Flexible tool mounting equipment for robot

Abstract

The utility model relates to the technical field of photovoltaic equipment production and installation assembly lines, in particular to a robot flexible tool installing device, a tool rod grabbing mechanism comprises a tool rod duplex air cylinder and a tool rod clamping block, the tool rod duplex air cylinder is installed on one side of an installation plate, and the tool rod duplex air cylinder controls the tool rod clamping block to clamp or loosen a tool rod; the plug wire grabbing mechanism comprises a finger cylinder, plug wire clamping jaws and a moving cylinder, the moving cylinder is mounted at the bottom of the mounting plate, the finger cylinder is mounted on a cylinder rod of the moving cylinder, the plug wire clamping jaws are mounted on two clamping jaw fingers of the finger cylinder, and the finger cylinder controls the plug wire clamping jaws to clamp or loosen the tool block or the junction box; the tool block positioning mechanism comprises a first positioning air cylinder and a second positioning air cylinder, the first positioning air cylinder is installed on the other side of the installation plate, the second positioning air cylinder is installed on a cylinder rod of the first positioning air cylinder, a positioning head is installed on a cylinder rod of the second positioning air cylinder, and the positioning head positions and abuts against the tool block. The device is higher in automation degree, small in occupied space and high in production efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic equipment production and installation assembly lines, in particular to a robot flexible upper tooling equipment. Background Art

[0002] Photovoltaic panels, also known as solar panels, are devices that convert solar energy into electrical energy. They consist of multiple photovoltaic cells, which are usually thin sheets of semiconductor materials (such as silicon). When sunlight shines on a photovoltaic panel, photons are absorbed by the photovoltaic cells, causing electrons to be excited and form an electric current. This current is introduced into the inverter through the output terminals of the photovoltaic panel and finally converted into AC power for use in the power grid.

[0003] During the production process of photovoltaic panels, the photovoltaic panels are assembled in an assembly line. The assembled photovoltaic panels also need to be installed with electrical components and have their electrical quality tested. The photovoltaic panel installation involves pole-type installation components and electrical control boxes. The electrical quality test requires the junction box to be inserted into the electrical control box. At present, the installation of these components is all done with industrial equipment; for example, the photovoltaic components are positioned by cylinders, and then another cylinder is used to clamp the junction box and plug it into the fixture of the photovoltaic components. In the next process, the cylinder clamps the fixture rod for installation. This needs to be divided into multiple assembly line operations, making the overall equipment larger, occupying a large space, and having a high cost and low production efficiency.

[0004] Therefore, there is an urgent need to design a flexible tooling equipment using collaborative robots to solve the problem that the installation of existing photovoltaic modules using industrial automation occupies a large space, has a high cost and low production efficiency. Utility Model Content

[0005] In view of the problems existing in the prior art, the purpose of the utility model is to provide a robot flexible upper tooling equipment.

[0006] The technical solution adopted by the utility model to solve the technical problem is: a robot flexible upper tooling equipment, including an upper tooling device and a robot frame, the upper tooling device is provided with a mounting plate, and a tooling rod grasping mechanism, a plug-in grasping mechanism and a tooling block positioning mechanism are installed on the mounting plate;

[0007] The tooling rod grabbing mechanism includes a tooling rod double cylinder and a tooling rod clamping block. The tooling rod double cylinder is installed on one side of the mounting plate. The tooling rod clamping blocks are relatively installed on the cylinder rods on both sides of the tooling rod double cylinder. The tooling rod double cylinder controls the tooling rod clamping block to clamp or release the tooling rod.

[0008] The plug-in wire grabbing mechanism includes a finger cylinder, a plug-in wire clamping claw and a moving cylinder. The moving cylinder is installed at the bottom of the mounting plate. The finger cylinder is installed on the cylinder rod of the moving cylinder. The two clamping fingers of the finger cylinder are installed with the plug-in wire clamping claw. The finger cylinder controls the plug-in wire clamping claw to clamp or release the tooling block or junction box.

