Grabbing mechanism and junction box grabbing device

Abstract

The utility model discloses a grabbing mechanism and a junction box grabbing device, the grabbing mechanism comprises a grabbing support, a first clamping jaw, a second clamping jaw, a rotating assembly, a lifting assembly and a translation assembly, the rotating assembly is connected to the grabbing support, and the rotating assembly can drive the first clamping jaw and the second clamping jaw to turn; the lifting assembly is connected to the rotating assembly and can drive the first clamping jaw and the second clamping jaw to do lifting motion. The translation assembly is connected to the upper portion of the lifting assembly and can drive the first clamping jaw and the second clamping jaw to conduct X-direction translation motion and Y-direction translation motion, and the junction box grabbing device comprises the grabbing mechanism. By means of the mode, the grabbing mechanism and the junction box grabbing device can achieve X-direction movement, Y-direction movement, Z-direction movement and steering movement, grabbing of the junction box is achieved, the whole grabbing process is high in corresponding speed, high in control precision, stable and flexible at the same time, automatic grabbing of the junction box is achieved, and the junction box grabbing efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic component production equipment, in particular to a grasping mechanism and a junction box grasping device. Background Art

[0002] Photovoltaic modules are the core and most important part of a solar power generation system. Their function is to convert solar energy into electrical energy, either by storing it in batteries or by driving loads.

[0003] As an important part of photovoltaic modules, the junction box is a connector between the solar cell array composed of solar cell modules and the solar cell charging control device. The main function of the junction box is to export the electric energy generated by the solar cell module through cables. The current generated by the solar photovoltaic module is led out through the wiring terminals and connectors inside the junction box and introduced into the electrical equipment.

[0004] At present, in the production process of photovoltaic modules, manual operation is generally used when installing the junction box: that is, manually grab the junction box and place it at the junction box installation position of the photovoltaic module, and then complete the installation. This method is time-consuming, labor-intensive, inefficient, and there is a risk of missing grabbing or missing installation. Utility Model Content

[0005] The main technical problem solved by the utility model is to provide a grasping mechanism and a junction box grasping device, which can realize X-direction, Y-direction, Z-direction movement and steering movement to realize the grasping of the junction box. The whole grasping process has a fast response speed, high control accuracy, and is stable and flexible at the same time, realizing automatic grasping of the junction box, avoiding the occurrence of missed grasping, and improving the grasping efficiency of the junction box.

[0006] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a grabbing mechanism, including:

[0007] A grabbing bracket, wherein the middle of the grabbing bracket is connected to a first clamping claw cylinder, and both sides of the grabbing bracket are connected to second clamping claw cylinders;

[0008] A first clamping jaw connected to both sides of the first clamping jaw cylinder;

[0009] A second clamping jaw connected to both sides of the second clamping jaw cylinder;

[0010] A rotating assembly connected to the grabbing bracket, wherein the rotating assembly can drive the first clamping jaw and the second clamping jaw to perform a turning movement;

[0011] A lifting assembly, connected to the rotating assembly, the lifting assembly can drive the first clamping jaw and the second clamping jaw to perform lifting motion;

[0012] The translation assembly is connected above the lifting assembly, and the translation assembly can drive the first clamping jaw and the second clamping jaw to perform X-direction translation movement and Y-direction translation movement.

[0013] In a preferred embodiment of the utility model, the rotating assembly includes a rotating servo motor mounting base, a rotating servo motor, a driving gear and a driven gear. The rotating servo motor is arranged on the rotating servo motor mounting base. The driving gear on the output shaft of the rotating servo motor meshes with the driven gear. The driven gear is installed on the grabbing bracket and connected to the first clamping jaw cylinder.

[0014] The rotation angle of the first clamping jaw cylinder is adjusted by rotating the servo motor, and the grabbing bracket connected to the first clamping jaw cylinder is driven to rotate, and then the second clamping jaw cylinders on both sides of the grabbing bracket are driven to rotate synchronously.

[0015] In a preferred embodiment of the present invention, the lifting assembly includes a lifting support plate and a lifting servo motor, and the lifting support plate is connected to a rotating servo motor mounting base.

[0016] The lifting support plate is provided with Z-guide rails and Z-slide blocks on both sides, and the lifting support plate is also provided with a Z-slot rack. The output shaft of the lifting servo motor is connected to a reducer, and the driving gear on the reducer is meshed with the Z-slot rack.

