Photovoltaic panel mounting manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to a photovoltaic panel mounting manipulator which is used for solving the problem that an existing manipulator cannot easily obtain the suction firmness degree of a suction cup. The manipulator comprises a mechanical arm, the mechanical arm is provided with a grabbing mechanism, the grabbing mechanism comprises a suction cup, the mechanical arm is further provided with a detection mechanism used for detecting the suction degree of the suction cup, the detection mechanism comprises driving teeth rotating on the mechanical arm and driven teeth connected to the suction cup, and after the suction cup sucks a photovoltaic panel, the driving teeth rotate to drive the driven teeth to rotate; when the suction force of the suction cup is high, the rotation resistance of the driving teeth is high, and when the suction force of the suction cup is low, the driven teeth rotate to separate the suction cup from the photovoltaic panel, so that the rotation resistance of the driving teeth is instantaneously reduced; according to the manipulator, the adsorption firmness degree between the suction cup and the photovoltaic panel is obtained by applying traction and twisting force to the suction cup, and it is guaranteed that the photovoltaic panel is not prone to falling off in the follow-up process.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a photovoltaic panel installation manipulator. Background Art

[0002] In today's global context of actively promoting the development of clean energy, photovoltaic power generation has been widely used and promoted as an efficient and clean way to utilize renewable energy.

[0003] The installation of photovoltaic panels is a key link in the construction of photovoltaic power generation systems. The installation efficiency and quality directly affect the power generation efficiency and stability of photovoltaic power generation systems.

[0004] During the installation process of photovoltaic panels, a robot is usually required to grab and transfer the photovoltaic panels.

[0005] At present, most robots use suction cups as tools to grab photovoltaic panels, and use the vacuum adsorption principle to firmly hold the photovoltaic panels for subsequent handling and installation operations.

[0006] However, there is uncertainty in the suction effect of the suction cup on the photovoltaic panel. If the adsorption force is insufficient, the photovoltaic panel may fall off during transportation, which will not only cause damage to the photovoltaic panel, but may also cause safety accidents and affect the installation progress and cost.

[0007] The existing device can only detect the adsorption state of the suction cup, that is, it can only know whether the suction cup is adsorbed on the photovoltaic panel, but it is not easy to obtain the adsorption strength of the suction cup, so that the subsequent photovoltaic panel may fall off and be damaged during the transfer process. Summary of the invention

[0008] The invention provides a photovoltaic panel installation robot to solve the problem that it is difficult to determine the adsorption firmness of a suction cup in the existing robot.

[0009] In order to alleviate the above technical problems, the technical solution provided by the present invention is: A photovoltaic panel installation robot comprises a robot arm, wherein the robot arm is provided with a grasping mechanism, wherein the grasping mechanism comprises a suction cup, and the robot arm is also provided with a detection mechanism for detecting the degree of suction of the suction cup, wherein the detection mechanism comprises an active tooth rotating on the robot arm and a driven tooth connected to the suction cup, after the suction cup adsorbs the photovoltaic panel, the active tooth rotates to drive the driven tooth to rotate, when the adsorption force of the suction cup is high, the rotation resistance of the active tooth is high, and when the adsorption force of the suction cup is low, the rotation of the driven tooth can make the suction cup detach from the photovoltaic panel, thereby instantly reducing the rotation resistance of the active tooth.

[0010] Furthermore, the detection mechanism further comprises a hydraulic rod, the output end of the hydraulic rod is connected to a push rod, the mechanical arm comprises a mounting plate, and a cylindrical cavity cooperating with the push rod is formed in the mounting plate; A piston cylinder is fixedly connected inside the mounting plate, a rack meshing with the active tooth is slidably connected inside the piston cylinder, an air pipe is connected between the piston cylinder and the cylindrical cavity, when the hydraulic rod is extended, the push rod slides down in the cylindrical cavity, so that the mounting plate is away from the photovoltaic panel, and the gas in the piston cylinder flows into the cylindrical cavity.

