Combined type junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis movement

Abstract

The invention relates to a combined type junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis movement. The combined type junction box cover feeding device comprises a vibration hopper, a vibration material box and a feeding mechanical arm. On one hand, on the basis of multi-degree-of-freedom and multi-axis movement, the position and lamination verification of the taken box cover is effectively carried out, so that the probability that the box cover cannot be continuously assembled due to position errors or lamination when the box cover is fed into a transfer platform is reduced, namely, the interruption rate of feeding is reduced; and on the other hand, the box cover is thrown, turned and spread to the periphery on the basis of multi-angle movement formed by shake-off unloading and flexible vibration, the selection rate of material taking is increased, then the error rate of material taking is reduced, and the feeding efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of material transportation, and in particular relates to a combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion. Background Art

[0002] The junction box of a photovoltaic module basically includes a box body and a box cover, wherein the box body is fixed to the module by gluing. After the internal components and busbars of the junction box are connected and assembled, the box body is closed by gluing and snap-fitting. The opening formed by the box body is basically rectangular. Therefore, the box cover used is in the shape of a rectangular module. In the assembly process, the box cover has not only long and short sides, but also front and back sides. Therefore, in the automatic assembly process, the following technical defects often exist:

[0003] 1) Although visual assistance can be used to distinguish the front and back sides, as well as the length, the box cover itself may be piled up or relatively stuck (such as two stuck together) during the transmission process, resulting in the possibility of over-sucking when sucking materials, which not only increases the probability of damaging the junction box or internal components during subsequent assembly, but also greatly increases the loss of the box cover;

[0004] 2) Since the layout of the box cover in the material box is disorderly, continuous transmission is used for continuous feeding. However, during the adsorption process, it cannot be guaranteed that each adsorption position point is in the middle. Therefore, even if the requirements of the front and back sides and the long and short sides are met, the transfer and reorganization cannot be effectively carried out due to the position deviation of the adsorption point. Then the box cover needs to be sent back to the material box for material removal again, that is, the material supply is interrupted, thereby reducing the assembly efficiency. In addition, once the same photovoltaic module has multiple junction boxes, the material needs to be sucked at one time, which greatly increases the probability of material removal failure, and the electrostatic adsorption between the box covers themselves also increases the difficulty of material removal. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a new combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion, comprising:

[0008] A vibrating hopper, comprising a material seat, a hopper mounted on the material seat, and a first vibrator, wherein the first vibrator can spread the box covers relatively and vibrate and transmit them to an outlet;

[0009] A vibrating material box, comprising a material receiving box located below the material discharging end of the hopper, and a second vibrator driving the material receiving box to form multi-angle movements in the up and down directions to flip over and spread the box cover around;

[0010] A feeding robot comprises a visual unit, a material picking seat, a transfer unit which drives the material picking seat to form a linear motion in the X and Y axis directions based on the instruction of the visual unit, and material picking claws which are arranged side by side on the material picking seat and can move along the Z axis, wherein the claw head of each material picking claw is set to rotate around the Z axis, the center distance between each two adjacent claw heads is equal and is D, the length of each box cover is L, L≤D≤1.8L, wherein the first degree of freedom is formed based on the rotation of the material picking claw, and the second degree of freedom is formed based on the linear motion of the upper and lower misalignment of the material picking claw, and in the synchronous motion of the first degree of freedom and the second degree of freedom, whether the box covers on each two adjacent material picking claws move and collide, and whether the excess or interlayer box covers are shaken off based on the movement of the material picking claw are used as the verification basis, so that multiple material picking claws that have passed the verification are rotated to a parallel angle, and the box covers are fed to the transfer platform based on the X, Y, and Z axial motion.

