Claw assembly and photovoltaic support installation robot

Abstract

The utility model provides a holding claw assembly and a photovoltaic support installation robot, and relates to the technical field of photovoltaic supports. The holding claw assembly comprises a two-finger clamping claw, a base and an elastic piece, the two-finger clamping claw is configured to rotate around a reference axis, and the two-finger clamping claw is provided with a clamping opening; wherein the orientation of the clamping opening is parallel to the extension direction of the reference axis; the two-finger clamping jaw is rotationally connected to the base and forms a reference axis; the two-finger clamping jaw is further connected with the base through an elastic piece, and elastic deformation of the elastic piece is configured to be reset force capable of being applied to torsion of the two-finger clamping jaw around the rotating axis. According to the holding claw assembly, the inclination degree of the two-finger clamping claw can be adjusted by rotating the two-finger clamping claw so that the two-finger clamping claw can be matched with the inclination degree of a cement pile, then the contact area of the two-finger clamping claw and the cement pile can be increased, and the clamping strength and the clamping stability are improved.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic brackets, and in particular to a gripper assembly and a photovoltaic bracket installation robot. Background Art

[0002] During the installation of photovoltaic brackets, it is necessary to install columns and photovoltaic modules on cement piles. The photovoltaic bracket installation robot currently used assists manual installation. During operation, the photovoltaic bracket installation robot needs to clamp the cement pile with its two-finger gripper to fix the photovoltaic bracket installation robot, thereby preventing the photovoltaic bracket installation robot from tipping over. However, when the cement pile is tilted, the stability of the two-finger gripper of the traditional photovoltaic bracket installation robot clamping the cement pile will be affected, affecting the efficiency and safety of the installation. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and to provide a claw assembly and a photovoltaic bracket installation robot that can be suitable for inclined concrete piles, improve the stability of clamping the inclined concrete piles, and help improve installation efficiency and ensure the safety of the installation process.

[0004] This application provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a claw assembly, the claw assembly comprising:

[0006] A two-finger gripper, wherein the two-finger gripper is configured to be rotatable about a reference axis and has a gripping opening; wherein the orientation of the gripping opening is arranged parallel to the extending direction of the reference axis;

[0007] a base, the two-finger gripper being rotatably connected to the base and forming a rotation axis, the rotation axis forming the reference axis;

[0008] The two-finger clamp is also connected to the base through the elastic member, and the elastic deformation of the elastic member is configured to be able to apply a restoring force to the two-finger clamp to twist around the rotation axis.

[0009] In one embodiment of the first aspect, the elastic member comprises:

[0010] A pair of telescopic springs, the pair of telescopic springs are respectively located on both sides of the reference axis, one end of the telescopic spring is connected to a corresponding side of the two-finger clamp, and the other end of the telescopic spring is connected to the base.

[0011] In one embodiment of the first aspect, the two-finger gripper comprises:

[0012] A pair of clamping arms, a clamping opening is formed between the ends of the pair of clamping arms, a clamping area is formed in the area between the pair of clamping arms, and the clamping opening is configured to be in a constricted shape.

[0013] In one of the embodiments of the first aspect, one end of the clamping arm close to the clamping mouth is set as a pointed end, and when the two-finger clamp is in a closed state, the end of one of the clamping arms in a pair of clamping arms overlaps with the other clamping arm on one side facing the clamping area.

[0014] In one embodiment of the first aspect, a pair of the clamping arms are respectively disposed on both sides of the rotation axis.

[0015] In one embodiment of the first aspect, the two-finger gripper comprises:

[0016] A driving part is connected to at least one of the pair of clamping arms, and the driving part is configured to at least enable the clamp to switch between an open state and a closed state.

[0017] In one embodiment of the first aspect, the driving unit includes:

[0018] A frame, a pair of the clamping arms are hinged to the frame and form a first hinge point and a second hinge point;

[0019] A telescopic power member, the telescopic power member having a telescopic end and a fixed end, the telescopic end is hinged to one of the pair of clamping arms to form a third hinge point, and the fixed end is hinged to the other of the pair of clamping arms to form a fourth hinge point;

[0020] A balancing member, wherein the balancing member is respectively hinged to the pair of clamping arms and forms a fifth hinge point and a sixth hinge point;

[0021] Among them, the fifth hinge point is located on a first circle center path with the first hinge point as the center, and the fifth hinge point coincides with the third hinge point; the sixth hinge point and the fourth hinge point are located at intervals on a second circle center path with the second hinge point as the center.

