Automatic installation equipment for flexible junction box

Abstract

The utility model relates to the technical field of photovoltaic panel production equipment, and particularly discloses a flexible junction box automatic installation device which is characterized in that a positive and negative electrode junction box grabbing installation mechanism is provided with a 3D camera, a material preparation box, a positive and negative electrode junction box disordered grabbing robot and a positive and negative electrode junction box installation robot; the positive and negative terminal box disordered grabbing robot places the positive terminal box or the negative terminal box in the material preparation box on the positive and negative terminal box conveying structure, and the positive and negative terminal box mounting robot is mounted on the side face of the positive and negative terminal box conveying structure. The anode and cathode junction box mounting robot is used for mounting an anode junction box or a cathode junction box on a photovoltaic panel, and the photovoltaic panel is placed on the photovoltaic panel conveying and correcting mechanism; an intermediate junction box is placed on the vibration disc, and the intermediate junction box is installed on the photovoltaic panel through the intermediate junction box installation robot; according to the utility model, the installation efficiency and consistency of the junction box are greatly improved by adopting robot installation, the defective rate of finished products is reduced, and diversified installation tasks are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic panel production equipment, in particular to an automatic installation device for a flexible junction box. Background Art

[0002] The photovoltaic industry mainly refers to the photoelectric conversion industry chain formed by the application and development of silicon materials, and its downstream application is mainly power generation.

[0003] As a connector for solar cell modules, the main function of the photovoltaic junction box is to export the electricity generated by the solar cell module through cables. Due to the particularity of the use of solar cells, the photovoltaic junction box must be carefully installed to meet the use requirements of solar cell modules.

[0004] As a connector, the junction box serves as a bridge between solar panels and control devices such as inverters. The current generated by solar panels is led out through terminals and connectors inside the junction box and introduced into electrical equipment to prevent hot spot effects. In order to minimize the loss of panel power caused by the junction box, the contact between the junction box and the busbar lead wire should be as small as possible, which places higher requirements on the installation accuracy of the junction box.

[0005] At present, the installation method of junction boxes in the market is mainly manual operation. Affected by labor intensity and working hours, the quality of junction box installation is uneven, the position is deviated, the bus bar is not properly shaped, and even rework is required. In addition, the work efficiency is low and the labor cost remains high.

[0006] Therefore, there is an urgent need to design an automatic installation device for a flexible junction box to solve the problems of high production cost, high defective rate and low work efficiency of the existing junction box installation. Utility Model Content

[0007] In view of the problems existing in the prior art, the utility model aims to provide an automatic installation device for a flexible junction box.

[0008] The technical solution adopted by the utility model to solve its technical problems is: a flexible junction box automatic installation device, including a positive and negative junction box grabbing and installation mechanism and an intermediate junction box grabbing and installation mechanism, a photovoltaic panel conveying and correcting mechanism is installed between the positive and negative junction box grabbing and installation mechanism and the intermediate junction box grabbing and installation mechanism, the positive and negative junction box grabbing and installation mechanism is provided with a 3D camera, a material preparation box, a positive and negative junction box disordered grabbing robot and a positive and negative junction box installation robot, the 3D camera is installed above the material preparation box, the positive and negative junction box disordered grabbing robot places the positive junction box or the negative junction box in the material preparation box on the positive and negative junction box transmission structure, the positive and negative junction box installation robot is installed on the side of the positive and negative junction box transmission structure, the positive and negative junction box installation robot installs the positive junction box or the negative junction box on the photovoltaic panel, and the photovoltaic panel is placed on the photovoltaic panel conveying and correcting mechanism;

[0009] The intermediate junction box grabbing and installing mechanism is provided with a vibration plate and an intermediate junction box installing robot. The intermediate junction box is placed on the vibration plate, and the intermediate junction box installing robot installs the intermediate junction box onto the photovoltaic panel.

[0010] Specifically, the 3D camera is installed on a 3D camera bracket, the 3D camera bracket cover is arranged on the positive and negative terminal box grabbing and mounting rack, the positive and negative terminal box grabbing and mounting rack is also equipped with a planar camera rack, and the first echelon planar cameras and the second echelon planar cameras are installed on the planar camera rack.

