Grabbing device and mounting robot

Abstract

The utility model belongs to the technical field of grabbing equipment, and particularly relates to a grabbing device and an installation robot, the grabbing device comprises a power output mechanism, a lifting mechanism, an installation platform and a grabbing mechanism; wherein the lifting mechanism is longitudinally arranged, the power output mechanism is located at the bottom of the lifting mechanism, the power output mechanism is rotationally connected with the lifting mechanism, the mounting platform is horizontally and movably mounted on the lifting mechanism, and the grabbing mechanism is mounted on the mounting platform; power is output to the lifting mechanism through the power output mechanism, the power output mechanism can adjust torque and achieve self-locking, the mounting platform and the grabbing mechanism are prevented from falling suddenly on the lifting mechanism, the safety performance of equipment is improved, and the effective stroke of the grabbing mechanism can be enlarged by matching the lifting mechanism with the mounting platform; the installation requirements of various photovoltaic modules are met, meanwhile, the photovoltaic modules are automatically assembled, the installation period is shortened, and the labor cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of grasping equipment, and in particular relates to a grasping device and an installation robot. Background Art

[0002] At present, the photovoltaic industry uses manual on-site assembly to install photovoltaic modules, which has a long installation cycle, large manpower requirements, and high construction costs.

[0003] There is a great demand for photovoltaic modules in deserts and remote mountainous areas, but manual work in harsh environments is risky and costly. Even if robotic arms are used to install photovoltaic modules, the limited range of use of traditional robotic arms cannot adapt to the different installation heights required for photovoltaic modules.

[0004] Therefore, it is urgent to develop a new grasping device and installation robot to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a grasping device and an installation robot.

[0006] In order to solve the above technical problems, the utility model provides a grabbing device, which includes: a power output mechanism, a lifting mechanism, a mounting platform and a grabbing mechanism; wherein the lifting mechanism is longitudinally arranged, the power output mechanism is located at the bottom of the lifting mechanism, and the power output mechanism is rotatably connected to the lifting mechanism, the mounting platform is horizontally and movably installed on the lifting mechanism, and the grabbing mechanism is seated on the mounting platform; the power output mechanism is suitable for outputting power to the lifting mechanism to drive the lifting mechanism to rotate, thereby driving the mounting platform and the grabbing mechanism to move along the height direction of the lifting mechanism.

[0007] Specifically, the power output mechanism includes: a power output drive, a reversing assembly and a deceleration assembly; the power output drive is connected to the reversing assembly, the deceleration assembly is connected to the reversing assembly, and the lifting mechanism is connected to the deceleration assembly; the power output drive is suitable for outputting power to the lifting mechanism through the reversing assembly and the deceleration assembly.

[0008] Specifically, the reversing assembly includes: a first commutator, a second commutator, and a third commutator; the power output drive is connected to the first commutator, the second commutator and the third commutator are respectively connected to the first commutator, and the second commutator and the third commutator are respectively connected to the deceleration assembly; the power output drive is suitable for outputting power to the second commutator and the third commutator through the first commutator.

[0009] Specifically, the mechanical structures of the second commutator and the third commutator are the same as the mechanical structure of the first commutator, and the first commutator includes: a first housing, four first rotating bearings, and four first bevel gear units; the four first rotating bearings are respectively installed on the four sides of the first housing, and the four first bevel gear units are respectively connected to the corresponding first rotating bearings and abutted in sequence; any one of the first bevel gear units is connected to the power output drive member, and the two first bevel gear units abutting the first bevel gear unit are respectively connected to the second commutator and the third commutator.

[0010] Specifically, the first bevel gear unit includes: a first transmission shaft and a first bevel gear body; the first transmission shaft passes through a first rotary bearing, the first bevel gear body is sleeved on the first transmission shaft, and the first bevel gear body is located in a first housing.

[0011] Specifically, the deceleration assembly includes: four reducers; two of the reducers are respectively connected to the second commutator, and the remaining two reducers are respectively connected to the third commutator; the four reducers are respectively connected to the lifting mechanism.

