Photovoltaic panel gripping robot with detection device

Abstract

The application provides a photovoltaic panel grabbing manipulator with a detection device, belongs to the technical field of photovoltaic panel application, and has a base which is a multi-axis manipulator, further comprises a grabbing assembly and a detection assembly, the grabbing assembly comprises a grabbing plane; the detection device comprises a sensor base, a sensor and a sliding assembly; the detection end of the sensor is connected with the sliding assembly; the sliding assembly comprises a fixed block and a moving shaft, the moving shaft can slide in the sliding groove of the fixed block, and the lower end of the moving shaft has a detection plane. The photovoltaic panel grabbing manipulator with the detection device has the advantages that the sensor structure is arranged, whether the photovoltaic panel is grabbed can be monitored in real time, the situation that there are residual materials in the conveying process is reduced, and the conveying efficiency of the photovoltaic panel is improved.

Description

Technical Field

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

[0002] Mechanical fingers are automated devices that mimic certain movements of the human hand and arm to grasp, move objects, or operate tools according to a fixed program. They mainly consist of three parts: an actuator, a drive mechanism, and a control system. They can replace humans in heavy labor to achieve mechanization and automation of production, and are widely used in machinery manufacturing, light industry, and nuclear energy sectors. Based on the drive method, they can be classified into hydraulic, pneumatic, electric, and mechanical types. Their key feature is that they can be programmed to complete various expected tasks, and their structure and performance combine the advantages of both humans and machines.

[0003] Currently, during the process of using robotic arms to grasp and solidify photovoltaic panels, material residue is easily left on the carrier. Removing this residue requires stopping the entire conveying process for adjustments, impacting the solidification efficiency of the photovoltaic panels. Therefore, in order to monitor for any residual material on the carrier in real time during the robotic arm grasping process, there is an urgent need for a photovoltaic panel grasping robotic arm with a detection device. However, common non-contact distance or position detection sensors are not easy to use because the main body of the photovoltaic panel is a light-absorbing material. Therefore, targeted improvements are needed for both the robotic arm and the detection device. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a photovoltaic panel gripping robot with a detection device and its application. By setting up a photoelectric sensor structure, it can monitor in real time whether there is any residual material on the carrier, reducing the occurrence of residual material during the transportation process, thereby improving the transportation efficiency of photovoltaic panels.

[0005] To achieve the above objectives, the present invention provides A photovoltaic panel gripping robot with a detection device, the base of which is a multi-axis robot, and also includes gripping components and a detection device; The grasping component includes a grasping plane; The detection device includes a sensor base, a sensor, and a sliding assembly; the detection end of the sensor is connected to the sliding assembly. The sliding assembly includes a fixed block and a movable shaft. The movable shaft is capable of sliding within a sliding groove of the fixed block, and the lower end of the movable shaft has a detection plane. When the gripping plane is attached to the photovoltaic panel, the moving axis is located at a first position, and the position of the detection plane is the first detection position; When the gripping plane is attached to the photovoltaic panel tooling, the moving axis is located in the second position, and the position of the detection plane is the second detection position.

[0006] Preferably, the gripping assembly further includes a horizontal frame and vacuum suction cups; the lower part of the horizontal frame is provided with a plurality of vacuum suction cups and the detection device; the gripping plane is the plane where the vacuum suction cups are located.

[0007] Preferably, the detection device includes a first detection component and a second detection component; the sensor base of the first detection component is mounted on the horizontal frame, and the sensor of the first detection component is a limit switch or a position detection sensor.

[0008] Preferably, the sensor base of the second detection component is also mounted on the horizontal frame, and the sensor of the second detection component is a groove-type photoelectric switch, with a baffle mounted on the moving shaft of the second detection component.

[0009] Preferably, a circumferential limiting structure is provided between the moving axis of the second detection component and the corresponding fixed block.

[0010] Preferably, the sensor base of the second detection component is an adjustable base, which is connected to the horizontal frame and the sensor through the first and second sliding locking mechanisms, respectively.

[0011] Preferably, the multi-axis manipulator is a gantry-type truss manipulator, and the grasping component is installed at the movable end of the manipulator.

[0012] Preferably, a rotary mechanism is further provided between the movable end of the robotic arm and the gripping component; the rotary mechanism includes a rack, a gear and a linear motion mechanism; the movable end of the linear motion mechanism is fixedly connected to the rack; the rack meshes with the gear, and the gear shaft is fixedly connected to the gripping component.

