Control method of photovoltaic glass transfer robot and transfer robot

Abstract

The invention relates to the field of industrial intelligence, in particular to efficiency optimization design in the working process of a photovoltaic transfer robot. According to the control method of the photovoltaic glass transfer robot and the transfer robot, a stabilizer capable of actively stretching out is additionally arranged, a middle abutting point is provided for a glass inclined face, and a more stable mechanical structure with a bottom face supporting matched with middle assisting is formed; the glass stacking thickness and weight are estimated by measuring the displacement of the collision points, load data are provided for a control system, safety and efficiency are cooperatively improved, and the efficiency bottleneck problem of a one-step strategy of a traditional robot is solved.

Description

Technical Field

[0001] This invention relates to the field of industrial intelligence, specifically to the efficiency optimization design of photovoltaic handling robots during their operation. Background Technology

[0002] Photovoltaic glass handling robots are basic automated handling equipment used in the photovoltaic manufacturing industry. Their core function is to automatically pick up, transport, and place L-shaped frames loaded with photovoltaic glass.

[0003] In existing technologies, such robots typically possess basic structures including a mobile chassis, a navigation system, a lifting mast, and pallet forks. The robot moves to the vicinity of the L-shaped frame using the navigation system, inserts the forks into the support structure at the bottom of the L-shaped frame, and lifts it off the ground. After transporting the L-shaped frame carrying the glass to the target location, the robot lowers the forks to position the L-shaped frame, and then the forks retract, completing the task.

[0004] This technical solution enhances the automation and intelligence of photovoltaic glass handling processes, improving efficiency and saving labor costs. However, this solution also has the following technical drawbacks. Firstly, photovoltaic glass differs from ordinary goods; it is large, has a high center of gravity, and is fragile. When the robot starts, stops, or turns, inertial forces can easily cause the high-center-of-gravity glass to shake violently or even tip over, posing a serious safety hazard. Secondly, there is a conflict between the robot's safety and efficiency. For safety reasons, the robot strictly follows a preset speed strategy. However, the preset predictive strategy is the most conservative, slow strategy, reducing the overall efficiency of the handling task. Summary of the Invention

[0005] The purpose of this invention is to provide a control method and a handling robot for photovoltaic glass. The robot is equipped with an actively extendable stabilizer to provide a central contact point for the inclined glass surface, forming a more stable bottom support and matching the mechanical structure of the central auxiliary component. By measuring the displacement of the contact point, the thickness and weight of the glass stack can be estimated, providing load data for the control system. This achieves a synergistic improvement in safety and efficiency, solving the efficiency bottleneck problem of the traditional one-cut strategy of robots.

[0006] This invention is achieved through the following technical solution: a control method for a photovoltaic glass handling robot, comprising the following steps:

[0007] A stabilizer is positioned above the tray frame assembly, the stabilizer including a contact head for contacting the surface of the photovoltaic glass, the contact head being configured to move toward / away from the photovoltaic glass;

[0008] Obtain the specifications of the photovoltaic glass, including size and weight information;

[0009] Obtain the full load weight Q0 of the photovoltaic glass under full load and the full load forward displacement value A0, which reflects the forward displacement distance of the contact head;

[0010] When the current state is obtained, the current forward movement value A reflects the forward movement distance of the contact head;

[0011] The current weight Q is calculated based on the current forward shift value A, the full load forward shift value A0, the full load weight Q0, and the specification information.

[0012] Based on preset rules and the current cargo weight Q, the robot's speed control strategy is obtained.

[0013] As a preferred embodiment of the present invention, the step of calculating the current cargo weight Q based on the current forward movement value A, the full-load forward movement value A0, the full-load cargo weight Q0, and the specification information specifically comprises:

[0014] The specifications include the thickness T0 and weight M0 of a single piece of glass.

[0015] Calculate the reduction in glass volume, X = (A - A0) / TO;

[0016] Calculate the current weight of the goods, Q = Q0 - X*M0.

