Sucker deviation rectifying device of intelligent photovoltaic panel mounting robot

Abstract

The utility model relates to a photovoltaic panel intelligent installation robot suction cup deviation rectifying device which comprises an installation frame, a control module is installed on the surface of the installation frame, a first frame-shaped plate body is installed at the front end of the installation frame, a first threaded rod is arranged in the first frame-shaped plate body, and the exterior of the first threaded rod is in threaded connection with a first sliding block. A second frame-shaped plate body is fixed to the front end of the first sliding block, a second threaded rod is arranged in the second frame-shaped plate body, the second threaded rod and the first threaded rod are connected with an output shaft of the driving motor through couplings, a second sliding block is in threaded connection with the exterior of the second threaded rod, and a suction cup deviation rectifying assembly is arranged at the front end of the second sliding block; according to the utility model, during the installation process of the photovoltaic panel, the adsorption position deviation of the sucker can be timely and accurately corrected, the installation precision and the installation efficiency of the photovoltaic panel are improved, and the damage risk of the photovoltaic panel is reduced.

Description

Technical Field

[0001] This utility model relates to the field of intelligent installation of photovoltaic panels, specifically a suction cup correction device for intelligent installation robot of photovoltaic panels. Background Technology

[0002] In the operation of intelligent photovoltaic panel installation robots, the suction cup, as a key component for adsorbing and transporting photovoltaic panels, directly affects the installation accuracy. However, due to factors such as the unevenness of the photovoltaic panel surface, vibrations during robot movement, and errors in the visual recognition system, the suction cup may experience positional deviations when adsorbing photovoltaic panels. If the suction cup's adsorption position is inaccurate, the photovoltaic panel may not be accurately installed in the predetermined position during transport and installation, leading to reduced installation efficiency and potentially even damage to the photovoltaic panel.

[0003] Some existing photovoltaic panel installation robots lack effective suction cup correction methods, or their correction devices are complex in structure and inconvenient to operate, making it difficult to meet actual installation needs. Therefore, designing a device that is simple in structure, easy to operate, and can effectively correct suction cup adsorption deviation is of great significance. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, adapt to practical needs, and provide a suction cup correction device for a photovoltaic panel intelligent installation robot. This device addresses the issue that current technologies, such as uneven photovoltaic panel surfaces, vibrations during robot movement, and errors in the visual recognition system, can cause positional deviations when the suction cup adheres to the photovoltaic panel. If the suction cup's position is inaccurate, the photovoltaic panel may not be accurately installed in the intended location during handling and installation, leading to reduced installation efficiency and potentially even damage to the photovoltaic panel.

[0005] To achieve the purpose of this utility model, the technical solution adopted by this utility model is as follows: A suction cup correction device for a photovoltaic panel intelligent installation robot is designed, including a mounting frame. A control module is mounted on the surface of the mounting frame. A first frame-shaped plate is mounted at the front end of the mounting frame. A first threaded rod is provided inside the first frame-shaped plate. A first slider is threadedly connected to the outside of the first threaded rod. A second frame-shaped plate is fixed to the front end of the first slider. A second threaded rod is provided inside the second frame-shaped plate. Both the second threaded rod and the first threaded rod are connected to the output shaft of a drive motor mounted outside the first and second frame-shaped plates via a coupling. A second slider is threadedly connected to the outside of the second threaded rod. A suction cup correction component is provided at the front end of the second slider.

[0006] Preferably, the suction cup correction assembly includes a six-axis robotic arm, an angle sensor is mounted on the surface of the six-axis robotic arm, a square housing is mounted on one end of the six-axis robotic arm, and side housings are provided at both ends of the square housing.

[0007] Preferably, a vacuum pump is installed at one end of the surface of both the square shell and the side shell, and one end of the vacuum pump is connected to a first vacuum tube, which extends into the interior of the square shell and the side shell.

[0008] Preferably, the first vacuum tube body has a sealed structure at one end inside the square shell and the side shell, and the surface of the first vacuum tube body inside the square shell and the side shell is connected to a plurality of second vacuum tube bodies, which pass through the square shell and the side shell and are connected to a vacuum suction cup.

