipment and comprises the following steps:

the vehicle body moves to a photovoltaic module to be maintained;

and the executing device maintains the photovoltaic module.

The invention has the beneficial effects that:

the photovoltaic module configuration equipment provided by the invention can integrate the carrying, dismounting and maintaining functions of the photovoltaic module through the matching of the vehicle body, the supporting device and the executing device, has high automation degree and few used equipment, and is beneficial to reducing the cost.

The photovoltaic module installation method and the photovoltaic module maintenance method adopt the photovoltaic module configuration equipment, can finish the carrying, dismounting and maintenance of the photovoltaic module, use less equipment and are beneficial to reducing the cost.

Drawings

Fig. 1 is a schematic structural diagram of a photovoltaic module configuration device according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a transition mechanism provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a vacuum adsorption assembly according to an embodiment of the present invention;

FIG. 4 is a schematic view of a support apparatus according to one embodiment of the present invention showing only one side of the side rail;

fig. 5 is a schematic structural diagram of an actuator according to a second embodiment of the present invention.

In the figure:

1. a vehicle body; 2. a supporting device; 21. a holding assembly; 211. a mounting frame; 212. a tine; 2121. a guide surface; 213. a side shield assembly; 2131. a mounting seat; 2132. a side stopper; 2133. a side gear driving member; 22. a drive mechanism; 221. a translational drive assembly; 222. a turnover drive assembly; 3. an execution device; 31. a mechanical arm; 32. an actuator; 321. a rotating base; 322. an execution component; 3221. a substrate; 3222. a suction cup; 33. a transfer mechanism; 331. a first transition portion; 3311. a threaded mounting hole; 332. a second switching part; 3321. and (4) mounting the column by screw threads.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

The embodiment provides a photovoltaic module configuration equipment, can be used for transport, installation and maintenance photovoltaic module to solve the big, heavy artifical transport, installation and the hard problem of maintenance that leads to of photovoltaic module size. It should be noted that the photovoltaic module configuring apparatus in this embodiment may also be used for building materials such as roof glass, color steel roof, and the like.

As shown in fig. 1, the photovoltaic module installation apparatus includes a running vehicle including a vehicle body 1 and a holding device 2, and an actuator 3. The vehicle body 1 serves as a structural carrier for the supporting device 2 and the actuator 3 and can be moved as required. Supporting device 2 is connected with automobile body 1 for hold up the photovoltaic module of treating the installation, so that carry photovoltaic module under the drive of automobile body 1. The executing device 3 is arranged on the vehicle body 1, the executing device 3 comprises a mechanical arm 31 and an executing mechanism 32 arranged at the tail end of the mechanical arm 31, the mechanical arm 31 can drive the executing mechanism 32 to move, and the executing mechanism 32 can realize the dismounting and/or maintenance of the photovoltaic module.

In this embodiment, photovoltaic module configuration equipment passes through automobile body 1, supporting device 2 and the cooperation of final controlling element 3, can replace artifical transport, installation and the maintenance of accomplishing photovoltaic module, and after photovoltaic module size grow, the heaviness, can reduce the human consumption to the at utmost to bring very big convenience for photovoltaic module's operation, porter's when labour saving and time saving security improves by a wide margin.

Optionally, the robot arm 31 is a multi-axis robot arm 31, and includes a plurality of transmission joints to increase the degree of freedom of the end of the robot arm 31, so that the actuating device 3 mounted at the end of the robot arm 31 can move more flexibly to meet the requirements of grabbing and mounting.

Illustratively, the mechanical arm 31 may be a six-axis mechanical arm 31, and the six-axis mechanical arm 31 has more degrees of freedom and more flexible movement.

Preferably, at least one transmission joint in the mechanical arm 31 can be extended and retracted, so that the length of the mechanical arm 31 can be adjusted according to actual needs, and the use needs can be better met.

It should be noted that the robot arm 31 is a common structure in the prior art, and the robot arm 31 in this embodiment may adopt any structure in the prior art, and this embodiment will not be described in detail.

Alternatively, the vehicle body 1 may be moved by a worker during driving, or may be driven automatically.

Alternatively, the vehicle body 1 may be a running vehicle with off-road capability to accommodate the installation environment of the photovoltaic module.