[0017] As a preferred embodiment of the present invention, the tilt angle α of the L-frame used to support the photovoltaic glass is obtained, wherein the tilt angle α is the angle between the upper inclined frame of the L-frame and the horizontal plane;

[0018] Calculate the reduction in glass volume, X = (A-A0)*COSα / TO;

[0019] Calculate the current weight of the goods, Q = Q0 - X*M0.

[0020] As a preferred embodiment of the present invention, an optimized number of glass sheets X is obtained based on the reduction of the number of glass sheets. The X control method is X rounded up and then added to a safety value n, where n is a preset constant.

[0021] Calculate the current weight of the goods, Q = Q0 – X1*M0.

[0022] The handling robot implementing the control method described above includes a body on which a walking device and a gantry are mounted. A picking device is connected to the gantry. The picking device includes a pallet frame assembly and a stabilizer. The pallet frame assembly includes a frame plate and a main fork connected to the frame plate. The stabilizer is connected above the pallet frame assembly and includes an abutment head and a wire encoder for detecting the movement distance of the abutment head.

[0023] As a preferred embodiment of the present invention, the frame plate is further provided with a secondary fork; there are at least two main forks, and the secondary fork is arranged in the middle position of the two main forks, and the extension length of the secondary fork is less than the extension length of the main fork.

[0024] As a preferred embodiment of the present invention, a limiting block protruding from the upper surface of the main fork is installed on the main fork, the limiting block being used to limit the movement of the L-frame away from the handling robot.

[0025] In a preferred embodiment of the present invention, the stabilizer comprises a base, a track disposed on the base, a sliding drive device mounted on the base, a sliding frame that slides along the track under the drive of the sliding drive device, and the abutment head mounted on the sliding frame.

[0026] As a preferred embodiment of the present invention, the contact head is a flexible contact head and integrates a pressure sensor.

[0027] As a preferred embodiment of the present invention, the sliding drive device is a hydraulic drive assembly, which includes a pressure reducing valve and / or a speed regulating valve; or the sliding drive device is an electric assembly, which includes a control module for controlling the output force.

[0028] As a preferred embodiment of the invention, it further includes a proximity switch for detecting the sliding position of the sliding frame, the proximity switch being mounted on the track or on the base.

[0029] As a preferred embodiment of the present invention, the contact head is of the converging type, and its cross-sectional area in the vertical direction gradually decreases as it approaches the photovoltaic glass.

[0030] As a preferred embodiment of the invention, it further includes a proximity switch for detecting the sliding position of the sliding frame, the proximity switch being mounted on the track or on the base.

[0031] In summary, the present invention has the following beneficial effects:

[0032] 1. The control method includes calculating the current cargo weight using the stabilizer contact head's forward movement value, full-load parameters, and glass specification information, and then formulating a speed control strategy accordingly. This achieves a fundamental shift in handling strategy from fixed to load-adaptive. It enables the robot to fully utilize light-load conditions to improve operational efficiency while ensuring heavy-load safety, thereby synergistically optimizing both safety and operational efficiency overall.

[0033] 2. The stabilizer is a component that serves as both a measuring component for calculating cargo weight and a component that provides central contact and optimized mechanical support.

[0034] 3. By utilizing known and relatively constant parameters of individual glass panes, the displacement difference is directly converted into a change in the number of glass panes, thereby deriving the weight change. This avoids the need to directly install complex and expensive load cells, reducing system cost and complexity.

[0035] 4. The introduction of a tilt angle α for correction significantly improves the accuracy of glass sheet number and weight estimation. It eliminates measurement errors caused by glass tilt angle, making the calculation results more closely match actual load conditions and enhancing the accuracy of adaptive control.

[0036] 5. Rounding the calculated number of pieces to the nearest whole number and increasing the safety margin can effectively address uncertainties such as glass stacking gaps and measurement errors, ensuring that the speed strategy formulated in this way is biased towards the safety side under any circumstances.