[0009] The tooling block positioning mechanism includes positioning cylinder one, positioning cylinder two and a positioning head. Positioning cylinder one is installed on the other side of the mounting plate, positioning cylinder two is installed on the cylinder rod of positioning cylinder one, and the positioning head is installed on the cylinder rod of positioning cylinder two. The positioning head is positioned to support the tooling block.

[0010] Specifically, the positioning cylinder 1 is installed on the mounting plate through the cylinder mounting seat 2, the cylinder connecting plate is installed on the cylinder rod of the positioning cylinder 1, the cylinder connecting plate adopts a Z-shaped structure, the positioning cylinder 2 is installed at the bottom of the cylinder mounting plate, the positioning head mounting plate is installed on the cylinder rod of the positioning cylinder 2, and the positioning head is installed on the positioning head mounting plate.

[0011] Specifically, the positioning head adopts a conical structure with a pointed front portion.

[0012] Specifically, the tooling rod double cylinder is installed on a cylinder mounting seat 1, the cylinder mounting seat 1 is fixedly connected to one side of the mounting plate, a connecting plate is installed on the cylinder rod of the tooling rod double cylinder, and a tooling rod clamp is installed on the connecting plate.

[0013] Specifically, a slide rail is provided at the bottom of the movable cylinder, a slide seat is slidably connected to the slide rail, a push plate is vertically connected to the front of the slide seat, the push plate is installed at the end of the cylinder rod of the movable cylinder, the movable cylinder drives the slide seat to move along the slide rail, a finger cylinder is installed on the slide seat, and the wire plug-in clamp installed on the finger cylinder is arranged opposite to the positioning head.

[0014] Specifically, the upper part of the mounting plate is fixedly connected to the robot connecting plate, the robot connecting plate is connected to the robot's mechanical arm through bolts, the mechanical arm is installed on the robot mounting seat, the robot mounting seat is fixed on the robot frame, the robot frame is arranged between the correction device and the conveying correction device, and the robot's mechanical arm clamps the tooling block on the correction device and plugs it into the photovoltaic component of the conveying correction device.

[0015] Specifically, the correction device includes a correction conveyor frame, a toggle baffle frame, a baffle frame, a limit baffle and a baffle frame cylinder. The correction conveyor frame is rotatably installed on the correction conveyor frame. The power roller shaft on one side of the correction conveyor belt is connected to the correction conveyor motor. The correction conveyor motor is installed on the correction conveyor frame. The correction conveyor motor drives the correction conveyor belt to run. The baffle frame is installed at the rear of the correction conveyor frame. The baffle is installed at the bottom of the baffle frame. The baffle blocks the tooling block. The baffle frame cylinders are installed on both sides of the middle of the correction conveyor frame. The toggle baffle frame is installed on the upper part of the cylinder rod of the baffle frame cylinder. The toggle baffle frame is lowered to prevent the tooling block from flipping and lying flat. Limit baffles are provided on both sides of the correction conveyor frame. The limit baffles prevent the tooling block from flipping and centering.

[0016] Specifically, a stacking device is installed on the feed side of the correcting conveyor belt, and the stacking device is provided with a stacking frame and a stacking conveyor. The stacking conveyor is installed in the middle of the stacking frame, and the stacking conveyor belt is rotatably installed on the stacking conveyor. The power roller on one side of the stacking conveyor belt is connected to the stacking conveying motor, and the stacking conveying motor is installed on the stacking frame. The stacking conveying motor drives the stacking conveyor belt to transport and temporarily store the tooling blocks, and the tooling blocks on the stacking conveyor belt are transported into the correcting conveyor belt.

