Vertical five-axis junction box clamping manipulator and junction box feeding device

Abstract

The utility model discloses a vertical five-axis clamping manipulator for a junction box. Comprising a base, a first driving piece fixed to the base, a driven rotary disc driven by the first driving piece to rotate around a vertical shaft, a stand column fixed to the driven rotary disc, a second driving piece fixed to the stand column, a first supporting arm driven by the second driving piece to move downwards, and a third driving piece fixed to the first supporting arm. The second supporting arm is driven by the third driving part to horizontally rotate around a vertical shaft, the fourth driving part is fixed to the second supporting arm, the L-shaped supporting plate is driven by the fourth driving part to horizontally rotate around the vertical shaft, the fifth driving part is fixed to the L-shaped supporting plate, and the tail end executing part is driven by the fifth driving part to rotate around a horizontal shaft. According to the utility model, the carrying operation from the interior of the junction box material box to the junction box conveying lines can be realized by fully utilizing the height space, the occupied space is reduced, the feeding of the two junction box conveying lines can be realized by only one manipulator, and the equipment cost is reduced.

Description

[Technical field]

[0001] The utility model belongs to the technical field of junction box clamping mechanisms, in particular to a vertical five-axis junction box clamping manipulator and a junction box feeding device. [Background technology]

[0002] After the photovoltaic module is assembled, the junction box needs to be installed. The automatic installation of the junction box usually uses the automatic installation equipment of the junction box. In the prior art, the patent publication number CN219525491U discloses a large silo storage and separation mechanism for the junction box, in which the junction box with the wiring harness is fed through the silos set on both sides of the equipment, and the separation manipulator is used to grab the junction box with the wiring harness in the silo, and then place it on a transfer positioning platform, and then the installation robot grabs the junction box from the transfer positioning platform for installation. The patent publication number CN115070376B discloses an automatic installation equipment and installation method for the junction box of the solar panel, in which the junction box with the wiring harness is fed through two rotating racks, and the junction box without the wiring harness is fed to the middle position of the equipment through a vibrating plate, and the positioning, grabbing and installation of the junction box are also realized by the transfer positioning platform and the installation robot. For the feeding of the junction box with the wiring harness, the space on both sides of the equipment is occupied, and the manipulator needs to be configured with multiple to realize the removal of the junction box from the silo. On the one hand, the space is large, and on the other hand, the equipment cost is high.

[0003] Therefore, it is necessary to provide a new vertical five-axis junction box gripping robot and a junction box feeding device to solve the above technical problems. [Contents of the utility model]

[0004] One of the main purposes of the utility model is to provide a vertical five-axis junction box gripping robot that can fully utilize the height space to realize the handling operation between the junction box material box and the junction box conveyor line, reduce the space occupation, and only one robot can realize the loading of two junction box conveyor lines, thereby reducing the equipment cost.

[0005] The utility model achieves the above-mentioned purpose through the following technical scheme: a vertical five-axis junction box clamping robot, comprising a base, a first driving member fixed on the base, a driven turntable driven by the first driving member to rotate around a vertical axis, a column fixed on the driven turntable, a second driving member fixed on the column, a first support arm driven by the second driving member to move up and down on the column, a third driving member fixed at the cantilever end of the first support arm, a second support arm driven by the third driving member to rotate horizontally around a vertical axis, a fourth driving member fixed at the cantilever end of the second support arm, an L-shaped support plate driven by the fourth driving member to rotate horizontally around a vertical axis, a fifth driving member fixed on the L-shaped support plate, and an end actuator driven by the fifth driving member to rotate around a horizontal axis.

[0006] Furthermore, a support cylinder is provided on the base, the first driving member is provided in the support cylinder, a driving turntable is provided at the rotating end of the first driving member, and the driven turntable is coaxially fixed on the driving turntable.

[0007] Furthermore, a first photoelectric sensor is arranged on the outer circumferential surface of the supporting cylinder, and the circumference of the driving turntable is provided with a downwardly folded ring edge that extends into the sensing groove of the first photoelectric sensor, and a notch groove is opened on the downwardly folded ring edge.

[0008] Furthermore, a pair of slide rails and a pair of synchronous pulleys distributed up and down are provided on the column, a synchronous belt is wound around the synchronous pulley, the second driving member is fixed on the top of the column and drives a synchronous pulley on the top to rotate; a slide plate is provided on the slide rail for sliding up and down, the slide plate is fixedly connected to the synchronous belt, and one end of the first support arm is fixed on the slide plate.

[0009] Furthermore, the first supporting arm includes a first vertical plate and a first horizontal plate, the first vertical plate is fixedly connected to the sliding plate, and the third driving member is fixed to the end of the first horizontal plate.

