Photovoltaic panel end connector automatic assembly apparatus

Abstract

The application relates to the technical field of electronic connector assembly, in particular to a photovoltaic panel end connector automatic assembly equipment, which comprises a workbench, two sides of the workbench along the length direction of the workbench are respectively provided with a carrier conveying track and a carrier assembly track, a positive electrode installation carrier and a negative electrode installation carrier are arranged on the carrier conveying track, a carrier carrying mechanism is arranged between the carrier conveying track and the carrier assembly track; a positive electrode lower sealing ring assembly mechanism, a positive and negative electrode main body assembly mechanism, a positive electrode lower sealing ring upper top mechanism, a positive and negative electrode upper sealing ring assembly mechanism and a positive and negative electrode nut assembly mechanism are sequentially arranged on the workbench along the moving direction of the carrier assembly track, a positioning mechanism for stopping the positive electrode installation carrier and the negative electrode installation carrier is further arranged on the workbench, and a feeding track is connected to one end of the workbench far from the positive electrode lower sealing ring assembly mechanism. The application can improve the poor compatibility of the photovoltaic panel end connector assembly equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic connector assembly, in particular to a photovoltaic panel end connector automatic assembly equipment. BACKGROUND

[0002] Photovoltaic panels are widely used in people's daily life, and the connectors used in photovoltaic panels have high requirements for electrical connection tightness, sealing and firmness.

[0003] The photovoltaic panel end connector is divided into positive and negative poles, and the structures of the positive and negative poles are different. Specifically, referring to Figure 1 The positive pole 1 of the photovoltaic panel end connector includes a positive pole lower sealing ring 14, a positive pole body 11, a positive pole upper sealing ring 13, and a positive pole nut 12. The positive pole upper sealing ring 13 and the positive pole lower sealing ring 14 are respectively sleeved on the top end and the bottom end of the positive pole body 11. The top end of the positive pole body 11 is provided with a thread, and the positive pole nut 12 is threadedly connected to the top end of the positive pole body 11. The bottom surface of the positive pole nut 12 abuts against the top surface of the positive pole upper sealing ring 13. The negative pole 2 of the photovoltaic panel end connector includes a negative pole body 21, a negative pole upper sealing ring 23, and a negative pole nut 22. The negative pole upper sealing ring 23 is sleeved on the top end of the negative pole body 21. The top end of the negative pole body 21 is provided with a thread, and the negative pole nut 22 is threadedly connected to the top end of the negative pole body 21. The bottom surface of the negative pole nut 22 abuts against the top surface of the negative pole upper sealing ring 23.

[0004] At present, the positive and negative poles of the photovoltaic panel end connector are usually assembled by a relatively traditional rotary table machine. The rotary table machine includes a rotary table capable of rotating and a plurality of component assembly mechanisms. The plurality of component assembly mechanisms are arranged on the periphery of the rotary table. When the positive and negative poles of the photovoltaic panel end connector are assembled by using the rotary table machine, the positive pole of the photovoltaic panel end connector or the negative pole of the photovoltaic panel end connector needs to be placed on the rotary table. Then, the rotary table is rotated. When the rotary table is rotated, it sequentially passes through the plurality of component assembly mechanisms. Each time it passes through one, it stops to assemble the corresponding components, thereby completing the assembly of the positive and negative poles of the photovoltaic panel end connector. However, this assembly method using the rotary table machine requires separate production of the positive and negative poles of the photovoltaic panel end connector, which cannot produce the positive and negative poles of the photovoltaic panel end connector in a matched manner, thereby resulting in poor compatibility of the photovoltaic panel end connector assembly equipment. SUMMARY

[0005] In order to improve the problem of poor compatibility of the photovoltaic panel end connector assembly equipment, the present application provides a photovoltaic panel end connector automatic assembly equipment.

[0006] The photovoltaic panel end connector automatic assembly equipment provided by the present application adopts the following technical scheme:

[0007] The utility model provides an automatic assembly equipment of photovoltaic panel end connector, including work table, both sides of work table along its length direction are equipped with carrier conveying track and carrier assembly track respectively, is equipped with positive pole installation carrier and negative pole installation carrier on carrier conveying track, is equipped with carrier transfer mechanism between carrier conveying track and carrier assembly track, positive pole lower sealing washer assembly mechanism, positive and negative pole main body assembly mechanism, positive pole lower sealing washer upper jacking mechanism, positive and negative pole upper sealing washer assembly mechanism and positive and negative pole nut assembly mechanism are equipped with on the work table along the moving direction of carrier assembly track in proper order, the positioning mechanism for intercepting positive pole installation carrier and negative pole installation carrier is further equipped on the work table, the one end of work table is connected with the feeding track away from positive pole lower sealing washer assembly mechanism.

[0008] Through adopting the above technical scheme, when the positive and negative poles of photovoltaic panel end connector need to be assembled, the carrier transfer mechanism is controlled to transfer the positive pole installation carrier and negative pole installation carrier conveyed on the carrier conveying track to the carrier assembly track, then the positive pole installation carrier and negative pole installation carrier pass through the positive pole lower sealing washer assembly mechanism, positive and negative pole main body assembly mechanism, positive pole lower sealing washer upper jacking mechanism, positive and negative pole upper sealing washer assembly mechanism and positive and negative pole nut assembly mechanism in sequence under the conveying action of carrier conveying track, the positioning mechanism intercepts the positive pole installation carrier and negative pole installation carrier when being transported to a certain mechanism each time, then the corresponding components are assembled, and finally the assembled photovoltaic panel end connector positive and negative poles are removed through the feeding track.Compared with the traditional rotary disc machine, the linear assembly mechanism is changed, and the positive and negative poles of photovoltaic panel end connector are assembled at the same time, which effectively improves the compatibility of photovoltaic panel end connector assembly equipment, and through adding the positive and negative pole carriers, the accurate positioning of the positive and negative poles of photovoltaic panel end connector during assembly is realized, and the yield of the products after assembly can be improved.

[0009] In a specific embodiment, the positive pole lower sealing washer assembly mechanism includes a first vibration disc and a first feeding rack, both of which are arranged on the workbench. The first vibration disc is used to convey the positive pole lower sealing washer, and both the first vibration disc and the first feeding rack are located on one side of the carrier assembly track. The first feeding rack is provided with a first cylinder and a first clamping piece. The first cylinder is connected with the first clamping piece. The first feeding rack is connected with a first driving piece for driving the first feeding rack to approach the carrier assembly track. A first optical fiber sensor is arranged between the positive pole lower sealing washer assembly mechanism and the carrier assembly track.