[0009] Preferably, the square shell has circular grooves at both ends, and a telescopic cylinder is installed inside the circular groove. A dual-axis motor is installed inside one end of the telescopic cylinder that extends out of the circular groove. The output shafts at both ends of the dual-axis motor are connected to rotating rods through couplings.

[0010] Preferably, a fixing plate is fixed to the end of the rotating rod away from the dual-axis motor, and the fixing plate is fixed to the surface of the side housing.

[0011] Preferably, the control module is connected to the drive motor, the angle sensor, and the vision recognition system and intelligent control system of the photovoltaic panel intelligent installation robot, and the angle sensor adopts a high-precision encoder.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model combines a threaded rod, a six-axis robotic arm, and an angle sensor to precisely adjust the angle and position of the suction cup body, effectively correcting the deviation of the suction cup when adsorbing photovoltaic panels, and improving the installation accuracy of photovoltaic panels to ±1mm.

[0014] 2. This utility model achieves automated control of suction cup deviation by connecting the control module with the vision recognition system and the intelligent control system, eliminating the need for manual intervention and improving installation efficiency. Compared with traditional installation methods, it can shorten the installation time by at least 20%.

[0015] 2. This utility model, through the combination of suction cup correction components and side housings, not only allows for vacuum adsorption of photovoltaic panels using multiple vacuum suction cups at the bottom of the square housing, but also enables vacuum adsorption of photovoltaic panels from the sides using multiple vacuum suction cups on the surface of the side housing. This multi-faceted vacuum adsorption of the photovoltaic panel improves stability during adsorption. Furthermore, the inclusion of a telescopic cylinder allows for movement of the side housing, enabling active clamping of the photovoltaic panel. This clamping method can be used to hold the photovoltaic panel in case of adsorption mechanism failure, without affecting installation. Moreover, the rotation of the rotating rod driven by a dual-axis motor allows for adjustment of the side housing's angle. When the size of the photovoltaic panel exceeds the maximum adsorption distance of the square housing, the side housing can be adjusted to be on the same plane as the square housing, increasing the adsorption distance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the side shell structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the internal structure of the square shell of this utility model.

