PV plug pick-and-place device and PV plug assembly method

Abstract

The embodiment of the application discloses a PV head taking and placing device and a PV head assembling method, relates to the technical field of photovoltaic inverter equipment manufacturing, and the PV head taking and placing device comprises a base, a plurality of driving mechanisms and a plurality of suction nozzle assemblies; the driving mechanisms correspond to the suction nozzle assemblies one by one; each driving mechanism is fixedly installed on the base, and the output end of each driving mechanism is connected with a corresponding suction nozzle assembly; each driving mechanism can drive the corresponding connected suction nozzle assembly to linearly translate on the base. The independent linear position adjustment of a single suction nozzle is realized, and the effect that the spacing specifications of different models of photovoltaic inverter PV interfaces can be flexibly adapted is achieved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic inverter equipment manufacturing technology, and in particular to a PV plug removal and placement device and a PV plug assembly method. Background Technology

[0002] During the production and assembly of photovoltaic inverter equipment, PV plugs need to be installed on the PV interfaces on the casing. At present, most of the PV plug removal and placement fixtures used in the industry are fixed structures with a fixed nozzle spacing. They cannot be flexibly adjusted according to the actual spacing of the PV interfaces of different inverter models. When changing product models, the fixtures need to be manually disassembled and adjusted or the entire set of equipment needs to be replaced directly. The adaptability is extremely poor, making it difficult to meet the needs of mixed production lines of multiple specifications of photovoltaic inverters, which seriously reduces the assembly efficiency of PV plugs. Summary of the Invention

[0003] The present invention aims to solve the technical problem that the existing PV plug pick-and-place tooling has a fixed nozzle spacing and cannot adapt to the PV interface spacing of different products.

[0004] To address the aforementioned problems, this invention discloses a PV plug placement and removal device. It achieves independent linear position adjustment for a single suction nozzle, enabling flexible adaptation to the spacing specifications of PV interfaces in different types of photovoltaic inverters.

[0005] On one hand, the present invention provides a PV plug picking and placing device, which includes a base, several driving mechanisms and several suction nozzle assemblies; The drive mechanism corresponds one-to-one with the suction nozzle assembly; Each of the aforementioned drive mechanisms is fixedly installed on the base, and the output end of each drive mechanism is connected to a corresponding suction nozzle assembly; Each of the aforementioned driving mechanisms can drive the corresponding connected nozzle assembly to move linearly on the base.

[0006] A further technical solution is that the driving mechanism includes a cylinder and a linear guide pair respectively disposed on the base; the slide of the linear guide pair is connected to the output end of the cylinder, and the suction nozzle assembly is disposed on the slide.

[0007] A further technical solution includes a visual acquisition module, which is mounted on the base, and the acquisition lens of the visual acquisition module faces the same direction as the suction port of the suction nozzle assembly.

[0008] A further technical solution includes a controller, which is electrically connected to the vision acquisition module and each of the drive mechanisms.

[0009] A further technical solution is that the suction nozzle assembly is divided into a first group of suction nozzle assemblies and a second group of suction nozzle assemblies; the suction nozzle assemblies in the first group of suction nozzle assemblies are arranged along a first straight line direction, and the suction nozzle assemblies in the second group of suction nozzle assemblies are arranged along a second straight line direction.

[0010] A further technical solution is that the first straight line direction and the second straight line direction are parallel to each other.

[0011] A further technical solution includes a vacuum generator; the vacuum generator is mounted on the base; the suction nozzle assembly is a vacuum suction nozzle, and the vacuum suction nozzle is connected to the vacuum generator.

[0012] A further technical solution includes a robotic arm connected to the base and located on the side of the base away from the nozzle assembly.

[0013] On the other hand, the present invention also provides a PV plug assembly method, applied to the PV plug taking and placing device described in any of the above embodiments, the PV plug assembly method comprising the following steps: Obtain the target interval distance for multiple target mounting positions; Start the drive mechanism and adjust the interval between each nozzle assembly according to the target interval distance; The base drives all nozzle components to move to the target mounting position.

[0014] A further technical solution is that the target interval distance is obtained by acquiring images using a visual camera.