[0022] In one embodiment of the first aspect, the claw assembly further includes a guide member, the guide member is connected to the base, and the guide member has a guide channel, the guide channel has an open end, and the open end is flared;

[0023] Wherein, the two-finger clamp is located at an end of the guide channel away from the opening end, and the clamping opening faces the opening end.

[0024] In a second aspect, the present application also provides a photovoltaic bracket installation robot, wherein the photovoltaic bracket installation robot includes a claw assembly as described in any one of the embodiments.

[0025] In one embodiment of the second aspect, the photovoltaic support installation robot further includes:

[0026] A position adjustment component is connected to the claw assembly, and the position adjustment component can adjust the position of the claw assembly in a three-dimensional space.

[0027] The embodiments of the present application have the following advantages:

[0028] The present application provides a gripper assembly, which can adjust the inclination of the two-finger gripper by rotating the two-finger gripper to adapt to the inclination of the cement pile, thereby increasing the contact area between the two-finger gripper and the cement pile, and improving the clamping strength and clamping stability. It should be noted that, during the clamping process, the two-finger gripper can adaptively rotate under the action of the inclined negative and positive surfaces of the inclined cement pile, that is, it can automatically adapt to the inclination of the cement pile, and the installation efficiency is high.

[0029] The present application also relates to a photovoltaic bracket installation robot. Since the above-mentioned claw assembly has the above-mentioned technical effects, the photovoltaic bracket installation robot including the claw assembly should have the same technical effects, which will not be repeated here.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic structural diagram of a photovoltaic support installation robot provided in an embodiment of the present application is shown from one perspective;

[0033] Figure 2 A schematic structural diagram of a photovoltaic support installation robot from another perspective provided in an embodiment of the present application is shown;

[0034] Figure 3 A schematic structural diagram of a photovoltaic support installation robot from another perspective provided in an embodiment of the present application is shown;

[0035] Figure 4 A schematic structural diagram of a photovoltaic support installation robot from another perspective provided in an embodiment of the present application is shown;

[0036] Figure 5 Shows Figure 4 AA section view.

[0037] Description of main component symbols:

[0038] 100-claw assembly; 110-clamp; 120-clamping arm; 121-second hinge point; 122-fourth hinge point; 123-sixth hinge point; 124-first hinge point; 125-third hinge point; 130-clamping area; 140-balance member; 150-frame; 160-telescopic power member; 170-base; 180-elastic member; 190-guide member; 191-guide channel; 200-position adjustment assembly; 300-reference axis. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0041] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0044] In the related technologies, during the installation of photovoltaic brackets, manual operation is not only time-consuming and laborious, but may also lead to uneven installation quality due to human factors. Compared with manual operation, the work rhythm of photovoltaic bracket installation robots is stable and efficient, and more installation tasks can be completed in a shorter time, which is particularly important for the rapid deployment of large-scale photovoltaic power stations.

[0045] During the installation of photovoltaic brackets, it is necessary to install columns and photovoltaic modules on cement piles. The photovoltaic bracket installation robot is used to assist manual installation. During operation, the photovoltaic bracket installation robot needs to clamp the cement pile with its two-finger gripper to fix the photovoltaic bracket installation robot, thereby preventing the photovoltaic bracket installation robot from tipping over. However, when the cement pile is tilted, the stability of the two-finger gripper of the traditional photovoltaic bracket installation robot clamping the cement pile will be affected, affecting the efficiency and safety of the installation.

[0046] like Figure 1 and Figure 2 As shown, in order to solve the above-mentioned technical problems, an embodiment of the present application provides a claw assembly, which includes a two-finger claw, which is configured to be able to rotate around a reference axis 300, and the two-finger claw has a clamping opening 110; wherein the orientation of the clamping opening 110 is arranged parallel to the extension direction of the reference axis 300.

[0047] In this embodiment, the cement pile is clamped as an example. Of course, it can also be used to clamp columnar or rod-shaped components, which is not specifically limited here. In actual use, the cement pile enters the clamping area 130 of the two-finger clamp from the clamping opening 110 of the two-finger clamp, and the cement pile is clamped by closing the clamping opening 110. Among them, if the cement pile is in an inclined state, the cement pile has a relative negative side and positive side, the negative side is the side of the cement pile that is inclined downward, and the positive side is the side of the cement pile that is inclined upward. The two-finger clamp is used to clamp the negative side and positive side of the cement pile. By rotating the two-finger clamp around the reference axis 300, the two-finger clamp can fully contact the negative side and positive side of the cement pile. That is to say, the inclination angle of the two-finger clamp is adjusted according to the inclination angle of the cement pile, so that the inclination angles of the two fingers are the same and adapted, thereby increasing the contact area between the two-finger clamp and the cement pile; in other words, especially when the cement pile surface is inclined, the two-finger clamp can fit the negative side and positive side tightly to ensure a firm clamping.