Alternatively, the vehicle body 1 may be moved by rotating wheels or by tracks, and the specific moving manner may be determined according to actual needs of the working environment.

To accomplish the installation of the photovoltaic module, the actuator 32 includes at least two actuators 322, and the end of the robot 31 is configured to selectively install at least one actuator 322 to complete the installation of the photovoltaic module by cooperation of the plurality of actuators 322.

In order to replace the actuating components 322, as shown in fig. 2, the actuating device 3 further includes an adapting mechanism 33, the adapting mechanism 33 includes a first adapting portion 331 and a second adapting portion 332 that are detachably connected, the first adapting portion 331 is disposed at the end of the robot arm 31, and each actuating component 322 is correspondingly connected to the second adapting portion 332. When the actuator 322 needs to be replaced, the second adapter 332 currently connected to the first adapter 331 is removed, and the second adapter 332 corresponding to the required actuator 322 is installed. Through the selective cooperation of a first switching portion 331 and a plurality of second switching portions 332, can make things convenient for different executive component 322 and arm 31 dismouting, convenient operation.

In this embodiment, the first adaptor portion 331 is provided with a threaded mounting hole 3311, the second adaptor portion 332 is provided with a threaded mounting post 3321, and the threaded mounting post 3321 is in threaded engagement with the threaded mounting hole 3311. First switching portion 331 and second switching portion 332 realize the dismouting through the mode of twisting, convenient operation, simple structure. It is understood that the threaded mounting holes 3311 may be disposed on the second adaptor portion 332, and correspondingly, the threaded mounting posts 3321 are disposed on the first adaptor portion 331, and the first adaptor portion 331 and the second adaptor portion 332 may be assembled and disassembled by screwing.

In some embodiments, the first adaptor portion 331 is snap-fit with the second adaptor portion 332. It should be noted that the clamping connection is a common clamping manner in the prior art, and the first adaptor portion 331 and the second adaptor portion 332 may adopt any clamping structure in the prior art, which is not described in detail herein.

In some embodiments, the first adaptor portion 331 and the second adaptor portion 332 are fixedly connected by a fastener such as a screw.

Optionally, at least two installation positions are arranged on the first transfer portion 331, and each installation position is used for installing the second transfer portion 332 on the corresponding executing component 322, so that the tail end of the mechanical arm 31 can simultaneously install at least two executing components 322, and the executing components 322 do not need to be replaced when the photovoltaic component is installed, and therefore, the operation is more convenient, and the installation efficiency is high.

Specifically, the actuating assembly 322 in the actuating mechanism 32 includes a grasping assembly and a power driver. The grabbing component is used for grabbing the photovoltaic components on the bearing device 2 one by one, the photovoltaic components are placed to the preset installation positions through the movement of the mechanical arm 31, and the electric screw driver is used for screwing screws so as to fix the photovoltaic components to the preset installation positions.

Specifically, the grabbing component is a vacuum adsorption component, the photovoltaic component is fixed in a vacuum adsorption mode, the photovoltaic component can be prevented from being damaged, and the quality of the photovoltaic component is guaranteed. As shown in fig. 3, the vacuum suction assembly includes a base plate 3221 and a plurality of suction cups 3222 disposed on the base plate 3221, and the suction cups 3222 are connected to a vacuum pump on the vehicle body 1 through a vacuum connection pipeline. It should be noted here that, for the vacuum connection pipeline of the present embodiment, the vacuum connection pipeline may be distributed along the robot arm 31, and specifically, the vacuum connection pipeline may be bound to the robot arm 31, so as to avoid the redundant pipeline from affecting the use of the actuator 32. On the basis, in order to avoid that the use stability of the vacuum connecting pipeline is influenced in the moving process of the plurality of transmission joints of the mechanical arm 31, the vacuum connecting pipeline of the embodiment adopts a flexible pipeline, and a margin suitable for the vacuum connecting pipeline to move along with the movement of the transmission joints is reserved between the vacuum connecting pipeline and the plurality of transmission joints of the mechanical arm 31, so that the vacuum connecting pipeline is prevented from being torn by the movement of the transmission joints.