[0010] By adopting the technical scheme, when the positive and negative electrode mounting carriers are conveyed to the positive electrode lower sealing ring assembling mechanism, the first optical fiber sensor is first used to sense the positive and negative electrode mounting carriers, and if sensing is performed, the positioning mechanism stops the positive and negative electrode mounting carriers. Then, the first cylinder is started to move and clamp the positive electrode lower sealing ring conveyed by the first vibrating disc, and the first driving member is started to move the first clamping member above the positive electrode mounting carrier and install the same, so that the positive electrode upper sealing ring assembling operation of the positive electrode of the photovoltaic panel end connector is completed. By additionally arranging the first optical fiber sensor, the positive electrode mounting carrier can be sensed in real time, so that the missing assembling condition in the assembling process is avoided.

[0011] In a specific implementable scheme, the positive and negative electrode body assembling mechanism comprises a second vibrating disc, a third vibrating disc and a second feeding rack, which are all arranged on the workbench, the second vibrating disc, the third vibrating disc and the second feeding rack are all located on one side of the carrier assembling track, the second vibrating disc is used to convey the negative electrode body, and the third vibrating disc is used to convey the positive electrode body; the second feeding rack is provided with a second cylinder and a second clamping member, the second cylinder is connected with the second clamping member, the second feeding rack is connected with a second driving member used to drive the second feeding rack to approach the carrier assembling track; a first photoelectric sensor is arranged on one side of the second clamping member on the carrier assembling track.

[0012] By adopting the technical scheme, when the positive and negative electrode mounting carriers are conveyed to the positive and negative electrode body mechanism, the first photoelectric sensor is first used to sense the positive and negative electrode mounting carriers, and if sensing is performed, the positioning mechanism stops the positive and negative electrode mounting carriers. Then, the second cylinder is started to move and clamp the positive and negative electrode body conveyed by the second vibrating disc and the third vibrating disc, and the second driving member is started to move the second clamping member above the positive and negative electrode mounting carrier and install the same, so that the positive and negative electrode body assembling operation of the positive and negative electrode of the photovoltaic panel end connector is completed. By additionally arranging the first photoelectric sensor, the positive and negative electrode mounting carrier can be accurately positioned, so that the installation of the positive and negative electrode body in the assembling process can be more accurate.

[0013] In a specific implementable scheme, the positive and negative electrode body assembling mechanism comprises a second vibrating disc, a third vibrating disc and a second feeding rack, which are all arranged on the workbench, the second vibrating disc, the third vibrating disc and the second feeding rack are all located on one side of the carrier assembling track, the second vibrating disc is used to convey the negative electrode body, and the third vibrating disc is used to convey the positive electrode body; the second feeding rack is provided with a second cylinder and a second clamping member, the second cylinder is connected with the second clamping member, the second feeding rack is connected with a second driving member used to drive the second feeding rack to approach the carrier assembling track; a first photoelectric sensor is arranged on one side of the second clamping member on the carrier assembling track.

[0012] By adopting the technical scheme, when the positive and negative electrode mounting carriers are conveyed to the positive and negative electrode body mechanism, the first photoelectric sensor is first used to sense the positive and negative electrode mounting carriers, and if sensing is performed, the positioning mechanism stops the positive and negative electrode mounting carriers. Then, the second cylinder is started to move and clamp the positive and negative electrode body conveyed by the second vibrating disc and the third vibrating disc, and the second driving member is started to move the second clamping member above the positive and negative electrode mounting carrier and install the same, so that the positive and negative electrode body assembling operation of the positive and negative electrode of the photovoltaic panel end connector is completed. By additionally arranging the first photoelectric sensor, the positive and negative electrode mounting carrier can be accurately positioned, so that the installation of the positive and negative electrode body in the assembling process can be more accurate.

[0013] In a specific implementable scheme, the positive and negative electrode body assembling mechanism comprises a second vibrating disc, a third vibrating disc and a second feeding rack, which are all arranged on the workbench, the second vibrating disc, the third vibrating disc and the second feeding rack are all located on one side of the carrier assembling track, the second vibrating disc is used to convey the negative electrode body, and the third vibrating disc is used to convey the positive electrode body; the second feeding rack is provided with a second cylinder and a second clamping member, the second cylinder is connected with the second clamping member, the second feeding rack is connected with a second driving member used to drive the second feeding rack to approach the carrier assembling track; a first photoelectric sensor is arranged on one side of the second clamping member on the carrier assembling track.

[0014] By adopting the technical scheme, when the positive and negative electrode mounting carrier is conveyed to the positive and negative electrode upper sealing ring assembling mechanism, the second photoelectric sensor is first used to sense the positive and negative electrode mounting carrier. If sensing is successful, the positioning mechanism stops the positive and negative electrode mounting carrier. Then, the third cylinder is started to move the third suction member and suck the positive and negative electrode upper sealing ring conveyed by the fourth vibration disc and the fifth vibration disc. The third driving member is started to move the third suction member above the positive and negative electrode mounting carrier and assemble the positive and negative electrode upper sealing ring, thereby completing the assembling operation of the positive and negative electrode upper sealing ring of the photovoltaic panel end connector. The second photoelectric sensor can be used to accurately position the positive and negative electrode mounting carrier, so that the assembling of the positive and negative electrode upper sealing ring can be more accurate.

[0015] In a specific embodiment, the positive and negative electrode upper sealing ring assembling mechanism further comprises a CCD positive and negative detection camera and a turnover assembly, the turnover assembly comprises a turnover cylinder and a turnover gear, both arranged on the third feeding rack, and the turnover cylinder is connected with the turnover gear; the CCD positive and negative detection camera is arranged above the turnover gear, and the positive and negative electrode upper sealing ring is arranged through the turnover gear when feeding.

[0016] By adopting the technical scheme, when the positive and negative electrode upper sealing ring is assembled, the CCD positive and negative detection camera above the turnover gear detects the positive and negative electrode upper sealing ring when the positive and negative electrode upper sealing ring passes through the turnover gear. If the positive and negative electrode upper sealing ring is a front surface, the positive and negative electrode upper sealing ring normally passes through the turnover gear. If the positive and negative electrode upper sealing ring is a back surface, the turnover cylinder controls the turnover gear to turn over, so that the positive and negative electrode upper sealing ring is turned over. Through the arrangement of the CCD positive and negative detection camera, the positive and negative electrode upper sealing ring to be assembled can be effectively detected for front and back surfaces, thereby effectively improving the assembling accuracy of the positive and negative electrode of the photovoltaic panel end connector.