[0048] Obviously, the two-finger clamp has a constant clamping torque: this ensures that the fixing force of the hydraulic device or other components is consistent during the installation process, avoids the problem of over-tightening or over-loosening, and improves the stability and safety of the installation.

[0049] For example, since the two-finger gripper can rotate around the reference axis 300, when the two-finger gripper is used to clamp the cement pile in the clamping opening 110, the two-finger gripper can adaptively rotate around the reference axis 300 according to the inclination of the cement pile to adjust the inclination angle of the two-finger gripper, so that the two-finger gripper can stably clamp the cement pile. Of course, as described above, the inclination of the two-finger gripper can also be adjusted by manually rotating the two-finger gripper, so that the inclination of the two-finger gripper is equal to the inclination of the cement pile.

[0050] It is easy to understand that the orientation of the clamp 110 is parallel to the reference axis 300, ensuring stability during clamping. Even when rotating, the contact area of ​​the clamp 110 remains uniform with the cement surface, improving stability and avoiding weakening or damage of the bias pressure. For example, to improve the stability of clamping, the two-finger clamp has a clamping surface, and the clamping surface contacts the cement pile, thereby increasing the contact area. Optionally, the clamping surface is provided with anti-skid patterns to further increase the stability of clamping, and the anti-skid patterns can be protrusions evenly distributed on the clamping surface.

[0051] By using the claw assembly provided by the utility model, the inclination of the two-finger claw can be adjusted by rotating the two-finger claw to adapt to the inclination of the cement pile, thereby increasing the contact area between the two-finger claw and the cement pile, and improving the clamping strength and clamping stability. It should be noted that, during the clamping process, the two-finger claw can adaptively rotate under the action of the inclined negative and positive surfaces of the inclined cement pile, that is, it can automatically adapt to the inclination of the cement pile, and the installation efficiency is high.

[0052] like Figure 3 and Figure 4 As shown, in some embodiments, the gripper assembly 100 also includes a base 170 and an elastic member 180, the two-finger gripper is rotatably connected to the base 170 and forms a rotation axis, and the rotation axis forms a reference axis 300; the two-finger gripper is also connected to the base 170 through the elastic member 180, and the extension and contraction of the elastic member 180 is configured to be able to apply a reset force to the two-finger gripper to twist around the rotation axis.

[0053] In this embodiment, the two-finger clamp is fixed by the base 170 and forms a rotation axis, which ensures that the two-finger clamp can rotate accurately, is easy to adjust the position, adapts to different clamping angles, and then adapts to cement piles with different inclinations. Among them, the two-finger clamp is not only rotated by rigidity, but also connected to the base 170 by the elastic member 180, which increases the dynamic adaptability. In other words, the elastic member 180 allows the clamp to be appropriately torsionally reset around the rotation axis when applying force, absorbs external forces or adjustments, and maintains the stability of the clamping force. Obviously, the two-finger clamp can be made to have an initial state by the elastic member 180, that is, rotating the two-finger clamp according to the inclination of the cement pile can drive the elastic member to undergo elastic deformation, and when the two-finger clamp is removed from the cement pile, under the reset elastic force of the elastic member 180, the two-finger clamp rotates to the initial state, so that it has the function of automatic reset.

[0054] For example, in the initial state, the two-finger clamp is in a horizontal state, so that the two-finger clamp can be directly clamped on the cement pile by moving the two-finger clamp, and then the inclination is adjusted by rotating the two-finger clamp to adapt it to the inclination of the cement pile. In the process of clamping the two-finger clamp on the cement pile, there is no need to manually support the two-finger clamp.

[0055] In addition, the force applied by the elastic member 180 to the two-finger clamp causes the clamping force to automatically adjust with the inclination or pressure of the cement pile. This dynamic adaptation increases the stability of the contact surface, reduces sliding, and prevents loosening. This adaptability is extremely critical, especially during tilting operations.

