Mounting robot and mounting system

Abstract

The utility model relates to the technical field of photovoltaic equipment installation, and discloses an installation robot and an installation system.The installation robot comprises a chassis vehicle, a grabbing end, a first operation end and a driving assembly, the grabbing end is used for grabbing a supporting piece, the first operation end is used for installing the supporting piece to a preset position, and the driving assembly is used for driving the supporting piece to rotate. Comprising a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly are both arranged on the chassis, so that the chassis can drive the driving assemblies to generate displacement; wherein the first driving assembly and the grabbing end are connected in a matched mode so as to drive the grabbing end to move, the second driving assembly and the first operation end are connected in a matched mode so as to drive the first operation end to move, and therefore automatic installation of the supporting piece is achieved, and improvement of the installation quality is facilitated; and the construction efficiency and the construction safety can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic equipment installation, and further to an installation robot and an installation system. Background Art

[0002] At present, the demand for the construction of centralized photovoltaic power stations is growing rapidly. In the construction of photovoltaic power stations, especially the installation of photovoltaic modules, it has traditionally relied on manual work. However, this method has many limitations, including low construction efficiency, high safety risks and difficult to control installation quality.

[0003] First, the terrain of the construction site is complex and changeable, and the bracket installation often needs to be carried out on uneven ground, which makes the efficiency of manual construction of photovoltaic modules extremely low. Secondly, there are safety hazards in the manual construction of photovoltaic modules, especially when working at high altitudes, workers face high safety risks. In addition, manual work is difficult to ensure the consistency and accuracy of the installation, which may affect the performance and long-term stability of the photovoltaic power station.

[0004] In summary, there is a need to improve the current technology. Utility Model Content

[0005] In response to the above technical problems, the purpose of this application is to provide an installation robot and an installation system, which are designed to automate the installation of photovoltaic brackets, improve construction efficiency, and reduce the safety risks of manual operations.

[0006] In order to achieve the above objectives, the present application provides an installation robot, comprising:

[0007] Chassis vehicle;

[0008] A gripping end, used for gripping the support member;

[0009] A first operating end, used to install the support member to a preset position;

[0010] A driving assembly, comprising a first driving assembly and a second driving assembly, wherein the first driving assembly and the second driving assembly are both arranged on the chassis vehicle, so that the chassis vehicle can drive the driving assembly to generate displacement;

[0011] The first driving component is cooperatively connected with the grabbing end to drive the grabbing end to move, and the second driving component is cooperatively connected with the first operating end to drive the first operating end to move.

[0012] In some embodiments, the first driving assembly includes a first lifting mechanism and a first translation mechanism, the first lifting mechanism is used to adjust the vertical height of the grabbing end, and the first translation mechanism is used to adjust the horizontal position of the grabbing end;

[0013] The first lifting mechanism and the first translation mechanism are partially connected and their movement paths are staggered with each other, thereby forming an independent driving form and a combined driving form of the first driving component.

[0014] In some embodiments, the first lifting mechanism includes a first inner link and a first outer link that are slidably connected to each other, the first inner link is fixed to the chassis vehicle and is arranged vertically upward with the chassis vehicle, and the first outer link is fixed to the first translation mechanism, so that the relative movement of the grabbing end in the vertical direction is achieved through the relative sliding of the first inner link and the first outer link.

[0015] In some embodiments, the first translation mechanism includes a second inner link and a second outer link that are slidably connected to each other, the second inner link is fixed to the first lifting mechanism and is horizontally arranged, and the second outer link is cooperatively connected with the grabbing end, so that the relative movement of the grabbing end in the horizontal direction is achieved through the relative sliding of the second inner link and the second outer link.

[0016] In some embodiments, the second outer link is further provided with a first guide rail;

[0017] The first guide rail is slidably connected to the grabbing end, so that the grabbing end can move horizontally along the length extension direction of the first guide rail.

[0018] In some embodiments, the installation robot further comprises a second operating end for assisting the installation of the support member;

[0019] The second outer connecting rod is also provided with a second guide rail, the first guide rail and the second guide rail are arranged in parallel up and down and spaced a certain distance apart, and the second operating end is slidably connected to the second guide rail so that the second operating end can move horizontally along the length extension direction of the second guide rail.