[0037] 6. Through the coordinated action of the secondary fork, limiting blocks, and stabilizers, multi-layered safety protection for the L-frame and photovoltaic glass is achieved. The addition of the secondary fork provides extra mechanical support points, forming a more stable force-bearing structure with the main fork, and also prevents tipping. The limiting blocks effectively prevent the L-frame from shifting during handling. The stabilizers, through actively controllable contact heads, directly provide lateral support force to the tilted photovoltaic glass, actively counteracting the inertial torque generated by the robot's start-stop and turning, thus improving the inherent safety of the entire handling system.

[0038] 7. The combination of a flexible contact head and a pressure sensor enables the sensing and buffering of contact force. The flexibility avoids scratches or dents on the glass surface caused by rigid impacts; the integrated pressure sensor allows the control system to monitor the pressure between the contact head and the glass in real time, preventing glass breakage due to excessive thrust.

[0039] 8. The contact head is a tapered type, as the glass is placed at an angle in actual operation. The gradient shape helps to guide and contact the inclined glass surface more accurately, ensuring that the supporting force is applied to the ideal position.

[0040] 9. The contact head and the sliding frame are connected by a floating elastic device, providing excellent self-adaptive compensation capabilities. The elastic device can absorb minor displacement deviations caused by uneven glass surfaces or slight vibrations of the robot, ensuring that the contact head always maintains a stable contact force against the glass surface, avoiding the problems of stress concentration or loss of contact that may occur with rigid connections.

[0041] 10. A proximity switch is installed, which can accurately detect whether the contact head has reached the preset extension or retraction endpoint position. This signal is fed back to the control system to determine whether the action has been completed and whether there is any mechanical jamming. On the other hand, it serves as a redundant safety signal in case of pressure sensor failure, preventing overload of the drive unit.

[0042] 11. The hydraulic drive assembly includes a pressure reducing valve and a speed regulating valve. The pressure reducing valve can set the maximum working pressure of the system, fundamentally limiting the maximum thrust of the contact head and preventing overload damage to the glass; the speed regulating valve can smoothly adjust the extension / retraction speed of the contact head, ensuring smooth and shock-free operation.

[0043] 12. The extension length of the secondary fork is less than that of the main fork. The shorter secondary fork has a larger alignment tolerance when approaching the L-frame, effectively avoiding collisions or jamming between the secondary fork and the insertion tube due to minor deviations in robot navigation or L-frame placement, thus reducing adjustment time and operational failure rate.

[0044] 13. The limit block can prevent the L-frame from sliding excessively away from the robot body after the forklift is in place. Especially in situations where the robot stops suddenly or on a slope, it effectively limits the longitudinal movement freedom of the L-frame and prevents unsafe displacement of the vehicle.

[0045] 14. The carrier detector can detect the precise position of the L-carrier relative to the robot in real time during the fork insertion process and feed the signal back to the control system. This avoids collisions, misalignments, or pushing accidents between the forks and the L-carrier caused by positioning deviations, improving the accuracy and reliability of automated operations. Attached Figure Description

[0046] Figure 1 A schematic diagram of the handling robot in the embodiment is shown;

[0047] Figure 2 A schematic diagram of the L-frame in the embodiment is shown;

[0048] Figure 3 A side view of the handling robot in the embodiment is shown in actual operation;

[0049] Figure 4 yes Figure 1 Enlarged schematic diagram of the tray frame assembly and stabilizer in the middle;

[0050] Figure 5 This is a schematic diagram of the stabilizer;

[0051] Figure 6 yes Figure 2 Side view;

[0052] Figure 7 This is a flowchart illustrating the control method for a photovoltaic glass handling robot.