[0012] Specifically, the reducer includes: a second housing, a worm, a worm wheel and a second transmission shaft; the worm is transversely mounted on the second housing, and the worm is connected to the second commutator or the third commutator; the worm wheel is longitudinally mounted on the second housing, and the worm wheel is in contact with the worm; the second transmission shaft is longitudinally mounted on the second housing, and the second transmission shaft passes through the worm wheel; the second transmission shaft is connected to the lifting mechanism.

[0013] Specifically, the lifting mechanism includes: four screw rods; each screw rod is arranged longitudinally, and each screw rod is connected to a corresponding reducer; each screw rod passes through the mounting platform; each screw rod rotates under the drive of the corresponding reducer to drive the mounting platform to move along the height direction of each screw rod.

[0014] Specifically, the lifting mechanism further includes: at least two linear guide rails; each of the linear guide rails is longitudinally arranged, and each of the linear guide rails passes through the mounting platform respectively; each of the linear guide rails is suitable for guiding the mounting platform to move in a straight line.

[0015] Specifically, the grasping mechanism includes: a mechanical arm, a hanger and a plurality of suction cups; the mechanical arm seat is installed on the mounting platform, the hanger is installed on the mechanical arm, and the suction cups are distributed in sequence at the bottom of the hanger.

[0016] On the other hand, the utility model provides an installation robot, which comprises: a robot body and a gripping device as described above; wherein the gripping device is installed on the robot body.

[0017] The beneficial effect of the utility model is that the utility model outputs power to the lifting mechanism through the power output mechanism, the power output mechanism can adjust the torque and self-lock, so as to avoid the sudden fall of the installation platform and the grabbing mechanism on the lifting mechanism, thereby improving the safety performance of the equipment, and the lifting mechanism cooperates with the installation platform to expand the effective stroke of the grabbing mechanism, so as to meet the installation requirements of various photovoltaic components, and at the same time realize the automatic assembly of photovoltaic components, thereby shortening the installation period and labor costs.

[0018] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by implementing the present invention.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural diagram of the grabbing device of the utility model;

[0022] Figure 2 It is a structural diagram of the lifting mechanism of the utility model;

[0023] Figure 3 It is a structural diagram of the power output mechanism of the utility model;

[0024] Figure 4 It is a structural diagram of the first commutator of the utility model;

[0025] Figure 5 It is a structural diagram of the front side of the reducer of the utility model;

[0026] Figure 6 It is a structural diagram of the back side of the reducer of the utility model.

[0027] In the figure:

[0028] 1. Power output mechanism; 11. Power output drive; 12. Reversing assembly; 121. First commutator; 1211. First housing; 1212. First rotating bearing; 1213. First bevel gear unit; 12131. First transmission shaft; 12132. First bevel gear body; 122. Second commutator; 123. Third commutator; 13. Speed ​​reduction assembly; 131. Speed ​​reducer; 1311. Second housing; 1312. Worm; 1313. Worm wheel; 1314. Second transmission shaft; 1315. Second rotating bearing; 1316. Third rotating bearing; 14. Coupling;

[0029] 2. Lifting mechanism; 21. Screw rod; 22. Linear guide rail;

[0030] 3. Installation platform;

[0031] 4. Grasping mechanism; 41. Robotic arm; 42. Hanger; 43. Suction cup. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] Embodiment 1, in this embodiment, as Figures 1 to 6 As shown, this embodiment provides a grasping device, which includes: a power output mechanism 1, a lifting mechanism 2, a mounting platform 3 and a grasping mechanism 4; wherein the lifting mechanism 2 is longitudinally arranged, the power output mechanism 1 is located at the bottom of the lifting mechanism 2, and the power output mechanism 1 is rotatably connected to the lifting mechanism 2, the mounting platform 3 is horizontally and movably installed on the lifting mechanism 2, and the grasping mechanism 4 is seated on the mounting platform 3; the power output mechanism 1 is suitable for outputting power to the lifting mechanism 2 to drive the lifting mechanism 2 to rotate, thereby driving the mounting platform 3 and the grasping mechanism 4 to move along the height direction of the lifting mechanism 2.

