Photovoltaic panel grabbing device and mounting system

Abstract

The invention discloses a photovoltaic panel grabbing device and a photovoltaic panel mounting system. The photovoltaic panel grabbing device comprises a vacuum pump, a first switch, a second switch, at least one suction cup, a control instruction obtaining unit and a controller. The vacuum pump comprises an air inlet and an air outlet; the suction cup comprises a connecting end and an adsorption end. The first switch is respectively connected with the air inlet, the connecting end and external air; the second switch is respectively connected with the exhaust port, the connecting end and external air; the control instruction acquisition unit is connected with the controller and is used for acquiring a control instruction and transmitting the control instruction to the controller; the controller is in communication connection with the control end of the first switch and the control end of the second switch and used for controlling the on-off state of the first switch and the on-off state of the second switch according to the control instruction, and then the working state of the photovoltaic panel grabbing device is controlled. By the adoption of the photovoltaic panel grabbing device, the photovoltaic panel installation efficiency can be improved, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panels, and particularly to a photovoltaic panel grasping device and an installation system. Background Art

[0002] With the rapid development of photovoltaic power generation technology, the construction scale of photovoltaic power stations has been continuously expanding, and the demand for photovoltaic panel installation shows an exponential growth. At present, manual installation is still commonly used in small and medium-sized distributed photovoltaic projects. After positioning by manual lifting, bolts are used for fastening or buckles are used for fixing to the bracket system.

[0003] However, manual installation has the following disadvantages: 1. Low operation efficiency. Manual handling is limited by the physical strength of workers, and the daily per capita installation volume is low. Moreover, frequent rotation and rest are required, resulting in a prolongation of the construction period by about 40%. There are also coordination losses in actions when multiple people cooperate. 2. Prominent safety risks. When working at heights (the roof installation scenario accounts for 62%), the ergonomic indicators are seriously exceeded: workers need to maintain a bending posture of more than 30° for more than 45% of the total working hours, and the risk of muscle strain increases by 300%. Statistics on component slipping accidents show that accidents during the manual handling stage account for 78% of the total, and the economic loss caused by component damage due to a single slip exceeds 2000 yuan per time. Summary of the Invention

[0004] The present invention provides a photovoltaic panel grasping device and an installation system to solve the problems of low efficiency and high safety risks in the existing photovoltaic panel installation method.

[0005] In a first aspect, an embodiment of the present invention provides a photovoltaic panel grasping device, including a vacuum pump, a first switch, a second switch, at least one suction cup, a control instruction acquisition unit, and a controller; the vacuum pump includes an air inlet and an air outlet; the suction cup includes a connection end and an adsorption end;

[0006] The first switch is respectively connected to the air inlet, the connection end, and the external air; the second switch is respectively connected to the air outlet, the connection end, and the external air;

[0007] The control instruction acquisition unit is connected to the controller, and is used for acquiring control instructions and transmitting the control instructions to the controller;

[0008] The controller is respectively communicatively connected to the control ends of the first switch and the second switch, and is used for controlling the on-off states of the first switch and the second switch according to the control instructions, and further controlling the working state of the photovoltaic panel grasping device.

[0009] Optionally, the first switch includes a first three-way valve; the first three-way valve includes a first input port, a second input port, and a first output port; the first input port is connected to the connection end, the second input port is connected to external air, and the first output port is in communication with the air inlet;

[0010] The second switch includes a second three-way valve; the second three-way valve includes a third input port, a second output port, and a third output port; the third input port is in communication with the exhaust port, the second output port is connected to the connection end, and the third output port is connected to external air;

[0011] The working states of the photovoltaic panel gripping device include a first state and a second state;

[0012] In the first state, the controller controls the first input port to communicate with the first output port, the second input port to be disconnected from the first output port, the third input port to communicate with the third output port, and the third input port to be disconnected from the second output port, so that the adsorption end adsorbs the photovoltaic panel;

[0013] In the second state, the controller controls the first input port to be disconnected from the first output port, the second input port to communicate with the first output port, the third input port to be disconnected from the third output port, and the third input port to communicate with the second output port, so that the adsorption end releases the photovoltaic panel.

[0014] Optionally, the photovoltaic panel gripping device further includes a first two-way valve and a second two-way valve; the first two-way valve includes a first port and a second port; the second two-way valve includes a third port and a fourth port;

[0015] The first port is connected to the first input port; the second port is connected to the connection end;

[0016] The third port is connected to the second output port; the fourth port is connected to the connection end;

[0017] The controller is further communicatively connected to the control ends of the first two-way valve and the second two-way valve, and is configured to control the on / off states of the first two-way valve and the second two-way valve according to the control instruction, thereby controlling the working state of the photovoltaic panel gripping device;

[0018] In the first state, the controller controls the first port to communicate with the second port, and the third port to be disconnected from the fourth port;

[0019] In the second state, the controller controls the disconnection between the first port and the second port, and the connection between the third port and the fourth port.

