A junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination.

Abstract

This invention relates to a junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination, comprising a vibrating hopper, a vibrating box, and a feeding robot. On one hand, this invention effectively verifies the position and stacking of the picked-up box covers based on multi-degree-of-freedom and multi-axis motion, reducing the probability of assembly failure due to incorrect position or stacking when the covers are sent to the transfer platform, thus reducing the feeding interruption rate. On the other hand, based on the multi-angle motion formed by shaking and flexible vibration for unloading, the device tosses and spreads the box covers in all directions, increasing the selection rate of the picked-up covers, thereby reducing the picking error rate and improving the feeding efficiency.

Description

Technical Field

[0001] This invention belongs to the field of material conveying, specifically relating to a junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination. Background Technology

[0002] A photovoltaic module junction box basically consists of a box body and a cover. The box body is fixed to the module by adhesive. After the internal components and busbars of the junction box are assembled, the cover is used to close the box body by applying adhesive and snapping together. The opening formed by the box body is basically rectangular. Therefore, the cover used is rectangular module-shaped. During the assembly process, the cover not only has long and short sides, but also a front and back. Therefore, the following technical defects often exist in the automated assembly process:

[0003] 1) Although visual aids can distinguish not only the front and back but also the length, the box cover itself may accumulate or get stuck (such as two stuck together) during the transfer process. This means that when picking up the material, there is still a probability of picking up too much material. This not only increases the probability of damaging the junction box or internal components during subsequent assembly but also significantly increases the wear and tear on the box cover.

[0004] 2) Since the layout of the box covers in the material box is disordered, the continuous transmission method is used for continuous material supply. However, it is impossible to guarantee that the adsorption point is in the center every time during the adsorption process. Therefore, even if the requirements of front and back and long and short sides are met, the deviation of the adsorption point position cannot be effectively transferred and rectified. The box cover needs to be sent back to the material box for material retrieval again, which causes the material supply to be interrupted and reduces the assembly efficiency. In addition, if there are multiple junction boxes for the same photovoltaic module, the material retrieval needs to be picked up at once, which greatly increases the probability of the material retrieval not being rectified. Moreover, the electrostatic adsorption between the box covers themselves also increases the difficulty of material retrieval. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

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

[0008] A vibrating hopper includes a material base, a hopper mounted on the material base, and a first vibrator, wherein the first vibrator is capable of opening the lids relative to each other and vibrating them toward the outlet.

[0009] A vibrating hopper includes a receiving box located below the discharge end of the hopper and a second vibrator that drives the receiving box to move in multiple angles in the vertical direction to tumble and spread the box cover in all directions.

[0010] The feeding robot includes a vision unit, a picking seat, a transfer unit that drives the picking seat to move linearly in the X and Y axes based on the vision unit's instructions, and picking claws arranged side by side on the picking seat, each capable of moving along the Z axis. The claws are configured to rotate around the Z axis, with the center distance between any two adjacent claws being equal and D, and the length of each lid being L, where L≤D≤1.8L. The first degree of freedom is based on the rotation of the picking claws, and the second degree of freedom is based on the linear motion of the picking claws moving up and down. The robot performs synchronous movements of the first and second degrees of freedom, using the collision of lids between any two adjacent picking claws and the shaking off of excess lids as verification criteria. Multiple picking claws that pass the verification are rotated to a parallel angle, and the lids are fed to the transfer platform based on the X, Y, and Z axis movements.

[0011] Preferably, the 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 lid upwards based on vibration and elasticity. The flexibility increases the probability of the box lid flipping during movement, thereby increasing the accuracy of box lid pickup. Furthermore, an upwardly extending brush is provided at the top of the box frame, wherein the brushing removes excess box lids; the brushing method further reduces the probability of incorrect pickup. Furthermore, a waste lid collection box is provided on one side of the receiving box. When damaged or defective products are found, they can be collected and sent to the waste lid collection box.

[0012] According to a specific embodiment and preferred aspect of the invention, the second vibrator includes multiple vibrating rods located around the material receiving box, wherein one or more of the multiple vibrating rods move synchronously to generate vibration. The appropriate vibration is selected based on the actual working conditions to improve material handling requirements.