[0034] In this embodiment, the utility model outputs power to the lifting mechanism 2 through the power output mechanism 1. The power output mechanism 1 can adjust the torque and self-lock to avoid the sudden fall of the installation platform 3 and the grabbing mechanism 4 on the lifting mechanism 2, thereby improving the safety performance of the equipment. The lifting mechanism 2 cooperates with the installation platform 3 to expand the effective stroke of the grabbing mechanism 4, thereby meeting the installation requirements of various photovoltaic components, and realizing the automated assembly of photovoltaic components, thereby shortening the installation period and labor costs.

[0035] In order to improve the safety of the equipment, the power output mechanism includes: a power output driver 11, a reversing assembly 12 and a reduction assembly 13; the power output driver 11 is connected to the reversing assembly 12, the reduction assembly 13 is connected to the reversing assembly 12, and the lifting mechanism 2 is connected to the reduction assembly 13; the power output driver 11 is suitable for outputting power to the lifting mechanism 2 through the reversing assembly 12 and the reduction assembly 13.

[0036] Specifically, the power output drive member 11 may be a drive motor.

[0037] Specifically, the functions of the reversing assembly 12 and the speed reduction assembly 13 are to improve the safety of the equipment, while also being able to save space and optimize the spatial layout.

[0038] As an optional embodiment of the reversing assembly 12, the reversing assembly 12 includes: a first commutator 121, a second commutator 122, and a third commutator 123; the power output drive 11 is connected to the first commutator 121, the second commutator 122 and the third commutator 123 are respectively connected to the first commutator 121, and the second commutator 122 and the third commutator 123 are respectively connected to the deceleration assembly 13; the power output drive 11 is suitable for outputting power to the second commutator 122 and the third commutator 123 through the first commutator 121.

[0039] Specifically, the power output drive 11 is connected to the first commutator 121 through a coupling 14, the first commutator 121 is connected to the second commutator 122 and the third commutator 123 through a coupling 14, and the second commutator 122, the third commutator 123 and the deceleration assembly 13 are connected through a coupling 14, thereby ensuring stable power transmission.

[0040] In order to ensure that the first commutator 121, the second commutator 122 and the third commutator 123 can transmit torque, the mechanical structure of the second commutator 122 and the third commutator 123 is the same as that of the first commutator 121, and the first commutator 121 includes: a first housing 1211, four first rotating bearings 1212, and four first bevel gear units 1213; the four first rotating bearings 1212 are respectively installed on the four sides of the first housing 1211, and the four first bevel gear units 1213 are respectively connected to the corresponding first rotating bearings 1212 and abut in sequence; any first bevel gear unit 1213 is connected to the power output drive 11, and the two first bevel gear units 1213 abutting against the first bevel gear unit 1213 are respectively connected to the second commutator 122 and the third commutator 123.

[0041] As an optional implementation of the first bevel gear unit 1213, the first bevel gear unit 1213 includes: a first transmission shaft 12131 and a first bevel gear body 12132; the first transmission shaft 12131 passes through the first rotating bearing 1212, the first bevel gear body 12132 is sleeved on the first transmission shaft 12131, and the first bevel gear body 12132 is located in the first housing 1211.

[0042] Specifically, the torque of the power output drive member 11 is adjusted in direction through the cooperation of the paired first transmission shafts 12131 and the paired first bevel gear bodies 12132 to satisfy the power output drive member 11 transmitting the torque to the reduction assembly 13 through the corresponding commutator.

[0043] In order to perform self-locking during power transmission and in the event of a fault, the deceleration assembly 13 includes: four reducers 131; two of the reducers 131 are respectively connected to the second commutator 122, and the remaining two reducers 131 are respectively connected to the third commutator 123; the four reducers 131 are respectively connected to the lifting mechanism 2.