[0020] Optionally, at least one of the suction cups includes at least one first suction cup and at least one second suction cup; the first suction cup includes a first connection end and a first adsorption end; the second suction cup includes a second connection end and a second adsorption end;

[0021] The photovoltaic panel grasping device further includes at least one first filter and at least one second filter; one end of the first filter is respectively connected to the first input port and the second output end, and the other end is connected to the first connection end; one end of the second filter is respectively connected to the first input port and the second output end, and the other end is connected to the second connection end.

[0022] Optionally, the photovoltaic panel grasping device further includes a first pressure regulating valve and a second pressure regulating valve; the first pressure regulating valve includes a fifth port and a sixth port; the second pressure regulating valve includes a seventh port and an eighth port;

[0023] The fifth port is respectively connected to the first input port and the second output port, and the sixth port is connected to the first filter;

[0024] The seventh port is respectively connected to the first input port and the second output port, and the eighth port is connected to the second filter;

[0025] The controller is further respectively connected to the control ends of the first pressure regulating valve and the second pressure regulating valve, and is used to control the opening degrees of the first pressure regulating valve and the second pressure regulating valve.

[0026] Optionally, the photovoltaic panel grasping device further includes a first pressure sensor and a second pressure sensor; the controller is respectively communicatively connected to the first pressure sensor and the second pressure sensor;

[0027] The first pressure sensor is located between the sixth port and the first filter, and is communicatively connected to the controller, and is used to obtain a first air pressure and transmit the first air pressure to the controller;

[0028] The second pressure sensor is located between the eighth port and the second filter, and is communicatively connected to the controller, and is used to obtain a second air pressure and transmit the second air pressure to the controller;

[0029] The controller is used to control the opening degree of the first pressure regulating valve according to the first air pressure, and control the opening degree of the second pressure regulating valve according to the second air pressure.

[0030] Optionally, the photovoltaic panel gripping device further includes a display;

[0031] The display is communicatively connected to the controller and is configured to display the working state and / or the first air pressure and / or the second air pressure.

[0032] Optionally, the first three-way valve includes a two-position three-way valve;

[0033] The second three-way valve includes a two-position three-way valve.

[0034] Optionally, the first two-way valve includes a two-position two-way valve;

[0035] The second two-way valve includes a two-position two-way valve.

[0036] In a second aspect, an embodiment of the present invention provides a photovoltaic panel installation system, where the photovoltaic panel gripping system includes a photovoltaic panel moving device and the photovoltaic panel gripping device according to any one of the first aspect;

[0037] The photovoltaic panel gripping device is fixed on the photovoltaic panel moving device.

[0038] The technical solution of the embodiment of the present invention can control the on / off states of the first switch and the second switch according to the obtained gripping control instruction through the setting of the controller, thereby realizing the control of the gripping of the photovoltaic panel. This can not only improve the installation efficiency of the photovoltaic panel, but also avoid safety accidents when lifting the photovoltaic panel, which is beneficial to reducing safety risks.

[0039] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a schematic structural diagram of a photovoltaic panel gripping device provided by an embodiment of the present invention;

[0042] Figure 2 It is a schematic structural diagram of another photovoltaic panel gripping device provided by an embodiment of the present invention;

[0043] Figure 3 It is a schematic structural diagram of yet another photovoltaic panel gripping device provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic structural diagram of another photovoltaic panel grasping device provided by an embodiment of the present invention;

[0045] Figure 5 It is a schematic structural diagram of another photovoltaic panel grasping device provided by an embodiment of the present invention;

[0046] Figure 6 It is a schematic structural diagram of a photovoltaic panel installation system provided by an embodiment of the present invention. Detailed implementation manners

[0047] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between each component or component part, and does not particularly limit the specific installation orientation of each component or component part.

