An industrial robot system

Abstract

The application relates to the technical field of automation equipment, and discloses an industrial robot system, which comprises: a plurality of work islands used for completing one or more processes in a production process; conveying tools used for material transportation inside the islands or between different islands; and one or more groups of robot modules in the work islands, wherein the robot modules have one or more functions, and different robot modules can cooperate with each other to realize the processes completed by the work islands. The industrial robot system provided by the application has strong convenience and a very wide application prospect, and can complete a complete production process through cooperation and division of labor of the multiple industrial robot modules under the system.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an industrial robot system. Background Technology

[0002] Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medicine, services, and households. Adopting automation technology not only liberates people from heavy physical labor, some mental labor, and harsh and dangerous working environments, but also expands human organ functions, greatly improves labor productivity, and enhances humanity's ability to understand and transform the world.

[0003] To meet the automation needs in product manufacturing, assembly, and processing, automated robots are usually required to automate tasks. Currently, most industrial robots only perform a single part of a complete production process. There is a lack of collaboration and coordination between industrial robots, and a lack of a robot system in which multiple robots work together to achieve the entire manufacturing process. Summary of the Invention

[0004] The purpose of this invention is to provide an industrial robot system to solve the above-mentioned problems, which realizes the entire production and manufacturing process through the collaborative work of multiple robots in the system.

[0005] This invention achieves the above objectives through the following technical solution: an industrial robot system, comprising: Several work islands, wherein the work islands are used to complete one or more processes in the production process; A conveying device for transporting materials within the island or between different islands; The work island includes one or more robot modules, each robot module having one or more functions, and different robot modules can cooperate with each other to jointly realize the process completed by the work island.

[0006] Furthermore, the robot module also includes a material handling device.

[0007] Furthermore, the material conveying device consists of a feeder and a discharger.

[0008] Furthermore, the functions of the robot module include feeding, wrapping, dispensing, and assembly.

[0009] Furthermore, the robot module also includes a parallel movement device.

[0010] Furthermore, the parallel moving device includes a moving platform, a frame, a connecting rod, and three linear motion units with sliding elements; the three linear motion units are arranged circumferentially on the frame, one end of the connecting rod is movably connected to the sliding element in the linear motion unit, and the other end is movably connected to the moving platform; the sliding element moves in a straight line to change the spatial position of the moving platform; the moving platform is used to install the working workpiece.

[0011] Furthermore, the robot system is a robot system used to complete the assembly and testing process of photovoltaic inverters.

[0012] Furthermore, the working island includes: An industrial robot module for loading skeletons and lower skeletons into an assembly box. The assembly box has an upper skeleton placement area for placing the upper skeleton, a lower skeleton placement area for placing the lower skeleton, and a magnetic core placement area for placing magnetic cores. The upper skeleton placement area is used to place magnetic cores between the upper skeleton and the upper skeleton, and the lower skeleton is also used to place magnetic cores between the lower skeleton and the lower skeleton placement area. A magnetic core and magnetic column loading industrial robot module is connected to the skeleton loading industrial robot module. The magnetic core and magnetic column loading industrial robot module is used to load magnetic cores and magnetic columns to corresponding positions in the assembly box where the skeleton is placed. A magnetic column insulating paper wrapping industrial robot module is connected to the magnetic core and magnetic column feeding industrial robot module. The magnetic column insulating paper wrapping industrial robot module is used to wrap insulating paper on the outer surface of the magnetic column placed on the assembly box. An adhesive dispensing industrial robot module is connected to the magnetic column insulating paper wrapping industrial robot module. The adhesive dispensing robot module is used to place the magnetic column wrapped with insulating paper on the lower frame and perform adhesive dispensing to fix it. A coil assembly industrial robot module is connected to a glue dispensing industrial robot module. The coil assembly industrial robot module is used to assemble coils onto magnetic pillars that have been fixed by glue dispensing. A manual air gap plate placement mechanism is provided, which is connected to the coil assembly industrial robot module. The manual air gap plate placement mechanism is used to place the air gap plate on the magnetic core manually and to install the upper frame with the magnetic core on top of the magnetic column with the coil. A spring clip assembly and inductance testing industrial robot module is provided, which is connected to the manual air gap plate placement mechanism. The spring clip assembly and inductance testing industrial robot module is used to install spring clips and perform inductance testing on the assembled photovoltaic inverter.

