Grabbing mechanism and photovoltaic module mounting equipment

Abstract

The utility model discloses a grabbing mechanism and photovoltaic module installation equipment, and relates to the technical field of photovoltaics, and the grabbing mechanism comprises a vacuum generator and a suction cup assembly; at least two vacuum generators are arranged; the suction cup assemblies are arranged in at least two rows, each row of suction cup assemblies comprises a plurality of vacuum suction cups used for sucking photovoltaic assemblies, and every two adjacent vacuum suction cups of each row of suction cup assemblies are connected to different vacuum generators respectively. According to the grabbing mechanism, the two adjacent vacuum suction cups of each row of suction cup assemblies are connected to the different vacuum generators correspondingly, so that the invalid vacuum suction cups can be dispersed in different positions, it is guaranteed that the grabbing mechanism is still stressed in a balanced mode, and the situation that a certain local vacuum suction cup is stressed too large, so that the grabbing mechanism is damaged is avoided. Therefore, the reliability of the grabbing mechanism is improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more specifically, to a gripping mechanism and photovoltaic module installation equipment. Background Technology

[0002] In traditional photovoltaic (PV) module installation, it is usually necessary to first install the PV mounting bracket, and then use a gripping mechanism to pick up the PV modules and mount them onto the bracket for installation. The end of the gripping mechanism typically uses a vacuum suction cup to hold the glass panel of the PV module. However, in actual use, dust can inevitably be sucked into the pipes, causing some suction cups to malfunction, resulting in uneven or insufficient suction, ultimately causing the PV module to fall, become damaged, and be rendered unusable.

[0003] Therefore, how to improve the reliability of the gripping mechanism has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a gripping mechanism to improve the reliability of the gripping mechanism.

[0005] Another objective of this application is to provide a photovoltaic module installation device having the aforementioned gripping mechanism.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A grasping mechanism, comprising:

[0008] A vacuum generator, wherein there are at least two vacuum generators;

[0009] The suction cup assembly comprises at least two rows, and each row of the suction cup assembly includes multiple vacuum suction cups for picking up photovoltaic modules, and adjacent two vacuum suction cups in each row of the suction cup assembly are respectively connected to different vacuum generators.

[0010] Optionally, the gripping mechanism described above also includes a cleaning mechanism for cleaning each of the vacuum generators.

[0011] Optionally, in the above-described gripping mechanism, the cleaning mechanism includes at least one air blowing device, which is connected to each of the vacuum generators via air blowing pipes.

[0012] Optionally, in the above-mentioned gripping mechanism, the vacuum generator is provided with a negative pressure detection element, which is used to detect the actual negative pressure value of the vacuum generator;

[0013] When the actual negative pressure value of the vacuum generator is higher than the threshold, the air blowing device blows air into the vacuum generator.

[0014] Optionally, in the above-mentioned gripping mechanism, there are three vacuum generators, and each vacuum generator is connected to four vacuum suction cups. The vacuum suction cups of each vacuum generator are evenly distributed to form two rows of suction cup assemblies. The air blowing device is connected to the three vacuum generators respectively through an air blowing pipe connector.

[0015] Optionally, in the above-mentioned gripping mechanism, the vacuum generator includes an air inlet and an air outlet. The air inlet is connected to each row of vacuum suction cups through an air inlet pipe connector, and the air outlet is connected to the air blowing device.

[0016] Optionally, in the above-mentioned gripping mechanism, an air blowing solenoid valve for controlling the blowing is provided on the air blowing pipeline.

[0017] Optionally, in the above-mentioned gripping mechanism, there are two vacuum generators, and each vacuum generator is connected to four vacuum suction cups;

[0018] Along the long side of the photovoltaic module, the distance between two adjacent vacuum chucks is 450mm to 600mm.

[0019] In the short side direction of the photovoltaic module, the distance between two adjacent vacuum chucks is 600mm to 700mm.

[0020] Optionally, in the above-mentioned gripping mechanism, the vacuum generator is provided with a suction solenoid valve for controlling suction.

