Actuating mechanism for photovoltaic installation robot and installation robot

Abstract

The utility model provides an executing mechanism for a photovoltaic installation robot and the installation robot, and the executing mechanism comprises a sucker assembly, a transverse guide rail, a clamp feeding assembly, and a clamp fixing assembly. The transverse guide rail is fixedly arranged on the suction cup assembly. The clamp feeding assembly is fixedly arranged on the transverse guide rail. The clamp fixing assembly is arranged on the transverse guide rail in a sliding mode. The clamp fixing assembly is suitable for taking out the fixing clamps from the clamp feeding assembly and fixing the fixing clamps to the corresponding positions of the mounting frame. The executing mechanism for the photovoltaic installation robot is used in cooperation with the fixing clamps, the multiple fixing clamps are placed on the clamp feeding assembly, automatic material taking is achieved through the clamp fixing assembly, and then the fixing clamps are moved to the corresponding positions of the installation frame on the transverse guide rail to be fixed, so that the installation efficiency of the fixing clamps is improved; the whole process is high in automation degree, the manual participation degree is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of photovoltaic installation, and in particular to an actuator for a photovoltaic installation robot and an installation robot. Background Art

[0002] As traditional fuel energy is decreasing day by day and the harm it causes to the environment is becoming increasingly prominent, it is hoped that renewable energy can change the energy structure of mankind and maintain long-term sustainable development. The photovoltaic power generation field has attracted the attention of the whole world, making the demand for the installation of photovoltaic panels increasingly large.

[0003] At present, the photovoltaic industry adopts the form of manual on-site adjustment of photovoltaic panels for installation, which has low installation efficiency and high labor costs. Although there are auxiliary devices that can place photovoltaic panels at the corresponding position of the mounting frame, it only solves the transportation problem. The fixation of photovoltaic panels still requires manual cooperation, which leads to low installation efficiency of photovoltaic panels and high labor costs.

[0004] The above problems need to be solved urgently. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides an actuator for a photovoltaic installation robot and an installation robot, including:

[0006] Suction cup assembly, transverse guide rail, fixture feeding assembly and fixture fixing assembly;

[0007] The transverse guide rail is fixedly arranged on the suction cup assembly;

[0008] The clamp feeding assembly is fixedly arranged on the transverse guide rail;

[0009] The clamp fixing assembly is slidably arranged on the transverse guide rail;

[0010] The fixture fixing assembly is suitable for taking out the fixing fixture from the fixture feeding assembly and fixing it on the corresponding position of the mounting frame.

[0011] Furthermore, the suction cup assembly includes a frame and more than two vacuum suction cups;

[0012] The vacuum suction cup is fixedly arranged at the bottom of the frame.

[0013] Further, the fixture fixing assembly includes: a driving part, a moving column, a rotating part, a clamping part and a fixing part;

[0014] The movable column is slidably arranged on the transverse guide rail;

[0015] The driving part is fixedly arranged on the moving column and is suitable for driving the moving column to move along the transverse guide rail;

[0016] The rotating part is rotatably arranged on the moving column;

[0017] The clamping portion is fixedly arranged on the rotating portion;

[0018] The fixing portion is fixedly arranged on the clamping portion and is suitable for fixing the fixing fixture clamped by the clamping portion at a corresponding position of the mounting frame.

[0019] Furthermore, the rotating part includes a rotating disk and a rotating motor;

[0020] The rotating disk is rotatably arranged on the moving column;

[0021] The rotating motor is suitable for driving the rotating disk to rotate.

[0022] Further, the clamping part includes: a connecting plate, a first clamping claw, a second clamping claw, a first driving arm, a second driving arm and a first return spring;

[0023] The top of the connecting plate is elastically connected to the rotating part;

[0024] The first clamping jaw and the second clamping jaw are arranged opposite to each other and are rotatably arranged at the end of the connecting plate;

[0025] One end of the first driving arm is rotatably connected to the rotating part, and the other end is rotatably connected to the first clamping claw;

[0026] One end of the second driving arm is rotatably connected to the rotating part, and the other end is rotatably connected to the second clamping claw;

[0027] The first return spring is fixedly connected to the first driving arm and the second driving arm respectively.

[0028] Furthermore, the first driving arm is an electric telescopic rod.

