CN219666630U - Unmanned intelligent installation robot for photovoltaic module - Google Patents
Unmanned intelligent installation robot for photovoltaic module Download PDFInfo
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- CN219666630U CN219666630U CN202320486107.6U CN202320486107U CN219666630U CN 219666630 U CN219666630 U CN 219666630U CN 202320486107 U CN202320486107 U CN 202320486107U CN 219666630 U CN219666630 U CN 219666630U
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- 230000005611 electricity Effects 0.000 claims description 6
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- 239000010720 hydraulic oil Substances 0.000 claims description 6
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- 239000011521 glass Substances 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims 1
- 238000005336 cracking Methods 0.000 abstract description 4
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Abstract
The utility model belongs to the technical field of intelligent robots, and in particular relates to an unmanned intelligent installation robot for a photovoltaic module, which comprises the following components: the device comprises an electric crawler chassis mechanism, a vehicle body, a hydraulic supporting mechanism and a grabbing and installing mechanism; the electric crawler chassis mechanism and the hydraulic supporting mechanism are respectively movably arranged at the bottom of the vehicle body, and the grabbing and installing mechanism is arranged at the top of the vehicle body; the electric crawler chassis mechanism is suitable for driving the vehicle body to move until the vehicle body reaches the mounting station, so that the hydraulic support mechanism adjusts the vehicle body posture of the vehicle body and the grabbing and mounting mechanism is used for mounting the photovoltaic assembly; the utility model can solve the problems of hidden cracking, scratching and the like of the assembly caused by manpower in the installation process, also solves the problem of installation efficiency caused by manual lack, and greatly improves the installation efficiency and the qualification rate of the photovoltaic assembly.
Description
Technical Field
The utility model belongs to the technical field of intelligent robots, and particularly relates to an unmanned intelligent installation robot for a photovoltaic module.
Background
When the photovoltaic module is in practical application, the photovoltaic module is required to be arranged on the cross beam in an array mode, then the photovoltaic module is fastened and installed on the cross beam by utilizing the pressing block, namely, two wings of the pressing block are respectively pressed on the frames of two adjacent photovoltaic modules, and then the photovoltaic module is fastened and installed on the cross beam by utilizing bolts penetrating through the middle part of the pressing block and the cross beam.
At present, the photovoltaic module is mainly installed manually, namely the photovoltaic module is arranged on the cross beam manually, and then bolts are screwed by utilizing a spanner, so that the photovoltaic module is installed in a fastening way. Along with the increasing expansion of the total installation quantity of the global photovoltaic modules, the power and the size of the photovoltaic modules are larger, and particularly, the centralized photovoltaic power station is maximized in order to generate electricity, so that an upper-lower double-layer arrangement installation mode is adopted, and higher requirements are placed on the installation of the photovoltaic modules. When the photovoltaic modules are arranged manually, due to uneven lifting and putting down forces or manual misoperation and the like, the problems of board explosion, hidden cracking, backboard scratch and the like of the photovoltaic modules exist in the installation process, and the power generation efficiency of the photovoltaic module power station is affected seriously. Moreover, the manual installation also has the problems of high labor intensity and low installation efficiency.
Therefore, development of a new unmanned intelligent mounting robot for a photovoltaic module is needed to solve the above problems.
Disclosure of Invention
The utility model aims to provide an unmanned intelligent installation robot for a photovoltaic module.
In order to solve the technical problems, the utility model provides an unmanned intelligent installation robot for a photovoltaic module, which comprises: the device comprises an electric crawler chassis mechanism, a vehicle body, a hydraulic supporting mechanism and a grabbing and installing mechanism; the electric crawler chassis mechanism and the hydraulic supporting mechanism are respectively movably arranged at the bottom of the vehicle body, and the grabbing and installing mechanism is arranged at the top of the vehicle body; the electric crawler chassis mechanism is suitable for driving the vehicle body to move until the vehicle body reaches the installation station, so that the hydraulic support mechanism adjusts the vehicle body posture of the vehicle body and the grabbing installation mechanism is used for installing the photovoltaic assembly.
