CN115256333A - Photovoltaic engineering intelligent installation robot and working method thereof - Google Patents
Photovoltaic engineering intelligent installation robot and working method thereof Download PDFInfo
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- CN115256333A CN115256333A CN202210883224.6A CN202210883224A CN115256333A CN 115256333 A CN115256333 A CN 115256333A CN 202210883224 A CN202210883224 A CN 202210883224A CN 115256333 A CN115256333 A CN 115256333A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention belongs to the technical field of robots, and provides a photovoltaic engineering intelligent installation robot and a working method thereof, wherein the photovoltaic engineering intelligent installation robot comprises the following steps: the chassis is arranged as a crawler-type chassis; the mechanical arm comprises a first rod arranged on the chassis through a first rotating part, a telescopic rod connected with the first rod through a second rotating part, and a second rod connected with the telescopic rod through a third rotating part; the air sucker is arranged at one end of the mechanical arm far away from the chassis through an angle adjusting structure; according to the invention, the mechanical arm comprising the first rotating part, the second rotating part, the third rotating part and the telescopic rod is arranged on the crawler-type chassis, and the air sucker capable of grabbing the photovoltaic module is driven by the multi-degree-of-freedom mechanical arm and the angle adjusting structure, so that the automatic construction of the installation of the photovoltaic module is realized, and the participation of manpower is replaced.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an intelligent installation robot for photovoltaic engineering and a working method of the intelligent installation robot.
Background
With the rapid advance of social development and industry, fossil energy in nature is increasingly in short supply, and environmental pollution is increasingly serious, so that new energy industry thrives and can effectively relieve energy tension and environmental pollution under the background. At present, photovoltaic modules of photovoltaic stations are installed mostly in an artificial high-altitude operation mode, the problems of uncontrollable installation quality, low personnel safety risk, low working efficiency and the like exist, in case of problems in the artificial high-altitude operation process, the loss of lives and properties caused by the problems is very large, the development of a photovoltaic engineering intelligent installation robot for replacing manpower is very necessary, the problem of population aging is solved, and the great trend of the traditional industry is enabled through digitization and intelligence.
The inventor finds that the photovoltaic module installation of the photovoltaic construction site is generally in a manual mode at present, few mechanical equipment participates in the installation process, a few installation vehicles or installation equipment are seen on a small number of construction sites, the installation equipment mainly adopts mechanical devices, manual control or remote control is used for assisting manual operation, intelligent enabling is not carried out, manual intelligent one-key installation cannot be achieved, and unmanned all-autonomous operation cannot be achieved; in addition, the installation equipment does not consider the actual application scene on the spot in the aspect of mechanical devices, and the centralized photovoltaic is generally built on uneven ground such as gobi, mountain land or sloping field, and the intelligent robot is required to have strong terrain adaptability.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent photovoltaic engineering installation robot and a working method thereof.
In order to achieve the above object, in a first aspect, the present invention provides a photovoltaic engineering intelligent installation robot, which adopts the following technical scheme:
a photovoltaic engineering intelligent installation robot, comprising:
the chassis is arranged as a crawler-type chassis;
the mechanical arm comprises a first rod arranged on the chassis through a first rotating part, a telescopic rod connected with the first rod through a second rotating part, and a second rod connected with the telescopic rod through a third rotating part;
and the air sucker is arranged at one end of the mechanical arm far away from the chassis through an angle adjusting structure.
Furthermore, a plurality of balance supports are arranged on the chassis and are set as telescopic supporting legs.
Further, the first rotating part is a turntable; and a telescopic arm is arranged between the turntable and the telescopic rod.
Furthermore, the angle adjusting structure comprises a fourth rotating part, a fifth rotating part and a sixth rotating part, wherein the fourth rotating part is arranged at one end, far away from the telescopic rod, of the second rod, the fifth rotating part is connected with the fourth rotating part, and the axis of the fifth rotating part is perpendicular to the axis of the sixth rotating part.
Furthermore, the fifth rotating part and the sixth rotating part are connected with a fixing frame, and a plurality of air suction cups are arranged on the fixing frame.
Furthermore, a distance sensor and a visual sensor are arranged on the telescopic rod or the second rod.
