Gripping assembly and paving robot

Abstract

The application relates to a grabbing assembly and a paving robot. The grabbing assembly comprises a grabbing piece, a driving assembly and at least two distance detecting pieces. The grabbing piece is used for grabbing a photovoltaic assembly. All the distance detecting pieces are arranged at intervals on the grabbing piece and can detect the distance between the distance detecting pieces and the photovoltaic assembly. The driving assembly is drivingly connected with the grabbing piece and electrically connected with all the distance detecting pieces. The grabbing assembly can drive the grabbing piece to approach the photovoltaic assembly to grab the photovoltaic assembly through the driving assembly, and can also drive the grabbing piece to move the grabbed photovoltaic assembly to carry out paving. At least two distance detecting pieces are arranged on the grabbing assembly, and the detection results of the distance detecting pieces can reflect the distance between the grabbing piece and the photovoltaic assembly, so that the position of the grabbing piece can be more efficiently and accurately judged. In addition, all the distance detecting pieces are arranged at different positions on the grabbing piece, which helps to improve the accuracy of the detection results, and further improves the accuracy of the grabbing assembly in grabbing the photovoltaic assembly.

Description

Technical Field

[0001] This application relates to the field of photovoltaic installation equipment technology, and in particular to a component gripping and installation robot. Background Technology

[0002] While pursuing efficient installation, ensuring the efficiency and accuracy of photovoltaic module grasping operations by paving robots is one of the key concerns in the industry.

[0003] In related technologies, the gripping process for photovoltaic modules requires the gripper to be close to the module to achieve the gripping position, which is mainly determined and judged by the operator. However, the operator's judgment of the gripping position is not accurate, which can easily lead to misjudgments and is inefficient. Utility Model Content

[0004] Therefore, it is necessary to provide a component gripping and installation robot that can improve the efficiency and accuracy of photovoltaic module material handling in response to the above problems.

[0005] A gripping component for photovoltaic module installation, comprising:

[0006] A gripper for gripping the photovoltaic module;

[0007] At least two distance detection elements are provided, all of which are spaced apart from the gripper and are capable of detecting the distance between themselves and the photovoltaic module; and

[0008] The drive assembly is connected to the gripper and electrically connected to all the distance detection components.

[0009] In one embodiment, the gripper includes a base and a vacuum suction cup;

[0010] The vacuum suction cup is disposed on the substrate, all distance detection components are spaced apart on the substrate, and the drive assembly is connected to the substrate for transmission.

[0011] In one embodiment, the gripper further includes a vacuum pump, an air compressor, and a control valve configured to selectively connect the vacuum pump and the air compressor to the vacuum suction cup, so that the vacuum suction cup is in an adsorption state or an air blowing state respectively.

[0012] In one embodiment, the gripper includes at least two of the vacuum pumps and at least two of the vacuum suction cups, all of the vacuum pumps being configured to connect to different vacuum suction cups respectively.

[0013] In one embodiment, the gripper includes two vacuum pumps, and all the vacuum suction cups connected to each vacuum pump are configured to adsorb the entire photovoltaic module.

[0014] In one embodiment, the gripper further includes a positioning sensor disposed on the base and electrically connected to the drive assembly;

[0015] The positioning sensor is configured to trigger and cause the driving component to stop driving the gripper when the distance between the substrate and the photovoltaic module is not greater than a first preset value.

[0016] In one embodiment, the gripper further includes a limit sensor disposed on the base and electrically connected to the drive assembly;

[0017] The limit sensor is configured to trigger and cause the drive component to stop driving the gripper when the distance between the substrate and the photovoltaic module is not greater than a third preset value.

[0018] The third set value is less than the first set value.

[0019] In one embodiment, all of the distance detection devices include ultrasonic rangefinders and / or laser rangefinders.

[0020] In one embodiment, the drive assembly includes a robotic arm connected to the gripper and configured to drive the gripper to move in at least two intersecting directions.

[0021] A paving robot, comprising the aforementioned gripping component.

[0022] In one embodiment, the paving robot further includes a mobile platform on which the gripping component is disposed.

[0023] In one embodiment, the paving robot further includes a tilting and loading platform connected to the mobile platform and having a load-bearing surface;

[0024] The bearing surface is used to place the photovoltaic module and is configured to be able to rotate relative to the moving platform.