[0044] As an optional embodiment of the reducer 131, the reducer 131 includes: a second housing 1311, a worm 1312, a worm wheel 1313 and a second transmission shaft 1314; the worm 1312 is horizontally installed on the second housing 1311, and the worm 1312 is connected to the second commutator 122 or the third commutator 123; the worm wheel 1313 is longitudinally installed on the second housing 1311, and the worm wheel 1313 is in contact with the worm 1312; the second transmission shaft 1314 is longitudinally installed on the second housing 1311, and the second transmission shaft 1314 passes through the worm wheel 1313; the second transmission shaft 1314 is connected to the lifting mechanism 2.

[0045] Specifically, the worm 1312 is rotationally connected to the second housing 1311 via two second rotation bearings 1315 , which can reduce power loss on the one hand and ensure stable rotation of the worm 1312 on the other hand.

[0046] Specifically, the second transmission shaft 1314 is rotatably connected to the second housing 1311 via two third rotation bearings 1316 , which can reduce power loss on the one hand and ensure stable rotation of the second transmission shaft 1314 on the other hand.

[0047] Specifically, the worm 1312 and the worm wheel 1313 cooperate to transmit the power to the second transmission shaft 1314 and then to the screw 21 to complete the overall power transmission. The worm 1312 and the worm wheel 1313 have their own locking function to ensure the safety of the installation platform 3, and sudden failure of the equipment will not cause the risk of falling.

[0048] In order to be able to lift and lower the installation platform 3, the lifting mechanism 2 includes: four screw rods 21; each of the screw rods 21 is arranged longitudinally, and each of the screw rods 21 is respectively connected to a corresponding reducer 131; each of the screw rods 21 passes through the installation platform 3; each of the screw rods 21 rotates under the drive of the corresponding reducer 131 to drive the installation platform 3 to move along the height direction of each screw rod 21.

[0049] Specifically, the four screw rods 21 pass through the four corners of the installation platform 3 respectively, and each screw rod 21 is driven by the corresponding reducer 131 to rotate synchronously in the same direction, thereby driving the installation platform 3 to rise or fall.

[0050] Specifically, the screw rod 21 needs to drive the installation platform 3 to rise or fall when rotating, and when the screw rod 21 stops, the screw rod 21 can apply resistance to the installation platform 3 to prevent the installation platform 3 from falling.

[0051] In order to ensure the stability of the mounting platform 3 during linear motion, the lifting mechanism 2 also includes: at least two linear guide rails 22; one linear guide rail 22 is located between two screw rods 21, and the other linear guide rail 22 is located between the remaining two screw rods 21; each linear guide rail 22 is longitudinally arranged, and each linear guide rail 22 passes through the mounting platform 3 respectively; each linear guide rail 22 is suitable for guiding the mounting platform 3 to move in a straight line.

[0052] Specifically, the screw rod 21 can adjust the position of the grabbing mechanism 4 by adjusting the height of the mounting platform 3. Each screw rod is installed on the main frame. The main steel frame is composed of a steel frame. The mounting platform 3 is fixed with the moving nut of the screw rod 21 and the linear bearing on the linear guide 22. The mounting platform 3 moves up and down along the linear guide 22 through the linear bearing due to the relative rotation between the moving nut and the screw rod 21.

[0053] As an optional implementation of the grasping mechanism 4, the grasping mechanism 4 includes: a mechanical arm 41, a hanger 42 and a plurality of suction cups 43; the mechanical arm 41 is mounted on the mounting platform 3, the hanger 42 is mounted on the mechanical arm 41, and the suction cups 43 are distributed in sequence at the bottom of the hanger 42.

[0054] Embodiment 2, based on embodiment 1, this embodiment provides an installation robot, which comprises: a robot body and a grasping device as provided in embodiment 1; wherein the grasping device is installed on the robot body.