[0021] Optionally, in the above-mentioned gripping mechanism, the vacuum suction cup includes a suction nozzle and an adsorption plate. The adsorption plate is located at one end of the suction port of the suction nozzle, and the end of the suction nozzle away from the adsorption plate is connected to the vacuum generator through a suction pipe.

[0022] A photovoltaic module installation device includes a gripping mechanism as described in any of the preceding claims.

[0023] The gripping mechanism provided in this application, by setting at least two vacuum generators and at least two rows of suction cup assemblies, with each row of suction cup assemblies including multiple vacuum suction cups capable of gripping photovoltaic modules, and each adjacent pair of vacuum suction cups in each row connected to different vacuum generators, ensures the stability of gripping the photovoltaic modules. When one vacuum generator fails, because the failed vacuum suction cups are distributed in different positions, the gripping mechanism still experiences balanced force, preventing excessive force on any one vacuum suction cup and thus preventing the photovoltaic modules from falling and being damaged. As can be seen from the above example, the gripping mechanism provided in this application, by connecting each adjacent pair of vacuum suction cups in each row of suction cup assemblies to different vacuum generators, allows the failed vacuum suction cups to be distributed in different positions, ensuring that the gripping mechanism still experiences balanced force and preventing excessive force on any one vacuum suction cup, thus improving the reliability of the gripping mechanism.

[0024] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 A top view of the gripping mechanism provided in Embodiment 1 of this application;

[0027] Figure 2 A front view of the gripping mechanism provided in Embodiment 1 of this application;

[0028] Figure 3 This is a schematic diagram of the first working condition of the gripping mechanism provided in Embodiment 1 of this application;

[0029] Figure 4 This is a schematic diagram of the second working condition of the gripping mechanism provided in Embodiment 1 of this application;

[0030] Figure 5 A schematic diagram of the third working condition of the grasping mechanism provided in Embodiment 1 of this application;

[0031] Figure 6A schematic diagram of the fourth working condition of the gripping mechanism provided in Embodiment 1 of this application;

[0032] Figure 7 This is a top view of the gripping mechanism provided in Embodiment 2 of this application.

[0033] Among them, 100 is a vacuum generator, 101 is an air intake port, 102 is an air outlet, 103 is an air intake pipe connector, 104 is an air intake solenoid valve, 105 is the first vacuum generator, 106 is the second vacuum generator, and 107 is the third vacuum generator.

[0034] 200 is the suction cup assembly, 201 is the vacuum suction cup, 2011 is the suction nozzle, 2012 is the suction plate, 202 is the first vacuum suction cup, 203 is the second vacuum suction cup, 204 is the third vacuum suction cup, 205 is the fourth vacuum suction cup, 206 is the fifth vacuum suction cup, 207 is the sixth vacuum suction cup, 208 is the seventh vacuum suction cup, 209 is the eighth vacuum suction cup, 210 is the ninth vacuum suction cup, 211 is the tenth vacuum suction cup, 212 is the eleventh vacuum suction cup, and 213 is the twelfth vacuum suction cup.

[0035] 300 is the air blowing solenoid valve, and 301 is the air blowing pipe connector. Detailed Implementation

[0036] The core of this application is to provide a gripping mechanism to improve the reliability of the gripping mechanism.

[0037] Another key aspect of this application is to provide a photovoltaic module installation device with the aforementioned gripping mechanism.

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the field of photovoltaic (PV) module installation, the PV mounting bracket is usually installed first, and then the PV modules are manually lifted onto the bracket for installation. However, since each PV module weighs 30kg to 40kg, is generally longer than 2 meters and wider than 1 meter, and is usually installed at a height of more than 1.5 meters, at least two workers are needed to lift the PV modules onto the bracket for installation. This results in high labor intensity and low installation efficiency.

[0040] Based on the above, gripping mechanisms have gradually replaced manual lifting of photovoltaic modules. The end of the gripping mechanism typically uses a vacuum suction cup to grasp the glass panel of the photovoltaic module, lifting it onto the photovoltaic support for installation. However, in actual use, dust inevitably gets sucked into the pipes, causing some suction cups to malfunction, resulting in uneven or insufficient suction, ultimately causing the photovoltaic module to fall, become damaged, and be scrapped.