[0053] In the diagram: 1. Pallet rack assembly, 11. Rack plate, 12. Main fork, 13. Secondary fork, 14. Limit block, 2. Stabilizer, 21. Base, 22. Rail, 23. Sliding frame, 24. Contact head, pressure sensor, 25. Proximity switch, 26. Sliding drive device, 27. Wire encoder, 3. Carrier detector, 7. Glass, 8. L-frame, 81. Lower support frame, 811. Insertion tube, 82. Upper inclined frame, 91. Body, 92. Navigation assembly, 93. Mast, 94. Traveling device. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to the accompanying drawings.

[0055] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0056] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0057] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0058] The hardware mechanism of this invention, such as Figure 1 As shown, the handling robot includes a body 91, a walking device 94, a gantry 93, and a navigation component 92. The body 91 serves as the basic frame. The walking device 94 is fixedly installed at the bottom of the body 91, responsible for providing power and mobility, and includes drive wheels as used in the prior art. The gantry 93 is vertically fixed on the body 91 to support lifting and lowering movements. The navigation component 92 is installed at the front or top of the body 91 to achieve autonomous positioning and path planning, and can be a laser navigation device as used in the prior art.

[0059] In the initial stage of the operation, the navigation component 92 accurately calculates the robot's position using laser SLAM or inertial navigation technology, and the locomotion device 94 drives the robot to move near the target L-frame 8. This ensures accurate robot alignment and lays the foundation for subsequent operations. Figure 2As shown, the L-frame 8 is the supporting structure, comprising a lower support frame 81 and an upper inclined frame 82. Photovoltaic glass is placed on the upper inclined frame 82 in a stacked manner, allowing the photovoltaic glass to be placed at an angle. The lower support frame 81 contains a conduit 811.

[0060] After the robot reaches the designated position, pallet rack assembly 1 begins the alignment operation. For example... Figure 4 As shown, the pallet rack assembly 1 includes a rack plate 11, a main fork 12, and a secondary fork 13. The rack plate 11 is connected to the gantry 93 via a slider or chain and can be vertically raised and lowered along the gantry 93.

[0061] In this embodiment, there are two main forks 12, welded or bolted to the front side of the frame plate 11, used to pick up the L-frame 8 and support the lower surface of the lower support frame 81. There are also two auxiliary forks 13, arranged in the middle of the two main forks 12, and bolted to the frame plate 11. The extension length of the auxiliary forks 13 is less than that of the main forks 12. This design allows the auxiliary forks 13 to have greater tolerance when inserted, avoiding collisions or jamming between the auxiliary forks and the insertion tube due to slight deviations in robot navigation or L-frame placement, thus reducing adjustment time and operational failure rate.

[0062] Meanwhile, a carrier detector 3, such as a photoelectric sensor, is fixedly installed on the frame plate 11 to detect the relative position of the L-frame 8 in real time. When the robot approaches the L-frame 8, the carrier detector 3 outputs a signal to the control system to fine-tune the robot's position, ensuring that the forks are precisely aligned with the insertion tube 811 of the L-frame 8. The main fork 12 and the auxiliary fork 13 are both rigidly connected to the frame plate 11, forming a stable force-bearing frame; the carrier detector 3 is fixed to the side of the frame plate 11 and connected to the control system via a cable. The effect is to improve alignment accuracy, avoid collisions, and reduce adjustment time.

[0063] like Figure 3 and Figure 4 As shown, Figure 3 This is the state after the handling robot successfully picks up the goods. The L-frame 8 includes a lower support frame 81 and an upper inclined frame 82, with the photovoltaic glass 7 stacked at an angle on the upper inclined frame 82. Figure 4 On the main fork 12, a limit block 14 is installed. The limit block 14 is welded or bolted to the upper surface of the main fork 12 and protrudes outward from the fork surface. When the L frame 8 is forked into place, the limit block 14 physically prevents the L frame 8 from sliding excessively away from the robot. Especially in the case of robot emergency stop or slope operation, it effectively limits the longitudinal movement freedom of the L frame 8 and prevents unsafe displacement of the vehicle.