[0049] Figure 1 It is a schematic structural diagram of a photovoltaic panel grasping device provided by an embodiment of the present invention, referring to Figure 1, the photovoltaic panel gripping device 10 in the embodiments of the present invention includes a vacuum pump 11, a first switch 12, a second switch 13, at least one suction cup 14, a control instruction acquisition unit 15, and a controller 16. The vacuum pump 11 includes an air inlet and an air outlet. The suction cup 14 includes a connection end and an adsorption end. The first switch 12 is respectively connected to the air inlet, the connection end, and the external air. The second switch 13 is respectively connected to the air outlet, the connection end, and the external air. The control instruction acquisition unit 15 is connected to the controller 16, and is used to acquire control instructions and transmit the control instructions to the controller 16. The controller 16 is respectively communicatively connected to the control ends of the first switch 12 and the second switch 13, and is used to control the on-off states of the first switch 12 and the second switch 13 according to the control instructions, and further control the working state of the photovoltaic panel gripping device 10.

[0050] Exemplarily, the first switch 12 can be respectively connected to the air inlet of the vacuum pump 11, the connection end of the suction cup 14, and the external air through pipelines. The second switch 13 can be respectively connected to the air inlet of the vacuum pump 11, the connection end of the suction cup 14, and the external air through pipelines.

[0051] It can be understood that, to realize the installation of the photovoltaic panel, the working state of the photovoltaic panel gripping device 10 in the embodiments of the present invention generally includes a panel gripping state and a panel releasing state. In the panel gripping state, a negative pressure is generated at the adsorption end of the suction cup 14, and then the photovoltaic panel is adsorbed on the adsorption end of the suction cup 14. At this time, the photovoltaic panel is connected to the photovoltaic panel gripping device 10. In the panel releasing state, a positive pressure is generated at the adsorption end of the suction cup 14, and then the photovoltaic panel is released. At this time, the photovoltaic panel is separated from the photovoltaic panel gripping device 10.

[0052] To reduce the complexity of the control by the controller 16, it can be set that as long as the photovoltaic panel gripping device 10 is powered on, the vacuum pump 11 will be in a starting state. When the vacuum pump 11 is in the starting state, the gas at its air inlet can be transmitted to its air outlet. To avoid meaningless operation of the vacuum pump 11, it can also be set that the controller 16 is communicatively connected to the control end of the vacuum pump 11, and the controller 16 can control the start and stop of the vacuum pump 11 according to the control instructions. Exemplarily, the controller can control the vacuum pump 11 to start when receiving a control instruction, and control the vacuum pump 11 to stop when not receiving a control instruction.

[0053] Exemplarily, the control instruction acquisition unit 15 in the embodiments of the present invention may be a grasping start button of the photovoltaic panel grasping device 10. When an operator presses the grasping start button, the grasping start button will output a corresponding control instruction. After receiving the control instruction, the controller 16 will start to control the working state of the photovoltaic panel grasping device 10 by controlling the on / off states of the first switch 12 and the second switch 13, thereby realizing the control of grasping and releasing the photovoltaic panel. Specifically, the connection end between the air inlet of the vacuum pump 11 and the suction cup 14 can be controlled to be connected by controlling the on / off states of the first switch 12 and the second switch 13. The air inlet of the vacuum pump 11 is disconnected from the external air, and the exhaust port of the vacuum pump 11 is connected to the external air (i.e., open to the atmosphere). The exhaust port of the vacuum pump 11 is disconnected from the connection end of the suction cup 14. At this time, the air at the adsorption end of the suction cup 14 will, under the action of the vacuum pump 11, sequentially pass through the first switch 12, the vacuum pump 11, and the second switch 12 and enter the external air. At this time, a negative pressure will be generated at the adsorption end of the suction cup 14 to adsorb the photovoltaic panel on the adsorption end of the suction cup 14. Then, after the photovoltaic panel grasping device 10 with the adsorbed photovoltaic panel is transferred to the position where the photovoltaic panel is to be installed by the photovoltaic panel moving device connected to the photovoltaic panel grasping device 10, that is, when it is necessary to release the photovoltaic panel, the connection end between the air inlet of the vacuum pump 11 and the suction cup 14 can be controlled to be disconnected by controlling the on / off states of the first switch 12 and the second switch 13. The air inlet of the vacuum pump 11 is connected to the external air (i.e., open to the atmosphere), the exhaust port of the vacuum pump 11 is disconnected from the external air, and the exhaust port of the vacuum pump 11 is connected to the connection end of the suction cup 14. At this time, the external air will, under the action of the vacuum pump 11, sequentially pass through the second switch 13, the vacuum pump 11, and the first switch 12 and enter the adsorption end of the suction cup 14. A positive pressure will be generated at the adsorption end of the suction cup 14 to destroy the vacuum degree between the adsorption end of the suction cup 14 and the photovoltaic panel, and the photovoltaic panel will be detached from the adsorption end of the suction cup 14.