[0015] Compared with the prior art, the technical effects achieved by the embodiments of the present invention include: The structure design, which independently matches the drive mechanism for each nozzle component, enables independent linear position adjustment of a single nozzle. It can flexibly adapt to the spacing specifications of PV interfaces of different photovoltaic inverter models. Product changeover can be completed without manual disassembly and debugging of the tooling, which greatly improves the versatility of the tooling and the efficiency of production changeover. Combined with a vision acquisition module, it achieves automated and precise alignment, effectively ensuring the accuracy and stability of PV plug picking, placement and assembly, and is suitable for industrial batch mixed production scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is a schematic diagram of a PV plug removal and placement device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of another PV plug picking and placing device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of another PV plug removal and placement device provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating a PV plug assembly method provided in an embodiment of the present invention.

[0018] Figure Labels 1. Base; 2. Drive mechanism; 3. Nozzle assembly; 21. Cylinder; 22. Linear guide pair; 4. Vision acquisition module; 5. Controller; 6. Vacuum generator; 7. Robotic arm. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification of embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the invention. As used in this specification of embodiments of the invention and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] See Figures 1-3 This invention provides a PV plug removal and placement device. The PV plug removal and placement device includes a base 1, several drive mechanisms 2, and several suction nozzle assemblies 3; each drive mechanism 2 corresponds one-to-one with each suction nozzle assembly 3; each drive mechanism 2 is fixedly installed on the base 1, and the output end of each drive mechanism 2 is connected to a corresponding suction nozzle assembly 3; each drive mechanism 2 can drive the corresponding connected suction nozzle assembly 3 to move linearly on the base 1.

[0023] In this embodiment, the base 1 provides a fixed mounting carrier for all drive mechanisms 2, nozzle assemblies 3, vacuum generators 6, and vision acquisition modules 4, while also enabling assembly and connection with the robotic arm 7, ensuring the stability of the overall structure. The drive mechanism 2 is a linear drive component mounted on the base 1, providing the power source for the linear translation of the nozzle assembly 3, and can precisely control the displacement stroke of the corresponding nozzle assembly 3. The nozzle assembly 3 is an actuator used to adsorb and pick up PV plugs, achieving stable placement and removal of PV plugs through negative pressure adsorption.

[0024] In a specific embodiment, the base 1 is constructed from high-strength aluminum alloy sheets, resulting in a lightweight yet rigid overall structure suitable for high-speed reciprocating assembly operations. Multiple installation stations are evenly arranged on the base 1, each station corresponding to an independent drive mechanism 2 and a suction nozzle assembly 3, achieving a one-to-one matching between the drive mechanism 2 and the suction nozzle assembly 3. The fixed ends of all drive mechanisms 2 are bolted to preset mounting holes on the base 1. The power output ends of the drive mechanisms 2 vertically downwards or horizontally connect to the fixing brackets of the suction nozzle assembly 3, achieving a rigid structural connection. During operation, each drive mechanism 2 can be independently started and stopped, and its displacement stroke can be independently controlled, driving the corresponding suction nozzle assembly 3 to perform precise linear translational motion on the surface of the base 1. The distance between any two adjacent suction nozzle assemblies 3 can be independently adjusted, unconstrained by the positions of other suction nozzle assemblies 3. In one embodiment, one station includes five suction nozzle assemblies 3 and five sets of drive mechanisms 2, suitable for synchronous assembly of multi-station PV plugs in conventional photovoltaic inverters.

[0025] The embodiment achieves that, compared with the traditional integrated linkage adjustment and fixed spacing tooling structure, this solution realizes the independent position adjustment of each nozzle component 3 through a one-to-one corresponding independent drive structure, breaking the limitations of the traditional tooling with fixed spacing and overall linkage, fundamentally solving the problem that the tooling cannot adapt to multiple specifications of PV interfaces, greatly expanding the application range of the device, with a simple structure, flexible adjustment, and can be adapted to the production of different products without changing the tooling.