[0029] Furthermore, the fixing part includes a screwing motor and a screwdriver bit;

[0030] The screwing motor is fixedly arranged on the connecting plate;

[0031] The screwdriver bit is rotatably disposed on the connecting plate and extends between the first clamping jaw and the second clamping jaw;

[0032] The rotor of the screwing motor is fixedly connected to the screwdriver bit.

[0033] Furthermore, the fixture feeding assembly includes a fixing column and a storage box;

[0034] The storage box is fixed to the side wall of the transverse guide rail by a fixing column;

[0035] The side of the storage box facing the clamp fixing assembly is provided with a material taking port.

[0036] On the other hand, the utility model also provides a fixing fixture that cooperates with the above-mentioned photovoltaic installation robot actuator, including: a fastening screw, a pressure block, a linkage block, a first gripper, a second gripper, a first connecting rod and a second connecting rod;

[0037] The pressing block is arranged opposite to the linkage block;

[0038] The fastening screw passes through the pressing block and the linkage block in sequence, and is threadedly connected to the pressing block and the linkage block respectively;

[0039] The first gripper and the second gripper are rotatably disposed at two ends of the linkage block respectively;

[0040] The first connecting rod and the second connecting rod are rotatably disposed at two ends of the pressing block respectively;

[0041] One end of the first connecting rod away from the pressing block is rotatably connected to the first gripper;

[0042] One end of the second connecting rod away from the pressing block is rotatably connected to the second gripper;

[0043] The fastening screw is suitable for driving the linkage block to move downward when rotating, so that the first gripper and the second gripper move toward each other.

[0044] On the other hand, the utility model also provides an installation robot, including a walking mechanism, a mechanical arm, and an actuator for the photovoltaic installation robot as described above;

[0045] The positioning module is fixedly arranged on the mechanical arm;

[0046] The mechanical arm is rotatably arranged on the walking mechanism;

[0047] The photovoltaic installation robot uses an actuator fixedly arranged at the execution end of the mechanical arm.

[0048] The beneficial effect of the utility model is that the utility model provides an actuator for a photovoltaic installation robot and an installation robot, wherein the actuator for the photovoltaic installation robot is used in conjunction with a fixing clamp, multiple fixing clamps are placed on a clamp feeding assembly, automatic material picking is achieved through the clamp fixing assembly, and then the fixing clamps are moved to the corresponding position of the installation frame on the transverse guide rail to complete the fixing of the fixing clamps, thereby improving the installation efficiency of the fixing clamps, the entire process has a high degree of automation, the degree of manual participation is reduced, and the labor cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0050] Figure 1 It is a schematic diagram of the mechanism of the actuator and mechanical arm for the photovoltaic installation robot provided in the embodiment of the utility model.

[0051] Figure 2 It is a schematic diagram of the mechanism of the suction cup assembly provided in the embodiment of the utility model.

[0052] Figure 3 It is a structural schematic diagram of the transverse guide rail, the clamp feeding assembly and the clamp fixing assembly provided in the embodiment of the utility model.

[0053] Figure 4 It is a structural schematic diagram of a clamp fixing assembly provided in an embodiment of the utility model.

[0054] Figure 5 It is a partial structural schematic diagram of a fixing clamp provided in an embodiment of the utility model for fixing a photovoltaic panel on a mounting frame.

[0055] Figure 6 It is a structural schematic diagram of a fixing fixture provided in an embodiment of the utility model.

[0056] Figure 7 It is a structural schematic diagram of the photovoltaic installation robot provided by an embodiment of the utility model.

[0057] In the figure: 100, suction cup assembly; 110, frame; 120, vacuum suction cup; 130, crossbeam; 140, mounting plate; 200, transverse guide rail; 300, fixture feeding assembly; 310, fixed column; 320, storage box; 400, fixture fixing assembly; 420, moving column; 430, rotating part; 431, rotating disk; 440, clamping part; 441, connecting plate; 442, first clamping jaw; 443, second clamping jaw; 444, The first driving arm; 445, the second driving arm; 446, the first return spring; 450, the fixing part; 451, the screwing motor; 452, the screwdriver bit; 500, the photovoltaic panel; 600, the mounting frame; 700, the fixing fixture; 710, the fastening screw; 720, the pressure block; 730, the linkage block; 740, the first gripper; 750, the second gripper; 760, the first connecting rod; 770, the second connecting rod; 800, the mechanical arm; 900, the walking mechanism. DETAILED DESCRIPTION