[0011] Specifically, a positive and negative electrode terminal box disordered grasping robot and a positive and negative electrode terminal box transmission structure are installed on the positive and negative electrode terminal box grasping and installation frame. The positive and negative electrode terminal box transmission structure includes two sets of transmission belts arranged in parallel. The two sides of the transmission belt are respectively connected to the active roller and the driven roller. The active roller is connected to the motor shaft of the motor. The motor drives the transmission belt to rotate. The first echelon plane camera and the second echelon plane camera are arranged above the transmission belt. A receiving plate is provided above one end of the transmission belt. The receiving plate receives the positive terminal box or the negative terminal box grasped by the positive and negative electrode terminal box disordered grasping robot, and the two sides of the receiving plate are installed on the transmission frame through brackets.

[0012] Specifically, a linear guide is provided on the transmission frame, a slider is slidably connected to the linear guide, a brush is installed on the slider, one side of the slider is connected to the cylinder rod of a cylinder, the cylinder is installed on the transmission frame, and the cylinder drives the brush to move between the receiving plate and the conveyor belt.

[0013] Specifically, the head of the positive and negative terminal box disordered grasping robot is connected to the gripper mounting plate, and the bottom of the gripper mounting plate is provided with a right grasping station and a left grasping station of a tooling with the same structure, a slide is installed on the gripper mounting plate, and a compression spring is installed on the inner side of the slide, and the bottom of the piston shaft passing through the middle of the compression spring is connected to the gripper mounting seat, and an oil pressure buffer is installed between the upper part of the gripper mounting seat and the slide, and a main gripper actuating cylinder is installed on the gripper mounting seat, and two fingers of the main gripper actuating cylinder are connected to the main gripper of the junction box, and the main gripper actuating cylinder controls the main gripper of the junction box to grasp the positive terminal box or the negative terminal box, and the side of the gripper mounting seat is connected to the paddle mounting plate, and a smoothing paddle cylinder is installed on the paddle mounting plate, and the two fingers of the smoothing paddle cylinder are connected to the bus bar smoothing paddles, and the smoothing paddle cylinder controls the bus bar smoothing paddles to clamp and smooth the bus bars on the photovoltaic panel.

[0014] Specifically, a flipping robot is installed in the middle of the two groups of transmission belts, and a flipping tooling is installed on the head of the flipping robot. The flipping tooling includes a flipping tooling base plate and a flipping tooling cylinder. The flipping tooling base plate is connected to the head of the flipping robot by bolts, and a flipping tooling cylinder is installed on the flipping tooling base plate. The two fingers of the flipping tooling cylinder are connected to the flipping tooling claws, and the flipping tooling cylinder controls the flipping tooling claws to clamp or release the positive terminal box or the negative terminal box.

[0015] Specifically, the intermediate junction box grabbing and installing mechanism is provided with a silo frame, on which the silo and the vibration plate are installed, the intermediate junction box in the silo enters the vibration plate, a vibration plate plane camera is installed above the vibration plate, and the vibration plate plane camera is installed on one side of the silo frame through a camera bracket.

[0016] Specifically, an intermediate junction box installation robot is also installed on one side of the silo rack, an intermediate junction box installation tooling is installed on the head of the intermediate junction box installation robot, a clamping cylinder is installed on the intermediate junction box installation tooling, and the intermediate junction box clamps are installed in the two hands of the clamping cylinder. The clamping cylinder controls the intermediate junction box clamps to clamp or release the intermediate junction box.

[0017] Specifically, the photovoltaic panel conveying and correcting mechanism is provided with a conveying frame and a bus bar camera frame, a plurality of conveyor belts are installed in parallel on the conveying frame, the photovoltaic panels are conveyed on the conveyor belts, and a bus bar camera is installed on the bus bar camera frame, and the bus bar camera is located above the photovoltaic panel.

[0018] The utility model has the following beneficial effects:

[0019] The flexible junction box automatic installation equipment designed by the utility model adopts robot installation to greatly improve the efficiency and consistency of junction box installation, lay the foundation for subsequent production steps, and reduce the defective rate of finished products. The use of robot installation can also adapt to junction boxes of different types and sizes and realize diversified installation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the flexible junction box automatic installation equipment.