For conveniently changing the actuating component 322, the base plate 3221 is provided with a joint detachably assembled with a vacuum connecting pipeline, the base plate 3221 is further provided with a plurality of communicating passages therein, each sucker 3222 is connected with the joint through the corresponding communicating passage, the joint is detachably connected with the vacuum connecting pipeline, when the vacuum adsorption component is required to be detached, only the joint is detached from the vacuum connecting pipeline, the vacuum connecting pipeline can still be fixed on the mechanical arm 31, so that the disassembling and assembling steps are simplified, and the actuating component 322 is conveniently changed according to actual needs.

It should be noted here that any quick coupling in the prior art can be adopted as the coupling, and the quick coupling can be connected or disconnected with the pipeline without tools, so that the operation is convenient.

Further, a plurality of suction cups 3222 may be distributed on the substrate 3221 in a matrix, so that the suction cups 3222 are uniformly distributed, which contributes to better and firm absorption of the photovoltaic module.

In some embodiments, the suction cup 3222 may be a magnetic suction cup that magnetically attracts the photovoltaic module.

In order to facilitate the power-on of the electric screw driver and control the start and stop of the electric screw driver, the executing device 3 further comprises a connecting terminal, the connecting terminal comprises a male terminal and a female terminal which are matched in a plug-in mode, the male terminal is arranged on the mechanical arm 31 and is connected with a power supply and a controller on the vehicle body 1 through a wire, and the female terminal is connected with the electric screw driver through a wire. When the electric screw driver is installed at the tail end of the mechanical arm 31, the electric screw driver is connected with a power supply and a controller on the vehicle body 1 through the matching of the male terminal and the female terminal, so that the electric screw driver is controlled to start and stop according to requirements.

It can be understood that each actuating component 322 that needs to be powered on is correspondingly provided with a female terminal, and when the actuating component 322 is installed at the end of the mechanical arm 31, the female terminal and the male terminal are matched to realize electric conduction and electric signal connection.

In addition, the package outside the component stack can be detached through the sharp edge of the electric screwdriver when the electric screwdriver is started, manual detachment of the package is not needed, and automation and installation efficiency are further improved.

For conveniently snatching the subassembly and snatching range upon range of photovoltaic module and confirm and predetermine the mounted position, and be convenient for electric bottle opener set screw's the position of screwing up, actuating mechanism 32 still includes vision positioning mechanism, vision positioning mechanism sets up on arm 31 and is connected with arm 31 electricity, vision positioning mechanism is configured as the positional information that can gather photovoltaic module on the supporting device 2 and predetermine the positional information of mounted position, arm 31 moves according to vision positioning mechanism's testing result, in order to fix a position the photovoltaic module that waits to snatch and predetermine the mounted position, thereby improve snatching and mounted position precision of photovoltaic module.

Specifically, vision positioning mechanism can measure supporting device 2 and the spatial position of predetermineeing the mounted position, establishes the three-dimensional coordinate system that corresponds to it waits the photovoltaic module's that snatchs position and this photovoltaic module correspond and predetermine the mounted position definitely to mechanical arm 31 can accomplish the space according to the coordinate and remove, so that whole photovoltaic module configuration equipment has higher efficiency and installation accuracy. The visual positioning mechanism comprises an image acquisition module and an analysis and calculation module, the image acquisition module is used for acquiring image information, the image acquisition module can comprise a CCD (charge coupled device) camera, and the analysis and calculation module is used for analyzing the image information acquired by the image acquisition module and establishing a three-dimensional coordinate system so that the mechanical arm 31 can complete space movement according to coordinates.

It should be noted that the visual positioning mechanism is a mature technology in the field, and the visual positioning mechanism in this embodiment may adopt any specific structure in the prior art, and the structure and principle of the visual positioning mechanism are not described in detail here.

It can be understood that, the photovoltaic module configuration equipment in this embodiment can also be used for disassembling the photovoltaic module, and the disassembling process is opposite to the installing process, that is, the photovoltaic module is disassembled from the preset installing position by using the electric screw driver, the photovoltaic module is grabbed by the grabbing component and placed in the supporting device 2, and the disassembled photovoltaic module is carried to the specified position by moving the vehicle body 1.