[0025] The aforementioned gripping component and laying robot can drive the gripper to approach the photovoltaic module via a drive component to grasp the module. After grasping the photovoltaic module, the drive component can also drive the gripper to move the grasped photovoltaic module for laying. The gripping component is equipped with at least two distance detection devices. The detection results of the distance detection devices can reflect the distance between the gripper and the photovoltaic module, so as to determine the position of the gripper more efficiently and accurately. In addition, the gripping component has at least two distance detection devices, and all distance detection devices are located in different positions, which helps to improve the accuracy of the detection results, thereby improving the accuracy of the gripping component in grasping the photovoltaic module. Attached Figure Description

[0026] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a paving robot with a gripping component in one embodiment of this application.

[0028] Figure 2 for Figure 1 The diagram shows a partial structure of the grabbing component.

[0029] Figure 3 for Figure 1 The diagram shows a partial structural representation of the gripping component from another angle.

[0030] Explanation of reference numerals in the attached drawings: 100, gripping component; 10, gripping part; 11, base; 12, vacuum suction cup; 13, control box; 14, air path; 15, filter; 20, distance detection component; 21, ultrasonic ranging component; 22, laser ranging component; 30, drive component; 31, robotic arm; 40, positioning sensor; 50, limit sensor; 200, photovoltaic module; 300, paving robot; 310, mobile platform; 320, flipping loading platform. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] Furthermore, where the term "and / or" appears, it merely describes the relationship between related objects and indicates that three relationships can exist. For example, A and / or B can represent the relationship between A and B: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates an "or" relationship between the related objects before and after it. Where the terms "first" and "second" appear, these terms are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, four, five, etc., unless otherwise explicitly specified.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0037] Please see Figures 1 to 3 This application provides an embodiment of a gripping component 100 for installing photovoltaic modules 200. The gripping component 100 includes a gripping member 10, a driving component 30, and at least two distance detection elements 20. The gripping member 10 is used to grip the photovoltaic module 200. All distance detection elements 20 are spaced apart from the gripping member 10 and are capable of detecting the distance between themselves and the photovoltaic module 200. The driving component 30 is drive-connected to the gripping member 10 and electrically connected to all distance detection elements 20.

[0038] Understandably, the gripper 10 can grip the photovoltaic module 200 in a manner that is not limited to vacuum adsorption, suction cup suction, mechanical gripper gripping, flexible gripper gripping, etc., as long as it can stably grip the photovoltaic module 200 and move it for transfer and placement.

[0039] The distance detection element 20 can detect the distance to obstacles it is facing. To achieve its normal function, the detection direction of the distance detection element 20 is consistent with the grasping direction of the grasping element 10. When the grasping element 10 moves towards the photovoltaic module 200 to grasp it under the drive of the drive component 30, the photovoltaic module 200 becomes the obstacle facing the distance detection element 20. The distance detected by the distance detection element 20 is the distance between it and the photovoltaic module 200, which also indirectly represents the distance between the grasping element 10 and the photovoltaic module 200.

[0040] The drive component 30 is electrically connected to the distance detection element 20 so as to drive the gripper 10 based on the detection result of the distance detection element 20. For example, it can control the speed at which the gripper 10 moves based on the detection result of the distance detection element 20; or it can control its own start and stop based on the detection result of the distance detection element 20 to control the start and stop of the movement of the gripper 10, etc.

[0041] The aforementioned gripping component 100 can drive the gripping member 10 to approach the photovoltaic module 200 via the driving component 30, thereby gripping the photovoltaic module 200. After gripping the photovoltaic module 200, the driving component 30 can also drive the gripping member 10 to move the gripped photovoltaic module 200 for installation. The gripping component 100 is equipped with at least two distance detection elements 20. The detection results of the distance detection elements 20 can reflect the distance between the gripping member 10 and the photovoltaic module 200, so as to determine the position of the gripping member 10 more efficiently and accurately. In addition, all the distance detection elements 20 are located at different positions on the gripping member 10, which helps to improve the accuracy of the detection results, thereby improving the accuracy of the gripping component 100 in gripping the photovoltaic module 200.

[0042] In some embodiments, the total distance detection element 20 includes an ultrasonic rangefinder 21 and / or a laser rangefinder 22. Specifically, the total distance detection element 20 may include an ultrasonic rangefinder 21 and a laser rangefinder 22.

[0043] Thus, the ultrasonic rangefinder 21 has advantages such as low cost, strong environmental adaptability, and suitability for short-range detection, while the laser rangefinder 22 has advantages such as high precision and strong anti-interference ability. Using both rangefinders together can further improve the accuracy of the detection structure and reduce the risk of failure due to the failure of one of the rangefinders.

[0044] In some embodiments, the gripper 10 includes a base 11 and a vacuum suction cup 12. The vacuum suction cup 12 is disposed on the base 11, all distance detection elements 20 are spaced apart on the base 11, and the drive assembly 30 is connected to the base 11 for transmission.