[0017] Specifically, a tooling lifting device is installed on the feed side of the stack conveyor belt, and the tooling lifting device includes a lifting frame, a tooling conveyor and a lifting cylinder. Two vertical lifting rails are installed on one side of the lifting frame, and the lifting slide rails are slidably connected to the lifting slider, and the lifting slider is fixedly installed on the tooling conveyor. The bottom of the tooling conveyor is fixedly connected to the cylinder rod of the lifting cylinder, and the upgrading cylinder drives the tooling conveyor to lift and lower, and the tooling conveyor belt is rotatably installed on the tooling conveyor. The power roller on one side of the tooling conveyor belt is connected to the tooling conveying motor, and the tooling conveying motor is installed on the tooling conveyor, and the tooling conveying motor drives the tooling conveyor belt to run and transport the tooling blocks to the stack conveyor belt.

[0018] Specifically, the conveying correction device is provided with a conveying frame and a conveyor belt. A plurality of conveyor belts are installed in parallel on the conveying frame. Photovoltaic modules are transported on the conveyor belts. A visual device is installed on the outer side of the conveying frame. The visual device includes a visual frame, a profile frame and a camera. The visual frame is installed on the outer side of the conveying frame. A profile frame is installed on the visual frame. The profile frame is located above the conveying frame. A camera base is installed on the profile frame. A camera is installed on the camera base. The camera is located above the photovoltaic modules.

[0019] The utility model has the following beneficial effects:

[0020] The robot flexible tooling equipment designed by the utility model utilizes a collaborative robot as special equipment for the tooling process on photovoltaic equipment. Through the designed tooling rod grasping mechanism, wire grasping mechanism and tooling block positioning mechanism, the three installation stations are centrally set up in coordination with the movement of the six-axis robot, which occupies a small space. At the same time, the installation and positioning of the tooling blocks and the grasping and plugging of the junction boxes are completed, and then the tooling rods are grasped and installed, which has a higher degree of automation and high production efficiency.

[0021] The robot flexible tooling equipment designed by the utility model utilizes a collaborative robot as special equipment for the tooling process on photovoltaic equipment. It adopts a collaborative robot for tooling. The collaborative robot has an efficient loading speed and is more flexible than ordinary industrial robots. The collaborative robot is more flexible and reliable. It can perform simple tasks without reducing quality, greatly improving product accuracy and reducing defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the upper tooling device.

[0023] Figure 2 yes Figure 1 Left view of .

[0024] Figure 3 yes Figure 1 Top view of the .

[0025] Figure 4 yes Figure 1 Bottom view of .

[0026] Figure 5 It is a structural schematic diagram of the tooling rod grabbing mechanism.

[0027] Figure 6 It is a structural diagram of the wire grabbing mechanism.

[0028] Figure 7 yes Figure 6 Top view of the .

[0029] Figure 8 yes Figure 6 Left view of .

[0030] Fig. 9 yes Figure 6 main view.

[0031] Fig.10 It is a structural diagram of the tooling block positioning mechanism.

[0032] Fig.11 It is a structural schematic diagram of the tooling lifting device.

[0033] Fig.12 yes Fig.11 Left view of .

[0034] Fig.13 yes Fig.11 Top view of the .

[0035] Fig.14 It is a schematic diagram of the structure of the stack device.

[0036] Fig.15 It is a top view of the correction device.

[0037] Fig.16 It is the front view of the correction device.

[0038] Fig.17 It is the left side view of the correction device.

[0039] Fig.18 This is the front view of the robot frame.

[0040] Fig.19 It is a top view of the robot frame.

[0041] Fig. 20 It is a top view of the visual device.

[0042] Fig.21 It is the main view of the visual device.

[0043] Fig. 22 It is a left view of the visual device.

[0044] Fig.23 It is a structural schematic diagram of a conveying and correcting device.

[0045] Fig.24 It is a top view of the conveying and straightening device.