[0064] Stabilizer 2 is a component that stabilizes and resists contact with glass 7. For example... Figure 4 and Figure 5As shown, the stabilizer 2 includes a base 21, a track 22, a sliding drive 26, a sliding frame 23, and an abutment head 24. The base 21 can be fixed above the tray frame assembly 1, and the track 22 is welded to the base 21, providing sliding guidance. The sliding drive 26 is mounted on the base 21 and, for example, uses a hydraulic drive assembly, integrating a pressure reducing valve and a speed regulating valve. The pressure reducing valve sets the maximum operating pressure of the system, fundamentally limiting the maximum thrust of the abutment head and preventing overload damage to the glass; the speed regulating valve smoothly adjusts the extension / retraction speed of the abutment head, ensuring smooth, shock-free operation. The sliding frame 23 is connected to the track 22 via a slider and can slide along the track 22 under the drive of the sliding drive 26. The abutment head 24 is mounted on the front end of the sliding frame 23.

[0065] The sliding drive device 26 drives the sliding frame 23 to slide towards the photovoltaic glass 7, and the contact head 24 contacts the glass surface. The contact head 24 has a converging design, and its vertical cross-sectional area gradually decreases, such as... Figure 5 As shown, it gradually tapers towards the glass surface, with a gradually decreasing cross-section. This gradually tapering shape helps to guide and contact the glass slope more precisely, ensuring that the supporting force acts in the ideal position. The contact head 24 is made of a flexible material and integrates a pressure sensor to monitor the contact force in real time.

[0066] In some embodiments, the contact head 24 and the sliding frame 23 can be floatingly connected by an elastic device, providing good adaptive compensation capability. For example, multiple springs are provided at the front end of the sliding frame 23, and the contact head is connected to the springs. The elastic device can absorb minor displacement deviations caused by uneven glass surface or slight vibration of the robot, ensuring that the contact head 24 always adheres tightly to the glass surface with a stable contact force, avoiding the problems of point contact stress concentration or loss of contact that may occur with rigid connections.

[0067] The design that retracts, the use of flexible materials, and the elastic floating design can all actively support and counteract the inertial torque, preventing the glass from breaking.

[0068] When the pressure sensor integrated in the contact head 24 detects a contact force greater than the threshold, the robot control system determines that the contact has been made and stops the sliding drive device 26 from continuing to work, so as to avoid damage to the glass surface due to excessive contact force.

[0069] A proximity switch 25, which can be a photoelectric sensor, is installed on the track 22 or the base 21 to detect the sliding position of the sliding frame 23. This is because, in some extreme cases, the sliding frame 23 may have slid to its limit position, but the contact head 24 may still not be in contact with the glass 7. In this case, the proximity switch 25 has detected that the sliding frame 23 has slid to the preset limit position. For equipment safety, the robot control system stops the sliding drive device 26 from continuing to push, thereby protecting the equipment.

[0070] The main body of the draw-wire encoder 27 is fixed to the base 21, and the draw-wire output is connected to the sliding frame 23 to measure the sliding stroke. The working environment of the handling robot has many photoelectric and magnetic fields, which may interfere with photoelectric equipment. However, the draw-wire encoder 27 is a physical detection component with stronger anti-interference capabilities.

[0071] After the lifting is completed, the robot uses the walking device 94 to transfer the L-frame 8 to the target position. During the process, the stabilizer 2 continuously provides lateral support, and the secondary fork 13 and the main fork 12 form a multi-point support structure.

[0072] The entire process combines pure mechanics with sensors to optimize safety and significantly reduce the risk of glass breakage.

[0073] In this invention, the method 200 for robot weight recognition and speed control is as follows: Figure 7 As shown.

[0074] In frame 201, obtain the photovoltaic glass specifications and the L-frame tilt angle α.

[0075] When initializing the robot control system or changing the specifications of photovoltaic glass products, the operator presets the inherent parameters of the current batch of photovoltaic glass into the system through the human-machine interface.

