A high-precision programmable robotic arm for photovoltaic installation

Abstract

This application provides a high-precision CNC robotic arm for photovoltaic installation, belonging to the field of robotic arm technology. The high-precision CNC robotic arm for photovoltaic installation includes: a robotic arm, a gripper, a machine vision positioning module, and auxiliary mechanisms. The auxiliary mechanisms include: a drive assembly, a heat exchange fluid storage container, a heat exchange tube, a cylinder, a first piston, a first stopper rod, a second piston, and a second stopper rod. The first piston is fitted into the cylinder, and the first stopper rod is located on the side of the first piston away from the sealing plate. The first stopper rod has an inner cavity located at the end of the first stopper rod near the first piston. The second piston is slidably fitted into the inner cavity, and the second stopper rod is connected to the side of the second piston near the first piston. The second stopper rod passes through the end of the first stopper rod near the first piston and connects to the first piston. An elastic element abuts against the second piston at the inner end wall of the inner cavity near the first piston. This ensures the installation accuracy of the photovoltaic panels and improves adaptability to sandstorms and dusty environments.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more specifically, to a high-precision programmable robotic arm for photovoltaic installation. Background Technology

[0002] Currently, photovoltaic installation robots / manipulators are widely used in the installation of large quantities of photovoltaic panels. Among photovoltaic installation robots, machine vision positioning is widely used.

[0003] However, when the installation environment is dusty or has a high level of dust, the positioning accuracy of machine vision positioning will decrease significantly, which will directly affect the installation accuracy of photovoltaic panels.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this application is to provide a high-precision programmable robot for photovoltaic installation, which can ensure the installation accuracy of photovoltaic panels and improve adaptability to sandstorm weather and dusty environments.

[0006] The embodiments of this application are implemented as follows: A high-precision programmable robot for photovoltaic installation includes: a robotic arm, a gripper, a machine vision positioning module, and auxiliary mechanisms.

[0007] The gripper is mounted at the end of the robotic arm. The machine vision positioning module is mounted on the outside of the robotic arm. The auxiliary mechanism is mounted on the robotic arm.

[0008] The auxiliary mechanism includes: a drive assembly, a heat exchange fluid storage container, a heat exchange tube, a cylinder, a first piston, a first stopper rod, a second piston, and a second stopper rod.

[0009] The cylinder is fixedly installed on the robotic arm, and one end of the cylinder is sealed by a sealing plate.

[0010] The first piston is slidably fitted into the cylinder, and the first piston rod is located on the side of the first piston away from the sealing plate.

[0011] The first piston rod has an inner cavity located at the end of the first piston rod near the first piston.

[0012] The second piston is slidably fitted into the inner cavity, and the second piston rod is connected to the side of the second piston near the first piston. The second piston rod passes through the end of the first piston near the first piston and is connected to the first piston.

[0013] An elastic element is abutting between the inner end wall of the inner cavity near the first piston and the second piston.

[0014] The sealing plate is equipped with a liquid inlet pipe and a liquid outlet pipe communicating with the cylinder body. The end wall of the inner cavity away from the first piston is equipped with an air inlet pipe and an air outlet pipe communicating with the inner cavity. Both the liquid inlet pipe and the air inlet pipe are equipped with a one-way structure, and the air outlet pipe is equipped with a control valve.

[0015] The heat exchange tube is embedded in the side wall of the lens of the machine vision positioning module.

[0016] The inlet pipe is connected to the outlet of the heat exchange liquid storage container, the outlet pipe is connected to the inlet of the heat exchange tube, and the outlet of the heat exchange tube is connected to the inlet of the heat exchange liquid storage container.

[0017] The air intake duct is connected to the outside atmosphere, and the outlet of the air exhaust duct is positioned towards the protective lens of the lens.

[0018] The drive assembly is used to drive the first piston rod to move relative to the cylinder.

[0019] Furthermore, the inner diameters of the intake and exhaust pipes are the same, and (inner diameter of the cavity / inner diameter of the intake pipe) ≥ 30.

[0020] The inner diameter of the inlet pipe is smaller than the inner diameter of the outlet pipe, and (inner diameter of the cylinder / inner diameter of the inlet pipe) ≥ 20.

[0021] Among them, (inner diameter of the inner cavity / inner diameter of the air inlet pipe) - (inner diameter of the cylinder / inner diameter of the liquid inlet pipe) ≥ 10.

[0022] Furthermore, a distance sensor is installed on the inner wall of the end of the inner cavity away from the first piston. The distance sensor is used to detect the distance between the inner wall of the end of the inner cavity away from the first piston and the second piston.

[0023] Furthermore, the lens has an air duct, one end of which is connected to and sealed by the outer wall of the lens, while the other end of the lens is sealed by an end plate.