[0054] It should be noted that the external air connected to the first switch 12 and the second switch 13 is at a certain distance from the adsorption end of the suction cup 14 and will not affect each other. To eliminate the possibility of mutual influence between the two, the above-mentioned external air may be a gas storage device capable of storing gas, such as an airbag.

[0055] It should also be noted that the embodiments of the present invention do not limit the specific content of the upper control instruction, and those skilled in the art can set it according to the actual situation.

[0056] In the technical solution of the embodiment of the present invention, by setting the controller 16, the on-off states of the first switch 12 and the second switch 13 can be controlled according to the obtained grasping control instruction, thereby realizing the control of the photovoltaic panel grasping. This can not only improve the installation efficiency of the photovoltaic panel, but also avoid safety accidents when lifting the photovoltaic panel, which is beneficial to reducing safety risks. Moreover, since the air-permeable states of the first switch 12 and the second switch 13 are different when the working state of the photovoltaic panel grasping device 10 is different, on the contrary, in this way, the pipeline connected to the first switch 12 and the pipeline connected to the second switch 13 can dissipate heat alternately, avoiding equipment failures caused by too high pipeline temperature.

[0057] As a feasible implementation manner, the first switch 12 includes a first three-way valve. The first three-way valve includes a first input port, a second input port, and a first output port. The first input port is connected to the connection end, the second input port is connected to the external air, and the first output port is communicated with the air inlet. The second switch 13 includes a second three-way valve. The second three-way valve includes a third input port, a second output port, and a third output port. The third input port is communicated with the exhaust port, the second output port is connected to the connection end, and the third output port is connected to the external air.

[0058] The working states of the photovoltaic panel grasping device 10 include a first state and a second state.

[0059] In the first state, the controller 16 controls the first input port to be communicated with the first output port, the second input port to be disconnected from the first output port, the third input port to be communicated with the third output port, and the third input port to be disconnected from the second output port, so that the adsorption end adsorbs the photovoltaic panel.

[0060] In the second state, the controller 16 controls the first input port to be disconnected from the first output port, the second input port to be communicated with the first output port, the third input port to be disconnected from the third output port, and the third input port to be communicated with the second output port, so that the adsorption end releases the photovoltaic panel.

[0061] Exemplarily, the above-mentioned first state is the state of the gripper plate mentioned in the above embodiment. When the controller 16 controls the first input port of the first three-way valve to communicate with the first output port of the first three-way valve, the second input port of the first three-way valve to be disconnected from the first output port of the first three-way valve, the third input port of the second three-way valve to communicate with the third output port of the second three-way valve, and the third input port of the second three-way valve to be disconnected from the second output port of the second three-way valve, the air inlet of the vacuum pump 11 will communicate with the connection end of the suction cup 14, the air inlet of the vacuum pump 11 will be disconnected from the external air, the air outlet of the vacuum pump 11 will communicate with the external air (i.e., open to the atmosphere), and the air outlet of the vacuum pump 11 will be disconnected from the connection end of the suction cup 14. At this time, the air at the adsorption end of the suction cup 14 will, under the action of the vacuum pump 11, enter the external air successively through the first input port of the first three-way valve, the air inlet of the vacuum pump 11, the air outlet of the vacuum pump 11, and the third output port of the second three-way valve. At this time, a negative pressure will be generated at the adsorption end of the suction cup 14 to adsorb the photovoltaic panel on the adsorption end of the suction cup 14.

[0062] Exemplarily, the above-mentioned first state is the state of the plate release mentioned in the above embodiment. When the controller 16 controls the first input port of the first three-way valve to be disconnected from the first output port of the first three-way valve, the second input port of the first three-way valve to communicate with the first output port of the first three-way valve, the third input port of the second three-way valve to be disconnected from the third output port of the second three-way valve, and the third input port of the second three-way valve to communicate with the second output port of the second three-way valve, the air inlet of the vacuum pump 11 will communicate with the external air (i.e., open to the atmosphere), the air outlet of the vacuum pump 11 will be disconnected from the external air, and the air outlet of the vacuum pump 11 will communicate with the connection end of the suction cup 14. At this time, the external air will, under the action of the vacuum pump 11, enter the adsorption end of the suction cup 14 successively through the second input port of the first three-way valve, the air inlet of the vacuum pump 11, the air outlet of the vacuum pump 11, and the second output port of the second three-way valve. A positive pressure will be generated at the adsorption end of the suction cup 14 to destroy the vacuum degree between the adsorption end of the suction cup 14 and the photovoltaic panel, and the photovoltaic panel will be detached from the adsorption end of the suction cup 14.