[0026] See also Figures 1-3 In this embodiment, the driving mechanism 2 includes a cylinder 21 and a linear guide pair 22 respectively disposed on the base 1; the slide of the linear guide pair 22 is connected to the output end of the cylinder 21, and the suction nozzle assembly 3 is disposed on the slide.

[0027] In this embodiment, cylinder 21 is a linear pneumatic drive element that provides linear extension and retraction power to drive mechanism 2, featuring fast response speed, stable start and stop, and precision suitable for industrial assembly. Linear guide pair 22 is a linear guide component composed of fixed guide rail and sliding slide, used to limit the movement trajectory of nozzle assembly 3 and ensure the straightness and stability of translation process.

[0028] In a specific embodiment, each drive mechanism 2 adopts a combination structure of cylinder 21 and linear guide pair 22. The cylinder body of cylinder 21 is fixedly installed in the preset mounting groove of base 1 by fastening bolts. The guide rail of linear guide pair 22 is fixed to the surface of base 1 parallel to the extension and retraction direction of cylinder 21, ensuring that the power output direction is consistent with the guiding direction. The slide of linear guide pair 22 is rigidly connected to the output end of piston rod of cylinder 21. The suction nozzle assembly 3 is fixedly assembled on the upper end face of the slide by locking bracket. During operation, the piston rod of cylinder 21 extends and retracts, driving the slide to slide precisely in a straight line along the guide rail, thereby driving the suction nozzle assembly 3 to move synchronously, effectively avoiding the shaking and offset problems existing in simple cylinder 21 drive. Each group of cylinders 21 is independently connected to the pneumatic control circuit, and the extension and retraction stroke can be controlled individually to achieve precise position fine adjustment of a single suction nozzle assembly 3.

[0029] The embodiment achieves that, through the driving and guiding structure of cylinder 21 and linear guide pair 22, it retains the advantages of low cost and high adaptability of pneumatic drive, while the guide pair limit ensures the linear accuracy of the nozzle translation, avoids assembly deviation caused by nozzle displacement, improves the stability and alignment accuracy of the device, and is durable, easy to maintain, and suitable for long-term high-frequency industrial operations.

[0030] Furthermore, it also includes a visual acquisition module 4, which is disposed on the base 1, and the acquisition lens of the visual acquisition module 4 is oriented in the same direction as the suction port of the suction nozzle assembly 3.

[0031] In this embodiment, the vision acquisition module 4 is an image acquisition device, preferably an industrial high-definition camera, used to acquire image information of the position and spacing of the PV interfaces on the photovoltaic inverter workpiece. The shooting direction of the acquisition lens and the suction port are consistent with the opening direction of the suction nozzle assembly 3 at the lower end for adsorbing the PV plug, both facing the workpiece working surface.

[0032] In a specific embodiment, the vision acquisition module 4 is fixedly installed in the middle of the base 1 via an adjustable bracket. The height of the bracket is finely adjustable to adapt to the workpiece operation requirements of different heights. The lens of the vision acquisition module 4 is set vertically downward, completely aligned with the lower suction port orientation of all the suction nozzle assemblies 3 below. During operation, the device moves to a preset position above the workpiece, and the vision acquisition module 4 can simultaneously acquire the distribution image of all PV target installation positions on the photovoltaic inverter housing below, completely obtaining the spacing and coordinate information of each installation position, providing data basis for subsequent suction nozzle spacing adjustment, with no blind spots and high image acquisition accuracy.

[0033] The embodiment achieves that, through the visual acquisition module 4 arranged in the same direction, the actual distribution parameters of the PV mounting position of the workpiece can be collected in real time and accurately, replacing the traditional mode of manual measurement and preset fixed parameters, realizing the automated acquisition of working condition data, providing accurate data support for the adaptive adjustment of the nozzle distance, greatly reducing the degree of manual intervention, and improving the level of automated operation.

[0034] Furthermore, it also includes a controller 5, which is electrically connected to the vision acquisition module 4 and each of the drive mechanisms 2.

[0035] In this embodiment, controller 5 refers to the core control unit of the device, which has built-in data processing and control programs for receiving image data from the vision acquisition module 4 and outputting control commands. Electrical signal connection refers to the signal transmission and command interaction between controller 5, vision acquisition module 4, and drive mechanism 2 via wiring harnesses.