As shown in fig. 4, the supporting device 2 includes a supporting member 21 and a driving mechanism 22, and the driving mechanism 22 is disposed on the vehicle body 1 and is used for driving the supporting member 21 to move so as to stably support the photovoltaic module. The photovoltaic module is placed on the two cushion blocks which are oppositely arranged, so that the bottom surface of the photovoltaic module is arranged at intervals with the ground. When the photovoltaic module needs to be carried, the driving mechanism 22 drives the supporting component 21 to descend and horizontally extend out, so that the supporting component 21 extends into a gap between the bottom of the photovoltaic module and the ground. The holding member 21 is then driven to rise to hold the photovoltaic device. Finally, the driving mechanism 22 is retracted horizontally, and the supporting member 21 drives the photovoltaic module placed thereon to move. When the photovoltaic module needs to be carried, the supporting component 21 is driven to move through the driving mechanism 22, the vehicle body 1 does not need to move, the flexibility of the photovoltaic module configuration equipment can be improved, and the efficiency of carrying the photovoltaic module is also improved. When automobile body 1 removed, bearing subassembly 21 was in the withdrawal state, can reduce the size of photovoltaic module configuration equipment, made the automobile body 1 motion more nimble, and supporting device 2 is more stable.

Specifically, the driving mechanism 22 comprises a translational driving component 221, and the translational driving component 221 can drive the supporting component 21 to ascend and descend and reciprocate along the first horizontal direction. The first horizontal direction is an arrangement direction of the vehicle body 1 and the supporting device 2, i.e., an X direction shown in fig. 4.

In this embodiment, the translation driving assembly 221 includes a horizontal driving structure and a lifting driving structure.

The horizontal driving structure comprises a telescopic cylinder, the bearing component 21 is arranged on a piston rod of the telescopic cylinder, and reciprocating movement of the bearing component 21 in the X direction is achieved through reciprocating movement of the piston rod.

In other embodiments, the horizontal drive structure may be a lead screw nut structure, a rack and pinion structure, or a hydraulic cylinder.

The lift drive structure is used for driving bearing component 21 to go up and down to adjust the height of bearing component 21, make bearing component 21 can stretch into smoothly between photovoltaic module and the ground, or make bearing component 21 can rise with bearing photovoltaic module.

Optionally, the lifting drive structure comprises a cylinder, a hydraulic cylinder, a lead screw nut structure or a rack and pinion structure.

In some embodiments, the translational driving assembly 221 only includes a lifting driving structure, and the carriage body 1 drives the supporting assembly 21 to move, so that the supporting assembly 21 can extend between the photovoltaic module and the ground.

In some embodiments, the translation drive assembly 221 may include only horizontal drive structures.

In some embodiments, the driving mechanism 22 only includes the flipping driving component 222, and the photovoltaic module can be placed on the supporting component 21 and then flipped over by other methods.

In some embodiments, the drive mechanism 22 may include only the translational drive assembly 221 to perform the function of the forking photovoltaic assembly.

Before the photovoltaic module is installed, a plurality of photovoltaic modules are stacked and placed in a packaging box, and for convenience of introduction, the stacked photovoltaic modules are called as module stacks hereinafter. To prevent the stack on the support unit 21 from tipping during movement of the car body 1, the support unit 21 comprises a mounting frame 211, a set of tines comprising two tines 212, and two side stop members 213 disposed opposite each other. Two tines 212 are spaced on the mounting bracket 211 and the stack is carried by the base to improve the stability of the stack. Each fork tooth 212 is connected with a side blocking component 213, two fork teeth 212 are positioned between the two side blocking components 213, the component stack is positioned between the two side blocking components 213, and the side blocking components 213 can limit the position of the component stack from two sides to avoid the side tilting of the component stack.

In some embodiments, more than two tines 212 may be provided, with the outermost two tines 212 each being connected to a side stop assembly 213, which may improve stability when handling the stack of assemblies by providing more than two tines 212.

In some embodiments, the side stop assemblies 213 may be disposed on the mounting bracket 211 so long as the position of the stack is limited by the opposing sides.

In order to further improve the limiting effect on the component stack, the side blocking component 213 is provided with a limiting groove adapted to the component stack. When the stack is positioned between the side stops 213, the edge of the stack can snap into the retaining groove, which prevents the stack from rolling or sliding.