Furthermore, a plurality of human body infrared sensors are arranged on the mechanical arm.
In order to achieve the above object, in a second aspect, the present invention further provides a working method of the photovoltaic engineering intelligent installation robot, which adopts the following technical scheme:
a working method of a photovoltaic engineering intelligent installation robot is provided, wherein the photovoltaic engineering intelligent installation robot is adopted, and the working method comprises the following steps:
receiving an operation plan, and determining the position and the sequence of the photovoltaic supports to be installed;
planning a path according to the position and the sequence of the photovoltaic supports to be installed;
the robot reaches the position of the positioning sensor to realize the positioning of the operation position of the robot; the positioning sensor is arranged in the middle of the lower edge of the photovoltaic bracket to be installed;
adjusting the balance degree of the robot;
installing a preset sequence, namely installing a plurality of photovoltaic modules on a photovoltaic bracket to be installed;
finishing the installation of the photovoltaic support to be installed at present, judging whether an operation plan is finished, and if so, finishing the work; otherwise, moving to the next photovoltaic support to be installed according to the position and the sequence of the photovoltaic supports to be installed, and completing the installation of the photovoltaic supports to be installed in all the operation plans.
Further, setting the central point of the lower edge of the photovoltaic bracket to be installed as a coordinate origin;
the robot moves to the coordinate origin, and the robot coordinate is calculated; the robot is decelerated and stopped after scanning the positioning sensor by placing the positioning sensor at the coordinate origin of the photovoltaic support to be installed, and the robot coordinate is determined according to sensor distance data;
calculating four corner coordinates and center point coordinates of the position to be installed according to the height of the first side of the photovoltaic support to be installed, the height of the second side, the included angle of the inclined plane and the size of the photovoltaic module;
controlling the mechanical arm to grab the photovoltaic module, and determining the next grabbing coordinate according to the size of the known photovoltaic module;
carrying the photovoltaic module to the position near the position to be installed; determining the distances between four corners and a center point of a photovoltaic module to be installed and a position to be installed, and obtaining a distance difference set; controlling the robot arm so that the distance difference is zero;
and (5) deflating the sucker to complete the installation of the photovoltaic module.
Furthermore, the distance between the mechanical arm and a field worker is detected in real time in the operation process through a plurality of human body infrared sensors on the mechanical arm.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the mechanical arm comprising the first rotating part, the second rotating part, the third rotating part and the telescopic rod is arranged on the crawler-type chassis, and the air sucker capable of grabbing the photovoltaic module is driven by the multi-degree-of-freedom mechanical arm and the angle adjusting structure, so that the automatic construction of photovoltaic module installation is realized, and the participation of manpower is replaced;
2. the angle adjusting assembly comprises a fourth rotating part, a fifth rotating part and a sixth rotating part, and a seven-degree-of-freedom mounting structure is formed by the angle adjusting assembly and the multi-degree-of-freedom mechanical arm together, so that the photovoltaic assembly can be mounted at any angle and position, and the flexibility is extremely high;
3. according to the invention, the position of the photovoltaic module and the coordinates of the position to be installed and the like can be accurately determined through the visual sensor, the distance sensor and the like, so that the photovoltaic module is accurately installed;
4. according to the installation sequence in the installation task and the position sensor on the lower edge of the photovoltaic support to be installed, the robot is controlled to accurately position and install all the photovoltaic supports to be installed in a working period in a certain sequence, and unattended whole-process photovoltaic assembly installation is achieved.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the present embodiments, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present embodiments and together with the description serve to explain the present embodiments without unduly limiting the present embodiments.
FIG. 1 is a schematic structural view of example 1 of the present invention;
FIG. 2 is a schematic view of an angle adjusting mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic view of a photovoltaic module installation process according to embodiment 1 of the present invention;
FIG. 4 is a degree of freedom display diagram of embodiment 1 of the present invention;
FIG. 5 is a flow chart of the operation of example 1 of the present invention;
fig. 6 is a positioning process in embodiment 1 of the present invention.