[0017] In a specific embodiment, the positive and negative electrode nut assembling mechanism comprises a sixth vibration disc, a seventh vibration disc and a fourth feeding rack, all arranged on the workbench, the sixth vibration disc, the seventh vibration disc and the fourth feeding rack are located on one side of the carrier assembling track, the sixth vibration disc is used to convey negative electrode nuts, and the seventh vibration disc is used to convey positive electrode nuts; the fourth feeding rack is provided with a fourth cylinder and a fourth suction member, the fourth cylinder is connected with the fourth suction member, and the fourth feeding rack is connected with a fourth driving member used to drive the fourth feeding rack to approach the carrier assembling track; a clamping assembly is arranged on one side of the fourth suction member on the carrier assembling track, the clamping assembly comprises a first clamp, a second clamp and a clamping cylinder, the first clamp and the second clamp are arranged on both sides of the positive and negative electrode mounting carrier, and the first clamp is connected with the clamping cylinder.

[0018] By adopting the technical scheme, when the positive and negative electrode mounting carriers are conveyed to the positive and negative electrode nut assembling mechanism, the positioning mechanism stops the positive and negative electrode mounting carriers. Then the fourth cylinder is started to move the fourth suction member and suck the positive and negative electrode nuts conveyed by the sixth vibration disc and the seventh vibration disc, and then the fourth driving member is started to move the fourth suction member above the positive and negative electrode mounting carriers and install the same. Before the installation, the clamping cylinder is started to clamp the positive and negative electrode mounting carriers by the first clamp and the second clamp. Then the fourth suction member screws the positive and negative electrode nuts on the carriers, thereby completing the assembling operation of the positive and negative electrode nuts of the photovoltaic panel end connector. The first clamp and the second clamp are used to position the positive and negative electrode carriers, so that the carriers are not easy to deviate during the screwing of the positive and negative electrode nuts.

[0019] In a specific embodiment, the screw tightening mechanism is arranged on one side of the positive and negative electrode nut assembling mechanism away from the positive and negative electrode upper sealing ring assembling mechanism, the screw tightening mechanism is connected with a driving cylinder, and the clamp assembly is arranged on one side of the screw tightening mechanism on the carrier assembling track.

[0020] By adopting the technical scheme, when the positive and negative electrode carriers pass through the positive and negative electrode nut assembling mechanism, if it is found that the positive and negative electrode nuts are not tightened, the carrier is stopped by the positioning mechanism when the carrier passes through the screw tightening mechanism, and the carrier is clamped by the clamp assembly, and the driving cylinder drives the screw tightening mechanism to tighten the positive and negative electrode nuts. By adding the reserved screw tightening mechanism, the tightening effect of the positive and negative electrode nuts can be further ensured, thereby improving the assembling effect of the positive and negative electrode of the photovoltaic panel end connector.

[0021] In a specific embodiment, the workbench is provided with a CCD detection mechanism near one end of the feeding track, the CCD detection mechanism includes a first detection camera, a second detection camera and a third detection camera, the first detection camera is arranged above the carrier assembling track, and the second detection camera is arranged on one side of the carrier assembling track. A transfer mechanism is arranged between the CCD detection mechanism and the feeding track, the transfer mechanism includes a transfer frame, a fifth cylinder and a fifth clamping member are arranged on the transfer frame, the fifth cylinder is connected with the fifth clamping member, and the fifth cylinder and the fifth clamping member can move in the horizontal direction on the transfer frame. The third detection camera is arranged below the fifth clamping member.

[0022] By adopting the technical scheme, when the positive and negative poles of the photovoltaic panel end connector are assembled, the first detection camera and the second detection camera are sequentially passed, the first detection camera detects the top surface of the assembled product, the second detection camera detects the side surface of the assembled product, then when the product reaches the end of the workbench following the carrier, the fifth cylinder is controlled to make the fifth clamping piece clamp the assembled positive and negative pole product and move in the horizontal direction, at this time the third detection camera detects the bottom surface of the product, and finally the product is sent into the feeding track. The CCD detection mechanism can detect the three surfaces of the connected positive and negative pole products, so that problems can be found as much as possible during the assembly stage and timely maintenance can be performed, thereby effectively reducing the cost loss.

[0023] In a specific implementable embodiment, the carrier conveying mechanism comprises a rack, a transfer plate and a clamping jaw cylinder, the rack is arranged on the workbench, the transfer plate is slidingly arranged on the rack, and the clamping jaw cylinder is arranged on the transfer plate; a conveying motor is arranged on the side of the rack away from the transfer plate, and the output end of the conveying motor is connected with the transfer plate; the conveying motor is used to transfer the clamping jaw cylinder from the carrier conveying track to the carrier assembly track.

[0024] In a specific implementable embodiment, the positioning mechanism comprises a positioning cylinder and a positioning block, the piston rod of the positioning cylinder is connected with the positioning block; a through slot is arranged on the carrier assembly track for the positioning block to pass through, and the positioning block abuts against the positive and negative pole mounting carrier after passing through the through slot.

[0025] In summary, the present application has at least one of the following beneficial technical effects:

[0026] 1. When the positive and negative poles of the photovoltaic panel end connector need to be assembled, the carrier conveying mechanism is first controlled to convey the positive pole mounting carrier and the negative pole mounting carrier conveyed on the carrier conveying track to the carrier assembly track, then the positive pole mounting carrier and the negative pole mounting carrier pass through the positive lower sealing ring assembly mechanism, the positive and negative pole main body assembly mechanism, the positive lower sealing ring upper top mechanism, the positive and negative pole upper sealing ring assembly mechanism and the positive and negative pole nut assembly mechanism in sequence under the conveying action of the carrier conveying track, the positioning mechanism stops the positive pole mounting carrier and the negative pole mounting carrier each time when conveying to a certain mechanism, then the corresponding components are assembled, and finally the assembled photovoltaic panel end connector positive and negative poles are removed through the feeding track. Compared with the traditional rotary disc machine, the linear assembly mechanism is adopted, and the positive and negative poles of the photovoltaic panel end connector are assembled at the same time, which effectively improves the compatibility of the photovoltaic panel end connector assembly equipment, and through the addition of the positive and negative pole carriers, the accurate positioning during the assembly of the photovoltaic panel end connector positive and negative poles is realized, and the yield of the assembled product can be improved.