[0045] Specifically, the vacuum suction cup 12 is located on the first side of the base 11, and all distance detection elements 20 are spaced apart on the first side of the base 11. The base 11 is connected to the drive assembly 30 via its second side.

[0046] Understandably, the gripper 10 includes at least one vacuum suction cup 12, and the detection orientation of all distance detection elements 20 is consistent with the orientation of the vacuum suction cup 12. Furthermore, the substrate 11 can be, but is not limited to, a frame structure.

[0047] Thus, the gripper 10 uses vacuum adsorption to grip the photovoltaic module 200. This gripping method causes little damage to the photovoltaic module 200, and has low requirements for the gripping position of the photovoltaic module 200 and the gripping is reliable.

[0048] Specifically, the gripper 10 includes at least two vacuum suction cups 12, and all the vacuum suction cups form a vacuum suction cup group. Specifically, the number of vacuum suction cups 12 can be, but is not limited to, 2, 4, 6, 8, 10, 12, etc.

[0049] Thus, the vacuum suction cup group composed of multiple vacuum suction cups has a more uniform and stable adsorption force distribution on the photovoltaic module 200, and a stronger anti-interference ability.

[0050] Specifically, the entire distance detection element 20 includes at least two ultrasonic rangefinders 21 and at least one laser rangefinder 22. The frame structure of the base 11 has multiple crossbars, and each crossbar has a vacuum suction cup 12 at both ends. All ultrasonic rangefinders are located on different crossbars, and the laser rangefinder 22 is located at the center of the entire frame structure.

[0051] In this way, multiple ultrasonic rangefinders 21 and laser rangefinders 22 can form a rangefinder array, which can more accurately reflect the distance between the gripper 10 and the photovoltaic module 200 during the gripping process.

[0052] In some embodiments, the vacuum suction cup 12 is configured to have an adsorption state and an air blowing state, and is capable of switching between the adsorption state and the air blowing state.

[0053] Understandably, in the adsorption state, the vacuum suction cup 12 can draw air inward, creating a negative pressure lower than the ambient air pressure within it. At this time, if the vacuum suction cup 12 comes into contact with the photovoltaic module 200, it can generate an adsorption force, thus gripping the photovoltaic module 200. In the blowing state, the vacuum suction cup 12 can blow air outward, creating a high pressure higher than the ambient air pressure within it to break the vacuum. Furthermore, the vacuum suction cup 12 can blow air outward; when in the gripping position, the gas blown out by the vacuum suction cup 12 can sweep across the surface of the photovoltaic module 200, blowing away dust and particles from its surface.

[0054] Thus, even in arid environments such as the Gobi Desert, the gripping component 100 can first switch to the blowing state to blow away the sand and dust on the surface of the photovoltaic module 200, and then switch to the adsorption state to grip, thereby improving the sealing performance between the vacuum suction cup 12 and the photovoltaic module 200.

[0055] In some embodiments, the gripper 10 further includes a vacuum pump, an air compressor, and a control valve configured to connect either the vacuum pump or the air compressor to the vacuum suction cup 12, so that the vacuum suction cup 12 is in an adsorption state or an air blowing state respectively.

[0056] Understandably, a vacuum pump can generate a negative pressure lower than the ambient pressure, and an air compressor can generate a high pressure higher than the ambient pressure. The control valve is used to selectively connect the vacuum pump or air compressor to the vacuum suction cup 12 to generate a negative pressure or a high pressure within the vacuum suction cup 12 accordingly.

[0057] In this way, the vacuum suction cup 12 can be connected to a vacuum pump and an air compressor respectively to achieve different functions, and its state can be switched by changing the structure it is connected to. This state switching method is simple in principle, and the vacuum suction cup 12 can perform well in both adsorption and blowing states.

[0058] Specifically, the gripping component 10 also includes a control box 13, in which the control valve is integrated. The gripping component 10 also includes an air passage 14, with a vacuum pump having a vacuum port and an air compressor having an exhaust port. The air passage 14 connects the vacuum suction cup 12 to the vacuum port and the vacuum suction cup 12 to the exhaust port. The control valve includes a vacuum solenoid valve and a backflush solenoid valve. The vacuum solenoid valve is located on the air passage 14 connecting the vacuum suction cup 12 and the vacuum port, and is used to control the opening and closing of the air passage 14. The backflush solenoid valve is located on the air passage 14 connecting the vacuum suction cup 12 and the exhaust port, and is used to control the opening and closing of the air passage 14.