Wherein, 1, a chassis; 2. a balance bracket; 3. a mechanical arm; 31. a first rotating section; 32. a first lever; 33. a second rotating part; 34. a telescopic rod; 35. a third rotating part; 36. a second lever; 37. a telescopic arm; 4. an angle adjustment structure; 41. a fifth rotating part; 42. a sixth rotating part; 43. a fourth rotating part; 44. a fixed mount; 5. an air suction cup.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
Example 1:
the embodiment provides an intelligent photovoltaic engineering installation robot, which comprises a chassis 1, a balance support 2, a mechanical arm 3, a first rotating part 31, a first rod 32, a second rotating part 33, a telescopic rod 34, a third rotating part 35, a second rod 36, a telescopic arm 37, an angle adjusting structure 4, a fifth rotating part 41, a sixth rotating part 42, a fourth rotating part 43, a fixing frame 44 and an air suction cup 5;
the chassis 1 is provided as a crawler-type chassis, and as can be appreciated, the chassis 1 comprises a vehicle body and a crawler arranged on the vehicle body;
the robot arm 3 includes a first lever 32 provided on the chassis 1 through a first rotating portion 31, an expansion link 34 connected to the first lever 32 through a second rotating portion 33, and a second lever 36 connected to the expansion link 34 through a third rotating portion 35; the first rotating portion 31 may be configured as a turntable, and may drive the mechanical arm 3 to rotate 360 °, the second rotating portion 33 and the third rotating portion 35 may be configured as rotating motors, and the telescopic rod 34 may be configured as a night pressing telescopic device; the first rotating unit 31, the second rotating unit 33, and the third rotating unit 35 realize three rotational degrees of freedom of the robot arm;
the air suction cup 5 is arranged at one end, far away from the chassis 1, of the mechanical arm 3 through an angle adjusting structure. As can be appreciated, an air pump and a hydraulic pump are arranged on or in the chassis 1 to control the operation of the telescopic arm 34 and the suction cup 5; and a vacuum one-way valve and a power-off normally closed electromagnetic valve are arranged on a pipeline between the air pump and the air sucker 5.
A plurality of balance supports 2 are arranged on the chassis 1, and the balance supports 2 are arranged as telescopic supporting legs; it will be appreciated that telescopic legs may be mounted at each of the four corners of the chassis 1. The telescopic supporting legs can comprise connecting rods fixedly connected with the chassis 1 and telescopic rods obliquely fixed on the connecting rods, and circular supporting plates are fixed on the telescopic rods; when the device works, the length of the balance support 2 can be adjusted through the telescopic rod so as to meet the requirements of different ground height supports at four corners; the chassis is also provided with a driving device, a power supply, a control device and the like, which belong to the conventional arrangement and are not described in detail. .
The carousel 31 with be provided with flexible arm 37 between the telescopic link 3, on playing reinforced (rfd) basis, with the cooperation of first rotation portion is right the end of handing over of telescopic link 3 is adjusted.
The angle adjusting structure 4 comprises a fourth rotating part 43 arranged at one end of the second rod 36 far away from the telescopic rod 3, a fifth rotating part 41 and a sixth rotating part 42 connected with the fourth rotating part 43, and the axes of the fifth rotating part 41 and the sixth rotating part 42 are perpendicular to form a cross shaft; the fourth rotating part 43 can adjust the rotation angle of the whole angle adjusting structure 4, and the fifth rotating part 41 and the sixth rotating part 42 which are perpendicular to each other can adjust the left-right swinging angle and the front-back pitch angle of the angle adjusting structure; the fourth rotating portion 43, the fifth rotating portion 41, and the sixth rotating portion 42 may be implemented by a motor.
The fifth rotating portion 41 and the sixth rotating portion 42 are connected to a fixing frame 44, and a plurality of air suction cups 5 are disposed on the fixing frame 44.
A distance sensor and a vision sensor are arranged on the telescopic rod 3 or the second rod 36; and a plurality of human body infrared sensors are arranged on the mechanical arm 3.
In the invention, the multi-degree of freedom is arranged, so that the efficiency of large-range operation can be improved, and the accuracy of fine operation can be realized; a plurality of infrared devices are arranged, so that personnel contact and collision are avoided in the operation process, and the operation safety is improved; the photovoltaic module is prevented from falling off under the abnormal power failure condition by adopting the dual design of the vacuum one-way valve and the power failure normally closed electromagnetic valve; a binocular camera based on vision and a laser ranging matrix are arranged, so that the accurate positioning of the installation position is realized; the method adopts multi-source fusion navigation with Beidou RTK as a main part and vision and IMU as auxiliary parts, and realizes route planning based on three-dimensional coordinates.