[0056] Furthermore, the combination of the rotation of the two-finger gripper and the elastic member 180 makes the operation simple and easy, without complicated adjustments. The cement pile only needs to be placed, and the two-finger gripper will be adaptively adjusted to the best position, which improves efficiency, reduces manual intervention, and is suitable for automated integration. Moreover, since the elastic member 180 can act on the driving force of the rotation of the two-finger gripper after deformation, the driving force can drive the clamping arm 120 of the two-finger gripper to squeeze the cement pile, further improving the clamping force of the cement pile.

[0057] like Figure 4As shown, in some embodiments, the elastic member 180 includes a pair of telescopic springs, which are respectively located on both sides of the reference axis 300, and one end of the telescopic spring is connected to the corresponding side of the two-finger clamp, and the other end of the telescopic spring is connected to the base 170.

[0058] The telescopic springs are located on both sides of the reference axis 300. Such a symmetrical layout ensures that the two-finger gripper is subjected to balanced force when rotating, and external forces in any direction can be evenly fed back to maintain stability.

[0059] Exemplarily, the two-finger gripper has a pair of clamping arms 120, and a pair of telescopic springs are respectively connected to the two ends of the pair of clamping arms 120 on the two-finger gripper, thereby placing the two-finger gripper in a set initial state, for example, in the initial state, the two-finger gripper is in a horizontal state.

[0060] Of course, in other embodiments, the elastic member 180 is a torsion spring, the clamp is rotatably connected to the base 170 via a rotating shaft, the rotating shaft is equipped with a torsion spring, and both ends of the torsion spring are respectively connected to the base 170 and the clamp.

[0061] like Figure 5 As shown, in some embodiments, the two-finger clamp includes a pair of clamping arms 120, a clamping opening 110 is formed between the ends of the pair of clamping arms 120, and a clamping area 130 is formed in the area between the pair of clamping arms 120, and the clamping opening 110 is configured to be in a constricted shape.

[0062] That is to say, the cement pile is clamped in the clamping opening 110 with a constricted shape, so that when clamping the cement pile, the ends of a pair of clamping arms 120 can be close to each other, thereby increasing the contact area between the clamping arms 120 and the cement pile, and the part of the clamping arms 120 located in the clamping opening 110 forms a hook shape to prevent the two-finger clamp from detaching from the cement pile.

[0063] For example, the cross section of the clamping arm 120 gradually decreases from the end away from the clamping opening 110 to the end close to the clamping opening 110, thereby reducing weight. In addition, the balance of the photovoltaic support installation robot equipped with the two-finger clamp is improved.

[0064] For example, the pair of clamping arms 120 are bent toward the area therebetween to form a constricted clamping opening 110. Alternatively, in other embodiments, a recessed area is provided inside the clamping arms 120 so that the clamping opening 110 can be formed between the pair of clamping arms 120.

[0065] Exemplarily, the two-finger gripper can form three-point contact with the cement pile, thereby reducing the shaking amount of the two-finger gripper.

[0066] like Figure 5As shown, in some embodiments, one end of the clamping arm 120 close to the clamping mouth 110 is set as a pointed end, and when the two-finger clamp is in a closed state, the end of one clamping arm 120 of a pair of clamping arms 120 overlaps with the side of the other clamping arm 120 facing the clamping area 130.

[0067] That is to say, by making the portion of the clamping arm 120 located at the clamping opening 110 thinner, the weight can be reduced.

[0068] Furthermore, in the closed state, since the pair of clamping arms 120 overlap, the clamping opening 110 can be closed by the pair of clamping arms 120 , and the structural strength of the clamping arms 120 at the ends of the clamping opening 110 can be increased by overlapping.

[0069] For example, the overlapping parts of the pair of clamping arms 120 , the pair of clamping arms 120 and the base 170 can form a four-point clamping of the cement pile.

[0070] like Figure 5 As shown, in some embodiments, a pair of clamping arms 120 are respectively disposed on both sides of the rotation axis.

[0071] Exemplarily, there is a symmetry plane between the pair of clamping arms 120, and the reference axis 300 is located in the symmetry plane, thereby ensuring that the clamping force of the pair of clamping arms 120 clamping on the negative and positive surfaces of the cement pile acts on the rotational component of the reference axis 300 to adaptively adjust the inclination of the two-finger clamp.

[0072] In some embodiments, the two-finger gripper includes a driving portion connected to at least one of the pair of clamping arms 120 , and the driving portion is configured to at least enable the clamping jaw 110 to switch between an open state and a closed state.

