Grabbing mechanism and mounting robot
By employing vertically interlaced telescopic rods and gripper pairs in the photovoltaic module gripping mechanism, the problem of unstable gripping by vacuum suction cups in environments such as wind, sand, mud, and rain has been solved, enabling rapid and stable gripping and placement of photovoltaic modules.
Patent Information
- Application Number
- CN202520015630.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-03
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-01-03
AI Technical Summary
In traditional photovoltaic module gripping solutions, vacuum suction cups are easily affected by factors such as wind, sand, mud, and rain, resulting in unstable gripping and making it easy for photovoltaic modules to fall unexpectedly.
It employs two vertically staggered telescopic rods and gripper pairs. One telescopic rod extends and retracts along the length of the photovoltaic module, while the other extends and retracts along the width. The gripper pairs open and close synchronously, enabling fast and stable gripping and placement.
It enables rapid and stable gripping and placement of photovoltaic modules, avoiding the impact of factors such as wind, sand, mud, and rain.
Smart Images
Figure CN223749659U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to photovoltaic field especially, and it is a kind of grabbing mechanism and installation robot. BACKGROUND
[0002] Traditional photovoltaic module grabbing scheme is vacuum chuck, but photovoltaic power station is not applicable, and there are various wind sand, soil, rainwater and other problems.Wind sand, soil, rainwater and other problems can affect the suction force of vacuum chuck, and over a long period of time, it can lead to the grabbing force of vacuum chuck to photovoltaic module is not enough, that is, unstable grabbing, and it is easy to cause the accidental drop of photovoltaic module. INVENTION CONTENTS
[0003] The utility model discloses a kind of grabbing mechanism and installation robot, it is not affected by wind sand, soil, rainwater and other problems, and it is realized to the quick and stable grabbing and placement of photovoltaic module.
[0004] To achieve the above object, the utility model adopts the following technical scheme one: a kind of grabbing mechanism, for grabbing photovoltaic module, including two telescopic rods and two clamping jaw pairs, each clamping jaw pair includes two clamping jaws, two clamping jaws in each clamping jaw pair are set at the opposite ends of one telescopic rod;Two telescopic rods are vertically staggered with each other, one of the telescopic rods can be telescopic in the length direction of the photovoltaic module, and another telescopic rod can be telescopic in the width direction of the photovoltaic module.
[0005] As the further improved technical scheme one of the utility model, two telescopic rods can be telescopic synchronously, to drive two clamping jaw pairs to open and close synchronously.
[0006] As the further improved technical scheme one of the utility model, each telescopic rod includes first rod part and second rod part that are arranged in insertion, second rod part is at least partially inserted to be received in first rod part to realize the telescopic of telescopic rod.
[0007] As the further improved technical scheme one of the utility model, first rod part is hollow, second rod part is solid, and the inner diameter of first rod part is greater than the outer diameter of second rod part.
[0008] As the further improved technical scheme one of the utility model, it further includes mounting disc, positioning block and limit rod, positioning block and limit rod are one-to-one correspondingly arranged on the same surface of mounting disc, and each limit rod passes through corresponding positioning block.
[0009] As a further improved technical scheme of the utility model, further including sleeve part, the limit rod includes the outer end part and the inner end part exposed at the opposite sides of the positioning block, the clamping jaw is fixedly installed on the sleeve part and the sleeve part is sleeved and fixed on the outer end part.
[0010] As a further improved technical scheme of the utility model, further including sleeve part, the limit rod includes the outer end part and the inner end part exposed at the opposite sides of the positioning block, the clamping jaw is fixedly installed on the sleeve part and the sleeve part is sleeved and fixed on the outer end part.
[0011] As a further improved technical scheme of the utility model, further including sleeve part, the limit rod includes the outer end part and the inner end part exposed at the opposite sides of the positioning block, the clamping jaw is fixedly installed on the sleeve part and the sleeve part is sleeved and fixed on the outer end part.
[0012] As a further improved technical scheme of the utility model, further including sleeve part, the limit rod includes the outer end part and the inner end part exposed at the opposite sides of the positioning block, the clamping jaw is fixedly installed on the sleeve part and the sleeve part is sleeved and fixed on the outer end part.