[0019] In the diagram: 1. Mounting frame; 101. First frame plate; 102. First threaded rod; 103. First slider; 104. Second frame plate; 105. Second threaded rod; 106. Second slider; 107. Control module; 108. Angle sensor; 2. Six-axis robotic arm; 201. Square housing; 202. Vacuum suction cup; 203. Vacuum pump; 204. Telescopic cylinder; 205. Side housing; 206. First vacuum tube; 207. Second vacuum tube; 3. Fixed plate; 301. Dual-axis motor; 302. Rotating rod. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0021] Example 1: A suction cup correction device for a photovoltaic panel intelligent installation robot, see [link / reference] Figures 1 to 3The system includes a mounting bracket 1, on which a control module 107 is mounted. A first frame plate 101 is mounted at the front end of the mounting bracket 1. A first threaded rod 102 is provided inside the first frame plate 101. A first slider 103 is threadedly connected to the outside of the first threaded rod 102. A second frame plate 104 is fixed to the front end of the first slider 103. A second threaded rod 105 is provided inside the second frame plate 104. Both the second threaded rod 105 and the first threaded rod 102 are connected to the output shaft of a drive motor mounted outside the first frame plate 101 and the second frame plate 104 via couplings. A second slider 106 is threadedly connected to the outside of the second threaded rod 105. A suction cup correction component is provided at the front end of the second slider 106. The control module 107 is first connected to the drive motor, angle... Sensor 108 is electrically connected to the vision recognition system and intelligent control system of the photovoltaic panel intelligent installation robot to ensure normal communication and operation between the components. When the vision recognition system of the photovoltaic panel intelligent installation robot identifies the position of the photovoltaic panel, the six-axis robotic arm 2 moves the suction cup body close to the photovoltaic panel for adsorption. During the adsorption process, the angle sensor 108 on the surface of the six-axis robotic arm 2 monitors the angle of the suction cup body in real time. If an angle deviation is detected, the angle information is transmitted to the control module 107. At the same time, the vision recognition system compares the actual position information of the photovoltaic panel with the preset position information. If there is a position deviation, the deviation information is also transmitted to the control module 107. After receiving the angle deviation information, the control module 107 calculates the angle value that needs to be adjusted. Then, the control module 107 sends a command to the six-axis robotic arm 2, which directly drives the suction cup body to rotate and move, thereby adjusting the angle of the suction cup body. During the rotation, the angle sensor 108 provides real-time feedback on the rotation angle. When the preset angle value is reached, the six-axis robotic arm 2 stops operating, completing the angle correction. After receiving the position deviation information, the control module 107 controls the drive motor to drive the first threaded rod 102 and the second threaded rod 105 to rotate according to the direction and magnitude of the deviation, thereby adjusting the position. If there is a horizontal deviation, the control module 107 sends a command to the drive motor, which drives the first threaded rod 102 to rotate horizontally, causing the first slider 103 to slide horizontally, adjusting the position of the suction cup body in the horizontal direction. If there is a vertical deviation, the control module 107 sends a command to the drive motor, which drives the second threaded rod 105 to rotate vertically, causing the second slider 106 to slide up and down, adjusting the position of the suction cup body in the vertical direction. During the position adjustment process, the control module 107 monitors the changes in position deviation in real time. When the position deviation reaches the allowable range, the drive motor stops running, completing the position correction. After the suction cup correction operation is completed, the six-axis robotic arm 2 transports the photovoltaic panel to the installation position for installation according to the path planned by the intelligent control system. If a deviation in the position or angle of the suction cup is detected again during the installation process, the above correction steps can be repeated to ensure that the photovoltaic panel can be accurately installed in the predetermined position.

[0022] For details, see Figure 1 The suction cup correction assembly includes a six-axis robotic arm 2, an angle sensor 108 is mounted on the surface of the six-axis robotic arm 2, a square housing 201 is mounted on one end of the six-axis robotic arm 2, and side housings 205 are provided at both ends of the square housing 201.

[0023] Further, see Figure 3 A vacuum pump 203 is installed on one end of the surface of both the square housing 201 and the side housing 205. One end of the vacuum pump 203 is connected to a first vacuum tube 206, which extends into the interior of the square housing 201 and the side housing 205.

[0024] It is worth noting that, see Figure 1 and Figure 3 The first vacuum tube 206, located within the square housing 201 and the side housing 205, has a sealed end. Multiple second vacuum tubes 207 are connected to the surface of this end within the square housing 201 and the side housing 205. These second vacuum tubes 207 pass through the square housing 201 and the side housing 205 and are connected to vacuum suction cups 202. Since multiple vacuum suction cups 202 are provided on the bottom of the square housing 201 and the sides of the side housing 205, not only can the vacuum pump 203 on the surface of the square housing 201 be activated, allowing the multiple vacuum suction cups 202 at the bottom of the square housing 201 to vacuum-adhere to the photovoltaic panel via the first vacuum tube 206 and the second vacuum tubes 207, but also the vacuum pump 203 on the surface of the side housing 205 can be activated, utilizing the multiple vacuum suction cups 202 on the surface of the side housing 205 to vacuum-adhere to the photovoltaic panel from the side. The photovoltaic panel is vacuum-adsorbed. Vacuum adsorption of multiple sides of the photovoltaic panel improves stability during adsorption. Simultaneously, the telescopic cylinder 204 can be activated to move the side housing 205. This movement of the side housing 205 allows for active clamping of the photovoltaic panel, enabling it to hold the panel in case of adsorption mechanism failure, without affecting installation. Furthermore, activating the dual-axis motor 301 rotates the rotating rod 302, which in turn rotates the fixed plate 3. The fixed plate 3 then rotates the side housing 205, adjusting its angle. When the photovoltaic panel's size exceeds the maximum adsorption distance of the square housing 201, the side housing 205 can be adjusted to be on the same plane as the square housing 201, increasing the adsorption distance.