[0013] Preferably, the gear is provided with a limiting paddle, and at least one limiting cylinder is provided within the range of motion of the limiting paddle as the gear rotates.

[0014] Preferably, the linear motion mechanism is a double-rod cylinder, with the cylinder body fixedly connected to the rack; buffer limit posts are provided at both ends of the rack's range of motion.

[0015] The present invention employs a photovoltaic panel gripping robot with a detection device, which has the following advantages compared with the prior art: This invention provides a photovoltaic panel gripping robot with a detection device. By setting up the detection device and utilizing the change of the detection position, it can monitor in real time whether there is any residual material on the carrier. When there is a photovoltaic panel on the carrier, the detection position is raised, thereby sending a signal to transfer the photovoltaic panel, thereby reducing the occurrence of residual material during the transportation process and improving the transportation efficiency of photovoltaic panels. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure in a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the rotating mechanism and gripping component in a specific embodiment of the present invention; Figure 3 This is a longitudinal sectional view in a specific embodiment of the present invention; Figure 4 for Figure 3 Enlarged view of section A in the middle; Figure 5 for Figure 3 Enlarged view of section B in the middle; Figure 6 This is a top view of the second detection component in a specific embodiment of the present invention; Figure 7 This is a schematic diagram of the operation of the detection device in a specific embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Gantry-type truss robot; 2. Rotary mechanism; 3. Gripping assembly; 4. Detection device; 5. Photovoltaic panel; 201. Box body; 202. Double-bar cylinder; 203. Rack; 204. Gear; 205. Limiting lever; 206. Limiting cylinder; 301. Horizontal frame; 302. Vacuum suction cup; 401. First detection assembly; 402. Second detection assembly; 501. Flexible area; 502. Rigid area; 4011. First fixing block; 4012. First moving axis; 4013. Position detection sensor; 4021. Second fixing block; 4022. Second moving axis; 4023. Baffle; 4024. Second sensor; 4025. Second sensor base. Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that the transfer scenario in which this invention is applied is: the robotic arm needs to transfer the photovoltaic panel 5 and the tooling used for supporting it on the lower side separately (e.g., Figure 1 , 2 (As shown in the image). The photovoltaic panel is a semi-finished flexible board material before the curing process. Some areas of it have raised or warped structures, thus forming a detection area with a different height than the flat area.

[0021] It should also be noted that the photovoltaic panel 5 used in this embodiment is as follows: Figure 2 As shown, three sides are flexible areas 501, and one side is provided with a strip-shaped rigid area 502 for installing the required structure such as batteries or circuit boards. Correspondingly, the thickness of the rigid area 502 is greater than that of the flexible area 501, so it is the corresponding detection area in this embodiment.

[0022] This invention provides a photovoltaic panel gripping robot with a detection device, such as... Figure 1 As shown, its base is a multi-axis manipulator, specifically a gantry-type manipulator 1 in this embodiment. A servo motor-driven linear motion mechanism is located above the gantry, and a cantilever structure is located at the movable end. A servo lifting mechanism is located at the end of the cantilever structure, thereby achieving two-dimensional motion at the end. The device also includes a gripping component and a detection device, which are installed together at the movable end of the manipulator. Preferably, this embodiment adds an additional motion dimension by installing a rotation mechanism 2 between the gripping component 3 and the movable end of the manipulator. Figure 2 As shown, its main body is installed in the housing 201, mainly including a double-rod cylinder 202, a rack 203, and a gear 204. The piston rods at both ends of the double-rod cylinder 202 are fixedly connected to the housing 201, and hydraulic buffer columns are installed on the side wall of the housing 201 for limiting and buffering. The cylinder body of the double-rod cylinder 202 is fixedly connected to the rack 203, thereby driving its lateral movement. The gear 204 is rotatably connected to the housing 201, and its lower end of its rotating shaft is fixedly connected to the gripping assembly 3, meshing the gear 204 with the rack 203. When the rack 203 moves, it can drive the gear 204 to rotate, thereby causing the gripping assembly 3 at the bottom to rotate. Considering the movement limiting requirements, an L-shaped limiting paddle 205 is fixedly installed on the top surface of the gear 204, and two limiting cylinders 206 are vertically arranged at corresponding positions in the housing 201. When the limiting paddle 205 rotates and hits the piston rod of the limiting cylinder 206, it is blocked. Furthermore, when it is necessary to adjust the movement range of gear 204, the rotation range of limit paddle 205 can be adjusted by extending the piston rod of limit cylinder 206, thereby realizing the adjustable setting of limit gear 204.