[0058] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0059] Example 1, please refer to Figure 1-Figure 5 The embodiment of the utility model provides an actuator for a photovoltaic installation robot, including: a suction cup assembly 100, a transverse guide rail 200, a clamp feeding assembly 300 and a clamp fixing assembly 400; the transverse guide rail 200 is fixedly arranged on the suction cup assembly 100; the clamp feeding assembly 300 is fixedly arranged on the transverse guide rail 200; the clamp fixing assembly 400 is slidably arranged on the transverse guide rail 200; the clamp fixing assembly 400 is suitable for taking out the fixing clamp 700 from the clamp feeding assembly 300 and fixing it on the corresponding position of the mounting frame 600. The photovoltaic installation robot uses an actuator in conjunction with a fixing clamp 700 to place multiple fixing clamps 700 on a clamp feeding assembly 300, and automatically picks up materials through a clamp fixing assembly 400. The fixing clamps 700 are then moved to the corresponding position of the mounting frame 600 on the transverse guide rail 200 to complete the fixing of the fixing clamps 700, thereby improving the installation efficiency of the fixing clamps 700. The entire process has a high degree of automation, reduces the degree of manual participation, and reduces labor costs.

[0060] In this embodiment, the suction cup assembly 100 includes a frame 110 and two or more vacuum suction cups 120; the vacuum suction cups 120 are fixedly arranged at the bottom of the frame 110. The photovoltaic panel 500 is adsorbed and fixed by the vacuum suction cups 120, and after the fixing fixture 700 fixes the photovoltaic panel 500 on the mounting frame 600, the vacuum suction cups 120 are ventilated to remove the adsorption force on the photovoltaic panel 500, and the installation of the photovoltaic panel 500 is completed.

[0061] Specifically, the frame 110 is in a square shape as a whole, with two cross beams 130 disposed in the middle, and a mounting plate 140 disposed between the two cross beams 130 for mounting with an external robot arm 800 .

[0062] The specific structure of the clamp fixing assembly 400 is described below. The clamp fixing assembly 400 includes: a driving part, a moving column 420, a rotating part 430, a clamping part 440 and a fixing part 450; the moving column 420 is slidably arranged on the transverse guide rail 200; the driving part is fixedly arranged on the moving column 420, and is suitable for driving the moving column 420 to move along the transverse guide rail 200; the rotating part 430 is rotatably arranged on the moving column 420; the clamping part 440 is fixedly arranged on the rotating part 430; the fixing part 450 is fixedly arranged on the clamping part 440, and is suitable for fixing the fixing fixture 700 clamped by the clamping part 440 to the corresponding position of the mounting frame 600.

[0063] The structure of the rotating part 430 is as follows:

[0064] The rotating part 430 includes a rotating disk 431 and a rotating motor (not shown); the rotating disk 431 is rotatably disposed on the moving column 420; the rotating motor is suitable for driving the rotating disk 431 to rotate. The rotating motor drives the rotating disk 431 to rotate, driving the fixture fixing assembly 400 to turn, so as to facilitate the subsequent clamping and installation of the fixing fixture 700.

[0065] The structure of the clamping portion 440 is as follows:

[0066] The clamping portion 440 includes: a connecting plate 441, a first clamping jaw 442, a second clamping jaw 443, a first driving arm 444, a second driving arm 445 and a first reset spring 446; the top of the connecting plate 441 is elastically connected to the rotating portion 430; the first clamping jaw 442 and the second clamping jaw 443 are arranged opposite to each other and are rotatably arranged at the end of the connecting plate 441; one end of the first driving arm 444 is rotatably connected to the rotating portion 430, and the other end is rotatably connected to the first clamping jaw 442; one end of the second driving arm 445 is rotatably connected to the rotating portion 430, and the other end is rotatably connected to the second clamping jaw 443; the first reset spring 446 is fixedly connected to the first driving arm 444 and the second driving arm 445 respectively.