[0024] After the heat exchange tube is embedded in the side wall of the lens, it protrudes from the outer side wall of the lens, extends into the air guide tube and along the air guide tube, and the outlet end of the heat exchange tube passes through the end plate.

[0025] The end of the air duct furthest from the lens is connected to the air outlet pipe, and the end of the air duct closest to the lens is equipped with an exhaust nozzle, which is positioned towards the protective lens of the lens.

[0026] Furthermore, the front end of the lens also has a flange, which is located at the edge of the lens and extends continuously in a ring along the circumference of the lens.

[0027] The exhaust nozzle extends through the flange and is positioned towards the lens's protective lens element.

[0028] Furthermore, the drive components include: a driver, a drive disk, mating gears, and a drive shaft.

[0029] The driver and the drive disk are engaged in a transmission.

[0030] A center wheel and a mating ring are provided on one side of the drive disc. The diameter of the center wheel is smaller than the diameter of the drive disc, and the inner diameter of the mating ring is larger than the diameter of the center wheel. The center wheel, the mating ring, and the drive disc are arranged coaxially.

[0031] The mating gear is located between the central gear and the mating ring, and both the central gear and the mating ring are spaced apart from the mating gear.

[0032] The surface of the center wheel has a first rack, which extends in an arc shape along the circumference of the center wheel.

[0033] The inner ring surface of the mating ring has a second toothed rack, which extends in an arc shape along the circumference of the mating ring.

[0034] The lengths of the first and second racks are equal.

[0035] At any given time, at most one of the first rack and the second rack can mesh with the mating gear.

[0036] The drive shaft is engaged with the first piston rod.

[0037] Specifically: when the mating gear meshes with the first rack, the first piston rod drives the first piston closer to the sealing plate. When the mating gear meshes with the second rack, the first piston rod drives the first piston away from the sealing plate.

[0038] Furthermore, a mating hole is provided on the end face of the first piston rod away from the first piston. The mating hole extends along the axial direction of the first piston rod and is spaced apart from the inner cavity.

[0039] The drive shaft is fitted with a control rod, which has external threads, and the mating hole has internal threads. The control rod extends into the mating hole, and the control rod engages with the threaded mating hole.

[0040] Furthermore, the opening trigger button and the closing trigger button of the control valve are respectively located at opposite ends of the first rack.

[0041] When the mating gear is just engaged with the first rack, the mating gear triggers the activation button. When the mating gear is just disengaged from the first rack, the mating gear triggers the deactivation button.

[0042] The beneficial effects of the technical solutions in this application include: (1) Requires only a single power source; (2) A single power source can be used to absorb and discharge heat exchange fluid and air, thereby achieving cooling and cleaning of the lens; (3) By statistically analyzing the distance between the second piston and the end wall of the inner cavity furthest from the first piston detected by the distance sensor, the health of the heat exchange fluid can be determined. Specifically: when the heat exchange fluid has not deteriorated, after each time the distance between the first piston rod and the sealing plate reaches its maximum and the elastic force of the elastic element is balanced with the gas pressure in the inner cavity, the distance between the second piston and the end wall of the inner cavity furthest from the first piston should be basically the same. If the distance between the second piston and the end wall of the inner cavity furthest from the first piston suddenly increases and the increase exceeds a reasonable threshold, it indicates that the viscosity of the heat exchange fluid may have increased significantly, and the heat exchange fluid needs to be tested and replaced as needed. (4) When the gap between the first stopper and the sealing plate reaches its maximum and the elastic force of the elastic element is balanced with the air pressure in the inner cavity, the elastic element can pressurize the air in the inner cavity through the second piston, thereby enhancing the cooling effect of the air on the heat exchange fluid and enhancing the cleaning effect of the airflow on the lens.

[0043] Overall, the high-precision CNC robotic arm for photovoltaic installation provided in this application embodiment can ensure the installation accuracy of photovoltaic panels and improve adaptability to sandstorm weather and dusty environments. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the overall structure of the high-precision CNC robot for photovoltaic installation provided in the embodiments of this application; Figure 2 A schematic diagram of the overall structure of the auxiliary mechanism for a high-precision CNC robotic arm used in photovoltaic installation; Figure 3 This is a schematic diagram showing the assembly of the cylinder, the first piston, and the second piston (initial state). Figure 4 This is a schematic diagram showing the fit between the cylinder, the first piston, and the second piston (when the distance between the first piston rod and the sealing plate just reaches its maximum). Figure 5 This is a schematic diagram showing the fit between the cylinder, the first piston, and the second piston (when the distance between the first piston rod and the sealing plate reaches its maximum, and the elastic force of the elastic element is balanced with the air pressure in the inner cavity). Figure 6 This is a schematic diagram of the lens structure; Figure 7 A schematic diagram (side view) of the engagement between the drive disc and the mating gear. Figure 8A schematic diagram (axial view) of the engagement between the drive disc and the mating gear.