[0041] Therefore, such as Figure 1 As shown in the figure, this application discloses a gripping mechanism, including a vacuum generator 100 and a suction cup assembly 200. By connecting two adjacent vacuum suction cups 201 of each row of suction cup assemblies 200 to different vacuum generators 100, the failed vacuum suction cups 201 can be distributed in different positions, ensuring that the gripping mechanism is still subjected to balanced force and preventing excessive force on any one vacuum suction cup 201, which could cause the photovoltaic module to fall and be damaged, thus improving the reliability of the gripping mechanism.

[0042] The following will combine Figures 1 to 6 The crawling mechanism disclosed in the embodiments of this application will be explained and described in detail.

[0043] Among them, such as Figure 1 As shown, the vacuum generator 100 may include at least two, that is, there may be two, three, four or more vacuum generators 100. Simultaneously, the suction cup assembly 200 may include at least two rows, that is, there may be two, three, four or more rows of suction cup assemblies 200, to ensure the stability of gripping the photovoltaic module. Each row of suction cup assembly 200 may include multiple vacuum suction cups 201, and the number of vacuum suction cups 201 in each row may be four, five, six or more. Adjacent vacuum suction cups 201 in each row of suction cup assembly 200 are respectively connected to different vacuum generators 100, and each vacuum generator 100 is equipped with an independent suction solenoid valve 104 to achieve independent control of the suction of each vacuum generator 100, thereby ensuring the reliability of gripping the photovoltaic module. When one of the vacuum generators 100 fails, the suction solenoid valve 104 of the failed vacuum generator 100 can be closed. Since the two adjacent vacuum suction cups 201 are connected to different vacuum generators 100, the failed vacuum suction cups 201 are dispersed in different positions. That is, on the same row, the failed vacuum suction cups 201 are staggered from the working vacuum suction cups 201, thereby ensuring that the gripping mechanism is still subjected to balanced force and will not cause excessive force on a certain vacuum suction cup 201, which would cause the photovoltaic module to fall and be damaged and scrapped. This improves the reliability of the gripping mechanism.

[0044] In some embodiments, the gripping mechanism may further include a cleaning mechanism to periodically remove dust from the connecting pipes between each vacuum generator 100 and the vacuum suction cup 201, ensuring stable operation of the vacuum generator 100. Alternatively, a negative pressure detection element may be installed within the vacuum generator 100 to detect the actual negative pressure value of the vacuum generator 100. When the negative pressure detection element detects an abnormal negative pressure, it can sound an alarm and notify the electronic control system for timely handling. Simultaneously, when the actual negative pressure value of any vacuum generator 100 exceeds a threshold, the cleaning mechanism can be triggered to clean the dust from the connecting pipes between each vacuum generator 100 and the vacuum suction cup 201 before the next gripping operation, ensuring stable operation of each vacuum generator 100. It should be noted that the threshold value can be determined based on the negative pressure value of the vacuum generator 100 under normal operating conditions and the actual operating environment.

[0045] In some embodiments, the cleaning mechanism may include at least one air blowing device, and the air blowing device is connected to each vacuum generator 100 via air blowing lines, while simultaneously... Figure 1 As shown, a controllable air-blowing solenoid valve 300 is installed on the air-blowing pipeline. This allows the solenoid valve 300 to control the periodic blowing of air into the connecting pipelines between each vacuum generator 100 and the vacuum suction cup 201, removing dust and ensuring stable operation of the vacuum generator 100. Alternatively, when the actual negative pressure value of any vacuum generator 100 exceeds a threshold, the solenoid valve 300 can be triggered to blow air into the connecting pipelines before the next gripping action of the vacuum suction cup, performing a cleaning process and ensuring stable operation of each vacuum generator 100. It should be noted that one end of the solenoid valve is connected to each vacuum generator 100, and the other end is connected to the air-blowing equipment used for supplying air.