[0013] Furthermore, the skeleton loading industrial robot module includes a material placement rack and a first motion mechanism for driving the material placement rack to move longitudinally. The material placement rack is provided with a first tray for placing skeleton materials. The skeleton loading industrial robot module also includes a first suction mechanism for picking up the first tray to a designated position, a first industrial robot for loading the skeleton materials picked up to the designated position onto an assembly box, and a first conveying mechanism for conveying the loaded assembly box to the magnetic core and magnetic column loading industrial robot module.

[0014] Furthermore, the magnetic core and magnetic column loading industrial robot module includes a magnetic column and magnetic core placement rack and a second motion mechanism for driving the magnetic column and magnetic core placement rack to move longitudinally. The magnetic column and magnetic core placement rack is provided with a second tray for placing magnetic column materials and magnetic core materials. The magnetic core and magnetic column loading industrial robot module also includes a second suction mechanism for picking up the second tray to a designated position, a magnetic column clamping mechanism for loading the magnetic column materials picked up to the designated position in the second tray to the assembly box, a magnetic core clamping mechanism for loading the magnetic core materials picked up to the designated position in the second tray to the assembly box, a second industrial robot that is fixedly connected to the magnetic column clamping mechanism and the magnetic core clamping mechanism and drives them to move, and a second conveying mechanism for conveying the assembly box with completed magnetic column and magnetic core loading to the magnetic column insulating paper wrapping industrial robot module.

[0015] The beneficial effects of the present invention are: the industrial robot system provided above completes a certain production process through the coordinated cooperation and division of labor of multiple industrial robot modules in the system, which has great convenience and very broad application prospects. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an industrial robot system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the skeleton feeding industrial robot module according to an embodiment of the present invention; Figure 3 This is a structural diagram of the magnetic core and magnetic column loading industrial robot module according to an embodiment of the present invention; Figure 4 This is a structural diagram of the dispensing industrial robot module according to an embodiment of the present invention; Figure 5 This is a structural diagram of the coil assembly industrial robot module according to an embodiment of the present invention; Figure 6 This is a structural diagram of the industrial robot module for snap ring assembly and inductance testing according to an embodiment of the present invention; Figure 7 This is a top view of an industrial robot system according to an embodiment of the present invention.

[0017] In the picture: 1. Frame-loading industrial robot module 11. Material placement rack 12. First tray 13. First conveying mechanism 14. First Industrial Robot 2. Magnetic core and magnetic column feeding industrial robot module 21. Magnetic core placement rack 22. Second tray 23. Magnetic column clamping mechanism 24. Magnetic core clamping mechanism 25. Second conveying mechanism 26. Second Industrial Robot 3. Magnetic column-wrapped insulating paper industrial robot module 4. Dispensing industrial robot module 41. Dispensing mechanism 43. The Fourth Industrial Robot 42. Fourth Conveying Mechanism 5. Coil assembly industrial robot module 51. Coil Placement Rack 52. Third tray 53. Coil clamping mechanism 55. The Fifth Industrial Robot 54. Fifth Conveying Mechanism 6. Manual placement mechanism for air gap plates 7. Industrial robot module for snap ring assembly and inductance testing 71. Snap ring holder 72. Snap ring assembly mechanism 73. The Sixth Industrial Robot Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0024] Reference Figure 1-7 The diagram shows a preferred embodiment of the present invention.

[0025] An industrial robot system, comprising: Several working islands, each capable of performing one or more processes in a production process; A conveying device for transporting materials within the island or between different islands; The work island includes one or more robot modules, each robot module having one or more functions, and different robot modules can cooperate with each other to jointly realize the process completed by the work island.