[0046] Explanation of reference numerals in the attached figures: Robotic arm 100; gripper 200; lens 300; air duct 310; end plate 320; exhaust nozzle 330; flange 340; drive disk 400; center wheel 410; mating ring 420; first rack 430; second rack 440; mating gear 450; drive shaft 460; control lever 470; heat exchange fluid storage container 500; heat exchange tube 600; cylinder 700; sealing plate 710; first piston 720; first stopper rod 730; inner cavity 731; mating hole 732; second piston 740; second stopper rod 750; elastic element 760; liquid inlet pipe 810; liquid outlet pipe 820; air inlet pipe 830; air outlet pipe 840; distance sensor 900. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0051] Furthermore, the terms "vertical" and "parallel" do not mean that the parts must be absolutely vertical or parallel, but can be slightly tilted.

[0052] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] The inventors of this application have discovered that when there is sand and dust in the installation environment, or when the amount of dust in the installation environment is large, the optical lens 300 of the machine vision positioning is prone to dust / sand, which will have the following effects on machine vision positioning: (1) Dust particles attached to the surface of the lens 300 will scatter, attenuate or block light, resulting in a decrease in image quality. Imaging distortion will interfere with the accurate identification and extraction of target features by machine vision, thereby directly affecting the positioning accuracy; (2) Dust particles attached to the outer surface of the lens 300 will directly affect the heat dissipation of the lens 300. If the temperature of the lens 300 is too high, it will cause thermal deformation of the lens 300, which will also reduce the performance of the sensor, thereby affecting the positioning accuracy.

[0054] The technical solutions of this application will be described by way of example through some embodiments below.

[0055] To overcome the shortcomings of existing technologies, see Figures 1-5 This application provides a high-precision CNC robot for photovoltaic installation, which includes: a robotic arm 100, a gripper 200, a machine vision positioning module, and auxiliary mechanisms.

[0056] The gripper 200 is mounted on the end of the robotic arm 100 for gripping and placing photovoltaic panels. The gripper 200 may be a vacuum suction cup, but is not limited to this.

[0057] The lens 300 of the machine vision positioning module is mounted on the outside of the robotic arm 100. The machine vision positioning module acquires optical images through the lens 300, thereby achieving positioning. It is understood that the machine vision positioning module also has other components for acquiring positioning data based on optical images, which are prior art and will not be described in detail in this application.

[0058] The auxiliary mechanism is mounted on the robotic arm 100. Optionally, the arm body of the robotic arm 100 can be configured as a hollow structure, and the auxiliary mechanism can be mounted inside the arm body of the robotic arm 100, but is not limited to this.

[0059] The auxiliary mechanism includes: a drive assembly, a heat exchange fluid storage container 500, a heat exchange tube 600, a cylinder 700, a first piston 720, a first stopper rod 730, a second piston 740, and a second stopper rod 750.

[0060] The cylinder 700 is cylindrical and is fixedly installed on the robotic arm 100. One end of the cylinder 700 is closed by the sealing plate 710.

[0061] The first piston 720 is slidably fitted inside the cylinder 700, and there is a sliding seal between the first piston 720 and the cylinder 700.

[0062] The first stopper rod 730 is located on the side of the first piston 720 away from the sealing plate 710. The first stopper rod 730 is coaxially arranged with the cylinder 700 and is not directly connected to the first piston 720.

[0063] The first stopper rod 730 has an inner cavity 731 that extends along the axial direction of the first stopper rod 730. The inner cavity 731 is coaxially arranged with the first stopper rod 730 and is located at one end of the first stopper rod 730 near the first piston 720. The inner cavity 731 and the first piston 720 are spaced apart.

[0064] The second piston 740 is slidably fitted into the inner cavity 731, and the second piston 740 slides and seals with the side wall of the inner cavity 731.

[0065] The second piston rod 750 is fixedly connected to the side of the second piston 740 near the first piston 720, and the second piston rod 750 is coaxially arranged with the first piston rod 730.

[0066] The second stopper rod 750 extends toward the first piston 720, and the second stopper rod 750 passes through the end wall of the first stopper rod 730 near the first piston 720 and is fixedly connected to the first piston 720.

[0067] In this embodiment, the diameter of the first stopper 730 is smaller than the inner diameter of the cylinder 700, the diameter of the second stopper 750 is smaller than the inner diameter of the inner cavity 731, and the end wall of the first stopper 730 near the first piston 720 is also provided with a pressure balance hole (not shown in the figure) communicating with the inner cavity 731.

[0068] An elastic element 760 abuts between the inner wall of the inner cavity 731 near the first piston 720 and the second piston 740.

[0069] The sealing plate 710 is provided with an inlet pipe 810 and an outlet pipe 820 that are connected to the cylinder 700. Both the inlet pipe 810 and the outlet pipe 820 pass through the sealing plate 710 and are connected to the cylinder 700.