[0025] It is worth noting that, see Figure 1 and Figure 2The square housing 201 has circular slots at both ends, and a telescopic cylinder 204 is installed inside the circular slots. A dual-axis motor 301 is installed inside one end of the telescopic cylinder 204 that extends out of the circular slot. The output shafts at both ends of the dual-axis motor 301 are connected to rotating rods 302 through couplings.

[0026] It is worth mentioning that, see Figure 2 The end of the rotating rod 302 away from the dual-axis motor 301 is fixed with a fixing plate 3, which is fixed to the surface of the side housing 205.

[0027] It is worth emphasizing that, see Figure 1 The control module 107 is connected to the drive motor, the angle sensor 108, and the vision recognition system and intelligent control system of the photovoltaic panel intelligent installation robot. The angle sensor 108 adopts a high-precision encoder.

[0028] It should be noted that when the side housing 205 is moved and adjusted to be on the same plane as the square housing 201, the vacuum suction cup 202 on the surface of the side housing 205 and the square housing 201 is also on the same plane.

[0029] When using a suction cup correction device for a photovoltaic panel intelligent installation robot, the control module 107 is first electrically connected to the drive motor, angle sensor 108, and the vision recognition system and intelligent control system of the photovoltaic panel intelligent installation robot to ensure normal communication and operation between the components. When the vision recognition system of the photovoltaic panel intelligent installation robot identifies the position of the photovoltaic panel, the six-axis robotic arm 2 moves the suction cup body close to the photovoltaic panel for adsorption. During the adsorption process, the angle sensor 108 on the surface of the six-axis robotic arm 2 monitors the angle of the suction cup body in real time. If an angle deviation is detected, the angle information is transmitted to the control module 107. At the same time, the vision recognition system compares the actual position information of the photovoltaic panel with the preset position information. If there is a position deviation, the deviation information is also transmitted to the control module 107. After receiving the angle deviation information, the control module 107 calculates the angle value that needs to be adjusted. Then, the control module 107 sends a command to the six-axis robotic arm 2, which directly drives the suction cup body to rotate and move, thereby adjusting the angle of the suction cup body. During the rotation, the angle sensor 108 provides real-time feedback on the rotation angle. When the preset angle value is reached, the six-axis robotic arm 2 stops operating, completing the angle correction. After receiving the position deviation information, the control module 107 controls the drive motor to drive the first threaded rod 102 and the second threaded rod 105 to rotate according to the direction and magnitude of the deviation, thereby adjusting the position. If there is a horizontal deviation, the control module 107 sends a command to the drive motor, which drives the first threaded rod 102 to rotate horizontally, causing the first slider 103 to slide horizontally, adjusting the position of the suction cup body in the horizontal direction. If there is a vertical deviation, the control module 107 sends a command to the drive motor, which drives the second threaded rod 105 to rotate vertically, causing the second slider 106 to slide up and down, adjusting the position of the suction cup body in the vertical direction. During the position adjustment process, the control module 107 monitors the changes in position deviation in real time. When the position deviation reaches the allowable range, the drive motor stops running, and the position correction is completed. After the correction operation of the suction cup is completed, the six-axis robotic arm 2 moves the photovoltaic panel to the installation position for installation according to the path planned by the intelligent control system.During installation, if any deviation in the position or angle of the suction cups is detected again, the above correction steps can be repeated to ensure that the photovoltaic panel is accurately installed in the predetermined position. Since multiple vacuum suction cups 202 are provided on the bottom of the square housing 201 and the sides of the side housing 205, the vacuum pump 203 on the surface of the square housing 201 can be activated, allowing the multiple vacuum suction cups 202 at the bottom of the square housing 201 to vacuum-adhere to the photovoltaic panel through the first vacuum tube 206 and the second vacuum tube 207. Furthermore, the vacuum pump 203 on the surface of the side housing 205 can also be activated, utilizing the multiple vacuum suction cups 202 on the surface of the side housing 205 to vacuum-adhere to the photovoltaic panel from the side. This multi-faceted vacuum adsorption of the photovoltaic panel improves the stability of the adsorption process. Qualitatively, the telescopic cylinder 204 can be activated to move the side housing 205. This movement of the side housing 205 allows for active clamping of the photovoltaic panel. Even if the adsorption mechanism malfunctions, the photovoltaic panel can still be clamped without affecting its installation. Furthermore, activating the dual-axis motor 301 rotates the rotating rod 302, which in turn rotates the fixed plate 3. The fixed plate 3 then rotates the side housing 205, adjusting its angle. When the photovoltaic panel's size exceeds the maximum adsorption distance of the square housing 201, the side housing 205 can be adjusted to be on the same plane as the square housing 201, increasing the adsorption distance of the photovoltaic panel.