[0027] 2. When the positive and negative electrode carriers pass through the positive and negative electrode nut assembly mechanism, if it is found that the positive and negative electrode nuts are not tightened at this time, when the carrier passes through the screw tightening mechanism, the positioning mechanism is controlled to stop the carrier, the carrier is clamped by the clamping assembly, and the screw tightening mechanism is driven by the driving cylinder to tighten the positive and negative electrode nuts. The reserved screw tightening mechanism can further ensure the tightening effect of the positive and negative electrode nuts, thereby improving the assembly effect of the positive and negative electrodes of the photovoltaic panel end connector;

[0028] 3. When the positive and negative electrode assembly of the photovoltaic panel end connector is completed, the first detection camera and the second detection camera are sequentially passed through, the first detection camera detects the top surface of the assembled product, the second detection camera detects the side surface of the assembled product, and then when the product follows the carrier to reach the end of the workbench, the fifth cylinder is controlled to make the fifth clamping piece clamp the assembled positive and negative electrode product and move in the horizontal direction. At this time, the third detection camera detects the bottom surface of the product, and finally the product is sent into the feeding track. The CCD detection mechanism can detect the three surfaces of the positive and negative electrode product, so that problems can be found as much as possible during the assembly stage and timely maintenance can be performed, thereby effectively reducing the cost loss. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structure diagram of the positive and negative electrodes of the photovoltaic panel end connector.

[0030] Figure 2 is a structure diagram of the photovoltaic panel end connector automatic assembly equipment in the embodiment of the application.

[0031] Figure 3 is a structure diagram of the positive electrode lower sealing ring assembly mechanism in the embodiment of the application.

[0032] Figure 4 is Figure 3 is an enlarged view of part A in

[0033] Figure 5 is Figure 3 is an enlarged view of part B in

[0034] Figure 6 is a structure diagram of the positive and negative electrode main body assembly mechanism in the embodiment of the application.

[0035] Figure 7 is Figure 6 is an enlarged view of part C in

[0036] Figure 8 is a structure diagram of the positive electrode lower sealing ring upper top mechanism in the embodiment of the application.

[0037] Figure 9 is a structure diagram of the positive and negative electrode upper sealing ring assembly mechanism in the embodiment of the application.

[0038] Figure 10 Figure 1 is a structural schematic diagram of the reversing assembly in the embodiment of the present application.

[0039] Figure 11 Figure 2 is a structural schematic diagram of the positive and negative nut assembling mechanism in the embodiment of the present application.

[0040] Figure 12 Figure 3 is a structural schematic diagram of the CCD detection mechanism in the embodiment of the present application. Figure 11 Figure 4 is an enlarged view of part D in Figure 3.

[0041] Figure 13 Figure 5 is a structural schematic diagram of the CCD detection mechanism in the embodiment of the present application. Figure 1 .

[0042] Figure 14 Figure 6 is a structural schematic diagram of the CCD detection mechanism in the embodiment of the present application. Figure 2 .

[0043] Explanation of reference signs: 1, positive electrode of photovoltaic panel end connector; 11, positive electrode body; 12, positive electrode nut; 13, positive electrode upper sealing ring; 14, positive electrode lower sealing ring; 15, positive electrode installation carrier; 2, negative electrode of photovoltaic panel end connector; 21, negative electrode body; 22, negative electrode nut; 23, negative electrode upper sealing ring; 24, negative electrode installation carrier; 3, workbench; 31, carrier conveying mechanism; 311, rack; 312, transfer plate; 313, clamping jaw cylinder; 314, conveying motor; 32, positioning mechanism; 321, positioning cylinder; 322, positioning block; 33, carrier conveying track; 34, carrier assembling track; 341, through slot; 35, installation plate; 36, feeding track; 37, positive electrode lower sealing ring lifting mechanism; 371, abutting cylinder; 372, lifting cylinder; 4, positive electrode lower sealing ring assembling mechanism; 41, first vibration disc; 42, first feeding rack; 43, first cylinder; 44, first clamping member; 45, first driving member; 46, first optical fiber sensor; 5, positive and negative electrode body assembling mechanism; 51, second vibration disc; 52, third vibration disc; 53, second feeding rack; 54, second cylinder; 55, second clamping member; 56, second driving member; 57, first photoelectric sensor; 6, positive and negative electrode upper sealing ring assembling mechanism; 61, fourth vibration disc; 62, fifth vibration disc; 63, third feeding rack; 64, third cylinder; 65, third suction member; 66, third driving member; 67, second photoelectric sensor; 68, CCD positive and negative detection camera; 69, overturning assembly; 691, overturning cylinder; 692, overturning gear; 7, positive and negative electrode nut assembling mechanism; 71, sixth vibration disc; 72, seventh vibration disc; 73, fourth feeding rack; 74, fourth cylinder; 75, fourth suction member; 76, fourth driving member; 77, clamping assembly; 771, first clamp; 772, second clamp; 773, clamping cylinder; 78, screw tightening mechanism; 79, driving cylinder; 8, CCD detection mechanism; 81, first detection camera; 82, second detection camera; 83, third detection camera; 84, rejection assembly; 9, transfer mechanism; 91, transfer rack; 92, fifth cylinder; 93, fifth clamping member. DETAILED DESCRIPTION

[0044] The application will be further described in detail below with reference to the accompanying drawings.

[0045] The application discloses an automatic assembling device for photovoltaic panel end connectors. Figure 2 and Figure 3The automatic assembling equipment for photovoltaic panel end connector comprises a workbench 3, carrier conveying tracks 33 and carrier assembling tracks 34 are respectively arranged on both sides of the workbench 3 along the length direction of the workbench 3, the conveying directions of the carrier conveying tracks 33 and the carrier assembling tracks 34 are opposite, the conveying directions of the two are shown by arrows in the figure, the upper arrow represents the conveying direction of the carrier assembling tracks 34, and the lower arrow represents the conveying direction of the carrier conveying tracks 33. A positive electrode lower sealing ring assembling mechanism 4, a positive and negative electrode main body assembling mechanism 5, a positive electrode lower sealing ring upper top mechanism 37, a positive and negative electrode upper sealing ring assembling mechanism 6, a positive and negative electrode screw cap assembling mechanism 7 and a CCD detection mechanism 8 are sequentially arranged on the workbench 3 along the conveying direction of the carrier assembling tracks 34, and a feeding track 36 is connected to one end of the workbench 3 away from the positive electrode lower sealing ring assembling mechanism 4.