To avoid the side stop assembly 213 from affecting the lifting of the stack by the tines 212, the side stop assembly 213 comprises a mounting seat 2131 and a side stop 2132, the mounting seat 2131 is connected with the tines 212, and one end of the side stop 2132 is pivotally connected to the mounting seat 2131, so that the side stop 2132 can rotate around an axis extending in the length direction of the tines 212. By turning the side stops 2132, the distance between the two side stops 2132 can be changed so that the stack of components can enter smoothly between the two side stops 2132. The side stop 2132 may be a plate or a frame.

Illustratively, the side barrier 2132 and the mounting seat 2131 may be hinged by a pivot shaft, and a hinge with damping is connected between the side barrier 2132 and the mounting seat 2131, so that the side barrier 2132 can stay at any position relative to the mounting seat 2131.

Illustratively, a rotating shaft is fixed on the side barrier 2132, the rotating shaft is rotatably connected to the mounting seat 2131, and the side barrier assembly 213 further includes a rotation driving member for driving the side barrier 2132 to rotate relative to the mounting seat 2131, so as to achieve automatic adjustment of the angle of the side barrier 2132. The rotation driving member may be a motor, and the motor is in transmission connection with the rotating shaft to drive the rotating shaft to rotate, so as to rotate the side stopping member 2132.

Further, the top surface of mount 2131 is flush with the top surface of tine 212. Through the top surface with mount 2131 set up to the top surface parallel and level with prong 212, mount 2131 can support the subassembly buttress jointly with prong 212 cooperation to the area of contact with the subassembly buttress increases, is favorable to guaranteeing the stability of subassembly buttress on bearing subassembly 21.

Further, one end of the top surface of the mounting seat 2131, which is away from the fork teeth 212, is provided with a mounting groove, one end of the side blocking piece 2132 is rotatably disposed in the mounting groove, and when the side blocking piece 2132 is rotated to the horizontal state, the top surface of the side blocking piece 2132 is flush with the top surface of the mounting seat 2131, so as to prevent the side blocking piece 2132 from interfering the stack of components to move onto the fork teeth 212.

In addition, the side stops 2132 on both sides can be adjusted in position between the side stops 2132 by pushing on the stack during rotation to the upright position so that the stack can be placed more smoothly on the tines 212.

To allow the racking assembly 21 to accommodate stacks of different sizes, the distance between the two side stops 2132 is adjustable. In particular, the mount 2131 is configured to be reciprocally movable in a horizontal direction perpendicular to the length direction of the tine 212 to adjust the distance between the two side stops 2132.

Optionally, the mount 2131 may be slidably connected to the tines 212 and can be secured to the tines 212 by fasteners to adjust the distance between the side stops 2132. The mounting seat 2131 can be connected with the fork teeth 212 in a sliding mode through a guide rail slider assembly and is fixed through a bolt nut assembly.

In this embodiment, in order to realize the automatic adjustment of the side blocking pieces 2132, the side blocking assembly 213 further includes side blocking driving pieces 2133, the side blocking driving pieces 2133 are disposed on the fork teeth 212 and can drive the mounting seat 2131 to reciprocate along a direction perpendicular to the length direction of the fork teeth 212, so as to adjust the distance between the two side blocking pieces 2132, thereby being compatible with stacks of assemblies with different sizes.

Alternatively, the side gear driving element 2133 may be a linear driving element such as a linear motor, an air cylinder, a hydraulic cylinder, a screw nut structure, a rack and pinion structure, etc.

To facilitate the insertion of the tines 212 into the bottom of the stack, the top of the front ends of the tines 212 are provided with guide surfaces 2121, the guide surfaces 2121 being inclined upwardly from the ends of the tines 212 towards the mounting block 211, the bottom surface of the stack being able to slide along the guide surfaces 2121 to facilitate the insertion and abutment of the tines 212 into the bottom surface of the stack.

The photovoltaic modules in the module stack are vertically arranged, and the short edges extend horizontally, so that the height of the module stack is larger. For making the handling in the subassembly buttress more stable, and make things convenient for final controlling element 3 to install, bearing device 2 is after bearing subassembly buttress, with subassembly buttress upset 90 degrees for photovoltaic module's long limit extends along the horizontal direction, reduces the whole height of subassembly buttress, with the stability of improvement subassembly buttress in the handling, and is favorable to follow-up final controlling element 3 to operate.

