Robot, paving device and control method thereof, paving system

Abstract

A robot, a laying device and a control method thereof, and a laying system, the robot is used for the laying device, comprising a mechanical arm and a control device, the mechanical arm has multiple degrees of freedom, is suitable for moving along a preset trajectory in space to grasp and move a photovoltaic panel from a material frame to a laying rack; the control device is electrically connected with the mechanical arm, and the control device is suitable for controlling the motion trajectory of the mechanical arm; wherein the laying rack comprises adjacent first and second laying positions, the preset trajectory comprises a first trajectory and a second trajectory; the control device is suitable for controlling the mechanical arm to move along the first trajectory to move an Nth photovoltaic panel to the first laying position; the control device is suitable for controlling the mechanical arm to move along the second trajectory to move an N+1th photovoltaic panel to the second laying position; the photovoltaic panel in the second laying position is rotated 180° relative to the photovoltaic panel in the first laying position. Through the above arrangement, the function of realizing complex laying position when the photovoltaic panel is laid on the laying rack can be realized.

Description

Technical Field

[0001] This application relates to the field of photovoltaic panel installation technology, specifically to a robot, installation equipment and its control method, and installation system. Background Technology

[0002] Photovoltaic power generation technology is in a stage of rapid development. It uses photovoltaic panels to receive solar energy and convert it into electrical energy, effectively utilizing clean energy. Photovoltaic panels need to be installed on installation racks, which is currently mostly done manually, resulting in high labor costs and high labor intensity.

[0003] The industry has begun to explore the use of machine-based installation for photovoltaic panels. However, current machine-based installation methods can only move the photovoltaic panels, and they are not suitable for the complex installation locations involved in photovoltaic panel installation. Summary of the Invention

[0004] The purpose of this application is to provide a robot, paving equipment and its control method, and paving system to solve the problem of photovoltaic panel paving in complex locations.

[0005] To achieve the objectives of this application, the following technical solution is provided:

[0006] In a first aspect, this application provides a robot for paving equipment, comprising:

[0007] The robotic arm, with multiple degrees of freedom, is suitable for moving along a preset trajectory in space to grab photovoltaic panels from the material frame and move them to the paving rack.

[0008] A control unit, electrically connected to the robotic arm, is adapted to control the movement trajectory of the robotic arm;

[0009] The paving frame includes adjacent first paving positions and second paving positions, and the preset trajectory includes a first trajectory and a second trajectory. The control unit is adapted to control the robotic arm to move along the first trajectory to move the Nth photovoltaic panel to the first paving position. The control unit is also adapted to control the robotic arm to move along the second trajectory to move the (N+1)th photovoltaic panel to the second paving position. The photovoltaic panel at the second paving position is rotated 180° relative to the photovoltaic panel at the first paving position.

[0010] In one embodiment, the robotic arm includes an arm body and a drive assembly. The drive assembly is connected to the arm body, and the control unit is electrically connected to the drive assembly. The drive assembly is adapted to drive the arm body to move, so that the arm body has six degrees of freedom: translation and rotation along a first direction, translation and rotation along a second direction, and translation and rotation along a third direction. The first direction, the second direction, and the third direction intersect.

[0011] In one embodiment, the robotic arm further includes a gripper that is movably connected to the arm body. The gripper is adapted to grip the photovoltaic panel. When the robotic arm moves along the first trajectory, the gripper is fixed relative to the arm body. When the robotic arm moves along the second trajectory, the gripper moves relative to the arm body to extend the distance the robotic arm moves the photovoltaic panel.

[0012] In one embodiment, the robotic arm further includes a transmission mechanism connected to the arm body and the gripper, and the transmission mechanism is also connected to the drive assembly adapted to drive the transmission mechanism to move, thereby moving the gripper relative to the arm body.

[0013] In one embodiment, the gripping component includes a vacuum suction cup adapted to adsorb the photovoltaic panel by vacuum; the first trajectory includes a first sub-trajectory and a second sub-trajectory, the control component controls the robotic arm to move along the first sub-trajectory, the robotic arm grips the photovoltaic panel in the material frame and raises it to a preset height, the control component is adapted to determine whether the adsorption force of the vacuum suction cup is greater than or equal to a preset value, if it is greater than or equal to the preset value, the control component controls the robotic arm to move along the second sub-trajectory to move the photovoltaic panel to the mounting frame.

[0014] In one embodiment, when the controller determines that the suction force of the vacuum suction cup is less than a preset value, the controller controls the robotic arm to move in the opposite direction of the first sub-track to place the photovoltaic panel back into the material frame.

[0015] In one embodiment, the preset trajectory further includes a third trajectory and a fourth trajectory. The controller controls the robotic arm to move along the third trajectory so that the robotic arm moves from the corresponding position of the first paving position to the corresponding position of the material frame. The controller also controls the robotic arm to move along the fourth trajectory so that the robotic arm moves from the corresponding position of the second paving position to the corresponding position of the material frame. When the robotic arm moves along the third and fourth trajectories and is at the corresponding position of the material frame, the posture of the robotic arm is the same.

[0016] Secondly, this application also provides a paving device, including a vehicle body, a material frame, and a robot as described in any of the various embodiments of the first aspect, wherein the material frame is spaced apart from the robot on the vehicle body, and the material frame is adapted to store photovoltaic panels.