Further, the electric crawler chassis mechanism includes: a left motor controller, a right motor controller, a front driving motor and a rear driving motor; the front driving motor is electrically connected with the left motor controller, and the rear driving motor is electrically connected with the right motor controller; the left motor controller and the right motor controller respectively drive the front driving motor and the rear driving motor to rotate, so as to drive the vehicle body to move.
Further, the electric crawler chassis mechanism further includes: the high-voltage power supply comprises a high-voltage distribution box, a power battery, a vehicle-mounted inverter and a high-voltage DC-DC power supply module; the power battery, the vehicle-mounted inverter, the high-voltage DC-DC power module, the left motor controller and the right motor controller are electrically connected with the high-voltage distribution box, three-phase power generated by the diesel generator set is rectified by the vehicle-mounted charger to output high-voltage direct current or the direct current charging pile to output high-voltage direct current, and the high-voltage distribution box controls the vehicle-mounted slow charging contactor to suck so as to charge the power battery; the high-voltage distribution box controls the high-voltage DC-DC power supply module to supply power to the low-voltage DC load of the whole vehicle and charge the storage battery; the high-voltage distribution box controls the vehicle-mounted inverter to output three-phase electricity to the hydraulic supporting mechanism and the grabbing and installing mechanism; the high-voltage distribution box is suitable for controlling the left motor controller or the right motor controller to operate.
Further, the front driving motor is connected with an input shaft of a left planetary reducer through a coupler, and an output flange of the left planetary reducer is fixed with a driving wheel of a left crawler unit; the rear driving motor is connected with an input shaft of a right planetary reducer through a coupler, and an output flange of the right planetary reducer is fixed with a driving wheel of the right crawler unit; the left oil cooler is connected with an oil cooling circulation interface of the left planetary reducer, and the working temperature of the left planetary reducer is reduced through internal circulation heat dissipation of the left oil cooler; the right oil cooler is connected with the oil cooling circulation interface of the right planetary reducer, and the working temperature of the right planetary reducer is reduced by the internal circulation heat dissipation of the right oil cooler.
Further, the hydraulic support mechanism includes: the hydraulic support comprises a hydraulic motor, a hydraulic pump, a left rear hydraulic support leg, a right front hydraulic support leg and a left front hydraulic support leg; the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg are respectively positioned at four corner sides of the bottom of the vehicle body; the hydraulic motor is matched with a hydraulic pump to enable hydraulic oil to circulate at high pressure, and the hydraulic oil is output to the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg through a busbar reversing electromagnetic valve; when the vehicle body reaches the installation station under the positioning of the navigation mechanism, the navigation mechanism transmits a vehicle body posture adjusting signal to the VCU controller, so that the VCU controller controls the busbar reversing electromagnetic valve to drive the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg to descend, and corresponding pressure data is fed back to the VCU controller through the pressure sensors at the bottoms of the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg.
Further, the grasping and mounting mechanism includes: a grabbing mechanical arm unit and a mounting mechanical arm unit; the grabbing mechanical arm unit is used for grabbing and placing the photovoltaic module and is adsorbed on the surface of the photovoltaic module glass through a plurality of vacuum chucks; the installation mechanical arm unit is used for fixing the assembly support Kong Lamao, feeding the pressing block and installing screws.
Further, the grabbing mechanical arm unit is used for completing the identification and positioning of the mounting holes of the component support through carrying a visual camera, grabbing the photovoltaic component to be mounted from the photovoltaic component preloaded in the bearing mechanism through carrying a plurality of vacuum chucks, and placing the photovoltaic component to be mounted on the support through visual guidance; the rivet nut conveyed on the rivet nut vibration feeding disc is prefabricated Kong Lamao on the component support through a rivet pulling machine on the installation mechanical arm unit, the screw conveyed on the screw vibration feeding disc is conveyed to the position of a prefabricated hole of the support through a pressing block feeding machine on the installation mechanical arm unit and a gripper is started, and then the photovoltaic component is installed through a screw machine on the installation mechanical arm unit.
Further, the navigation mechanism includes: a rear GPS antenna, a front GPS antenna; the rear GPS antenna and the front GPS antenna are suitable for communicating with a ground-side GPS base station to acquire differential RTK positioning data.