[0036] In a specific embodiment, the controller 5 is fixedly mounted on the electrical mounting plate on the side of the base 1, and is electrically connected to all vision acquisition modules 4 and the pneumatic solenoid valves of each drive mechanism 2 via shielded wiring harnesses. During operation, the controller 5 receives workpiece image data transmitted by the vision acquisition modules 4 in real time, calculates the precise interval distance and coordinate parameters of each PV target mounting position through a built-in algorithm, and then sends independent control commands to the solenoid valves of the corresponding drive mechanisms 2 according to the calculation results, precisely controlling the extension and retraction stroke of each cylinder 21, and realizing the automatic and precise adjustment of the spacing between each suction nozzle assembly 3.

[0037] The implementation example achieves the linkage control of visual acquisition and drive adjustment through controller 5, forming an automated closed-loop operation of "image acquisition-data calculation-automatic distance adjustment", eliminating the dependence on manual debugging, greatly shortening product changeover time, and improving the intelligence level and operation accuracy of the device.

[0038] Furthermore, the suction nozzle assembly 3 is divided into a first group of suction nozzle assemblies and a second group of suction nozzle assemblies; the suction nozzle assemblies 3 in the first group of suction nozzle assemblies are arranged along a first straight line direction, and the suction nozzle assemblies 3 in the second group of suction nozzle assemblies are arranged along a second straight line direction.

[0039] In this embodiment, the first group of nozzle assemblies and the second group of nozzle assemblies are two independent nozzle units divided according to the work layout. They are the core pick-and-place execution units of the device and are arranged in groups to adapt to the dual-row PV interface layout of the inverter. The linear arrangement means that the center points of all nozzle assemblies 3 in the same group are on the same straight line, ensuring the regularity of pick-and-place and assembly.

[0040] In a specific embodiment, the nozzle assembly 3 is divided into two groups: a first group and a second group. Each group consists of three nozzle assemblies 3 and three corresponding independent drive mechanisms 2. The three nozzle assemblies 3 in the first group are evenly arranged along a first horizontal line, while the three nozzle assemblies 3 in the second group are evenly arranged along a second horizontal line. The two groups of nozzle assemblies 3 are independent of each other and do not interfere with each other. Each nozzle assembly 3 in each group can be independently translated by the corresponding drive mechanism 2, and the spacing between nozzles in the group can be adjusted individually to adapt to the unequal distribution of a single-row PV interface.

[0041] The implementation example adopts a dual-group suction nozzle group layout structure, which matches the mainstream dual-row PV interface arrangement of photovoltaic inverters. At the same time, the suction nozzles in the group are independently adjustable, which can adapt to both conventional equidistant interfaces and special unequal-distance interfaces. This specifically solves the adaptation problem of synchronous assembly of dual-row plugs of inverters and improves the adaptability of the device to operating conditions.

[0042] Furthermore, the first straight line direction is parallel to the second straight line direction.

[0043] In this embodiment, the straight line of the first group of suction nozzles is parallel to the straight line of the second group of suction nozzles, with no angular offset, ensuring that the double-row suction nozzle layout is neat.

[0044] In a specific embodiment, the straight lines of the first set of suction nozzle assemblies are arranged horizontally parallel to the straight lines of the second set of suction nozzle assemblies, and the distance between the two sets of straight lines matches the standard column spacing of the dual-row PV interface of the photovoltaic inverter. During operation, the two sets of suction nozzle assemblies 3 can simultaneously complete the pickup and assembly of the dual-row PV plugs, and each set of suction nozzles can independently complete the internal spacing adjustment, ensuring the overall layout regularity while achieving precise alignment and assembly of the dual-row interface.

[0045] The embodiment achieves this by arranging two sets of suction nozzles in a straight, parallel configuration, which conforms to the standard layout structure of the PV interface of the photovoltaic inverter. This ensures the overall regularity of the double-row plug assembly, effectively avoids assembly misalignment and offset issues, and significantly improves the accuracy and work efficiency of synchronous assembly of the double-row plugs.