[0020] In some embodiments, the gripping end includes a base and a suction cup, the base is connected to the first driving assembly, the suction cup is rotatably disposed on the base, and the adsorption surface contour of the suction cup matches the partial outer surface contour of the support member, so that when the gripping end grips the support member, the suction cup is attached to the outer surface of the support member; and / or,

[0021] The first operating end includes a robotic arm and an end effector connected to one end of the robotic arm, the other end of the robotic arm is connected to the second driving assembly, the robotic arm is used to provide at least three rotational degrees of freedom and three translational degrees of freedom, and the end effector is used to perform the installation operation of the support member.

[0022] In some embodiments, the second driving assembly includes a second lifting mechanism and a second translation mechanism, the second lifting mechanism is used to adjust the vertical height of the first operating end, and the second translation mechanism is used to adjust the horizontal position of the first operating end;

[0023] Wherein, the second translation mechanism is connected to the second lifting mechanism, and the first operating end is connected to the second translation mechanism.

[0024] In some embodiments, the second lifting mechanism includes a scissor lift structure, the bottom of the scissor lift structure is connected to the chassis vehicle, and the top of the scissor lift structure is connected to the second translation mechanism;

[0025] and / or,

[0026] The second translation mechanism includes a third guide rail and a fourth guide rail, the extension directions of the third guide rail and the fourth guide rail are perpendicular to each other, and the bottom of the third guide rail is slidably connected to the fourth guide rail through a guide block, and the first operating end is slidably connected to the top of the third guide rail.

[0027] In some embodiments, the first drive assembly is disposed on the front end surface of the chassis vehicle in the moving direction, and the grabbing end is disposed on the side of the first drive assembly away from the chassis vehicle;

[0028] The second drive assembly is disposed on the upper end surface of the chassis vehicle, so that at least part of the first operating end is located in the upper area of ​​the chassis vehicle;

[0029] The number of the first drive components is two, and the two groups of the first drive components are symmetrically distributed along the center line of the chassis vehicle;

[0030] The number of the grabbing ends is two, and each of the grabbing ends is correspondingly connected to one of the first driving components.

[0031] Another aspect of the present application also provides a mounting system, comprising:

[0032] The installation robot described above;

[0033] A material-retrieving platform is used to store the support member so that the installation robot can grab the support member from the material-retrieving platform.

[0034] Compared with the prior art, the installation robot and installation system provided by the present application have the following beneficial effects:

[0035] 1. In the present application, the automatic installation of the support is realized through the driving assembly, the grabbing end, the first operating end, the chassis and other components. The grabbing end can stably grab different types of support members, and the first operating end can move to adjust its own state to ensure that the support members can be accurately installed to the preset position of the column, reducing the dependence of the installation process on manual labor and improving the installation quality.

[0036] 2. In the present application, through the design of the robotic arm and the end effector, the first operating end can perform precise position adjustment and posture changes in three-dimensional space, thereby improving the precision of the support installation, and the second operating end can be set according to the installation requirements to assist in the installation of the support, thereby achieving collaborative operation or independent operation with the first operating end.

[0037] 3. In the present application, the grasping end uses a suction cup to absorb and grasp the support member, and the suction cup is arranged to rotate to provide additional adjustment freedom, making the grasping process of the support member more flexible. In addition, the adsorption surface of the suction cup matches the contour of part of the outer surface of the support member, ensuring that when the suction cup absorbs the support member, it can achieve the maximum fitting and adsorption effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present application.

[0039] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of the overall structure of another perspective of an embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of the overall structure of one perspective of an embodiment of the present application;

[0042] Figure 4 yes Figure 2 The enlarged view of point A in the middle;

[0043] Figure 5 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0044] Figure 6 It is a partial detail diagram of an embodiment of the present application;

[0045] Figure 7 It is a schematic diagram of an installation system in a working state in one embodiment of the present application.