[0046] In the figure: 1-upper tooling device, 1.1-tooling rod grabbing mechanism, 1.1.1-tooling rod double cylinder, 1.1.2-cylinder mounting seat 1, 1.1.3-connecting plate, 1.1.4-tooling rod clamping block, 1.2-plug-in wire grabbing mechanism, 1.2.1-finger cylinder, 1.2.2-plug-in wire clamping claw, 1.2.3-slide seat, 1.2.4-slide rail, 1.2.5-push plate, 1.2.6-moving cylinder, 1.3-tooling block positioning mechanism, 1.3.1-positioning cylinder 1, 1.3.2-positioning cylinder 2, 1.3.3-cylinder mounting seat 2, 1.3.4-cylinder connecting plate, 1.3.5-positioning head, 1.3.6-positioning head mounting plate, 1.4-mounting plate, 1.5-robot connecting plate;

[0047] 2-tool lifting device, 2.1-lifting frame, 2.2-tool conveyor, 2.3-lifting slide rail, 2.4-lifting slider, 2.5-lifting cylinder, 2.6-tool baffle, 2.7-tool conveyor belt, 2.8-tool conveying motor;

[0048] 3- stacking device, 3.1- stacking frame, 3.2- stacking conveyor, 3.3- stacking conveyor belt, 3.4- stacking conveying motor;

[0049] 4-correction device, 4.1-correction conveyor frame, 4.2-correction conveyor belt, 4.3-correction conveyor motor, 4.4-sliding baffle frame, 4.5-baffle frame, 4.6-limit baffle, 4.7-baffle frame cylinder;

[0050] 5-Robot frame, 5.1-Robot mounting base;

[0051] 6-visual device, 6.1-profile frame, 6.2-camera, 6.3-camera base;

[0052] 7- conveyor alignment device, 7.1- conveyor frame, 7.2- conveyor belt. DETAILED DESCRIPTION

[0053] 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.

[0054] Embodiment 1:

[0055] like Figure 1-Figure 24 As shown, a robot flexible upper tooling equipment includes an upper tooling device 1, a tooling lifting device 2, a stacking device 3, a correction device 4, a robot frame 5, a visual device 6 and a conveying correction device 7. The upper tooling device 1 is provided with a tooling rod grasping mechanism 1.1, a plug-in grasping mechanism 1.2, a tooling block positioning mechanism 1.3, a mounting plate 1.4 and a robot connecting plate 1.5. The upper tooling device 1 is installed on the frame 5. The upper tooling device 1 is provided with a mounting plate 1.4. The upper portion of the mounting plate 1.4 is fixedly connected to the robot connecting plate The connecting plate 1.5, the robot connecting plate 1.5 is connected to the robot's mechanical arm through bolts. The robot adopts the commonly used EC612 industrial six-axis mechanical arm. The mechanical arm is installed on the robot mounting seat 5.1, and the robot mounting seat 5.1 is fixed on the robot frame 5. The robot frame 5 is arranged between the correction device 4 and the conveying correction device 7. The robot's mechanical arm installs the tooling block on the correction device 4 to the photovoltaic component of the conveying correction device 7, and then clamps the junction box from the junction box library and plugs it into the tooling block.

[0056] The tooling rod grabbing mechanism 1.1, the plug-in wire grabbing mechanism 1.2 and the tooling block positioning mechanism 1.3 are installed on the mounting plate 1.4.

[0057] The tooling rod grabbing mechanism 1.1 comprises a tooling rod double cylinder 1.1.1, a cylinder mounting seat 1.1.2, a connecting plate 1.1.3 and a tooling rod clamp 1.1.4. The tooling rod double cylinder 1.1.1 is mounted on one side of the mounting plate 1.4. The tooling rod clamps 1.1.4 are relatively installed on the cylinder rods on both sides of the tooling rod double cylinder 1.1.1. The tooling rod double cylinder 1.1.1 controls the tooling rod clamp 1.1.4 to clamp or release the tooling rod.

[0058] The tooling rod double cylinder 1.1.1 adopts a double-rod type cylinder with model CXSWM20-100. The tooling rod double cylinder 1.1.1 is installed on a cylinder mounting seat 1.1.2. The cylinder mounting seat 1.1.2 is fixedly connected to one side of a mounting plate 1.4. A connecting plate 1.1.3 is installed on the cylinder rod of the tooling rod double cylinder 1.1.1. The tooling rod clamp block 1.1.4 is installed on the connecting plate 1.1.3. The tooling rod double cylinder 1.1.1 controls the tooling rod clamp block 1.1.4 to clamp the tooling rod and install it on the tooling block of the photovoltaic module.