[0017] Thirdly, this application also provides a method for controlling paving equipment, comprising:

[0018] Provide the paving equipment described in the second aspect;

[0019] The robot is controlled to move the photovoltaic panels stored in the material frame along the preset trajectory to the paving frame.

[0020] Fourthly, this application also provides a paving system, including a paving frame and the paving equipment described in the second aspect, wherein the robot is adapted to move the photovoltaic panels stored in the material frame along the preset trajectory to the paving frame.

[0021] The robot provided in this application controls the movement trajectory of the robotic arm by setting control components, so that the robotic arm moves along a first trajectory or a second trajectory to pick up the photovoltaic panel from the material frame and move it to the first installation position or the second installation position of the paving frame. It also satisfies that the photovoltaic panel in the second paving position is rotated 180° relative to the photovoltaic panel in the first paving position. It does not adopt a simple solution of moving the photovoltaic panel, but can realize the function of complex paving positions when the photovoltaic panel is paved on the paving frame. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a perspective view of a paving equipment according to one embodiment;

[0024] Figure 2 This is a top view of a paving system according to one embodiment;

[0025] Figure 3 This is a front view of a paving system according to one embodiment;

[0026] Figure 4 This is a perspective view of a robot according to one embodiment;

[0027] Figure 5 This is a flowchart of a control method for paving equipment according to one embodiment.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100 - Paving equipment;

[0030] 10-Body, 11-Chassis, 111-Running mechanism, 112-Suspension, 12-Frame, 121-Base, 122-Base plate, 13-Leveling mechanism, 14-Mounting surface;

[0031] 20-material frame;

[0032] 30-Robot, 301-Hydraulic cylinder, 31-First arm, 32-Second arm, 321-Connecting bracket, 33-Third arm, 34-Fourth arm, 35-Fifth arm, 36-Sixth arm, 37-Seventh arm, 38-Transmission mechanism, 39-Gripper, 391-Vacuum suction cup;

[0033] 40 - Support frame;

[0034] 200- Photovoltaic panels;

[0035] 300 - Paving frame, 310 - First paving position, 320 - Second paving position, 330 - Limiting structure, 340 - Paving surface. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0038] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0039] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] Please refer to Figure 1This application provides a paving equipment 100, including a vehicle body 10, a material frame 20, and a robot 30 according to any of the various embodiments of this application. The material frame 20 and the robot 30 are spaced apart on the vehicle body 10, and the material frame 20 is suitable for storing photovoltaic panels 200.

[0041] For details, please refer to Figures 1 to 3 The vehicle body 10 includes a chassis 11 and a frame 12, with the frame 12 connected to the chassis 11. The chassis 11 includes a running gear 111 and a suspension 112, with the suspension 112 connected to the running gear 111. The running gear 111 may be, for example, tracks or wheels, and is not limited thereto. The suspension 112 connects between two opposing running gears 111. For example,... Figure 1 and Figure 3 As shown, the running gear 111 is a track, and the suspension 112 is connected between two opposing tracks. The suspension 112 can be, for example, a rigid beam, or other types of structures, without limitation. The frame 12 includes a base 121 and a base plate 122. The base 121 is connected to the suspension 112, and the base plate 122 is connected to the side of the base 121 facing away from the suspension 112. The surface of the base plate 122 facing away from the suspension 112 is a mounting surface 14, which is used to mount various components.

[0042] Optionally, the base 121 is rotatably connected to the suspension 112. The vehicle body 10 also includes a leveling mechanism 13, which is connected to the base 121 and the suspension 112. The leveling mechanism 13 is a telescopic structure, specifically a hydraulic cylinder, a pneumatic cylinder, etc. The leveling mechanism 13 can extend or shorten to push the frame 12 to rotate relative to the suspension 112, thereby adjusting the tilt angle of the mounting surface 14 of the base plate 122 relative to the horizontal plane so that the mounting surface 14 is approximately horizontal.

[0043] The material frame 20 has a receiving space for accommodating photovoltaic panels 200. The photovoltaic panels 200 can be stacked within this receiving space. The material frame 20 can rotate relative to the base plate 122 of the vehicle body 10, and can also move relative to it, allowing the material frame 20 to be leveled and accurately aligned so that the robot 30 can grasp the central area of ​​the photovoltaic panels 200. The specific structure of the material frame 20 is not limited; its receiving space opening faces upwards, allowing the robot 30 to move downwards from above and reach into the receiving space through the opening to grasp the photovoltaic panels 200. Optionally, two material frames 20 are provided on the base plate 122, spaced apart along the length of the base plate 122; for example, the two material frames 20 are respectively located at opposite ends of the base plate 122 along its length.

[0044] The robot 30 and the material frame 20 are spaced apart on the base plate 122, and the robot 30 can be located at the middle of the length direction of the base plate 122. In an embodiment where there are two material frames 20, the robot 30 can be located near the midpoint of the line connecting the two material frames 20, and the distance between the robot 30 and the two material frames 20 is equal.

[0045] Optionally, the robot 30 is positioned at one edge of the base plate 122 in the width direction, close to the paving frame 300 of the adjacent paving equipment 100, to facilitate the movement of the photovoltaic panel 200 to the paving frame 300. As for the material frame 20, it can be equidistant from both edges of the base plate 122 in the width direction, and the distance between the material frame 20 and the edge of the base plate 122 in the width direction is small, making full use of the space of the base plate 122 and minimizing the width dimension of the base plate 122 to facilitate on-road transportation of the paving equipment 100 and meet width restriction requirements.