[0046] Explanation of the accompanying drawings: installation robot 1; chassis vehicle 11; first drive assembly 2; first lifting mechanism 21; first inner link 2101; first outer link 2102; first translation mechanism 22; second inner link 2201; second outer link 2202; intermediate link 23; first guide rail 3; second guide rail 4; second drive assembly 5; second lifting mechanism 51; third guide rail 521; fourth guide rail 522; grabbing end 6; base 61; suction cup 62; first operating end 71; second operating end 72; vibration plate 73; visual camera 8; material picking table 91; column 92; support member 93. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0048] In order to simplify the drawings, only the parts related to the application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0049] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0050] In this document, it should be noted that, 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 an indirect connection 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 this application can be understood according to specific circumstances.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0053] At present, in the construction process of photovoltaic power stations, the construction of photovoltaic brackets is a key step. The columns serve as the foundation of the entire photovoltaic bracket and bear the stability and bearing capacity of the entire structure. Figure 7 On top of the columns 92, main beams, purlins, diagonal beams, diagonal supports and other components (hereinafter collectively referred to as support members 93) need to be installed. These components together constitute the supporting structure of the photovoltaic panel, ensuring that the photovoltaic panel can be stably fixed in an appropriate position.

[0054] During the construction of existing photovoltaic brackets, the handling and installation of support members are highly dependent on manual work. Workers need to manually carry heavy support members 93 in complex construction sites, and accurately position and install them at high altitudes. This process is not only inefficient, but also poses a high safety risk. The inconsistency of manual work may also lead to fluctuations in installation quality, affecting the long-term stability and power generation efficiency of photovoltaic power stations. Based on the above problems, an installation robot provided in the present application can effectively reduce labor costs and installation risks, and improve construction efficiency and installation quality by automating the installation process of photovoltaic brackets.

[0055] Reference Manual Attached Figure 1 , the present application provides an installation robot, such as Figure 1 As shown, it includes a chassis vehicle 11, a grabbing end 6, a first operating end 71, and a driving assembly.

[0056] In this embodiment, the chassis 11 can be wheeled or tracked, with good terrain adaptability, ensuring the free movement of the robot in a complex construction site. The chassis 11 is integrated with a drive assembly, including a first drive assembly 2 and a second drive assembly 5, both of which are precisely controlled to achieve coordinated work with their respective operating ends.

[0057] The first drive component 2 is connected to the grasping end 6, and the grasping end 6 can firmly grasp various support members 93, such as the main beams, purlins, inclined beams and other support members 93 of the photovoltaic bracket in the above content. By cooperating with the first drive component 2, the grasping end 6 can move smoothly along the preset path to achieve accurate positioning and grasping of the support members 93.

[0058] The second drive component 5 is connected to the first operating end 71, and the first operating end 71 is used to accurately install the support member 93 to the preset position of the column 92, thereby forming a photovoltaic bracket. This process is driven by the second drive component 5, which plays a role in adjusting the position of the first operating end 71, so that the installation operation of the first operating end 71 can be more flexible and targeted. The first drive component 2 and the second drive component 5 are respectively connected to the grasping end 6 and the first operating end 71 through their respective power transmission systems to achieve independent movement and coordinated cooperation between the two.

[0059] It can be understood that the installation robot in this embodiment effectively reduces manual intervention through the arrangement of the above components, significantly improving installation efficiency and safety. In addition, the design of the operating end and the grabbing end 6 on the installation robot allows adjustment according to the specific needs of the construction site, and has high adaptability and scalability.

[0060] On the other hand, the installation robot can have an autonomous navigation function, which enables it to autonomously plan the path according to the map of the construction site, further improving the automation level of the operation. At the same time, by integrating sensors and artificial intelligence algorithms, the robot can achieve real-time monitoring and intelligent decision-making of the installation environment, optimize the installation strategy, and improve the construction quality.

[0061] Based on the above content, please refer to the attached manual Figure 1 The first driving assembly 2 is located at the front end face of the chassis 11 in the direction of movement, and the grabbing end 6 is set away from the side of the chassis 11. When performing tasks, the grabbing end 6 can be closer to the support member 93, thereby improving the agility and accuracy of movement and increasing the intuitiveness of operation.

[0062] Furthermore, the second drive assembly 5 is arranged on the upper side end surface of the chassis 11, so that at least part of the first operating end 71 is located in the upper area of ​​the chassis 11, which expands the range of movement of the operating end, so that it can cover a wider space area, especially when vertical or high-position operations are required, it can more flexibly respond to operation requirements at different heights. In addition, arranging the second drive assembly 5 on the upper side end surface also helps to evenly distribute the load of the chassis 11, thereby improving the stability and durability of the equipment.

[0063] In one embodiment, based on the above embodiment, Figure 2As shown, the first driving assembly 2 includes a first lifting mechanism 21 and a first translation mechanism 22, which together provide accurate spatial positioning capability for the grabbing end 6. The first lifting mechanism 21 and the first translation mechanism 22 are partially connected, and their movement paths are staggered with each other. Such a layout not only saves space, but also improves the compactness of the structure.