[0046] In some embodiments, such as Figure 7 As shown, two vacuum generators 100 can be used, and each vacuum generator 100 is connected to four vacuum suction cups 201. The vacuum suction cups 201 are evenly distributed to form two rows of suction cup assemblies 200. At the same time, two adjacent vacuum suction cups 201 of each row of suction cup assemblies 200 are respectively connected to different vacuum generators 100, so that the vacuum suction cups 201 of the two vacuum generators 100 are alternately distributed in the same row. The blowing device can be connected to the two vacuum generators 100 respectively through the blowing pipe connector 301.

[0047] In the above embodiments, in order to adapt to photovoltaic modules of different specifications and ensure stable adsorption of photovoltaic modules, the distance between two adjacent vacuum suction cups 201 in the long side direction of the photovoltaic module can be 450mm to 600mm; and the distance between two adjacent vacuum suction cups 201 in the short side direction of the photovoltaic module can be 600mm to 700mm.

[0048] In some embodiments, such as Figures 1 to 6 As shown, three vacuum generators 100 can be used, and each vacuum generator 100 is connected to four vacuum suction cups 201. The vacuum suction cups 201 of each vacuum generator 100 are evenly distributed to form two rows of suction cup assemblies 200. At the same time, the air blowing device is connected to the three vacuum generators 100 respectively through air blowing pipe connectors 301. For ease of understanding, as... Figures 3 to 6 As shown, the three vacuum generators 100 are defined as the first vacuum generator 105, the second vacuum generator 106, and the third vacuum generator 107, respectively. The four vacuum suction cups 201 connected to the first vacuum generator 105 are defined as the first vacuum suction cup 202, the second vacuum suction cup 203, the third vacuum suction cup 204, and the fourth vacuum suction cup 205, respectively. The four vacuum suction cups 201 connected to the second vacuum generator 106 are defined as the fifth vacuum suction cup 206, the sixth vacuum suction cup 207, the seventh vacuum suction cup 208, and the eighth vacuum suction cup 209, respectively. The four vacuum suction cups 201 connected to the third vacuum generator 107 are defined as the ninth vacuum suction cup 210, the tenth vacuum suction cup 211, the eleventh vacuum suction cup 212, and the twelfth vacuum suction cup 213, respectively.

[0049] Optionally, the first vacuum suction cup 202, the second vacuum suction cup 203, the fifth vacuum suction cup 206, the sixth vacuum suction cup 207, the ninth vacuum suction cup 210, and the tenth vacuum suction cup 211 can be located in the same row, and can be arranged in the order of the first vacuum suction cup 202, the fifth vacuum suction cup 206, the ninth vacuum suction cup 210, the second vacuum suction cup 203, the sixth vacuum suction cup 207, and the tenth vacuum suction cup 211. At the same time, the third vacuum suction cup 204, the fourth vacuum suction cup 205, the seventh vacuum suction cup 208, the eighth vacuum suction cup 209, the eleventh vacuum suction cup 212, and the twelfth vacuum suction cup 213 can be located in the same row, and can be arranged in the order of the eleventh vacuum suction cup 212, the seventh vacuum suction cup 208, the third vacuum suction cup 204, the twelfth vacuum suction cup 213, the eighth vacuum suction cup 209, and the fourth vacuum suction cup 205. In addition, the air blowing solenoid valve 300 of the air blowing device can be connected to the first vacuum generator 105, the second vacuum generator 106 and the third vacuum generator 107 respectively through a four-way pipe joint, so as to blow air to clean each vacuum generator 100.

[0050] like Figure 3As shown, when the blowing solenoid valve 300 is working, the suction solenoid valves 104 of each vacuum generator 100 are not working, and at the same time, the blowing solenoid valve 300 is connected to each vacuum generator 100, as... Figure 3 As shown by the solid lines, each vacuum suction cup 201 is blowing air outwards at this time, thereby cleaning the dust in the connecting pipes between each vacuum generator 100 and the vacuum suction cup 201 through the air blowing device. It should be noted that... Figure 3 The dashed lines in the diagram represent disconnected air passages.