[0046] The specific shape and structure of the robot 30 are not limited, and it can undergo posture changes, such as folding, stretching, rotating, translating, or any other feasible method. The robot 30 can be directly mounted on the base plate 122, or a support frame 40 can be mounted on the base plate 122. The support frame 40 helps to increase the height of the robot 30, so that the robot 30 can move the photovoltaic panel 200 to a higher position to fit the higher-positioned paving frame 300. At the same time, the support frame 40 increases the height of the robot 30 relative to the base plate 122, so that the robot 30 will not interfere with other components mounted on the base plate 122 when it undergoes posture changes.

[0047] The paving equipment 100 of this application embodiment, by setting the robot 30 of this application embodiment, can meet the requirements of paving photovoltaic panels 200 to complex paving positions, thereby improving the flexibility and reliability of the paving equipment 100.

[0048] The robot 30 of the present application embodiment will be described in detail below.

[0049] Please refer to Figure 4 and combined Figures 1 to 3 This application provides a robot 30 for paving equipment 100, including a robotic arm and control components (not shown).

[0050] The robotic arm has multiple degrees of freedom and is adapted to move along a preset trajectory in space to grab the photovoltaic panel 200 from the material frame 20 and move it to the paving frame 300.

[0051] The control unit is electrically connected to the robotic arm and is adapted to control the movement trajectory of the robotic arm.

[0052] The paving frame 300 includes adjacent first paving positions 310 and second paving positions 320, and a preset trajectory includes a first trajectory and a second trajectory. A control unit is adapted to control the robotic arm to move along the first trajectory to move the Nth photovoltaic panel 200 to the first paving position 310. The control unit is also adapted to control the robotic arm to move along the second trajectory to move the (N+1)th photovoltaic panel 200 to the second paving position 320. The photovoltaic panel 200 at the second paving position 320 is rotated 180° relative to the photovoltaic panel 200 at the first paving position 310.

[0053] The specific structure of the robotic arm is not limited; it can move along a preset trajectory in space through posture changes. The degrees of freedom of the robotic arm refer to the degrees of freedom at its end effector to move and rotate; the number of these degrees of freedom is not limited.

[0054] The control components can be any feasible means, such as processors, chips, integrated circuits, etc., without any restrictions.

[0055] The first paving position 310 and the second paving position 320 on the paving rack 300 can be one or more. When there are multiple positions, the multiple first paving positions 310 and the multiple second paving positions 320 are arranged in multiple rows and columns. For example Figure 2 As shown, multiple first paving positions 310 and multiple second paving positions 320 are arranged in 2 rows and 7 columns. Multiple first paving positions 310 form one row, and multiple second paving positions 320 form another row. The row containing the first paving positions 310 is closer to the paving equipment 100 than the row containing the second paving positions 320.

[0056] refer to Figure 2 and Figure 3 The first paving position 310 and the second paving position 320 on the paving frame 300 are formed by the structure of the paving frame 300. Specifically, the paving frame 300 is a frame structure, and a paving surface 340 is formed on its top. This paving surface 340 is divided into different areas, one of which forms the first paving position 310, and another adjacent area forms the second paving position 320. Optionally, refer to... Figure 3The paving frame 300 is equipped with a limiting structure 330, which separates the first paving position 310 and the second paving position 320. For example, the separating structure is a support strip protruding from the paving surface 340 at the top of the paving frame 300. The first paving position 310 and the second paving position 320 can each be defined by four support strips connected end to end in a rectangle. The first paving position 310 and the second paving position 320 can share a support strip at adjacent positions. During the installation of the photovoltaic panel 200 in the first paving position 310 and the second paving position 320, the limiting structure 330 can limit the photovoltaic panel 200 from sliding relative to the paving frame 300, facilitating the alignment and installation of the photovoltaic panel 200 with the paving frame 300. When the photovoltaic panel 200 is installed in the first paving position 310 and the second paving position 320, it can be connected and fixed by means of screws, snaps, etc. The robot 30 is used to pick up the photovoltaic panel 200 from the material frame 20 of the paving equipment 100 and move it to the first paving position 310 or the second paving position 320. The subsequent installation and fixing of the photovoltaic panel 200 and the paving frame 300 can be carried out manually or by other equipment.

[0057] refer to Figure 3 The paving surface 340 of the paving frame 300 can be tilted relative to the horizontal plane, making the second paving position 320 higher than the first paving position 310. The limiting structure 330 can prevent the photovoltaic panel 200 from sliding down from top to bottom.

[0058] The photovoltaic panel 200 has a positive electrode and a negative electrode. When the photovoltaic panel 200 is installed onto the first installation position 310 and the second installation position 320 of the installation frame 300, the conventional method is to install the photovoltaic panel 200 in the same way. For example, as shown... Figure 2 As shown, in the conventional first installation position 310 and second installation position 320, the positive electrode of the photovoltaic panel 200 is set on the side closer to the installation equipment 100, and the negative electrode is set on the side away from the installation equipment 100. That is, the positive and negative electrodes of the two photovoltaic panels 200 in the first installation position 310 and the second installation position 320 are oriented in the same direction relative to the installation equipment 100, and the positive and negative electrodes of the two photovoltaic panels 200 are opposite each other.

