Automatic sleeving equipment

Abstract

The utility model relates to automatic sleeving equipment which is used for sleeving a carton on a photovoltaic module. The automatic sleeving equipment comprises an adsorption part, a mechanical arm, a collecting unit, a first driving unit and a control unit, and the adsorption part is arranged on the mechanical arm and used for adsorbing cartons; the acquisition unit is in communication connection with the control unit and is used for acquiring the position information of the photovoltaic module and transmitting the position information to the control unit; the output end of the first driving unit is connected with the mechanical arm and used for driving the mechanical arm to move in a three-dimensional space; the control unit is used for controlling the mechanical arm to rotate to drive the carton to rotate, so that the opening direction of the carton is parallel to the height direction of the photovoltaic module, and controlling the first driving unit to drive the mechanical arm to move in a three-dimensional space according to the position information to drive the carton to sleeve the photovoltaic module. Through the arrangement, the whole process of sleeving the carton with the photovoltaic module is free of manual operation, automatic sleeving of the carton with the photovoltaic module is achieved, the time for sleeving the carton with the photovoltaic module is shortened, the sleeving efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic module packaging, and in particular to automated packaging equipment. Background Art

[0002] Photovoltaic module packaging is the last step in the photovoltaic processing technology. The existing photovoltaic module packaging method is that two workers cooperate to put the carton on the outside of the photovoltaic module.

[0003] However, the above-mentioned manual packaging method of photovoltaic modules is time-consuming, inefficient and has high labor costs, and is difficult to meet the market's requirements for high efficiency and low cost. Summary of the invention

[0004] Based on this, it is necessary to provide an automated packaging equipment to address the problem that the current carton packaging of photovoltaic components is not intelligent enough.

[0005] An automated packaging device is used to package a carton on a photovoltaic module, the automated packaging device includes an adsorption component, a mechanical arm, a collection unit, a first drive unit and a control unit, wherein:

[0006] The adsorbent is arranged on the mechanical arm and is used for adsorbing the carton;

[0007] The acquisition unit is in communication with the control unit, and is used to acquire the position information of the photovoltaic assembly and transmit the position information to the control unit;

[0008] The output end of the first driving unit is connected to the mechanical arm, and is used to drive the mechanical arm to move in a three-dimensional space;

[0009] The control unit is used to control the rotation of the robotic arm to drive the carton to rotate, so that the opening direction of the carton is parallel to the height direction of the photovoltaic component, and is used to control the first driving unit to drive the robotic arm to move in three-dimensional space according to the position information to drive the carton to be put on the photovoltaic component.

[0010] The above-mentioned automatic packaging equipment controls the mechanical arm to rotate by setting a control unit to drive the carton to rotate, so that the carton rotates until its opening direction is parallel to the height direction of the photovoltaic module; and then controls the first driving unit to drive the mechanical arm to move in three-dimensional space according to the position information transmitted by the acquisition unit, so that the mechanical arm drives the carton to move above the photovoltaic module and then sets it on the photovoltaic module downward. Therefore, the whole process of packaging the photovoltaic module with the carton is free of manual operation, and the carton is automatically packaged with the photovoltaic module, which shortens the time of packaging the photovoltaic module with the carton, improves the packaging efficiency, and reduces the labor cost.

[0011] In one embodiment, the mechanical arm comprises a moving arm, a rotating drive member and a rotating arm, wherein:

[0012] The output end of the first driving unit is connected to the moving arm;

[0013] The rotary drive member is installed on the motion arm, is in communication connection with the control unit, and has an output end connected with the rotary arm, so as to drive the rotary arm to rotate under the control of the control unit;

[0014] One end of the rotating arm away from the rotating driving member is connected to the adsorption member.

[0015] In one embodiment, the automated packaging equipment further includes a guide unit, which includes a plurality of guide modules arranged at intervals, wherein the plurality of guide modules form a guide channel, and the guide channel is used to be arranged outside the contour of the photovoltaic component to guide the carton to be packaged on the photovoltaic component.

[0016] In one embodiment, the guide module includes a guide drive assembly and a guide rod connected to the output end of the guide drive assembly, the guide drive assembly is used to drive the guide rod to lift and move laterally, and the guide rod is used to guide the carton to be mounted on the photovoltaic assembly along its own extension direction.