[0063] As a feasible implementation manner, the first three-way valve includes a two-way three-way valve. The second three-way valve includes a two-way three-way valve.

[0064] Exemplarily, the first three-way valve in the embodiment of the present invention can adopt a two-way three-way valve. The first three-way valve includes two inlets (the first input port and the second input port) and one outlet (the first output port), and has two working positions. In one working position, the first output port is disconnected from the first input port and communicates with the second input port; in the other working position, the first output port communicates with the first input port and is disconnected from the second input port.

[0065] Exemplarily, the second three-way valve in the embodiments of the present invention may adopt a two-position three-way valve. The second three-way valve includes an inlet (the third input port) and two outlets (the second output port and the third output port), and has two working positions. In one working position, the third input port is disconnected from the second output port and communicated with the third output port; in the other working position, the third input port is communicated with the second output port and disconnected from the third output port.

[0066] By controlling the working positions of the first three-way valve and the second three-way valve, the embodiments of the present invention can control the working state of the photovoltaic panel grasping device 10.

[0067] Based on the above embodiments, Figure 2 FIG. is a schematic structural diagram of another photovoltaic panel grasping device provided by the embodiments of the present invention. Referring to Figure 2 In the photovoltaic panel grasping device 10 in the embodiments of the present invention, a first two-way valve 17 and a second two-way valve 18 are further included. The first two-way valve 17 includes a first port and a second port. The second two-way valve 18 includes a third port and a fourth port. The first port is connected to the first input port. The second port is connected to the connection end. The third port is connected to the second output port. The fourth port is connected to the connection end. The controller 16 is also communicatively connected to the control ends of the first two-way valve 17 and the second two-way valve 18 respectively, and is used to control the on-off states of the first two-way valve 17 and the second two-way valve 18 according to the control instruction, so as to control the working state of the photovoltaic panel grasping device 10.

[0068] In the first state, the controller 16 controls the first port to be communicated with the second port, and the third port to be disconnected from the fourth port. In the second state, the controller 16 controls the first port to be disconnected from the second port, and the third port to be communicated with the fourth port.

[0069] Exemplarily, the first two-way valve 17 is arranged between the first three-way valve (i.e., the first switch 12) and the suction cup 14. Its first port is connected to the first input port of the first three-way valve through a pipeline, and its second port is connected to the connection end of the suction cup 14 through a pipeline. The second two-way valve 18 is arranged between the second three-way valve (i.e., the second switch 13) and the suction cup 14. Its third port is connected to the second output port of the second three-way valve through a pipeline, and its fourth port is connected to the connection end of the suction cup 14 through a pipeline.

[0070] In the first state (i.e., the state of gripping the plate), to ensure that the air inlet of the vacuum pump 11 is connected to the connection end of the suction cup 14, it is necessary not only to set the first input port of the first three-way valve to be connected to the first output port of the first three-way valve, but also to set the first port of the first two-way valve 17 to be connected to the second port. To prevent the third input port of the second three-way valve from failing to be successfully disconnected from the second output port of the second three-way valve, thereby affecting the generation of negative pressure at the adsorption end of the suction cup 14, the third port of the second two-way valve 18 can be set to be disconnected from the fourth port.

[0071] In the second state (i.e., the state of releasing the plate), to ensure that the exhaust port of the vacuum pump 11 is connected to the connection end of the suction cup 14, it is necessary not only to set the third input port of the second three-way valve to be connected to the second output port of the second three-way valve, but also to set the third port of the second two-way valve 18 to be connected to the fourth port. To prevent the first input port of the first three-way valve from failing to be successfully disconnected from the first output port of the first three-way valve, thereby affecting the generation of positive pressure at the adsorption end of the suction cup 14, the first port of the first two-way valve 17 can be set to be disconnected from the second port.

[0072] As a feasible implementation manner, the first two-way valve 17 includes a two-position two-way valve. The second two-way valve 18 includes a two-position two-way valve.

[0073] Exemplarily, the first two-way valve 17 in the embodiment of the present invention can adopt a two-position two-way valve. The first two-way valve 17 includes two interfaces (the first port and the second port) and has two working positions. In one working position, the first port is disconnected from the second port; in the other working position, the first port is connected to the second port.

[0074] Exemplarily, the second two-way valve 18 in the embodiment of the present invention can adopt a two-position two-way valve. The second two-way valve 18 includes two interfaces (the third port and the fourth port) and has two working positions. In one working position, the third port and the fourth port are disconnected; in the other working position, the third port and the fourth port are connected.

