Automatic feeding equipment of framing machine

Abstract

The utility model relates to the technical field of gluing mechanical equipment, in particular to automatic feeding equipment of a framing machine, which comprises a frame grabbing tool, a six-axis collaborative robot and a robot suspension support, the robot suspension support is mounted on the feeding side of the gluing equipment of the framing machine, a frame is placed on the inner side of the robot suspension support, and the six-axis collaborative robot is mounted on the frame grabbing tool. A seventh shaft sliding rail assembly is arranged on the top of the robot suspension support, a six-shaft collaborative robot is connected to the seventh shaft sliding rail assembly in a sliding mode, and a frame grabbing tool is installed on a sixth shaft of the six-shaft collaborative robot. The frame grabbing tool is provided with a vacuum suction cup, the vacuum suction cup sucks and grabs a frame, and the six-axis collaborative robot and the seventh-axis sliding rail assembly are matched to convey the frame to the framing machine gluing equipment. According to the automatic feeding equipment of the framing machine, the working efficiency is improved, the product adaptability and the personnel safety are enhanced, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of gluing mechanical equipment, in particular to automatic feeding equipment for a framing machine. Background Art

[0002] Photovoltaic power generation is a technology that uses the photovoltaic effect of photovoltaic panels to directly convert light energy into electrical energy. The aluminum alloy photovoltaic panel frame plays a vital role in protecting the main body of the solar photovoltaic panel. When the frame is not sealed well, it will cause the photovoltaic panel to fall off, be damaged, and other undesirable phenomena that reduce the service life. The frame is composed of a base plate for support, a back plate for connection, and a clamping plate for clamping the photovoltaic panel, and it has long sides and short sides. The framing machine is an automated production equipment that automatically assembles and fixes the frame on each side of the solar photovoltaic panel and achieves sealing. Because the frame is an asymmetric structure and the front and back are interlocked and placed together during the material preparation process, workers need to constantly flip and rotate the frame during the loading process to meet the subsequent gluing and framing requirements. Workers flipping and rotating the frame is not only time-consuming and labor-intensive, but also very easy to scratch people and objects, creating unsafe factors.

[0003] my country is the country with the fastest growth in photovoltaic power generation installation in the world. In the face of the increasing demand for photovoltaic power generation, only automation can meet the needs of efficient and fast production operations. Therefore, it is necessary to design an automatic loading device for the frame machine to solve the problems of manual loading and turning of the existing frames, which is time-consuming and labor-intensive, and has safety hazards. Utility Model Content

[0004] In view of the problems existing in the prior art, the utility model aims to provide an automatic feeding device for a framing machine.

[0005] The technical solution adopted by the utility model to solve the technical problem is: an automatic feeding device for a frame loader, comprising a frame grabbing tool, a six-axis collaborative robot and a robot suspension bracket, wherein the robot suspension bracket is installed on the feeding side of the gluing device of the frame loader, a frame is placed inside the robot suspension bracket, a seventh-axis slide rail assembly is provided on the top of the robot suspension bracket, a six-axis collaborative robot is slidably connected to the seventh-axis slide rail assembly, and a frame grabbing tool is installed on the sixth axis of the six-axis collaborative robot;

[0006] The frame grabbing tooling is equipped with a vacuum suction cup, which absorbs and grabs the frame. The six-axis collaborative robot and the seventh-axis slide rail assembly cooperate to transport the frame to the framing machine's gluing equipment.

[0007] Specifically, the robot suspension bracket adopts a four-legged supported frame structure, and the left and right sides of the robot suspension bracket are frame material preparation entrances and exits.

[0008] Specifically, the frame includes a short frame and a long frame. The short frame code is placed on the short frame preparation pallet, and the long frame code is placed on the long frame preparation pallet. The short frame preparation pallet and the long frame preparation pallet are both placed on the inner side of the robot suspension bracket, and the long frame preparation pallet is placed on the side close to the framing machine gluing equipment.

[0009] Specifically, the seventh-axis slide rail assembly includes a slide rail, a moving seat and a mounting plate. The mounting plate is fixed on the top of the robot suspension bracket, the slide rail is installed on the bottom of the mounting plate, the slide rail is slidably connected to the moving seat, and the moving seat is connected to the base of the six-axis collaborative robot.

[0010] Specifically, the frame grabbing tooling is also provided with a connecting flange, a connecting main beam and a connecting auxiliary beam. The connecting flange is fixedly connected to the sixth axis of the six-axis collaborative robot, the bottom of the connecting flange is fixedly connected to the connecting main beam, and a plurality of connecting auxiliary beams are vertically connected to the connecting main beam. The connecting main beam and the connecting auxiliary beams are arranged in a "mountain" shape.

[0011] Specifically, multiple groups of vacuum suction cups are installed at the bottom of the connecting auxiliary beams, and the vacuum suction cups are arranged in a matrix on all the connecting auxiliary beams. The bottoms of the vacuum suction cups remain flush, and the vacuum suction cups in the same column parallel to the connecting main beam act on the same frame.