[0021] Figure 2 It is a structural schematic diagram of the grabbing and installing mechanism of the positive and negative terminal boxes.

[0022] Figure 3 It is a structural schematic diagram of the positive and negative terminal box installation tooling.

[0023] Figure 4 It is a structural schematic diagram of the positive and negative terminal box transmission structure.

[0024] Figure 5 It is a structural schematic diagram of the positive and negative terminal box flipping tooling.

[0025] Figure 6 It is a structural diagram of the grabbing and installing mechanism of the intermediate junction box.

[0026] In the figure: 1-positive and negative terminal box grabbing and installation mechanism, 11-3D camera, 12-material preparation box; 13-3D camera bracket, 14-positive and negative terminal box disordered grabbing robot, 15-positive and negative terminal box installation robot, 16-positive and negative terminal box transmission structure, 17-second echelon plane camera, 18-first echelon plane camera, 151-tool right grabbing station, 152-tool left grabbing station, 1511-slide, 1512-compression spring, 151 3-Hydraulic buffer, 1514-junction box main clamp, 1515-busbar smoothing paddle, 1516-smoothing paddle cylinder, 1517-main clamp action cylinder, 161-motor, 162-support plate, 163-brush, 164-linear guide, 165-cylinder, 166-transmission belt, 167-flip robot, 168-flip tooling, 1681-flip tooling bottom plate, 1682-flip tooling cylinder, 1683-flip tooling clamp;

[0027] 2-photovoltaic panel conveying and correcting mechanism, 21-conveying frame, 22-conveying belt, 23-bus bar camera, 24-bus bar camera frame;

[0028] 3-intermediate junction box grabbing and installation mechanism, 31-material bin, 32-vibration plate, 33-intermediate junction box installation robot, 34-intermediate junction box installation tooling, 35-vibration plate plane camera. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely further describe the technical solutions in the embodiments of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Embodiment 1.

[0031] like Figure 1-Figure 6 As shown, a flexible junction box automatic installation device includes a positive and negative junction box grasping and installation mechanism 1 and an intermediate junction box grasping and installation mechanism 3, and a photovoltaic panel conveying and correcting mechanism 2 is installed between the positive and negative junction box grasping and installation mechanism 1 and the intermediate junction box grasping and installation mechanism 3.

[0032] The positive and negative electrode junction box grasping and installation mechanism 1 is provided with a 3D camera 11, a material preparation box 12, a positive and negative electrode junction box disorder grasping robot 14, a positive and negative electrode junction box installation robot 15, a positive and negative electrode junction box transmission structure 16, a second-echelon plane camera 17 and a first-echelon plane camera 18. The 3D camera 11 is installed above the material preparation box 12. The positive and negative electrode junction box disorder grasping robot 14 places the positive electrode junction box or the negative electrode junction box in the material preparation box 12 onto the positive and negative electrode junction box transmission structure 16. The positive and negative electrode junction box installation robot 15 is installed on the side of the positive and negative electrode junction box transmission structure 16. The positive and negative electrode junction box installation robot 15 installs the positive electrode junction box or the negative electrode junction box onto the photovoltaic panel, and the photovoltaic panel is placed on the photovoltaic panel conveying and straightening mechanism 2.

[0033] The 3D camera 11 is installed on the 3D camera bracket 13, and the 3D camera bracket 13 is covered on the positive and negative terminal box grabbing and mounting rack. A planar camera rack is also installed on the positive and negative terminal box grabbing and mounting rack, and the first echelon planar camera 18 and the second echelon planar camera 17 are installed on the planar camera rack.

[0034] A positive and negative electrode terminal box disordered grasping robot 14 and a positive and negative electrode terminal box transmission structure 16 are installed on the positive and negative electrode terminal box grasping installation frame. The positive and negative electrode terminal box transmission structure 16 includes two sets of transmission belts 166 arranged in parallel. The two sides of the transmission belt 166 are respectively connected to the active roller and the driven roller. The active roller is connected to the motor shaft of the motor 161. The motor 161 drives the transmission belt 166 to rotate. The first echelon plane camera 18 and the second echelon plane camera 17 are arranged above the transmission belt 166. A receiving plate 162 is provided above one end of the transmission belt 166. The receiving plate 162 receives the positive terminal box or the negative terminal box grasped by the positive and negative electrode terminal box disordered grasping robot 14. The two sides of the receiving plate 162 are installed on the transmission frame through brackets.