[0064] Specifically, the first lifting mechanism 21 is used to adjust the vertical height of the grabbing end 6 so that it can adapt to the different heights of the columns 92 and installation requirements. Optionally, the first lifting mechanism 21 can use a precise hydraulic or electric drive system to ensure that the lifting process is smooth and accurate, and meet the flexibility of height adjustment in different construction environments. In addition, the first translation mechanism 22 is used to adjust the horizontal position of the grabbing end 6. The operator or the built-in control system controls the translation distance to ensure that the grabbing end 6 can transport the support 93 to the target installation position.

[0065] It should also be noted that in the present embodiment, the first drive component 2 has an independent drive form and a combined drive form. The independent drive form means that the first lifting mechanism 21 and the first translation mechanism 22 can operate independently according to actual needs, while the combined drive form allows the two mechanisms to work together to achieve more complex motion trajectories and positioning requirements, significantly improving the robot's operating range and flexibility, allowing the robot to adapt to various complex and changeable construction site conditions.

[0066] Based on the above, if Figure 3 As shown, the first lifting mechanism 21 includes a first inner link 2101 and a first outer link 2102 that are slidably connected to each other (directly slidably connected or indirectly slidably connected). The first inner link 2101 is closest to the chassis 11, while the first outer link 2102 is farthest from the chassis 11. Therefore, the first inner link 2101 is fixed to the chassis 11 and is vertically arranged upward with the chassis 11, serving as a fixed base point of the first lifting mechanism 21; the first outer link 2102 is fixed to the first translation mechanism 22, so that the first lifting mechanism 21 can drive the first translation mechanism 22 to move synchronously when it is in operation.

[0067] It can be understood that, through the sliding connection between the first inner connecting rod 2101 and the first outer connecting rod 2102 , the height of the grabbing end 6 can be flexibly adjusted in the vertical direction to adapt to different installation scenarios or situations.

[0068] Furthermore, the first translation mechanism 22 includes a second inner link 2201 and a second outer link 2202. The second inner link 2201 is closest to the first lifting mechanism 21, while the second outer link 2202 is farthest from the first lifting mechanism 21. The second inner link 2201 is fixed to the first lifting mechanism 21 and is horizontally arranged as a fixed base point of the first translation mechanism 22; the second outer link 2202 is connected with the gripping end 6, and the relative movement of the gripping end 6 is achieved through the sliding connection, which provides the gripping end 6 with the ability to flexibly adjust its position in the horizontal plane, ensuring that the gripping end 6 can be accurately moved to a predetermined position to meet the installation requirements of different positions.

[0069] Specifically, as shown in the figure, the second inner connecting rod 2201 is connected to the first outer connecting rod 2102, thereby realizing the comprehensive positioning capability of the grabbing end 6 in both horizontal and vertical directions, making full use of the advantages of the parallel connecting rod mechanism, and realizing smooth and precise horizontal movement of the grabbing end 6 through the relative sliding of the connecting rods.

[0070] Through the design of the first lifting mechanism 21 and the first translation mechanism 22 in the above embodiment, the gripping end 6 can have a relatively large range of motion in the horizontal direction and the vertical direction, so that the use scenario of the installation robot 1 is more extensive.

[0071] In addition, please refer to the instruction manual. Figure 3 An intermediate link 23 is also connected between the first inner link 2101 and the second outer link 2102. Of course, the number of the intermediate links 23 can be one or more, and a sliding connection between the first inner link 2101 and the first outer link 2102 is indirectly formed through each intermediate link 23.

[0072] Specifically, the intermediate connecting rod 23 enables a more precise and extensive relative sliding between the first inner connecting rod 2101 and the second outer connecting rod 2102, thereby expanding the operating range of the first lifting mechanism 21. The operator can further optimize the transmission and distribution of force, reduce the stress concentration of a single connecting rod, and improve the stability and durability of the entire structure by increasing the number of intermediate connecting rods 23.

[0073] In addition, an intermediate link 23 may also be provided between the second inner link 2201 and the second outer link 2202 for indirect sliding connection to expand the operating range of the first translation mechanism 22 (not shown in the drawings), thereby improving the flexibility and applicability of the first driving assembly 2.

