Photovoltaic installation robot end effector with active light source and safety protection

Abstract

The utility model discloses a kind of photovoltaic installation robot end effector with active light source and safety protection, including sucking disc system, still including sliding system, binocular camera, light source and linear displacement sensor;Sliding system is fixed in the mechanical arm end of photovoltaic module installation robot;The sliding system includes sliding base, sliding block and driving arrangement;Sliding block is set on the guide rail of the sliding base, and is connected with driving arrangement, under the driving of driving arrangement, along the guide rail of sliding base reciprocating linear motion is made;Linear displacement sensor includes sliding ruler, fixed ruler, sliding ruler connecting piece and fixed ruler connecting piece;Sliding ruler is fixed on sucking disc;Fixed ruler is fixed on auxiliary connecting piece;The binocular camera and light source are fixed on sliding base, wherein light source is fixed on the both sides of binocular camera.The utility model photovoltaic module installation robot end effector does not affect binocular camera photographing identification, can monitor and increase the arm spread of mechanical arm to sucking disc deformation.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic module installation robot technology, specifically to a photovoltaic installation robot end effector with active light source and safety protection. Background Technology

[0002] With the increasing global demand for renewable energy, photovoltaic (PV) power generation technology has been widely adopted. The installation of centralized PV power plants typically requires a significant amount of manual labor, especially in harsh environments, posing considerable safety risks and increasing the workload for workers. Furthermore, the manual lifting of PV modules to the installation height adds complexity and safety hazards to the construction process.

[0003] To improve the installation efficiency and safety of photovoltaic (PV) modules in power plants, PV module installation robots have gradually emerged as a solution in recent years. These robots can replace manual labor in tasks such as handling PV modules, and they have significant advantages, especially in complex environments. However, existing PV module installation robot end effectors still have some shortcomings. During installation, especially when there are large differences in light and shadow in the imaging area, weak sunlight, or nighttime operation, insufficient or uneven lighting in the operating area may affect the binocular camera's image recognition, thus failing to accurately establish a 3D point cloud of the target area. Insufficient safety protection during the picking up and placing of PV modules may cause excessive downward stroke, thereby damaging the PV modules. The length of the PV module robotic arm is related to the working range, but an excessively long robotic arm increases cost and overall vehicle weight. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problem of providing an end effector for a photovoltaic module installation robot that does not affect binocular camera image recognition, monitors suction cup deformation, and increases the arm span of the robotic arm.

[0005] To solve the above-mentioned technical problems, this utility model provides an end effector for a photovoltaic module installation robot, including: a suction cup system, a sliding system, a binocular camera, a light source, and a linear displacement sensor; The sliding system is fixed to the end of the robotic arm of the photovoltaic module installation robot; the sliding system includes a slide base, a slider and a driving device; the slider is set on the guide rail of the slide base and connected to the driving device, and moves back and forth in a straight line along the guide rail of the slide base under the drive of the driving device. The suction cup system includes a connecting rod, a suction cup, a suction cup system connector, a vacuum pump, and an air compressor. The suction cup system connector includes a main connector and several secondary connectors, with the secondary connectors arranged parallel to the length of the main connector. The main connector is fixed to the slider, the connecting rod is fixed to the secondary connectors, and the suction cup is fixed to the lower end of the connecting rod. The vacuum pump and air compressor are connected to the suction cup via air passages. The linear displacement sensor includes a sliding ruler, a fixed ruler, a sliding ruler connector, and a fixed ruler connector; the sliding ruler is fixed on the suction cup and connected through the sliding ruler connector; the fixed ruler is fixed on the auxiliary connector and connected through the fixed ruler connector. The binocular camera and light source are fixed on the slide base, with the light source fixed on both sides of the binocular camera.

[0006] The present invention relates to an end effector mechanism for a photovoltaic module installation robot. The sliding system is fixed to the end of the robotic arm and connected by a sliding system connector. The sliding system connector is connected to the slide base. The sliding system connector and the slide base move with the robotic arm and the end shaft of the robotic arm rotates.

[0007] The end effector of this photovoltaic module installation robot has a hollow structure inside the slide base, which contains rollers and lead screws, and is protected from outdoor wind and sand by the outer shell of the slide base.

[0008] The end effector of this photovoltaic module installation robot has a servo motor connected to a coupling, which drives the lead screw to rotate, thereby causing the slider to make reciprocating linear motion along the guide rail.

[0009] The end effector of this utility model photovoltaic module installation robot has a suction cup system fixed on the slider of the sliding system and connected by a suction cup system connector. This part of the system moves with the slider, increasing the arm span of the robotic arm when installing photovoltaic modules.

[0010] The end effector of this photovoltaic module installation robot has a linear displacement sensor with a sliding ruler fixed on the suction cup and connected by a sliding rod and sliding ruler connector. A fixed ruler is fixed on the suction cup system connector and connected by a sliding rod and fixed ruler connector. The movement of the suction cup drives the sliding ruler to move, thereby measuring the movement distance of the suction cup and realizing suction cup movement protection.

