Vehicle-mounted pneumatic power-assisted manipulator for mounting photovoltaic panel

Abstract

The invention relates to a vehicle-mounted pneumatic power-assisted manipulator for mounting a photovoltaic panel, which comprises a fixed base, a main shaft mounted on the fixed base and capable of rotating, a height adjusting mechanism mounted at the top end of the main shaft and capable of swinging in the vertical direction, and a front arm mounted at the front end of the height adjusting mechanism and capable of rotating in the horizontal direction, the front end of the front arm is provided with a picking and placing mechanism for picking and placing the photovoltaic panel; the lower end of the main shaft is rotationally connected with the fixed base, and a first driving part is mounted at the joint of the main shaft and the fixed base; and a second driving piece is mounted at the joint of the rotating shaft and the front arm seat. According to the invention, the photovoltaic panel does not need to be manually carried, the working efficiency of photovoltaic panel installation is improved, the operation is time-saving and labor-saving, and the labor intensity of workers is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automated machinery, and in particular to a vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels. Background Art

[0002] At present, photovoltaic panels generally need to be installed on a bracket 2-3 meters above the ground. Traditional photovoltaic panel installation mainly relies on manual handling. The installation of photovoltaic panels requires the coordination and cooperation of multiple workers. The installation process is time-consuming and labor-intensive, with extremely low work efficiency and high labor intensity. In addition, the operation process requires workers to climb onto the bracket, which poses a great safety hazard. Therefore, there is an urgent need for a manipulator that is convenient for installing photovoltaic panels. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels.

[0004] The present invention is achieved through the following technical scheme, which provides a vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels, including a fixed base, a main shaft installed on the fixed base and capable of rotating, and a height adjustment mechanism installed at the top of the main shaft and capable of swinging in the vertical direction. A forearm capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a pick-and-place mechanism for picking up and placing photovoltaic panels is installed at the front end of the forearm; the lower end of the main shaft is rotatably connected to the fixed base, and a first driving member is installed at the connection between the main shaft and the fixed base; a second driving member is installed at the connection between the rotating shaft and the forearm seat.

[0005] Preferably, the first driving member includes a first servo motor mounted on a fixed base and first pulleys mounted on the main shaft and the output shaft of the first servo motor, respectively, and a first synchronous belt is connected between the two first pulleys. The first servo motor drives the main shaft to rotate through the first synchronous belt and the two first pulleys. Preferably, the height adjustment mechanism includes a rear arm seat fixed to the main shaft, and a main arm and an upper arm hinged to the rear arm seat and arranged in parallel, the front ends of the main arm and the upper arm are hinged to the forearm seat, and the forearm is rotatably connected to the forearm seat through a rotating shaft.

[0006] Preferably, a lifting cylinder capable of driving the main arm and the upper arm to swing in the vertical direction is connected between the main arm and the upper arm, the outer cylinder of the lifting cylinder is hinged to the rear of the upper arm, and the piston rod of the lifting cylinder is hinged to the front of the main arm. The main arm and the upper arm are swung up and down by extending and shortening the piston rod of the lifting cylinder, thereby changing the height of the forearm seat and the forearm, thereby adjusting the height of the carrying mechanism, and when the lifting cylinder drives the main arm and the upper arm to rotate, the forearm always remains horizontal.

[0007] Preferably, a counterweight is installed at the rear end of the main arm to enhance the stability of the device.

[0008] Preferably, the second driving member includes a second servo motor mounted on the forearm seat and second pulleys mounted on the rotating shaft and the output shaft of the second servo motor, respectively, and a second synchronous belt is connected between the two second pulleys. The second servo motor drives the rotating shaft to rotate through the second synchronous belt and the two second pulleys.

[0009] Preferably, the picking and placing mechanism includes a connecting rod vertically fixed to the forearm, a connecting shaft rotatably connected to the connecting rod, and a mounting plate hinged to the lower end of the rotating shaft, and a plurality of vacuum suction cups for picking and placing photovoltaic panels are mounted on the mounting plate.

[0010] Preferably, the vacuum suction cup is connected to the vacuum generator through a vacuum suction pipe. The photovoltaic panel can be picked up and put down by controlling the vacuum suction cup.

[0011] Preferably, a locking member is installed at the connection between the connecting rod and the connecting shaft, and the locking member includes a locking plate fixed to the upper end of the connecting shaft and a locking cylinder installed on the connecting rod, the outer cylinder of the locking cylinder is fixed to the connecting rod, and the inner rod of the locking cylinder fixes the clamping block. The inner rod of the locking cylinder retracts to press the clamping block on the locking plate, so that the connecting shaft is locked and does not rotate. The inner rod of the locking cylinder extends to release the locking of the connecting shaft, and the photovoltaic panel can be conveniently taken in and put out by rotating the connecting shaft and the mounting plate. When the photovoltaic panel is adjusted to a suitable position and needs to be installed, the connecting shaft is locked by controlling the locking cylinder, so that the installation of the photovoltaic panel is convenient.