Further, the navigation mechanism further includes: the three-dimensional measuring unit and the auxiliary obstacle avoidance unit; the three-dimensional measuring unit is suitable for determining three-dimensional coordinate measuring data of the measured object; the auxiliary obstacle avoidance unit is adapted to send an obstacle avoidance signal to the electric crawler chassis mechanism.
Further, a bearing mechanism is arranged at the top of the vehicle body and used for storing the photovoltaic modules.
The utility model has the beneficial effects that the problems of hidden cracking, scratching and the like of the assembly caused by manpower in the installation process can be solved, the problem of installation efficiency caused by manual lack is also solved, and the installation efficiency and the qualification rate of the photovoltaic assembly are greatly improved.
Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
In order to make the above objects, features and advantages of the present utility model more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an unmanned intelligent mounting robot for a photovoltaic module according to the present utility model;
FIG. 2 is a bottom view of the unmanned intelligent mounting robot for a photovoltaic module of the present utility model;
FIG. 3 is a top view of the unmanned intelligent mounting robot for a photovoltaic module of the present utility model;
fig. 4 is an internal structural view of the unmanned intelligent mounting robot for a photovoltaic module according to the present utility model;
FIG. 5 is a front view of the unmanned intelligent mounting robot for a photovoltaic module of the present utility model;
FIG. 6 is a functional block diagram of the electric track chassis mechanism of the present utility model;
fig. 7 is a schematic block diagram of an unmanned intelligent mounting robot for a photovoltaic module according to the present utility model.
In the figure:
1. an electric track chassis mechanism; 101. a high voltage distribution box; 102. a power battery; 103. a vehicle-mounted inverter; 104. a high voltage DC-DC power supply module; 105. a left motor controller; 106. a right motor controller; 107. a front drive motor; 108. a rear drive motor; 109. a diesel generator set; 110. a vehicle-mounted charger; 11. a left planetary reducer; 112. a left crawler unit; 113. a right planetary reducer; 114. a right crawler unit; 115. a storage battery; 116. a left oil cooler; 117. a right oil cooler; 118. a low-pressure control cabinet; 119. a main battery water cooling machine; 120. a secondary battery water cooler;
2. a vehicle body;
3. a hydraulic support mechanism; 301. a hydraulic motor; 302. a hydraulic pump; 303. left rear hydraulic leg; 304. a right rear hydraulic leg; 305. a right front hydraulic leg; 306. a left front hydraulic leg;
4. a grabbing and installing mechanism; 401. a grasping mechanical arm unit; 402. installing a mechanical arm unit; 403. vibrating the feeding disc by the rivet nut; 404. vibrating the feeding disc by a screw;
5. a carrying mechanism; 501. a carrier;
6. a navigation mechanism; 601. a rear GPS antenna; 602. a front GPS antenna; 603. a three-dimensional measurement unit; 604. and an auxiliary obstacle avoidance unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Embodiment 1, in this embodiment, as shown in fig. 1 to 7, this embodiment provides an unmanned intelligent installation robot for a photovoltaic module, which includes: an electric caterpillar chassis mechanism 1, a vehicle body 2, a hydraulic supporting mechanism 3 and a grabbing and installing mechanism 4; the electric crawler chassis mechanism 1 and the hydraulic supporting mechanism 3 are respectively movably arranged at the bottom of the vehicle body 2, and the grabbing and mounting mechanism 4 is arranged at the top of the vehicle body 2; the electric crawler chassis mechanism 1 is suitable for driving the vehicle body 2 to move until the vehicle body 2 reaches the installation station, so that the hydraulic support mechanism 3 adjusts the vehicle body posture of the vehicle body 2 and the grabbing and installing mechanism 4 is used for installing photovoltaic modules.
In the embodiment, the electric crawler chassis mechanism 1 provides power and power for an unmanned intelligent installation robot for a photovoltaic module; the hydraulic support mechanism 3 is used for adjusting the body posture of the unmanned intelligent installation robot for the photovoltaic module; the grabbing and mounting mechanism 4 is used for automatically identifying, grabbing, transplanting, riveting, mounting screws and feeding the photovoltaic modules; the bearing mechanism 5 is used for storing and positioning the photovoltaic modules; the navigation mechanism 6 is used for realizing unmanned and intelligent operation of the unmanned intelligent installation robot for the photovoltaic module.