[0059] Specifically, the gripping component 10 also includes a negative pressure sensor, which can be located inside the control box 13 and detects the negative pressure value inside the vacuum suction cup 12 to determine whether the negative pressure inside it is sufficient to grip the photovoltaic module 200. Specifically, the negative pressure sensor can be a vacuum negative pressure switch, which is triggered when the negative pressure value inside the vacuum suction cup 12 reaches the set negative pressure value.

[0060] Specifically, the gripper 10 also includes a filter 15, which is located between the vacuum pump and the vacuum suction cup 12 to filter gas and reduce the probability of damage to the vacuum pump.

[0061] Thus, when the vacuum solenoid valve is open and the backflush solenoid valve is closed, the vacuum suction cup 12 is in an adsorption state. When the vacuum solenoid valve is closed and the backflush solenoid valve is open, the vacuum suction cup 12 is in a blowing state.

[0062] In some other embodiments, the gripper 10 may not require an air compressor. Instead, the vacuum suction cup 12 can be switched by adjusting the air passage 14 to connect one of the vacuum ports or the exhaust ports of the vacuum pump. Alternatively, the gripper 10 may not require a vacuum pump. Instead, the vacuum suction cup 12 can be switched by adjusting the air passage 14 to connect one of the air intake ports or the exhaust ports of the air compressor. As long as the vacuum suction cup 12 has the function of suction and blowing, and can switch between suction and blowing, no specific limitation is made here.

[0063] In some embodiments, the gripper 10 further includes a positioning sensor 40, which is disposed on the base 11 and electrically connected to the drive assembly 30. The positioning sensor 40 is configured to trigger and cause the drive assembly 30 to stop driving the gripper 10 when the distance between the base 11 and the photovoltaic module 200 is not greater than a first preset value.

[0064] Understandably, when the position sensor 40 is triggered, the drive assembly 30 is correspondingly stopped. The triggering of the position sensor 40 indicates that the gripper 10 has reached the gripping position, and it can stop moving and prepare for gripping. The gripper 10 may include at least two position sensors 40, and all position sensors 40 are spaced apart to improve the accuracy of the detection results.

[0065] Thus, the drive component 30 is controlled by the position sensor 40, enabling the gripper 10 it drives to accurately reach the gripping position.

[0066] Specifically, when the grasping component 100 grasps, it controls its own speed based on the detection result of the distance detection component 20. Specifically, when the distance detection component 20 detects that the distance between itself and the photovoltaic module 200 is greater than a second preset value (the second preset value is greater than the first preset value), the driving component 30 drives the grasping component 10 to move at a first speed; when the distance detection component 20 detects that the distance between itself and the photovoltaic module 200 is not greater than the second preset value, the driving component 30 drives the grasping component 10 to move at a second speed, where the first speed is greater than the second speed.

[0067] Understandably, when the distance between the distance detection element 20 and the photovoltaic module 200 is equal to the distance between the substrate 11 and the photovoltaic module 200, the second setting value can be directly set according to the distance requirement between the photovoltaic module 200 and the substrate 11. When the distance between the distance detection element 20 and the photovoltaic module 200 is not equal to the distance between the substrate 11 and the photovoltaic module 200, there is a fixed difference between the two, and the second setting value can be directly set after adding the fixed difference to the distance requirement between the photovoltaic module 200 and the substrate 11.

[0068] Thus, before reaching the distance to trigger the positioning sensor 40, the drive component 30 decelerates to a slow speed and descends, so that when the positioning sensor 40 is triggered, the gripper 10 can stop more accurately at the gripping position.

[0069] In some embodiments, the gripper 10 further includes a limit sensor 50, which is disposed on the base 11 and electrically connected to the drive assembly 30. The limit sensor 50 is configured to trigger and stop the drive assembly 30 from driving the gripper 10 when the distance between the base 11 and the photovoltaic module 200 is not greater than a third preset value. The third preset value is less than a first preset value.

[0070] Understandably, the triggering distance of the positioning sensor 40 is greater than the triggering distance of the limit sensor 50. Therefore, under normal conditions, the gripper 10 stops moving after the positioning sensor 40 is triggered. However, if the distance between the substrate 11 and the photovoltaic module 200 is not greater than the second set value, and the positioning sensor 40 is not triggered due to its own damage or other factors, the gripper 10 will continue to move. In this case, the limit sensor 50 will be triggered when the gripper 10 continues to move until the distance between the substrate 11 and the photovoltaic module 200 is not greater than the third set value, and will control the drive component 30 to stop driving the gripper 10.