Specifically, the driving mechanism 22 further includes a flipping driving assembly, the flipping driving assembly 222 is disposed at an output end of the translational driving assembly 221 and connected to the supporting assembly 21, and the flipping driving assembly 222 is configured to drive the supporting assembly 21 to rotate around an axis extending along a second horizontal direction, where the second horizontal direction is perpendicular to the first horizontal direction, i.e., a Y direction shown in fig. 4. After the turnover driving unit 222 drives the supporting unit 21 to rotate, the mounting frame 211 is switched from the vertically extending state to the horizontally extending state, the fork teeth 212 are switched from the horizontally extending state to the vertically extending state, and the stack of units is placed on the mounting frame 211, so as to prevent the stack of units from being separated from the supporting device 2.

The turnover driving component 222 comprises a fixed seat and a telescopic driving component, the fixed seat is arranged on the vehicle body 1 and can rotate around an axis extending along the second horizontal direction relative to the vehicle body 1, and the supporting component 21 is mounted on the fixed seat through a translational driving component 221; the flexible driving piece is articulated with automobile body 1, and the flexible end of flexible driving piece is articulated with the fixing base, through the flexible of flexible driving piece, can drive the relative automobile body 1 rotation of fixing base to drive bearing subassembly 21 and rotate, so that realize the upset of subassembly buttress.

In other embodiments, the telescopic driving member may also adopt other structures, such as a motor, and the fixing base is driven to rotate by the motor.

Further, in order to reduce the size of the photovoltaic module configuration equipment along the X direction, an avoiding notch is formed in the vehicle body 1, and the overturning driving component 222 can drive the supporting component 21 to rotate, so that at least part of the component stack is located in the avoiding notch.

Example two

The present embodiment provides a photovoltaic module arrangement apparatus, which is different from the first embodiment in the specific structure of the actuator 32.

As shown in fig. 5, the actuator 32 includes a rotary base 321 and at least two actuating components 322 disposed on the rotary base 321, the rotary base 321 is rotatably disposed at the end of the robot 31, and the at least two actuating components 322 are circularly arranged around the rotation center of the rotary base 321. When the rotary seat 321 rotates, any one of the execution assemblies 322 can rotate to the working position along with the rotary seat 321, so that the purpose of switching the functions of different execution assemblies 322 is realized on the basis of not replacing the execution assemblies 322.

Optionally, the rotating base 321 includes a base body and a rotating motor, the rotating motor is disposed at the end of the mechanical arm 31, an output shaft of the rotating motor is connected to the base body to drive the base body to rotate, and the executing assembly 322 is disposed on the base body.

EXAMPLE III

The embodiment provides a photovoltaic module installation method, which adopts the photovoltaic module configuration device in the first embodiment or the second embodiment, and specifically, the photovoltaic module installation method includes:

1. the vehicle body 1 is moved to the position of a component stack to be installed;

2. the supporting device 2 supports the component stack, and the vehicle body 1 moves to the position near the photovoltaic component mounting platform;

specifically, the translational drive assembly 221 drives the support assembly 21 to extend to the bottom of the stack to support the stack; then, the translational driving assembly 221 drives the bearing assembly 21 to drive the assembly stack to retract, and the side blocking pieces 2132 rotate to be vertical, so as to ensure the stability of the assembly stack in the transportation process.

The turnover driving assembly 222 drives the assembly stack to turn 90 degrees, so that the long edge of the photovoltaic assembly in the assembly stack extends along the horizontal direction, and the actuator 32 can grasp the photovoltaic assembly conveniently. The motorized screwdriver on the robotic arm 31 is activated and the package outside the stack is removed by the sharp edge of the motorized screwdriver.

3. The executing device 3 grabs the photovoltaic module on the bearing device 2 and installs the photovoltaic module to be installed at a preset installation position.