[0070] An air inlet pipe 830 and an air outlet pipe 840 communicating with the inner cavity 731 are provided on the end wall of the end away from the first piston 720.

[0071] Both the liquid inlet pipe 810 and the air inlet pipe 830 are equipped with a one-way structure (not shown in the figure). For the liquid inlet pipe 810, the one-way structure allows the heat exchange liquid (i.e., the liquid heat exchange medium) to enter the cylinder 700 through the liquid inlet pipe 810, and prevents the heat exchange liquid from leaving the cylinder 700 through the liquid inlet pipe 810. For the air inlet pipe 830, the one-way structure allows air to enter the inner cavity 731 through the air inlet pipe 830, and prevents air from leaving the inner cavity 731 through the air inlet pipe 830.

[0072] The exhaust pipe 840 is equipped with a control valve (not shown in the figure). The control valve can be a programmable valve, but is not limited to this.

[0073] The heat exchange tube 600 is made of thermally conductive material and is embedded in the side wall of the lens 300 of the machine vision positioning module. Both ends (inlet end and outlet end) of the heat exchange tube 600 extend beyond the lens 300.

[0074] The inlet pipe 810 is connected to the outlet of the heat exchange liquid storage container 500, the outlet pipe 820 is connected to the inlet of the heat exchange tube 600, and the outlet of the heat exchange tube 600 is connected to the inlet of the heat exchange liquid storage container 500.

[0075] The air intake duct 830 is connected to the outside atmosphere, and the air intake end of the air intake duct 830 is equipped with a filter element (not shown in the figure) for filtering dust and other impurities in the air.

[0076] The outlet of the air duct 840 is oriented toward the protective lens of the lens 300.

[0077] The drive assembly is used to drive the first piston rod 730 to move relative to the cylinder 700.

[0078] Optionally, the inner diameters of the intake pipe 830 and the exhaust pipe 840 are the same, and (inner diameter of inner cavity 731 / inner diameter of intake pipe 830) ≥ 30. That is, the ratio of the inner diameters of inner cavity 731 and intake pipe 830 is greater than or equal to 30.

[0079] Optionally, the inner diameter of the inlet pipe 810 is smaller than the inner diameter of the outlet pipe 820, and (inner diameter of cylinder 700 / inner diameter of inlet pipe 810) ≥ 20. That is, the ratio of the inner diameters of cylinder 700 and inlet pipe 810 is greater than or equal to 20.

[0080] Wherein, (inner diameter of inner cavity 731 / inner diameter of air inlet pipe 830) - (inner diameter of cylinder 700 / inner diameter of liquid inlet pipe 810) ≥ 10. That is to say, the difference between "the ratio of the inner diameters of inner cavity 731 and air inlet pipe 830" and "the ratio of the inner diameters of cylinder 700 and liquid inlet pipe 810" is greater than or equal to 10.

[0081] The heat exchange fluid can be selected from heat transfer oil, water, etc., and is not limited to these.

[0082] In this embodiment, a distance sensor 900 is installed on the inner end wall of the inner cavity 731 away from the first piston 720. The distance sensor 900 is used to detect the distance between the inner end wall of the inner cavity 731 away from the first piston 720 and the second piston 740. The distance sensor 900 is embedded in the end wall of the inner cavity 731 away from the first piston 720. When the second piston 740 is in contact with the end wall of the inner cavity 731 away from the first piston 720, there is still a gap between the distance sensor 900 and the second piston 740.

[0083] Furthermore, please combine Figure 6 The lens 300 has an air duct 310, one end of which is connected to and closed by the outer wall of the lens 300, and the other end of the lens 300 is closed by an end plate 320.

[0084] After the heat exchange tube 600 is embedded in the side wall of the lens 300, it extends out through the outer side wall of the lens 300. After the heat exchange tube 600 extends out through the outer side wall of the lens 300, it extends into the air guide tube 310 and extends along the length of the air guide tube 310. The outlet end of the heat exchange tube 600 passes through the end plate 320.

[0085] The end of the air duct 310 away from the lens 300 is connected to the air outlet pipe 840. The end of the air duct 310 near the lens 300 is provided with an exhaust nozzle 330, which is positioned towards the protective lens of the lens 300.

[0086] Optionally, the portion of the heat exchange tube 600 within the gas guide tube 310 can also be configured as a coil, and is not limited thereto.

[0087] Furthermore, the front end of the lens 300 also has a flange 340, which is located at the edge of the lens 300 and extends continuously in a ring along the circumference of the lens 300.

[0088] The exhaust nozzle 330 passes through the flange 340 and is positioned towards the protective lens of the lens 300.

[0089] For specific details, please refer to... Figure 7 and Figure 8 The drive components include: a driver (not shown in the figure), a drive disk 400, a mating gear 450, and a drive shaft 460.