[0013] To achieve the above object, the utility model adopts the following technical scheme two: a mounting robot, including robot base and mechanical arm, it still includes the grabbing mechanism as described above, one end of the mechanical arm is connected with the robot base, the other end of the mechanical arm is connected with the grabbing mechanism.
[0014] Compared with the prior art, the grabbing mechanism on the mounting robot of the utility model is arranged perpendicularly to each other by two telescopic rods, one of the telescopic rods can be telescopic in the length direction of the photovoltaic module, the other telescopic rod can be telescopic in the width direction of the photovoltaic module, two telescopic rods can be telescopic synchronously, two clamping jaws are driven to open and close synchronously, are not influenced by wind sand, soil, rainwater and other problems, thereby realizing the quick and stable grabbing and placing of photovoltaic module. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 It is the three-dimensional combination drawing of the mounting robot of the utility model;
[0016] Figure 2 It is the partial three-dimensional combination drawing of the mounting robot of the utility model;
[0017] Figure 3is a perspective assembly view of the grabbing mechanism of the utility model;
[0018] Figure 4 is Figure 2 a plan view;
[0019] Figure 5 is Figure 2 a side view;
[0020] Figure 6 is another perspective assembly view of the grabbing mechanism of the utility model from another angle;
[0021] Figure 7 is Figure 6 a perspective assembly view of the grabbing mechanism in the utility model without the mounting disc;
[0022] Figure 8 is Figure 7 a perspective exploded view of all the elements in the utility model according to the upper and lower telescopic rods;
[0023] Figure 9 is a perspective exploded view of the upper first telescopic rod in the utility model; Figure 8
[0024] is a perspective exploded view of the lower second telescopic rod in the utility model; Figure 10 Figure 8 is a perspective exploded view of the upper first telescopic rod in the utility model;
[0025] Figure 11 Figure 9 is a perspective exploded view of the lower second telescopic rod in the utility model;
[0026] Figure 12 is a perspective exploded view of the upper first telescopic rod in the utility model; Figure 10 DETAILED DESCRIPTION
[0027] The following detailed description of the utility model will be made with reference to the accompanying drawings. If there are several embodiments, the features in these embodiments can be combined with each other when there is no conflict. When the description refers to the drawings, the same numerals in different drawings represent the same or similar elements unless otherwise specified. The description in the following exemplary embodiments does not represent all the embodiments consistent with the utility model; on the contrary, they are only examples of devices, products and / or methods consistent with the utility model claims and some aspects of the utility model.
[0028] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and claims of the present application, the articles "a", "the", and "said" are intended to mean that there are one or more of the items. If there is only one of the items, the specification and claims will specifically state that there is only one of the items.
[0029] It should be understood that the use of terms such as "first", "second", and similar terms in the specification and claims of the present application are not intended to denote any order, quantity, or importance, but are merely used to distinguish one feature from another. Similarly, the use of terms such as "one" or "an" does not denote a quantity limitation, but rather indicates the presence of at least one. Unless otherwise indicated, the terms "front", "back", "up", "down", and similar terms in the present application are used for convenience only and are not intended to be limiting to a particular position or spatial orientation. The use of terms such as "comprise", "comprises", and similar terms in the present application is an open-ended expression that means the elements recited in the "comprising" clause are encompassed by the "comprising" element, and that the "comprising" element can also contain other elements. If "several" appears in the present application, it means two or more.