[0011] Furthermore, the detection mechanism further comprises a telescopic rod, a connecting rod and a pin rod, the telescopic rod is connected to the cylinder rod of the hydraulic rod, the connecting rod is connected to the bottom end of the telescopic rod, the pin rod slides in the push rod, a first spring is arranged between the telescopic rod and the connecting rod, a second spring is arranged between the connecting rod and the push rod, a stepped hole is opened in the push rod, the stepped hole is fitted with the pin cap of the pin rod, and there is a gap with the rod body of the pin rod, and the stepped hole passes through the push rod and is connected to the external space; The elastic force of the first spring is higher than that of the second spring. When the hydraulic rod is extended, the second spring is compressed before the first spring. When any of the suction cups is separated from the photovoltaic panel, the first spring is elastically released to allow the pin rod to move downward quickly.

[0012] Furthermore, the gripping mechanism also includes a connecting tube, which is rotatably connected to the mounting plate, the suction cup is connected to the bottom end of the connecting tube, the driven tooth is connected to the connecting tube, the top of the connecting tube is connected to a pipeline, and the pipeline is connected to an external pneumatic system.

[0013] Furthermore, an auxiliary mechanism is included, which includes a receiving groove opened in the mounting plate, the receiving groove is filled with lubricant and is slidably connected with an L-shaped block, the lower surface of the rack is in contact with the L-shaped block, the rack can be relatively displaced with respect to the L-shaped block when sliding slowly, and the rack can drive the L-shaped block to slide into the receiving groove when sliding quickly.

[0014] Furthermore, the auxiliary mechanism also includes a transmission tube, one end of which is connected to the accommodating groove, and the other end of which passes through the connecting tube and faces the suction cup.

[0015] Furthermore, an electric rotating rod is coaxially connected to the active tooth, and the electric rotating rod is rotatably connected to the mounting plate. When the hydraulic rod is in operation, the electric rotating rod is unlocked from the mounting plate.

[0016] Furthermore, it also includes a protection mechanism, which includes four electric rotating plates hinged around the mounting plate, and a displacement sensor is arranged at the bottom of the mounting plate. After the robotic arm extracts the photovoltaic panel, when any of the suction cups falls off, the push rod can slide down under the mounting plate, so that the electric rotating plate flips down.

[0017] Furthermore, the protection mechanism also includes a radar detector, which is connected to the mounting plate. When the radar detector detects that there is a receiving object at the lower part of the mounting plate, the electric rotating plate does not rotate.

[0018] Furthermore, the robotic arm also includes an arm body, and the arm body is connected to the mounting plate.

[0019] The beneficial effects of the present invention are analyzed as follows: A photovoltaic panel installation manipulator comprises a mechanical arm, on which a grasping mechanism is arranged, the grasping mechanism comprises a suction cup, and the mechanical arm is also provided with a detection mechanism for detecting the degree of suction of the suction cup, the detection mechanism comprises an active tooth rotating on the mechanical arm and a driven tooth connected to the suction cup, after the suction cup adsorbs the photovoltaic panel, the active tooth rotates to drive the driven tooth to rotate, when the adsorption force of the suction cup is high, the rotation resistance of the active tooth is high, and when the adsorption force of the suction cup is low, the rotation of the driven tooth can make the suction cup detach from the photovoltaic panel, so that the rotation resistance of the active tooth is instantly reduced.

[0020] After the suction cup adsorbs the photovoltaic panel, the active teeth start to rotate and apply a twisting rotational force to the suction cup through the driven teeth. If the suction cup is firmly adsorbed on the photovoltaic panel, the suction cup will recover after the driving force of the driven teeth is removed, causing the driven teeth to rotate in the opposite direction. This indicates that the adsorption force of the suction cup is sufficient. If the suction cup is not firmly adsorbed on the photovoltaic panel, the suction cup will be out of contact with the photovoltaic panel when the driven teeth drive the suction cup to rotate. At this time, the rotational resistance of the driven teeth is reduced, so that the active teeth rotate quickly. This indicates that the adsorption strength of the suction cup is low. Subsequently, the suction cup that has detached from the photovoltaic panel and the corresponding photovoltaic panel position are wiped, and the manipulator applies negative pressure to the suction cup again, so that the suction cup that has detached from the photovoltaic panel grabs the photovoltaic panel again. After grabbing, the above actions are repeated until all suction cups are not detached from the photovoltaic panel, and then the manipulator transfers the photovoltaic panel to the mounting bracket of the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a state diagram of the electric rotating plate of the present invention being turned down; Figure 3 It is a structural schematic diagram of the grabbing mechanism of the present invention; Figure 4 It is a structural schematic diagram of the suction cup of the present invention; Figure 5 It is a structural schematic diagram of the electric rotating rod of the present invention; Figure 6 It is a structural schematic diagram of the detection mechanism of the present invention; Figure 7 For the present invention Figure 6 The structural diagram of part A in the figure; Figure 8 It is a structural schematic diagram of the hydraulic rod of the present invention.