[0074] Furthermore, on the basis of the above embodiment, a first guide rail 3 is provided on the second outer link 2202, so that the grabbing end 6 can move precisely under the guidance of the first guide rail 3, thereby achieving accurate positioning.

[0075] Please refer to the instruction manual Figure 3 and Figure 4 The first guide rail 3 is arranged along the extension direction of the second outer link 2202 and is slidably connected to the grasping end 6, so that the grasping end 6 can slide freely on the first guide rail 3. The stability and guidance of the movement are ensured by the first guide rail 3, while the friction and wear during the sliding process are reduced, which significantly improves the flexibility and accuracy of the robot in the installation operation and ensures that the support member 93 can be quickly and accurately placed in the predetermined position.

[0076] In one embodiment, different from the above-mentioned embodiment, the reference specification Figure 5 and Figure 6 The installation robot is also provided with a second operating end 72 to achieve a more efficient and flexible installation operation. The design and function of the second operating end 72 are similar to those of the first operating end 71. In some embodiments, the second operating end 72 is used for auxiliary installation in actual applications and complements the first operating end 71. Of course, in some cases, the second operating end 72 may be responsible for the main installation, and the first operating end 71 is responsible for auxiliary installation.

[0077] It is understandable that the second operating end 72 performs the installation work of the support member 93 independently or in cooperation with the first operating end 71. In some installation scenarios, when the first operating end 71 is responsible for the main installation task, the second operating end 72 can provide necessary support and adjustment to ensure the stability and accuracy of the installation process. For example, when installing a photovoltaic support assembly, the second operating end 72 can assist in stabilizing the assembly to prevent tilting or offset during the installation process. In addition, when the first operating end 71 needs to be precisely adjusted at a specific position, the second operating end 72 can provide additional operating force to speed up the installation or reduce the burden on the first operating end 71.

[0078] In addition, when the second operating end 72 and the first operating end 71 work together, the two can be coordinated through the control system to achieve synchronous or sequential operation, thereby improving the flexibility of the installation operation and expanding the application scope of the robot, enabling it to adapt to more types of photovoltaic bracket installation needs.

[0079] Based on this embodiment and the above embodiments, refer to the attached specification Figure 6 A second guide rail 4 is added to the second outer link 2202. The second guide rail 4 is arranged vertically parallel to the first guide rail 3 mentioned above and spaced a certain distance apart, forming a double guide rail system.

[0080] The second operating end 72 is slidably connected to the second guide rail 4 to achieve free movement in the horizontal direction, so that the second operating end 72 can operate independently of the grabbing end 6, or work in conjunction with the grabbing end 6 to perform precise position adjustment and operation according to actual installation requirements. During the operation, the second operating end 72 and the grabbing end 6 do not interfere with each other, effectively avoiding conflicts in the operation. For example, during the installation process, the grabbing end 6 can be responsible for the main grabbing and preliminary positioning work, while the second operating end 72 can assist in fine-tuning or fixing operations to ensure stable installation of the components.

[0081] In addition, the independent movement capability of the second operating end 72 also enables it to adapt to different installation scenarios and requirements. In some cases, the second operating end 72 can independently complete some simple installation tasks, thereby improving the operating efficiency of the entire robot.

[0082] Based on the above, in one embodiment, the first operating end 71 and the second operating end 72 are similar in design, and are both composed of a mechanical arm and an end effector, one end of the mechanical arm is connected to the corresponding driving assembly, and the other end is connected to the end effector. The end effector is mainly used to perform installation operations such as locking or screwing, and the mechanical arm provides at least three rotational degrees of freedom and three translational degrees of freedom, so that the end effector can be accurately positioned in a complex spatial environment.

[0083] The end effector is designed according to the specific requirements of the installation task, and can be equipped with a locking tool or a tool head such as a screwdriver to quickly lock or fix the support 93. Through the control system, the first operating end 71 and the second operating end 72 can work together to improve the efficiency and accuracy of the installation operation. Of course, when there is only the first operating end 71, independent installation work can also be performed by adjusting the type of the end effector.

[0084] For example, when only the first operating end 71 is used, its end effector is equipped with an automatic rivet gun. The automatic rivet gun pulls the rivet nut through the automatic feeding system to achieve automatic locking. A vibration plate 73 is installed on the body of the chassis 11 to supply the rivet nut, and then the nut is sent to the rivet gun through the rotating cylinder to complete the automatic riveting process.