[0059] In this embodiment, the installation method of the photovoltaic panels 200 on the mounting frame 300 is adjusted by rotating the photovoltaic panel 200 at the second installation position 320 by 180° compared to the photovoltaic panel 200 at the first installation position 310. For example, as... Figure 2As shown, the positive electrode of the photovoltaic panel 200 at the first installation position 310 is closer to the installation equipment 100, and the negative electrode is farther away from the installation equipment 100. Similarly, the positive electrode of the photovoltaic panel 200 at the second installation position 320 is farther away from the installation equipment 100, and the negative electrode is closer to the installation equipment 100. That is, the positive and negative electrodes of the two photovoltaic panels 200 at the first and second installation positions 310 and 320 face opposite directions relative to the installation equipment 100, with their negative electrodes facing each other. It is understood that the positions of the positive and negative electrodes of the photovoltaic panels 200 can be interchanged, meaning that the positive electrodes of the two photovoltaic panels 200 at the first and second installation positions 310 can also face each other.

[0060] All photovoltaic panels 200 on the mounting frame 300 are connected in parallel via cables. Specifically, the positive terminals of multiple photovoltaic panels 200 at multiple first mounting positions 310 are connected to the same cable, and the negative terminals are connected to another cable. Similarly, the positive terminals of multiple photovoltaic panels 200 at multiple second mounting positions 320 are connected to the same cable, and the negative terminals are connected to another cable. In traditional photovoltaic panel installation methods, each photovoltaic panel 200 at a first mounting position 310 requires two cables, and each photovoltaic panel 200 at a second mounting position 320 also requires two cables, totaling four cables for a two-row, multi-column installation. However, in the photovoltaic panel installation method of this embodiment, since the negative terminals of the photovoltaic panels 200 at opposite positions in the first and second mounting positions 310 are opposite each other (or the positive terminals are opposite each other), only one cable needs to be shared between these two photovoltaic panels 200. Therefore, only three cables are required in total, reducing the number of cables, simplifying the connection method, and lowering costs.

[0061] Regarding the photovoltaic panel 200 installation method in this application embodiment, the robot 30 of the installation equipment 100 in this application embodiment has been specially designed. Specifically, a preset trajectory is set, including a first trajectory and a second trajectory. The robotic arm moves along the first trajectory to move the Nth photovoltaic panel 200 to the first installation position 310, and moves along the second trajectory to move the N+1th photovoltaic panel 200 to the second installation position 320. The first trajectory and the second trajectory are different, and the photovoltaic panel 200 at the second installation position 320 is rotated 180° relative to the photovoltaic panel 200 at the first installation position 310.

[0062] Where N is a positive integer, i.e., 1, 2, 3, ...

[0063] It should be understood that, such as Figure 2 and Figure 3As shown, the paving position on the paving rack 300 that is close to the paving equipment 100 can be identified as the first paving position 310, and the paving position that is far away from the paving equipment 100 can be identified as the second paving position 320. Alternatively, the paving position on the paving rack 300 that is far away from the paving equipment 100 can be identified as the first paving position 310, and the paving position that is close to the paving equipment 100 can be identified as the second paving position 320.

[0064] For multiple first paving positions 310 and multiple second paving positions 320 in a 2-row, multi-column configuration, the paving positions in the same row are the same. For example, the row closest to the paving equipment 100 is the first paving position 310, and the row far from the paving equipment 100 is the second paving position 320. Alternatively, the row far from the paving equipment 100 can be the first paving position 310, and the row close to the paving equipment 100 can be the second paving position 320.

[0065] It should be understood that the multiple photovoltaic panels 200 stacked in the material frame 20 are identical, that is, in the stacking direction, the positive terminals of each photovoltaic panel 200 are opposite each other, and the negative terminals are opposite each other. When the robot 30 moves the photovoltaic panels 200 in the material frame 20 to the mounting rack 300, it is possible that the robotic arm does not rotate the photovoltaic panels 200 in space when moving along the first path, but does rotate the photovoltaic panels 200 in space when moving along the second path; or it is possible that the robotic arm rotates the photovoltaic panels 200 in space when moving along the first path, but does not rotate the photovoltaic panels 200 in space when moving along the second path.

[0066] For example, refer to Figure 2 The length direction of the photovoltaic panel 200 in the material frame 20 is the same as the length direction of the first paving position 310 and the second paving position 320. The width direction of the photovoltaic panel 200 in the material frame 20 is the same as the width direction of the first paving position 310 and the second paving position 320. The row of paving positions on the paving rack 300 that is close to the paving equipment 100 is the first paving position 310, and the row of paving positions that is far away from the paving equipment 100 is the second paving position 320. When the robot 30 moves the photovoltaic panel 200 in the material frame 20 along the first trajectory to the first paving position 310, it moves the photovoltaic panel 200 in space and rotates it 180° before moving it to the first paving position 310. When the robot 30 moves the photovoltaic panel 20 in the material frame 20 along the second trajectory to the second paving position 320, it does not need to rotate it in space. It can simply move the photovoltaic panel 200 in space.