[0023] icon: 100, robotic arm; 110, arm body; 120, mounting plate; 200, grasping mechanism; 210, suction cup; 220, connecting tube; 230, pipeline; 300, detection mechanism; 310, electric rotating rod; 320, driving gear; 330, driven gear; 340, rack; 350, piston cylinder; 360, air pipe; 370, hydraulic rod; 371, telescopic rod; 372, first spring; 380, connecting rod; 381, pin rod; 382, ​​second spring; 390, push rod; 391, cylindrical cavity; 400, auxiliary mechanism; 410, receiving groove; 420, L-shaped block; 430, transmission tube; 500, protection mechanism; 510, electric rotating plate; 520, displacement sensor; 530, radar detector. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0025] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0027] Furthermore, the terms “first”, “second”, and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Examples, such as Figure 1-Figure 8 As shown, a photovoltaic panel installation robot includes a robot arm 100, on which a gripping mechanism 200 is provided, the gripping mechanism 200 includes a suction cup 210, and the robot arm 100 is also provided with a detection mechanism 300 for detecting the adsorption degree of the suction cup 210, the detection mechanism 300 includes an active tooth 320 rotated on the robot arm 100 and a driven tooth 330 connected to the suction cup 210, after the suction cup 210 adsorbs the photovoltaic panel, the active tooth 320 rotates to drive the driven tooth 330 to rotate, when the adsorption force of the suction cup 210 is high, the rotation resistance of the active tooth 320 is high, when the adsorption force of the suction cup 210 is low, the rotation of the driven tooth 330 can make the suction cup 210 detach from the photovoltaic panel, so that the rotation resistance of the active tooth 320 is instantly reduced.

[0030] The working mechanism of the manipulator provided in this embodiment is as follows: The manipulator can be installed on an all-terrain vehicle, and a photovoltaic panel is placed on the all-terrain vehicle. The manipulator grabs the photovoltaic panel and transfers it to the photovoltaic panel bracket. The manipulator arm 100 moves to the upper part of the photovoltaic panel and then approaches the photovoltaic panel. After the suction cup 210 contacts the photovoltaic panel, the pneumatic system of the manipulator draws a vacuum for the suction cup 210, so that the suction cup 210 is adsorbed on the photovoltaic panel. After the suction cup 210 adsorbs the photovoltaic panel, the active tooth 320 starts to rotate and applies a twisting rotation force to the suction cup 210 through the driven tooth 330. If the suction cup 210 is firmly adsorbed on the photovoltaic panel, the suction cup 210 will be deformed and restored after the driving force of the driven tooth 330 is removed, so that the driven tooth 330 rotates in the opposite direction. At this time, This indicates that the suction force of the suction cup 210 is sufficient. If the suction cup 210 is not firmly adsorbed on the photovoltaic panel, the suction cup 210 will be out of contact with the photovoltaic panel when the driven tooth 330 drives the suction cup 210 to rotate. At this time, the rotation resistance of the driven tooth 330 is reduced, so that the active tooth 320 rotates quickly. At this time, it indicates that the adsorption strength of the suction cup 210 is low. Subsequently, the suction cup 210 that has been separated from the photovoltaic panel and the corresponding photovoltaic panel position are wiped, and the manipulator applies negative pressure to the suction cup 210 again, so that the suction cup 210 that has been separated from the photovoltaic panel grabs the photovoltaic panel again. After grabbing, repeat the above actions until all suction cups 210 are not separated from the photovoltaic panel, and then the manipulator transfers the photovoltaic panel to the mounting bracket of the photovoltaic panel.

[0031] Regarding the structure of the detection mechanism 300, specifically: The detection mechanism 300 also includes a hydraulic rod 370, and the output end of the hydraulic rod 370 is connected to a push rod 390. The robotic arm 100 includes a mounting plate 120, and a cylindrical cavity 391 cooperating with the push rod 390 is opened in the mounting plate 120; a piston cylinder 350 is fixedly connected to the mounting plate 120, and a rack 340 meshing with the active tooth 320 is slidably connected to the piston cylinder 350. An air pipe 360 ​​is connected between the piston cylinder 350 and the cylindrical cavity 391. When the hydraulic rod 370 is extended, the push rod 390 slides down the cylindrical cavity 391, so that the mounting plate 120 is away from the photovoltaic panel, and the gas in the piston cylinder 350 flows into the cylindrical cavity 391.