[0059] The wire grabbing mechanism 1.2 includes a finger cylinder 1.2.1, a wire clamp 1.2.2, a slide 1.2.3, a slide rail 1.2.4, a push plate 1.2.5 and a mobile cylinder 1.2.6. The mobile cylinder 1.2.6 is installed at the bottom of the mounting plate 1.4. The finger cylinder 1.2.1 is installed on the cylinder rod of the mobile cylinder 1.2.6. The two clamping fingers of the finger cylinder 1.2.1 are installed with the wire clamp 1.2.2. The finger cylinder 1.2.1 controls the wire clamp 1.2.2 to clamp or release the tooling block or the junction box. The finger cylinder 1.2.1 controls the wire clamp 1.2.2 to cyclically clamp the tooling block and the junction box.

[0060] The bottom of the mobile cylinder 1.2.6 is provided with a slide rail 1.2.4, which is slidably connected to the slide seat 1.2.3. The front of the slide seat 1.2.3 is vertically connected to the push plate 1.2.5, which is installed at the end of the cylinder rod of the mobile cylinder 1.2.6. The mobile cylinder 1.2.6 drives the slide seat 1.2.3 to move along the slide rail 1.2.4. The finger cylinder 1.2.1 is installed on the slide seat 1.2.3. The plug-in clamp 1.2.2 installed on the finger cylinder 1.2.1 is arranged opposite to the positioning head 1.3.5. The mobile cylinder 1.2.6 and the finger cylinder 1.2.1 cooperate to clamp the tooling block delivered by the correction device 4, and then clamp the junction box in the junction box library and plug it into the tooling block mountain. The positioning head 1.3.5 pushes the other side of the tooling block against the auxiliary junction box to insert the tooling block.

[0061] The tooling block positioning mechanism 1.3 includes a positioning cylinder 1.3.1, a positioning cylinder 1.3.2, a cylinder mounting seat 1.3.3, a cylinder connecting plate 1.3.4, a positioning head 1.3.5 and a positioning head mounting plate 1.3.6. The positioning cylinder 1.3.1 is mounted on the other side of the mounting plate 1.4, the positioning cylinder 1.3.2 is mounted on the cylinder rod of the positioning cylinder 1.3.1, the positioning head 1.3.5 is mounted on the cylinder rod of the positioning cylinder 1.3.2, and the positioning head 1.3.5 is positioned to support the tooling block.

[0062] The positioning cylinder 1.3.1 is installed on the mounting plate 1.4 through the cylinder mounting seat 2 1.3.3. The cylinder connecting plate 1.3.4 is installed on the cylinder rod of the positioning cylinder 1.3.1. The cylinder connecting plate 1.3.4 adopts a Z-shaped structure. The positioning cylinder 2 1.3.2 is installed at the bottom of the cylinder mounting plate 1.3.4. The positioning head mounting plate 1.3.6 is installed on the cylinder rod of the positioning cylinder 2 1.3.2. The positioning head 1.3.5 is installed on the positioning head mounting plate 1.3.6. The positioning head 1.3.5 adopts a conical structure with a pointed front. The positioning cylinder 1.3.1 and the positioning cylinder 2 1.3.2 cooperate to control the front of the positioning head 1.3.5 to support the tooling block, and the auxiliary junction box is inserted into the tooling block.