[0010] Furthermore, a second photoelectric sensor is arranged below the first horizontal plate, one end of the second support arm is fixed on the rotating output flange of the third driving member, and a first induction ring is arranged on the second support arm and is concentric with the rotating output flange, the first induction ring body extends into the induction groove of the second photoelectric sensor, and a first notch is opened on the first induction ring.

[0011] Furthermore, the second support arm is a horizontal plate structure, one end of which is fixed on the rotation output flange of the third driving member, and the other end is fixedly provided with the fourth driving member; the L-shaped support plate includes a second horizontal plate and a second vertical plate, the second horizontal plate is fixed on the rotation output flange of the fourth driving member, and the fifth driving member is fixed on the second vertical plate.

[0012] Furthermore, a third photoelectric sensor is provided on the lower surface of the second support arm next to the rotating output flange of the fourth driving member, and a second induction ring concentric with the rotating output flange is provided on the second horizontal plate, the second induction ring body extends into the induction groove of the third photoelectric sensor, and a second notch is opened on the second induction ring.

[0013] Furthermore, the end effector comprises a mounting block fixed on the rotation output flange of the fifth driving member, a clamping claw cylinder fixed on the mounting block, and a clamping claw driven by the clamping claw cylinder to perform an opening or clamping action.

[0014] Another object of the utility model is to provide a junction box feeding device, which includes two junction box conveyor lines arranged in the space above the component conveyor line, two junction box supply boxes located between the two junction box conveyor lines, a vertical five-axis junction box clamping robot arranged between the two junction box conveyor lines and as described above, and an identification camera arranged above the junction box supply box.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

Brief Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the top view of the structure of an embodiment of the utility model;

[0017] Figure 2 It is a structural schematic diagram of a vertical five-axis junction box gripping manipulator in an embodiment of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the first axis of the manipulator in the embodiment of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the second axis of the manipulator in the embodiment of the utility model;

[0020] Figure 5 This is a schematic diagram of the structure of the third axis of the manipulator in the embodiment of the utility model;

[0021] Figure 6 This is a schematic diagram of the three-dimensional structure of the fourth axis of the manipulator in the embodiment of the utility model;

[0022] Figure 7 It is a side view structural diagram of the fourth axis of the manipulator in the embodiment of the utility model;

[0023] Figure 8 This is a schematic diagram of the structure of the fifth axis of the manipulator in the embodiment of the utility model;

[0024] The numbers in the figure represent:

[0025] 100-junction box feeding device;

[0026] 1-junction box conveyor line;

[0027] 2-junction box feed box;

[0028] 3-vertical five-axis junction box gripping manipulator, 31-base, 32-driven turntable, 33-column, 34-second driving member, 35-first support arm, 351-first vertical plate, 352-first horizontal plate, 36-third driving member, 37-second support arm, 38-fourth driving member, 39-L-shaped support plate, 391-second horizontal plate, 392-second vertical plate, 310-fifth driving member, 311-end actuator, 3111-mounting block, 3112-gripper Cylinder, 3113-claw, 3114-anti-slip texture, 312-support cylinder, 313-drive turntable, 314-first photoelectric sensor, 315-lower turn ring edge, 3151-notch groove, 316-slide rail, 317-synchronous pulley, 318-synchronous belt, 319-slide plate, 320-second photoelectric sensor, 321-first induction ring, 3211-first notch, 322-third photoelectric sensor, 323-second induction ring, 3231-second notch;

[0029] 4- Identify the camera. [Specific implementation method]

[0030] Embodiment 1:

[0031] Please refer to Figure 1-Figure 8 The present embodiment is a junction box feeding device 100, which includes two junction box conveyor lines 1 arranged in the space above the component conveyor line, two junction box supply boxes 2 located between the two junction box conveyor lines 1, a vertical five-axis junction box gripping robot 3 arranged between the two junction box conveyor lines 1 and located beside the junction box supply box 2, and an identification camera 4 arranged above the junction box supply box 2.

[0032] The junction box feed box 2 is loaded with a plurality of junction boxes with wiring harnesses arranged in an upright state. The position of the junction box in the junction box feed box 2 is accurately identified by the recognition camera 4, and the vertical five-axis junction box gripping manipulator 3 is assisted to perform accurate gripping action.

[0033] The vertical five-axis junction box gripping robot 3 grips the upright junction box from the junction box feeding box 2 and places it horizontally on two junction box conveyor lines 1, and is transported to the middle position of the junction box installation equipment through the junction box conveyor line 1, so that the junction box installation claws can grip and install it.