[0030] Please refer to Figures 1 to 12 The present application discloses a kind of grabbing mechanism 100, for grabbing photovoltaic module 200, it includes two telescopic rods 1 and two jaw pairs 2.Each described jaw pair 2 includes two jaws 20, two described jaws 20 in each described jaw pair 2 is arranged at the opposite ends of one described telescopic rod 1.Two described telescopic rods 1 each other vertical staggered arrangement, one of the telescopic rods 1 can be telescopic in the length direction of the photovoltaic module 200, another telescopic rod 1 can be telescopic in the width direction of the photovoltaic module 200.Two described telescopic rods 1 can be synchronous telescopic, to drive two described jaw pairs 2 synchronous opening and closing.The grabbing mechanism 100 of mounting robot 300 in the present application is by two described telescopic rods 1 each other vertical staggered arrangement, one of the telescopic rods 1 (for example Figure 6 And Figure 7 First telescopic rod 101 in it) can be telescopic in the length direction of the photovoltaic module 200, another telescopic rod 1 (for example Figure 6 And Figure 7 Second telescopic rod 102 in it) can be telescopic in the width direction of the photovoltaic module 200, two jaw pairs 2 are not influenced by sand, soil, rainwater and other problems, to realize the quick and stable grabbing and placing of photovoltaic module 200.
[0031] Optionally, two said telescopic rods 1 can be synchronously telescoped under the unified control of the controller, so as to drive two said jaw pairs 2 to be synchronously opened and closed, thereby more quickly and stably grasping and placing the photovoltaic module 200.
[0032] Please refer to Figures 6 to 12 As shown in the drawings, each said telescopic rod 1 comprises a first rod part 11 and a second rod part 12, which is at least partially inserted into the first rod part 11 to realize the telescoping of the telescopic rod 1. Each said telescopic rod 1 is two-segmented, one segment is inserted into the other segment, thereby having two change states of relative extension and relative retraction between the two segments, so as to meet the needs of opening and closing of each jaw pair 2. When the two segments are relatively extended in the initial state, each jaw pair 2 is open; when the two segments are relatively retracted in the initial state, each jaw pair 2 is closed. It can be understood that each said telescopic rod 1 is two-segmented, which is the simplest structure and the most time-saving and labor-saving solution to realize the synchronous opening and closing of two jaw pairs 2.
[0033] Please refer to Figures 9 to 12 As shown in the drawings, the first rod part 11 is hollow, and the inner diameter of the first rod part 11 is greater than the outer diameter of the second rod part 12. When each said telescopic rod 1 is two-segmented, at least one of them needs to be hollow to realize the insertion of one segment into the other segment. Preferably, the second rod part 12 is solid. However, it is not limited that the second rod part 12 must be solid, as long as the inner diameter of the first rod part 11 is greater than the outer diameter of the second rod part 12.
[0034] Please refer to Figures 1 to 12 As shown in the drawings, the utility model also includes a mounting disc 3, a positioning block 4 and a limiting rod 5. The positioning block 4 and the limiting rod 5 are one-to-one corresponding and arranged on the same surface of the mounting disc 3, and each said limiting rod 5 passes through the corresponding said positioning block 4. The mounting disc 3 provides a reference surface for installation, thereby installing two said telescopic rods 1 which are perpendicularly staggered with each other on the mounting disc 3 for telescoping. The positioning block 4 provides installation and positioning of the telescopic rod 1 on the mounting disc 3, and plays a fixing role. The limiting rod 5 is installed on the positioning block 4, which plays a connecting role between each segment of the telescopic rod 1 and the corresponding said jaw 20, and provides a telescoping amount for left and right movement of the telescopic rod 1, so that when the same telescopic rod 1 is telescoped on the mounting disc 3, the two said jaws 20 connected on the same telescopic rod 1 are close and far away. When the jaws 20 are close, they are closed; when the jaws 20 are far away, they are open.
[0035] Please refer to Figures 8 to 12As shown, the utility model of claim 1 includes a plurality of fasteners 6, the fastener 6 plays the role of fixed connection between two elements that need to be connected. For example: the positioning block 4 includes main part 41 and a pair of wing parts 42 that extend reversely outward from the bottom of the main part 41, the main part 41 is equipped with the first through hole 410 that is penetrated by the limiting rod 5, the wing part 42 is equipped with the second through hole 420, the fastener 6 passes through the second through hole 420, and the positioning block 4 is fixedly installed on the mounting disc 3. Of course, the fastener 6 can also be used between other two elements that need to be connected, for example: the sleeve part 7 and the outer end part 51 of the limiting rod 5 described below, the inner end part 52 of the limiting rod 5 and the first rod part 11, the second rod part 12 and the inner end part 52 of the limiting rod 5, etc. It also needs to be pointed out that the fastener 6 will also position and connect each clamping jaw 20 on the sleeve part 7.