As shown in fig. 4, among the 7 degrees of freedom, the degree of freedom 1 may be 360 °, the degree of freedom 2 may be 80 °, the degree of freedom 3 may be multi-stage telescopic, the degree of freedom 4 may be 70 ° in pitch, the degree of freedom 5 may be 90 ° left and right, and the degree of freedom 6 may be 360 °; the degree of freedom 1, the degree of freedom 2 and the degree of freedom 3 are mainly used for realizing large-range operation coarse positioning, can quickly reach the position near the installation position by 20cm, and improve the operation efficiency of the whole robot; degree of freedom 4-6 realize millimeter level's accurate location based on accurate positioning module, improve positioning accuracy, realize once only accurate installation, degree of freedom 7 is mainly reserved for mechanical structure's angle modulation, can realize 15 °, 30 °, 45 or 60 four regulation shelves.
The degrees of freedom 4-6 are respectively realized by controlling the cross shaft and the rotation around the vertical arm through a servo motor, and a power line and a signal line of the servo motor are led to the vehicle body along the mechanical arm to realize master control.
As shown in fig. 5, in this embodiment, the entire robot is provided with a charging pile, a high-precision positioning navigation module, and the like, and can autonomously complete path planning and fully autonomously complete operation according to an operation plan; the method specifically comprises the following steps:
s1, receiving a current-day operation plan, wherein the operation content mainly refers to a photovoltaic support sequence list to be installed;
s2, planning a path according to the position and the sequence of the photovoltaic support to be installed, and realizing path planning based on a multi-source fusion positioning module mainly based on Beidou RTK high precision;
s3, moving the robot to a position of a positioning sensor, and realizing accurate positioning of the operation position of the robot through the positioning sensor; as shown in fig. 3, the positioning sensor is placed at the middle position under 1 row and 3 columns of the photovoltaic bracket to be installed,
s4, opening a balance support, adjusting the support to contract and move according to the posture of the robot, realizing the balance of the robot, and ensuring that the foundation is stabilized to be a foundation for establishing accurate positioning of an operation unit;
s5, mounting the photovoltaic modules in the sequence of rows from 1 to 5 and rows from 4 to 1, and reducing the motion action of the mechanical arm according to the sequence to improve the working efficiency;
s6, judging the safe operation range in real time through a human body infrared sensor if any person is in the safe range;
s7, stopping operation, performing sound and light alarm, and informing other operators on site to leave the operation area as soon as possible;
s8, completing the installation of the current support, judging whether the current support is completed with the operation plan of the current day, and if the current support is not completed with the operation plan of the current day, moving to the specified position of the next photovoltaic support to continue the operation;
s9, contracting the balance support by 20cm, and in order to improve the operation efficiency, only lifting by 20cm is needed in the continuous operation process without affecting short-distance movement;
and S10, if the operation plan on the day is finished, returning to the charging point for charging, and ending the whole operation flow.