[0071] The gripper may include at least two limit sensors 50, with all limit sensors 50 spaced apart to improve the accuracy of the detection results.

[0072] Thus, even if the position sensors 40 fail, the gripping component 100 can still determine whether to control the drive component 30 to stop urgently based on the status of the limit sensor 50, reducing the probability of the vacuum suction cup 12 damaging the photovoltaic module 200.

[0073] Specifically, the limit sensor 50 and the position sensor 40 can be, but are not limited to, touch switches, photoelectric switches or distance sensors, etc., without specific limitations.

[0074] Because the vacuum suction cup 12 can deform to a certain extent, as it approaches and contacts the photovoltaic module 200, it deforms under the drive of the drive component 30 and the support of the photovoltaic module 200. When the vacuum suction cup 12 deforms to a certain extent, if the positioning sensor 40 is working normally, it will be triggered, causing the drive component 30 to stop pressing down on the vacuum suction cup 12. If the positioning sensor 40 fails, the vacuum suction cup 12 continues to deform until the limit sensor 50 is triggered, causing the drive component 30 to stop pressing down on the vacuum suction cup 12.

[0075] The difference between the first set value and the third set value can be achieved by configuring the installation positions of the limit sensor 50 and the position sensor 40, that is, the distance between the trigger ends of the limit sensor 50 and the position sensor 40 is the difference between the first set value and the third set value.

[0076] In some embodiments, the gripper 10 further includes at least two vacuum pumps and at least two vacuum suction cups 12, all of which are configured to be connected to different vacuum suction cups 12 respectively.

[0077] Understandably, if the gripper 10 includes n vacuum pumps, and n≥2, then all vacuum suction cups 12 are divided into n groups. All vacuum suction cups 12 in each group correspond to the same vacuum pump and are connected to that pump when the vacuum solenoid valve is open. Specifically, all vacuum suction cups 12 can be evenly divided into n groups. Taking a gripper 10 including 2 vacuum pumps and 8 vacuum suction cups 12 as an example, each vacuum pump corresponds to 4 vacuum suction cups 12.

[0078] In this way, at least two vacuum pumps are connected to different vacuum suction cups 12, which can ensure the adsorption speed of photovoltaic module 200 to a greater extent, and can achieve a longer pressure holding function than a single vacuum pump in the event of a sudden power outage, reducing the probability of photovoltaic module 200 suddenly falling from vacuum suction cup 12 and causing danger to operators, and greatly reducing the occurrence of accidents.

[0079] Furthermore, the gripper 10 includes two vacuum pumps, and all vacuum suction cups 12 connected to each vacuum pump are configured to adsorb the entire photovoltaic module 200.

[0080] Understandably, when all vacuum suction cups 12 adsorb the photovoltaic module 200, the adsorption surface formed by the adsorption points of all vacuum suction cups 12 connected by each vacuum pump can cover the center of gravity of the photovoltaic module 200, so as to achieve the purpose of the vacuum suction cup 12 corresponding to a single vacuum pump covering the center of gravity of the photovoltaic module 200 and adsorbing the entire photovoltaic module 200.

[0081] In this way, when one of the vacuum pumps is damaged and cannot work properly, the other vacuum pump can still maintain uniform adsorption of the photovoltaic module 200 through the vacuum suction cup 12, thereby reducing the possibility of the photovoltaic module 200 tilting and falling directly to the side.

[0082] Specifically, taking the gripper 10, which includes at least three vacuum suction cups 12, as an example, the vacuum suction cups 12 that can be connected by different vacuum pumps are configured to be alternately arranged. Here, alternate arrangement can refer to alternating arrangement in a single direction or alternating arrangement in two directions.

[0083] In some embodiments, the drive assembly 30 includes a robotic arm 31 connected to the gripper 10 and configured to drive the gripper 10 to move in at least two intersecting directions.

[0084] Specifically, the robotic arm 31 can move in three-dimensional space through joint connections, meaning that the robotic arm 31 can drive the gripper 10 to move in three directions. The base 11 is connected to the end flange of the robotic arm 31, thereby causing the gripper 10 to move with the end of the robotic arm 31.

[0085] In this way, the robotic arm 31 can drive the gripper 10 to move back and forth between the material picking and laying positions, and it can use more complex laying environments and laying angles, which helps to improve the laying efficiency of photovoltaic modules 200.

[0086] The aforementioned gripping assembly 100 includes a gripping component 10, a distance detection component 20, a robotic arm 31, a positioning sensor 40, and a limit sensor 50. The gripping component 10 is connected to the end flange of the robotic arm 31, thereby enabling it to move under the drive of the robotic arm 31.