[0035] A linear guide 164 is provided on the transmission frame, a slider is slidably connected to the linear guide 164, a brush 163 is installed on the slider, one side of the slider is connected to the cylinder rod of a cylinder 165, and the cylinder 165 is installed on the transmission frame. The cylinder 165 drives the brush 163 to move between the receiving plate 162 and the conveyor belt 166, and the brush 163 pulls the positive terminal box or the negative terminal box on the receiving plate 162 onto the conveyor belt 166.

[0036] The head of the robot 14 for randomly grasping the positive and negative terminal boxes is connected to a clamp mounting plate, and a right grasping station 151 and a left grasping station 152 of the same structure are provided at the bottom of the clamp mounting plate. A slide 1511 is installed on the clamp mounting plate, and a compression spring 1512 is installed on the inner side of the slide 1511. The bottom of the piston shaft passing through the middle of the compression spring 1512 is connected to the clamp mounting seat, and an oil pressure buffer 1513 is installed between the upper part of the clamp mounting seat and the slide 1511. A buffer is formed in the process of the robot 14 for randomly grasping the positive and negative terminal boxes controlling the grasping and placing of the terminal boxes to avoid hard contact that damages the photovoltaic panels. A main clamp actuating cylinder 1517 is installed on the clamp mounting seat, and two fingers of the main clamp actuating cylinder 1517 are connected to the main clamp 1514 of the junction box. The main clamp actuating cylinder 1517 controls the main clamp 1514 of the junction box to grab the positive junction box or the negative junction box. The side of the clamp mounting seat is connected to the paddle mounting plate, and a smoothing paddle cylinder 1516 is installed on the paddle mounting plate. The two fingers of the smoothing paddle cylinder 1516 are connected to the bus bar smoothing paddle 1515, and the smoothing paddle cylinder 1516 controls the bus bar smoothing paddle 1515 to clamp and smooth the bus bar on the photovoltaic panel.

[0037] A flipping robot 167 is installed in the middle of the two sets of transmission belts 166, and a flipping tooling 168 is installed on the head of the flipping robot 167. The flipping tooling 168 includes a flipping tooling base plate 1681 and a flipping tooling cylinder 1682. The flipping tooling base plate 1681 is connected to the head of the flipping robot 167 by bolts, and the flipping tooling cylinder 1682 is installed on the flipping tooling base plate 1681. The two fingers of the flipping tooling cylinder 1682 are connected to the flipping tooling claws 1683. The flipping tooling cylinder 1682 controls the flipping tooling claws 1683 to clamp or release the positive terminal box or the negative terminal box, and cooperates with the flipping robot 167 to flip the positive terminal box or the negative terminal box to face up.

[0038] The intermediate junction box grabbing and installation mechanism 3 is provided with a silo 31, a vibration plate 32, an intermediate junction box installation robot 33, an intermediate junction box installation tool 34 and a vibration plate plane camera 35. The intermediate junction box is placed on the vibration plate 32, and the intermediate junction box installation robot 33 installs the intermediate junction box onto the photovoltaic panel.

[0039] The intermediate junction box grabbing and installation mechanism is also provided with a silo frame, on which a silo 31 and a vibration plate 32 are installed. The vibration plate 32 adopts a flexible vibration plate of model LX150150. The intermediate junction box in the silo 31 enters the vibration plate 32, and a vibration plate plane camera 35 is installed above the vibration plate 32. The vibration plate plane camera 35 is installed on one side of the silo frame through a camera bracket.

[0040] An intermediate junction box installation robot 33 is also installed on one side of the silo rack. An intermediate junction box installation tooling 34 is installed on the head of the intermediate junction box installation robot 33. A clamping cylinder is installed on the intermediate junction box installation tooling 34. The two hands of the clamping cylinder are equipped with intermediate junction box clamps. The clamping cylinder controls the intermediate junction box clamps to clamp or release the intermediate junction box.