[0011] Preferably, the material receiving box includes a box frame and a flexible box bottom layer formed at the bottom of the box frame, wherein the flexible box bottom layer can throw the box cover upwards based on vibration and elastic force. The flip probability of the box cover movement is increased based on flexibility, so as to increase the accuracy of the box cover taking materials. Furthermore, a brush extending upward is also provided on the top of the box frame, wherein the excess or interlayer box cover is removed by brushing based on the brush; the probability of wrong material taking is further reduced by the brushing method. Furthermore, a waste cover collection box is also provided on one side of the material receiving box. When damaged or unqualified products appear, they can be adsorbed and sent to the waste cover collection box.

[0012] According to a specific implementation and preferred aspect of the present invention, the second vibrator includes a plurality of vibrating rods located around the receiving box, wherein one or more of the plurality of vibrating rods move synchronously to form vibrations. The corresponding vibration is selected according to the actual working conditions to improve the need for taking materials.

[0013] According to another specific implementation and preferred aspect of the present invention, the hopper is elastically mounted on the material seat, and the first vibrator drives the hopper to move up and down. The shaking method is more conducive to the distribution and shaking off of the box cover.

[0014] Furthermore, the vibrating hopper also includes an interception plate installed on the material seat and capable of intercepting in the hopper, and a power device for driving the interception plate to move up and down, wherein the interception plate can move synchronously with the hopper. Flow control is formed based on the interception plate, and during the shaking process, the interception plate can remain stationary or keep intercepting and moving, so as to improve the control of the feeding amount and reduce the overlap rate of the box cover.

[0015] According to another specific implementation and preferred aspect of the present invention, the transfer unit includes an X-axis moving assembly and a Y-axis moving assembly, wherein the X-axis moving assembly includes a first shaft seat having a track I extending along the X-axis direction, a first power member installed in the first shaft seat to form a linear motion, and the material picking seat is matched and docked with the track I; the Y-axis moving assembly includes a second shaft seat having a track II extending along the Y-axis direction, a second power member installed on the second shaft seat and forming a linear motion, and the first shaft seat is matched and docked with the track II. The motion guide formed by the track I and the track II realizes the XY axial motion.

[0016] Preferably, the first power member is a transmission screw extending along the X-axis; the second power member includes a transmission rack fixed on the second shaft seat, a travel gear and a power motor installed on the first shaft seat.

[0017] According to another specific implementation and preferred aspect of the present invention, the material picking claw includes a fixed seat fixedly connected to the material picking seat, a movable seat mounted on the fixed seat and capable of moving up and down along the Z-axis direction, a negative pressure adsorption head mounted on the movable seat, and a power device for driving the negative pressure adsorption head to rotate, wherein the adsorption and rotation of the negative pressure adsorption head can be synchronized. Under the premise of satisfying the Z-axis movement, based on the synchronization of adsorption and rotation, it is not only convenient to pick up materials, but also provides a basis for verification.

[0018] Preferably, a guide rail extending along the Z axis is provided on the fixed seat, and the movable seat slides on the guide rail and moves up and down along the Z axis during the up and down traction. Generally, a pulley or a pulley is used for traction. At the same time, a hollow stepping motor is used for self-rotation and negative pressure adsorption.

[0019] In addition, the transfer platform includes a fixed seat plate, a long side grid and a short side grid formed on the fixed seat plate, a short side aligning module moving along the long side grid, and a long side aligning module moving along the short side grid, wherein the short side aligning module and the long side aligning module are staggered, and the long side grid and the short side grid are used as references to align the box covers transferred to the transfer platform during their respective movements. Accurate position alignment is required before assembly.

[0020] Preferably, the short side guard is a single bar and is located on one side of the fixed seat plate; there are multiple long side guards, wherein each long side guard is fixed on the fixed seat plate from the end portion perpendicularly against the short side guard, and multiple long side guards are spaced apart along the length direction of the short side guard; the short side straightening module includes a comb plate and a comb tooth power device installed on the fixed seat plate, which respectively abut against each long side guard and move synchronously along the long side guard, and a long side guard is arranged in each comb tooth groove; the long side straightening module includes straightening bars corresponding to the long side guards and arranged in parallel, a synchronous connecting rod used to synchronously connect multiple straightening bars and slidably arranged on the fixed seat plate, and a connecting rod power device that pushes the synchronous connecting rod to move the straightening bars to move along the fixed seat plate toward the long side guard to form a straightening, wherein the straightening bars move between each comb tooth and the spaced long side guards. The long side grid and the short side grid are fixed, and the relative movement of the long side sorting module and the short side sorting module forms the staggered sorting. This method not only has enough storage space, but also can further adjust the final feeding position through sorting even if there is a slight deviation in the material taking.