[0011] The end effector of this photovoltaic module installation robot has a binocular camera fixed on the slide base and connected by a binocular camera connector. The camera is in a fixed position and does not move with the slide.

[0012] The end effector of this photovoltaic module installation robot includes four ring light sources, which are fixed on both sides of a binocular camera. By supplementing the light source, the binocular camera can accurately locate the photovoltaic installation position when working in weak sunlight or at night.

[0013] This utility model relates to an end effector for a photovoltaic module installation robot. The suction cup system uses a vacuum pump to extract the photovoltaic module and an air compressor to blow air into it, thus preventing the suction cup from sticking and hindering the timely and rapid placement of the photovoltaic module.

[0014] This utility model relates to an end effector for a photovoltaic module installation robot. The suction cup system connector includes a main aluminum profile and a secondary aluminum profile. A slider is connected and fixed to the main aluminum profile, and the secondary aluminum profile is connected to the main aluminum profile to accommodate more suction cup systems. The end effector of this photovoltaic module installation robot uses four linear displacement sensors, which are respectively arranged at the four corners of the rectangular plane formed by the suction cup system to ensure that the movement distance of the suction cup in any direction can be accurately measured.

[0015] The end effector of this photovoltaic module installation robot uses four ring light sources, which are evenly distributed on both sides of the binocular camera to ensure uniformity of supplemental lighting.

[0016] The end effector of the photovoltaic module installation robot of this utility model uses 18 suction cups, which are distributed as evenly as possible to ensure that the surface of the photovoltaic module is subjected to uniform force, thereby protecting the photovoltaic module.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. By fixing the suction cup system to the sliding system, the arm span of the robotic arm is significantly increased, enabling the robot to cover a wider working area and improve the efficiency of photovoltaic module installation.

[0018] 2. By installing multiple linear displacement sensors at the four corners of the suction cup system, this invention can monitor the movement distance of the suction cup in real time and accurately track its movement process. Each sensor is responsible for measuring the position of the suction cup in different directions, ensuring that the movement accuracy is maintained regardless of the direction from which the suction cup moves, and avoiding deviations and errors.

[0019] 3. This utility model solves the lighting problem during insufficient light or nighttime operation by setting multiple ring light sources in the end effector of the photovoltaic module installation robot. The ring light sources are evenly distributed on both sides of the binocular camera, ensuring uniform lighting throughout the working area, avoiding potential blind spots, and ensuring that the binocular camera can accurately capture the position of the photovoltaic modules under various lighting conditions, further improving the stability and accuracy of the installation operation.

[0020] 4. Up to 18 suction cups are evenly distributed to ensure uniform force on the surface of the photovoltaic module and avoid deformation or damage; both the main and auxiliary connectors are made of aluminum profiles, which reduces the weight of the suction cup system and facilitates the control of the sliding system. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the actuator and robotic arm for the photovoltaic installation robot provided in this embodiment of the utility model; Figure 2 This is a schematic diagram of an end effector mechanism for a photovoltaic installation robot with an active light source and safety protection, provided in an embodiment of this utility model. Figure 3 This is a partially enlarged structural schematic diagram of the actuator provided in this embodiment of the utility model; In the diagram: 101-robotic arm; 102-end effector; 103-control system; 200-suction cup system; 201-sliding rod; 202-suction cup; 203-main aluminum profile; 204-secondary aluminum profile; 205-suction cup system connector; 206-vacuum pump; 207-air compressor; 301-binocular camera; 302-light source; 303-binocular camera connector; 400-sliding system; 401-sliding table base; 402-slider; 403-sliding system connector; 404-drive device; 500-linear displacement sensor; 501-sliding ruler; 502-fixed ruler; 503-sliding ruler connector; 504-fixed ruler connector. Detailed Implementation

[0022] This utility model provides an end effector for a photovoltaic module installation robot, such as... Figure 1 , Figure 2 and Figure 3 As shown, it includes a suction cup system 200, a sliding system 400, a binocular camera 301, a light source 302, and a linear displacement sensor 500.

[0023] The sliding system 400 is fixed to the end of the robotic arm 101 and is connected via the sliding system connector 403.

[0024] The sliding system 400 includes a slide base 401, a slider 402, a sliding system connector 403, and a drive device 404. The slider 402 is mounted on the guide rail of the slide base 401 and connected to the drive device 404, and moves back and forth linearly along the guide rail of the slide base 401 under the drive of the drive device 404. The sliding system connector 403 is connected to the slide base 401.

[0025] The drive unit 404 includes a servo motor, a coupling, and a lead screw. The servo motor is connected to the coupling and drives the lead screw to rotate through the coupling, thereby driving the slider 402 to make reciprocating linear motion along the guide rail.

[0026] The main body of the suction cup system 200 is fixed on the slider 402 of the sliding system and connected through the suction cup system connector 205. The suction cup system includes a suction cup 202, a connecting rod 201, a vacuum pump 206, and an air compressor 207. The suction cup system connector 205 includes a main aluminum profile 203 and a secondary aluminum profile 204. The slider 402 is connected to the main aluminum profile 203, and the secondary aluminum profile 204 is connected to the main aluminum profile 203. The vacuum pump 206 and the air compressor 207 are connected to the connecting rod 201 and the suction cup 202 through air passages.