[0085] The vibrating plate 73 can automatically and continuously feed the rivet nuts to the rivet gun without human intervention. The precise feeding function of the rotary cylinder ensures the accurate positioning of the nuts during the riveting process, improving the efficiency and reliability of the locking work.

[0086] When the first operating end 71 and the second operating end 72 are used in combination, the functionality of the robot is expanded. The end effector of the first operating end 71 is transformed into a fixing structure after the nut is loaded, which is used to firmly fix the nut when tightening after the nut is loaded. The end effector of the second operating end 72 is equipped with an automatic screw gun, which pulls the three-in-one bolt through the automatic loading system to achieve another part of the tightening work.

[0087] Similarly, two vibration plates 73 are installed on the chassis 11, which are responsible for automatically supplying three-in-one bolts and nuts. The design of the double vibration plates 73 allows different types of fasteners to be supplied at the same time, improving the flexibility and efficiency of the installation process. The rotating cylinder feeds the material to the corresponding operating end as needed, ensuring the continuity and stability of the automated locking work.

[0088] In one embodiment, Figure 4 As shown, the gripping end 6 includes a base 61 and a suction cup 62. The base 61 is connected to the first driving assembly 2, providing necessary support and guidance to ensure that the suction cup 62 can accurately align with and grip the support member 93. The suction cup 62 is rotatably arranged on the base 61, and the rotational arrangement provides additional adjustment freedom, so that the suction cup 62 can be more flexible during the adsorption process, and the operator can flexibly adjust the position and angle of the suction cup 62 according to actual operation requirements.

[0089] In addition, the suction surface of the suction cup 62 matches the contour of part of the outer surface of the support 93, ensuring that when the suction cup 62 adsorbs the support 93, the maximum degree of fit and adsorption effect can be achieved. Through the close fit between the suction cup 62 and the outer surface of the support 93, the grasping end 6 can firmly grasp the support 93 of various shapes and sizes, including purlins, diagonal beams and diagonal supports. This design not only improves the stability of grasping, but also reduces the risk of the support 93 sliding or falling off during transportation.

[0090] Optionally, the gripping end 6 can be integrated with a detection system to detect the adsorption state of the suction cup 62 in real time, and automatically adjust when the adsorption force is insufficient to ensure a continuous and stable gripping effect. In addition, the suction cup 62 can be designed in various forms to adapt to support members 93 of different materials and shapes, thereby improving the applicability and flexibility of the robot.

[0091] Based on the above embodiments, please refer to the attached manual. Figure 4 In this embodiment, a suction cup 62 with an L-shaped cross-section is designed to improve the grasping efficiency and stability of support members 93 with right-angled edges such as purlins and diagonal beams.

[0092] The L-shaped cross-section of the suction cup 62 is designed for the characteristics of the right-angle edge support member 93. The L-shaped cross-section of the suction cup 62 precisely matches the right-angle edge of the support member 93, so that the suction cup 62 can simultaneously adsorb the upper surface and side surface of the component, and can remain stable even during transportation, reducing the risk of sliding or falling off of the support member 93.

[0093] During the grasping process, one side of the L-shaped suction cup 62 contacts the upper surface of the support member 93, and the other side fits the side surface, resulting in double-sided contact, which significantly improves the adsorption force and enables the installation robot 1 to achieve safe and reliable grasping.

[0094] In one embodiment, the second driving assembly 5 includes a second lifting mechanism 51 and a second translation mechanism.

[0095] Among them, the main function of the second lifting mechanism 51 is to adjust the vertical height of the first operating end 71. The second translation mechanism is connected to the second lifting mechanism 51. The first operating end 71 is connected to the second translation mechanism, so that the horizontal position of the first operating end 71 is adjusted by the second translation mechanism. These two mechanisms work together to ensure that the first operating end 71 can be flexibly adjusted to the required vertical height and horizontal position to achieve precise positioning of the installation position.

[0096] like Figure 3 As shown, the second lifting mechanism 51 adopts a scissor lift structure, which not only provides a stable vertical lifting capability, but also ensures that the first operating end 71 can adapt to installation operations at different heights. The bottom of the scissor lift structure is directly connected to the chassis 11 of the robot, providing a stable support for the scissor lift structure.

[0097] As the scissor lift structure extends or contracts, the second translation mechanism connected to the top thereof moves in the vertical direction accordingly, ensuring that the first operating end 71 can reach the desired height.