[0076] This includes the thickness value T0 of a single pane of glass, for example, T0 = 5 mm; the weight value M0 of a single pane of glass, for example, M0 = 10 kg; and so on. Figure 6 As shown, the upper inclined frame 82 of L-frame 8 forms a fixed angle α with the horizontal plane, for example, α = 10°. These parameters are stored as non-volatile data, serving as reference constants for subsequent calculations. This operation establishes a precise physical model foundation for weight calculations. By pre-fixing the key properties of materials and vehicles as known quantities, subsequent real-time estimations become deterministic and repeatable.

[0077] In box 202, obtain the full load weight Q0 and the full load forward shift value A0.

[0078] This step requires a one-time system calibration under standard operating conditions. First, use a precision weighing instrument such as a weighbridge to actually measure the total weight of a fully loaded L-frame 8 containing photovoltaic glass, and record this value as the full-load weight Q0, for example, Q0 = 1000 kg. Then, operate the robot to have its pallet rack assembly 1 fork up the fully loaded L-frame 8. Next, activate the stabilizer 2, and the sliding drive device 26 pushes the sliding frame 23 and its contact head 24 towards the glass surface until the contact head 24 reliably contacts the glass. At this point, read the measurement value from the wire encoder 27 and record it as the full-load forward movement value A0, for example, A0 = 500 mm. This correspondence between Q0 and A0 is stored in the system.

[0079] In box 203, retrieve the current forward shift value A.

[0080] This data represents the actual working conditions. In routine handling operations, this step is executed immediately after the robot successfully picks up the L-frame 8 to be transported via the pallet frame assembly 1. The control system issues a command, and the sliding drive device 26 drives the sliding frame 23 to extend smoothly along the track 22, causing the contact head 24 to move towards the surface of the photovoltaic glass 7 on the current L-frame 8. The wire encoder 27 monitors the displacement of the sliding frame 23 in real time.

[0081] When the pressure sensor integrated on the contact head 24 detects a preset contact force threshold, it indicates that gentle contact has been made with the glass. The control system then locks the reading of the pull encoder 27 at this moment and records this value as the current forward shift value A, for example, A = 600 mm in this measurement.

[0082] In box 204, the current cargo weight Q is calculated.

[0083] The control system automatically calls up the pre-stored parameters T0, M0, α, Q0, A0, and the currently measured value A, and performs continuous calculations according to the embedded algorithm model.

[0084] First, the displacement difference is corrected by tilt angle, and the actual reduction in the glass thickness direction is calculated: (A - A0)* COSα = (600mm - 500mm) * COS10° ≈ 100mm * 0.9848 ≈ 98.48mm.

[0085] Calculate the reduction in the number of glass sheets X: X = 98.48 mm / 5 mm ≈ 19.696 sheets.

[0086] Calculate the current weight Q: Q = Q0 - X * M0 = 1000 kg - 19.696 * 10 kg ≈ 803.04 kg. For safety, X can be rounded up to 20 pieces, then Q = 1000 kg - 20 * 10 kg = 800 kg.

[0087] In some embodiments, when calculating Q, there is a design to further increase the amount of error for X.

[0088] Specifically, the calculated number of glass sheets is rounded up and a safety factor n is added to obtain a more conservative optimized number of sheets X1, which is then used to calculate the final cargo weight Q.

[0089] For example, as mentioned above, if X is rounded up to 20 pieces, X1 = 20 + n, where n is also a preset value. Here, n can be equal to 1, and X1 = 21. Then, 21 is used to calculate the current weight Q of the goods.

[0090] This is because various deviations and errors may occur during actual stacking. For example, when the robotic arm is stacking, the actual tilt angle of the glass may have a small deviation. This results in a larger calculated Q value, which makes the handling robot safer. The specific value of n can be preset by engineers based on experience.

[0091] It should be noted that, depending on the design purpose, the safety value n can be positive or negative. When it is positive, the estimated weight is smaller, which means fast speed; conversely, when it is negative, the weight is larger, which means slow speed.