In this embodiment, this embodiment can solve the problem such as because of artificially causing the hidden crack of subassembly, fish tail in the installation, also solves because of artifical lack leads to the installation effectiveness problem, has promoted photovoltaic module installation effectiveness and qualification rate greatly.
In the present embodiment, the electric crawler chassis mechanism 1 includes: a high-voltage distribution box 101, a power battery 102, a vehicle-mounted inverter 103, a high-voltage DC-DC power module 104, a left motor controller 105, a right motor controller 106, a front drive motor 107, and a rear drive motor 108; the power battery 102, the vehicle-mounted inverter 103, the high-voltage DC-DC power module 104, the left motor controller 105 and the right motor controller 106 are electrically connected with the high-voltage distribution box 101, the front driving motor 107 is electrically connected with the left motor controller 105, and the rear driving motor 108 is electrically connected with the right motor controller 106; the diesel generator set 109 generates and outputs three-phase electricity, the three-phase electricity is rectified by the vehicle-mounted charger 110 to output high-voltage direct current or the high-voltage direct current is output by the direct current charging pile, and the vehicle-mounted slow charging contactor is controlled to be attracted by the high-voltage distribution box 101 to charge the power battery 102; the high-voltage distribution box 101 controls the high-voltage DC-DC power module 104 to supply power to the low-voltage DC load of the whole vehicle and charge the storage battery 115; the high-voltage distribution box 101 controls the vehicle-mounted inverter 103 to output three-phase electricity to the hydraulic supporting mechanism 3 and the grabbing and installing mechanism 4; the high-voltage distribution box 101 drives the front driving motor 107 or the rear driving motor 108 to rotate by controlling the left motor controller 105 or the right motor controller 106, so as to drive the vehicle body 2 to move.
In the embodiment, a power battery 102 is used for providing power for an unmanned intelligent installation robot for a photovoltaic module, a left motor controller 105 and a right motor controller 106 are controlled by a high-voltage distribution box 101, and a front driving motor 107 and a rear driving motor 108 are controlled by the left motor controller 105 and the right motor controller 106 to move; the high-voltage DC-DC power module 104 is controlled by the high-voltage distribution box 101 to supply power to a low-voltage DC load of the unmanned intelligent installation robot for the photovoltaic module and charge the storage battery 115; the high-voltage distribution box 101 controls the vehicle-mounted inverter 103 to output a three-phase AC380V power supply to provide power for the grabbing and mounting mechanism 4 and the matched equipment; the new energy range-increasing mode is adopted for energy supply, the diesel generator set 109 generates power to output three-phase AC400V, high-voltage direct current is rectified and output through the vehicle-mounted charger 110, and the vehicle-mounted slow charging contactor is controlled to be attracted through the high-voltage distribution box 101 to charge the power battery 102.
In this embodiment, the front driving motor 107 is connected with the input shaft of the left planetary reducer 11 through a coupling, and the output flange of the left planetary reducer 11 is fixed with the driving wheel of the left crawler unit 112; the rear driving motor 108 is connected with an input shaft of the right planetary reducer 113 through a coupling, and an output flange of the right planetary reducer 113 is fixed with a driving wheel of the right crawler unit 114.
In this embodiment, the left oil cooler 116 is connected to the oil cooling circulation interface of the left planetary reducer 11, and the working temperature of the left planetary reducer 11 is reduced by the internal circulation heat dissipation of the left oil cooler 116; the right oil cooler 117 is connected with an oil cooling circulation interface of the right planetary reducer 113, and the working temperature of the right planetary reducer 113 is reduced by internal circulation heat dissipation of the right oil cooler 117.