[0012] Specifically, safety gratings are installed on both sides of the robot suspension bracket and the rear supporting legs.

[0013] The utility model has the following beneficial effects:

[0014] The automatic feeding equipment of the framing machine designed by the utility model has qualitative improvements in terms of improving work efficiency, enhancing product adaptability, personnel safety, reducing production costs, etc.

[0015] 1. Improve work efficiency: The use of automatic feeding equipment for photovoltaic industry frame machines can improve production efficiency and reduce the time and labor costs required for manual operation. The equipment can realize the automatic and precise frame feeding process, speed up production, shorten production cycle, thereby increasing production capacity and improving work efficiency.

[0016] 2. Reduce production costs: Using automatic loading equipment for framing machines can reduce production costs. The automated loading process can reduce operating errors and reduce the scrap rate of gluing and framing. The use of automatic loading equipment for framing machines can replace one person, thereby reducing labor costs and training costs.

[0017] 3. Improve safety: A safety grating is installed around the frame of the suspended collaborative robot. When a person mistakenly enters the working area, an alarm will be issued and the flipping and rotation operations of the frame will be suspended to prevent personal injury accidents.

[0018] 4. Enhance product adaptability: The automatic loading equipment of the frame machine has higher process adaptability. It can meet the frame loading requirements of 980-2650mm, and the loading position can be adjusted according to actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the automatic feeding equipment of the framing machine.

[0020] Figure 2 It is a structural schematic diagram of the frame grabbing tooling.

[0021] Figure 3 It is a structural diagram of the connection between the six-axis collaborative robot and the seventh-axis slide rail assembly.

[0022] Figure 4 It is a structural diagram of the material preparation frame.

[0023] Figure 5 It is a schematic diagram of the structure of the short border and the long border.

[0024] Figure 6 It is a structural diagram of the placement of the frame preparation tray.

[0025] In the figure: 1-framing machine gluing equipment; 2-frame grabbing tooling; 21-connecting flange; 22-connecting main beam; 23-connecting auxiliary beam; 24-vacuum suction cup; 25-frame; 3-six-axis collaborative robot; 4-robot suspension bracket; 41-seventh axis slide rail assembly; 5-safety grating; 6-short frame; 7-long frame; 8-long frame preparation tray; 9-short frame preparation tray. DETAILED DESCRIPTION

[0026] 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.

[0027] Embodiment 1:

[0028] like Figure 1-Figure 6 As shown, an automatic feeding device for a frame loader includes a frame grabbing tool 2, a six-axis collaborative robot 3, a robot suspension bracket 4 and a safety grating 5. The robot suspension bracket 4 is installed on the feeding side of the frame loader glue device 1. A frame 25 is placed inside the robot suspension bracket 4. A seventh-axis slide rail assembly 41 is provided on the top of the robot suspension bracket 4. The six-axis collaborative robot 3 is slidably connected to the seventh-axis slide rail assembly 41. The frame grabbing tool 2 is installed on the sixth axis of the six-axis collaborative robot 3. The six-axis collaborative robot 3 is a multi-joint industrial robot commonly used in the prior art.

[0029] The robot suspension bracket 4 adopts a frame structure supported by four legs, and the left and right sides of the robot suspension bracket 4 are frame material preparation entrances and exits.

[0030] The frame includes a short frame 6 and a long frame 7. The short frame 6 is placed on a short frame preparation tray 9, and the long frame 7 is placed on a long frame preparation tray 8. The short frame preparation tray 9 and the long frame preparation tray 8 are both placed on the inner side of the robot suspension bracket 4, and the long frame preparation tray 8 is on the side close to the framing machine gluing equipment 1.

[0031] The seventh axis slide rail assembly 41 includes a slide rail, a moving seat and a mounting plate (using an existing lead screw transmission structure, not shown in the figure). The mounting plate is fixed to the top of the robot suspension bracket, and the slide rail is installed at the bottom of the mounting plate. The slide rail is slidably connected to the moving seat, and the moving seat is connected to the base of the six-axis collaborative robot 3. The moving seat is installed with a nut seat, and the nut seat is threaded with a lead screw. The lead screw is installed on the mounting plate through a bearing seat. One end of the lead screw is connected to a drive motor, and the drive motor is installed on the mounting plate. The drive motor drives the moving seat to move along the slide rail.

[0032] The frame grabbing tooling 2 is provided with a connecting flange 21, a connecting main beam 22, a connecting auxiliary beam 23 and a vacuum suction cup 24. The vacuum suction cup 24 absorbs and grabs the frame 25. The six-axis collaborative robot 3 and the seventh-axis slide rail assembly 41 cooperate to transport the frame 25 to the framing machine gluing equipment 1.

[0033] The connecting flange 21 is fixedly connected to the sixth axis of the six-axis collaborative robot 3, and the bottom of the connecting flange 21 is fixedly connected to the connecting main beam 22. A plurality of connecting auxiliary beams 23 are vertically connected to the connecting main beam 22. The connecting main beam 22 and the connecting auxiliary beams 23 are arranged in a "mountain" shape.