[0041] The main gripper action cylinder 1517, the smoothing paddle cylinder 1516, the flipping tool cylinder 1682 and the gripper cylinder all use finger cylinders. The positive and negative terminal box disorderly grasping robot 14, the positive and negative terminal box installation robot 15, the flipping robot 167 and the intermediate terminal box installation robot 33 all use the xMate SR model Luoshi flexible collaborative robot.

[0042] The photovoltaic panel conveying and straightening mechanism 2 is provided with a conveying frame 21, a conveyor belt 22, a bus bar camera 23 and a bus bar camera frame 24. Four groups of conveyor belts 22 are installed in parallel on the conveying frame 21. The photovoltaic panels are conveyed on the conveyor belts 22. The bus bar camera 23 is installed on the bus bar camera frame 24. The bus bar camera 23 is located above the photovoltaic panels.

[0043] The two sides of the conveyor belt 22 are respectively connected to a driving wheel and a driven wheel, which are installed on the conveyor frame 21. A transmission shaft is connected between the driving wheels, and one end of the transmission shaft is connected to the motor shaft of the conveying motor. The conveying motor drives the conveyor belt 22 to rotate synchronously.

[0044] A positioning cylinder is installed on the conveying frame 21 and on both sides of the photovoltaic panel. The cylinder rod of the positioning cylinder is connected to a wheel stop frame. A slider is provided at the bottom of the wheel stop frame. The slider is slidably connected to a positioning slide rail. The positioning slide rail is installed on the conveying frame 21. The positioning cylinder drives the wheel stop frame to move along the positioning slide rail. A plurality of positioning stop wheels are installed on the wheel stop frame. The positioning stop wheels are pressed against both sides of the photovoltaic panel for correction and positioning.

[0045] Embodiment 2, the working principle of the flexible junction box automatic installation device adopting the structural form of embodiment 1.

[0046] 1. The photovoltaic module is transported to the designated position of the assembly line and stopped. The blocking cylinder located on the long side of the photovoltaic module rotates and tightens. At the same time, the positioning cylinder located on the short side of the module moves to the middle and clamps the photovoltaic module. There are three groups of bus bars in the middle of the long side of the photovoltaic module. The visual camera (bus bar camera 23) on the square of the bus bar takes pictures of these three groups of bus bars for detection and identification, and transmits the position coordinates to their respective robots.

[0047] 2. Installation of intermediate junction box:

[0048] The intermediate junction box is poured into the vibration disk silo 31. After the vibration of the straight vibrator, the junction box in the silo 31 slides into the flexible vibration disk 32. The flexible vibration disk 32 adjusts the sliding intermediate junction box to face up through vibration. The visual camera (vibration disk plane camera 35) above the flexible vibration disk 32 takes pictures for detection and identification, and transmits the position coordinates of the intermediate junction box to be grasped to the corresponding 6-axis robot (intermediate junction box installation robot 33). The 6-axis end of the intermediate junction box installation robot 33 is connected to a specific tooling, and the clamping cylinder on the tooling moves, and the clamping claw clamps the intermediate junction box. The robot moves the intermediate junction box to the top of the intermediate bus bar. After the bus bar passes through the installation hole of the intermediate junction box and coincides with the plane coordinates of the bus bar, the robot controls the tooling to make regular, small-range circular motion along the center of the two bus bars, and vertically descends until the bus bar passes through the intermediate junction box and the bottom of the intermediate junction box contacts the photovoltaic module, and the tooling stops descending. The clamping claw cylinder relaxes, the clamping claw is separated from the intermediate junction box, and the installation of the intermediate junction box is completed.

[0049] 3. Positive terminal box installation:

[0050] After the positive terminal box preparation box 12 is placed in the designated position, the 3D camera 11 above it immediately scans and identifies the positive terminal box on the upper surface of the preparation box 12, and inputs the position coordinates of the top positive terminal box into the positive and negative terminal box disordered grasping robot 14 through calculation. The front-end tooling grasps the positive terminal box and throws it onto the receiving plate 162 on the transmission belt 166 on the front right side. The brush 163 behind the receiving plate 162 sweeps the positive terminal box onto the transmission belt 166 below under the action of the cylinder 165. At this time, the positive and negative terminal box disordered grasping robot 14 repeats the previous action to perform the positive terminal box storage work. At this time, the first echelon plane camera 18 directly above the positive terminal box that has just entered the conveyor belt 166 takes a photo of the positive terminal box for identification. If the positive terminal box is facing up at this time, the conveyor belt 166 will convey the positive terminal box forward without stopping. If the positive terminal box is facing down at this time, the first echelon plane camera 18 will input its position coordinates into the flip robot 167 between the two conveyor belts. After the flip robot 167 receives the position of the positive terminal box, it moves the flip tool 168 to the top of it, presses down, clamps, rotates 6 axes 180 degrees, releases the flip tool clamp 1683, and the positive terminal box falls into the conveyor belt 166 again with the front facing up and is conveyed forward. When the positive terminal box is detected by the photoelectric detection at the end of the transmission belt 166, the transmission belt 166 stops moving, and the second-echelon plane camera 17 above it takes a photo to identify it, and inputs the position coordinates into the positive and negative terminal box installation robot 15. The slide 1511 on the right grabbing station of the installation tooling connected to the 6-axis end of the 6-axis robot descends, and the slide 1511 on the left grabbing station 152 of the tooling remains in a retracted state. The lifting cylinder on the tooling is actuated to raise the terminal box clamp and move it to just above the positive terminal box, and then it descends vertically. When the upper end face of the rubber-coated clamp is flush with the upper end face of the positive terminal box, the main clamp actuating cylinder 1517 is tightened, and the terminal box main clamp 1514 clamps the positive terminal box and lifts it. The positive and negative terminal box installation robot 15 moves the tooling to the top of the middle busbar. After the busbar through-hole on the positive terminal box coincides with the busbar plane coordinates, the positive and negative terminal box installation robot 15 controls the tooling to make regular, small-range circular motions along the centers of the two busbars and descend vertically until the busbar passes through the positive terminal box and the bottom of the positive terminal box contacts the photovoltaic module, and the tooling stops descending. The main clamp action cylinder 1517 relaxes, and the terminal box main clamp 1514 detaches from the positive terminal box. The lifting cylinder contracts, and the tooling descends. After the busbar smoothing paddle 1515 in the middle of the clamp is inserted into the middle of the busbar, the busbar smoothing paddle 1515 is connected to the smoothing paddle cylinder 1516 to act and smooth the busbar to both sides. The lifting cylinder moves the clamp upwards, and at the same time, the positive and negative terminal box installation robot 15 moves the tooling upwards as a whole to leave the busbar position, and the installation camera (busbar camera 23) is used for smoothing and inspection, and the installation of the positive terminal box is completed.

[0051] 4. Negative terminal box installation:

[0052] After the negative terminal box preparation box 12 is placed in the designated position, the 3D camera 11 above it immediately scans and identifies the negative terminal box on the upper surface of the preparation box 12, and inputs the position coordinates of the top negative terminal box into the positive and negative terminal box disorderly grasping robot 14 through calculation. The front-end tooling grasps the negative terminal box and throws it onto the receiving plate 162 on the transmission belt 166 on the front right side. The brush 163 behind the receiving plate 162 sweeps the negative terminal box onto the transmission belt 166 below under the action of the cylinder 165. At this time, the positive and negative terminal box disorderly grasping robot 14 repeats the previous action to prepare the negative terminal box. At this time, the first echelon plane camera 18 just above the negative terminal box that has just entered the conveyor belt 166 takes a photo of the negative terminal box for identification. If the negative terminal box is facing up at this time, the conveyor belt 166 will convey the negative terminal box forward without stopping. If the negative terminal box is facing down at this time, the first echelon plane camera 18 will input its position coordinates into the flip robot 167 between the two conveyor belts. After the flip robot 167 receives the position of the negative terminal box, it moves the flip tool 168 to the top of it, presses down, clamps, rotates 6 axes 180 degrees, releases the flip tool clamp 1683, and the negative terminal box falls into the conveyor belt 166 again with the front facing up and is conveyed forward. When the negative terminal box is detected by the photoelectric detection at the end of the transmission belt 166, the transmission belt 166 stops moving, and the second-echelon plane camera 17 above it takes a photo to identify it, and inputs the position coordinates into the positive and negative terminal box installation robot 15. The slide 1511 on the right grabbing station of the installation tooling connected to the 6-axis end of the 6-axis robot descends, and the slide 1511 on the left grabbing station 152 of the tooling remains in a retracted state. The lifting cylinder on the tooling is actuated to raise the terminal box clamp and move it to just above the negative terminal box, and then it descends vertically. When the upper end face of the clamping jaw is flush with the upper end face of the negative terminal box, the main clamping jaw actuating cylinder 1517 is tightened, and the terminal box main clamping jaw 1514 clamps the negative terminal box and lifts it. The positive and negative terminal box installation robot 15 moves the tooling to the top of the middle busbar. After the busbar through-hole on the negative terminal box coincides with the busbar plane coordinates, the positive and negative terminal box installation robot 15 controls the tooling to make regular, small-range circular motions along the centers of the two busbars and descend vertically until the busbar passes through the negative terminal box and the bottom of the negative terminal box contacts the photovoltaic module, and the tooling stops descending. The main clamp action cylinder 1517 relaxes, and the terminal box main clamp 1514 detaches from the negative terminal box. The lifting cylinder contracts, and the tooling descends. After the busbar smoothing paddle 1515 in the middle of the clamp is inserted into the middle of the busbar, the busbar smoothing paddle 1515 is connected to the smoothing paddle cylinder 1516 to act and smooth the busbar to both sides. The lifting cylinder moves the clamp upwards, and at the same time, the positive and negative terminal box installation robot 15 moves the tooling upwards as a whole to leave the busbar position, and the installation camera (busbar camera 23) is used for smoothing and inspection, and the negative terminal box is installed.