[0013] According to another specific embodiment and preferred aspect of the invention, the hopper is elastically mounted on the material seat, and the first vibrator drives the hopper to move up and down. This shaking method is more conducive to the scattering and shaking off of the lid.

[0014] Furthermore, the vibrating hopper also includes an interceptor plate installed on the material base and capable of blocking material in the hopper, and a power unit that drives the interceptor plate to move up and down, wherein the interceptor plate can move synchronously with the hopper. Flow control is achieved based on the interceptor plate, and during the vibration process, the interceptor plate can remain stationary or maintain its intercepting motion to improve the control of the material supply and reduce the overlap rate of the lid.

[0015] According to another specific embodiment and preferred aspect of the present invention, the transfer unit includes an X-axis moving assembly and a Y-axis moving assembly. The X-axis moving assembly includes a first bearing having a track I extending along the X-axis direction, and a first power member mounted within the first bearing to form a linear motion; the material pick-up seat is matched and docked with track I. The Y-axis moving assembly includes a second bearing having a track II extending along the Y-axis direction, and a second power member mounted on the second bearing to form a linear motion; the first bearing is matched and docked with track II. Movement along the X and Y axes is achieved based on the motion guidance formed by track I and track II.

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

[0017] According to another specific embodiment and preferred aspect of the present invention, the picking claw includes a fixed base fixedly connected to the picking seat, a movable base mounted on the fixed base and capable of moving up and down along the Z-axis, a negative pressure adsorption head mounted on the movable base, and a power unit 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, the synchronization of adsorption and rotation not only facilitates material picking but also provides a basis for verification.

[0018] Preferably, a guide rail extending along the Z-axis is provided on the fixed base, and the movable base slides on the guide rail and moves up and down along the Z-axis during vertical traction. Generally, a pulley or belt pulley is used for traction. Simultaneously, a hollow stepper motor is used for rotation and negative pressure adsorption.

[0019] Furthermore, the transfer platform includes a fixed base plate, long-side and short-side guide rails formed on the fixed base plate, a short-side alignment module that moves along the long-side guide rails, and a long-side alignment module that moves along the short-side guide rails. The short-side alignment module and the long-side alignment module are staggered and, based on the long-side and short-side guide rails, align the lids of the boxes transferred to the transfer platform during their respective movements. Accurate positioning alignment is required before assembly.

[0020] Preferably, the short side grid is a single grid bar located on one side of the fixed base plate; there are multiple long side grids, each of which abuts vertically against the short side grid from its end and is fixed to the fixed base plate, and the multiple long side grids are spaced apart along the length of the short side grid; the short side straightening module includes a comb plate and a comb power unit that abut against each long side grid and move synchronously along the long side grid and are installed on the fixed base plate, and one long side grid is arranged in each comb groove; the long side straightening module includes straightening grid bars that correspond one-to-one with the long side grids and are arranged in parallel, a synchronous connecting rod for synchronously connecting multiple straightening grid bars and slidably arranged on the fixed base plate, and a connecting rod power unit that pushes the synchronous connecting rod to move the straightening grid bars along the fixed base plate toward the long side grids to form straightening, wherein the straightening grid bars move between each comb tooth and the spaced long side grids. By fixing the long side and short side grids, and using the relative movement of the long side alignment module and the short side alignment module to form a staggered alignment, this method not only provides sufficient storage space, but also allows for further adjustment of the final feeding position even if there is a slight deviation in material picking.