Specifically, the vision positioning mechanism acquires the coordinates of the photovoltaic module and the coordinates of the preset mounting position, and the mechanical arm 31 moves according to the coordinates acquired by the vision positioning mechanism, so that the grabbing component grabs the photovoltaic module one by one and places the grabbing component at the preset mounting position, and the electric screw driver screws the screw at the preset position, thereby fixing the photovoltaic module.

And repeating the steps until the photovoltaic module on the bearing device 2 is installed.

Example four

The embodiment provides a photovoltaic module configuration device, which is further improved on the basis of the first embodiment or the second embodiment, so that the photovoltaic module configuration device has a function of cleaning a photovoltaic module.

Photovoltaic module uses in the open air, and the dust is piled up inevitably, normally carries out twice at least and washs the maintenance one year, for this reason, photovoltaic module configuration equipment can also realize the automatic washing to photovoltaic module, maintains photovoltaic module's high generated energy.

Specifically, the actuating assembly 322 further comprises at least one of a spray assembly and a cleaning brush. Water can be sprayed to the photovoltaic module through the spraying component so as to wash dirt on the surface of the photovoltaic module. The cleaning brush can contact with the surface of the photovoltaic module and move relatively, dirt on the surface of the photovoltaic module can be cleaned, and the cleaning effect is good.

In this embodiment, spray assembly and cleaning brush can set up simultaneously in the end of mechanical arm 31, and spray assembly can be to spray water or cleaner on the cleaning brush, through the cooperation of spray assembly and cleaning brush, improves clean effect.

When needs explain here, spray assembly leads to pipe and communicates with water pump and water tank in proper order for spray assembly provides the spraying liquid, and the water pipe can be fixed on arm 31, and the water pipe passes through quick-operation joint and spray assembly dismouting, in order to improve dismouting efficiency.

Alternatively, the waterbox may be placed on the holding assembly 21 to shorten the distance between the waterbox and the end of the robot arm 31. In other embodiments, the water tank may be provided on the vehicle body 1.

Alternatively, the spray assembly may be a water gun and the cleaning brush may be a cleaning roll brush.

EXAMPLE five

The present embodiment provides a photovoltaic module maintenance method, which adopts the photovoltaic module configuration device in the fourth embodiment. Specifically, the photovoltaic module maintenance method comprises the following steps:

1. the vehicle body 1 moves to the mounted photovoltaic module;

2. the execution assembly 322 at the end of the mechanical arm 31 is replaced by a spraying assembly and a cleaning brush, the spraying assembly or the cleaning brush is rotated to a working position through the rotation of the rotary base 321, the spraying assembly sprays liquid to the surface of the cleaning brush and/or the photovoltaic assembly, and the cleaning brush moves along the photovoltaic assembly to clean dirt on the surface of the photovoltaic assembly.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (18)

1. A photovoltaic module configuring apparatus, comprising:

the operation vehicle comprises a vehicle body (1) and a supporting device (2), wherein the supporting device (2) is connected with the vehicle body (1) and is used for supporting the photovoltaic module;

the actuating device (3) is arranged on the vehicle body (1), the actuating device (3) comprises a mechanical arm (31) and an actuating mechanism (32) arranged at the tail end of the mechanical arm (31), and the actuating mechanism (32) is configured to be capable of dismounting and/or maintaining the photovoltaic module.

2. The pv module configuration device according to claim 1, wherein the actuator (32) comprises at least two actuators (322), and the end of the robot arm (31) is configured to selectively mount at least one of the actuators (322).

3. The photovoltaic module configuration device according to claim 2, wherein the actuator (3) further comprises an adapter mechanism (33), the adapter mechanism (33) comprises a first adapter portion (331) and a second adapter portion (332) which are detachably connected, the first adapter portion (331) is disposed at a distal end of the robot arm (31), and the second adapter portion (332) is correspondingly connected to each actuator (322).

4. The pv module deployment apparatus according to claim 3, wherein one of the first transition portion (331) and the second transition portion (332) has a threaded mounting hole (3311) and the other has a threaded mounting post (3321), the threaded mounting post (3321) being threadably engaged with the threaded mounting hole (3311);

or the first transfer part (331) and the second transfer part (332) are clamped and fixed;

or the first transfer part (331) and the second transfer part (332) are fixed through a fastener.