As shown in fig. 6, in this embodiment, the precise positioning process in installation is as follows:
s5.1, setting the central point (1 row and 3 columns) of the lower edge of the photovoltaic support as a coordinate origin (0,0,0), calculating other coordinates by taking the coordinate origin as a reference, and taking the whole coordinate system as a relative coordinate system;
s5.2, moving the robot to the position near the origin of coordinates, calculating the coordinates of the robot, placing a magnetic attraction positioning sensor at the origin of the photovoltaic support, slowing down and stopping the robot after scanning signals of the sensor, and calculating the coordinates of the robot according to sensor distance data; the distance between the central axis of the robot turntable and the projection of the original point on the ground, and the vertical distance between the intersection point of the robot vertical arm and the cross arm and the original point;
s5.3, calculating four corner coordinates and center point coordinates of each row and each column of to-be-installed positions according to the north side height, the south side height, the inclined plane included angle and the size of the photovoltaic module of the known photovoltaic support, wherein the coordinates are relative coordinates relative to an original point;
s5.4, controlling the mechanical arm to fix the stacked coordinate grabbing component on the photovoltaic component, and automatically calculating the next grabbing coordinate of the stacked component according to the known component size after taking away one photovoltaic component;
s5.5, controlling the degree of freedom 1, the degree of freedom 2 and the degree of freedom 3 of the mechanical arm through a control algorithm, and carrying the photovoltaic module to the position to be installed, wherein the position to be installed is 20cm close to the position;
s5.6, calculating the distances between four corners and a center point of the photovoltaic module to be installed and the position to be installed in real time through a vision and induction matrix to obtain a distance difference set, wherein the induction matrix mainly comprises four laser ranging sensors, and the accuracy can reach millimeter level;
s5.7, controlling the precision motion of the degree of freedom 4, the degree of freedom 5 and the degree of freedom 6 in the whole three-dimensional coordinate to realize that the distance difference is 0, controlling the degree of freedom 4, the degree of freedom 5 and the degree of freedom by adopting a servo motor, realizing high control precision, realizing small-space precision control and meeting the requirement of positioning precision;
s5.8, deflating the carrying system, and completing the installation of the photovoltaic module until the installation of the first photovoltaic module is completed;
s5.9, judging whether the whole support is installed or not, if so, finishing the whole process, and if not, installing the next component;
s5.10, obtaining the next position to be installed according to the sequence of the rows from 1 to 5 and the rows from 4 to 1, planning the position to be installed by the host system and recording the actual installation condition;
and S5.11, finishing the whole process after the whole photovoltaic support is installed.
Example 2:
the embodiment provides a working method of a photovoltaic engineering intelligent installation robot, which adopts the photovoltaic engineering intelligent installation robot as described in embodiment 1, and includes:
receiving an operation plan, and determining the position and the sequence of the photovoltaic supports to be installed;
planning a path according to the position and the sequence of the photovoltaic supports to be installed;
the robot reaches the position of the positioning sensor to realize the positioning of the working position of the robot; the positioning sensor is arranged in the middle of the lower edge of the photovoltaic bracket to be installed;
adjusting the balance degree of the robot;
installing a preset sequence, and installing a plurality of photovoltaic modules on a photovoltaic bracket to be installed;
finishing the installation of the photovoltaic support to be installed at present, judging whether an operation plan is finished, and if so, finishing the work; otherwise, moving to the next photovoltaic support to be installed according to the position and the sequence of the photovoltaic supports to be installed, and completing the installation of the photovoltaic supports to be installed in all the operation plans.
In the embodiment, the central point of the lower edge of the photovoltaic bracket to be installed is set as the origin of coordinates;
the robot moves to the coordinate origin, and the robot coordinate is calculated; the robot is decelerated and stopped after scanning the positioning sensor by placing the positioning sensor at the coordinate origin of the photovoltaic support to be installed, and the coordinate of the robot is determined according to sensor distance data;
calculating four corner coordinates and a center point coordinate of a position to be installed according to the height of the first side of the photovoltaic support to be installed, the height of the second side, an inclined plane included angle and the size of the photovoltaic module;
controlling the mechanical arm to grab the photovoltaic module, and determining the next grabbing coordinate according to the size of the known photovoltaic module;
carrying the photovoltaic module to the position near the position to be installed; determining the distances between four corners and a center point of a photovoltaic module to be installed and a position to be installed, and obtaining a distance difference set; controlling the mechanical arm to make the distance difference zero;
and (5) deflating the sucker to complete the installation of the photovoltaic module.
The distance between the mechanical arm and field workers is detected in real time in the operation process through the human body infrared sensors on the mechanical arm.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The utility model provides a photovoltaic engineering intelligence installation robot which characterized in that includes:
the chassis is arranged as a crawler-type chassis;
the mechanical arm comprises a first rod arranged on the chassis through a first rotating part, a telescopic rod connected with the first rod through a second rotating part, and a second rod connected with the telescopic rod through a third rotating part;
and the air sucker is arranged at one end of the mechanical arm far away from the chassis through an angle adjusting structure.