[0032] The hydraulic rod 370 is connected to the arm body 110 of the mechanical arm 100. After the suction cup 210 adsorbs the photovoltaic panel, the hydraulic rod 370 extends, so that the push rod 390 is pushed toward the photovoltaic panel. At this time, the push rod 390 pushes the photovoltaic panel away from the mounting plate 120, so that the suction cup 210 is subjected to a pulling force. With the above-mentioned applied torsional force, the adsorption state of the suction cup 210 can be more strictly detected; When the hydraulic rod 370 is extended, the push rod 390 is pushed, causing the push rod 390 to move downward in the cylindrical cavity 391, thereby increasing the space in the cylindrical cavity 391. At this time, the air in the piston cylinder 350 is transmitted to the cylindrical cavity 391 through the air pipe 360, and the rack 340 slides into the corresponding piston cylinder 350. At this time, the rack 340 drives the active tooth 320 meshing with it to rotate, thereby applying a torsional force to the suction cup 210.

[0033] Among the optional methods of this embodiment, the more preferred ones are: The detection mechanism 300 also includes a telescopic rod 371, a connecting rod 380 and a pin rod 381. The telescopic rod 371 is connected to the cylinder rod of the hydraulic rod 370, the connecting rod 380 is connected to the bottom end of the telescopic rod 371, and the pin rod 381 slides in the push rod 390. A first spring 372 is arranged between the telescopic rod 371 and the connecting rod 380, and a second spring 382 is arranged between the connecting rod 380 and the push rod 390. A stepped hole is opened in the push rod 390, the stepped hole is fitted with the pin cap of the pin rod 381, and there is a gap with the rod body of the pin rod 381. The stepped hole passes through the push rod 390 and is connected to the external space; the elastic force of the first spring 372 is higher than that of the second spring 382. When the hydraulic rod 370 is extended, the second spring 382 is compressed before the first spring 372, and when any suction cup 210 is detached from the photovoltaic panel, the first spring 372 is elastically released to make the pin rod 381 move down quickly.

[0034] The push rod 390 protrudes from the lower surface of the mounting plate 120 to a certain length, ensuring that after the suction cup 210 is adsorbed on the photovoltaic panel, the bottom end of the push rod 390 contacts the photovoltaic panel, and the pin rod 381 slides a certain distance into the push rod 390. When the hydraulic rod 370 is extended, the push rod 390 is pushed to contact the photovoltaic panel, and then the push rod 390 continues to extend. At this time, the second spring 382 is compressed first, and then the first spring 372 is compressed. The pin rod 381 first moves down on the push rod 390, and then the telescopic rod 371 is shortened. The air in the piston cylinder 350 is first extracted due to the downward movement of the push rod 390, and then the pin rod 381 moves down. The air in the piston cylinder 350 continues to be extracted, and the hydraulic rod 370 is extended. The resistance to the extension of the suction cup 210 includes the resistance when the suction cup 210 is driven to rotate. If the suction cup 210 is not firmly attached to the photovoltaic panel, the suction cup 210 is easy to detach from the photovoltaic panel, that is, the suction cup 210 has resistance when it is initially driven to twist, and then the suction cup 210 detaches from the photovoltaic panel. Then, the suction cup 210 is very easy to rotate, which makes it easy for the corresponding rack 340 to slide into the piston cylinder 350. At this time, the elastic force accumulated in the first spring 372 will be released instantly, thereby pushing the pin 381 to move downward quickly, causing the gas in the corresponding piston cylinder 350 to flow quickly into the cylindrical cavity 391, that is, the rack 340 in the corresponding piston cylinder 350 quickly slides toward the inside of the piston cylinder 350; A hole (not shown in the figure) communicating with the stepped hole is provided in the push rod 390. The setting of this hole enables the stepped hole to communicate with the external space, ensuring that the downward movement of the pin rod 381 is not affected by air pressure.

[0035] Regarding the structure of the grabbing mechanism 200, specifically: The gripping mechanism 200 also includes a connecting tube 220, which is rotatably connected to the mounting plate 120, the suction cup 210 is connected to the bottom end of the connecting tube 220, the driven tooth 330 is connected to the connecting tube 220, and the top of the connecting tube 220 is connected to a pipeline 230, which is connected to an external pneumatic system.