[0026] It should be noted that the conveying tool in this application can be an AGV conveying trolley, a manual conveying trailer or trolley, or other conveying methods. This application does not limit the specific methods used.

[0027] Furthermore, the robot module also includes a material handling device.

[0028] Furthermore, the material conveying device consists of a feeder and a discharger.

[0029] Furthermore, the functions of the robot module include feeding, wrapping, dispensing, and assembly.

[0030] Specifically, the robot module also includes a parallel movement device.

[0031] Specifically, the parallel moving device includes a moving platform, a frame, a connecting rod, and three linear motion units with sliding members. The three linear motion units are circumferentially arranged on the frame. One end of the connecting rod is movably connected to the sliding member in the linear motion unit, and the other end is movably connected to the moving platform. The sliding member moves linearly, thereby changing the spatial position of the moving platform. The moving platform is used to mount the workpiece. Thus, because the parallel moving device can undergo spatial displacement, the workpiece mounted on it can also undergo spatial displacement. Through the cooperation between multiple robot modules, the workpiece can be flexibly selected according to actual production needs; for example, it can be a clamp, dispensing valve, nozzle, suction nozzle, etc., thus completing the entire production process.

[0032] The industrial robot system also includes a central server, which is used to schedule the operation of the conveyor.

[0033] Furthermore, the robot system is a robot system used to complete the assembly and testing process of photovoltaic inverters.

[0034] The industrial robot system also includes a central server, which is used to schedule the operation of the AGV transport vehicles.

[0035] Furthermore, the work islands include: The skeleton loading industrial robot module 1 is used to load the upper skeleton and the lower skeleton into the assembly box. The assembly box has an upper skeleton placement area for placing the upper skeleton, a lower skeleton placement area for placing the lower skeleton, and a magnetic core placement area for placing magnetic cores. The upper skeleton placement area and the upper skeleton are used to place magnetic cores, and the lower skeleton and the lower skeleton placement area are also used to place magnetic cores. The magnetic core and magnetic column loading industrial robot module 2 is connected to the skeleton loading industrial robot module 1. The magnetic core and magnetic column loading industrial robot module 2 is used to load the magnetic core and magnetic column to the corresponding position in the assembly box where the skeleton is placed. The magnetic column insulating paper wrapping industrial robot module 3 is connected to the magnetic core and magnetic column feeding industrial robot module 2. The magnetic column insulating paper wrapping industrial robot module 3 is used to wrap the outer surface of the magnetic column placed on the assembly box with insulating paper. The glue dispensing industrial robot module 4 is connected to the magnetic column insulating paper wrapping industrial robot module 3. The glue dispensing robot module is used to place the magnetic column wrapped with insulating paper on the lower frame and perform glue dispensing to fix it. The coil assembly industrial robot module 5 is connected to the dispensing industrial robot module 4. The coil assembly industrial robot module 5 is used to assemble the coil onto the magnetic column that has been fixed by dispensing. The manual air gap plate placement mechanism 6 is connected to the coil assembly industrial robot module 5. The manual air gap plate placement mechanism 6 is used to place the air gap plate on the magnetic core manually and install the upper frame with the magnetic core on top of the magnetic column with the coil. The industrial robot module 7 for spring clip assembly and inductance testing is connected to the manual air gap plate placement mechanism 6. The industrial robot module 7 for spring clip assembly and inductance testing is used to install spring clips and perform inductance testing on the assembled photovoltaic inverter.

[0036] The industrial robot system described above uses various industrial robot modules to realize the various processes in the photovoltaic inverter assembly process, thereby enabling the overall assembly of the photovoltaic inverter. It has high work efficiency, and each robot module uses a unified process parameter file, which improves convenience.

[0037] Furthermore, the skeleton loading industrial robot module 1 includes a material placement rack 11 and a first motion mechanism for driving the material placement rack 11 to move longitudinally. The material placement rack 11 is provided with a first tray 12 for placing skeleton materials. The skeleton loading industrial robot module 1 also includes a first suction mechanism for picking up the first tray 12 to a designated position, a first industrial robot 14 for loading the skeleton materials picked up to the first tray 12 to the designated position to the assembly box, and a first conveying mechanism 13 for conveying the loaded assembly box to the magnetic core and magnetic column loading industrial robot module 2.