In the present embodiment, the power battery 102 is connected to the high-voltage distribution box 101, and each load power supply control is realized by connecting the high-voltage distribution box 101 to the left motor controller 105, the right motor controller 106, the high-voltage DC-DC power module 104, the main battery water cooler 119, the sub-battery water cooler 120, the VCU controller, and the vehicle-mounted inverter 103, respectively. The VCU controller in the low-voltage control cabinet 118 of the electric crawler chassis mechanism 1 controls BMS to power up and down through a CAN bus, controls the speed of the left motor controller 105 and the right motor controller 106 to realize crawler chassis movement, controls the start and stop of the high-voltage DC-DC power supply module 104 to provide power for a low-voltage load, controls the vehicle-mounted charger 110 to realize automatic power-up wireless cruising, and controls the main battery water cooler 119 and the auxiliary battery water cooler 120 to enable the working temperature of the power battery 102 to be in a range of 20-25 degrees.
In the embodiment, the electric crawler chassis mechanism 1 is adopted to more greatly meet the control precision and response time required by unmanned driving, so that the reliability of transporting and installing the photovoltaic module of the heavy-load paving robot on a non-paving road surface is improved. In order to meet the outdoor all-weather application scene, the power battery 102 adopts a water cooling mode to enable the power battery to normally work in the environment of a high-temperature room, and the PTC heater is adopted to achieve the preheating and heating of the high-voltage lithium battery in the low-temperature environment, so that 24-hour all-weather operation can be achieved, and the installation efficiency of the photovoltaic module is greatly improved.
In the present embodiment, the hydraulic support mechanism 3 includes: a hydraulic motor 301, a hydraulic pump 302, a rear left hydraulic leg 303, a rear right hydraulic leg 304, a front right hydraulic leg 305, a front left hydraulic leg 306; the left rear hydraulic support leg 303, the right rear hydraulic support leg 304, the right front hydraulic support leg 305 and the left front hydraulic support leg 306 are respectively positioned at four corner sides of the bottom of the vehicle body 2; the hydraulic motor 301 is matched with the hydraulic pump 302 to enable hydraulic oil to circulate at high pressure, and outputs the hydraulic oil to the left rear hydraulic support leg 303, the right rear hydraulic support leg 304, the right front hydraulic support leg 305 and the left front hydraulic support leg 306 through the busbar reversing electromagnetic valve; when the vehicle body 2 arrives at the installation station under the positioning of the navigation mechanism 6, the navigation mechanism 6 sends a vehicle body posture adjusting signal to the VCU controller, so that the VCU controller controls the bus plate reversing electromagnetic valve to drive the left rear hydraulic support leg 303, the right rear hydraulic support leg 304, the right front hydraulic support leg 305 and the left front hydraulic support leg 306 to descend, and corresponding pressure data is fed back to the VCU controller through the pressure sensors at the bottoms of the left rear hydraulic support leg 303, the right rear hydraulic support leg 304, the right front hydraulic support leg 305 and the left front hydraulic support leg 306, and the vehicle posture horizontal adjustment is realized by combining with the vehicle body posture sensor.
In this embodiment, the grabbing and mounting mechanism 4 includes: a gripper arm unit 401 and an installation arm unit 402; the grabbing mechanical arm unit 401 is used for grabbing and placing the photovoltaic module, and the grabbing mechanical arm unit 401 is adsorbed on the surface of the photovoltaic module glass through a plurality of vacuum chucks; the installation mechanical arm unit 402 is used for fixing Kong Lamao the assembly bracket, loading the pressing block and installing screws.
In this embodiment, the grabbing mechanical arm unit 401 completes the identification and positioning of the mounting hole of the component bracket by carrying a vision camera, the grabbing mechanical arm unit 401 grabs the photovoltaic component to be mounted from the photovoltaic component preloaded in the bearing mechanism 5 by carrying multiple vacuum chucks, and the grabbing mechanical arm unit 401 places the photovoltaic component to be mounted on the bracket by vision guidance; the rivet nut conveyed on the rivet nut vibration feeding disc 403 is prefabricated Kong Lamao on the component support through a rivet pulling machine on the installation mechanical arm unit 402, the screw conveyed on the screw vibration feeding disc 404 is conveyed to the position of a support prefabricated hole through a pressing block feeding machine on the installation mechanical arm unit 402 and a gripper is started, and then the photovoltaic component is installed through a screw machine on the installation mechanical arm unit 402.
In this embodiment, the top of the vehicle body 2 is provided with a carrying mechanism 5.
In this embodiment, the carrying mechanism 5 includes: a number of carriers 501 for storing photovoltaic modules.