[0053] The flat camera of the utility model accurately identifies the position of the bus bar, ensures the accuracy of the six-axis robot in placing the junction box, greatly improves the installation efficiency and quality, and elevates the product's competitiveness to a higher level; the installation tooling can be adapted to a variety of junction boxes and has strong compatibility with incoming material status; due to the precise scanning and positioning of the 3D camera, the robot can be used for disordered grasping, completely replacing manual loading and greatly reducing labor costs; after the junction box is installed, a smoothing action is added to the bus bar to facilitate subsequent bus bar welding; by adopting advanced machine vision systems, sensors and control algorithms, the equipment can realize automated process control, installation process monitoring and quality inspection.

[0054] The present utility model is not limited to the above-mentioned implementation modes, and anyone should be aware of the structural changes made under the inspiration of the present utility model. Any technical solutions that are the same or similar to the present utility model fall within the protection scope of the present utility model.

[0055] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. An automatic installation device for a flexible junction box, characterized in that: It includes a positive and negative terminal box grabbing and installation mechanism and an intermediate terminal box grabbing and installation mechanism, a photovoltaic panel conveying and correcting mechanism is installed between the positive and negative terminal box grabbing and installation mechanism and the intermediate terminal box grabbing and installation mechanism, the positive and negative terminal box grabbing and installation mechanism is provided with a 3D camera, a material preparation box, a positive and negative terminal box disordered grabbing robot and a positive and negative terminal box installation robot, the 3D camera is installed above the material preparation box, the positive and negative terminal box disordered grabbing robot places the positive terminal box or the negative terminal box in the material preparation box on the positive and negative terminal box transmission structure, the positive and negative terminal box installation robot is installed on the side of the positive and negative terminal box transmission structure, the positive and negative terminal box installation robot installs the positive terminal box or the negative terminal box on the photovoltaic panel, and the photovoltaic panel is placed on the photovoltaic panel conveying and correcting mechanism; The intermediate junction box grabbing and installing mechanism is provided with a vibration plate and an intermediate junction box installing robot. The intermediate junction box is placed on the vibration plate, and the intermediate junction box installing robot installs the intermediate junction box onto the photovoltaic panel.

2. The automatic installation equipment for flexible junction boxes according to claim 1, characterized in that: The 3D camera is installed on a 3D camera bracket, and the 3D camera bracket cover is arranged on the positive and negative terminal box grabbing and mounting rack, and a plane camera rack is also installed on the positive and negative terminal box grabbing and mounting rack, and a first echelon plane camera and a second echelon plane camera are installed on the plane camera rack.