[0038] Furthermore, the magnetic core and magnetic column loading industrial robot module 2 includes a magnetic column and magnetic core placement rack 21 and a second motion mechanism for driving the magnetic column and magnetic core placement rack 21 to move longitudinally. The magnetic column and magnetic core placement rack 21 is provided with a second tray 22 for placing magnetic column materials and magnetic core materials. The magnetic core and magnetic column loading industrial robot module 2 also includes a second suction mechanism for picking up the second tray 22 to a designated position, a magnetic column clamping mechanism 23 for loading the magnetic column materials picked up to the designated position in the second tray to the assembly box, a magnetic core clamping mechanism 24 for loading the magnetic core materials picked up to the designated position in the second tray to the assembly box, a second industrial robot 26 that is fixedly connected to the magnetic column clamping mechanism 23 and the magnetic core clamping mechanism 24 and drives them to move, and a second conveying mechanism 25 for conveying the assembly box with completed magnetic column and magnetic core loading to the magnetic column wrapping insulation paper industrial robot module 3.

[0039] Furthermore, the magnetic column insulating paper wrapping industrial robot module 3 includes an insulating paper cutting mechanism for cutting insulating paper, an insulating paper wrapping mechanism for wrapping insulating paper around the magnetic column, a third industrial robot for clamping the magnetic column of the assembly box to the insulating paper wrapping mechanism for wrapping insulating paper and clamping the magnetic column wrapped with insulating paper back to the assembly box, and a third conveying mechanism for conveying the assembly box that has completed the insulating paper wrapping operation to the dispensing industrial robot module 4.

[0040] Furthermore, the dispensing industrial robot module 4 includes a dispensing mechanism 41, a fourth industrial robot 43 fixedly connected to the dispensing mechanism 41 and used to drive the movement of the dispensing mechanism 41, and a fourth conveying mechanism 42 for conveying the assembly box that has completed the dispensing work to the coil assembly industrial robot module 5.

[0041] Furthermore, the coil assembly industrial robot module 5 includes a coil placement rack 51 and a third motion mechanism for driving the coil placement rack 51 to move longitudinally. The coil placement rack 51 is provided with a third tray 52 for placing coil materials. The coil assembly industrial robot module 5 also includes a third suction mechanism for picking up the third tray 52 to a designated position, a coil clamping mechanism 53 for feeding the coil materials picked up to the designated position in the third tray and placing them on the outer surface of the magnetic column in the assembly box, a fifth industrial robot 55 fixedly connected to the coil clamping mechanism 53 and driving it to move, and a fifth conveying mechanism 54 for conveying the assembly box with completed coil assembly to the manual placement air gap plate mechanism 6.

[0042] Furthermore, the snap ring assembly and inductance testing industrial robot module 7 includes a snap ring placement rack 71 for placing snap rings, a snap ring assembly mechanism 72 for assembling snap rings on the snap ring placement rack 71 to the photovoltaic inverter, and a sixth industrial robot 73 for driving the snap ring assembly mechanism 72.