[0017] In one embodiment, the guide rod is an elastic rod, and the guide rod can be deformed in a direction perpendicular to the guiding direction.

[0018] In one embodiment, the guide drive assembly includes a transverse drive member and a lifting drive member, and the output end of the transverse drive member is connected to the lifting drive member to drive the lifting drive member to move transversely;

[0019] The output end of the lifting drive member is connected to the guide rod and is used to drive the guide rod to rise and fall.

[0020] In one embodiment, the transverse driving member includes a transverse mounting seat, a first screw rod mounted on the transverse mounting seat, a first nut and a first servo motor that cooperate with the first screw rod for transmission, the first screw rod is connected to the output end of the first servo motor, and the first nut is connected to the lifting driving member.

[0021] In one of the embodiments, the automated package equipment further includes a cantilever beam, and the acquisition unit is mounted on the cantilever beam.

[0022] In one embodiment, there are multiple adsorption components, and the multiple adsorption components are arranged on the robot arm at intervals.

[0023] In one embodiment, the first driving unit includes a lifting driving module and a horizontal driving module which are communicatively connected to the control unit, wherein:

[0024] The output end of the lifting drive module is connected to the mechanical arm, and is used to drive the mechanical arm to move along a first direction;

[0025] The output end of the horizontal driving module is connected to the lifting driving module, and is used to drive the lifting driving module to move along the second direction or the third direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic diagram of the state of the adsorbent provided in the present application adsorbing a carton.

[0027] FIG2 is a schematic diagram of the structure of the automated package equipment provided in this application.

[0028] FIG3 is a schematic diagram of the structure of the carton provided in the present application being sleeved on one of the guide rods.

[0029] FIG. 4 is a schematic diagram of the structure in which the carton provided in the present application is sleeved on all guide rods.

[0030] FIG5 is a schematic diagram of the structure of the carton provided in the present application moving downward along the guide rod.

[0031] FIG6 is a schematic diagram of the structure of the guide rod provided in the present application being evacuated from the photovoltaic assembly.

[0032] in:

[0033] 10. Automated package equipment; a. First direction; b. Second direction; c. Third direction; 20. Carton; 30. Photovoltaic module;

[0034] 100, adsorption member; 200, mechanical arm; 210, moving arm; 220, rotation driving member; 230, rotating arm; 231, connecting arm; 232, extension plate;

[0035] 300, collection unit;

[0036] 400, guide module; 410, guide drive assembly; 411, lifting drive member; 420, guide rod. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application 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 application, so the present application is not limited by the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that if 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. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 cannot be understood as a limitation on the present application.

[0039] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection 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 this application can be understood according to the specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it 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, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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.

[0042] It should be noted that if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0043] Referring to Figures 1 and 2, Figure 1 shows a schematic diagram of the state of the adsorption member 100 in one embodiment of the present application adsorbing the carton 20, and Figure 2 shows a schematic diagram of the structure of the automated package device 10 in one embodiment of the present application. The automated package device 10 provided in one embodiment of the present application is used to set the carton 20 on the photovoltaic module 30, and the automated package device 10 includes an adsorption member 100, a robotic arm 200, a collection unit 300, a first drive unit, and a control unit.

[0044] The adsorption component 100 is arranged on the robot arm 200, and the adsorption component 100 is used to adsorb the carton 20. In the specific setting, the adsorption component 100 is preferably a suction cup, and the adsorption component 100 follows the movement of the robot arm 200 in the three-dimensional space to adsorb the carton 20; the collection unit 300 is communicated with the control unit, and the collection unit 300 is used to collect the position information of the photovoltaic component 30 and transmit the position information to the control unit. In the specific setting, the collection unit 300 can be an industrial camera, a gimbal camera and other collection components; the output end of the first drive unit is connected to the robot arm 200, and the first drive unit is used to drive the robot arm 200 to move in the three-dimensional space; the control unit is used to control the rotation of the robot arm 200 to drive the carton 20 to rotate, so that the opening direction of the carton 20 is parallel to the height direction of the photovoltaic component 30, and the control unit is used to control the first drive unit to drive the robot arm 200 to move in the three-dimensional space according to the position information to drive the carton 20 to be sleeved on the photovoltaic component 30.