[0063] The return device 4 includes a return conveyor frame 4.1, a return conveyor belt 4.2, a return conveyor motor 4.3, a toggle stop frame 4.4, a baffle frame 4.5, a limit baffle 4.6 and a baffle frame cylinder 4.7. The return conveyor belt 4.2 is rotatably installed on the return conveyor frame 4.1, and the power roller shaft on one side of the return conveyor belt 4.2 is connected to the return conveyor motor 4.3. The return conveyor motor 4.3 is installed on the return conveyor frame 4.1, and the return conveyor motor 4.3 drives the return conveyor belt 4.2 to run. A baffle frame 4.5 is installed at the rear of the conveying frame 4.1, and a baffle is installed at the lower part of the baffle frame 4.5. The baffle blocks the tooling block. Baffle cylinders 4.7 are installed on both sides of the middle part of the conveying frame 4.1. A toggle baffle frame 4.4 is installed on the upper part of the cylinder rod of the baffle cylinder 4.7. The toggle baffle frame 4.4 is lowered to block the tooling block from turning over and lying flat, and the tooling block is controlled to keep the wide side facing up. Limit baffles 4.6 are provided on both sides of the conveying frame 4.1. The limit baffles 4.6 block the tooling block from turning over and centering, so that the tooling block is transported in the center.

[0064] A stacking device 3 is installed on the feeding side of the correcting conveyor belt 4.2. The stacking device 3 is provided with a stacking frame 3.1, a stacking conveyor 3.2, a stacking conveyor belt 3.3 and a stacking conveying motor 3.4. The stacking conveyor 3.2 is installed in the middle of the stacking frame 3.1. The stacking conveyor belt 3.3 is rotatably installed on the stacking conveyor 3.2. The power roller on one side of the stacking conveyor belt 3.3 is connected to the stacking conveying motor 3.4. The stacking conveying motor 3.4 is installed on the stacking frame 3.1. The stacking conveying motor 3.4 drives the stacking conveyor belt 3.3 to transport and temporarily store the tooling blocks. The stacking conveyor belt 3.3 runs slowly to temporarily store and transport the tooling blocks into the correcting conveyor belt 4.2 to ensure that the tooling blocks on the correcting conveyor belt 4.2 are taken away to avoid accumulation.

[0065] The tool lifting device 2 is installed on the feeding side of the stack conveyor belt 3.3. The tool lifting device 2 includes a lifting frame 2.1, a tool conveyor 2.2, a lifting rail 2.3, a lifting slider 2.4, a lifting cylinder 2.5, a tool baffle 2.6, a tool conveyor belt 2.7 and a tool conveying motor 2.8. Two vertical lifting rails 2.3 are installed on one side of the lifting frame 2.1. The lifting rails 2.3 are slidably connected to the lifting slider 2.4. The lifting slider 2.4 is fixedly installed on the tool conveyor The bottom of the tooling conveyor 2.2 is fixedly connected to the cylinder rod of the lifting cylinder 2.5, and the lifting cylinder 2.5 drives the tooling conveyor 2.2 to rise and fall. The tooling conveyor belt 2.7 is rotatably installed on the tooling conveyor 2.2. The power roller shaft on one side of the tooling conveyor belt 2.7 is connected to the tooling conveying motor 2.8, and the tooling conveying motor 2.8 is installed on the tooling conveyor 2.2. The tooling conveying motor 2.8 drives the tooling conveyor belt 2.8 to run and transport the tooling blocks to the stacking conveyor belt 3.3.

[0066] The conveying correction device 7 is provided with a conveying frame 7.1 and a conveying belt 7.2. Three conveying belts 7.2 are installed in parallel on the conveying frame 7.1. Photovoltaic modules are transported on the conveying belts 7.2. A visual device 6 is installed on the outer side of the conveying frame 7.1. The visual device 6 includes a visual frame, a profile frame 6.1 and a camera 6.2. The visual frame is installed on the outer side of the conveyor 7.1 frame. The profile frame 6.1 is installed on the visual frame. The profile frame 6.1 is located above the conveying frame 7.1. A camera base 6.3 is installed on the profile frame 6.1. A camera 6.2 is installed on the camera base 6.3. The camera 6.2 is located above the photovoltaic modules.

[0067] Embodiment 2: The specific implementation process of the robot flexible upper tooling equipment using the structural form of embodiment 1.