[0012] The beneficial effects of the present invention are:

[0013] 1. The present invention has a simple structure, can be installed on a vehicle and move with the vehicle, and has strong flexibility; the height and horizontal position of the pick-and-place mechanism are flexibly adjustable, which can facilitate the pick-and-place mechanism to pick up and install the photovoltaic panel.

[0014] 2. The photovoltaic panels can be installed efficiently and stably by taking and placing the photovoltaic panels through the pick-and-place mechanism, without the need for manual handling, thereby improving the work efficiency of photovoltaic panel installation, saving time and effort in operation, and greatly reducing the labor intensity of workers; the present invention eliminates the need for manual climbing to the bracket to install the photovoltaic panels, thereby reducing the risk of manual operations and improving the safety of photovoltaic panel installation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention;

[0016] Figure 2 for Figure 1 A is a schematic diagram of the enlarged structure of the middle part;

[0017] As shown in the figure:

[0018] 1. Fixed base, 2. Spindle, 3. Forearm, 4. First servo motor, 5. First synchronous belt, 6. Rear arm seat, 7. Main arm, 8. Upper arm, 9. Forearm seat, 10. Rotating shaft, 11. Lifting cylinder, 12. Counterweight, 13. Second servo motor, 14. Second synchronous belt, 15. Connecting rod, 16. Connecting shaft, 17. Mounting plate, 18. Vacuum suction cup, 19. Locking plate, 20. Locking cylinder, 21. Pressing block, 22. Photovoltaic panel. DETAILED DESCRIPTION

[0019] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0020] like Figure 1-2 As shown, the present invention includes a fixed base 1, a main shaft 2 installed on the fixed base 1 and capable of rotating, and a height adjustment mechanism installed on the top of the main shaft 2 and capable of swinging in the vertical direction. A forearm 3 capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a pick-up and placement mechanism for picking up and placing the photovoltaic panel 22 is installed at the front end of the forearm 3.

[0021] The lower end of the main shaft 2 is rotatably connected to the fixed base 1, and a first driving member is installed at the connection between the main shaft 2 and the fixed base 1, and the main shaft 2 is driven to rotate by the first driving member. The first driving member includes a first servo motor 4 installed on the fixed base 1 and first pulleys installed on the main shaft 2 and the output shaft of the first servo motor 4 respectively, and a first synchronous belt 5 is connected between the two first pulleys. The first servo motor 4 drives the main shaft 2 to rotate through the first synchronous belt 5 and the two first pulleys.

[0022] The height adjustment mechanism includes a rear arm seat 6 fixed to the main shaft 2, and a main arm 7 and an upper arm 8 which are hinged and arranged in parallel with the rear arm seat 6. The front ends of the main arm 7 and the upper arm 8 are hinged to the forearm seat 9, and the forearm 3 is rotatably connected to the forearm seat 9 through a rotating shaft 10. A lifting cylinder 11 which can drive the main arm 7 and the upper arm 8 to swing in the vertical direction is connected between the main arm 7 and the upper arm 8. The outer cylinder of the lifting cylinder 11 is hinged to the rear of the upper arm 8, and the piston rod of the lifting cylinder 11 is hinged to the front of the main arm 7. The main arm 7 and the upper arm 8 are swung up and down by the extension and shortening of the piston rod of the lifting cylinder 11, thereby changing the height of the forearm seat 9 and the forearm 3, thereby adjusting the height of the carrying mechanism. When the lifting cylinder 11 drives the main arm 7 and the upper arm 8 to rotate, the forearm 3 always remains horizontal. A counterweight block 12 is installed at the rear end of the main arm 7, and the stability of the device is enhanced by the counterweight block 12.

[0023] A second driving member is installed at the connection between the rotating shaft 10 and the forearm seat 9, and the rotating shaft 10 is driven to rotate by the second driving member. The second driving member includes a second servo motor 13 installed on the forearm seat 9 and second pulleys installed on the rotating shaft 10 and the output shaft of the second servo motor 13 respectively. A second synchronous belt 14 is connected between the two second pulleys. The second servo motor 13 drives the rotating shaft 10 to rotate through the second synchronous belt 14 and the two second pulleys.