[0034] Since the junction box feed box 2 is placed in the space above the component conveyor line, and the vertical five-axis junction box clamping robot 3 needs to extend into the junction box feed box 2 to grab the junction box, a certain height range of transfer is required. This embodiment can meet the above-mentioned grabbing and handling requirements and reduce the overall space occupancy of the equipment through the structural optimization design of the vertical five-axis junction box clamping robot 3, and only one robot is needed to meet the junction box loading and handling requirements on two junction box conveyor lines 1, thereby improving efficiency and reducing equipment costs.

[0035] Specifically, the vertical five-axis terminal box clamping robot 3 includes a base 31, a first driving member (not shown in the figure) fixed on the base 31, a driven turntable 32 driven by the first driving member to rotate around a vertical axis, a column 33 fixed on the driven turntable 32, a second driving member 34 fixed on the column 33, a first support arm 35 driven by the second driving member 34 to move up and down on the column 33, a third driving member 36 fixed at the cantilever end of the first support arm 35, a second support arm 37 driven by the third driving member 36 to rotate horizontally around the vertical axis, a fourth driving member 38 fixed at the cantilever end of the second support arm 37, an L-shaped support plate 39 driven by the fourth driving member 38 to rotate horizontally around the vertical axis, a fifth driving member 310 fixed on the L-shaped support plate 39, and an end actuator 311 driven by the fifth driving member 310 to rotate around the horizontal axis.

[0036] A supporting cylinder 312 is disposed on the base 31 , the first driving member is disposed in the supporting cylinder 312 , a driving turntable 313 is disposed at the rotating end of the first driving member, and the driven turntable 32 is coaxially fixed on the driving turntable 313 .

[0037] A first photoelectric sensor 314 is provided on the outer circumferential surface of the support cylinder 312, and a lower folded ring edge 315 is provided on the circumference of the driving turntable 313, which is folded downward and extends into the sensing groove of the first photoelectric sensor 314, and a notch groove 3151 is provided on the lower folded ring edge 315. The first photoelectric sensor 314 senses the signal of the notch groove 3151, so that the origin of the first driving member and the driving turntable 313 is automatically detected.

[0038] A pair of slide rails 316 and a pair of synchronous pulleys 317 distributed up and down are provided on the column 33. A synchronous belt 318 is wound around the synchronous pulley 317. The second driving member 34 is fixed on the top of the column 33 and drives a synchronous pulley 317 on the top to rotate, thereby driving the synchronous belt 318 to perform an up and down circulation transmission. A slide plate 319 is provided on the slide rail 316 to slide up and down. The slide plate 319 is fixedly connected to the synchronous belt 318, and one end of the first support arm 35 is fixed on the slide plate 319.

[0039] The first support arm 35 includes a first vertical plate 351 and a first horizontal plate 352. The first vertical plate 351 is fixedly connected to the slide plate 319. The third driving member 36 is fixed to the end of the first horizontal plate 352. A second photoelectric sensor 320 is arranged below the first horizontal plate 352. One end of the second support arm 37 is fixed to the rotating output flange of the third driving member 36. A first induction ring 321 arranged concentrically with the rotating output flange is arranged on the second support arm 37. The body of the first induction ring 321 extends into the sensing groove of the second photoelectric sensor 320. A first notch 3211 is provided on the first induction ring 321. The second photoelectric sensor 320 senses the position of the first notch 3211, thereby realizing automatic detection of the origin of the positions of the third driving member 36 and the second support arm 37.

[0040] The second support arm 37 is a horizontal plate structure, one end of which is fixed to the rotation output flange of the third driving member 36, and the first induction ring 321 is fixed to this end, and the other end is fixedly provided with the fourth driving member 38.

[0041] The L-shaped support plate 39 includes a second horizontal plate 391 and a second vertical plate 392. The second horizontal plate 391 is fixed on the rotation output flange of the fourth driving member 38, and the fifth driving member 310 is fixed on the second vertical plate 392. A third photoelectric sensor 322 is arranged on the lower surface of the second support arm 37 beside the rotation output flange of the fourth driving member 38. A second induction ring 323 concentric with the rotation output flange is arranged on the second horizontal plate 391. The body of the second induction ring 323 extends into the induction groove of the third photoelectric sensor 322, and a second notch 3231 is provided on the second induction ring 323. The third photoelectric sensor 322 senses the position of the second notch 3231, thereby realizing automatic detection of the origin of the position of the fourth driving member 38 and the L-shaped support plate 39.

[0042] The end effector 311 includes a mounting block 3111 fixed on the rotating output flange of the fifth driving member 310, a clamping cylinder 3112 fixed on the mounting block 3111, and a clamping jaw 3113 driven by the clamping jaw cylinder 3112 to open or clamp. The inner wall surface of the clamping jaw 3113 is provided with an anti-slip texture 3114.