[0068] The tooling block flows into the tooling lifting device 2 in the assembly line, starts to rise and enters the stacking device 3, is stacked and cached, and reaches the correction device. The correction device starts to center the tooling block. The robot uses the wire plug-in claw 1.2.2 on the finger cylinder 1.2.1 to grab the tooling block, and then puts it on the photovoltaic module. The visual device 6 performs positioning. The robot again uses the wire plug-in claw 1.2.2 on the finger cylinder 1.2.1 to clamp the junction box and starts to insert the junction box into the tooling block. Then the photovoltaic module flows out and then the next cycle action is performed.

[0069] 1. Technology maturity: With the development of robot technology and the accumulation of application experience, modern robot tooling has greatly improved in terms of technology maturity. Modern designs such as precise control systems, optimized movements and reliability testing all help to improve the stability and reliability of equipment.

[0070] 2. Automation and intelligence: Modern collaborative robot tooling has achieved a higher degree of automation and intelligence. By adopting advanced machine vision systems, sensors and control algorithms, the equipment can achieve automated process control and quality inspection. This makes the equipment easier to operate and improves production efficiency and consistency.

[0071] 3. Production efficiency and speed: Modern collaborative robot loading has been significantly improved in terms of work efficiency and speed. By optimizing robot parameters, modern equipment can achieve faster loading and improve production efficiency.

[0072] 4. Process adaptability: The new generation of collaborative robots has higher process adaptability. It can adapt to tooling of different sizes, shapes and materials, and has flexible wiring capabilities. Through parameter adjustment and adaptive control according to actual needs, modern equipment can meet a variety of tooling tasks.

[0073] 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.

[0074] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

[0075] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0076] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot flexible tooling equipment, characterized in that: It includes an upper tooling device and a robot frame, wherein the upper tooling device is provided with a mounting plate, and a tooling rod grabbing mechanism, a plug-in wire grabbing mechanism and a tooling block positioning mechanism are mounted on the mounting plate; The tooling rod grabbing mechanism includes a tooling rod double cylinder and a tooling rod clamping block. The tooling rod double cylinder is installed on one side of the mounting plate. The tooling rod clamping blocks are relatively installed on the cylinder rods on both sides of the tooling rod double cylinder. The tooling rod double cylinder controls the tooling rod clamping block to clamp or release the tooling rod. The plug-in wire grabbing mechanism includes a finger cylinder, a plug-in wire clamping claw and a moving cylinder. The moving cylinder is installed at the bottom of the mounting plate. The finger cylinder is installed on the cylinder rod of the moving cylinder. The two clamping fingers of the finger cylinder are installed with the plug-in wire clamping claw. The finger cylinder controls the plug-in wire clamping claw to clamp or release the tooling block or junction box. The tooling block positioning mechanism includes positioning cylinder one, positioning cylinder two and a positioning head. Positioning cylinder one is installed on the other side of the mounting plate, positioning cylinder two is installed on the cylinder rod of positioning cylinder one, and the positioning head is installed on the cylinder rod of positioning cylinder two. The positioning head is positioned to support the tooling block.

2. The robot flexible upper tooling equipment according to claim 1, characterized in that: The positioning cylinder 1 is installed on the mounting plate through the cylinder mounting seat 2, the cylinder connecting plate is installed on the cylinder rod of the positioning cylinder 1, the cylinder connecting plate adopts a Z-shaped structure, the positioning cylinder 2 is installed at the bottom of the cylinder mounting plate, the positioning head mounting plate is installed on the cylinder rod of the positioning cylinder 2, and the positioning head is installed on the positioning head mounting plate.

3. The robot flexible upper tooling equipment according to claim 2, characterized in that: The positioning head adopts a conical structure with a pointed front portion.

4. The robot flexible upper tooling equipment according to claim 1, characterized in that: The tooling rod double cylinder is installed on a cylinder mounting seat one, the cylinder mounting seat one is fixedly connected to one side of the mounting plate, a connecting plate is installed on the cylinder rod of the tooling rod double cylinder, and a tooling rod clamping block is installed on the connecting plate.