[0098] In addition, it is easy to understand that the design of the scissor lift structure uses high-strength materials to bear the weight of the mechanical arm and the end effector of the first operating end 71 in the above content, while maintaining the stability and durability of the structure. In addition, the cross-bracing design of the scissor lift mechanism provides good mechanical properties, ensuring stability during the lifting process and the horizontality of the operating end.

[0099] In one embodiment, the second translation mechanism in the above content includes a third guide rail 521 and a fourth guide rail 522, and the extension directions of the third guide rail 521 and the fourth guide rail 522 are perpendicular to each other, forming a two-dimensional mobile platform, and the first operating end 71 is slidably connected to the top of the third guide rail 521, so that the first operating end 71 can move along the extension direction of the third guide rail 521, so that the first operating end 71 can perform flexible two-dimensional movement in the horizontal plane, whether it needs to move forward and backward or left and right, it can achieve precise control.

[0100] The bottom of the third guide rail 521 is slidably connected to the fourth guide rail 522 through a guide block, ensuring the smooth movement of the third guide rail 521 on the fourth guide rail 522, and the accuracy of the third guide rail 521 during movement is maintained through the guiding effect of the guide block. The material selection of the guide block should reduce friction and improve wear resistance as much as possible to ensure long-term operational reliability.

[0101] In addition, the second lifting mechanism 51 and the second translation mechanism can be combined. When combined, the third guide rail 521 and the fourth guide rail 522 are set at the top of the scissor lift structure, so that the third guide rail 521 and the fourth guide rail 522 form an integrated driving platform with the scissor lift structure, so that the first operating end 71 can be accurately positioned in the horizontal direction immediately after the height is accurately adjusted in the vertical direction. Of course, the order of adjustment can be changed, and even synchronous adjustment is feasible. In addition, this integrated lifting and translation mechanism reduces time delays and installation errors caused by improper coordination between components, and improves the one-time success rate of the operation.

[0102] In one embodiment, Figure 1 As shown, there are two groups of first drive assemblies 2, and the two groups of first drive assemblies 2 are symmetrically distributed along the center line of the chassis 11, thereby ensuring the balance of the robot during movement and operation.

[0103] Each first driving assembly 2 is connected to a corresponding grabbing end 6. In practical applications, two grabbing ends 6 can grab a support member 93 at the same time, and share the weight through collaborative operation to improve the stability and safety of handling. In addition, they can also operate independently to grab different supports 93 respectively to meet different installation requirements and improve work efficiency.

[0104] In one embodiment, different from the above embodiment, Figure 6 As shown, the second operating end 72 is equipped with a visual camera 8. Similarly, the first operating end 71 can also be equipped with a visual camera 8. The provision of the visual camera 8 is conducive to improving the accuracy and automation level during the installation process.

[0105] Specifically, the visual camera 8 has advanced image capture and processing capabilities. During the installation operation, the visual camera 8 is used to obtain image data of the target column 92, especially the position information of the installation hole. Through image recognition and processing algorithms, the visual camera 8 can accurately identify and locate the coordinates of the installation hole.

[0106] The obtained installation hole position information of the target column 92 is then transmitted to the control system of the robot. The control system automatically adjusts the movement of the drive assembly according to the visual positioning result to ensure that the first operating end 71 and the second operating end 72 can accurately guide the support member 93 to the preset installation position, reducing the need for manual adjustment and improving the speed and accuracy of installation.

[0107] In one embodiment, the reference specification Figure 7 According to another aspect of the present application, the present application further provides an installation system, including the above-mentioned installation robot 1 and the material picking table 91.

[0108] It can be understood that the material-retrieving platform 91 is used to store or temporarily store support members 93, such as purlins, diagonal beams and diagonal supports, to ensure that the installation robot 1 can efficiently perform the grasping operation. At the same time, the material-retrieving platform 91 is usually set within the working range of the installation robot 1 to reduce the moving distance of the robot, improve the overall working efficiency, and thus improve the practicality of the installation system.

[0109] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. An installation robot, characterized in that: include: Chassis vehicle; A gripping end, used for gripping the support member; A first operating end, used to install the support member to a preset position; A driving assembly, comprising a first driving assembly and a second driving assembly, wherein the first driving assembly and the second driving assembly are both arranged on the chassis vehicle, so that the chassis vehicle can drive the driving assembly to generate displacement; The first driving component is cooperatively connected with the grabbing end to drive the grabbing end to move, and the second driving component is cooperatively connected with the first operating end to drive the first operating end to move.