[0075] In the embodiment of the present invention, by controlling the working positions of the first three-way valve, the second three-way valve, the first two-way valve 17 and the second two-way valve 18, the working state of the photovoltaic panel gripping device 10 can be controlled.

[0076] Based on the above embodiments, Figure 3 This is a schematic structural diagram of another photovoltaic panel gripping device provided by the embodiment of the present invention. Refer to Figure 3, at least one suction cup 14 in the embodiments of the present invention includes at least one first suction cup 141 and at least one second suction cup 142. The first suction cup 141 includes a first connection end and a first adsorption end. The second suction cup 142 includes a second connection end and a second adsorption end. The photovoltaic panel gripping device 10 further includes at least one first filter 19 and at least one second filter 110. One end of the first filter 19 is respectively connected to the first input port and the second output port, and the other end is connected to the first connection end. One end of the second filter 110 is respectively connected to the first input port and the second output port, and the other end is connected to the second connection end.

[0077] Exemplarily, the first filter 19 in the embodiments of the present invention can correspond to the first suction cup 141 one by one. One end of the first filter 19 can be connected to the first input port through a pipeline and the first two-way valve 17, and connected to the second output port through a pipeline and the second two-way valve 18, and the other end can be connected to the first connection end of the first suction cup 141 through a pipeline. The first filter 19 can filter the air entering the air inlet of the vacuum pump 11 from the first adsorption end of the first suction cup 141 when the working state of the photovoltaic panel gripping device 10 is in the first state, avoiding the particulate impurities in the air at the first adsorption end of the first suction cup 141 from entering the vacuum pump 11 and further damaging the vacuum pump 11.

[0078] The second filter 110 in the embodiments of the present invention can correspond to the second suction cup 142 one by one. One end of the second filter 110 can be connected to the first input port through a pipeline and the first two-way valve 17, and connected to the second output port through a pipeline and the second two-way valve 18, and the other end can be connected to the second connection end of the second suction cup 142 through a pipeline. The second filter 110 can filter the air entering the air inlet of the vacuum pump 11 from the second adsorption end of the second suction cup 142 when the working state of the photovoltaic panel gripping device 10 is in the first state, avoiding the particulate impurities in the air at the second adsorption end of the second suction cup 142 from entering the vacuum pump 11 and further damaging the vacuum pump 11.

[0079] Figure 4 is a schematic structural diagram of another photovoltaic panel gripping device provided by the embodiments of the present invention. Refer to Figure 4 , the photovoltaic panel gripping device 10 in the embodiments of the present invention further includes a first pressure regulating valve 111 and a second pressure regulating valve 112. The first pressure regulating valve 111 includes a fifth port and a sixth port. The second pressure regulating valve 112 includes a seventh port and an eighth port. The fifth port is respectively connected to the first input port and the second output port, and the sixth port is connected to the first filter 19. The seventh port is respectively connected to the first input port and the second output port, and the eighth port is connected to the second filter 110. The controller 16 is further respectively connected to the control ends of the first pressure regulating valve 111 and the second pressure regulating valve 112 for controlling the opening degrees of the first pressure regulating valve 111 and the second pressure regulating valve 112.

[0080] Exemplarily, the fifth port of the first pressure regulating valve 111 can be connected to the first input port through a pipeline and the first two-way valve 17, and connected to the second output end through a pipeline and the second two-way valve 18. The sixth port of the first pressure regulating valve 111 can be connected to the first filter 19 through a pipeline. The controller 16 can control the air pressure at the first adsorption end of the first suction cup 141 by controlling the opening degree of the first pressure regulating valve 111.

[0081] The seventh port of the second pressure regulating valve 112 can be connected to the first input port through a pipeline and the first two-way valve 17, and connected to the second output end through a pipeline and the second two-way valve 18. The eighth port of the second pressure regulating valve 112 can be connected to the second filter 110 through a pipeline. The controller 16 can control the air pressure at the second adsorption end of the second suction cup 142 by controlling the opening degree of the second pressure regulating valve 113.

[0082] Based on the above embodiments, Figure 5 is a schematic structural diagram of another photovoltaic panel grasping device provided by an embodiment of the present invention. Refer to Figure 5 , the photovoltaic panel grasping device 10 in the embodiment of the present invention further includes a first pressure sensor 113 and a second pressure sensor 114. The controller 16 is respectively communicatively connected to the first pressure sensor 113 and the second pressure sensor 114. The first pressure sensor 113 is located between the sixth port and the first filter 19 and is communicatively connected to the controller 16 for acquiring the first air pressure and transmitting the first air pressure to the controller 16. The second pressure sensor 114 is located between the eighth port and the second filter 110 and is communicatively connected to the controller 16 for acquiring the second air pressure and transmitting the second air pressure to the controller 16. The controller 16 is used to control the opening degree of the first pressure regulating valve 111 according to the first air pressure and control the opening degree of the second pressure regulating valve 112 according to the second air pressure.