[0027] To ensure uniform force distribution on the surface of the photovoltaic module and thus protect it, the suction cup system has six secondary aluminum profiles 204, with three suction cups 202 installed on each secondary aluminum profile 204, thus forming 18 suction cups. The 18 suction cups are distributed as evenly as possible.

[0028] The linear displacement sensor 500 includes a sliding ruler 501, a fixed ruler 502, a sliding ruler connector 503, and a fixed ruler connector 504; the sliding ruler 501 is fixed on the suction cup 202 and connected through the sliding ruler connector 503; the fixed ruler 502 is fixed on the secondary aluminum profile 204 and connected through the fixed ruler connector 504.

[0029] The binocular camera 301 and the light source 302 are fixed on the slide base 401 and connected by the binocular camera connector 303, wherein the light source 302 is fixed on both sides of the binocular camera 301.

[0030] In this embodiment, four linear displacement sensors 500 are used, which are respectively arranged at the four corners of the rectangular plane formed by the suction cup system 200 to ensure that the movement distance of the suction cup system 200 in any direction can be accurately measured. In this embodiment, the light source 302 is a ring light source, and there are four of them, which are evenly distributed on both sides of the binocular camera 301 to ensure the uniformity of the supplementary light. The four ring light sources are switched on and off and their brightness is adjusted by the light source control system. The suction cup system 200 uses 18 suction cups, which are distributed as evenly as possible to ensure that the surface of the photovoltaic module is subjected to uniform force, thereby protecting the photovoltaic module. In this embodiment, the end effector 102 of the robotic arm moves to the photovoltaic module installation position and captures a 3D point cloud of the photovoltaic module installation position using a binocular camera 301. When the light source is insufficient or uneven, a ring light source is used to supplement the light. Then, the photovoltaic module is grasped. During the grasping process, the control system determines whether the set stroke is exceeded by measuring the stroke of the linear displacement sensor 500, and thus determines whether to pause the movement of the robotic arm to protect the photovoltaic module from damage due to abnormal stroke. Finally, the photovoltaic module is transported to the installation position. When the position exceeds the existing reach of the robotic arm, the sliding module is activated to cooperate with the robotic arm to realize the installation of the photovoltaic module at a distance.

Claims

1. A photovoltaic installation robot end effector with active light source and safety protection, comprising a suction cup system, characterized in that, It also includes a sliding system, a binocular camera, a light source, and a linear displacement sensor; The sliding system is fixed to the end of the robotic arm of the photovoltaic module installation robot; the sliding system includes a slide base, a slider and a driving device; the slider is set on the guide rail of the slide base and connected to the driving device, and moves back and forth in a straight line along the guide rail of the slide base under the drive of the driving device. The suction cup system includes a connecting rod, a suction cup, a suction cup system connector, a vacuum pump, and an air compressor. The suction cup system connector includes a main connector and several secondary connectors, with the secondary connectors arranged parallel to the length of the main connector. The main connector is fixed to the slider, the connecting rod is fixed to the secondary connectors, and the suction cup is fixed to the lower end of the connecting rod. The vacuum pump and air compressor are connected to the suction cup via air passages. The linear displacement sensor includes a sliding ruler, a fixed ruler, a sliding ruler connector, and a fixed ruler connector; the sliding ruler is fixed on the suction cup and connected through the sliding ruler connector; the fixed ruler is fixed on the auxiliary connector and connected through the fixed ruler connector. The binocular camera and light source are fixed on the slide base, with the light source fixed on both sides of the binocular camera.

2. The end effector of a photovoltaic installation robot with active light source and safety protection according to claim 1, characterized in that, The linear displacement sensor also includes a sliding ruler connector; the sliding ruler is fixed to the suction cup via the sliding ruler connector.

3. The end effector of a photovoltaic installation robot with active light source and safety protection according to claim 1, characterized in that, The linear displacement sensor also includes a fixed-length connector; the fixed-length connector is fixed to the secondary connector via the fixed-length connector.

4. The end effector of a photovoltaic installation robot with active light source and safety protection as described in claim 1, characterized in that, Both the main connector and the secondary connector are made of aluminum profiles.

5. The end effector of a photovoltaic installation robot with active light source and safety protection according to claim 1, characterized in that, The driving device includes a servo motor, a coupling, and a lead screw. The servo motor is connected to the coupling and drives the lead screw to rotate through the coupling, thereby driving the slider to make reciprocating linear motion along the guide rail.

6. The end effector of a photovoltaic installation robot with active light source and safety protection according to claim 1, characterized in that, Four linear displacement sensors are used, and they are respectively arranged at the four corners of the rectangular plane formed by the suction cup system.

7. The end effector of a photovoltaic installation robot with active light source and safety protection according to claim 1, characterized in that, The light source is a ring light source, and there are four ring light sources, which are evenly distributed on both sides of the binocular camera.

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