5. The robot flexible upper tooling equipment according to claim 1, characterized in that: A slide rail is provided at the bottom of the movable cylinder, a slide seat is slidably connected to the slide rail, a push plate is vertically connected to the front of the slide seat, the push plate is installed at the end of the cylinder rod of the movable cylinder, the movable cylinder drives the slide seat to move along the slide rail, a finger cylinder is installed on the slide seat, and the wire plug-in clamp installed on the finger cylinder is arranged opposite to the positioning head.

6. The robot flexible upper tooling equipment according to claim 1, characterized in that: The upper part of the mounting plate is fixedly connected to the robot connecting plate, the robot connecting plate is connected to the robot's mechanical arm through bolts, the mechanical arm is installed on the robot mounting seat, the robot mounting seat is fixed on the robot frame, the robot frame is arranged between the correction device and the conveying correction device, and the robot's mechanical arm clamps the tooling block on the correction device and plugs it into the photovoltaic component of the conveying correction device.

7. The robot flexible upper tooling equipment according to claim 6, characterized in that: The correction device includes a correction conveyor frame, a toggle baffle frame, a baffle frame, a limit baffle and a baffle frame cylinder. The correction conveyor frame is rotatably installed with a correction conveyor belt. The power roller shaft on one side of the correction conveyor belt is connected to the correction conveyor motor. The correction conveyor motor is installed on the correction conveyor frame. The correction conveyor motor drives the correction conveyor belt to run. The baffle frame is installed at the rear of the correction conveyor frame. The baffle is installed at the bottom of the baffle frame. The baffle blocks the tooling block. The baffle frame cylinders are installed on both sides of the middle of the correction conveyor frame. The toggle baffle frame is installed on the upper part of the cylinder rod of the baffle frame cylinder. The toggle baffle frame descends to prevent the tooling block from flipping and lying flat. Limit baffles are provided on both sides of the correction conveyor frame. The limit baffles prevent the tooling block from flipping and centering.

8. The robot flexible upper tooling equipment according to claim 7, characterized in that: A stacking device is installed on the feeding side of the return conveyor belt, and the stacking device is provided with a stacking frame and a stacking conveyor. The stacking conveyor is installed in the middle of the stacking frame, and the stacking conveyor belt is rotatably installed on the stacking conveyor. The power roller on one side of the stacking conveyor belt is connected to the stacking conveying motor, and the stacking conveying motor is installed on the stacking frame. The stacking conveying motor drives the stacking conveyor belt to transport and temporarily store the tooling blocks, and the tooling blocks on the stacking conveyor belt are transported into the return conveyor belt.

9. The robot flexible upper tooling equipment according to claim 8, characterized in that: A tool lifting device is installed on the feed side of the stack conveyor belt, and the tool lifting device includes a lifting frame, a tool conveyor and a lifting cylinder. Two vertical lifting slide rails are installed on one side of the lifting frame, and the lifting slide rails are slidably connected to the lifting slider, and the lifting slider is fixedly installed on the tool conveyor. The bottom of the tool conveyor is fixedly connected to the cylinder rod of the lifting cylinder. The upgrading cylinder drives the tool conveyor to lift and lower, and the tool conveyor belt is rotatably installed on the tool conveyor. The power roller on one side of the tool conveyor belt is connected to the tool conveying motor, and the tool conveying motor is installed on the tool conveyor. The tool conveying motor drives the tool conveyor belt to run and convey the tool blocks to the stack conveyor belt.

10. The robot flexible upper tooling equipment according to claim 6, characterized in that: The conveying and correcting device is provided with a conveying frame and a conveying belt. A plurality of conveying belts are installed in parallel on the conveying frame. Photovoltaic modules are transported on the conveying belts. A visual device is installed on the outer side of the conveying frame. The visual device includes a visual frame, a profile frame and a camera. The visual frame is installed on the outer side of the conveying frame. The profile frame is installed on the visual frame. The profile frame is located above the conveying frame. A camera base is installed on the profile frame. A camera is installed on the camera base. The camera is located above the photovoltaic modules.

Images