[0045] The above-mentioned automatic packaging equipment 10 controls the mechanical arm 200 to rotate by setting a control unit to drive the carton 20 to rotate, so that the carton 20 rotates until its opening direction is parallel to the height direction of the photovoltaic module 30; and then controls the first driving unit to drive the mechanical arm 200 to move in three-dimensional space according to the position information transmitted by the acquisition unit 300, so that the mechanical arm 200 drives the carton 20 to move above the photovoltaic module 30 and then downwardly sleeved on the photovoltaic module 30. Therefore, the whole process of the carton 20 sleeves the photovoltaic module 30 without manual operation, realizes the automatic sleeve of the carton 20 with the photovoltaic module 30, shortens the time of the carton 20 sleeves the photovoltaic module 30, improves the sleeve efficiency, and reduces the labor cost.

[0046] In order to reasonably design the robot arm 200, so that the robot arm 200 can be connected to the first drive unit and can drive the carton 20 to rotate more conveniently, a preferred embodiment is that the robot arm 200 includes a moving arm 210, a rotating drive member 220 and a rotating arm 230, and the output end of the first drive unit is connected to the moving arm 210. Through the above arrangement, the first drive unit drives the moving arm 210 to move in three-dimensional space, so that the rotating drive member 220 and the rotating arm 230 connected to the moving arm 210 can move in three-dimensional space, thereby realizing the movement of the entire robot arm 200 in three-dimensional space. The rotating drive member 220 is installed on the moving arm 210, and the rotating drive member 220 is connected to the control unit for communication. The output end of the rotating drive member 220 is connected to the rotating arm 230. The rotating drive member 220 is used to drive the rotating arm 230 to rotate under the control of the control unit, and the end of the rotating arm 230 away from the rotating drive member 220 is connected to the adsorption member 100. Through the above arrangement, the rotary driving member 220 drives the rotary arm 230 to rotate to drive the adsorption member 100 connected to the rotary arm 230 to rotate, thereby realizing the rotation of the carton 20 adsorbed on the adsorption member 100 .

[0047] In order to facilitate the smooth installation of the carton 20 on the photovoltaic module 30, in a preferred embodiment, the automated package equipment 10 also includes a guide unit, which includes a plurality of guide modules 400 arranged at intervals, and the plurality of guide modules 400 form a guide channel, which is used to be arranged outside the contour of the photovoltaic module 30, and the guide channel is used to guide the carton 20 to be installed on the photovoltaic module 30. In the specific setting, the number of guide modules 400 is preferably four, and the four guide modules 400 are arranged at the four corners of the photovoltaic module 30. It should be noted that the guide modules 400 are not limited to the above four, and can be any number. The plurality of guide modules 400 can be arranged at intervals along the outer contour of the photovoltaic module 30, and the preferred arrangement position is the corner of the photovoltaic module 30.

[0048] In order to reasonably design the guide module 400, specifically, the guide module 400 includes a guide drive assembly 410 and a guide rod 420 connected to the output end of the guide drive assembly 410, the guide drive assembly 410 is used to drive the guide rod 420 to lift and move horizontally, and the guide rod 420 is used to guide the carton 20 to be sleeved on the photovoltaic assembly 30 along its own extension direction. Through the above arrangement, the guide rod 420 moves to the corner of the photovoltaic assembly 30 under the drive of the guide drive assembly 410, and the guide rod 420 is higher than the photovoltaic assembly 30, so that the guide rod 420 can smoothly sleeve on the photovoltaic assembly 30 when guiding the carton 20 to move along its own extension direction.

[0049] In combination with FIG. 3, FIG. 4, FIG. 5 and FIG. 6, FIG. 3 shows a schematic diagram of the structure of a carton 20 in an embodiment of the present application being sleeved on one of the guide rods 420, FIG. 4 shows a schematic diagram of the structure of a carton 20 in an embodiment of the present application being sleeved on all the guide rods 420, FIG. 5 shows a schematic diagram of the structure of a carton 20 in an embodiment of the present application moving down along the guide rods 420, and FIG. 6 shows a schematic diagram of the structure of a guide rod 420 in an embodiment of the present application being withdrawn from the photovoltaic assembly 30. In some embodiments, in order to facilitate the carton 20 to be smoothly sleeved into all the guide rods 420, more specifically, the guide rods 420 are elastic rods, and the guide rods 420 can be deformed in a direction perpendicular to the guide direction.