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

[0022] While visual aids in the existing box lid assembly process allow for differentiation of front and back sides and lengths, the probability of material accumulation or jamming (e.g., two jammed together) during transport means there's still a risk of over-pickup during material suction. This increases the likelihood of damage to the junction box or internal components during subsequent assembly and significantly increases box lid wear. Furthermore, the disordered layout of the box lids in the material box necessitates continuous material supply via a continuous transport method. However, it's impossible to guarantee that the suction point will always be centered during the suction process. While meeting the requirements for front and back sides and long and short sides, the adsorption point position deviation makes effective transfer and alignment impossible. Therefore, the box cover needs to be returned to the material box for re-picking, resulting in material supply interruption and reduced assembly efficiency. Furthermore, if the same photovoltaic module has multiple junction boxes, each requires a single pick-up, significantly increasing the probability of unaligned material. The electrostatic adsorption between the box covers also increases the difficulty of material retrieval. This application addresses these shortcomings by providing an overall structural design for a junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination, cleverly solving all the deficiencies of existing structures. After adopting this junction box cover feeding device, the cover is relatively dispersedly shaken off to the receiving box below the side by a vibrating hopper. At the same time, the cover is effectively flipped by the elastic vibration of the receiving box itself. Then, with visual assistance, the cover is picked up one by one and rotated to the same orientation by the XYZ axis circumferential motion of the picking claw. Next, the rotation of the picking claw forms the first degree of freedom, and the linear motion of the picking claw's vertical misalignment forms the second degree of freedom. In the synchronous motion of the first and second degrees of freedom, the movement of the cover on each adjacent pair of picking claws is monitored to determine whether they collide. Excess lids are shaken off as a verification basis. Multiple calibrated picking claws are rotated to a parallel angle, and the lids are fed to the transfer platform based on X, Y, and Z axial movements. Therefore, this invention effectively verifies the position and stacking of the picked lids based on multi-degree-of-freedom and multi-axis movements, reducing the probability of assembly failure due to incorrect position or stacking when the lids are sent to the transfer platform, thus reducing the interruption rate of material supply. On the other hand, the multi-angle movements formed by shaking off unloading and flexible vibration to tumble and spread the lids in all directions increase the selection rate of material picking, thereby reducing the error rate of material picking and improving the material supply efficiency. Attached Figure Description

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

[0024] Figure 2 for Figure 1 Enlarged schematic diagram of the transit platform structure in the middle;

[0025] Figure 3 for Figure 1A structural diagram from another perspective;

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

[0027] Figure 5 for Figure 1 Schematic diagram of the central feeding robot;

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

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

[0030] Figure 8 for Figure 7 Front view diagram;

[0031] The components include: 1. Vibrating hopper; 10. Material seat; 11. Hopper; 12. First vibrator; 13. Interceptor plate; 14. Power unit; 2. Vibrating material box; 20. 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 robot; 31. Picking seat; 32. Transfer unit; 320. X-axis moving assembly; a1. First shaft seat; a2. First power component; I. Track; 321. Y-axis moving assembly; b1. Second shaft seat; b2. Second power component; b20, transmission rack; b21, travel gear; b22, power motor; II, track; 33, picking claw; 330, fixed seat; 331, moving seat; 332, negative pressure suction head; 333, power unit; g, guide rail; m, pulley; 4, transfer platform; 40, fixed seat plate; 41, long side grid; 42, short side grid; 43, short side straightening module; 430, comb plate; 431, comb power unit; 44, long side straightening module; 440, straightening grid bar; 441, synchronous connecting rod; 442, connecting rod power unit. Detailed Implementation

[0032] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] 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 are not intended to 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.

[0034] 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can 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. 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.

[0037] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. Example 1

[0038] like Figures 1 to 6 As shown, the junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination in this embodiment includes a vibrating hopper 1, a vibrating box 2, a feeding robot 3, and a transfer platform 4.

[0039] Specifically, the vibrating hopper 1 includes a material base 10, a hopper 11 mounted on the material base 10, and a first vibrator 12, wherein the first vibrator 12 can spread the lids apart and vibrate them towards the outlet. The hopper 11 is elastically mounted vertically on the material base 10, and the first vibrator 12 drives the hopper 11 to move up and down. The vibrating method is more conducive to the scattering and shaking off of the lids. Furthermore, the vibrating hopper 1 also includes an interceptor plate 13 mounted on the material base 10 and capable of blocking the contents of the hopper 11, and a power unit 14 that drives the interceptor plate 13 to move up and down, wherein the interceptor plate 13 can move synchronously with the hopper 11. Based on the interceptor plate, flow control is formed, and during the vibrating process, the interceptor plate can remain stationary or maintain interception and follow-up, thereby improving the control of the material supply and reducing the lid overlap rate.