[0036] The lower section of the connecting tube 220 is a retractable and deformable bellows structure. The suction cup 210 is connected to the bottom end of the bellows. The pneumatic system applies negative pressure to the suction cup 210 through the pipeline 230, so that the suction cup 210 can be adsorbed on the photovoltaic panel. When the suction cup 210 is firmly adsorbed on the photovoltaic panel, the bellows is in a shortened state. After the photovoltaic panel is transferred to its mounting bracket, the pneumatic system applies positive pressure to the suction cup 210, so that the photovoltaic panel is released.

[0037] Regarding the structure of the auxiliary mechanism 400, specifically: The auxiliary mechanism 400 includes a receiving groove 410 opened in the mounting plate 120, the receiving groove 410 is filled with lubricant and is slidably connected with an L-shaped block 420, the lower surface of the rack 340 is in contact with the L-shaped block 420, the rack 340 can be relatively displaced with the L-shaped block 420 when sliding slowly, and can drive the L-shaped block 420 to slide into the receiving groove 410 when sliding quickly.

[0038] When the suction cup 210 is twisted and pulled away from the photovoltaic panel, the auxiliary mechanism 400 operates, so that the subsequent adsorption force between the corresponding suction cup 210 and the photovoltaic panel is improved. Specifically, when the suction cup 210 is separated from the photovoltaic panel, the corresponding rack 340 can slide quickly, and the rack 340 fits with the L-shaped block 420. The bottom of the rack 340 can be plastic with a relatively smooth surface, and the top of the L-shaped block 420 can be a rubber material with moderate friction. When the rack 340 moves slowly under the negative pressure provided by the piston cylinder 350 as a power, the rack 340 will not overcome the friction force of the L-shaped block 420 and the pressure in the receiving groove 410 to drive the L-shaped block 420 to move. After the suction cup 210 is separated from the photovoltaic panel, when the rack 340 moves quickly, the dynamic friction coefficient increases with the increase in speed, and the large friction force generated by the rapid movement will be transmitted to the L-shaped block 420, so that the rack 340 drives the L-shaped block 420 to move, so that a small amount of lubricant in the receiving groove 410 is squeezed out; In addition, transmission can also be performed between the rack 340 and the L-shaped block 420 by setting a non-Newtonian fluid. When the rack 340 moves slowly, the non-Newtonian fluid can flow, so that the rack 340 will not push the L-shaped block 420 to slide through the non-Newtonian fluid. On the contrary, when the rack 340 moves quickly, it is transmitted to the L-shaped block 420 through the non-Newtonian fluid, so that the L-shaped block 420 slides into the accommodating groove 410.

[0039] Among the optional methods of this embodiment, the more preferred ones are: The auxiliary mechanism 400 further includes a transmission tube 430 , one end of which is connected to the receiving groove 410 , and the other end of the transmission tube 430 passes through the connecting tube 220 and faces the suction cup 210 .

[0040] The L-shaped block 420 has resistance when sliding in the receiving groove 410, so that the lubricant in the receiving groove 410 will not be discharged too much. At this time, a small amount of lubricant flows to the suction cup 210 through the transmission pipe 430, so that the small gap between the suction cup 210 and the photovoltaic panel is filled, the sealing effect is improved, and the adsorption strength between the suction cup 210 and the photovoltaic panel is improved; Lubricants can be vaseline or silicone oil.

[0041] Among the optional methods of this embodiment, the more preferred ones are: The driving gear 320 is coaxially connected with an electric rotating rod 310 , and the electric rotating rod 310 is rotatably connected to the mounting plate 120 . When the hydraulic rod 370 is in operation, the electric rotating rod 310 is unlocked from the mounting plate 120 .