[0050] During the specific operation, the control unit controls the first driving unit to drive the robot arm 200 to move according to the position information determined by the acquisition unit 300, so that the robot arm 200 can drive the carton 20 to move accurately above the guide rod 420 as shown in Figure 3; the rotary drive member 220 drives the rotary arm 230 to drive the carton 20 to rotate downward, so that an inner wall of the carton 20 is preferentially attached to a guide rod 420, and the guide rod 420 is deformed as shown in Figure 4; this provides sufficient space for the subsequent carton 20 to follow the robot arm 200 to move downward to cover all the guide rods 420 The space accommodates all the guide rods 420, which can ensure that the carton 20 is completely covered on the guide rods 420 at the four corners. Then, the rotating drive member 220 is used to drive the rotating arm 230 to drive the carton 20 to rotate so that the carton 20 is facing the photovoltaic component 30 as shown in Figure 5; after the carton 20 is covered with part of the photovoltaic component 30 along the extension direction of the guide rod 420, the guide drive component 410 drives the guide rod 420 to move downward and then move horizontally to evacuate the photovoltaic component 30, so that the subsequent carton 20 can fall smoothly to the photovoltaic component 30 as shown in Figure 6. At this point, the entire step of covering the carton 20 is completed.

[0051] In order to more conveniently realize that the guide drive assembly 410 drives the guide rod 420 to move up and down and laterally, more specifically, the guide drive assembly 410 includes a transverse drive member and a lifting drive member 411, the output end of the transverse drive member is connected to the lifting drive member 411, the transverse drive member is used to drive the lifting drive member 411 to move laterally, the output end of the lifting drive member 411 is connected to the guide rod 420, and the lifting drive member 411 is used to drive the guide rod 420 to move up and down. In the specific setting, the lifting drive member 411 can be preferably a cylinder, and the cylinder is used to drive the guide rod 420 to move up and down, and the transverse drive member drives the lifting drive member 411 to move laterally to realize the lateral movement of the guide rod 420 connected to the lifting drive member 411. It should be noted that the lateral movement of the lifting drive member 411 and the guide rod 420 also refers to the movement of the two along the second direction b as shown in Figure 2.

[0052] In order to more conveniently realize that the transverse driving member drives the lifting driving member 411 to move along the second direction b, the transverse driving member further includes a transverse mounting seat, a first screw rod mounted on the transverse mounting seat, a first nut drivingly matched with the first screw rod, and a first servo motor, the first screw rod is connected to the output end of the first servo motor, and the first nut is connected to the lifting driving member 411. Through the above arrangement, the first servo motor drives the first screw rod to rotate, so that the first nut drivingly matched with the first screw rod moves along the extension direction of the first screw rod, that is, the second direction b, so that the lifting driving member 411 connected to the first nut moves along the extension direction of the first screw rod, that is, the lifting driving member 411 moves along the extension direction of the first screw rod, that is, the lifting driving member 411 is realized to move along the second direction b.

[0053] In order to ensure that the collection unit 300 can accurately obtain the position information of the photovoltaic assembly 30, in a preferred embodiment, the automated package equipment 10 further includes a suspension beam, and the collection unit 300 is installed on the suspension beam. It should be noted that the photovoltaic assembly 30 is usually arranged on the ground and located below the suspension beam. Through the above arrangement, the collection unit 300 located on the suspension beam has a wider viewing angle and can more accurately reflect the position of the photovoltaic assembly 30.

[0054] In order to ensure the firmness of the adsorption member 100 adsorbing the carton 20, in a preferred embodiment, there are multiple adsorption members 100, and multiple adsorption members 100 are arranged at intervals on the mechanical arm 200. In the specific setting, multiple adsorption members 100 are arranged at intervals on the rotating arm 230 in the mechanical arm 200, and the rotating arm 230 includes a connecting arm 231 and multiple extension plates 232, wherein the connecting arm 231 is connected to the output end of the rotating driving member 220, and multiple extension plates 232 are arranged at intervals on the connecting arm 231, and each extension plate 232 is correspondingly installed with an adsorption member 100 on the side away from the connecting arm 231. In the present application, the preferred number of extension plates 232 is two.