[0040] The vibrating hopper 2 includes a receiving box 20 located below the discharge end of the hopper 11, and a second vibrator 21 that drives the receiving box 20 to move at multiple angles in the vertical direction to overturn and spread the box lid outwards. The 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 lid upwards based on vibration and elasticity. The flexibility increases the probability of the box lid flipping, thereby increasing the accuracy of box lid picking. The second vibrator 21 includes multiple vibrating rods 210 located around the receiving box 20, wherein one or more of the multiple vibrating rods 210 move synchronously to generate vibration. The appropriate vibration is selected according to the actual working conditions to improve the material picking requirements.

[0041] The feeding robot 3 includes a vision unit, a picking seat 31, a transfer unit 32 that drives the picking seat 31 to form linear motion in the X and Y axis directions based on the instructions of the vision unit, and picking claws 33 arranged side by side on the picking seat 31 and all capable of moving along the Z axis direction.

[0042] The transfer unit 32 includes an X-axis moving assembly 320 and a Y-axis moving assembly 321. The X-axis moving assembly 320 includes a first bearing a1 having a track I extending along the X-axis direction, and a first power member a2 mounted within the first bearing a1 to form a linear motion. The material handling seat 31 is matched and connected to track I. The Y-axis moving assembly 321 includes a second bearing b1 having a track II extending along the Y-axis direction, and a second power member b2 mounted on the second bearing b1 to form a linear motion. The first bearing a1 is matched and connected to track II. Movement along the X and Y axes is achieved based on the motion guidance formed by track I and track II. 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 bearing b1, a traveling gear b21 mounted on the first bearing a1, and a power motor b22.

[0043] The rotation conditions of the claw head of each picking claw 33 around the Z-axis are set. 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. The first degree of freedom is formed by the rotation of the picking claw, and the second degree of freedom is formed by the linear motion of the up and down displacement of the picking claw. The calibration is based on whether the box covers on each two adjacent picking claws move and collide, and whether the picking claws shake off excess box covers. The multiple picking claws that pass the calibration are rotated to a parallel angle, and the box covers are fed to the transfer platform based on the X, Y and Z axis movements. In some specific embodiments, the picking claw 33 includes a fixed base 330 fixedly connected to the picking seat 31, a movable base 331 mounted on the fixed base 330 and capable of moving up and down along the Z-axis, a negative pressure adsorption head 332 mounted on the movable base 331, and a power unit 333 driving the negative pressure adsorption head 332 to rotate, wherein the adsorption and rotation of the negative pressure adsorption head 332 can be synchronized. Under the premise of satisfying Z-axis movement, the synchronization of adsorption and rotation not only facilitates material picking but also provides a basis for verification. A guide rail g extending along the Z-axis is provided on the fixed base 330, and the movable base 331 slides on the guide rail g and moves up and down along the Z-axis during vertical traction. Generally, a pulley m or a roller is used for traction. Simultaneously, a hollow stepper motor is used for rotation and negative pressure adsorption.

[0044] Furthermore, the transfer platform 4 includes a fixed base plate 40, a long-side guide rail 41 and a short-side guide rail 42 formed on the fixed base plate 40, a short-side alignment module 43 that moves along the long-side guide rail 41, and a long-side alignment module 44 that moves along the short-side guide rail 41. The short-side alignment module 43 and the long-side alignment module 44 are staggered and, based on the long-side guide rail 41 and the short-side guide rail 42, align and straighten the lids transferred to the transfer platform 4 during their respective movements. Accurate positioning alignment is required before assembly.