[0017] The lifting servo motor drives the Z-direction guide rail on the lifting support plate to move up and down along the Z-direction slide block through the driving gear and the Z-direction rack.

[0018] In a preferred embodiment of the utility model, the translation assembly includes a Y-direction servo motor and a Y-direction translation support plate.

[0019] The Y-direction translation pallet is provided with Y-direction guide rails and Y-direction sliders on both sides, and the Y-direction translation pallet is also installed with a Y-direction rack. The driving gear at the output end of the Y-direction servo motor is meshed with the Y-direction rack, so that the Y-direction guide rail on the Y-direction translation pallet moves in the Y direction along the Y-direction slider.

[0020] In a preferred embodiment of the present invention, the translation assembly further includes an X-axis linear motor, an X-axis translation support plate, an X-axis slider and an X-axis guide rail.

[0021] The X-direction translation pallet is connected to the Y-direction translation pallet, an X-direction slider is provided on the X-direction translation pallet, the X-direction slider is slidably connected to the X-direction guide rail, the X-direction guide rail and the X-direction linear motor are installed on the main machine beam, and the X-direction linear motor controls the X-direction translation pallet and the X-direction slider to slide on the X-direction guide rail.

[0022] In a preferred embodiment of the present invention, it further comprises an adapter bracket, wherein the bottom of the adapter bracket is connected to the Z-direction slider, and the top of the adapter bracket is connected to the Y-direction slider.

[0023] In order to solve the above technical problems, another technical solution adopted by the utility model is: to provide a junction box grabbing device, which can realize the grabbing of the junction box, including: a frame and the grabbing mechanism, the grabbing mechanism is connected to the frame, the grabbing mechanism can move along the frame in the X direction, the Y direction and the Z direction, and the grabbing mechanism can also perform steering movement.

[0024] In a preferred embodiment of the utility model, the junction box includes a box body and cables connected to both sides of the box body, and the grasping mechanism drives the first clamp to open and close to grasp the box body; the grasping mechanism drives the second clamp to open and close to grasp the cable.

[0025] The beneficial effects of the utility model are: it can realize X-direction, Y-direction, Z-direction movement and steering movement, realize the grasping of the junction box, the whole grasping process has a fast response speed, high control accuracy, and is stable and flexible, realizes the automatic grasping of the junction box, avoids the occurrence of missed grasping, and improves the grasping efficiency of the junction box. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0027] Figure 1 It is a structural schematic diagram of a preferred embodiment of the junction box grabbing device of the utility model;

[0028] Figure 2 It is a structural schematic diagram of a preferred embodiment of the rotating assembly of the utility model;

[0029] Figure 3 It is a structural schematic diagram of a preferred embodiment of the lifting assembly of the utility model;

[0030] Figure 4 It is a structural schematic diagram of a preferred embodiment of the translation assembly of the utility model;

[0031] The markings of the components in the accompanying drawings are as follows:

[0032] 100, rotating assembly, 110, servo motor mounting base, 120, rotating servo motor, 130, driven gear,

[0033] 200, lifting assembly, 210, lifting pallet, 220, lifting servo motor, 230, Z-axis slider, 240, Z-axis guide rail, 250, Z-axis rack, 260, reducer, 270, adapter bracket,

[0034] 300, translation assembly, 320, Y-axis translation pallet, 330, Y-axis guide rail, 340, Y-axis slider, 350, Y-axis rack, 360, X-axis linear motor, 370, X-axis translation pallet, 380, X-axis slider, 390, X-axis guide rail,

[0035] 400, grabbing bracket, 500, first clamping jaw cylinder, 600, second clamping jaw cylinder, 700, first clamping jaw, 800, second clamping jaw. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The embodiment of the utility model includes a grabbing mechanism.

[0039] In an exemplary embodiment, see Figure 1

[0040] The grabbing mechanism includes a grabbing bracket 400, a first clamping jaw 700 and a second clamping jaw 800. The middle of the grabbing bracket 400 is connected to a first clamping jaw cylinder 500, and the two sides are connected to second clamping jaw cylinders 600. The first clamping jaw 700 is connected to the two sides of the first clamping jaw cylinder 500, and the second clamping jaw 800 is connected to the two sides of the second clamping jaw cylinder 600.