[0043] Furthermore, the working island also includes a discharge mechanism for discharging materials.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An industrial robot system, characterized in that, include: Several work islands, wherein the work islands are used to complete one or more processes in the production process; A conveying device for transporting materials within the island or between different islands; The work island includes one or more robot modules, each robot module having one or more functions, and different robot modules can cooperate with each other to jointly realize the process completed by the work island. The working island includes: An industrial robot module for loading skeletons and lower skeletons into an assembly box. The assembly box has an upper skeleton placement area for placing the upper skeleton, a lower skeleton placement area for placing the lower skeleton, and a magnetic core placement area for placing magnetic cores. The upper skeleton placement area is used to place magnetic cores between the upper skeleton and the upper skeleton, and the lower skeleton is also used to place magnetic cores between the lower skeleton and the lower skeleton placement area. A magnetic core and magnetic column loading industrial robot module is connected to the skeleton loading industrial robot module. The magnetic core and magnetic column loading industrial robot module is used to load magnetic cores and magnetic columns to corresponding positions in the assembly box where the skeleton is placed. A magnetic column insulating paper wrapping industrial robot module is connected to the magnetic core and magnetic column feeding industrial robot module. The magnetic column insulating paper wrapping industrial robot module is used to wrap insulating paper on the outer surface of the magnetic column placed on the assembly box. An adhesive dispensing industrial robot module is connected to the magnetic column insulating paper wrapping industrial robot module. The adhesive dispensing industrial robot module is used to place the magnetic column wrapped with insulating paper on the lower frame and perform adhesive dispensing to fix it. A coil assembly industrial robot module is connected to a glue dispensing industrial robot module. The coil assembly industrial robot module is used to assemble coils onto magnetic pillars that have been fixed by glue dispensing. A manual air gap plate placement mechanism is provided, which is connected to the coil assembly industrial robot module. The manual air gap plate placement mechanism is used to place the air gap plate on the magnetic core manually and to install the upper frame with the magnetic core on top of the magnetic column with the coil. A spring clip assembly and inductance testing industrial robot module is provided, which is connected to the manual air gap plate placement mechanism. The spring clip assembly and inductance testing industrial robot module is used to install spring clips and perform inductance testing on the assembled photovoltaic inverter.

2. The industrial robot system according to claim 1, characterized in that, The robot module also includes a material handling device.

3. An industrial robot system according to claim 2, characterized in that, The material conveying device consists of a feeder and a discharger.

4. An industrial robot system according to claim 1, characterized in that, The functions of the robot module include feeding, wrapping, dispensing glue, and assembly.

5. An industrial robot system according to any one of claims 1-4, characterized in that, The robot module also includes a parallel movement device.

6. An industrial robot system according to claim 5, characterized in that, The parallel moving device includes a moving platform, a frame, a connecting rod, and three linear motion units with sliding elements; the three linear motion units are arranged circumferentially on the frame, one end of the connecting rod is movably connected to the sliding element in the linear motion unit, and the other end is movably connected to the moving platform; the sliding element moves in a straight line to change the spatial position of the moving platform; the moving platform is used to install the working workpiece.

7. An industrial robot system according to claim 5, characterized in that, The robot system is a robot system used to complete the assembly and testing process of photovoltaic inverters.

8. An industrial robot system according to claim 1, characterized in that, The skeleton loading industrial robot module includes a material placement rack and a first motion mechanism for driving the material placement rack to move longitudinally. The material placement rack is provided with a first tray for placing skeleton materials. The skeleton loading industrial robot module also includes a first suction mechanism for picking up the first tray to a designated position, a first industrial robot for loading the skeleton materials picked up to the designated position onto an assembly box, and a first conveying mechanism for conveying the loaded assembly box to the magnetic core and magnetic column loading industrial robot module.

9. An industrial robot system according to claim 8, characterized in that, The magnetic core and magnetic column loading industrial robot module includes a magnetic column and magnetic core placement rack and a second motion mechanism for driving the magnetic column and magnetic core placement rack to move longitudinally. The magnetic column and magnetic core placement rack is provided with a second tray for placing magnetic column materials and magnetic core materials. The magnetic core and magnetic column loading industrial robot module also includes a second suction mechanism for picking up the second tray to a designated position, a magnetic column clamping mechanism for loading the magnetic column materials picked up to the designated position in the second tray to an assembly box, a magnetic core clamping mechanism for loading the magnetic core materials picked up to the designated position in the second tray to an assembly box, a second industrial robot that is fixedly connected to the magnetic column clamping mechanism and the magnetic core clamping mechanism and drives their movement, and a second conveying mechanism for conveying the assembly box with completed magnetic column and magnetic core loading to the magnetic column insulating paper wrapping industrial robot module.

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