[0090] The drive disk 400 is rotatably mounted inside the arm body of the robotic arm 100. The driver is in transmission cooperation with the drive disk 400 and is used to drive the drive disk 400 to rotate.

[0091] A center wheel 410 and a mating ring 420 are provided on one side of the drive disc 400.

[0092] The diameter of the center wheel 410 is the same as the diameter of the drive disc 400. The inner diameter of the mating ring 420 is larger than the diameter of the center wheel 410, and the outer diameter of the mating ring 420 is equal to the diameter of the drive disc 400.

[0093] The center wheel 410, mating ring 420 and drive disc 400 are coaxially arranged.

[0094] The rotation axis of the drive disk 400 is set to coincide with its central axis.

[0095] The mating gear 450 is located between the center wheel 410 and the mating ring 420. That is to say, the mating gear 450 is located within the range of the mating ring 420, and the center wheel 410 and the mating ring 420 are both spaced apart from the mating gear 450.

[0096] The gear 450 is rotatably mounted inside the arm of the robotic arm 100, and the rotation axis of the gear 450 is parallel to the rotation axis of the drive disk 400.

[0097] The surface of the center wheel 410 has a first rack 430, which extends in an arc shape along the circumference of the center wheel 410.

[0098] The inner ring surface of the mating ring 420 has a second rack 440, which extends in an arc shape along the circumference of the mating ring 420.

[0099] The first rack 430 and the second rack 440 are of equal length.

[0100] During the rotation of the drive disc 400, at most one of the first rack 430 and the second rack 440 can mesh with the mating gear 450 at any given time.

[0101] The drive shaft 460 is in transmission cooperation with the first piston rod 730. The drive shaft 460 is used to drive the first piston rod 730 to move along the axial direction of the cylinder 700, thereby driving the first piston 720 to slide along the cylinder 700.

[0102] Specifically: when the mating gear 450 meshes with the first rack 430, the first plug rod 730 drives the first piston 720 to approach the sealing plate 710; when the mating gear 450 meshes with the second rack 440, the first plug rod 730 drives the first piston 720 to move away from the sealing plate 710.

[0103] In this embodiment, the driver is used to drive the drive disk 400 to rotate in one direction at a constant speed.

[0104] Optionally, during the rotation of the drive disk 400: when the mating gear 450 just separates from the first rack 430, the mating gear 450 just meshes with the second rack 440; after the mating gear 450 separates from the second rack 440, the mating gear 450 does not immediately mesh with the first rack 430. At this time, neither the first rack 430 nor the second rack 440 meshes with the mating gear 450. As the drive disk 400 continues to rotate at a certain angle (the size of the angle can be flexibly set according to actual needs), the first rack 430 meshes with the mating gear 450.

[0105] In this embodiment, a mating hole 732 is provided on the end face of the first plug rod 730 away from the first piston 720. The mating hole 732 extends along the axial direction of the first plug rod 730 and is coaxially arranged with the first plug rod 730. The mating hole 732 is spaced apart from the inner cavity 731.

[0106] The drive shaft 460 is coupled with a control lever 470, which is rotatably mounted inside the arm of the robotic arm 100. The transmission ratio between the drive shaft 460 and the control lever 470 can be flexibly set according to actual needs.

[0107] The control rod 470 has an external thread (not shown in the figure), and the mating hole 732 has an internal thread (not shown in the figure). The control rod 470 extends into the mating hole 732, and the control rod 470 and the mating hole 732 are threadedly engaged.

[0108] Along the axial direction of the first stop rod 730, the first stop rod 730 is slidably mounted inside the arm body of the robotic arm 100. Along the circumferential direction of the first stop rod 730, the first stop rod 730 is fixedly mounted inside the arm body of the robotic arm 100.

[0109] The control lever 470 is coaxially arranged with the first stop lever 730.

[0110] Along the axial direction, the control lever 470 is fixedly installed inside the arm body of the robotic arm 100. Along the circumferential direction, the control lever 470 is rotatably installed inside the arm body of the robotic arm 100.

[0111] The working principle of the high-precision CNC robot for photovoltaic installation provided in this application embodiment is as follows.

[0112] We take the initial state as follows: the first piston 720 is in contact with the sealing plate 710, and the second piston 740 is in contact with the end wall of the inner cavity 731 away from the first piston 720. At this time, the mating gear 450 is just separated from the first rack 430 and just engaged with the second rack 440. The end wall of the first stopper rod 730 near the first piston 720 is in contact with the first piston 720, and the control valve is in the closed state. Figure 3 As shown.