[0083] Exemplarily, the first pressure sensor 113 can be located in the pipeline connecting the sixth port and the first filter 19, can detect the first air pressure on the sixth port side of the first pressure regulating valve 111 and transmit the first air pressure to the controller 16. The controller 16 can control the opening degree of the first pressure regulating valve 111 according to the received first air pressure. Specifically, when the working state of the photovoltaic panel grasping device 10 is in the first state, the opening degree of the first pressure regulating valve 111 can be controlled according to the relationship between the first air pressure and the first preset air pressure, and further control the air pressure at the first adsorption end of the first suction cup 141.

[0084] The second pressure sensor 114 can be located in the pipeline connecting the eighth port and the second filter 110, and can detect the second air pressure on the eighth port side of the second pressure regulating valve 112 and transmit the second air pressure to the controller 16. The controller 16 can control the opening degree of the second pressure regulating valve 112 according to the received second air pressure. Specifically, when the working state of the photovoltaic panel gripping device 10 is in the first state, the controller 16 can control the opening degree of the second pressure regulating valve 112 according to the relationship between the second air pressure and the second preset air pressure, and further control the air pressure at the second adsorption end of the second suction cup 142.

[0085] In the embodiment of the present invention, by setting the controller 16 to be able to control the opening degree of the first pressure regulating valve 111 according to the first air pressure and control the opening degree of the second pressure regulating valve 112 according to the second air pressure, it is beneficial to improve the precise control of the air pressure at the adsorption end of the suction cup 14, and is beneficial to improve the precision of the gripping control.

[0086] Optionally, the photovoltaic panel gripping device 10 further includes a display. The display is communicatively connected to the controller 16 and is used to display the working state and / or the first air pressure and / or the second air pressure.

[0087] Exemplarily, in the embodiment of the present invention, by setting a display that can display the working state and / or the first air pressure and / or the second air pressure, it is convenient for the staff to view the state of the photovoltaic panel gripping device 10 through the display.

[0088] Based on the same inventive concept, the present invention also provides a photovoltaic panel installation system. Figure 6 For the structural schematic diagram of a photovoltaic panel installation system provided by an embodiment of the present invention, refer to Figure 6 , the photovoltaic panel gripping system in the embodiment of the present invention includes a photovoltaic panel moving device 20 and the photovoltaic panel gripping device 10 provided in any one of the above embodiments of the present invention. The photovoltaic panel gripping device 10 is fixed on the photovoltaic panel moving device 20.

[0089] Exemplarily, the photovoltaic panel moving device 20 in the embodiment of the present invention can be an excavator capable of installing the photovoltaic panel gripping device 10, or other construction engineering equipment similar to a robotic arm. After the photovoltaic panel moving device 20 reaches the first state, the first air pressure output from the first pressure sensor 113 to the controller 16 reaches the first preset air pressure, and the second air pressure output from the second pressure sensor 114 to the controller 16 reaches the second preset air pressure, the photovoltaic panel moving device 20 can transfer the photovoltaic panel gripping device 10 adsorbed with the photovoltaic panel to the photovoltaic panel installation position to be installed.

[0090] The photovoltaic panel installation system in the embodiment of the present invention includes the photovoltaic panel gripping device 10 provided in any one of the above embodiments of the present invention. Therefore, the photovoltaic panel installation system includes the technical features of the photovoltaic panel gripping device 10 and has the beneficial effects of the photovoltaic panel gripping device 10. The same parts can refer to the above description.

[0091] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A photovoltaic panel grabbing device, characterized in that: It includes a vacuum pump, a first switch, a second switch, at least one suction cup, a control instruction acquisition unit and a controller; the vacuum pump includes an air inlet and an exhaust port; the suction cup includes a connecting end and an adsorption end; The first switch is connected to the air inlet, the connection end and the outside air respectively; the second switch is connected to the air outlet, the connection end and the outside air respectively; The control instruction acquisition unit and the controller are used to acquire control instructions and transmit the control instructions to the controller; The controller is communicatively connected to the control ends of the first switch and the second switch respectively, and is used to control the on-off state of the first switch and the second switch according to the control instruction, thereby controlling the working state of the photovoltaic panel grabbing device.