[0055] To sum up, the utility model outputs power to the lifting mechanism through the power output mechanism. The power output mechanism can adjust the torque and self-lock to avoid the sudden fall of the installation platform and the grabbing mechanism on the lifting mechanism, thereby improving the safety performance of the equipment. The lifting mechanism cooperates with the installation platform to expand the effective stroke of the grabbing mechanism, thereby meeting the installation requirements of various photovoltaic components and realizing the automated assembly of photovoltaic components, thereby shortening the installation cycle and labor costs.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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. A gripping device, characterized in that: include: Power take-off mechanism, lifting mechanism, mounting platform and grabbing mechanism; in The lifting mechanism is arranged longitudinally, the power output mechanism is located at the bottom of the lifting mechanism, and the power output mechanism is rotatably connected to the lifting mechanism, the mounting platform is horizontally and movably mounted on the lifting mechanism, and the grabbing mechanism is seated on the mounting platform; The power output mechanism is suitable for outputting power to the lifting mechanism to drive the lifting mechanism to rotate, thereby driving the installation platform and the grabbing mechanism to move along the height direction of the lifting mechanism.

2. The gripping device according to claim 1, characterized in that: The power output mechanism comprises: a power output drive member, a reversing assembly and a speed reduction assembly; The power output drive is connected to the reversing assembly, the speed reduction assembly is connected to the reversing assembly, and the lifting mechanism is connected to the speed reduction assembly; The power output drive is suitable for outputting power to the lifting mechanism through a reversing component and a speed reduction component.

3. The gripping device according to claim 2, characterized in that: The commutation assembly comprises: a first commutator, a second commutator, and a third commutator; The power output drive is connected to the first commutator, the second commutator and the third commutator are respectively connected to the first commutator, and the second commutator and the third commutator are respectively connected to the deceleration assembly; The power output drive is suitable for outputting power to the second commutator and the third commutator through the first commutator.

4. The gripping device according to claim 3, characterized in that: The mechanical structures of the second commutator and the third commutator are the same as the mechanical structure of the first commutator, and the first commutator comprises: a first housing, four first rotating bearings, and four first bevel gear units; The four first rotating bearings are respectively mounted on four side surfaces of the first housing, and the four first bevel gear units are respectively connected to the corresponding first rotating bearings and abut against them in sequence; Any one of the first bevel gear units is connected to a power output driving member, and the two first bevel gear units abutting against the first bevel gear unit are connected to a second commutator and a third commutator respectively.

5. The gripping device according to claim 4, characterized in that The first bevel gear unit comprises: a first transmission shaft and a first bevel gear body; The first transmission shaft passes through the first rotary bearing, the first bevel gear body is sleeved on the first transmission shaft, and the first bevel gear body is located in the first housing.

6. The gripping device according to claim 3, characterized in that: The deceleration assembly includes: four reducers; Two of the reducers are connected to the second commutator respectively, and the remaining two reducers are connected to the third commutator respectively; The four reducers are respectively connected to the lifting mechanism.

7. The gripping device according to claim 6, characterized in that The reducer comprises: a second housing, a worm, a worm wheel and a second transmission shaft; The worm is transversely mounted on the second housing, and the worm is connected to the second commutator or the third commutator; The worm wheel is longitudinally mounted on the second housing, and the worm wheel is in contact with the worm; The second transmission shaft is longitudinally mounted on the second housing, and the second transmission shaft passes through the worm gear; The second transmission shaft is connected to the lifting mechanism.

8. The gripping device according to claim 6, characterized in that: The lifting mechanism comprises: four screw rods; Each of the screw rods is arranged longitudinally, and each of the screw rods is connected to a corresponding reducer respectively; Each of the screw rods passes through the mounting platform; Each of the screw rods is driven to rotate by a corresponding reducer to drive the mounting platform to move along the height direction of each screw rod.

9. The gripping device according to claim 8, characterized in that The lifting mechanism further comprises: at least two linear guide rails; Each of the linear guide rails is arranged longitudinally, and each of the linear guide rails passes through the mounting platform respectively; Each of the linear guide rails is suitable for guiding the mounting platform to move along a straight line.

10. The gripping device according to claim 1, characterized in that: The grasping mechanism comprises: a mechanical arm, a hanger and a plurality of suction cups; The mechanical arm seat is installed on the installation platform, the hanger is installed on the mechanical arm, and the suction cups are distributed in sequence at the bottom of the hanger.

11. An installation robot, characterized in that: include: A robot body and a gripping device as claimed in any one of claims 1 to 10; in The grasping device is installed on the robot body.

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