[0113] As the drive disc 400 continues to rotate, the second rack 440 drives the mating gear 450, and the drive shaft 460 drives the control rod 470. Under the action of the thread, the control rod 470 drives the first plug rod 730 to move axially along its axis. As the first plug rod 730 moves, the length of the control rod 470 extending into the mating hole 732 gradually increases. When the second rack 440 separates from the mating gear 450, the length of the control rod 470 extending into the mating hole 732 reaches its maximum. At this point, the distance between the first plug rod 730 and the sealing plate 710 reaches its maximum. Figure 4 As shown.

[0114] Because the inner diameter of the mating ring 420 is larger than the diameter of the center wheel 410, the length of the second rack 440 corresponding to a unit rotation angle of the drive disc 400 is greater than the length of the first rack 430 corresponding to a unit rotation angle of the drive disc 400. In other words, at the same rotational speed, the speed at which the second rack 440 drives the mating gear 450 is greater than the speed at which the first rack 430 drives the mating gear 450.

[0115] Therefore, during the process of the first stopper 730 moving away from the sealing plate 710, the axial speed of the first stopper 730 is greater than the axial speed of the first stopper 730 when it approaches the sealing plate 710.

[0116] As the first stopper rod 730 moves away from the sealing plate 710, the first piston 720 is also driven by the elastic element 760, causing the first piston 720 to also move away from the sealing plate 710. The heat exchange fluid in the heat exchange fluid storage container 500 is then sucked into the cylinder 700 through the liquid inlet pipe 810.

[0117] However, because the first stopper rod 730 moves at a relatively fast speed at this time, the flow rate of the heat exchange fluid in the inlet pipe 810 will not match the movement speed of the first stopper rod 730. Specifically, within a unit time, the first stopper rod 730 drives the first piston 720 to move away from the sealing plate 710 by a unit distance. Under the elastic force of the elastic element 760, the first piston 720 also has the tendency to move by a unit distance. In other words, under this tendency, a unit volume space is left between the first piston 720 and the sealing plate 710, and this unit volume space is used to accommodate (absorb) a unit volume of heat exchange fluid. Because the inner diameter of the liquid inlet pipe 810 is relatively small (for example, the ratio of the inner diameter of the inner cavity 731 and the air inlet pipe 830 is greater than or equal to 30, the ratio of the inner diameter of the cylinder 700 and the liquid inlet pipe 810 is greater than or equal to 20, and the difference between the ratio of the inner diameter of the inner cavity 731 and the air inlet pipe 830 and the ratio of the inner diameter of the cylinder 700 and the liquid inlet pipe 810 is greater than or equal to 10), the volume of heat exchange liquid entering the cylinder 700 from the liquid inlet pipe 810 per unit time is less than one unit volume. This results in the actual absorption of heat exchange liquid not matching the movement trend of the first piston 720.

[0118] When the actual absorption of the heat exchange fluid does not match the movement trend of the first piston 720, the actual distance that the first piston 720 can move is less than one unit distance. In this case, the elastic element 760 will be elastically compressed, causing the second piston 740 to move towards the side where the first piston 720 is located. In this way, the overall structure consisting of the second piston 740, the second piston rod 750 and the first piston 720 can move a certain distance towards the piston side of the sealing plate 710, thereby compensating for the previous "mismatch".

[0119] After compensation, the second piston 740 also draws in external air into the inner cavity 731 through the intake pipe 830.

[0120] As air enters the inner cavity 731, air exists on the side of the second piston 740 away from the first piston 720.

[0121] When the gap between the first stopper 730 and the sealing plate 710 reaches its maximum, before the engaging gear 450 meshes with the first rack 430, the elastic element 760 will push the second piston 740 to compress the air in the inner cavity 731 under the action of the elastic element 760 until the elastic force of the elastic element 760 is balanced with the air pressure in the inner cavity 731.

[0122] During the process of the elastic element 760 pushing the second piston 740 to compress the air in the inner cavity 731, the first piston 720 continues to draw in heat exchange fluid until the elastic force of the elastic element 760 is balanced with the air pressure in the inner cavity 731. Figure 5 As shown.

[0123] In this state, heat exchange fluid is drawn into the cylinder 700, and air is drawn into the inner cavity 731.

[0124] When the mating gear 450 meshes with the first rack 430, the first rack 430 can drive the mating gear 450 to rotate. Since the direction of the first rack 430 driving the mating gear 450 to move is opposite to the direction of the second rack 440 driving the mating gear 450 to move, and the first rack 430 and the second rack 440 have the same length, the first rack 430 can drive the first stop rod 730 to move and reset.

[0125] It should be noted that the control valve opens when the mating gear 450 engages with the first rack 430, and closes when the mating gear 450 disengages from the first rack 430.

[0126] During the resetting process of the first plug rod 730, since the rotation speed of the first rack 430 driving the mating gear 450 is less than the rotation speed of the second rack driving the mating gear 450, it is less likely that the outlet pipe 820 will not be able to discharge the heat exchange liquid in time (in this embodiment, the inner diameter of the outlet pipe 820 is matched with the flow rate when discharging the heat exchange liquid).