[0024] The picking and placing mechanism includes a connecting rod 15 fixed to the forearm 3, a connecting shaft 16 rotatably connected to the connecting rod 15, and a mounting plate 17 hinged to the lower end of the rotating shaft 10. A plurality of vacuum suction cups 18 for picking and placing the photovoltaic panel 22 are installed on the mounting plate 17. The vacuum suction cups 18 are connected to the vacuum generator through vacuum suction pipes. The vacuum suction cups 18 adopt the existing structure, and its structure and working principle are not repeated here. The photovoltaic panel 22 is sucked up and put down by controlling the vacuum suction cups 18 to realize the picking and placing of the photovoltaic panel 22. A locking piece is installed at the connection between the connecting rod 15 and the connecting shaft 16, and the locking piece includes a locking plate 19 fixed to the upper end of the connecting shaft 16 and a locking cylinder 20 installed on the connecting rod 15. The outer cylinder of the locking cylinder 20 is fixed to the connecting rod 15, and the inner rod of the locking cylinder 20 fixes the clamping block 21. The inner rod of the locking cylinder 20 retracts to press the clamping block 21 on the locking plate 19, so that the connecting shaft 16 is locked and does not rotate. The inner rod of the locking cylinder 20 extends to release the locking of the connecting shaft 16. The photovoltaic panel 22 can be conveniently taken in and put out by rotating the connecting shaft 16 and the mounting plate 17. When the photovoltaic panel 22 is adjusted to a position for installation, the connecting shaft 16 is locked by controlling the locking cylinder 20, so as to facilitate the installation of the photovoltaic panel 22.

[0025] During specific work, the fixed base 1 is installed on the mobile vehicle, the height of the pick-up and placement mechanism is adjusted by controlling the lifting cylinder 11, and the horizontal position of the pick-up and placement mechanism is adjusted by controlling the first servo motor 4 and the second servo motor 13 and manually rotating the connecting shaft 16. The position of the pick-up and placement mechanism can be flexibly adjusted according to work needs to facilitate the pick-up and installation of the photovoltaic panel 22.

[0026] The present invention has a simple structure, can be installed on a vehicle and move with the vehicle, and has strong flexibility; the height and horizontal position of the pick-and-place mechanism are flexibly adjustable, which can facilitate the pick-and-place mechanism to pick up and install the photovoltaic panel 22. The photovoltaic panel 22 can be installed efficiently and stably by picking up and placing the photovoltaic panel 22 through the pick-and-place mechanism, without the need for manual handling, which improves the work efficiency of the installation of the photovoltaic panel 22, saves time and effort in operation, and greatly reduces the labor intensity of workers; the present invention does not require manual climbing to the bracket to install the photovoltaic panel 22, which reduces the risk of manual operation and improves the safety of the photovoltaic panel 22 installation operation.

[0027] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels, characterized in that: It includes a fixed base, a main shaft installed on the fixed base and capable of rotating, and a height adjustment mechanism installed at the top of the main shaft and capable of swinging in the vertical direction. A forearm capable of rotating in the horizontal direction is installed at the front end of the height adjustment mechanism, and a pick-and-place mechanism for picking up and placing photovoltaic panels is installed at the front end of the forearm; the lower end of the main shaft is rotatably connected to the fixed base, and a first driving member is installed at the connection between the main shaft and the fixed base; a second driving member is installed at the connection between the rotating shaft and the forearm seat.

2. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 1, characterized in that: The first driving member includes a first servo motor mounted on a fixed base and first pulleys mounted on a main shaft and an output shaft of the first servo motor respectively, and a first synchronous belt is connected between the two first pulleys.

3. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 1, characterized in that: The height adjustment mechanism comprises a rear arm seat fixed to the main shaft, and a main arm and an upper arm hinged to the rear arm seat and arranged in parallel. The front ends of the main arm and the upper arm are hinged to the forearm seat, and the forearm is rotatably connected to the forearm seat through a rotating shaft.

4. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 3, characterized in that: A lifting cylinder capable of driving the main arm and the upper arm to swing in the vertical direction is connected between the main arm and the upper arm, the outer cylinder of the lifting cylinder is hinged to the rear of the upper arm, and the piston rod of the lifting cylinder is hinged to the front of the main arm.

5. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 1, characterized in that: The second driving member includes a second servo motor mounted on the forearm seat and second pulleys mounted on the rotating shaft and the output shaft of the second servo motor respectively, and a second synchronous belt is connected between the two second pulleys.

6. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 1, characterized in that: The pick-and-place mechanism comprises a connecting rod fixed to the forearm, a connecting shaft rotatably connected to the connecting rod, and a mounting plate hinged to the lower end of the rotating shaft, on which a plurality of vacuum suction cups for picking up and placing photovoltaic panels are mounted.

7. The vehicle-mounted pneumatic power-assisted manipulator for installing photovoltaic panels according to claim 6, characterized in that: A locking piece is installed at the connection between the connecting rod and the connecting shaft. The locking piece includes a locking plate fixed to the upper end of the connecting shaft and a locking cylinder installed on the connecting rod. The outer cylinder of the locking cylinder is fixed to the connecting rod, and the inner rod of the locking cylinder fixes the clamping block.

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