5. The photovoltaic module configuring device according to claim 1, wherein the actuator (32) comprises:

the rotating seat (321), the rotating seat (321) is rotatably arranged at the tail end of the mechanical arm (31);

the actuating components (322) are arranged on the rotating base (321) and are circularly arranged around the rotating center of the rotating base (321), so that any actuating component (322) can rotate to a working position along with the rotating base (321).

6. The pv module configuration device according to one of claims 2 to 5, wherein the actuating module (322) is a gripper module, a motor-driven screwdriver, a shower module or a cleaning brush.

7. The pv module configuration device according to any of claims 1-5, further comprising a visual positioning mechanism disposed on the robotic arm (31), the visual positioning mechanism configured to acquire three-dimensional coordinates of the holding device (2), the pv module, and a predetermined mounting location, the robotic arm (31) moving according to the three-dimensional coordinates.

8. Photovoltaic module arrangement apparatus according to any of claims 1-5, characterized in that the holding device (2) comprises:

a holding member (21) for holding the photovoltaic member;

the driving mechanism (22) is arranged on the vehicle body (1), and the driving mechanism (22) can drive the bearing component (21) to lift, horizontally move and/or turn relative to the vehicle body (1).

9. The photovoltaic module arrangement according to claim 8, wherein the drive mechanism (22) comprises:

the translational driving component (221), the translational driving component (221) can drive the bearing component (21) to lift and/or reciprocate along a first horizontal direction, and the first horizontal direction is the arrangement direction of the car body (1) and the bearing device (2);

and/or a turnover drive assembly (222), wherein the turnover drive assembly (222) can drive the bearing assembly (21) to rotate around an axis extending along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

10. The photovoltaic module deployment apparatus of claim 9 wherein the tumble drive module (222) comprises:

the fixed seat can rotate around an axis extending along the second horizontal direction relative to the vehicle body (1), and the supporting device (2) is installed on the fixed seat;

the telescopic driving part is hinged to the vehicle body (1), and the telescopic end of the telescopic driving part is hinged to the fixing seat.

11. The pv module deployment apparatus according to claim 9, wherein the car body (1) is provided with an escape opening, and the flipping drive unit (222) is capable of rotating the support unit (21) to position at least a portion of the pv module in the escape opening.

12. The photovoltaic module arrangement according to claim 8, characterized in that the holding module (21) comprises:

a mounting frame (211);

a fork tooth group comprising at least two fork teeth (212) which are arranged on the mounting rack (211) in parallel and at intervals;

two side fender subassemblies (213) that set up oppositely, side fender subassembly (213) with mounting bracket (211) or prong (212) are connected, the fork tooth group is located two side fender subassemblies (213) between.

13. The pv module arrangement according to claim 12, wherein the distance between the two side barrier modules (213) is adjustable.

14. The photovoltaic module arrangement according to claim 12, wherein the side barrier module (213) comprises:

a mount (2131), the mount (2131) configured to be reciprocally movable in a horizontal direction perpendicular to a longitudinal direction of the tine (212);

and a side stopper (2132) arranged on the mounting seat (2131).

15. The photovoltaic module configuring device according to claim 14, wherein the side stops (2132) are pivotally connected to the mounting seat (2131) such that the side stops (2132) are pivotable about an axis extending in the length direction of the tines (212).

16. The photovoltaic module deployment apparatus of claim 15, wherein a side of the top surface of the mounting seat (2131) remote from the tines (212) is provided with a mounting groove, the side stop (2132) is rotatably disposed in the mounting groove, and the top surface of the mounting seat (2131) is flush with the top surface of the tines (212).

17. A photovoltaic module installation method using the photovoltaic module arrangement apparatus according to any one of claims 1 to 16, the photovoltaic module installation method comprising:

the vehicle body (1) moves to a photovoltaic module to be installed;

the supporting device (2) supports the photovoltaic module to be installed, and the vehicle body (1) moves to a position close to a preset installation position;

the execution device (3) is used for installing the photovoltaic assembly.

18. A photovoltaic module maintenance method, characterized in that the photovoltaic module configuration apparatus according to any one of claims 1 to 16 is applied, the photovoltaic module maintenance method comprising:

the vehicle body (1) is moved to a photovoltaic assembly to be maintained;

an execution device (3) maintains the photovoltaic module.

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