[0046] With reference to Figure 4 and Figure 3 , the mounting plates 35 are slidably connected to the carrier conveying tracks 33, and the mounting plates 35 are provided with two positive electrode mounting carriers 15 and two negative electrode mounting carriers 24. The carrier conveying tracks 33 and the carrier assembling tracks 34 are arranged between the two ends of the workbench 3, and carrier carrying mechanisms 31 are arranged at the two ends of the workbench 3. The carrier carrying mechanisms 31 comprise racks 311, transfer plates 312 and two clamping jaw cylinders 313, the racks 311 are fixedly arranged on the top surface of the workbench 3, the transfer plates 312 are slidably arranged on the racks 311, and the two clamping jaw cylinders 313 are arranged on the transfer plates 312. A carrying motor 314 is arranged on the side of the rack 311 away from the transfer plate 312, and the output end of the carrying motor 314 is connected to the transfer plate 312 through the rack 311. After the carrying motor 314 is started, the carrying motor 314 drives the transfer plate 312 to move, and the commonly used two-jaw three-station carrying mode is realized. During the carrying process, one of the clamping jaw cylinders 313 carries the mounting plate 35 with the carriers from the carrier conveying tracks 33 to the workbench 3, and the other clamping jaw cylinder 313 carries the mounting plate 35 with the carriers on the workbench 3 to the carrier assembling tracks 34.

[0047] With reference to Figure 4 and Figure 3 , a plurality of positioning mechanisms 32 are further arranged on the workbench 3, the positioning mechanisms 32 comprise positioning cylinders 321 and positioning blocks 322, the positioning cylinders 321 are fixedly arranged on the workbench 3, and the piston rods of the positioning cylinders 321 are connected to the positioning blocks 322. A plurality of through grooves 341 are formed in the carrier assembling tracks 34 along the length direction of the carrier assembling tracks 34, and the positioning blocks 322 pass through the through grooves 341. After the positioning cylinders 321 are started, the positioning blocks 322 abut against the mounting plates 35 after passing through the through grooves 341, so as to stop the mounting plates 35.

[0048] With reference to Figure 5 and Figure 6The positive electrode lower sealing ring assembling mechanism 4 comprises a first vibrating disc 41 and a first feeding rack 42, both of which are arranged on the workbench 3, the first vibrating disc 41 is used for conveying the positive electrode lower sealing ring 14, and the first vibrating disc 41 and the first feeding rack 42 are located on the side of the carrier assembling track 34 away from the positioning mechanism 32. The first feeding rack 42 is provided with a first cylinder 43 and a first clamping piece 44, the first cylinder 43 is connected with the first clamping piece 44, the first feeding rack 42 is connected with a first driving piece 45 for driving the first feeding rack 42 to move close to the carrier assembling track 34, and a first optical fiber sensor 46 is arranged between the first feeding rack 42 and the carrier assembling track 34. When the mounting plate 35 is conveyed to the positive electrode lower sealing ring assembling mechanism 4, the positive electrode mounting carrier 15 and the negative electrode mounting carrier 24 are first sensed by the first optical fiber sensor 46, and if the sensing is successful, the positioning mechanism 32 stops the mounting plate 35. Then the first cylinder 43 is started to move the first clamping piece 44 to clamp the positive electrode lower sealing ring 14 conveyed by the first vibrating disc 41, and then the first driving piece 45 is started to move the first clamping piece 44 to the upper side of the positive electrode mounting carrier 15 and install it, so as to complete the assembling operation of the positive electrode upper sealing ring 13 of the photovoltaic panel end connector.

[0049] With reference to Figure 7 and Figure 8 The positive and negative electrode body assembling mechanism 5 comprises a second vibrating disc 51, a third vibrating disc 52 and a second feeding rack 53, all of which are arranged on the workbench 3, the second vibrating disc 51, the third vibrating disc 52 and the second feeding rack 53 are located on the side of the carrier assembling track 34 away from the positioning mechanism 32, the second vibrating disc 51 is used for conveying the negative electrode body 21, and the third vibrating disc 52 is used for conveying the positive electrode body 11. The second feeding rack 53 is provided with a second cylinder 54 and a second clamping piece 55, the second cylinder 54 is connected with the second clamping piece 55, and the second feeding rack 53 is connected with a second driving piece 56 for driving the second feeding rack 53 to move close to the carrier assembling track 34. A first photoelectric sensor 57 is arranged on the side of the carrier assembling track 34 away from the second clamping piece 55. When the mounting plate 35 is conveyed to the positive and negative electrode body assembling mechanism 5, the positive electrode mounting carrier 15 and the negative electrode mounting carrier 24 are first sensed by the first photoelectric sensor 57, and if the sensing is successful, the positioning mechanism 32 stops the mounting plate 35. Then the second cylinder 54 is started to move the second clamping piece 55 to clamp the positive electrode body 11 and the negative electrode body 21 conveyed by the second vibrating disc 51 and the third vibrating disc 52, and then the second driving piece 56 is started to move the second clamping piece 55 to the upper side of the positive electrode mounting carrier 15 and the negative electrode mounting carrier 24 and install it, so as to complete the assembling operation of the positive electrode body 11 and the negative electrode body 21 of the photovoltaic panel end connector.

[0050] With reference to Figure 1The positive lower sealing ring upper lifting mechanism 37 includes a pressing cylinder 371 and an upper lifting cylinder 372, the pressing cylinder 371 and the upper lifting cylinder 372 are connected, and the pressing cylinder 371 and the upper lifting cylinder 372 are both arranged above the carrier assembly track 34. In combination Figure 9 When the mounting plate 35 is transported to the positive lower sealing ring upper lifting mechanism 37, the pressing cylinder 371 is controlled to abut against the bottom end of the positive lower sealing ring 14 on the positive mounting carrier 15, and then the upper lifting cylinder 372 is started to drive the pressing cylinder 371 and the positive lower sealing ring 14 to perform the upper lifting operation.