[0087] The gripping component 10 includes a base 11 and a vacuum suction cup 12, control box 13, air passage 14, filter 15, vacuum pump, and air compressor, all mounted on the base 11. The vacuum suction cup 12 can grip the photovoltaic module 200 using vacuum adsorption. The distance detection component 20, the positioning sensor 40, and the limit sensor 50 are all mounted on the base 11, and their orientation is the same as that of the vacuum suction cup 12. The distance detection component 20 includes a front ultrasonic rangefinder, a rear ultrasonic rangefinder, and a laser rangefinder 22.

[0088] The vacuum pump and air compressor are connected to the vacuum suction cup 12 via air passage 14. The control box 13 contains control valves and negative pressure sensors. The control valves are located on air passage 14 and are used to control the on / off state of air passage 14, thereby controlling the switching between suction and blowing states of the vacuum suction cup 12. The control valves include a vacuum solenoid valve and a backflush solenoid valve. The vacuum solenoid valve is located on air passage 14 connecting the vacuum pump and the vacuum suction cup 12 and controls the on / off state between the vacuum pump and the vacuum suction cup 12. The backflush solenoid valve is located on air passage 14 connecting the air compressor and the vacuum suction cup 12 and controls the on / off state between the air compressor and the vacuum suction cup 12.

[0089] For ease of understanding, the operation process of the gripping component 100 is briefly described below: After receiving the operation signal, the gripping component 100 controls the robotic arm 31 to reach the gripping stop point directly above the photovoltaic module 200 according to the preset trajectory. The gripping component 100 acquires the distance data from the photovoltaic module 200 in real time from the front and rear ultrasonic ranging devices, processes and calculates the feedback real-time distance data, and controls the robotic arm 31 to use multi-stage speed adjustment for downward movement. Specifically, when the robotic arm 31 moves downward to a distance of approximately 10cm, it enters the slow-speed phase. As the number of photovoltaic modules 200 gradually decreases during operation, to ensure that the robotic arm 31 can accurately decelerate to a slow speed approximately 10cm away from the photovoltaic modules 200, the gripping component 100 needs to monitor the data fed back by the front and rear ultrasonic ranging devices in real time during the downward movement of the robotic arm 31, and adjust the speed in real time. This ensures that the robotic arm 31 can accurately decelerate to a slow speed when the distance data reaches approximately 10cm without damaging the photovoltaic modules 200 due to excessive speed. After entering the slow speed stage, the back-blowing solenoid valve in the control box 13 is opened under control, and the vacuum suction cup 12 blows air to remove sand and dust from the surface of the photovoltaic modules 200. At the same time, during the slow speed stage, the gripping component 100 also needs to detect the trigger state of the position sensor 40, and when the position sensor 40 is triggered, it controls the robotic arm 31 to stop its movement and end the downward movement, so that the vacuum suction cup 12 can accurately reach the gripping position. Subsequently, the backflush solenoid valve in control box 13 is closed and the vacuum solenoid valve is opened, allowing the gripping assembly 100 to grip and adsorb the photovoltaic module 200 via the vacuum suction cup 12. Furthermore, to improve the accuracy of gripping and adsorbing the photovoltaic module 200, the gripping assembly 100 also includes a limit sensor 50 located on the substrate 11. Even if all limit sensors 40 fail, the gripping assembly 100 can still determine whether to control the robotic arm 31 to stop urgently based on the status of the limit sensor 50, reducing the probability of the vacuum suction cup 12 damaging the photovoltaic module 200.

[0090] In addition, the gripping component 100 adopts a dual vacuum pump + air compressor adsorption scheme. The dual vacuum pump system can ensure the adsorption speed of the photovoltaic module 200 to a greater extent and enable the robot to maintain pressure for a certain period of time in the event of a sudden power outage. This reduces the probability of the photovoltaic module 200 suddenly falling from the vacuum suction cup 12 and causing danger to the operators, and greatly reduces the occurrence of accidents.

[0091] This application also provides a paved body man, including the aforementioned gripping component 100.

[0092] Furthermore, the paving robot 300 also includes a mobile platform 310, on which the gripping component 100 is disposed.

[0093] Understandably, the mobile platform 310 is used to carry the gripping component 100 and is capable of movement in order to carry out the installation work of the photovoltaic module 200.

[0094] To achieve its normal function, the mobile platform 310 includes a platform body, a drive unit, and a moving component. The drive unit is located on the platform body and can be, but is not limited to, a motor or engine. The moving component is connected to the platform body and is connected to the drive unit via a transmission mechanism, allowing the mobile platform 310 to move. The moving component can be, but is not limited to, a moving wheel assembly or a track assembly.