In this embodiment, the carrying mechanism 5 is used for storing a plurality of photovoltaic modules, adopts a positioning guide structure in design, is used for carrying out secondary positioning on the photovoltaic modules in a feeding link, provides positioning data for grabbing a subsequent mechanical arm, and reduces beats in the grabbing process.
In the present embodiment, the navigation mechanism 6 includes: a rear GPS antenna 601, a front GPS antenna 602; the rear GPS antenna 601, the front GPS antenna 602 are adapted to communicate with a ground-side GPS base station to obtain differential RTK positioning data.
In this embodiment, the navigation mechanism 6 further includes: a three-dimensional measurement unit 603 and an auxiliary obstacle avoidance unit 604; the three-dimensional measuring unit 603 is adapted to determine three-dimensional coordinate measurement data of the object to be measured; the auxiliary obstacle avoidance unit 604 is adapted to send an obstacle avoidance signal to the electric crawler chassis 1.
In this embodiment, the rear GPS antenna 601, the front GPS antenna 602, the three-dimensional measurement unit 603, and the auxiliary obstacle avoidance unit 604 are adopted to implement differential high-precision RTK positioning data, and autonomous navigation and autonomous operation are implemented through a preset point tracking mode, so that unmanned operation is implemented.
In conclusion, the photovoltaic module mounting method and device can solve the problems of hidden cracking, scratching and the like of the module caused by manpower in the mounting process, solve the problem of mounting efficiency caused by manual lack and greatly improve the mounting efficiency and qualification rate of the photovoltaic module.
The components (components not illustrating the specific structure) selected in the present utility model are common standard components or components known to those skilled in the art, and the structures and principles thereof are known to those skilled in the art through technical manuals or through routine experimental methods. Moreover, the software program related to the utility model is the prior art, and the utility model does not relate to any improvement on the software program.
In the description of embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided by the present utility model, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present utility model may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.
Claims (9)
1. Unmanned intelligent installation robot for photovoltaic module, its characterized in that includes:
the device comprises an electric crawler chassis mechanism, a vehicle body, a hydraulic supporting mechanism and a grabbing and installing mechanism; wherein the method comprises the steps of
The electric crawler chassis mechanism and the hydraulic supporting mechanism are respectively movably arranged at the bottom of the vehicle body, and the grabbing and installing mechanism is arranged at the top of the vehicle body;
the electric crawler chassis mechanism is suitable for driving the vehicle body to move until the vehicle body reaches the mounting station, so that the hydraulic support mechanism adjusts the vehicle body posture of the vehicle body and the grabbing and mounting mechanism is used for mounting the photovoltaic assembly;
the electric track chassis mechanism includes: a left motor controller, a right motor controller, a front driving motor and a rear driving motor;
the front driving motor is electrically connected with the left motor controller, and the rear driving motor is electrically connected with the right motor controller;
the left motor controller and the right motor controller respectively drive the front driving motor and the rear driving motor to rotate, so as to drive the vehicle body to move.
2. The unmanned intelligent installation robot for a photovoltaic module according to claim 1,
the electric crawler chassis mechanism further comprises: the high-voltage power supply comprises a high-voltage distribution box, a power battery, a vehicle-mounted inverter and a high-voltage DC-DC power supply module;
the power battery, the vehicle-mounted inverter, the high-voltage DC-DC power module, the left motor controller and the right motor controller are electrically connected with the high-voltage distribution box;
the three-phase power generated and output by the diesel generator set is rectified by the vehicle-mounted charger to output high-voltage direct current or the high-voltage direct current is output by the direct current charging pile, and the vehicle-mounted slow charging contactor is controlled to be attracted by the high-voltage distribution box to charge the power battery;
the high-voltage distribution box controls the high-voltage DC-DC power supply module to supply power to the low-voltage DC load of the whole vehicle and charge the storage battery;
the high-voltage distribution box controls the vehicle-mounted inverter to output three-phase electricity to the hydraulic supporting mechanism and the grabbing and installing mechanism;
the high-voltage distribution box is suitable for controlling the left motor controller or the right motor controller to operate.