[0042] When the pipeline 230 applies negative pressure to the suction cup 210, the electric rotating rod 310 is powered on and locked on the mounting plate 120 by electromagnetic force, or a motor is set to apply reverse torque to the electric rotating rod 310. At this time, the active gear 320 cannot rotate, which makes the rack 340 unable to slide. At this time, the suction cup 210 will not rotate, ensuring that the process of the suction cup 210 adsorbing on the photovoltaic panel is not affected by its own movement; A solenoid valve is also provided on the transmission tube 430, which is opened only when the electric rotating rod 310 is unlocked on the mounting plate 120, so as to prevent the negative pressure of the suction cup 210 from causing a large amount of lubricant in the receiving groove 410 to be discharged. At this time, a small amount of lubricating liquid in the receiving groove 410 will be discharged, and the suction cup 210 has been adsorbed on the photovoltaic panel, so that a small amount of lubricating liquid discharge will not affect the adsorption of the suction cup 210. When the subsequent suction cup 210 grabs the next photovoltaic panel, the small amount of lubricating liquid remaining on the suction cup 210 can improve the adsorption firmness of the subsequent suction cup 210.

[0043] Regarding the structure of the protection mechanism 500, specifically: The protection mechanism 500 includes four electric rotating plates 510 hinged around the mounting plate 120. A displacement sensor 520 is arranged at the bottom of the mounting plate 120. After the robotic arm 100 extracts the photovoltaic panel, when any suction cup 210 falls off, the push rod 390 can slide down under the mounting plate 120, so that the electric rotating plate 510 flips down.

[0044] After the hydraulic rod 370 is extended to rotate the active tooth 320, the hydraulic rod 370 is subsequently shortened to its original state, so that the active tooth 320 rotates back to its initial angle. Since the push rod 390 protrudes from the lower surface of the mounting plate 120 to a certain length, it is ensured that after the suction cup 210 is adsorbed on the photovoltaic panel, the bottom end of the push rod 390 contacts the photovoltaic panel, and the pin rod 381 slides a certain distance into the push rod 390. At this time, the second spring 382 is still in a compressed state. Therefore, if any suction cup 210 is separated from the photovoltaic panel during the subsequent process of the robot arm 100 grabbing the photovoltaic panel, the distance between the photovoltaic panel and the mounting plate 120 is enlarged, so that the second spring 382 pushes the push rod 390 to move downward. After the displacement sensor 520 detects that the push rod 390 has moved downward, the control system controls the electric rotating plate 510 to flip down quickly to ensure that the grabbed photovoltaic panel will not fall. A sponge or an air bag may be provided on the side of the electric rotating plate 510 facing the photovoltaic panel for cushioning to prevent the photovoltaic panel from being damaged after contacting the electric rotating plate 510 .

[0045] Among the optional methods of this embodiment, the more preferred ones are: The protection mechanism 500 further includes a radar detector 530 , which is connected to the mounting plate 120 . When the radar detector 530 detects that there is a receiving object at the lower part of the mounting plate 120 , the electric rotating plate 510 does not rotate.

[0046] The radar detector 530 scans the environment below the mounting plate 120. When a close object is detected below the mounting plate 120, it indicates that the photovoltaic panel may have moved to the position of its mounting bracket. At this time, the electric turntable 510 does not rotate, thereby preventing the electric turntable 510 from colliding with the mounting bracket of the photovoltaic panel. In addition, even if it has not moved to the mounting bracket, the lower object can still support the photovoltaic panel, thereby preventing the electric turntable 510 from colliding with the lower object.

[0047] Among the optional methods of this embodiment, the more preferred ones are: The robot arm 100 further includes an arm body 110 , which is connected to a mounting plate 120 .

[0048] The arm body 110 of the robot arm 100 adopts the existing structure and is controlled by the existing program so that it can operate automatically.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photovoltaic panel installation robot, comprising a robot arm (100), characterized in that: The mechanical arm (100) is provided with a gripping mechanism (200), the gripping mechanism (200) comprising a suction cup (210), and the mechanical arm (100) is further provided with a detection mechanism (300) for detecting the degree of adsorption of the suction cup (210), the detection mechanism (300) comprising an active tooth (320) rotating on the mechanical arm (100) and a driven tooth (330) connected to the suction cup (210), after the suction cup (210) adsorbs the photovoltaic panel, the active tooth (320) rotates to drive the driven tooth (330) to rotate, when the adsorption force of the suction cup (210) is high, the rotation resistance of the active tooth (320) is high, and when the adsorption force of the suction cup (210) is low, the rotation of the driven tooth (330) can cause the suction cup (210) to detach from the photovoltaic panel, thereby instantly reducing the rotation resistance of the active tooth (320).