[0055] In order to more conveniently realize that the first drive unit drives the mechanical arm 200 to move in three-dimensional space, a preferred embodiment is that the first drive unit includes a lifting drive module and a horizontal drive module that are communicatively connected to the control unit, the output end of the lifting drive module is connected to the mechanical arm 200, the lifting drive module is used to drive the mechanical arm 200 to move along the first direction a, and the output end of the horizontal drive module is connected to the lifting drive module, and the horizontal drive module is used to drive the lifting drive module to move along the second direction b or the third direction c. In the specific setting, the horizontal drive module includes a transverse drive mechanism and a longitudinal drive mechanism that are communicatively connected to the control unit, the output end of the transverse drive mechanism is connected to the longitudinal drive mechanism, the transverse drive mechanism is used to drive the longitudinal drive mechanism to move along the second direction b, and the output end of the longitudinal drive mechanism is connected to the lifting drive module, and the longitudinal drive mechanism is used to drive the lifting drive module to move along the third direction c. It should be noted that the specific structures of the transverse drive mechanism, the longitudinal drive mechanism and the lifting drive module are similar to the structures of the above-mentioned transverse drive member, and will not be elaborated here.

[0056] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An automated packaging device for packaging cartons on photovoltaic modules, characterized in that: The automated package equipment includes a suction piece, a robotic arm, a collection unit, a first driving unit and a control unit, wherein: The adsorbent is arranged on the mechanical arm and is used for adsorbing the carton; The acquisition unit is in communication with the control unit, and is used to acquire the position information of the photovoltaic assembly and transmit the position information to the control unit; The output end of the first driving unit is connected to the mechanical arm, and is used to drive the mechanical arm to move in a three-dimensional space; The control unit is used to control the rotation of the robotic arm to drive the carton to rotate, so that the opening direction of the carton is parallel to the height direction of the photovoltaic component, and is used to control the first driving unit to drive the robotic arm to move in three-dimensional space according to the position information to drive the carton to be put on the photovoltaic component.

2. The automated package equipment according to claim 1, characterized in that: The mechanical arm comprises a moving arm, a rotating driving member and a rotating arm, wherein: The output end of the first driving unit is connected to the moving arm; The rotary drive member is mounted on the motion arm, is in communication connection with the control unit, and has an output end connected with the rotary arm, so as to drive the rotary arm to rotate under the control of the control unit; One end of the rotating arm away from the rotating driving member is connected to the adsorption member.

3. The automated package equipment according to claim 1, characterized in that: The automated packaging equipment further includes a guide unit, which includes a plurality of guide modules arranged at intervals, wherein the plurality of guide modules form a guide channel, and the guide channel is used to be arranged outside the outline of the photovoltaic component to guide the carton to be packaged on the photovoltaic component.

4. The automated package equipment according to claim 3, characterized in that: The guide module includes a guide drive component and a guide rod connected to the output end of the guide drive component, the guide drive component is used to drive the guide rod to lift and move laterally, and the guide rod is used to guide the carton to be mounted on the photovoltaic component along its own extension direction.

5. The automated package equipment according to claim 4, characterized in that: The guide rod is an elastic rod, and the guide rod can be deformed in a direction perpendicular to the guide direction.

6. The automated package equipment according to claim 4, characterized in that: The guide drive assembly includes a transverse drive member and a lifting drive member, and the output end of the transverse drive member is connected to the lifting drive member to drive the lifting drive member to move transversely; The output end of the lifting drive member is connected to the guide rod and is used to drive the guide rod to rise and fall.

7. The automated package equipment according to claim 6, characterized in that: The transverse driving member includes a transverse mounting seat, a first screw rod mounted on the transverse mounting seat, a first nut and a first servo motor that are transmission-matched with the first screw rod, the first screw rod is connected to the output end of the first servo motor, and the first nut is connected to the lifting driving member.

8. The automated package equipment according to claim 1, characterized in that: The automated package equipment further comprises a suspension beam, and the collection unit is mounted on the suspension beam.

9. The automated package equipment according to claim 1, characterized in that: There are multiple adsorption components, and the multiple adsorption components are arranged on the robot arm at intervals.

10. The automated package equipment according to claim 1, characterized in that: The first driving unit includes a lifting driving module and a horizontal driving module which are communicatively connected to the control unit, wherein: The output end of the lifting drive module is connected to the mechanical arm, and is used to drive the mechanical arm to move along a first direction; The output end of the horizontal driving module is connected to the lifting driving module, and is used to drive the lifting driving module to move along the second direction or the third direction.

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