[0051] Referring to Figure 10 and Figure 11The positive and negative electrode sealing ring assembly mechanism 6 includes a fourth vibrating plate 61, a fifth vibrating plate 62, and a third feeding rack 63, all mounted on the worktable 3. The fourth vibrating plate 61, the fifth vibrating plate 62, and the third feeding rack 63 are all located on the side of the carrier assembly track 34 away from the positioning mechanism 32. The fourth vibrating plate 61 is used to transport the negative electrode sealing ring 23, and the fifth vibrating plate 62 is used to transport the positive electrode sealing ring 13. The third feeding rack 63 is equipped with a third cylinder 64 and a third suction component 65. The third cylinder 64 is connected to the third suction component 65, and the third feeding rack 63 is connected to a third driving component 66 for driving the third feeding rack 63 closer to the carrier assembly track 34. A second photoelectric sensor 67 is located on one side of the third suction component 65 on the carrier assembly track 34. The assembly mechanism for the positive and negative electrode sealing rings 23 also includes a CCD forward and reverse detection camera 68 and a flipping assembly 69. The flipping assembly 69 includes a flipping cylinder 691 and a flipping gear 692, both mounted on the third feeding rack 63. The flipping cylinder 691 is connected to the flipping gear 692 and is used to control the flipping gear 692 to flip. The CCD forward and reverse detection camera 68 is located above the flipping gear 692, and the positive electrode sealing ring 13 and the negative electrode sealing ring 23 will pass through the flipping gear 692 when they are fed. When the mounting plate 35 is conveyed to the positive and negative electrode sealing ring assembly mechanism 6, the second photoelectric sensor 67 first senses the positive electrode mounting carrier 15 and the negative electrode mounting carrier 24. If a sense is detected, the positioning mechanism 32 stops the mounting plate 35. When the positive electrode sealing ring 13 and the negative electrode sealing ring 23 pass the flip gear 692, the CCD forward / reverse detection camera 68 located above the flip gear 692 detects the positive electrode sealing ring 13 and the negative electrode sealing ring 23 to determine if they are facing forward. If they are facing forward, the positive electrode sealing ring 13 and the negative electrode sealing ring 23 pass through the flip gear 692 normally. If they are facing backward, the flip cylinder 691 controls the flip gear 692 to flip, thereby flipping the positive electrode sealing ring 13 and the negative electrode sealing ring 23 and feeding them. Then, the third cylinder 64 is activated to move the third suction member 65 and clamp the positive electrode sealing ring 13 and the negative electrode sealing ring 23 conveyed by the fourth vibrating plate 61 and the fifth vibrating plate 62. Then, the third drive member 66 is activated to move the third suction member 65 above the positive electrode mounting carrier 15 and the negative electrode mounting carrier 24 and install them, thereby completing the assembly operation of the positive and negative electrode sealing rings 23 of the photovoltaic panel end connector.

[0052] Reference Figure 12 and Figure 1 The positive and negative electrode nut assembly mechanism 7 includes a sixth vibratory plate 71, a seventh vibratory plate 72, and a fourth feeding rack 73, all mounted on the worktable 3. The sixth vibratory plate 71, the seventh vibratory plate 72, and the fourth feeding rack 73 are all located on the side of the carrier assembly track 34 away from the positioning mechanism 32. Figure 11The sixth vibration disc 71 is used for conveying the negative screw cap 22, and the seventh vibration disc 72 is used for conveying the positive screw cap 12. The fourth feeding frame 73 is provided with the fourth cylinder 74 and the fourth suction piece 75, the fourth cylinder 74 is connected with the fourth suction piece 75, and the fourth feeding frame 73 is connected with the fourth driving piece 76 used for driving the fourth feeding frame 73 to be close to the carrier assembly track 34. The clamping assembly 77 is arranged on one side of the fourth suction piece 75 on the carrier assembly track 34, and the clamping assembly 77 comprises the first clamp 771, the second clamp 772 and the clamping cylinder 773. The first clamp 771 and the second clamp 772 are arranged on two sides of the positive mounting carrier 15 and the negative mounting carrier 24, and the first clamp 771 is connected with the clamping cylinder 773. When the mounting plate 35 is conveyed to the positive and negative screw cap assembly mechanism 7, the positioning mechanism 32 stops the mounting plate 35. Then the fourth cylinder 74 is started to move the fourth suction piece 75 and suck the positive screw cap 12 and the negative screw cap 22 conveyed by the sixth vibration disc 71 and the seventh vibration disc 72. The fourth driving piece 76 is started to move the fourth suction piece 75 to the upper side of the positive mounting carrier 15 and the negative mounting carrier 24 and install the positive screw cap 12 and the negative screw cap 22. Before the installation, the clamping cylinder 773 is started to clamp the positive mounting carrier 15 and the negative mounting carrier 24 by the first clamp 771 and the second clamp 772. Then the fourth suction piece 75 is used to screw the positive screw cap 12 and the negative screw cap 22 on the carriers, so that the assembly operation of the positive screw cap 12 and the negative screw cap 22 of the positive and negative terminal connector of the photovoltaic panel is completed. The first clamp 771 and the second clamp 772 are used to position the positive and negative carriers, so that the carriers are not easy to deviate during the screwing of the positive screw cap 12 and the negative screw cap 22.

[0053] With reference to Figure 12 and Figure 1 , the screw tightening mechanism 78 is arranged on one side of the carrier assembly track 34 along the moving direction of the carrier assembly track 34, the screw tightening mechanism 78 is connected with the driving cylinder 79, and the clamping assembly 77 is arranged on one side of the screw tightening mechanism 78 on the carrier assembly track 34. Figure 13 When the mounting plate 35 passes through the positive and negative screw cap assembly mechanism 7, if it is found that the positive screw cap 12 or the negative screw cap 22 is not tightened, when the mounting plate 35 passes through the screw tightening mechanism 78, the positioning mechanism 32 is controlled to stop the mounting plate 35, the carrier is clamped by the clamping assembly 77, and the driving cylinder 79 is controlled to drive the screw tightening mechanism 78 to tighten the positive screw cap 12 or the negative screw cap 22 again. The reserved screw tightening mechanism 78 can further ensure the tightening effect of the positive screw cap 12 and the negative screw cap 22.