[0127] During the first stopper 730's operation, the air in the inner cavity 731 and the heat exchange fluid in the cylinder 700 are simultaneously discharged. In this process, the heat exchange fluid enters the heat exchange tube 600 through the outlet pipe 820 and finally flows from the outlet end of the heat exchange tube 600 to the heat exchange fluid storage container 500, realizing the recycling of the heat exchange fluid.

[0128] The heat exchange fluid flowing through the heat exchange tube 600 can carry away the heat from the lens 300, preventing heat accumulation in the lens 300 and thus avoiding the lens 300 from affecting imaging accuracy due to excessive temperature.

[0129] At the same time, the air in the inner cavity 731 enters the air guide pipe 310 through the air outlet pipe. This air can cool the heat exchange liquid in the heat exchange tube 600, thereby removing heat and preventing the temperature of the heat exchange liquid in the heat exchange liquid storage container 500 from rising.

[0130] After the air in the air duct 310 cools the heat exchange liquid, it is finally discharged from the exhaust port 330 and blown towards the protective lens of the lens 300. This gas can clean the field of view window of the lens 300, thereby preventing dust from adhering to the protective lens from interfering with the field of view of the lens 300, avoiding affecting the imaging effect, and ensuring positioning accuracy.

[0131] With the above design, each time the drive disk rotates 400 degrees, a repeating operation can be achieved, which will not be elaborated here.

[0132] In this way, the lens 300 can be continuously cooled and cleaned, which can continuously ensure the imaging accuracy of the lens 300 and ensure positioning accuracy.

[0133] Optionally, the opening trigger button and the closing trigger button of the control valve can be located at opposite ends of the first rack 430.

[0134] When the mating gear 450 is just engaged with the first rack 430, the mating gear 450 contacts the opening trigger button and triggers the opening trigger button, causing the control valve to open.

[0135] When the mating gear 450 just separates from the first rack 430, the mating gear 450 contacts the opening trigger button and triggers the closing trigger button, causing the control valve to close.

[0136] In this way, automatic control of the control valve can be achieved without the need to introduce additional control methods.

[0137] The beneficial effects of the high-precision CNC robot for photovoltaic installation provided in this application are as follows (but not limited thereto).

[0138] Only one power source is required (only one drive).

[0139] A single power source can absorb and discharge heat exchange fluid and air, thereby achieving the cooling and cleaning of the lens 300.

[0140] The health of the heat exchange fluid can be determined by statistically analyzing the distance between the second piston 740 and the end wall of the inner cavity 731 furthest from the first piston 720, as detected by the distance sensor 900. Specifically: when the heat exchange fluid has not deteriorated (e.g., the viscosity has not changed), after each time the distance between the first stopper 730 and the sealing plate 710 reaches its maximum and the elastic force of the elastic element 760 is balanced with the air pressure in the inner cavity 731, the distance between the second piston 740 and the end wall of the inner cavity 731 furthest from the first piston 720 should be approximately equal. If the distance between the second piston 740 and the end wall of the inner cavity 731 furthest from the first piston 720 suddenly increases and the increase exceeds a reasonable threshold (the threshold can be flexibly set according to actual conditions), it indicates that the viscosity of the heat exchange fluid may have increased significantly, and the heat exchange fluid needs to be tested and replaced as needed.

[0141] When the distance between the first stopper 730 and the sealing plate 710 reaches its maximum and the elastic force of the elastic element 760 is balanced with the air pressure in the inner cavity 731, the elastic element 760 can pressurize the air in the inner cavity 731 through the second piston 740, thereby enhancing the cooling effect of the air on the heat exchange fluid and enhancing the cleaning effect of the airflow on the lens 300.

[0142] In summary, the high-precision CNC robotic arm for photovoltaic installation provided in this application embodiment can ensure the installation accuracy of photovoltaic panels and improve adaptability to sandstorm weather and dusty environments.