[0092] This step is the core of the entire adaptive control algorithm. Through rigorous mathematical transformation, it accurately maps the displacement signal A measured by the draw wire encoder 27 into a physical quantity that is directly significant for control decisions—the current load weight Q.

[0093] In box 205: Based on the preset rules and the current cargo weight Q, the robot's speed control strategy is obtained.

[0094] The control system will calculate the current cargo weight Q, for example, 800 kg, and match it with a pre-set lookup table based on safety engineering principles.

[0095] This table defines the optimal operating parameters for different weight ranges. When the actual load is heavier, the matching strategy is more conservative, the operating speed is slower, the turning speed is also slower, and the obstacle avoidance distance is longer; when the actual load is lighter, the matching strategy is more efficiency-oriented, the operating speed is faster, the turning speed is faster, and the obstacle avoidance distance is shorter.

[0096] For example, the rules might stipulate that when 700kg < Q ≤ 900kg, a "medium load" strategy is applied, the operating speed is set to 1.2 m / s, and the navigation component 92 is controlled to set the warning range of the laser obstacle avoidance area to "medium range". The system then automatically adjusts the speed and obstacle avoidance parameters of the walking device 94 to this optimized value.

[0097] This step is the final execution stage for achieving intelligent adaptive control. Unlike traditional robots that ignore load changes and always employ a single low-speed strategy, this step enables the robot's behavior—speed, acceleration, and safe distance—to intelligently match the kinetic energy and risk level brought about by the real-time load. Thus, while ensuring sufficient safe braking distance under heavy load conditions, it fully unleashes the potential for equipment efficiency under light load conditions, fundamentally resolving the contradiction between safety and efficiency.

[0098] Furthermore, in this technical solution, stabilizer 2 achieves deep integration of a single component in both physical support and information perception, resulting in significant technical synergy.

[0099] Specifically, stabilizer 2 primarily functions as a key mechanical actuator. Through a sliding drive mechanism 26, it extends the sliding frame 23 and the contact head 24, providing active and controllable lateral support to the center of the tilted photovoltaic glass 7. This physical contact directly and effectively counteracts the inertial torque generated during robot operation due to start-stop and turning, greatly enhancing the overall stability of the glass stacking and fundamentally solving the core safety problem of easily tipping over high-positioned, high-center-of-gravity goods.

[0100] Meanwhile, stabilizer 2 is innovatively designed as a precision data measurement component. Its integrated wire encoder 27 converts the linear displacement of the contact head 24, i.e., the current forward displacement value A, into a digital signal that the control system can process in real time and with high precision. This displacement directly reflects the thickness of the glass stack, thus providing the most critical raw data for estimating the current load weight based on the model.

[0101] This design, on the one hand, avoids the need to design and install a separate, complex thickness or weighing sensor system for weight sensing, significantly reducing the number of components, potential failure points, and installation space requirements, thus improving the overall reliability of the system. On the other hand, since the displacement data detection action on which weight estimation depends comes directly from the support action of stabilizer 2 itself, it ensures the synchronization of sensing and execution actions, resulting in high data reliability.

[0102] In this case, "how to provide stable support" and "how to sense weight" are two key technical issues. Through the innovative design of the same component, these two key technical issues were solved simultaneously, improving the economic efficiency and market competitiveness of the solution.

[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. Furthermore, the terms "vertical," "horizontal," "front," and "rear," etc., mentioned in the embodiments of the present invention indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These are merely 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 orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. It should be further noted that, unless otherwise explicitly specified and limited, terms such as "install," "connect," "join," and "fix" in the description should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0104] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method of a photovoltaic glass handling robot, characterized in that, It includes the following steps: A stabilizer (2) is provided above the tray frame assembly (1), the stabilizer (2) including a contact head (24) for contacting the surface of the photovoltaic glass, the contact head (24) being configured to move toward / away from the photovoltaic glass; Obtain the specifications of the photovoltaic glass, including size and weight information; Obtain the full load weight Q0 of the photovoltaic glass under full load and the full load forward displacement value A0 reflecting the forward displacement distance of the contact head (24); When the current state is obtained, the current forward movement value A reflects the forward movement distance of the contact head (24); The current weight Q is calculated based on the current forward shift value A, the full load forward shift value A0, the full load weight Q0, and the specification information. Based on preset rules and the current cargo weight Q, the robot's speed control strategy is obtained.