[0045] The short side rails consist of 42 single rails located on one side of the fixed base plate 40; the long side rails consist of multiple rails 41, each of which is fixed to the fixed base plate 40 by perpendicularly abutting against the short side rails 42 from its end, and the multiple long side rails 41 are spaced apart along the length of the short side rails 42; the short side straightening module 43 includes a comb plate 430 and a comb power unit 431 that abut against each of the long side rails 41 and move synchronously along the long side rails 41 and are installed on the fixed base plate 40, with each comb groove arranged in a specific pattern. A long-side guide bar 41; the long-side straightening module 44 includes straightening bars 440 that correspond one-to-one with and are arranged parallel to the long-side guide bars 41, a synchronizing link 441 for synchronously connecting multiple straightening bars 440 and slidably mounted on a fixed base plate 40, and a link power unit 442 that pushes the synchronizing link 441 to move the straightening bars 440 along the fixed base plate 40 toward the long-side guide bars to form straightening, wherein the straightening bars 440 move between each comb tooth and the spaced long-side guide bars 41. By fixing the long-side guide bars 41 and the short-side guide bars 40, and forming staggered straightening by the relative movement of the long-side straightening module 44 and the short-side straightening module 43, this method not only provides sufficient storage space, but also allows for further adjustment of the final feeding position even if there is a slight deviation in material picking, through straightening.

[0046] In summary, using this junction box cover feeding device, the cover is relatively dispersed and shaken from the vibrating hopper to the receiving box below. Simultaneously, the cover is effectively flipped by the elastic vibration of the receiving box itself. Then, with visual assistance, the cover is picked up one by one and rotated to the same orientation by the XYZ axis circumferential motion of the picking claw. Next, the rotation of the picking claw forms the first degree of freedom, and the vertical misalignment of the picking claw forms the second degree of freedom. The synchronous motion of the first and second degrees of freedom is monitored by whether the cover on each adjacent pair of picking claws collides, and the movement of the picking claw is used to... Excess lids are shaken off as a verification basis. Multiple calibrated picking claws are rotated to a parallel angle, and lids are fed to the transfer platform based on X, Y, and Z axial movements. Therefore, this invention, on the one hand, effectively verifies the position and stacking of the picked lids based on multi-degree-of-freedom and multi-axis motion, reducing the probability of assembly failure due to incorrect position or stacking when fed to the transfer platform, i.e., reducing the interruption rate of material supply; on the other hand, the multi-angle motion formed by shaking off unloading and flexible vibration to toss and spread the lids in all directions increases the selection rate of material picking, thereby reducing the error rate of material picking and improving the material supply efficiency; thirdly...

[0047] Based on the increased probability of lid flipping due to flexibility, the accuracy of lid material retrieval is improved. Simultaneously, appropriate vibration is selected according to actual working conditions to improve material retrieval requirements. Fourthly, the shaking method is more conducive to lid scattering and falling, while flow control is formed based on the interceptor plate. During shaking, the interceptor plate can remain stationary or maintain interception, improving material supply control and reducing lid overlap. Fifthly, the XY-axis movement is achieved based on the motion guide formed by tracks I and II. While satisfying Z-axis movement, the synchronous adsorption and rotation not only facilitate material retrieval but also provide a basis for verification. Furthermore, pulleys or rollers are used for traction, and a hollow stepper motor is used for rotation and negative pressure adsorption. Sixthly, accurate positional alignment is required before assembly. Long-side and short-side grids are fixed in place, and the relative movement of the long-side and short-side alignment modules creates misalignment alignment. This method not only provides sufficient storage space but also allows for further adjustment of the final material supply position even if minor material retrieval deviations occur. Example 2

[0048] Combination Figure 7 and Figure 8 As shown, the junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination in this embodiment is basically the same as the structure of embodiment 1, except for the structure of the vibrating material box 2.

[0049] In this example, an upward-extending brush 202 is provided at the top of the box frame 200, where the brush 202 removes excess box caps; the brushing method further reduces the probability of accidental material handling. Furthermore, a waste cap collection box 22 is provided on one side of the receiving box 20. When damaged or defective products are found, they can be collected and sent to the waste cap collection box 22.