2. The photovoltaic panel installation robot according to claim 1, characterized in that: The detection mechanism (300) further comprises a hydraulic rod (370), the output end of the hydraulic rod (370) being connected to a push rod (390), and the mechanical arm (100) comprises a mounting plate (120), wherein a cylindrical cavity (391) cooperating with the push rod (390) is provided in the mounting plate (120); A piston cylinder (350) is fixedly connected inside the mounting plate (120), a rack (340) meshing with the active tooth (320) is slidably connected inside the piston cylinder (350), an air pipe (360) is connected between the piston cylinder (350) and the cylindrical cavity (391), and when the hydraulic rod (370) is extended, the push rod (390) slides down in the cylindrical cavity (391), so that the mounting plate (120) is away from the photovoltaic panel, and the gas in the piston cylinder (350) flows into the cylindrical cavity (391).

3. The photovoltaic panel installation robot according to claim 2, characterized in that: The detection mechanism (300) further comprises a telescopic rod (371), a connecting rod (380) and a pin rod (381), wherein the telescopic rod (371) is connected to the cylinder rod of the hydraulic rod (370), the connecting rod (380) is connected to the bottom end of the telescopic rod (371), the pin rod (381) slides in the push rod (390), a first spring (372) is arranged between the telescopic rod (371) and the connecting rod (380), a second spring (382) is arranged between the connecting rod (380) and the push rod (390), a stepped hole is provided in the push rod (390), the stepped hole is fitted with the pin cap of the pin rod (381) and has a gap with the rod body of the pin rod (381), and the stepped hole passes through the push rod (390) and is connected to the external space; The elastic force of the first spring (372) is higher than that of the second spring (382); when the hydraulic rod (370) is extended, the second spring (382) is compressed before the first spring (372); and when any of the suction cups (210) is detached from the photovoltaic panel, the first spring (372) is elastically released to allow the pin rod (381) to move downward quickly.

4. The photovoltaic panel installation robot according to claim 3, characterized in that: The gripping mechanism (200) further comprises a connecting tube (220), wherein the connecting tube (220) is rotatably connected to the mounting plate (120), the suction cup (210) is connected to the bottom end of the connecting tube (220), the driven tooth (330) is connected to the connecting tube (220), and the top of the connecting tube (220) is connected to a pipeline (230), and the pipeline (230) is connected to an external pneumatic system.

5. The photovoltaic panel installation robot according to claim 4, characterized in that: The auxiliary mechanism (400) further comprises an accommodating groove (410) provided in the mounting plate (120), the accommodating groove (410) being filled with lubricant and being slidably connected with an L-shaped block (420), the lower surface of the rack (340) being in contact with the L-shaped block (420), the rack (340) being able to be relatively displaced with respect to the L-shaped block (420) when sliding slowly, and the rack (340) being able to drive the L-shaped block (420) to slide into the accommodating groove (410) when sliding quickly.

6. The photovoltaic panel installation robot according to claim 5, characterized in that: The auxiliary mechanism (400) further comprises a transmission tube (430), one end of the transmission tube (430) being connected to the containing groove (410), and the other end of the transmission tube (430) passing through the connecting tube (220) and facing the suction cup (210).

7. The photovoltaic panel installation robot according to claim 6, characterized in that: An electric rotating rod (310) is coaxially connected to the driving tooth (320), and the electric rotating rod (310) is rotatably connected to the mounting plate (120). When the hydraulic rod (370) is in operation, the electric rotating rod (310) is unlocked from the mounting plate (120).

8. The photovoltaic panel installation robot according to claim 7, characterized in that: The invention also comprises a protection mechanism (500), wherein the protection mechanism (500) comprises four electric rotating plates (510) hinged around the mounting plate (120), and a displacement sensor (520) is arranged at the bottom of the mounting plate (120). After the mechanical arm (100) extracts the photovoltaic panel, when any of the suction cups (210) falls off, the push rod (390) can slide down under the mounting plate (120), thereby causing the electric rotating plates (510) to flip down.

9. The photovoltaic panel installation robot according to claim 8, characterized in that: The protection mechanism (500) further comprises a radar detector (530), wherein the radar detector (530) is connected to the mounting plate (120), and when the radar detector (530) detects that there is a receiving object at the lower part of the mounting plate (120), the electric rotating plate (510) does not rotate.

10. The photovoltaic panel installation robot according to claim 9, characterized in that: The mechanical arm (100) further comprises an arm body (110), wherein the arm body (110) is connected to the mounting plate (120).

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