2. The installation robot according to claim 1, characterized in that: The first driving assembly includes a first lifting mechanism and a first translation mechanism, the first lifting mechanism is used to adjust the vertical height of the grabbing end, and the first translation mechanism is used to adjust the horizontal position of the grabbing end; The first lifting mechanism and the first translation mechanism are partially connected and their movement paths are staggered with each other, thereby forming an independent driving form and a combined driving form of the first driving component.

3. The installation robot according to claim 2, characterized in that: The first lifting mechanism includes a first inner link and a first outer link which are slidably connected to each other, the first inner link is fixed to the chassis vehicle and arranged vertically upward with the chassis vehicle, and the first outer link is fixed to the first translation mechanism, so that the relative movement of the grabbing end in the vertical direction is achieved through the relative sliding of the first inner link and the first outer link.

4. The installation robot according to claim 2, characterized in that: The first translation mechanism includes a second inner link and a second outer link that are slidably connected to each other, the second inner link is fixed to the first lifting mechanism and is horizontally arranged, and the second outer link is cooperatively connected with the grabbing end, so that the relative movement of the grabbing end in the horizontal direction is achieved through the relative sliding of the second inner link and the second outer link.

5. The installation robot according to claim 4, characterized in that: The second outer connecting rod is also provided with a first guide rail; The first guide rail is slidably connected to the grabbing end, so that the grabbing end can move horizontally along the length extension direction of the first guide rail.

6. The installation robot according to claim 5, characterized in that: Also includes: A second operating end, used to assist in the installation of the support member; The second outer connecting rod is also provided with a second guide rail, the first guide rail and the second guide rail are arranged in parallel up and down and spaced a certain distance apart, and the second operating end is slidably connected to the second guide rail so that the second operating end can move horizontally along the length extension direction of the second guide rail.

7. The installation robot according to claim 1, characterized in that: The grabbing end includes a base and a suction cup, wherein the base is connected to the first driving assembly, the suction cup is rotatably disposed on the base, and the adsorption surface contour of the suction cup matches the contour of a portion of the outer surface of the support member, so that when the grabbing end grabs the support member, the suction cup is attached to the outer surface of the support member; and / or, The first operating end includes a robotic arm and an end effector connected to one end of the robotic arm, the other end of the robotic arm is connected to the second driving assembly, the robotic arm is used to provide at least three rotational degrees of freedom and three translational degrees of freedom, and the end effector is used to perform the installation operation of the support member.

8. The installation robot according to any one of claims 1 to 7, characterized in that: The second driving assembly includes a second lifting mechanism and a second translation mechanism, the second lifting mechanism is used to adjust the vertical height of the first operating end, and the second translation mechanism is used to adjust the horizontal position of the first operating end; Wherein, the second translation mechanism is connected to the second lifting mechanism, and the first operating end is connected to the second translation mechanism.

9. The installation robot according to claim 8, characterized in that: The second lifting mechanism comprises a scissor lift structure, the bottom of the scissor lift structure is connected to the chassis vehicle, and the top of the scissor lift structure is connected to the second translation mechanism; and / or, The second translation mechanism includes a third guide rail and a fourth guide rail, the extension directions of the third guide rail and the fourth guide rail are perpendicular to each other, and the bottom of the third guide rail is slidably connected to the fourth guide rail through a guide block, and the first operating end is slidably connected to the top of the third guide rail.

10. The installation robot according to any one of claims 1 to 7 and 9, characterized in that: The first drive assembly is arranged on the front end surface of the chassis vehicle in the moving direction, and the grabbing end is arranged on the side of the first drive assembly away from the chassis vehicle; The second drive assembly is disposed on the upper end surface of the chassis vehicle, so that at least part of the first operating end is located in the upper area of ​​the chassis vehicle; The first drive components are at least two groups, and the first drive components are symmetrically distributed along the center line of the chassis vehicle; There are at least two grabbing ends, and each of the grabbing ends is connected to a corresponding first driving component.

11. A mounting system, characterized in that: include: The installation robot according to any one of claims 1 to 10; A material-retrieving platform is used to store the support member so that the installation robot can grab the support member from the material-retrieving platform.

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