[0143] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A high-precision programmable robotic arm for photovoltaic installation, characterized in that, include: robotic arms, grippers, machine vision positioning modules, and auxiliary mechanisms; The gripper is mounted on the end of the robotic arm; The machine vision positioning module is mounted on the outside of the robotic arm; the auxiliary mechanism is mounted on the robotic arm. The auxiliary mechanism includes: a drive assembly, a heat exchange fluid storage container, a heat exchange tube, a cylinder, a first piston, a first stopper rod, a second piston, and a second stopper rod; The cylinder is fixedly installed on the robotic arm, and one end of the cylinder is closed by a sealing plate; The first piston is slidably fitted into the cylinder, and the first stopper rod is disposed on the side of the first piston away from the sealing plate; The first stopcock has an inner cavity located at the end of the first stopcock near the first piston; The second piston is slidably fitted into the inner cavity, and the second piston rod is connected to the side of the second piston near the first piston; the second piston rod passes through the end of the first piston near the first piston and is connected to the first piston; An elastic element is abutting between the inner end wall of the inner cavity near the first piston and the second piston. The sealing plate is provided with a liquid inlet pipe and a liquid outlet pipe communicating with the cylinder body. The end wall of the inner cavity away from the first piston is provided with an air inlet pipe and an air outlet pipe communicating with the inner cavity. Both the liquid inlet pipe and the air inlet pipe are provided with a one-way structure, and the air outlet pipe is provided with a control valve. The heat exchange tube is embedded in the side wall of the lens of the machine vision positioning module. The liquid inlet pipe is connected to the outlet of the heat exchange liquid storage container, the liquid outlet pipe is connected to the inlet end of the heat exchange tube, and the outlet end of the heat exchange tube is connected to the inlet of the heat exchange liquid storage container. The air intake pipe is connected to the outside atmosphere, and the outlet of the air outlet pipe is positioned towards the protective lens of the lens. The drive assembly is used to drive the first piston rod to move relative to the cylinder.

2. The high-precision CNC robotic arm for photovoltaic installation according to claim 1, characterized in that, The inner diameters of the air inlet pipe and the air outlet pipe are the same, and (the inner diameter of the inner cavity / the inner diameter of the air inlet pipe) ≥ 30; The inner diameter of the liquid inlet pipe is smaller than the inner diameter of the liquid outlet pipe, and (the inner diameter of the cylinder / the inner diameter of the liquid inlet pipe) ≥ 20; Wherein, (inner diameter of the inner cavity / inner diameter of the air inlet pipe) - (inner diameter of the cylinder / inner diameter of the liquid inlet pipe) ≥ 10.

3. The high-precision programmable robot for photovoltaic installation according to claim 1, characterized in that, A distance sensor is installed on the inner wall of the end of the inner cavity away from the first piston. The distance sensor is used to detect the distance between the inner wall of the end of the inner cavity away from the first piston and the second piston.

4. The high-precision programmable robot for photovoltaic installation according to claim 1, characterized in that, The lens has an air duct, one end of which is connected to and closed by the outer wall of the lens, and the other end of the lens is closed by an end plate. The heat exchange tube is embedded in the side wall of the lens and then protrudes from the outer side wall of the lens. The heat exchange tube extends into the air guide tube and extends along the air guide tube. The outlet end of the heat exchange tube passes through the end plate. The end of the air duct away from the lens is connected to the air outlet pipe, and the end of the air duct near the lens is provided with an exhaust nozzle, which is positioned towards the protective lens of the lens.

5. The high-precision programmable robot for photovoltaic installation according to claim 4, characterized in that, The front end of the lens also has a flange, which is located at the edge of the lens and extends continuously in a ring shape along the circumference of the lens; The exhaust nozzle extends through the flange and is positioned toward the protective lens of the lens.

6. The high-precision programmable robot for photovoltaic installation according to claim 1, characterized in that, The drive assembly includes: a driver, a drive disk, a mating gear, and a drive shaft; The driver is in transmission cooperation with the drive disk; A central wheel and a mating ring are provided on one side of the drive disk; the diameter of the central wheel is smaller than the diameter of the drive disk, the inner diameter of the mating ring is larger than the diameter of the central wheel, and the central wheel, the mating ring and the drive disk are coaxially arranged. The mating gear is located between the central wheel and the mating ring, and both the central wheel and the mating ring are spaced apart from the mating gear; The surface of the central wheel has a first rack, which extends in an arc shape along the circumference of the central wheel; The inner ring surface of the mating ring has a second toothed rack, which extends in an arc shape along the circumference of the mating ring; The first rack and the second rack are of equal length; At any given time, at most one of the first rack and the second rack is engaged with the mating gear; The drive shaft is driven by the first piston rod. Wherein: when the mating gear meshes with the first rack, the first piston rod drives the first piston closer to the sealing plate; when the mating gear meshes with the second rack, the first piston rod drives the first piston away from the sealing plate.

7. The high-precision programmable robot for photovoltaic installation according to claim 6, characterized in that, The end face of the first plug rod away from the first piston has a mating hole, which extends along the axial direction of the first plug rod and is spaced apart from the inner cavity; The drive shaft is driven by a control rod, the control rod has an external thread, and the mating hole has an internal thread; the control rod extends into the mating hole and is threadedly engaged with the mating hole.

8. The high-precision programmable robot for photovoltaic installation according to claim 6, characterized in that, The opening trigger button and the closing trigger button of the control valve are respectively located at opposite ends of the first rack; When the mating gear is engaged with the first rack, the mating gear triggers the opening trigger button; when the mating gear is disengaged from the first rack, the mating gear triggers the closing trigger button.

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