3. The automatic installation equipment for flexible junction boxes according to claim 2, characterized in that: The positive and negative terminal box grabbing and mounting frame is equipped with a disordered grabbing robot for positive and negative terminal boxes and a transmission structure for positive and negative terminal boxes. The transmission structure for positive and negative terminal boxes includes two sets of transmission belts arranged in parallel. Active rollers and driven rollers are respectively connected to two sides of the transmission belt. The active roller is connected to the motor shaft of the motor. The motor drives the transmission belt to rotate. The first echelon plane camera and the second echelon plane camera are arranged above the transmission belt. A receiving plate is provided above one end of the transmission belt. The positive terminal box or the negative terminal box grabbed by the disordered grabbing robot for positive and negative terminal boxes is received on the receiving plate. Both sides of the receiving plate are installed on the transmission frame through brackets.

4. The automatic installation equipment for flexible junction boxes according to claim 3 is characterized in that: The transmission frame is provided with a linear guide rail, a slider is slidably connected to the linear guide rail, a brush is installed on the slider, one side of the slider is connected to the cylinder rod of a cylinder, the cylinder is installed on the transmission frame, and the cylinder drives the brush to move between the receiving plate and the conveying belt.

5. The automatic installation equipment for flexible junction boxes according to claim 3, characterized in that: The head of the positive and negative terminal box disordered grasping robot is connected to the clamp mounting plate, and the bottom of the clamp mounting plate is provided with a right grasping station and a left grasping station of a tooling with the same structure, a slide is installed on the clamp mounting plate, a compression spring is installed on the inner side of the slide, the bottom of the piston shaft passing through the middle of the compression spring is connected to the clamp mounting seat, and an oil pressure buffer is installed between the upper part of the clamp mounting seat and the slide, and a main clamp actuating cylinder is installed on the clamp mounting seat, and two fingers of the main clamp actuating cylinder are connected to the main clamp of the junction box, and the main clamp actuating cylinder controls the main clamp of the junction box to grasp the positive terminal box or the negative terminal box, and the side of the clamp mounting seat is connected to the paddle mounting plate, and a smoothing paddle cylinder is installed on the paddle mounting plate, and the two fingers of the smoothing paddle cylinder are connected to the bus bar smoothing paddle, and the smoothing paddle cylinder controls the bus bar smoothing paddle to clamp and smooth the bus bar on the photovoltaic panel.

6. The automatic installation equipment for flexible junction boxes according to claim 3, characterized in that: A flipping robot is installed in the middle of the two groups of transmission belts, and a flipping tooling is installed on the head of the flipping robot. The flipping tooling includes a flipping tooling base plate and a flipping tooling cylinder. The flipping tooling base plate is connected to the head of the flipping robot by bolts, and a flipping tooling cylinder is installed on the flipping tooling base plate. Two fingers of the flipping tooling cylinder are connected to the flipping tooling claws, and the flipping tooling cylinder controls the flipping tooling claws to clamp or release the positive terminal box or the negative terminal box.

7. The automatic installation equipment for flexible junction boxes according to claim 1, characterized in that: The intermediate junction box grabbing and installing mechanism is provided with a silo frame, on which the silo and the vibration plate are installed, the intermediate junction box in the silo enters the vibration plate, a vibration plate plane camera is installed above the vibration plate, and the vibration plate plane camera is installed on one side of the silo frame through a camera bracket.

8. The automatic installation equipment for flexible junction boxes according to claim 7, characterized in that: An intermediate junction box installation robot is also installed on one side of the silo rack, an intermediate junction box installation tooling is installed on the head of the intermediate junction box installation robot, a clamping cylinder is installed on the intermediate junction box installation tooling, and intermediate junction box clamps are installed on both hands of the clamping cylinder. The clamping cylinder controls the intermediate junction box clamp to clamp or release the intermediate junction box.

9. The automatic installation equipment for flexible junction boxes according to claim 1, characterized in that: The photovoltaic panel conveying and correcting mechanism is provided with a conveying frame and a bus bar camera frame. A plurality of conveying belts are installed in parallel on the conveying frame. Photovoltaic panels are conveyed on the conveying belts. A bus bar camera is installed on the bus bar camera frame. The bus bar camera is located above the photovoltaic panel.

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