[0041] Furthermore, if Figure 1 As shown, the grabbing mechanism further includes a rotating assembly 100, a lifting assembly 200 and a translation assembly 300:

[0042] The rotating assembly 100 is connected to the grabbing bracket 400, and the rotating assembly 100 can drive the first clamping jaw 700 and the second clamping jaw 800 to perform a turning movement;

[0043] The lifting assembly 200 is connected to the rotating assembly 100, and the lifting assembly 200 can drive the first clamping jaw 700 and the second clamping jaw 800 to perform lifting motion;

[0044] The translation assembly 300 is connected above the lifting assembly 200 , and the translation assembly 300 can drive the first clamping jaw 700 and the second clamping jaw 800 to perform X-direction translation movement and Y-direction translation movement.

[0045] See also Figure 2 In an exemplary embodiment, the rotating assembly 100 includes a rotating servo motor mounting base 110, a rotating servo motor 120, a driving gear and a driven gear 130, wherein the rotating servo motor 120 is disposed on the rotating servo motor mounting base 110, and the driving gear on the output shaft of the rotating servo motor 120 is meshed with the driven gear 130, and the driven gear 130 is mounted on the grabbing bracket 400 and connected to the first gripper cylinder 500.

[0046] During the grasping process, the rotation angle of the first gripper cylinder 500 is adjusted by rotating the servo motor 120, which drives the grasping bracket 400 connected to the first gripper cylinder 500 to rotate, and then drives the second gripper cylinders 600 on both sides of the grasping bracket 400 to rotate synchronously.

[0047] See also Figure 3 In an exemplary embodiment, the lifting assembly 200 includes a lifting support plate 210 and a lifting servo motor 220, and the lifting support plate 210 is connected to the rotary servo motor mounting base 110.

[0048] The lifting support plate 210 is provided with Z-direction guide rails 240 and Z-direction sliders 230 on both sides. The lifting support plate 210 is also equipped with a Z-direction rack 250 . The output shaft of the lifting servo motor 220 is connected to the reducer 260 , and the driving gear on the reducer 260 is meshed with the Z-direction rack 250 .

[0049] During the grabbing process, the lifting servo motor 220 drives the Z-direction guide rail 240 on the lifting support plate 210 to move up and down along the Z-direction slider 230 through the driving gear and the Z-direction teeth 250 .

[0050] See also Figure 4 In an exemplary embodiment, the translation assembly 300 includes a Y-direction servo motor (not shown) and a Y-direction translation support plate 320.

[0051] The Y-direction guide rails 330 and the Y-direction sliders 340 are disposed on both sides of the Y-direction translation support plate 320 , and the Y-direction translation support plate 320 is also mounted with a Y-direction rack 350 .

[0052] During the grasping process, the driving gear at the output end of the Y-direction servo motor meshes with the Y-direction rack 350, so that the Y-direction guide rail 330 on the Y-direction translation pallet 320 moves in the Y-direction along the Y-direction slider 340, thereby realizing the Y-direction translation movement of the grasping mechanism.

[0053] It also includes an adapter bracket 270 , the bottom of the adapter bracket 270 is connected to the Z-direction slider 230 , and the top of the adapter bracket 270 is connected to the Y-direction slider 340 .

[0054] Furthermore, the translation assembly 300 further includes an X-direction linear motor 360, an X-direction translation support plate 370, an X-direction slider 380 and an X-direction guide rail 390.

[0055] The X-direction translation pallet 370 is connected to the Y-direction translation pallet 320 , and an X-direction slider 380 is disposed on the X-direction translation pallet 370 . The X-direction slider 380 is slidably connected to the X-direction guide rail 390 , and the X-direction guide rail 390 and the X-direction linear motor 360 are installed on the main machine crossbeam.

[0056] During the grasping process, the X-axis linear motor 360 controls the X-axis translation support plate 370 and the X-axis slider 380 to slide on the X-axis guide rail 390 to realize the X-axis translation movement of the grasping mechanism.

[0057] During the crawling process,

[0058] The embodiment of the utility model also includes a junction box grabbing device, which can realize the grabbing of the junction box and can be applied to the junction box loading station and the junction box installation station.

[0059] The junction box grabbing device comprises a frame and the grabbing mechanism, wherein the grabbing mechanism is connected to the frame and can move and turn along the frame in the X, Y and Z directions to grab the junction box.

[0060] Furthermore, the junction box includes a box body and cables connected to both sides of the box body. The grasping mechanism drives the first clamping jaw 700 to open and close to grasp the box body; the grasping mechanism drives the second clamping jaw 800 to open and close to grasp the cable.