[0021] Due to the implementation of the above technical solution, the present invention has the following advantages compared with the prior art:

[0022] In the existing box cover assembly process, although with the aid of vision, not only the front and back sides can be distinguished, but also the length can be distinguished. However, due to the probability of the box cover itself being piled up or relatively stuck (such as two stuck together) during the transmission process, there is still a probability of over-sucking when sucking materials, which not only increases the probability of damaging the junction box or internal components during subsequent assembly, but also greatly increases the loss of the box cover; since the layout of the box cover in the material box is disorderly, continuous transmission is used for continuous feeding, but during the adsorption process, it cannot be guaranteed that the adsorption position point is always in the middle, therefore, In order to meet the requirements of the front and back sides and the long and short sides, but because of the position deviation of the adsorption point, it is impossible to effectively transfer and organize, then the box cover needs to be sent back to the material box for material collection again, that is, it causes material supply interruption, thereby reducing assembly efficiency. In addition, once the same photovoltaic component has multiple junction boxes, the materials need to be sucked at one time, which greatly increases the probability that the materials cannot be sorted, and the electrostatic adsorption between the box covers themselves also increases the difficulty of material collection and so on. The present application comprehensively designs the structure of the combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion, which cleverly solves the various deficiencies of the existing structure. After adopting the junction box cover feeding device, the box covers are relatively dispersedly shaken off to the receiving box at the lower side based on the vibration hopper, and the box covers are effectively turned over in the elastic vibration of the receiving box itself. Then, based on visual assistance, the box covers are sucked one by one and turned to the same direction in the XYZ axis circumferential motion of the picking claw. Then, the first degree of freedom is formed based on the rotation of the picking claw, and the second degree of freedom is formed based on the linear motion of the upper and lower misalignment of the picking claw. In the synchronous motion of the first degree of freedom and the second degree of freedom, whether the box covers on each two adjacent picking claws collide with each other, and whether the box covers on the picking claws collide with each other based on the movement of the picking claw The shaking off of the surplus or interlayer box cover is used as the basis for verification, so that the multiple material picking claws that have passed the verification can be rotated to a parallel angle, and the box cover is fed to the transfer platform based on the X, Y, and Z axial movements. Therefore, on the one hand, the present invention is based on multi-degree-of-freedom and multi-axis movement to effectively perform position and stacking verification of the taken box cover, so as to reduce the probability that the transfer platform cannot continue to assemble due to position errors or stacking, that is, to reduce the interruption rate of feeding; on the other hand, based on the multi-angle movement formed by shaking off and unloading, flexible vibration, the box cover is flipped and spread around, thereby increasing the selection rate of material picking, thereby reducing the error rate of material picking and improving feeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the junction box cover feeding device of Example 1;

[0024] Figure 2 for Figure 1 An enlarged schematic diagram of the transfer platform structure;

[0025] Figure 3 for Figure 1A schematic diagram of the structure from another perspective;

[0026] Figure 4 for Figure 1 A schematic cross-sectional view of the structure of the vibrating hopper and the vibrating material box;

[0027] Figure 5 for Figure 1 Schematic diagram of the structure of the feeding manipulator;

[0028] Figure 6 for Figure 5 A schematic cross-sectional view of a single material-retrieving claw;

[0029] Figure 7 It is a schematic diagram of the structure of the vibrating hopper and the vibrating material box in Example 2;

[0030] Figure 8 for Figure 7 A schematic diagram of the main view;