2. The control method of the photovoltaic glass carrying robot according to claim 1, characterized in that: The step of calculating the current cargo weight Q based on the current forward movement value A, the full load forward movement value A0, the full load cargo weight Q0, and the specification information is as follows: The specifications include the thickness T0 and weight M0 of a single piece of glass. Calculate the reduction in glass volume X, X = (A-A0) / TO; Calculate the current weight of the goods, Q = Q0 - X*M0.

3. The control method of the photovoltaic glass carrying robot according to claim 2, characterized in that: Obtain the tilt angle α of the L-frame used to support the photovoltaic glass, wherein the tilt angle α is the angle between the upper inclined frame of the L-frame and the horizontal plane; Calculate the reduction in glass volume X, X = (A-A0)*COSα / TO; Calculate the current weight of the goods, Q = Q0 - X*M0.

4. The control method of the photovoltaic glass carrying robot according to claim 2 or 3, characterized in that: The optimized number of glass sheets X1 is obtained based on the reduction of the number of glass sheets, where X1 is the result of rounding up X plus a safety value n, and n is a preset constant. Calculate the current weight of the goods, Q = Q0 – X1*M0.

5. A transfer robot implementing the control method according to any one of claims 1 to 4, comprising a body (91) on which a traveling device (94) and a portal (93) are mounted, the portal (93) being connected with a picking device, characterized in that, The picking device includes a pallet rack assembly (1) and a stabilizer (2). The pallet rack assembly (1) includes a rack plate (11) and a main fork (12) connected to the rack plate (11). The stabilizer (2) is connected above the pallet rack assembly (1) and includes an abutment head (24) and a pull-wire encoder (27) for detecting the movement distance of the abutment head (24).

6. The transport robot of claim 5, wherein: The frame plate (11) is also provided with a secondary fork (13); there are at least two main forks (12), and the secondary fork (13) is arranged in the middle of the two main forks (12), and the extension length of the secondary fork (13) is less than the extension length of the main fork (12).

7. The handling robot according to claim 5, characterized in that: A limiting block (14) protruding from the upper surface of the main fork (12) is installed on the main fork (12). The limiting block (14) is used to limit the movement of the L frame away from the transport robot.

8. The handling robot according to claim 5, characterized in that: The stabilizer (2) includes a base (21), a track (22) disposed on the base (21), a sliding drive device (26) mounted on the base (21), a sliding frame (23) that slides along the track (22) under the drive of the sliding drive device (26), and an abutment head (24) mounted on the sliding frame (23).

9. The handling robot according to claim 8, characterized in that: The contact head (24) is a flexible contact head and integrates a pressure sensor.

10. The handling robot according to claim 8, characterized in that: The sliding drive device (26) is a hydraulic drive assembly, which includes a pressure reducing valve and / or a speed regulating valve, or the sliding drive device (26) is an electric assembly, which includes a control module for controlling the output force.

11. The handling robot according to claim 8, characterized in that: It also includes a proximity switch (25) for detecting the sliding position of the sliding frame (23), the proximity switch (25) being mounted on the track (22) or on the base (21).

12. The handling robot according to claim 8, characterized in that: The contact head (24) is a collapsible type, and its cross-sectional area in the vertical direction gradually decreases as it approaches the photovoltaic glass.

13. The handling robot according to claim 8, characterized in that: It also includes a proximity switch (25) for detecting the sliding position of the sliding frame (23), the proximity switch (25) being mounted on the track (22) or on the base (21).

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