[0046] Furthermore, it also includes a vacuum generator 6; the vacuum generator 6 is disposed on the base 1; the suction nozzle assembly 3 is a vacuum suction nozzle, and the vacuum suction nozzle is connected to the vacuum generator 6 via a pipeline.

[0047] In this embodiment, the vacuum generator 6 is a negative pressure generating device that can convert compressed air into negative pressure to provide adsorption power for the vacuum nozzles; the vacuum generator 6 and each vacuum nozzle are connected by a vacuum hose and a flow divider.

[0048] In a specific embodiment, the vacuum generator 6 is fixedly locked to one side of the base 1 and moves synchronously with the base 1, requiring no external suspended pipeline. The air inlet of the vacuum generator 6 is connected to the workshop's compressed air source, and the air outlet is connected to each vacuum nozzle independently via a split vacuum hose, ensuring that each nozzle receives a stable negative pressure. During operation, the vacuum generator 6 starts to generate negative pressure, creating suction force at the nozzle port to stably pick up the PV plug; after assembly, the vacuum generator 6 depressurizes and releases pressure, completing the plug removal and assembly.

[0049] The embodiment is implemented in which the vacuum generator 6 is integrated and installed on the base 1, moving with the whole equipment, avoiding the problems of pulling, tangling, and air leakage of traditional external pipelines, and the air path stability is stronger. At the same time, the integrated structure simplifies the equipment layout, is compact, easy to maintain, and ensures the stability and reliability of the suction nozzle adsorption.

[0050] Furthermore, it also includes a robotic arm 7, which is connected to the base 1 and located on the side of the base 1 away from the nozzle assembly 3.

[0051] In this embodiment, the robotic arm 7 is a multi-axis motion actuator used to drive the base 1 and the overall pick-and-place device to achieve spatial displacement in the vertical, horizontal, and back-and-forth directions, completing the workstation switching and alignment. The suction nozzle assembly 3 is installed on the upper end face of the base 1 facing away from the workpiece and away from the suction nozzle opening, and is used to dock with the robotic arm 7.

[0052] In a specific embodiment, the end effector flange of the robotic arm 7 is fixedly connected to the upper end face of the base 1 by bolts. This end face is completely opposite to the adsorption working surface of the suction nozzle assembly 3 below, without structural interference. The robotic arm 7 can drive the base 1 and all suction nozzle assemblies 3, drive mechanism 2, and vision module to achieve multi-dimensional spatial movement, accurately moving the device to the plug picking station and workpiece assembly station, completing automated picking and placing assembly cycle operations.

[0053] The embodiment achieves integrated connection between the robotic arm 7 and the base 1 facing away from the working side, without operational interference, enabling automated switching of the entire device's workstations, replacing manual handling and assembly, significantly improving the degree of automation and production efficiency, and adapting to mass production on assembly lines.

[0054] The present invention also provides a PV plug assembly method, applicable to the PV plug loading and unloading device described in any of the above embodiments, see [link to relevant documentation]. Figure 4 The PV plug assembly method includes the following steps S101-S103: S101. Obtain the target interval distance of multiple target mounting positions; S102. Start the drive mechanism 2 and adjust the interval between each nozzle assembly 3 according to the target interval distance; S103, All nozzle assemblies 3 are moved to the target installation position via the base 1.

[0055] In this embodiment, the target mounting position refers to a preset interface position on the photovoltaic inverter housing for installing PV plugs. The target spacing distance refers to the center-to-center distance between two adjacent PV plug target mounting positions.

[0056] In a specific embodiment, the first step is to obtain the target spacing distance of multiple PV target installation positions on the photovoltaic inverter workpiece after the equipment initialization is completed, and accurately record the spacing parameters of each position; the second step is to start each drive mechanism 2 according to the obtained target spacing distance, and independently adjust the linear position of each suction nozzle assembly 3 so that the spacing of each suction nozzle assembly 3 matches the spacing of the target installation position; the third step is to move the base 1 as a whole through the robotic arm 7, and accurately move all the suction nozzle assemblies 3 that have completed the spacing adjustment to the target installation position above the workpiece to complete the alignment operation, and then cooperate with vacuum adsorption and pressure relief assembly to complete the complete process.