[0067] The first driving arm 444 and the second driving arm 445 are electric telescopic rods. When the fixing fixture 700 needs to be clamped, the first driving arm 444 and the second driving arm 445 drive the first clamping jaw 442 and the second clamping jaw 443 to close, thereby completing the clamping of the fixing fixture 700. When the fixing fixture 700 needs to be released, the first driving arm 444 and the second driving arm 445 contract, and the first driving arm 444 and the second driving arm 445 are reset under the action of the first reset spring 446, and at the same time drive the first clamping jaw 442 and the second clamping jaw 443 to move in opposite directions, thereby completing the release of the fixing fixture 700.

[0068] The connecting plate 441 is slidably connected to the rotating disk 431, and the top of the connecting plate 441 is elastically connected to the rotating disk 431 via a telescopic spring. When the first driving arm 444 and the second driving arm 445 are extended, the first clamping jaw 442 and the second clamping jaw 443 are driven to move downward, and the telescopic spring is used to compensate for the descending height, so that the fixing part 450 can move downward with the fixing fixture 700, thereby extending the fixing fixture 700 into the mounting frame 600.

[0069] The structure of the fixing portion 450 is as follows:

[0070] The fixing portion 450 includes a screwing motor 451 and a screwdriver bit 452 ; the screwing motor 451 is fixedly disposed on the connecting plate 441 ; the screwdriver bit 452 is rotatably disposed on the connecting plate 441 and extends between the first clamping jaw 442 and the second clamping jaw 443 ; the rotor of the screwing motor 451 is fixedly connected to the screwdriver bit 452 .

[0071] In order to facilitate the installation of the screwdriver bit 452, a mounting block is extended outward from the side of the connecting plate 441; a through hole is opened in the mounting hole; the screwdriver bit 452 passes through the through hole and is rotatably connected to the mounting block.

[0072] In this embodiment, the clamp feeding assembly 300 includes a fixing column 310 and a storage box 320; the storage box 320 is fixed to the side wall of the transverse guide rail 200 through the fixing column 310; the storage box 320 is provided with a material taking port on the side facing the clamp fixing assembly 400. A fixing clamp 700 is placed in the storage box 320, and the material taking port of the storage box 320 is opened to face the clamp fixing assembly 400, so that the clamp fixing assembly 400 can easily take the fixing clamp 700.

[0073] Example 2, please refer to Figure 6 The present embodiment provides a fixing fixture 700 for cooperating with the actuator for the photovoltaic installation robot provided in the embodiment 1, comprising: a fastening screw 710, a pressing block 720, a linkage block 730, a first gripper 740, a second gripper 750, a first connecting rod 760 and a second connecting rod 770; the pressing block 720 and the linkage block 730 are arranged opposite to each other; the fastening screw 710 passes through the pressing block 720 and the linkage block 730 in sequence, and is threadedly connected to the pressing block 720 and the linkage block 730 respectively; the first gripper 740 and the second gripper 75 ... The two grippers 750 are rotatably arranged at the two ends of the linkage block 730 respectively; the first connecting rod 760 and the second connecting rod 770 are rotatably arranged at the two ends of the pressure block 720 respectively; the end of the first connecting rod 760 away from the pressure block 720 is rotatably connected to the first gripper 740; the end of the second connecting rod 770 away from the pressure block 720 is rotatably connected to the second gripper 750; the fastening screw 710 is suitable for driving the linkage block 730 to move downward when rotating, so that the first gripper 740 and the second gripper 750 move toward each other.

[0074] Wherein, friction lines are provided on both sides of the bottom surface of the pressing block 720 at the contact points with the photovoltaic panel 500, so as to increase the friction force between the pressing block 720 and the photovoltaic panel 500 and improve the fixing effect.

[0075] Example 3, please refer to Figure 7This embodiment provides a photovoltaic panel 500 installation robot, including: a positioning module, a walking mechanism 900, a mechanical arm 800 and an actuator for the photovoltaic installation robot as provided in Example 1; the positioning module is fixedly set on the mechanical arm 800; the positioning module is fixedly set on the mechanical arm 800; the mechanical arm 800 is rotatably set on the walking mechanism 900; the actuator for the photovoltaic installation robot is fixedly set at the execution end of the mechanical arm 800.

[0076] Among them, the positioning module uses laser or visual positioning technology to accurately position the actuators of the photovoltaic installation robot.

[0077] The walking mechanism 900 adopts a crawler vehicle.