[0050] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. A junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination, characterized in that, It includes: A vibrating hopper includes a material base, a hopper mounted on the material base, and a first vibrator, wherein the first vibrator is capable of opening the lids relative to each other and vibrating them toward the outlet. A vibrating hopper includes a receiving box located below the discharge end of the hopper and a second vibrator that drives the receiving box to move in multiple angles in the vertical direction to tumble and spread the box cover in all directions. A feeding robot includes a vision unit, a picking seat, a transfer unit that drives the picking seat to form linear motion in the X and Y axes based on instructions from the vision unit, and picking claws arranged side by side on the picking seat, each capable of moving along the Z axis. The claws are configured to rotate around the Z axis, with the center distance between any two adjacent claws being equal and denoted by D. The length of each box cover is L, where L ≤ D ≤ 1.8L. The first degree of freedom is formed by the rotation of the picking claws, and the second degree of freedom is formed by the vertically staggered linear motion of the picking claws. The robot performs simultaneous motion of the first and second degrees of freedom, using the collision of box covers between any two adjacent picking claws and the shaking off of excess box covers as verification criteria. Multiple picking claws that pass the verification are rotated to a parallel angle, and the box covers are fed to a transfer platform based on the X, Y, and Z axis movements.

2. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 1, characterized in that, The receiving box includes a box frame and a flexible box bottom formed at the bottom of the box frame, wherein the flexible box bottom is able to throw the box lid upwards based on vibration and elasticity; And / or, an upwardly extending brush is provided at the top of the box frame, wherein the brushing based on the brush removes excess box lids; and / or, a waste lid collection box is provided on one side of the receiving box.

3. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination according to claim 2, wherein the second vibrator includes multiple vibrating rods located around the receiving box, wherein one or more of the multiple vibrating rods move synchronously to form vibration.

4. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 1, characterized in that, The hopper is elastically mounted on the material seat, and the first vibrator drives the hopper to move up and down; and / or, the vibrating hopper further includes an interceptor plate mounted on the material seat and capable of blocking the hopper, and a power unit that drives the interceptor plate to move up and down, wherein the interceptor plate can move synchronously with the hopper.

5. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 1, characterized in that: The transfer unit includes an X-axis moving assembly and a Y-axis moving assembly. The X-axis moving assembly includes a first bearing having a track I extending along the X-axis direction and a first power member installed in the first bearing to form a linear motion. The material pick-up seat is matched and docked with the track I. The Y-axis moving assembly includes a second bearing having a track II extending along the Y-axis direction and a second power member installed on the second bearing to form a linear motion. The first bearing is matched and docked with the track II.

6. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 5, characterized in that: The first power component is a lead screw extending along the X-axis; the second power component includes a transmission rack fixed on the second shaft seat, a travel gear mounted on the first shaft seat, and a power motor.

7. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 1, characterized in that: The picking claw includes a fixed base fixedly connected to the picking seat, a movable base mounted on the fixed base and capable of moving up and down along the Z-axis, a negative pressure adsorption head mounted on the movable base, and a power unit 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 junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination according to claim 7, characterized in that: The fixed seat is provided with a guide rail extending along the Z-axis, and the movable seat slides on the guide rail and moves up and down along the Z-axis during up and down traction.

9. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination as described in claim 1, characterized in that: The transfer platform includes a fixed base plate, a long side rail and a short side rail formed on the fixed base plate, a short side alignment module that moves along the long side rail, and a long side alignment module that moves along the short side rail. The short side alignment module and the long side alignment module are staggered and, with the long side rail and the short side rail as reference, align and straighten the box covers transferred to the transfer platform during their respective movements.

10. The junction box cover feeding device based on multi-degree-of-freedom verification and multi-axis motion combination according to claim 9, characterized in that: The short side rail is a single rail and is located on one side of the fixed base plate; there are multiple long side rails, each of which abuts the short side rail vertically from its end and is fixed to the fixed base plate, and the multiple long side rails are distributed at intervals along the length direction of the short side rail. The short side straightening module includes a comb plate and a comb power unit that abut against each of the long side rails and move synchronously along the long side rails and are installed on the fixed base plate. Each comb groove contains one of the long side rails. The long-side straightening module includes straightening grid bars that correspond one-to-one with the long-side grids and are arranged in parallel; a synchronous connecting rod for synchronously connecting multiple straightening grid bars and slidably mounted on the fixed base plate; and a connecting rod power unit that pushes the synchronous connecting rod to move the straightening grid bars along the fixed base plate toward the long-side grids to form straightening, wherein the straightening grid bars move between each comb tooth and the spaced long-side grids.

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