[0051] like Figure 4 As shown, when the second vacuum generator 106 and the third vacuum generator 107 fail, and the suction solenoid valve 104 of the first vacuum generator 105 is working normally, the first vacuum generator 105 is connected to the first vacuum suction cup 202, the second vacuum suction cup 203, the third vacuum suction cup 204, and the fourth vacuum suction cup 205, respectively. Figure 4 As shown by the solid lines, at this time, the first vacuum suction cup 202, the second vacuum suction cup 203, the third vacuum suction cup 204, and the fourth vacuum suction cup 205 are drawing air. Because the first vacuum suction cup 202 and the second vacuum suction cup 203 are located in different positions, and the third vacuum suction cup 204 and the fourth vacuum suction cup 205 are also located in different positions, it ensures that the gripping mechanism remains evenly stressed. This prevents any single vacuum suction cup 201 from experiencing excessive stress, which could lead to the photovoltaic module falling and being damaged, thus improving the reliability of the gripping mechanism. It should be noted that... Figure 4 The dashed lines in the diagram represent disconnected air passages.

[0052] like Figure 5 As shown, when the first vacuum generator 105 and the third vacuum generator 107 fail, and the suction solenoid valve 104 of the second vacuum generator 106 is working normally, the second vacuum generator 106 is connected to the fifth vacuum suction cup 206, the sixth vacuum suction cup 207, the seventh vacuum suction cup 208, and the eighth vacuum suction cup 209, respectively. Figure 5 As shown by the solid lines, at this time, the fifth vacuum suction cup 206, the sixth vacuum suction cup 207, the seventh vacuum suction cup 208, and the eighth vacuum suction cup 209 are drawing air. Because the fifth vacuum suction cup 206 and the sixth vacuum suction cup 207 are located in different positions, and the seventh vacuum suction cup 208 and the eighth vacuum suction cup 209 are also located in different positions, it ensures that the gripping mechanism remains under balanced force. This prevents any single vacuum suction cup 201 from experiencing excessive force, which could lead to the photovoltaic module falling and being damaged, thus improving the reliability of the gripping mechanism. It should be noted that... Figure 5 The dashed lines in the diagram represent disconnected air passages.

[0053] like Figure 6As shown, when the first vacuum generator 105 and the second vacuum generator 106 fail, and the suction solenoid valve 104 of the third vacuum generator 107 is working normally, the third vacuum generator 107 is connected to the ninth vacuum suction cup 210, the tenth vacuum suction cup 211, the eleventh vacuum suction cup 212, and the twelfth vacuum suction cup 213, respectively. Figure 6 As shown by the solid lines, at this time, the ninth vacuum suction cup 210, the tenth vacuum suction cup 211, the eleventh vacuum suction cup 212, and the twelfth vacuum suction cup 213 are suctioning air. Because the ninth vacuum suction cup 210 and the tenth vacuum suction cup 211 are located in different positions, and the eleventh vacuum suction cup 212 and the twelfth vacuum suction cup 213 are also located in different positions, it ensures that the gripping mechanism remains under balanced force. This prevents any single vacuum suction cup 201 from experiencing excessive force, which could lead to the photovoltaic module falling and being damaged, thus improving the reliability of the gripping mechanism. It should be noted that... Figure 6 The dashed lines in the diagram represent disconnected air passages.

[0054] In the above embodiments, multiple air blowing solenoid valves 300 can be configured, and each air blowing solenoid valve 300 can be configured in a one-to-one correspondence with a vacuum generator 100, so that the cleaning pipeline of each vacuum generator 100 can be controlled individually, and the vacuum generator 100 with more dust can be cleaned individually.

[0055] In some embodiments, such as Figure 1 As shown, the vacuum suction cup 201 may include a suction nozzle 2011 and an adsorption plate 2012. The adsorption plate 2012 is located at one end of the suction port 101 of the suction nozzle 2011. The end of the suction nozzle 2011 facing away from the adsorption plate 2012 is connected to the vacuum generator 100 through a suction pipe. The vacuum generator 100 may include a suction port 101 and an outlet port 102. The suction port 101 is connected to the suction nozzles 2011 of each row of vacuum suction cups 201 through a suction pipe connector 103, while the outlet port 102 is connected to the blowing solenoid valve 300 of the blowing device.