[0095] In this way, the paving robot 300 can move via the mobile platform 310, driving the gripping component 100 to different areas to grip the photovoltaic module 200, or simultaneously driving the gripping component 100 and the photovoltaic module 200 to different areas for paving.

[0096] Furthermore, the paving robot 300 also includes a flipping loading platform 320, which is connected to the mobile platform 310 and has a bearing surface. The bearing surface is used to place the photovoltaic modules 200 and is configured to be able to flip relative to the mobile platform 310.

[0097] Understandably, the bearing surface is used to support the photovoltaic module 200 material, on which multiple layers of photovoltaic modules 200 can be stacked. Specifically, the bearing surface is located on one side of the robotic arm 31 so that the robotic arm 31 can drive the gripper 10 to grip.

[0098] The bearing surface can be rotated relative to the moving platform 310 either by rotating the bearing surface alone or by rotating the entire rotating feeding platform 320, as long as it can achieve the rotation of the bearing surface used to support the photovoltaic module 200 material. The bearing surface can maintain its angle in the direction of gravity by rotating relative to the moving platform 310; specifically, the bearing surface can be made horizontal by rotating it.

[0099] In this way, the paving robot 300 can carry multiple sets of photovoltaic modules 200 at once through the flipping loading platform 320 for continuous paving work. At the same time, the flipping loading platform 320 can maintain the relative horizontality of the photovoltaic modules 200 by flipping the bearing surface, so that the gripper 10 can grasp them and reduce the probability of the photovoltaic modules 200 tipping over.

[0100] This application also provides a gripping control system for controlling the gripping component 100.

[0101] The gripping control system is electrically connected to the robotic arm 31, distance detection element 20, position sensor 40, limit sensor 50, vacuum pump, air compressor, and control valves, and can control the robotic arm 31, vacuum pump, air compressor, and control valves to operate based on the detection results of the distance detection element 20, position sensor 40, and limit sensor 50. Specifically, the gripping control system is configured to control the gripping system to execute the following control schemes:

[0102] After receiving the work signal, the gripping control system controls the robotic arm 31 to reach the gripping stop point directly above the photovoltaic module 200 according to the preset trajectory. The gripping control system acquires the distance data from the photovoltaic module 200 in real time from the front and rear ultrasonic ranging devices, processes and calculates the feedback real-time distance data, and controls the robotic arm 31 to use multi-stage speed adjustment for downward movement. Specifically, when the gripping control system controls the robotic arm 31 to move downward to a distance of approximately 10cm, it enters the slow-speed phase. As the number of photovoltaic modules 200 gradually decreases during the operation, in order to ensure that the robotic arm 31 can accurately decelerate to a slow speed at approximately 10cm from the photovoltaic module 200, the gripping control system needs to monitor the data fed back by the front and rear ultrasonic ranging devices in real time during the downward movement of the robotic arm 31, and adjust the speed in real time to ensure that the robotic arm 31 can accurately decelerate to a slow speed when the distance data reaches approximately 10cm without damaging the photovoltaic module 200 due to excessive speed. Upon entering the slow-speed phase, the gripping control system opens the back-blowing solenoid valve, allowing the vacuum suction cup 12 to blow air and remove dust from the surface of the photovoltaic module 200. Simultaneously, during the slow-speed phase, the gripping control system also detects the trigger state of the position sensor 40. When the position sensor 40 is triggered, the system correspondingly controls the robotic arm 31 to stop its downward movement, ensuring the vacuum suction cup 12 accurately reaches the gripping position. Afterward, the gripping control system closes the back-blowing solenoid valve and opens the vacuum solenoid valve, allowing the gripping assembly 100 to grasp and adsorb the photovoltaic module 200 via the vacuum suction cup 12. Furthermore, to improve the accuracy of the photovoltaic module 200 gripping and adsorption, the gripping control system also detects the trigger state of the limit sensor 50. In the event that both the position sensors 40 and the vacuum suction cup 12 fail, the system uses the trigger state of the limit sensor 50 to determine whether to control the robotic arm 31 to stop urgently, reducing the probability of the vacuum suction cup 12 damaging the photovoltaic module 200.

[0103] The aforementioned gripping component 100, gripping control system, and laying robot 300 are used for laying photovoltaic modules 200. The gripping component 100 includes a gripper 10, a distance detection component 20, a robotic arm 31, a position sensor 40, and a limit sensor 50. The gripper 10 includes a base 11, a vacuum suction cup 12, a vacuum machine, an air compressor, a control valve, and an air passage 14. The vacuum suction cup 12, distance detection component 20, position sensor 40, and limit sensor 50 are located on one side of the base 11, and the other side of the base 11 is connected to the end flange of the robotic arm 31. The laying robot 300 includes the gripping component 100, a flipping loading platform 320, a moving platform 310, and also has a gripping control system.