[0054] With reference to Figure 14 and Figure 13, the CCD detection mechanism 8 includes a first detection camera 81, a second detection camera 82 and a third detection camera 83, the first detection camera 81, the second detection camera 82 and the third detection camera 83 are all CCD detection cameras, the first detection camera 81 is located above the carrier assembly track 34, and the second detection camera 82 is located on the side of the carrier assembly track 34 away from the positioning mechanism 32. After the photovoltaic panel end connector assembly is completed, the first detection camera 81 and the second detection camera 82 are sequentially passed through, the first detection camera 81 detects the top surface of the assembled product, and the second detection camera 82 detects the side surface of the assembled product. The first detection camera 81 and the second detection camera 82 are both provided with a defective component ejection assembly 84 on one side along the moving direction of the carrier assembly track 34, and the defective component ejection assembly 84 is similar to the feeding structure mentioned above. When a defective product is detected, the defective product is removed from the carrier assembly track 34 through the defective component ejection assembly 84.

[0055] With reference to Figure 14 and ​ , the CCD detection mechanism 8 and the feeding track 36 are provided with a transfer mechanism 9, the transfer mechanism 9 includes a transfer frame 91, the transfer frame 91 is provided with a fifth cylinder 92 and a fifth clamping piece 93, the fifth cylinder 92 is connected with the fifth clamping piece 93, and the fifth cylinder 92 and the fifth clamping piece 93 can move in the horizontal direction on the transfer frame 91. The third detection camera 83 is located below the fifth clamping piece 93. When the product follows the carrier to reach the end of the workbench 3, the fifth cylinder 92 is controlled to make the fifth clamping piece 93 clamp the assembled positive and negative electrode product and move in the horizontal direction. At this time, the carrier handling mechanism 31 at the end of the workbench 3 carries the mounting plate 35 and the carrier to the carrier conveying track 33, and the third detection camera 83 detects the bottom surface of the product. If a defective product is detected, the fifth clamping piece 93 is directly controlled to release the product so that it falls into a pre-set waste box. If no problem is detected, the product is sent to the feeding track 36. By using the CCD detection mechanism 8, the connection between the positive and negative electrode products can be detected on three surfaces, so that problems can be found as much as possible in the assembly stage and timely maintenance can be carried out, thereby effectively reducing the cost loss.

[0056] The implementation principle of the photovoltaic panel end connector automatic assembly equipment embodiment of the present application is as follows: when the positive and negative poles of the photovoltaic panel end connector need to be assembled, the carrier conveying mechanism 31 is first controlled to carry the positive pole mounting carrier 15 and the negative pole mounting carrier 24 conveyed on the carrier conveying track 33 to the carrier assembly track 34, and then the positive pole mounting carrier 15 and the negative pole mounting carrier 24 pass through the positive lower sealing ring assembly mechanism 4, the positive and negative pole main body assembly mechanism 5, the positive lower sealing ring upper top mechanism 37, the positive and negative upper sealing ring assembly mechanism 6, the positive and negative screw cap assembly mechanism 7 and the CCD detection mechanism 8 in sequence under the conveying action of the carrier conveying track 33. When transported to a certain mechanism each time, the positioning mechanism 32 will stop the positive pole mounting carrier 15 and the negative pole mounting carrier 24, and then assemble the corresponding components, and finally the assembled photovoltaic panel end connector positive and negative poles are removed through the feeding track 36. Compared with the traditional rotary disc machine for assembly, the linear assembly mechanism is used, the distance between the modules can be increased, and the occurrence of safety accidents caused by improper operation is reduced to a certain extent. And the positive and negative poles of the photovoltaic panel end connector are assembled at the same time, which effectively improves the compatibility of the photovoltaic panel end connector assembly equipment, and through the addition of the positive and negative pole carriers, the precise positioning of the photovoltaic panel end connector positive and negative poles during assembly is realized, which can improve the yield of the products after assembly.

[0057] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application. Therefore, equivalent changes made on the basis of the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A photovoltaic panel end connector automatic assembly apparatus, characterized by, The utility model provides a kind of battery assembling device, including workbench (3), the workbench (3) is equipped with carrier conveying track (33) and carrier assembly track (34) respectively along its length direction two sides, the conveying direction of carrier conveying track (33) and carrier assembly track (34) is opposite, positive electrode installation carrier (15) and negative electrode installation carrier (24) are equipped on carrier conveying track (33), and it further includes installation plate (35) slidingly connected on carrier conveying track (33), positive electrode installation carrier (15) and negative electrode installation carrier (24) are respectively provided with two and are arranged on installation plate (35);The both ends of workbench (3) are located between carrier conveying track (33) and carrier assembly track (34) and are equipped with carrier handling mechanism (31);Positive lower sealing ring assembly mechanism (4), positive and negative electrode main body assembly mechanism (5), positive lower sealing ring upper top mechanism (37), positive and negative electrode upper sealing ring assembly mechanism (6) and positive and negative electrode nut assembly mechanism (7) are sequentially equipped on workbench (3) along the moving direction of carrier assembly track (34), and positioning mechanism (32) for stopping positive electrode installation carrier (15) and negative electrode installation carrier (24) is further equipped on workbench (3), and the end of workbench (3) away from positive lower sealing ring assembly mechanism (4) is connected with feeding track (36); The positioning mechanism (32) includes a positioning cylinder (321) and a positioning block (322), the piston rod of the positioning cylinder (321) is connected with the positioning block (322), a through slot (341) is formed on the carrier assembly track (34) for the positioning block (322) to pass through, and the positioning block (322) abuts against the installation plate (35) after passing through the through slot (341); The carrier handling mechanism (31) includes a rack (311), a transfer plate (312) and two clamping jaw cylinders (313), the rack (311) is arranged on the workbench (3), the transfer plate (312) is slidingly arranged on the rack (311), and the clamping jaw cylinders (313) are arranged on the transfer plate (312); a handling motor (314) is arranged on one side of the rack (311) away from the transfer plate (312), and the output end of the handling motor (314) is connected with the transfer plate (312); the handling motor (314) is used for transferring the clamping jaw cylinders (313) from the carrier conveying track (33) to the carrier assembly track (34); one of the clamping jaw cylinders (313) carries the installation plate (35) with the carrier from the carrier conveying track (33) to the workbench (3), and the other clamping jaw cylinder (313) carries the installation plate (35) with the carrier on the workbench (3) to the carrier assembly track (34). The positive electrode lower sealing ring upper lifting mechanism (37) comprises a pressing cylinder (371) and an upper lifting cylinder (372), the pressing cylinder (371) and the upper lifting cylinder (372) are connected, and the pressing cylinder (371) and the upper lifting cylinder (372) are arranged above the carrier assembly track (34); when the mounting plate (35) is conveyed to the positive electrode lower sealing ring upper lifting mechanism (37), the pressing cylinder (371) is controlled to abut against the bottom end of the positive electrode lower sealing ring (14) on the positive electrode mounting carrier (15), and then the upper lifting cylinder (372) is started to drive the pressing cylinder (371) and the positive electrode lower sealing ring (14) to perform the upper lifting operation.