[0023] The gripping component 3 includes a gripping plane; preferably, the gripping component 3 further includes a horizontal frame 301 spliced ​​from profiles and an array of accordion-style vacuum suction cups 302; combined with Figure 3As shown, the lower part of the horizontal frame 301 is provided with multiple vacuum suction cups 302 and a detection device 4, wherein the gripping plane is the plane where the vacuum suction cups 302 are located.

[0024] The detection device 4 includes a sensor base, a sensor, and a sliding assembly. The detection end of the sensor is connected to the sliding assembly. The sliding assembly also includes a fixed block and a moving shaft. The moving shaft can slide within a sliding groove in the fixed block, and its lower end has a detection plane. Specifically, as shown in the figure, the detection device 4 includes a first detection component 401 and a second detection component 402. Figure 3 , 4 As shown, the first sensor base of the first detection component 401 is a column structure, with its upper end mounted on a horizontal frame 301 and its lower end equipped with a first fixing block 4011 and a through hole, which is slidably connected to the first moving shaft 4012. The first moving shaft 4012 is made of metal, and an inductive position detection sensor 4013 is mounted laterally on its upper end. When the lower pad of the first moving shaft 4012 contacts the flat area of ​​the photovoltaic panel 5 or the flat area of ​​the photovoltaic panel fixture, the gap shortens due to downward pressure, causing the first moving shaft 4012 to move upward relative to the first fixing block 4011. Upon reaching the sensing area, it triggers an electrical signal, indicating that an item needs to be transferred, and the adsorption operation is initiated.

[0025] Preferred, such as Figure 5 , 6As shown, the second detection component 402 is positioned above the detection area of ​​the photovoltaic panel 5, in a different area from the first detection component 401. Its second sensor base 4025 is a corner bracket structure, with one side mounted on the horizontal frame 301, and the upper part of the other side housing the second sensor 4024, while the lower part houses the second fixing block 4021, which is slidably connected to the second moving shaft 4022 via a through hole. The second sensor 4024 is a recessed photoelectric switch, with its matching baffle 4023 vertically mounted on the upper surface of the second moving shaft 4022. Furthermore, since this detection component is a key component for detecting the photovoltaic panel 5, a sensor position coarseness adjustment function is added. The mounting base is connected to the horizontal frame 301 and the second sensor 4024 via first and second sliding locking mechanisms, respectively. Specifically, the first and second sliding locking mechanisms are mainly composed of elongated holes and locking screws. Pairs of elongated holes are machined on both sides of the second sensor base 4025, and the second sensor base 4025 is fixed to the horizontal frame 301 using appropriate locking screws. Then, the second sensor 4024 is fixed to the second sensor base 4025 using appropriate locking screws. When it is necessary to adjust the specific vertical position of the sensor, the locking screws can be loosened, and the second sensor base 4025 and / or the second sensor 4024 can be slid to the appropriate position, and then the locking screws can be tightened. Furthermore, due to the presence of the baffle 4023, a circumferential limiting structure is added between the second moving shaft 4022 and the second fixed block 4021. Specifically, a sliding groove is machined on the second moving shaft 4022, and a guide block is installed on the second fixed block 4021 to cooperate with the sliding groove.

[0026] Principle Explanation When a lateral robotic arm on the production line picks up and transfers items, two situations may occur when it grips the surface for suction. These situations will be discussed in detail below. Figure 7 As shown in Figures c and d, below: like Figure 7 As shown in Figure c, with photovoltaic panel 5 present: after the lower end of the robot reaches the designated position, it presses down. As the distance between photovoltaic panel 5 and horizontal frame 301 shortens, the surface of flexible area 501 of photovoltaic panel touches the pad at the bottom of the first moving shaft 4012, thereby causing it to move upward to the corresponding position to trigger a signal; the plane where the lower end of the second moving shaft 4022 is located is the detection plane. Since there is a vertical height difference h between the detection area (rigid area 502 of photovoltaic panel) and the flexible area 501 of photovoltaic panel in this embodiment, the second moving shaft 4022 moves upward to the first position, and the baffle 4023 just triggers the signal of the second sensor 4024, indicating that it is located at the first detection position, that is, there is photovoltaic panel 5 in the tooling waiting to be transferred, thereby starting the photovoltaic panel transfer process; like Figure 7As shown in Figure d, in the absence of photovoltaic panel 5: after the lower end of the robot reaches the designated position, it presses down. As the distance between the tooling and the horizontal frame 301 shortens, the lower pad of the first moving axis 4012 touches the surface of the tooling, thereby moving upward to the corresponding position to trigger the signal; the plane where the lower end of the second moving axis 4022 is located is the detection plane. Since there is no height difference between the lower ends of the two sensors, the second moving axis 4022 moves upward synchronously to the second position. The baffle 4023 does not trigger the signal of the second sensor 4024, indicating that it is located at the second detection position, that is, there is no photovoltaic panel 5 left in the tooling to be transferred, thereby starting the tooling transfer process.