[0073] For example, the driving part is connected to one clamping arm 120 , and the driving part drives the clamping arm 120 connected thereto to move closer to or away from the other clamping arm 120 , thereby switching the clamp 110 between an open state and a closed state.

[0074] Alternatively, the driving unit is connected to the two clamping arms 120 , and the driving unit drives the two clamping arms 120 to move closer to or farther from each other, thereby switching the clamping opening 110 between an open state and a closed state.

[0075] For example, one clamping arm 120 is fixed to the base 170, and the other clamping arm 120 is hinged to the base 170 through a driving part, and the driving part is a linear motion module. The linear motion module can be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0076] like Figure 5As shown, in some embodiments, the driving part includes a frame 150, a telescopic power member 160 and a balancing member 140, a pair of clamping arms 120 are hinged to the frame 150 and form a first hinge point 124 and a second hinge point 121; the telescopic power member 160 has a telescopic end and a fixed end, the telescopic end is hinged to one of the pair of clamping arms 120 and forms a third hinge point 125, and the fixed end is hinged to the other of the pair of clamping arms 120 and forms a fourth hinge point 122; the balancing member 140 is respectively hinged to the pair of clamping arms 120 and forms a fifth hinge point and a sixth hinge point 123;

[0077] Among them, the fifth hinge point is located on the first center path with the first hinge point 124 as the center, and the fifth hinge point coincides with the third hinge point 125; the sixth hinge point 123 and the fourth hinge point 122 are located at intervals on the second center path with the second hinge point 121 as the center.

[0078] That is to say, the two clamping arms 120 are hinged to the frame 150, and the frame 150 and the base 170 are rotatably connected so that the frame 150 can rotate around the reference axis 300. Moreover, since the two clamping arms 120 are hinged via the telescopic power member 160, the two clamping arms 120 can be driven closer to or away from each other through the telescopic action of the telescopic power member 160, thereby forming an opening action and a closing action of the clamp 110.

[0079] In addition, the telescopic end of the telescopic power member 160 is connected to one of the clamping arms 120 through the third hinge point 125 and the fourth hinge point 122, and the fixed end is connected to the second hinge point 121 of the other clamping arm 120. This design enables the power to be accurately transmitted and the extension and retraction of the arm to be controlled. The balance member 140 is hinged to the clamping arm 120 at the fifth hinge point and the sixth hinge point 123. This is on different paths. The design of the balance member 140 ensures that under the action of power, the stability of the clamping arm 120 is improved, and unnecessary vibration caused by deflection power is prevented to maintain dynamic balance.

[0080] Among them, the hinge point layout of the present application functions as follows: the fifth hinge point is located on the circumference of the circle with the first hinge point 124 as the center, and coincides with the third hinge point 125. This layout ensures that the power and the balance member 140 are synchronized during rotation, the movement is smooth, and friction and energy consumption are reduced. The sixth and fourth joints are located on the circumference of the circle with the center of the second hinge point 121. This design ensures the symmetry of the power and the balance member 140. Even when the power changes, the other side of the clamping arm 120 remains stable to prevent distortion. The first and second center paths are defined by the center of the circle, so that the rotation and extension of the clamping arm 120 are regular. The center design ensures the accuracy of spatial movement, so that under the action of the power and the balance member 140, the clamping arm 120 moves on a preset trajectory.

[0081] like Figure 1and Figure 5 As shown, in some embodiments, the gripper assembly 100 also includes a guide member 190, which is connected to the bracket and has a guide channel 191, wherein the guide channel 191 has an open end, and the open end is flared; wherein the two-finger gripper is located at one end of the guide channel 191 away from the open end, and the clamping opening 110 faces the open end.

[0082] That is to say, the guide channel 191 of the guide member 190 can guide the cement pile into the clamping opening 110, so as to facilitate the rapid adjustment of the position of the clamping jaws.

[0083] Exemplarily, the guide member 190 includes a pair of guide rods, which are connected to the bracket, and the distance between the pair of guide rods gradually increases from one end close to the bracket to the other end far away from the bracket, thereby forming a guide channel 191 between the pair of wire rods.

[0084] like Figure 1 As shown, the present application also provides a photovoltaic support installation robot, and the photovoltaic support installation robot includes a claw assembly 100 as described in any one of the embodiments.

[0085] Since the above-mentioned claw assembly 100 has the above-mentioned technical effects, the photovoltaic bracket installation robot including the claw assembly 100 should have the same technical effects, which will not be repeated here.