[0067] When the length and width directions of the photovoltaic panel 200 in the material frame 20 form an angle with the length and width directions of the first laying position 310 and the second laying position 320, the rotation of the photovoltaic panel 200 in space when the robotic arm moves along the first trajectory may not be equal to 180°, but may be at other angles. The photovoltaic panel 200 may also rotate in space when the robotic arm moves along the second trajectory. In summary, the movement of the robotic arm along the first and second trajectories ultimately causes the photovoltaic panel 200 to move to the laying frame 300, after which the photovoltaic panel 200 at the second laying position 320 rotates 180° relative to the photovoltaic panel 200 at the first laying position 310.

[0068] The robot 30 provided in this application embodiment controls the movement trajectory of the robotic arm by setting a control component, so that the robotic arm moves along a first trajectory or a second trajectory to pick up the photovoltaic panel 200 from the material frame 20 and move it to the first installation position or the second installation position of the paving frame 300. It satisfies that the photovoltaic panel 200 at the second paving position 320 is rotated 180° relative to the photovoltaic panel 200 at the first paving position 310. It does not adopt a simple solution of moving the photovoltaic panel 200, but can realize the function of complex paving positions when the photovoltaic panel 200 is paved on the paving frame 300.

[0069] In one embodiment, reference Figure 1 and Figure 4 The robotic arm includes an arm body and a drive assembly. The drive assembly is connected to the arm body, and the control unit is electrically connected to the drive assembly. The drive assembly is adapted to drive the arm body to move so that the arm body has six degrees of freedom: translation and rotation along a first direction, translation and rotation along a second direction, and translation and rotation along a third direction. The first direction, the second direction, and the third direction intersect.

[0070] The arm body may include multiple connecting arms, which can rotate relative to each other. The drive components may include motors, hydraulic cylinders, etc., without limitation. The arm body has six degrees of freedom, referring to the degree of freedom of the end effector relative to the head effector. The head effector is fixedly connected to the vehicle body 10, and the end effector is used to grasp and move the photovoltaic panel 200. The first, second, and third directions can be three directions in a spatial coordinate system; these three directions can be perpendicular to each other or not, without restriction. By setting the degrees of freedom for movement and rotation in these three directions, the robotic arm can move within a wide range of spatial positions and can move to any position within its movable range.

[0071] Optionally, the arm body has seven connecting arms, specifically, a first arm 31, a second arm 32, a third arm 33, a fourth arm 34, a fifth arm 35, a sixth arm 36, and a seventh arm 37 that are rotatably connected in sequence. One end of the first arm 31 is fixedly connected to the vehicle body 10. The second arm 32 is connected to the end of the first arm 31 away from the vehicle body 10, and the second arm 32 and the first arm 31 rotate relative to each other via a motor drive. The second arm 32 is connected to a connecting bracket 321, which is rotatably connected to a hydraulic cylinder 301. One end of the third arm 33 is hinged to the second arm 32, and the hydraulic rod of the hydraulic cylinder 301 is connected to the third arm 33. The extension and retraction of the hydraulic rod pushes the third arm 33 to rotate relative to the second arm 32. One end of the fourth arm 34 is connected to the end of the third arm 33 away from the second arm 32. Arm 34 is roughly in the shape of a quarter circle. The fourth arm 34 and the third arm 33 rotate relative to each other via a motor drive. One end of the fifth arm 35 is connected to the end of the fourth arm 34 away from the third arm 33. The fifth arm 35 and the fourth arm 34 rotate relative to each other via a motor drive. One end of the sixth arm 36 is connected to the end of the fifth arm 35 away from the fourth arm 34. The sixth arm 36 and the fifth arm 35 rotate relative to each other via a motor drive. The seventh arm 37 is connected to the end of the sixth arm 36 away from the fifth arm 35. The seventh arm 37 and the sixth arm 36 rotate relative to each other via a motor drive.

[0072] The axes of relative rotation of the first arm 31 and the second arm 32 are perpendicular to the mounting surface 14 of the base plate 122 of the vehicle body 10. The axes of relative rotation of the second arm 32 and the third arm 33 are parallel to the mounting surface 14. The axes of relative rotation of the third arm 33 and the fourth arm 34 are parallel to the axes of relative rotation of the second arm 32 and the third arm 33. The axes of relative rotation of the fourth arm 34 and the fifth arm 35 are approximately perpendicular to the axes of relative rotation of the third arm 33 and the fourth arm 34. The axes of relative rotation of the fifth arm 35 and the sixth arm 36 are approximately perpendicular to the axes of relative rotation of the fourth arm 34 and the fifth arm 35. The axes of relative rotation of the sixth arm 36 and the seventh arm 37 are approximately perpendicular to the axes of relative rotation of the fifth arm 35 and the sixth arm 36.

[0073] In summary, the seven connecting arms of the arm body have six rotational degrees of freedom. By selectively rotating each connecting arm relative to the head, the end of the arm body can achieve six degrees of freedom relative to the head: translation and rotation along the first direction, translation and rotation along the second direction, and translation and rotation along the third direction.

[0074] It is understandable that the arm body may also have other numbers of connecting arms, and the driving method and rotation axis between multiple connecting arms can be set as needed without limitation.