[0031] Among them: 1. Vibrating hopper; 10. Material seat; 11. Hopper; 12. First vibrator; 13. Interceptor plate; 14. Power device; 2. Vibrating material box; 20. Material receiving box; 200. Box frame; 201. Flexible box bottom layer; 202. Brush; 21. Second vibrator; 210. Vibrating rod; 22. Waste cover collection box; 3. Feeding manipulator; 31. Material taking seat; 32. Transfer unit; 320. X-axis moving assembly; a1. First shaft seat; a2. First power member; I. ​​Track; 321. Y-axis moving assembly; b1. Second shaft seat; b2. The second power part; b20, transmission rack; b21, travel gear; b22, power motor; II, track; 33, material picking claw; 330, fixed seat; 331, movable seat; 332, negative pressure adsorption head; 333, power device; g, guide rail; m, pulley; 4, transfer platform; 40, fixed seat plate; 41, long side guard; 42, short side guard; 43, short side alignment module; 430, comb plate; 431, comb power device; 44, long side alignment module; 440, alignment bar; 441, synchronous connecting rod; 442, connecting rod power device. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0033] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly defined and specified, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0038] Example 1

[0039] like Figures 1 to 6 As shown, the combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion of this embodiment includes a vibrating hopper 1, a vibrating material box 2, a feeding robot 3, and a transfer platform 4.

[0040] Specifically, the vibrating hopper 1 includes a material seat 10, a hopper 11 mounted on the material seat 10, and a first vibrator 12, wherein the first vibrator 12 can spread the box cover relatively and transmit it to the outlet by shaking. The hopper 11 is elastically mounted on the material seat 10 up and down, and the first vibrator 12 drives the hopper 11 to move up and down. The use of shaking is more conducive to the distribution and shaking off of the box cover. Furthermore, the vibrating hopper 1 also includes an interception plate 13 mounted on the material seat 10 and capable of intercepting in the hopper 11, and a power device 14 that drives the interception plate 13 to move up and down, wherein the interception plate 13 can move synchronously with the hopper 11. Flow control is formed based on the interception plate, and during the shaking process, the interception plate can be stationary or keep intercepting and moving, so as to improve the control of the feeding amount and reduce the overlap rate of the box cover.

[0041] The vibrating material box 2 includes a material receiving box 20 located below the discharge end of the hopper 11, and a second vibrator 21 that drives the material receiving box 20 to form multi-angle movements in the up and down directions to flip and spread the box cover around. The material receiving box 20 includes a box frame 200 and a flexible box bottom layer 201 formed at the bottom of the box frame 200, wherein the flexible box bottom layer 201 can throw the box cover upward based on vibration and elastic force. The flip probability of the box cover movement is increased based on flexibility to increase the accuracy of the box cover taking materials. The second vibrator 21 includes a plurality of vibration rods 210 located around the material receiving box 20, wherein one or more of the plurality of vibration rods 210 move synchronously to form vibration. Select the corresponding vibration according to the actual working conditions to improve the need for taking materials.

[0042] The feeding robot 3 includes a visual unit, a material picking seat 31, a transfer unit 32 that drives the material picking seat 31 to form a linear motion in the X and Y axis directions based on the instructions of the visual unit, and material picking claws 33 that are arranged side by side on the material picking seat 31 and can move along the Z axis direction.

[0043] The transfer unit 32 includes an X-axis moving component 320 and a Y-axis moving component 321, wherein the X-axis moving component 320 includes a first shaft seat a1 having a track Ⅰ extending along the X-axis direction, a first power member a2 installed in the first shaft seat a1 to form a linear motion, and the material picking seat 31 is matched and docked with the track Ⅰ; the Y-axis moving component 321 includes a second shaft seat b1 having a track Ⅱ extending along the Y-axis direction, a second power member b2 installed on the second shaft seat b1 and forming a linear motion, and the first shaft seat a1 is matched and docked with the track Ⅱ. The motion guide formed based on the track Ⅰ and the track Ⅱ realizes the XY axial motion. The first power member a2 is a transmission screw extending along the X-axis; the second power member b2 includes a transmission rack b20 fixed on the second shaft seat b1, a travel gear b21 installed on the first shaft seat a1, and a power motor b22.