[0086] In some embodiments, the photovoltaic support installation robot further includes a position adjustment component 200, which is connected to the claw component 100, and the position adjustment component 200 can adjust the position of the claw component 100 in three-dimensional space.

[0087] Obviously, by adjusting the position of the clamping jaws through the position adjustment assembly 200 to adjust the position of the clamped cement pile, the cement pile can be clamped in a centered manner.

[0088] In addition, the working principle is provided as follows: after the clamp enters the work site, it will automatically descend to the clamping height position through the photovoltaic bracket installation robot, rely on the guide member 190 to perform centering, and the position of the clamping assembly 100 can be adjusted by the position adjustment assembly 200. When the clamp is detected to be centered, it will be prompted that the clamp is centered so as to proceed to the next clamping action.

[0089] For example, the telescopic power member 160 is an electric push rod, which controls the clamping of the electric push rod according to the set current value. When the clamping current reaches the set value, the clamping force is reached by default, and the clamping jaws are no longer in motion, which means that the clamping jaws have completed clamping.

[0090] For example, the position adjustment component 200 is connected to the base 170 , and the position adjustment component 200 adjusts the height of the base 170 to thereby adjust the height of the clamping jaws.

[0091] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0092] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0093] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A claw assembly, characterized in that: The claw assembly comprises: A two-finger gripper, wherein the two-finger gripper is configured to be rotatable about a reference axis and has a gripping opening; wherein the orientation of the gripping opening is arranged parallel to the extending direction of the reference axis; a base, the two-finger gripper being rotatably connected to the base and forming the reference axis; The two-finger clamp is also connected to the base through the elastic member, and the elastic deformation of the elastic member is configured to be able to apply a restoring force to the two-finger clamp to twist around the rotation axis.

2. The claw assembly according to claim 1, characterized in that: The elastic member comprises: A pair of telescopic springs, the pair of telescopic springs are respectively located on both sides of the reference axis, one end of the telescopic spring is connected to a corresponding side of the two-finger clamp, and the other end of the telescopic spring is connected to the base.

3. The claw assembly according to claim 1, characterized in that: The two-finger gripper comprises: A pair of clamping arms, the clamping opening is formed between the ends of the pair of clamping arms, and the area between the pair of clamping arms forms a clamping area, and the clamping opening is configured to be in a constricted shape.

4. The claw assembly according to claim 3, characterized in that: One end of the clamping arm close to the clamping opening is set as a tip, and when the two-finger clamp is in a closed state, the end of one of the clamping arms in a pair of clamping arms overlaps with the other clamping arm on one side facing the clamping area.

5. The claw assembly according to claim 3, characterized in that: A pair of clamping arms are respectively arranged on both sides of the rotation axis.

6. The claw assembly according to claim 3, characterized in that: The two-finger gripper comprises: A driving part is connected to at least one of the pair of clamping arms, and the driving part is configured to at least enable the clamp to switch between an open state and a closed state.

7. The claw assembly according to claim 6, characterized in that: The driving unit comprises: A frame, a pair of the clamping arms are hinged to the frame and form a first hinge point and a second hinge point; A telescopic power member, the telescopic power member having a telescopic end and a fixed end, the telescopic end is hinged to one of the pair of clamping arms to form a third hinge point, and the fixed end is hinged to the other of the pair of clamping arms to form a fourth hinge point; A balancing member, wherein the balancing member is respectively hinged to the pair of clamping arms and forms a fifth hinge point and a sixth hinge point; Among them, the fifth hinge point is located on a first circle center path with the first hinge point as the center, and the fifth hinge point coincides with the third hinge point; the sixth hinge point and the fourth hinge point are located at intervals on a second circle center path with the second hinge point as the center.

8. The claw assembly according to claim 1, characterized in that: The claw assembly further includes a guide member, the guide member is connected to the base, and the guide member has a guide channel, the guide channel has an open end, and the open end is flared; Wherein, the two-finger clamp is located at an end of the guide channel away from the opening end, and the clamping opening faces the opening end.

9. A photovoltaic support installation robot, characterized in that: The photovoltaic support installation robot comprises a claw assembly as described in any one of claims 1 to 8.

10. The photovoltaic support installation robot according to claim 9, characterized in that: The photovoltaic support installation robot also includes a position adjustment component, which is connected to the claw assembly and can adjust the position of the claw assembly in a three-dimensional space.

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