[0061] When the junction box grasping device receives the position information of the junction box, the grasping mechanism is started, and the rotation, lifting and translation of the grasping mechanism are realized through the rotating component, the lifting component and the translation component respectively, so that the first clamping jaw and the second clamping jaw reach the specified position to realize the grasping of the junction box. The whole grasping process has a fast response speed, high control accuracy, and is stable and flexible.

[0062] The beneficial effects of the grabbing mechanism and the junction box grabbing device of the utility model are:

[0063] It can realize movement and steering in the X, Y and Z directions to grasp the junction box. The whole grasping process has fast response speed, high control accuracy, and is stable and flexible. It realizes the automatic grasping of the junction box, avoids missed grasping, and improves the grasping efficiency of the junction box.

[0064] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A gripping mechanism, characterized in that: include: A grabbing bracket, wherein the middle of the grabbing bracket is connected to a first clamping claw cylinder, and both sides of the grabbing bracket are connected to second clamping claw cylinders; A first clamping jaw connected to both sides of the first clamping jaw cylinder; A second clamping jaw connected to both sides of the second clamping jaw cylinder; A rotating assembly connected to the grabbing bracket, wherein the rotating assembly can drive the first clamping jaw and the second clamping jaw to perform a turning movement; A lifting assembly, connected to the rotating assembly, the lifting assembly can drive the first clamping jaw and the second clamping jaw to perform lifting motion; The translation assembly is connected above the lifting assembly, and the translation assembly can drive the first clamping jaw and the second clamping jaw to perform X-direction translation movement and Y-direction translation movement.

2. The gripping mechanism according to claim 1, characterized in that: The rotating assembly includes a rotating servo motor mounting base, a rotating servo motor, a driving gear and a driven gear. The rotating servo motor is arranged on the rotating servo motor mounting base. The driving gear on the output shaft of the rotating servo motor meshes with the driven gear. The driven gear is installed on the grabbing bracket and connected to the first clamping jaw cylinder. The rotation angle of the first clamping jaw cylinder is adjusted by rotating the servo motor, and the grabbing bracket connected to the first clamping jaw cylinder is driven to rotate, and then the second clamping jaw cylinders on both sides of the grabbing bracket are driven to rotate synchronously.

3. The gripping mechanism according to claim 2, characterized in that: The lifting assembly includes a lifting support plate and a lifting servo motor, wherein the lifting support plate is connected to a rotating servo motor mounting base. The lifting support plate is provided with Z-guide rails and Z-slide blocks on both sides, and the lifting support plate is also provided with a Z-slot rack. The output shaft of the lifting servo motor is connected to a reducer, and the driving gear on the reducer is meshed with the Z-slot rack. The lifting servo motor drives the Z-direction guide rail on the lifting support plate to move up and down along the Z-direction slide block through the driving gear and the Z-direction rack.

4. The gripping mechanism according to claim 3, characterized in that: The translation assembly includes a Y-direction servo motor and a Y-direction translation support plate. The Y-direction translation pallet is provided with Y-direction guide rails and Y-direction sliders on both sides, and the Y-direction translation pallet is also installed with a Y-direction rack. The driving gear at the output end of the Y-direction servo motor is meshed with the Y-direction rack, so that the Y-direction guide rail on the Y-direction translation pallet moves in the Y direction along the Y-direction slider.

5. The gripping mechanism according to claim 4, characterized in that: The translation assembly also includes an X-axis linear motor, an X-axis translation support plate, an X-axis slider and an X-axis guide rail. The X-direction translation pallet is connected to the Y-direction translation pallet, an X-direction slider is provided on the X-direction translation pallet, the X-direction slider is slidably connected to the X-direction guide rail, the X-direction guide rail and the X-direction linear motor are installed on the main machine beam, and the X-direction linear motor controls the X-direction translation pallet and the X-direction slider to slide on the X-direction guide rail.

6. The gripping mechanism according to claim 5, characterized in that: It also includes an adapter bracket, the bottom of which is connected to the Z-direction slider, and the top of which is connected to the Y-direction slider.

7. A junction box grabbing device, characterized in that: Capable of grabbing the junction box, including: frame; And a gripping mechanism as claimed in any one of claims 1 to 6; The grabbing mechanism is connected to the frame, and can move along the frame in the X direction, the Y direction and the Z direction, and can also perform steering movement.

8. The junction box grabbing device according to claim 7, characterized in that: The junction box includes a box body and cables connected to both sides of the box body. The grabbing mechanism drives the first clamping jaw to open and close to grab the box body; the grabbing mechanism drives the second clamping jaw to open and close to grab the cable.

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