[0057] The implementation example achieves the following: first adjust the spacing, then align the positions. Through adaptive adjustment of the pre-set spacing, it can adapt to PV installation positions with all different spacing specifications. The operation process is standardized and highly versatile. There is no need to change the operation procedure for different products. It is convenient to change models and adapt to mixed production lines of multiple product models.

[0058] Furthermore, the target interval distance is obtained by acquiring images using a visual camera.

[0059] In this embodiment, the visual camera acquires images by capturing images of the workpiece mounting position through the visual acquisition module 4 on the base 1, and then obtains precise spacing data through algorithm analysis.

[0060] In a specific embodiment, in the step of obtaining the target interval distance, a vision camera fixed on the base 1 is used to take a picture of the workpiece PV mounting area from below, and a high-definition workpiece image is acquired and transmitted to the controller 5. The controller 5 extracts the coordinate information of each target mounting position through an image recognition algorithm and automatically calculates the accurate target interval distance between adjacent mounting positions. No manual measurement or parameter input is required. The data acquisition is accurate and efficient, and it can adapt to workpiece processing tolerances and size differences of different models of products in real time.

[0061] The implementation example achieves fully automated closed-loop operation of data acquisition, spacing adjustment, and workstation alignment by automatically acquiring spacing data through visual image acquisition, avoiding errors and tedious operations caused by manual parameter input, and further improving assembly accuracy and automated production efficiency.

[0062] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0063] 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," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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.

[0064] 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.

[0065] 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 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.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0067] 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 invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring 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. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0068] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0069] The above description describes specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A PV plug removal and placement device, characterized in that, Includes a base, several drive mechanisms, and several suction nozzle assemblies; The drive mechanism corresponds one-to-one with the suction nozzle assembly; Each of the aforementioned drive mechanisms is fixedly installed on the base, and the output end of each drive mechanism is connected to a corresponding suction nozzle assembly; Each of the aforementioned driving mechanisms can drive the corresponding connected nozzle assembly to move linearly on the base.

2. The PV plug removal and placement device according to claim 1, characterized in that, The driving mechanism includes a cylinder and a linear guide pair respectively mounted on the base; the slide of the linear guide pair is connected to the output end of the cylinder, and the suction nozzle assembly is mounted on the slide.

3. The PV plug removal and placement device according to claim 1, characterized in that, It also includes a vision acquisition module, which is mounted on the base, and the acquisition lens of the vision acquisition module faces the same direction as the suction port of the suction nozzle assembly.

4. The PV plug removal and placement device according to claim 3, characterized in that, It also includes a controller, which is electrically connected to the vision acquisition module and each of the drive mechanisms.

5. The PV plug removal and placement device according to claim 2, characterized in that, The suction nozzle assembly is divided into a first group of suction nozzle assemblies and a second group of suction nozzle assemblies; The nozzle components inside the first group of nozzle assemblies are arranged along a first straight line, and the nozzle components inside the second group of nozzle assemblies are arranged along a second straight line.

6. The PV plug removal and placement device according to claim 5, characterized in that, The first straight line direction is parallel to the second straight line direction.

7. The PV plug removal and placement device according to claim 1, characterized in that, It also includes a vacuum generator; the vacuum generator is mounted on the base; the suction nozzle assembly is a vacuum suction nozzle, and the vacuum suction nozzle is connected to the vacuum generator.

8. The PV plug removal and placement device according to claim 1, characterized in that, It also includes a robotic arm connected to the base and located on the side of the base away from the nozzle assembly.

9. A PV plug assembly method, applied to the PV plug loading and unloading device according to any one of claims 1-8, characterized in that, Includes the following steps: Obtain the target interval distance for multiple target mounting positions; Start the drive mechanism and adjust the interval between each nozzle assembly according to the target interval distance; The base drives all nozzle components to move to the target mounting position.

10. The PV plug assembly method according to claim 9, characterized in that, The target interval distance is obtained by acquiring images using a vision camera.

Images