[0043] The vertical five-axis terminal box gripping robot 3 in this embodiment drives the column 33 to rotate around the vertical axis through the first driving member, which provides conditions for the end actuator 311 to transport the terminal box between two terminal box conveyor lines 1 with a larger horizontal span; the second driving member 34 drives the end actuator 311 to move up and down, which provides conditions for the end actuator 311 to move quickly within a larger height difference range; with the secondary horizontal rotation drive module on the two support arms, rapid transfer within a larger horizontal range can be achieved, and finally the fifth driving member 310 drives the end actuator 311 to rotate around the horizontal axis to achieve posture switching and adjustment of the clamped terminal box between the upright state and the horizontal state to meet the loading requirements; the entire robot can effectively utilize the height space and perform horizontal rotation and telescopic movements in the space above the component conveyor line, which takes up less space and has high loading efficiency.

[0044] For ordinary technicians in this field, several modifications and improvements can be made without departing from the creative concept of the utility model, which all fall within the protection scope of the utility model.

Claims

1. A vertical five-axis junction box gripping robot, characterized in that: The invention comprises a base, a first driving member fixed on the base, a driven turntable driven by the first driving member to rotate around a vertical axis, a column fixed on the driven turntable, a second driving member fixed on the column, a first support arm driven by the second driving member to move up and down on the column, a third driving member fixed on the cantilever end of the first support arm, a second support arm driven by the third driving member to rotate horizontally around a vertical axis, a fourth driving member fixed on the cantilever end of the second support arm, an L-shaped support plate driven by the fourth driving member to rotate horizontally around a vertical axis, a fifth driving member fixed on the L-shaped support plate, and an end actuator driven by the fifth driving member to rotate around a horizontal axis.

2. The vertical five-axis junction box gripping robot according to claim 1, characterized in that: A supporting cylinder is disposed on the base, the first driving member is disposed in the supporting cylinder, a driving turntable is disposed at the rotating end of the first driving member, and the driven turntable is coaxially fixed on the driving turntable.

3. The vertical five-axis junction box gripping robot according to claim 2, characterized in that: A first photoelectric sensor is arranged on the outer circumferential surface of the supporting cylinder, and a downwardly folded ring edge is arranged on the circumference of the driving turntable and extends into the sensing groove of the first photoelectric sensor, and a notch groove is opened on the downwardly folded ring edge.

4. The vertical five-axis junction box gripping robot according to claim 1, characterized in that: A pair of slide rails and a pair of synchronous pulleys distributed up and down are arranged on the column, a synchronous belt is wound around the synchronous pulley, the second driving member is fixed on the top of the column and drives a synchronous pulley on the top to rotate; a slide plate is arranged on the slide rail for sliding up and down, the slide plate is fixedly connected to the synchronous belt, and one end of the first support arm is fixed on the slide plate.

5. The vertical five-axis junction box gripping robot according to claim 4, characterized in that: The first supporting arm includes a first vertical plate and a first horizontal plate, the first vertical plate is fixedly connected to the sliding plate, and the third driving member is fixed to the end of the first horizontal plate.

6. The vertical five-axis junction box gripping robot according to claim 5, characterized in that: A second photoelectric sensor is arranged below the first horizontal plate, one end of the second support arm is fixed on the rotating output flange of the third driving member, and a first induction ring is arranged on the second support arm and is concentric with the rotating output flange, the first induction ring body extends into the induction groove of the second photoelectric sensor, and a first notch is opened on the first induction ring.

7. The vertical five-axis junction box gripping robot according to claim 1, characterized in that: The second support arm is a horizontal plate structure, one end of which is fixed on the rotating output flange of the third driving member, and the other end is fixedly provided with the fourth driving member; the L-shaped support plate includes a second horizontal plate and a second vertical plate, the second horizontal plate is fixed on the rotating output flange of the fourth driving member, and the fifth driving member is fixed on the second vertical plate.

8. The vertical five-axis junction box gripping robot according to claim 7, characterized in that: A third photoelectric sensor is arranged on the lower surface of the second support arm next to the rotating output flange of the fourth driving member, and a second induction ring concentric with the rotating output flange is arranged on the second horizontal plate. The second induction ring body extends into the induction groove of the third photoelectric sensor, and a second notch is opened on the second induction ring.

9. The vertical five-axis junction box gripping robot according to claim 1, characterized in that: The end effector comprises a mounting block fixed on the rotation output flange of the fifth driving member, a clamping claw cylinder fixed on the mounting block, and a clamping claw driven by the clamping claw cylinder to perform an opening or clamping action.

10. A junction box feeding device, characterized in that: The utility model comprises two junction box conveying lines arranged in the space above the component conveying line, two junction box supply boxes located between the two junction box conveying lines, and a The vertical five-axis junction box gripping robot as described in claim 1 and the identification camera arranged above the junction box supply box.

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