[0036] Please refer to Figures 6 to 12 As shown, the utility model also includes sleeve part 7. The limiting rod 5 includes outer end part 51 and inner end part 52 exposed on the opposite sides of the positioning block 4, and the clamping jaw 20 is fixedly installed on the sleeve part 7 and the sleeve part 7 is sleeved and fixed on the outer end part 51. The role of the sleeve part 7 is to position and connect the clamping jaw 20 and the limiting rod 5, the clamping jaw 20 is first connected with the sleeve part 7 to form a whole, and then the whole of the clamping jaw 20 and the sleeve part 7 is sleeved on the outer end part 51 of the limiting rod 5, and then positioned by another fastener 6. The positioning method is simple, fast and reliable.
[0037] Please refer to Figures 1 to 12 As shown, the opposite ends of each telescopic rod 1 are respectively connected with one limiting rod 5, and the fixed installation position between the first rod part 11 and the limiting rod 5 or between the second rod part 12 and the limiting rod 5 is on the inner end part 52. Therefore, the limiting rod 5 can cooperate with the positioning block 4 to realize the telescopic function of the telescopic rod 1.
[0038] Please refer to Figure 7 , Figure 8 , Figure 10 And Figure 12As shown, the utility model also includes adapter 8. According to different extension direction or said telescopic rod 1 telescopic direction, two said telescopic rod 1 includes first telescopic rod 101 and second telescopic rod 102. Adapter 8 is arranged at the opposite ends of the second telescopic rod 102 but is not arranged at the opposite ends of the first telescopic rod 101, and the adapter 8 extends to a certain height in the direction of the photovoltaic module 200, so that the second telescopic rod 102 avoids the first telescopic rod 101. Specifically, the adapter 8 is arranged between the first rod part 11 of the second telescopic rod 102 and the limiting rod 5 and between the second rod part 12 of the second telescopic rod 102 and the limiting rod 5, but is not arranged between the first rod part 11 of the first telescopic rod 101 and the limiting rod 5 and between the second rod part 12 of the first telescopic rod 101 and the limiting rod 5. Such arrangement is to stagger the first telescopic rod 101 and the second telescopic rod 102 at the position, avoid interference, and freely extend respectively.
[0039] Please refer to Figures 1 to 12 As shown, the positioning block 4 is four and is fixed on the upper, lower, left and right four positions of the mounting disc 3 to stagger the two telescopic rods 1 vertically. The upper and lower positioning blocks 4 position and connect the first telescopic rod 101 in the up-down direction, and the left and right positioning blocks 4 position and connect the second telescopic rod 102 in the left-right direction. Thus, the first telescopic rod 101 and the second telescopic rod 102 are vertically staggered in the up-down direction and the left-right direction. Thus, the two jaw pairs 2 are telescopic in the length direction of the photovoltaic module 200 and the width direction of the photovoltaic module 200, and the two telescopic rods 1 can be synchronously telescopic to drive the two jaw pairs 2 to open and close synchronously.
[0040] Please refer to Figures 1 to 3 As shown, the utility model also relates to a kind of installation robot, including robot base 301 and mechanical arm 302 except, also include the grabbing mechanism 100 as described above. One end of the mechanical arm 302 is connected with the robot base 301, and the other end of the mechanical arm 302 is connected with the grabbing mechanism 100. The robot base 301 can drive the movement of the grabbing mechanism 100, and the mechanical arm 302 can drive the steering of the grabbing mechanism 100, so that the grabbing action of the grabbing mechanism 100 is facilitated.