[0075] The robotic arm includes an arm body and a drive assembly, enabling the arm body to have six degrees of freedom: translation and rotation in a first direction, translation and rotation in a second direction, and translation and rotation in a third direction. This allows the robotic arm to move flexibly in space, switch between various postures, and move in various directions and positions, thus adapting to various complex paving environments and expanding the application range of the paving equipment 100.

[0076] In one embodiment, reference Figures 2 to 4 The robotic arm also includes a gripper 39, which is movably connected to the arm body. The gripper 39 is adapted to grip the photovoltaic panel 200. When the robotic arm moves along the first trajectory, the gripper 39 is fixed relative to the arm body. When the robotic arm moves along the second trajectory, the gripper 39 moves relative to the arm body to extend the distance the robotic arm moves the photovoltaic panel 200.

[0077] Specifically, as described above, the distances between the first paving position 310 and the second paving position 320 and the paving equipment 100 are different, with the second paving position 320 being farther away. The gripper 39 can grip the photovoltaic panel 200 from the material frame 20. Furthermore, when moving the photovoltaic panel 200 to the first paving position 310, the gripper 39 does not need to move relative to the arm body to move the photovoltaic panel 200 to the first paving position 310. However, when moving the photovoltaic panel 200 to the second paving position 320, since the second paving position 320 is farther away, the gripper 39 can move relative to the arm body to extend the distance the robotic arm can move the photovoltaic panel 200, thus achieving the goal of moving the photovoltaic panel 200 to the second paving position 320.

[0078] The specific structure of the gripper 39 is not limited, nor is the specific implementation method of fixing and moving the gripper 39 relative to the arm body.

[0079] Optional, see reference Figure 4 The robotic arm also includes a transmission mechanism 38, which is connected to the arm body and the gripper 39. The transmission mechanism 38 is also connected to a drive assembly adapted to drive the transmission mechanism 38 to move the gripper 39 relative to the arm body.

[0080] The transmission mechanism 38 can be a lead screw and nut transmission structure, a worm gear transmission structure, a gear and rack structure, etc. The transmission mechanism 38 is connected to one of the motors in the drive assembly. This motor is also connected to the end of the aforementioned arm body, for example, to the end of the seventh arm 37 away from the sixth arm 36, so that the motor can drive the transmission mechanism 38 to move. The movement of the transmission mechanism 38 drives the gripper 39 to move relative to the arm body. When the motor stops moving, the transmission mechanism 38 stops moving, and the gripper 39 is fixed relative to the arm body. Thus, by setting the transmission mechanism 38, the gripper 39 can be fixed or moved relative to the arm body. The structure is simple and enables the movement of the photovoltaic panel 200 over a long distance.

[0081] Optional, see reference Figure 4 The gripping component 39 includes a vacuum suction cup 391, which is adapted to adsorb the photovoltaic panel 200 through a vacuum. Optionally, the robotic arm may also be equipped with a vacuum-evacuating component for evacuating the vacuum suction cup 391.

[0082] Optionally, the gripping component 39 includes multiple vacuum suction cups 391, which are spaced apart, for example, in a rectangular array, to cover a larger area of ​​the photovoltaic panel 200. Each vacuum suction cup 391 applies a uniform suction force through vacuum adsorption, which is beneficial for stable gripping of the photovoltaic panel 200. With multiple vacuum suction cups 391, even if one vacuum suction cup 391 fails, the other vacuum suction cups 391 can mechanically maintain the suction force, making it less likely for the photovoltaic panel 200 to fall off during movement.

[0083] In one embodiment, reference Figures 1 to 4 The first trajectory includes a first sub-trajectory and a second sub-trajectory. The controller controls the robotic arm to move along the first sub-trajectory. The robotic arm grabs the photovoltaic panel 200 from the material frame 20 and raises it to a preset height. The controller is adapted to determine whether the adsorption force of the vacuum suction cup 391 is greater than or equal to a preset value. If it is greater than or equal to the preset value, the controller controls the robotic arm to move along the second sub-trajectory to move the photovoltaic panel 200 to the mounting frame 300.

[0084] The robotic arm's actions of grasping and moving the photovoltaic panel 200 include grasping the photovoltaic panel 200 at the material frame 20 and moving the photovoltaic panel 200 to the mounting rack 300. In this embodiment, the first trajectory is divided into a first sub-trajectory and a second sub-trajectory. The first sub-trajectory corresponds to the action of grasping the photovoltaic panel 200, and the second sub-trajectory corresponds to the action of moving the photovoltaic panel 200. When the robotic arm moves along the first trajectory, the vacuum suction cup 391 of the robotic arm contacts the photovoltaic panel 200 in the material frame 20, and then begins to draw a vacuum. After the vacuum is drawn, the robotic arm begins to move along the first sub-trajectory and rises to a preset height. This preset height refers to the distance between the topmost photovoltaic panel 200 in the stacked material frame 200 after it is grasped and raised and the next photovoltaic panel 200.

[0085] The preset height is, for example, 10mm-100mm, specifically 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, etc., without limitation. This preset height should not be too low, to avoid the possibility that due to the tilt of the photovoltaic panel 200, the top photovoltaic panel 200 may still be partially attached to the next photovoltaic panel 200, meaning the next photovoltaic panel 200 would still be supporting the top one, making it impossible to accurately determine whether the suction force of the vacuum suction cup 391 is greater than or equal to the preset value. Conversely, the preset height should not be too high, to avoid insufficient suction force from the vacuum suction cup 391 causing the photovoltaic panel 200 to fall from a height and be damaged. Therefore, setting the preset height to 10mm-100mm allows for accurate determination of whether the suction force of the vacuum suction cup 391 is greater than or equal to the preset value, ensuring the safety of the photovoltaic panel 200.