[0044] The rotation condition of the claw head of each picking claw 33 around the Z axis is set, the center distance between each adjacent claw heads is equal and is D, the length of each box cover is L, L≤D≤1.8L, wherein the first degree of freedom is formed based on the rotation of the picking claw, and the second degree of freedom is formed based on the linear motion of the upper and lower misalignment of the picking claw, and in the synchronous motion of the first degree of freedom and the second degree of freedom, the box covers on each two adjacent picking claws collide with each other, and the movement of the picking claw to shake off the excess or interlayer box covers are used as the basis for verification, so that the multiple picking claws that have passed the verification are rotated to parallel angles, and the box covers are fed to the transfer platform based on the X, Y, and Z axial motions. In some specific embodiments, the material picking claw 33 includes a fixed seat 330 fixedly connected to the material picking seat 31, a movable seat 331 installed on the fixed seat 330 and capable of moving up and down along the Z-axis direction, a negative pressure adsorption head 332 installed on the movable seat 331, and a power device 333 for driving the negative pressure adsorption head 322 to rotate, wherein the adsorption and rotation of the negative pressure adsorption head 322 can be synchronized. Under the premise of satisfying the Z-axis movement, based on the synchronization of adsorption and rotation, it is not only convenient to pick up materials, but also provides a basis for verification. A guide rail g extending along the Z-axis direction is provided on the fixed seat 330, and the movable seat 331 slides on the guide rail g and moves up and down along the Z-axis during up and down traction. Generally, a pulley m or a pulley is used for traction. At the same time, a hollow stepping motor is used for rotation and negative pressure adsorption.

[0045] In addition, the transfer platform 4 includes a fixed seat plate 40, a long side fence 41 and a short side fence 42 formed on the fixed seat plate 40, a short side aligning module 43 moving along the long side fence 41, and a long side aligning module 44 moving along the short side fence 41, wherein the short side aligning module 43 and the long side aligning module 44 are staggered, and the long side fence 41 and the short side fence 42 are used as references to align the box covers transferred to the transfer platform 4 during their respective movements. Before assembly, accurate position alignment is required.

[0046] The short side guard is a single bar 42 and is located on one side of the fixed seat plate 40; there are multiple long side guards 41, wherein each long side guard 41 is fixed to the fixed seat plate 40 from the end portion perpendicularly against the short side guard 42, and the multiple long side guards 41 are distributed at intervals along the length direction of the short side guard 42; the short side tidying module 43 includes a comb plate 430 and a comb power device 431 respectively against each long side guard 41 and synchronously moved along the long side guard 41 and installed on the fixed seat plate 40, and each comb groove is arranged A long side fence 41; a long side tidying module 44 includes tidying bars 440 corresponding to and arranged in parallel with the long side fence 41, a synchronous connecting rod 441 for synchronously connecting a plurality of tidying bars 440 and slidably arranged on the fixed seat plate 40, and a connecting rod power device 442 for pushing the synchronous connecting rod 441 to move so as to move the tidying bars 440 along the fixed seat plate 40 toward the long side fence to form tidying, wherein the tidying bars 440 move between each comb tooth and the spaced long side fence 41. The long side fence 41 and the short side fence 40 are fixed, and the dislocation tidying is formed by the relative movement of the long side tidying module 44 and the short side tidying module 43. In this way, there is not only enough storage space, but also the final feeding position can be further adjusted through tidying even if there is a slight deviation in the material taking.