2. The photovoltaic engineering intelligent installation robot as claimed in claim 1, wherein a plurality of balance brackets are arranged on the chassis, and the balance brackets are arranged as telescopic legs.
3. The photovoltaic engineering intelligent installation robot of claim 1, wherein the first rotating part is a turntable; and a telescopic arm is arranged between the turntable and the telescopic rod.
4. The photovoltaic engineering intelligent installation robot as claimed in claim 1, wherein the angle adjusting structure comprises a fourth rotating part disposed at an end of the second rod far from the telescopic rod, and a fifth rotating part and a sixth rotating part connected to the fourth rotating part, and axes of the fifth rotating part and the sixth rotating part are perpendicular to each other.
5. The photovoltaic engineering intelligent installation robot as claimed in claim 4, wherein the fifth rotating part and the sixth rotating part are connected with a fixing frame, and a plurality of air suction cups are arranged on the fixing frame.
6. The photovoltaic engineering intelligent installation robot as claimed in claim 1, wherein a distance sensor and a vision sensor are arranged on the telescopic rod or the second rod.
7. The photovoltaic engineering intelligent installation robot as claimed in claim 1, wherein a plurality of human infrared sensors are arranged on the mechanical arm.
8. A working method of a photovoltaic engineering intelligent installation robot is characterized in that the photovoltaic engineering intelligent installation robot as claimed in any one of claims 1-7 is adopted, and the working method comprises the following steps:
receiving an operation plan, and determining the position and the sequence of the photovoltaic supports to be installed;
planning a path according to the position and the sequence of the photovoltaic supports to be installed;
the robot reaches the position of the positioning sensor to realize the positioning of the working position of the robot; the positioning sensor is arranged in the middle of the lower edge of the photovoltaic bracket to be installed;
adjusting the balance degree of the robot;
installing a preset sequence, and installing a plurality of photovoltaic modules on a photovoltaic bracket to be installed;
finishing the installation of the photovoltaic support to be installed at present, judging whether an operation plan is finished, and if so, finishing the work; otherwise, moving to the next photovoltaic support to be installed according to the position and the sequence of the photovoltaic supports to be installed, and completing the installation of the photovoltaic supports to be installed in all the operation plans.
9. The working method of the photovoltaic engineering intelligent installation robot as claimed in claim 8, wherein the central point of the lower edge of the photovoltaic bracket to be installed is set as a coordinate origin;
the robot moves to the coordinate origin, and the robot coordinate is calculated; the robot is decelerated and stopped after scanning the positioning sensor by placing the positioning sensor at the coordinate origin of the photovoltaic support to be installed, and the robot coordinate is determined according to sensor distance data;
calculating four corner coordinates and a center point coordinate of a position to be installed according to the height of the first side of the photovoltaic support to be installed, the height of the second side, an inclined plane included angle and the size of the photovoltaic module;
controlling the mechanical arm to grab the photovoltaic module, and determining the next grabbing coordinate according to the size of the known photovoltaic module;
carrying the photovoltaic module to the position near the position to be installed; determining the distances between four corners and a center point of a photovoltaic module to be installed and a position to be installed, and obtaining a distance difference set; controlling the robot arm so that the distance difference is zero;
and (5) deflating the sucker to complete the installation of the photovoltaic module.
10. The working method of the photovoltaic engineering intelligent installation robot is characterized in that the distance between the mechanical arm and a field worker is detected in real time during the working process through a plurality of human body infrared sensors on the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210883224.6A CN115256333A (en) | 2022-07-26 | 2022-07-26 | Photovoltaic engineering intelligent installation robot and working method thereof |
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| CN202210883224.6A CN115256333A (en) | 2022-07-26 | 2022-07-26 | Photovoltaic engineering intelligent installation robot and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117446493A (en) * | 2023-12-25 | 2024-01-26 | 湖南凯之成智能装备有限公司 | Paving equipment and photovoltaic panel installation method |
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| CN117446493A (en) * | 2023-12-25 | 2024-01-26 | 湖南凯之成智能装备有限公司 | Paving equipment and photovoltaic panel installation method |
| CN117446493B (en) * | 2023-12-25 | 2024-03-26 | 湖南凯之成智能装备有限公司 | Paving equipment and photovoltaic panel installation method |
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