[0056] As can be seen from the above embodiments, by setting at least two vacuum generators 100 and at least two rows of suction cup assemblies 200, with each row of suction cup assemblies 200 including multiple vacuum suction cups 201, and each adjacent pair of vacuum suction cups 201 in each row of suction cup assemblies 200 connected to different vacuum generators 100, the stability of gripping the photovoltaic module can be guaranteed. When one vacuum generator 100 fails, because the failed vacuum suction cups 201 are distributed in different positions, the gripping mechanism still experiences balanced force, preventing excessive force on any one vacuum suction cup 201 that could cause the photovoltaic module to fall and be damaged. Simultaneously, the connecting pipes between each vacuum generator 100 and the vacuum suction cup 201 can be cleaned by a cleaning mechanism, improving the reliability and stability of the gripping mechanism.

[0057] This application also discloses a photovoltaic module installation device, including a gripping mechanism. This gripping mechanism is the same as the gripping mechanism disclosed in the above embodiments, and therefore has all the technical effects of the above gripping mechanism. It will not be described again here.

[0058] The terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather not listed.

[0059] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripping mechanism, characterized in that, The application relates to a vacuum grabbing mechanism for photovoltaic modules. The vacuum grabbing mechanism comprises: a vacuum generator (100), which is at least two; a vacuum chuck assembly (200), which is at least two rows, and each row of the vacuum chuck assembly (200) comprises a plurality of vacuum chucks (201) for sucking photovoltaic modules, and adjacent two vacuum chucks (201) of each row of the vacuum chuck assembly (200) are connected to different vacuum generators (100) respectively. The vacuum grabbing mechanism further comprises a cleaning mechanism for cleaning each vacuum generator (100).

2. The grasping mechanism of claim 1, wherein, The cleaning mechanism comprises at least one blowing device connected to each vacuum generator (100) through a blowing pipeline.

3. The grasping mechanism of claim 2, wherein, The vacuum generator (100) is provided with a negative pressure detection element for detecting an actual negative pressure value of the vacuum generator (100).

4. The grasping mechanism of claim 3, wherein, When the actual negative pressure value of the vacuum generator (100) is higher than a threshold value, the blowing device blows air to the vacuum generator (100). The vacuum generator (100) is three, and each vacuum generator (100) is connected with four vacuum chucks (201), and the vacuum chucks (201) of each vacuum generator (100) are uniformly distributed to form two rows of the vacuum chuck assembly (200), and the blowing device is connected to the three vacuum generators (100) through blowing pipe joints (301) respectively.

5. The grasping mechanism of claim 3, wherein, The vacuum generator (100) comprises a suction port (101) and an air outlet (102), the suction port (101) is connected to each row of the vacuum chucks (201) through a suction pipe joint (103), and the air outlet (102) is connected to the blowing device.

6. The grasping mechanism of claim 3, wherein, A blowing electromagnetic valve (300) for controlling blowing is arranged on the blowing pipeline.

7. The grasping mechanism of claim 3, wherein, The vacuum generator (100) is two, and each vacuum generator (100) is connected with four vacuum chucks (201).

8. The grasping mechanism of claim 1, wherein, In the long edge direction of the photovoltaic module, the distance between adjacent two vacuum chucks (201) is 450mm-600mm. In the short edge direction of the photovoltaic module, the distance between adjacent two vacuum chucks (201) is 600mm-700mm. The vacuum generator (100) is provided with a suction electromagnetic valve (104) for controlling suction.

9. The grasping mechanism of claim 1, wherein, The vacuum chuck (201) comprises a suction nozzle (2011) and a suction disc (2012), the suction disc (2012) is located at one end of the suction port (101) of the suction nozzle (2011), and the end of the suction nozzle (2011) away from the suction disc (2012) is connected to the vacuum generator (100) through a suction pipeline.

10. The gripping mechanism according to any one of claims 1 to 9, characterized in that The application further relates to a grabbing mechanism comprising the vacuum grabbing mechanism.

11. A photovoltaic module installation apparatus, characterized by, ​

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