[0078] In summary, the utility model provides an actuator for a photovoltaic installation robot and a photovoltaic panel 500 installation robot, wherein the actuator for the photovoltaic installation robot is used in conjunction with a fixing clamp 700, multiple fixing clamps 700 are placed on a clamp feeding assembly 300, automatic material picking is achieved through the clamp fixing assembly 400, and then the fixing clamps 700 are moved to the corresponding position of the mounting frame 600 on the transverse guide rail 200 to complete the fixing of the fixing clamps 700, thereby improving the installation efficiency of the fixing clamps 700, and the entire process has a high degree of automation, which reduces the degree of manual participation and reduces labor costs.

[0079] All devices (parts without specific structure) selected in this application are universal standard parts or parts known to those skilled in the art, and their structures and principles can be known by those skilled in the art through technical manuals or conventional experimental methods. In addition, the software programs involved in this application are all prior art, and this application does not involve any improvement to the software programs.

[0080] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0082] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0083] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0084] In addition, each functional unit in each embodiment of the present utility model may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0085] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An actuator for a photovoltaic installation robot, characterized in that: include: Suction cup assembly, transverse guide rail, fixture feeding assembly and fixture fixing assembly; The transverse guide rail is fixedly arranged on the suction cup assembly; The clamp feeding assembly is fixedly arranged on the transverse guide rail; The clamp fixing assembly is slidably arranged on the transverse guide rail; The fixture fixing assembly is suitable for taking out the fixing fixture from the fixture feeding assembly and fixing it on the corresponding position of the mounting frame.

2. The photovoltaic installation robot actuator according to claim 1, characterized in that: The suction cup assembly includes a frame and more than two vacuum suction cups; The vacuum suction cup is fixedly arranged at the bottom of the frame.

3. The photovoltaic installation robot actuator according to claim 1, characterized in that: The fixture fixing assembly comprises: a driving part, a moving column, a rotating part, a clamping part and a fixing part; The movable column is slidably arranged on the transverse guide rail; The driving part is fixedly arranged on the moving column and is suitable for driving the moving column to move along the transverse guide rail; The rotating part is rotatably arranged on the moving column; The clamping portion is fixedly arranged on the rotating portion; The fixing portion is fixedly arranged on the clamping portion and is suitable for fixing the fixing fixture clamped by the clamping portion at a corresponding position of the mounting frame.

4. The photovoltaic installation robot actuator according to claim 3, characterized in that: The rotating part includes a rotating disk and a rotating motor; The rotating disk is rotatably arranged on the moving column; The rotating motor is suitable for driving the rotating disk to rotate.

5. The photovoltaic installation robot actuator according to claim 3, characterized in that: The clamping part comprises: a connecting plate, a first clamping claw, a second clamping claw, a first driving arm, a second driving arm and a first return spring; The top of the connecting plate is elastically connected to the rotating part; The first clamping jaw and the second clamping jaw are arranged opposite to each other and are rotatably arranged at the end of the connecting plate; One end of the first driving arm is rotatably connected to the rotating part, and the other end is rotatably connected to the first clamping claw; One end of the second driving arm is rotatably connected to the rotating part, and the other end is rotatably connected to the second clamping claw; The first return spring is fixedly connected to the first driving arm and the second driving arm respectively.

6. The photovoltaic installation robot actuator according to claim 5, characterized in that: The first driving arm is an electric telescopic rod.

7. The photovoltaic installation robot actuator according to claim 5, characterized in that: The fixing part includes a screwing motor and a screwdriver bit; The screwing motor is fixedly arranged on the connecting plate; The screwdriver bit is rotatably disposed on the connecting plate and extends between the first clamping jaw and the second clamping jaw; The rotor of the screwing motor is fixedly connected to the screwdriver bit.

8. The photovoltaic installation robot actuator according to claim 1, characterized in that: The fixture feeding assembly includes a fixed column and a storage box; The storage box is fixed to the side wall of the transverse guide rail by a fixing column; The side of the storage box facing the clamp fixing assembly is provided with a material taking port.

9. An installation robot, characterized in that: include: A positioning module, a walking mechanism, a mechanical arm, and an actuator for a photovoltaic installation robot as described in any one of claims 1 to 8; The positioning module is fixedly arranged on the mechanical arm; The mechanical arm is rotatably arranged on the walking mechanism; The photovoltaic installation robot uses an actuator fixedly arranged at the execution end of the mechanical arm.

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