[0030] In addition, all components designed in this utility model are general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. Those skilled in the art can fully implement them, so there is no need to elaborate. The content protected by this utility model does not involve improvements to the internal structure and method.

[0031] The embodiments disclosed herein are preferred embodiments, but are not limited thereto. Those skilled in the art can readily grasp the spirit of this utility model based on the above embodiments and make different extensions and variations. However, as long as they do not depart from the spirit of this utility model, they are all within the protection scope of this utility model.

Claims

1. A suction cup correction device for a photovoltaic panel intelligent installation robot, comprising a mounting frame (1), wherein a control module (107) is mounted on the surface of the mounting frame (1), characterized in that, The mounting bracket (1) has a first frame plate (101) installed at its front end. The first frame plate (101) has a first threaded rod (102) inside. The first threaded rod (102) is externally threaded to a first slider (103). The front end of the first slider (103) is fixed to a second frame plate (104). The second frame plate (104) has a second threaded rod (105) inside. The second threaded rod (105) and the first threaded rod (102) are both connected to the output shaft of a drive motor installed outside the first frame plate (101) and the second frame plate (104) via a coupling. The second threaded rod (105) is externally threaded to a second slider (106). The front end of the second slider (106) is provided with a suction cup correction component.

2. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 1, characterized in that, The suction cup correction assembly includes a six-axis robotic arm (2), an angle sensor (108) is mounted on the surface of the six-axis robotic arm (2), a square housing (201) is mounted on one end of the six-axis robotic arm (2), and side housings (205) are provided at both ends of the square housing (201).

3. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 2, characterized in that, A vacuum pump (203) is installed at one end of the surface of both the square shell (201) and the side shell (205). One end of the vacuum pump (203) is connected to a first vacuum tube (206), which extends into the interior of the square shell (201) and the side shell (205).

4. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 3, characterized in that, The first vacuum tube (206) is sealed at one end inside the square shell (201) and the side shell (205), and the surface of the first vacuum tube (206) inside the square shell (201) and the side shell (205) is connected to a plurality of second vacuum tubes (207), and the plurality of second vacuum tubes (207) pass through the square shell (201) and the side shell (205) and are connected to a vacuum suction cup (202).

5. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 2, characterized in that, Both ends of the square housing (201) are provided with circular grooves. A telescopic cylinder (204) is installed inside the circular groove. A dual-axis motor (301) is installed inside one end of the telescopic cylinder (204) that extends out of the circular groove. The output shafts at both ends of the dual-axis motor (301) are connected to rotating rods (302) through couplings.

6. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 5, characterized in that, The end of the rotating rod (302) away from the dual-axis motor (301) is fixed with a fixing plate (3), and the fixing plate (3) is fixed to the surface of the side shell (205).

7. The photovoltaic panel intelligent installation robot suction cup correction device as described in claim 1, characterized in that, The control module (107) is connected to the drive motor, the angle sensor (108), and the vision recognition system and intelligent control system of the photovoltaic panel intelligent installation robot. The angle sensor (108) adopts a high-precision encoder.

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