2. The photovoltaic panel end connector automatic assembly apparatus of claim 1, wherein: The positive electrode lower sealing ring assembly mechanism (4) comprises a first vibration disc (41) and a first feeding frame (42) arranged on the workbench (3), the first vibration disc (41) is used for conveying the positive electrode lower sealing ring (14), and the first vibration disc (41) and the first feeding frame (42) are located on one side of the carrier assembly track (34); the first feeding frame (42) is provided with a first cylinder (43) and a first clamping piece (44), the first cylinder (43) is connected with the first clamping piece (44), and the first feeding frame (42) is connected with a first driving piece (45) used for driving the first feeding frame (42) to be close to the carrier assembly track (34); the first fiber sensor (46) is arranged between the positive electrode lower sealing ring assembly mechanism (4) and the carrier assembly track (34).

3. The photovoltaic panel end connector automatic assembly apparatus of claim 1, wherein: The positive and negative electrode body assembly mechanism (5) comprises a second vibration disc (51), a third vibration disc (52) and a second feeding frame (53) arranged on the workbench (3), the second vibration disc (51), the third vibration disc (52) and the second feeding frame (53) are located on one side of the carrier assembly track (34), the second vibration disc (51) is used for conveying the negative electrode body (21), and the third vibration disc (52) is used for conveying the positive electrode body (11); the second feeding frame (53) is provided with a second cylinder (54) and a second clamping piece (55), the second cylinder (54) is connected with the second clamping piece (55), and the second feeding frame (53) is connected with a second driving piece (56) used for driving the second feeding frame (53) to be close to the carrier assembly track (34); the first photoelectric sensor (57) is arranged on one side of the second clamping piece (55) on the carrier assembly track (34).

4. The photovoltaic panel end connector automatic assembly apparatus of claim 1, wherein: The positive and negative upper sealing ring assembly mechanism (6) comprises a fourth vibrating disc (61), a fifth vibrating disc (62) and a third feeding rack (63) which are all arranged on the workbench (3), the fourth vibrating disc (61), the fifth vibrating disc (62) and the third feeding rack (63) are located on one side of the carrier assembly track (34), the fourth vibrating disc (61) is used for conveying the negative upper sealing ring (23), and the fifth vibrating disc (62) is used for conveying the positive upper sealing ring (13); the third feeding rack (63) is provided with a third cylinder (64) and a third suction piece (65), the third cylinder (64) is connected with the third suction piece (65), the third feeding rack (63) is connected with a third driving piece (66) for driving the third feeding rack (63) to approach the carrier assembly track (34); a second photoelectric sensor (67) is arranged on one side of the third suction piece (65) on the carrier assembly track (34).

5. The photovoltaic panel end connector automatic assembly apparatus of claim 4, wherein: The positive and negative upper sealing ring assembly mechanism (6) further comprises a CCD positive and negative detection camera (68) and a turnover assembly (69), the turnover assembly (69) comprises a turnover cylinder (691) and a turnover gear (692) which are both arranged on the third feeding rack (63), and the turnover cylinder (691) is connected with the turnover gear (692); the CCD positive and negative detection camera (68) is arranged above the turnover gear (692), and the positive and negative upper sealing rings are fed through the turnover gear (692).

6. The photovoltaic panel end connector automatic assembly apparatus of claim 1, wherein: The positive and negative nut assembly mechanism (7) comprises a sixth vibrating disc (71), a seventh vibrating disc (72) and a fourth feeding rack (73) which are all arranged on the workbench (3), the sixth vibrating disc (71), the seventh vibrating disc (72) and the fourth feeding rack (73) are located on one side of the carrier assembly track (34), the sixth vibrating disc (71) is used for conveying the negative nut (22), and the seventh vibrating disc (72) is used for conveying the positive nut (12); the fourth feeding rack (73) is provided with a fourth cylinder (74) and a fourth suction piece (75), the fourth cylinder (74) is connected with the fourth suction piece (75), the fourth feeding rack (73) is connected with a fourth driving piece (76) for driving the fourth feeding rack (73) to approach the carrier assembly track (34); a clamping assembly (77) is arranged on one side of the fourth suction piece (75) on the carrier assembly track (34), the clamping assembly (77) comprises a first clamp (771), a second clamp (772) and a clamping cylinder (773), the first clamp (771) and the second clamp (772) are arranged on both sides of the positive and negative mounting carrier, and the first clamp (771) is connected with the clamping cylinder (773).

7. The photovoltaic panel end connector automatic assembly apparatus of claim 6, wherein: The positive and negative screw nut assembling mechanism (7) is provided with a screw tightening mechanism (78) away from one side of the positive and negative upper sealing ring assembling mechanism (6), the screw tightening mechanism (78) is connected with a driving cylinder (79), and one side of the carrier assembling track (34) located on the screw tightening mechanism (78) is provided with the clamping assembly (77).

8. The photovoltaic panel end connector automatic assembly apparatus of claim 1, wherein: One end of the workbench (3) near the feeding track (36) is provided with a CCD detection mechanism (8), the CCD detection mechanism (8) comprises a first detection camera (81), a second detection camera (82) and a third detection camera (83), the first detection camera (81) is located above the carrier assembling track (34), and the second detection camera (82) is located on one side of the carrier assembling track (34); a transfer mechanism (9) is arranged between the CCD detection mechanism (8) and the feeding track (36), the transfer mechanism (9) comprises a transfer frame (91), the transfer frame (91) is provided with a fifth cylinder (92) and a fifth clamping piece (93), the fifth cylinder (92) is connected with the fifth clamping piece (93), and the fifth cylinder (92) and the fifth clamping piece (93) can move in a horizontal direction on the transfer frame (91); and the third detection camera (83) is located below the fifth clamping piece (93).

Images