2. The photovoltaic panel grabbing device according to claim 1, characterized in that: The first switch comprises a first three-way valve; the first three-way valve comprises a first input port, a second input port and a first output port; the first input port is connected to the connection end, the second input port is connected to the external air, and the first output port is connected to the air inlet; The second switch includes a second three-way valve; the second three-way valve includes a third input port, a second output port and a third output port; the third input port is connected to the exhaust port, the second output port is connected to the connection end, and the third output port is connected to the external air; The working state of the photovoltaic panel grabbing device includes a first state and a second state; In the first state, the controller controls the first input port to be connected with the first output port, the second input port to be disconnected from the first output port, the third input port to be connected with the third output port, and the third input port to be disconnected from the second output port, so that the adsorption end adsorbs the photovoltaic panel; In the second state, the controller controls the first input port to be disconnected from the first output port, the second input port to be connected to the first output port, the third input port to be disconnected from the third output port, and the third input port to be connected to the second output port, so that the adsorption end releases the photovoltaic panel.

3. The photovoltaic panel grabbing device according to claim 2, characterized in that: The photovoltaic panel grabbing device further comprises a first two-way valve and a second two-way valve; the first two-way valve comprises a first port and a second port; the second two-way valve comprises a third port and a fourth port; The first port is connected to the first input port; the second port is connected to the connection end; The third port is connected to the second output port; the fourth port is connected to the connection end; The controller is also connected to the control ends of the first two-way valve and the second two-way valve for communication, and is used to control the on-off state of the first two-way valve and the second two-way valve according to the control instruction, thereby controlling the working state of the photovoltaic panel grabbing device; In the first state, the controller controls the first port to be connected to the second port, and the third port to be disconnected from the fourth port; In the second state, the controller controls the first port to be disconnected from the second port, and the third port to be connected to the fourth port.

4. The photovoltaic panel grabbing device according to claim 2, characterized in that: At least one of the suction cups includes at least one first suction cup and at least one second suction cup; the first suction cup includes a first connecting end and a first adsorption end; the second suction cup includes a second connecting end and a second adsorption end; The photovoltaic panel grabbing device also includes at least one first filter and at least one second filter; one end of the first filter is respectively connected to the first input port and the second output end, and the other end is connected to the first connection end; one end of the second filter is respectively connected to the first input port and the second output end, and the other end is connected to the second connection end.

5. The photovoltaic panel grabbing device according to claim 4, characterized in that: The photovoltaic panel grabbing device further includes a first pressure regulating valve and a second pressure regulating valve; the first pressure regulating valve includes a fifth port and a sixth port; the second pressure regulating valve includes a seventh port and an eighth port; The fifth port is connected to the first input port and the second output port respectively, and the sixth port is connected to the first filter; The seventh port is connected to the first input port and the second output port respectively, and the eighth port is connected to the second filter; The controller is also connected to the control ends of the first pressure regulating valve and the second pressure regulating valve respectively, and is used to control the opening of the first pressure regulating valve and the second pressure regulating valve.

6. The photovoltaic panel grabbing device according to claim 5, characterized in that: The photovoltaic panel grabbing device further includes a first pressure sensor and a second pressure sensor; the controller is communicatively connected with the first pressure sensor and the second pressure sensor respectively; The first pressure sensor is located between the sixth port and the first filter and is in communication with the controller, and is used to obtain a first air pressure and transmit the first air pressure to the controller; The second pressure sensor is located between the eighth port and the second filter and is in communication with the controller, and is used to obtain a second air pressure and transmit the second air pressure to the controller; The controller is used to control the opening of the first pressure regulating valve according to the first air pressure, and to control the opening of the second pressure regulating valve according to the second air pressure.

7. The photovoltaic panel grabbing device according to claim 6, characterized in that: The photovoltaic panel grabbing device also includes a display; The display is communicatively connected to the controller, and is used for displaying the working status and / or the first air pressure and / or the second air pressure.

8. The photovoltaic panel grabbing device according to claim 2, characterized in that: The first three-way valve comprises a two-position three-way valve; The second three-way valve comprises a two-position three-way valve.

9. The photovoltaic panel grabbing device according to claim 3, characterized in that: The first two-way valve comprises a two-position two-way valve; The second two-way valve comprises a two-position two-way valve.

10. A photovoltaic panel installation system, characterized in that: The photovoltaic panel grabbing system comprises a photovoltaic panel moving device and a photovoltaic panel grabbing device as described in any one of claims 1 to 9; The photovoltaic panel grabbing device is fixed on the photovoltaic panel moving device.

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