[0047] In summary, after adopting the junction box cover feeding device, the box covers are relatively dispersedly shaken off to the receiving box at the lower side based on the vibration hopper, and the box covers are effectively turned over in the elastic vibration of the receiving box itself. Then, based on visual assistance, the box covers are adsorbed one by one and rotated to the same direction in the XYZ axis circumferential motion of the picking claw; then, the first degree of freedom is formed based on the rotation of the picking claw, and the second degree of freedom is formed based on the linear motion of the upper and lower misalignment of the picking claw, and in the synchronous motion of the first degree of freedom and the second degree of freedom, whether the box covers on each two adjacent picking claws collide with each other and whether the box covers on each adjacent picking claws collide with each other and whether the box covers on the picking claws collide with each other are determined based on the rotation of the picking claw. The movement of the picking claw is based on the verification of shaking off the excess or interlayer box covers, so that the multiple picking claws that have passed the verification are rotated to parallel angles, and the box covers are fed to the transfer platform based on the X, Y, and Z axial movements. Therefore, on the one hand, the present invention is based on multi-degree-of-freedom and multi-axis movement to effectively verify the position and stacking of the picked box covers, so as to reduce the probability that the box covers cannot be further assembled due to position errors or stacking when they are sent to the transfer platform, that is, to reduce the interruption rate of feeding; on the other hand, the multi-angle movement formed by shaking off the unloading and flexible vibration is used to flip and spread the box covers around, so as to increase the selection rate of picking. , thereby reducing the error rate of material picking and improving feeding efficiency; the third aspect is to increase the flipping probability of the box cover movement based on flexibility to increase the accuracy of the box cover picking. At the same time, the corresponding vibration is selected according to the actual working conditions to improve the needs of material picking; the fourth aspect is to use the shaking method, which is more conducive to the distribution and shaking off of the box cover. At the same time, the flow control is formed based on the interception plate. Moreover, during the shaking process, the interception plate can remain stationary or keep the interception to improve the control of the feeding amount and reduce the box cover overlap rate; the fifth aspect is to realize the XY axial movement based on the motion guide formed by the track I and the track II. At the same time, under the premise of satisfying the Z-axis movement, based on the synchronization of adsorption and rotation, it is not only convenient for material picking, but also provides a basis for verification. In addition, a pulley or pulley is used for traction, and a hollow stepper motor is used for rotation and negative pressure adsorption; the sixth aspect is that before assembly, accurate position adjustment is required, and the long side grid and the short side grid are used to fix them. The relative movement of the long side adjustment module and the short side adjustment module forms a staggered adjustment. In this way, there is not only enough storage space, but also even if there is a slight deviation in material picking, the final feeding position can be further adjusted through adjustment.

[0048] Example 2

[0049] Combination Figure 7 and Figure 8 As shown, the combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion of this embodiment is basically the same in structure as that of Embodiment 1, except for the structure of the vibrating material box 2.

[0050] In this example, a brush 202 extending upward is provided on the top of the box frame 200, wherein the brush 202 is used to remove the excess or interlayer box cover; the brushing method further reduces the probability of mistaking materials. Furthermore, a waste cover collection box 22 is provided on one side of the material receiving box 20. When damaged or unqualified products appear, they can be adsorbed and sent to the waste cover collection box 22.

[0051] The above detailed description of the present invention is intended to enable persons familiar with the art to understand the contents of the present invention and implement them. It does not limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion, characterized in that: It includes: A vibrating hopper, comprising a material seat, a hopper mounted on the material seat, and a first vibrator, wherein the first vibrator can spread the box covers relatively and transmit them to an outlet by shaking; A vibrating material box, comprising a material receiving box located below the material discharging end of the hopper, and a second vibrator driving the material receiving box to form multi-angle movements in the up and down directions to flip over and spread the box cover around; A feeding robot comprises a visual unit, a material picking seat, a transfer unit which drives the material picking seat to form a linear motion in the X and Y axis directions based on the instruction of the visual unit, and material picking claws which are arranged side by side on the material picking seat and can move along the Z axis, wherein the claw head of each material picking claw is set to rotate around the Z axis, the center distance between each two adjacent claw heads is equal and is D, the length of each box cover is L, L≤D≤1.8L, wherein the first degree of freedom is formed based on the rotation of the material picking claw, and the second degree of freedom is formed based on the linear motion of the upper and lower misalignment of the material picking claw, and in the synchronous motion of the first degree of freedom and the second degree of freedom, whether the box covers on each two adjacent material picking claws collide with each other and whether the excess or interlayer box covers are shaken off based on the movement of the material picking claw are used as the verification basis, so that the multiple material picking claws that have passed the verification are rotated to a parallel angle, and the box covers are fed to the transfer platform based on the X, Y, and Z axial motion.

2. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 1 is characterized in that: The receiving box comprises a box frame and a flexible box bottom layer formed at the bottom of the box frame, wherein the flexible box bottom layer can throw the box cover upwards based on vibration and elastic force; And / or, a brush extending upward is provided on the top of the box frame, wherein excess or interlayer box covers are removed based on the brushing of the brush; and / or, a waste cover collection box is provided on one side of the receiving box.

3. According to the combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion in claim 2, the second vibrator comprises a plurality of vibration rods located around the receiving box, wherein one or more of the plurality of vibration rods move synchronously to form vibration.

4. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 1 is characterized in that: The hopper is elastically mounted on the material seat up and down, and the first vibrator drives the hopper to move up and down; and / or the vibrating hopper also includes an intercepting plate mounted on the material seat and capable of blocking the hopper, and a power device driving the intercepting plate to move up and down, wherein the intercepting plate can move synchronously with the hopper.

5. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 1 is characterized in that: The transfer unit includes an X-axis moving component and a Y-axis moving component, wherein the X-axis moving component includes a first shaft seat having a track I extending along the X-axis direction, a first power component installed in the first shaft seat to form a linear motion, and the material picking seat is matched and docked with the track I; the Y-axis moving component includes a second shaft seat having a track II extending along the Y-axis direction, a second power component installed on the second shaft seat and forming a linear motion, and the first shaft seat is matched and docked with the track II.

6. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 5 is characterized in that: The first power member is a transmission screw extending along the X-axis; the second power member includes a transmission rack fixed on the second shaft seat, a travel gear installed on the first shaft seat, and a power motor.

7. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 1 is characterized in that: The material picking claw includes a fixed seat fixedly connected to the material picking seat, a movable seat installed on the fixed seat and capable of moving up and down along the Z-axis direction, a negative pressure adsorption head installed on the movable seat, and a power device that drives the negative pressure adsorption head to rotate, wherein the adsorption and rotation of the negative pressure adsorption head can be synchronized.

8. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 7 is characterized in that: A guide rail extending along the Z-axis direction is arranged on the fixed seat, and the movable seat slides on the guide rail and moves up and down along the Z-axis during the up and down traction.

9. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 1 is characterized in that: The transfer platform includes a fixed seat plate, a long side guard and a short side guard formed on the fixed seat plate, a short side aligning module moving along the long side guard, and a long side aligning module moving along the short side guard, wherein the short side aligning module and the long side aligning module are staggered, and based on the long side guard and the short side guard, the box covers transferred to the transfer platform are aligned during their respective movements.

10. The combined junction box cover feeding device based on multi-degree-of-freedom calibration and multi-axis motion according to claim 9 is characterized in that: The short side guard is a single bar and is located on one side of the fixed seat plate; the long side guard has multiple bars, wherein each long side guard is fixed to the fixed seat plate from an end portion perpendicularly against the short side guard, and the multiple long side guards are spaced apart along the length direction of the short side guard; The short side tidying module comprises a comb plate and a comb power device respectively resting against each of the long side fences and synchronously moving along the long side fences and installed on the fixed base plate, and a long side fence is arranged in each comb groove; The long side straightening module includes straightening bars which correspond to and are arranged in parallel with the long side guards one by one, a synchronous connecting rod which is used to synchronously connect multiple straightening bars and can be slidably arranged on the fixed seat plate, and a connecting rod power device which pushes the synchronous connecting rod to move the straightening bars along the fixed seat plate to move closer to the long side guards to form straightening, wherein the straightening bars move between each comb tooth and the spaced long side guards.

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