[0027] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A photovoltaic panel gripping robot with a detection device, the base of which is a multi-axis robot, characterized in that, It also includes gripping components and detection devices; The gripping component includes a gripping plane; the gripping component also includes a vacuum suction cup; the gripping plane is the plane where the vacuum suction cup is located; The detection device includes a sensor base, a sensor, and a sliding assembly; the detection end of the sensor is connected to the sliding assembly; the detection device includes a first detection assembly and a second detection assembly. When there is a photovoltaic panel in the tooling, the detection plane of the first detection component corresponds to the flexible area of ​​the photovoltaic panel, and the detection plane of the second detection component corresponds to the rigid area of ​​the photovoltaic panel. The thickness of the rigid area of ​​the photovoltaic panel is greater than the thickness of the flexible area. The sliding assembly includes a fixed block and a movable shaft. The movable shaft is capable of sliding within a sliding groove of the fixed block, and the lower end of the movable shaft has a detection plane. When the gripping plane is attached to the photovoltaic panel, the moving axis of the second detection component is located at the first position, and the position of the detection plane of the second detection component is the first detection position; the moving axis of the first detection component is located at the second position. When the tooling for attaching photovoltaic panels to the gripping plane is used, the moving axis of the first detection component and the moving axis of the second detection component are both located in the second position, and the detection planes of the first detection component and the second detection component are located at the second detection position.

2. The photovoltaic panel gripping robot with a detection device according to claim 1, characterized in that, The gripping assembly also includes a horizontal frame; the lower part of the horizontal frame is provided with a plurality of vacuum suction cups and the detection device.

3. A photovoltaic panel gripping robot with a detection device according to claim 2, characterized in that, The sensor base of the first detection component is mounted on the horizontal frame, and the sensor of the first detection component is a limit switch or a position detection sensor.

4. A photovoltaic panel gripping robot with a detection device according to claim 3, characterized in that, The sensor base of the second detection component is also mounted on the horizontal frame, and the sensor of the second detection component is a groove-type photoelectric switch, with a baffle mounted on the moving shaft of the second detection component.

5. A photovoltaic panel gripping robot with a detection device according to claim 4, characterized in that, The second detection component has a circumferential limiting structure between its moving axis and the corresponding fixed block.

6. A photovoltaic panel gripping robot with a detection device according to claim 3, 4, or 5, characterized in that, The sensor base of the second detection component is an adjustable base, which is connected to the horizontal frame and the sensor through the first and second sliding locking mechanisms, respectively.

7. A photovoltaic panel gripping robot with a detection device according to claim 1, characterized in that, The multi-axis manipulator is a gantry-type truss manipulator, and the grasping component is installed at the movable end of the manipulator.

8. A photovoltaic panel gripping robot with a detection device according to claim 7, characterized in that, A rotary mechanism is also provided between the movable end of the robotic arm and the gripping component; the rotary mechanism includes a rack, a gear and a linear motion mechanism; the movable end of the linear motion mechanism is fixedly connected to the rack; the rack meshes with the gear, and the gear shaft is fixedly connected to the gripping component.

9. A photovoltaic panel gripping robot with a detection device according to claim 8, characterized in that, The gear is provided with a limiting paddle, and at least one limiting cylinder is provided within the range of motion of the limiting paddle as the gear rotates.

10. A photovoltaic panel gripping robot with a detection device according to claim 9, characterized in that, The linear motion mechanism is a double-rod cylinder, with the cylinder body fixedly connected to the rack; buffer limit posts are provided at both ends of the rack's range of motion.

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