3. The unmanned intelligent mounting robot for a photovoltaic module according to claim 2,
the front driving motor is connected with an input shaft of the left planetary reducer through a coupler, and an output flange of the left planetary reducer is fixed with a driving wheel of the left crawler unit;
the rear driving motor is connected with an input shaft of a right planetary reducer through a coupler, and an output flange of the right planetary reducer is fixed with a driving wheel of the right crawler unit;
the left oil cooler is connected with an oil cooling circulation interface of the left planetary reducer, and the working temperature of the left planetary reducer is reduced through internal circulation heat dissipation of the left oil cooler;
the right oil cooler is connected with the oil cooling circulation interface of the right planetary reducer, and the working temperature of the right planetary reducer is reduced by the internal circulation heat dissipation of the right oil cooler.
4. The unmanned intelligent installation robot for a photovoltaic module according to claim 1,
the hydraulic support mechanism includes: the hydraulic support comprises a hydraulic motor, a hydraulic pump, a left rear hydraulic support leg, a right front hydraulic support leg and a left front hydraulic support leg;
the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg are respectively positioned at four corner sides of the bottom of the vehicle body;
the hydraulic motor is matched with a hydraulic pump to enable hydraulic oil to circulate at high pressure, and the hydraulic oil is output to the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg through a busbar reversing electromagnetic valve;
when the vehicle body reaches the installation station under the positioning of the navigation mechanism, the navigation mechanism transmits a vehicle body posture adjusting signal to the VCU controller, so that the VCU controller controls the busbar reversing electromagnetic valve to drive the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg to descend, and corresponding pressure data is fed back to the VCU controller through the pressure sensors at the bottoms of the left rear hydraulic support leg, the right front hydraulic support leg and the left front hydraulic support leg.
5. The unmanned intelligent installation robot for a photovoltaic module according to claim 1,
the grabbing and mounting mechanism comprises: a grabbing mechanical arm unit and a mounting mechanical arm unit;
the grabbing mechanical arm unit is used for grabbing and placing the photovoltaic module and is adsorbed on the surface of the photovoltaic module glass through a plurality of vacuum chucks;
the installation mechanical arm unit is used for fixing the assembly support Kong Lamao, feeding the pressing block and installing screws.
6. The unmanned intelligent installation robot for a photovoltaic module according to claim 5,
the grabbing mechanical arm unit is used for completing the identification and positioning of the mounting holes of the component bracket through carrying a visual camera, grabbing the photovoltaic component to be mounted from the photovoltaic component preloaded in the bearing mechanism through carrying a plurality of vacuum chucks, and placing the photovoltaic component to be mounted on the bracket through visual guidance;
the rivet nut conveyed on the rivet nut vibration feeding disc is prefabricated Kong Lamao on the component support through a rivet pulling machine on the installation mechanical arm unit, the screw conveyed on the screw vibration feeding disc is conveyed to the position of a prefabricated hole of the support through a pressing block feeding machine on the installation mechanical arm unit and a gripper is started, and then the photovoltaic component is installed through a screw machine on the installation mechanical arm unit.
7. The unmanned intelligent installation robot for a photovoltaic module according to claim 4,
the navigation mechanism includes: a rear GPS antenna, a front GPS antenna;
the rear GPS antenna and the front GPS antenna are suitable for communicating with a ground-side GPS base station to acquire differential RTK positioning data.
8. The unmanned intelligent installation robot for a photovoltaic module according to claim 7,
the navigation mechanism further includes: the three-dimensional measuring unit and the auxiliary obstacle avoidance unit;
the three-dimensional measuring unit is suitable for determining three-dimensional coordinate measuring data of the measured object;
the auxiliary obstacle avoidance unit is adapted to send an obstacle avoidance signal to the electric crawler chassis mechanism.
9. The unmanned intelligent installation robot for a photovoltaic module according to claim 1,
the top of automobile body is provided with bearing mechanism to be used for depositing photovoltaic module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117260672A (en) * | 2023-11-23 | 2023-12-22 | 天合光能股份有限公司 | Photovoltaic panel installation robot and photovoltaic panel installation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117260672A (en) * | 2023-11-23 | 2023-12-22 | 天合光能股份有限公司 | Photovoltaic panel installation robot and photovoltaic panel installation method |
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