[0086] When the robotic arm moves along the first sub-track and rises to a preset height, and the controller determines that the suction force of the vacuum suction cup 391 is greater than or equal to the preset value, it indicates that the vacuum suction cup 391 is working normally, the robotic arm has firmly grasped the photovoltaic panel 200, and the photovoltaic panel 200 will not fall. At this time, the robotic arm can move along the second sub-track to move the photovoltaic panel 200 to the mounting frame 300.

[0087] Optionally, when the controller determines that the suction force of the vacuum suction cup 391 is less than a preset value, the controller controls the robotic arm to move in the opposite direction of the first sub-track to place the photovoltaic panel 200 back into the material frame 20.

[0088] When the robotic arm moves along the first sub-track and rises to a preset height, and the controller determines that the suction force of the vacuum suction cup 391 is less than the preset value, it indicates that the vacuum suction cup 391 is malfunctioning. The robotic arm's grip on the photovoltaic panel 200 is not stable enough, possibly due to air leakage or insufficient vacuuming, and the photovoltaic panel 200 may fall. At this point, the robotic arm reverses its movement along the first sub-track, lowering the photovoltaic panel 200 from the preset height and repositioning it back into the material frame 20. Afterward, the aforementioned vacuuming action can be repeated. The robotic arm continues to move along the first sub-track, and the suction force of the vacuum suction cup 391 is reassessed against the preset value until it is greater than or equal to the preset value. Then, the robotic arm is controlled to move along the second sub-track.

[0089] It is understandable that when the robotic arm moves along the second trajectory, it can also be divided into two sub-trajectories, similar to the first and second sub-trajectories mentioned above, to ensure that the photovoltaic panel 200 is firmly grasped by the robotic arm and to prevent the photovoltaic panel 200 from falling during the movement.

[0090] Optionally, the preset trajectory also includes a third trajectory and a fourth trajectory. The controller moves the robotic arm along the third trajectory to move it from the corresponding position in the first paving position 310 to the corresponding position in the material frame 20. The controller also moves the robotic arm along the fourth trajectory to move it from the corresponding position in the second paving position 320 to the corresponding position in the material frame 20. When the robotic arm moves along both the third and fourth trajectories and is at the corresponding position in the material frame 20, its posture is the same.

[0091] In other words, the robotic arm moves along the first and second trajectories mentioned above to move the photovoltaic panels 200 in the material frame 20 to the paving frame 300. The robotic arm also needs to move from the paving frame 300 to the material frame 20 to perform the next action of grabbing and moving the photovoltaic panels 200. Therefore, the third and fourth trajectories are set.

[0092] After the robotic arm moves along the first trajectory, it moves a photovoltaic panel 200 from the material frame 20 to the first laying position 310 of the laying frame 300. Then, the robotic arm moves along the third trajectory and returns from the first laying position 310 to the material frame 20 to perform the action of grabbing and moving the next photovoltaic panel 200.

[0093] After the robotic arm moves along the second trajectory, it moves a photovoltaic panel 200 from the material frame 20 to the second paving position 320 of the paving frame 300. Then, the robotic arm moves along the fourth trajectory and returns from the second paving position 320 to the material frame 20 to perform the action of grabbing and moving the next photovoltaic panel 200.

[0094] It should be understood that, from the perspective of the photovoltaic panel 200, the photovoltaic panel 200 moves from the material frame 20 to the paving frame 300, while the robotic arm actually moves between the corresponding position of the material frame 20 and the corresponding position of the paving frame 300.

[0095] For the embodiment with 2 rows and multiple columns, and the first paving position 310 and the second paving position 320 located in the same column, the movement trajectory of the robotic arm is: first trajectory - third trajectory - second trajectory - fourth trajectory.

[0096] The first to fourth trajectories of the robotic arm from the material frame 20 to the first paving position 310 and the second paving position 320 in different columns of the paving frame 300 are different. For example, the first trajectory of the first paving position 310 in the first row and first column of the robotic arm from the material frame 20 to the paving frame 300 is different from the first trajectory of the first paving position 310 in the first row and second column. This is because the different paving positions are located in space, so the movement trajectory of the robotic arm is different for each paving position.

[0097] Since the paving positions are arranged in a regular pattern, such as the first paving position 310 and the second paving position 320 with two rows and multiple columns, once the position parameters of certain rows and columns are known, the movement trajectory of the robotic arm can be automatically set according to the arrangement pattern of each paving position.

[0098] In this embodiment, there are no restrictions on how the movement trajectory of the robotic arm is set.

[0099] refer to Figure 5 and combined Figures 1 to 4 This application also provides a control method for a paving device 100, including:

[0100] S10. Provide paving equipment 100. The paving equipment 100 is the paving equipment 100 in the embodiments of this application.

[0101] S20, control robot 30 to move the photovoltaic panel 200 stored in material frame 20 to paving frame 300 along preset trajectory.