[0041] As described above, the grabbing mechanism 100 on the installation robot 300 of the utility model is arranged by two telescopic rods 1 vertically staggered, and one of the telescopic rods 1 (for example Figure 6 And Figure 7The first telescopic rod 101 in the first telescopic rod 101 and the second telescopic rod 102) can be telescopic in the length direction of the photovoltaic module 200, and the other telescopic rod 1 (for example Figure 6 and Figure 7 The second telescopic rod 102 in the first telescopic rod 101 and the second telescopic rod 102) can be telescopic in the width direction of the photovoltaic module 200, and the two telescopic rods 1 can be telescopic synchronously to drive the two gripper pairs 2 to open and close synchronously, and the two gripper pairs 2 are not affected by wind and sand, mud, rain and other problems, thereby realizing the fast and stable grabbing and placing of the photovoltaic module 200.
[0042] The above implementation manners are only used for describing the utility model and not for limiting the technical solutions described by the utility model, and the understanding of the utility model should be based on the technical personnel in the technical field, and although the utility model has been described in detail in the above-mentioned embodiments, the ordinary technical personnel in the field should understand that the technical personnel in the technical field can still modify or equivalently replace the utility model, and all the technical solutions and improvements which do not deviate from the spirit and scope of the utility model should be covered in the claim range of the utility model.
Claims
1. A gripping mechanism for gripping a photovoltaic module, characterized by: Two telescopic rods (1) and two pairs of clamping jaws (2), each pair of clamping jaws (2) comprising two clamping jaws (20), the two clamping jaws (20) in each pair of clamping jaws (2) being arranged at opposite ends of one telescopic rod (1); the two telescopic rods (1) being arranged perpendicularly to each other, one telescopic rod (1) being able to extend in the length direction of the photovoltaic module, and the other telescopic rod (1) being able to extend in the width direction of the photovoltaic module.
2. The grasping mechanism of claim 1, wherein: The two telescopic rods (1) are able to extend synchronously to drive the two pairs of clamping jaws (2) to open and close synchronously.
3. The grasping mechanism of claim 1, wherein: Each telescopic rod (1) comprises a first rod portion (11) and a second rod portion (12) arranged in a telescopic manner, the second rod portion (12) being at least partially inserted into the first rod portion (11) to achieve the telescopic extension of the telescopic rod (1).
4. The grasping mechanism of claim 3, wherein: The first rod portion (11) is hollow, and the second rod portion (12) is solid, the inner diameter of the first rod portion (11) being greater than the outer diameter of the second rod portion (12).
5. The grasping mechanism of claim 3, wherein: Further comprising a mounting disc (3), positioning blocks (4) and limiting rods (5), the positioning blocks (4) and the limiting rods (5) being arranged on the same surface of the mounting disc (3) in a one-to-one correspondence, and each limiting rod (5) passes through the corresponding positioning block (4).
6. The grasping mechanism of claim 5, wherein: Further comprising a sleeve portion (7), the limiting rod (5) comprising an outer end portion (51) and an inner end portion (52) exposed on opposite sides of the positioning block (4), the clamping jaw (20) being fixedly mounted on the sleeve portion (7) and the sleeve portion (7) being sleeved and fixed on the outer end portion (51).
7. The grasping mechanism of claim 6, wherein: Each telescopic rod (1) is connected with one limiting rod (5) at opposite ends, respectively, and the fixed mounting position between the first rod portion (11) and the limiting rod (5) or between the second rod portion (12) and the limiting rod (5) is on the inner end portion (52).
8. The grasping mechanism of claim 7, wherein: Further comprising an adapter (8), the two telescopic rods (1) comprising a first telescopic rod (101) and a second telescopic rod (102), the adapter (8) being arranged at opposite ends of the second telescopic rod (102) but not arranged at opposite ends of the first telescopic rod (101), the adapter (8) extending to a certain height in the direction towards the photovoltaic module, so that the second telescopic rod (102) avoids the first telescopic rod (101).
9. The grasping mechanism of claim 1, wherein: 10. A mounting robot comprising a robot base (301) and a robot arm (302), characterized in that: Also included is the grabbing mechanism (100) as claimed in any one of claims 1-9 above, one end of the mechanical arm (302) is connected with the robot base (301), and the other end of the mechanical arm (302) is connected with the grabbing mechanism (100).