[0104] When the paving robot 300 is performing paving work, the robotic arm 31 moves the gripper 10 to the gripping and stopping point above the photovoltaic module 200 according to a pre-set gripping trajectory. The distance information is fed back in real time by two distance sensors 20 on the vacuum suction cup 12 to the gripping control system. The gripping control system performs multi-stage speed control based on the real-time distance information to ensure that the robotic arm 31 accurately reaches the preset deceleration stage at different speeds. During the deceleration stage, the paving robot 300 uses the positioning sensor 40 to stop the vacuum suction cup 12. Furthermore, the limit sensor 50 ensures accurate and reliable gripping of the photovoltaic module 200 under abnormal conditions.

[0105] Photovoltaic power plants are typically located in arid environments such as the Gobi Desert and other deserts. To ensure accurate and reliable gripping of the photovoltaic modules 200, the vacuum suction cup 12 of the gripping component 10 has an air blowing function. This allows the air compressor to be connected to the vacuum suction cup 12 via a control valve before vacuum adsorption gripping, thus cleaning the sand and dust from the surface of the photovoltaic module 200 and greatly improving the sealing performance between the vacuum suction cup 12 and the photovoltaic module 200.

[0106] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A grasping component, characterized in that, The grasping component is used for photovoltaic module (200) installation and includes: A gripper (10) is used to grip the photovoltaic module (200). At least two distance detection elements (20) are provided, all of which are spaced apart from the gripper (10) and are capable of detecting the distance between themselves and the photovoltaic module (200); and The drive assembly (30) is driven to the gripper (10) and electrically connected to all the distance detection elements (20).

2. The grasping component according to claim 1, characterized in that, The gripper (10) includes a base (11) and a vacuum suction cup (12). The vacuum suction cup (12) is disposed on the substrate (11), all distance detection elements (20) are spaced apart on the substrate (11), and the drive assembly (30) is connected to the substrate (11) in a transmission manner.

3. The grasping component according to claim 2, characterized in that, The gripper (10) also includes a vacuum pump, an air compressor, and a control valve, the control valve being configured to connect either the vacuum pump or the air compressor to the vacuum suction cup (12) so that the vacuum suction cup (12) is in an adsorption state or an air blowing state respectively.

4. The grasping component according to claim 3, characterized in that, The gripper (10) includes at least two vacuum pumps and at least two vacuum suction cups (12), all of which are configured to be connected to different vacuum suction cups (12).

5. The grasping component according to claim 4, characterized in that, The gripper (10) includes two vacuum pumps, and all the vacuum suction cups (12) connected to each vacuum pump are configured to adsorb the entire photovoltaic module (200).

6. The grasping component according to claim 2, characterized in that, The gripper (10) also includes a positioning sensor (40), which is disposed on the base (11) and electrically connected to the drive assembly (30); The positioning sensor (40) is configured to trigger and cause the drive assembly (30) to stop driving the gripper (10) when the distance between the substrate (11) and the photovoltaic module (200) is not greater than a first set value.

7. The grasping component according to claim 6, characterized in that, The gripper (10) also includes a limit sensor (50), which is disposed on the base (11) and electrically connected to the drive assembly (30); The limit sensor (50) is configured to trigger and cause the drive assembly (30) to stop driving the gripper (10) when the distance between the substrate (11) and the photovoltaic module (200) is not greater than a third set value. The third set value is less than the first set value.

8. The grasping component according to any one of claims 1-7, characterized in that, All of the distance detection devices (20) include ultrasonic rangefinders (21) and / or laser rangefinders (22).

9. The grasping component according to any one of claims 1-7, characterized in that, The drive assembly (30) includes a robotic arm (31) connected to the gripper (10) and configured to drive the gripper (10) to move in at least two intersecting directions.

10. A paving robot, characterized in that, Includes the gripping component as described in any one of claims 1-9.

11. The paving robot according to claim 10, characterized in that, The paving robot also includes a mobile platform (310), and the gripping component is located on the mobile platform (310).

12. The paving robot according to claim 11, characterized in that, The paving robot also includes a flipping and loading platform (320), which is connected to the mobile platform (310) and has a load-bearing surface; The bearing surface is used to place the photovoltaic module (200) and is configured to be able to flip relative to the mobile platform (310).

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