[0102] For the specific content of S10 and S20, please refer to the description in the foregoing embodiments, and this embodiment will not repeat it.

[0103] This application embodiment also provides a paving system, including a paving frame 300 and a paving device 100 in this application embodiment. The robot 30 is adapted to move the photovoltaic panels 200 stored in the material frame 20 along a preset trajectory to the paving frame 300.

[0104] For the paving equipment 100 and paving frame 300, please refer to the foregoing description; this embodiment will not repeat them here.

[0105] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0106] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A robot for paving equipment, characterized in that, The utility model relates to a photovoltaic panel laying device, comprising: a mechanical arm with multiple degrees of freedom, suitable for moving along a preset trajectory in space to grasp and move photovoltaic panels from a material frame to a laying rack; a control element electrically connected to the mechanical arm, suitable for controlling the movement trajectory of the mechanical arm; wherein the laying rack comprises adjacent first and second laying positions, and the preset trajectory comprises first and second trajectories; the control element is suitable for controlling the movement of the mechanical arm along the first trajectory to move the Nth photovoltaic panel to the first laying position; the control element is suitable for controlling the movement of the mechanical arm along the second trajectory to move the N+1th photovoltaic panel to the second laying position; the photovoltaic panel in the second laying position is rotated 180° relative to the photovoltaic panel in the first laying position; the material frame has a receiving space for receiving a plurality of stacked photovoltaic panels, with the positive poles of the photovoltaic panels facing each other and the negative poles of the photovoltaic panels facing each other in the stacking direction; the positive poles of the two photovoltaic panels in the first and second laying positions face each other, or the negative poles of the two photovoltaic panels in the first and second laying positions face each other; when the mechanical arm moves along the first trajectory, there is no action of rotating the photovoltaic panel in space, when the mechanical arm moves along the second trajectory, there is an action of rotating the photovoltaic panel in space, or when the mechanical arm moves along the first trajectory, there is an action of rotating the photovoltaic panel in space, when the mechanical arm moves along the second trajectory, there is no action of rotating the photovoltaic panel in space; when the mechanical arm rotates the photovoltaic panel in space, the photovoltaic panel is rotated 180°; the mechanical arm comprises an arm body having a first arm, a second arm, a third arm, a fourth arm, a fifth arm, a sixth arm, and a seventh arm connected in sequence, and the first arm is used to be connected with a vehicle body of a laying device; the mechanical arm further comprises a grabbing element movably connected with the arm body, and the grabbing element is suitable for grabbing the photovoltaic panel; when the mechanical arm moves along the first trajectory, the grabbing element is fixed relative to the arm body, and when the mechanical arm moves along the second trajectory, the grabbing element moves relative to the arm body to extend the distance of moving the photovoltaic panel by the mechanical arm; the grabbing element comprises a vacuum suction cup suitable for vacuum-sucking the photovoltaic panel; the first trajectory comprises a first sub-trajectory and a second sub-trajectory; the control element controls the movement of the mechanical arm along the first sub-trajectory, the mechanical arm grasps and lifts the photovoltaic panel of the material frame to a preset height, the control element is suitable for judging whether the suction force of the vacuum suction cup is greater than or equal to a preset value, if greater than or equal to the preset value, the control element controls the movement of the mechanical arm along the second sub-trajectory to move the photovoltaic panel to the laying rack; the preset height is 10 mm-100 mm; When the control member determines that the suction force of the vacuum chuck is less than a preset value, the control member controls the mechanical arm to move in the opposite direction of the first sub-trajectory to return the photovoltaic panel to the frame.

2. The robot of claim 1, wherein, The mechanical arm further comprises a driving assembly connected with the arm body, the control member is electrically connected with the driving assembly, and the driving assembly is adapted to drive the arm body to move so that the arm body has six degrees of freedom, including translation and rotation in a first direction, translation and rotation in a second direction, and translation and rotation in a third direction, the first direction, the second direction, and the third direction intersect.

3. The robot of claim 2, wherein, The mechanical arm further comprises a transmission mechanism connected with the arm body and the grabbing member, and the transmission mechanism is further connected with the driving assembly, and the driving assembly is adapted to drive the transmission mechanism to move so that the grabbing member moves relative to the arm body.

4. The robot according to any one of claims 1 to 3, characterized in that, The preset trajectory further comprises a third trajectory and a fourth trajectory, the control member controls the mechanical arm to move along the third trajectory so that the mechanical arm moves from a corresponding position of the first laying position to a corresponding position of the frame, and the control member controls the mechanical arm to move along the fourth trajectory so that the mechanical arm moves from a corresponding position of the second laying position to a corresponding position of the frame, and the posture of the mechanical arm is the same when the mechanical arm moves along the third trajectory and the fourth trajectory and is located at the corresponding position of the frame.

5. A paving apparatus characterized by, The robot comprises a vehicle body, a frame, and the robot as claimed in any one of claims 1 to 4, the frame is arranged on the vehicle body and spaced apart from the robot, and the frame is adapted to store photovoltaic panels.

6. A control method of a paving apparatus, characterized by, The robot comprises: The laying device as claimed in claim 5 is provided; The robot is controlled to move the photovoltaic panel stored in the frame along the preset trajectory to a laying rack.

7. A paving system characterized in that, The laying device as claimed in claim 5 is provided; The laying device as claimed in claim 5 is provided;

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