[0034] Five groups of vacuum suction cups 24 are installed at the bottom of the connecting auxiliary beams 23. The vacuum suction cups 24 are arranged in a matrix on all the connecting auxiliary beams 23. The bottoms of the vacuum suction cups 24 remain flush, and the vacuum suction cups 24 in the same column parallel to the connecting main beam 22 act on the same frame 25.

[0035] Safety gratings 5 ​​are installed on both sides of the robot suspension bracket 4 and the rear supporting legs to prevent people from entering by mistake.

[0036] Embodiment 2: Specific implementation process of the automatic feeding device for the frame assembling machine using the structural form of embodiment 1:

[0037] Behind the frame machine gluing device 1 is the collaborative robot suspension bracket 4. The left and right sides of the robot suspension bracket 4 are the frame preparation entrances and exits, which can transport long frame preparation trays 8, short frame preparation trays 9 and empty trays. The long frame preparation tray 8 is in front of the short frame preparation tray 9, and the long frame 7 and the short frame 6 are arranged vertically to ensure maximum space utilization; the front end of the robot suspension bracket 4 is the frame output port; a longitudinal slide rail is installed in the middle of the top of the robot suspension bracket 4, and the slide rail spans the entire robot suspension bracket 4; safety gratings 5 ​​are installed on both sides and the back of the robot suspension bracket 4 to prevent people from entering by mistake. Below the robot suspension bracket 4 is the base of the six-axis collaborative robot 3, and the six-axis collaborative robot 3 is suspended under the slide rail. The sixth axis of the six-axis collaborative robot 3 is connected to the frame grabbing tooling 2.

[0038] The frame grabbing tool 2 is composed of a connecting flange 21, a connecting main beam 22, a connecting auxiliary beam 23 and a vacuum suction cup 24, wherein the connecting main beam 22 and the connecting auxiliary beam 23 are rectangular steel pipes. The connecting flange 21 is connected and fixed to the 6th axis of the six-axis collaborative robot 3, and the lower end of the connecting flange 21 is fixed to the connecting main beam 22. The connecting main beam 22 and the connecting auxiliary beam 23 are arranged in a "mountain" shape and fixed by bolts. The connecting auxiliary beam 23 is evenly arranged with round holes that are larger at the top and smaller at the bottom to fix the vacuum suction cup 24. The bottom end of the vacuum suction cup 24 is guaranteed to be flush, and the vacuum suction cups 24 in the same row parallel to the connecting main beam 22 act on the same frame, and ensure that the frame does not fall when the six-axis collaborative robot 3 moves. The six-axis collaborative robot 3 aligns the connecting main beam 22 of the frame grabbing tool 2 with the frame of the preparation tray by controlling the coordination of each axis. If the frame to be grabbed is placed in reverse, when the vacuum suction cup 24 is aligned with the bottom plate of the frame, the frame grabbing tool 2 is pressed down vertically. When the vacuum suction cup 24 contacts the frame support bottom plate, the frame is lifted by vacuum suction.

[0039] After the frame grabbing fixture 2 reaches the specified height, the seventh-axis slide rail assembly 41 moves the frame grabbing fixture 2 carrying the frame to the center of the robot suspension bracket 4, flips the frame grabbing fixture 2 forward, and makes the connecting auxiliary beam 23 of the frame grabbing fixture 2 parallel to the material receiving structure of the frame assembling machine gluing device 1, and the connecting main beam 22 is perpendicular to the material receiving structure of the frame assembling machine gluing device 1. The material receiving structure of the frame assembling machine gluing device 1 is composed of 4 rows of parallel slides tilted backward. The seventh-axis slide rail assembly 41 carries the six-axis collaborative robot 3 forward, and at the same time, the six-axis collaborative robot 3 extends its arms forward, puts the frame in from the bottom with a trajectory parallel to the material receiving structure, and the vacuum suction cup 24 releases the frame to complete the loading process.

[0040] If the frame on the frame grabbing tool 2 is different from the required frame position, the six-axis collaborative robot 3 can also rotate 180° horizontally before flipping the frame grabbing tool 2 forward to meet the material loading requirements. When the frame to be grabbed is placed forward, the vacuum suction cup 24 acts on the frame clamping plate. After lifting to a specified height, the frame grabbing tool 2 is flipped backward and placed from above the material receiving slide of the frame assembly machine gluing device 1.

[0041] The automatic feeding equipment of the frame machine is composed of a six-axis collaborative robot 3 and a frame grabbing tool 2. Compared with the traditional feeding method, the feeding equipment has a qualitative improvement in improving work efficiency, enhancing product adaptability, personnel safety, and reducing production costs.

[0042] 1. Improve work efficiency: The use of automatic feeding equipment for photovoltaic industry frame machines can improve production efficiency and reduce the time and labor costs required for manual operation. The equipment can realize the automatic and precise frame feeding process, speed up production, shorten production cycle, thereby increasing production capacity and improving work efficiency.

[0043] 2. Reduce production costs: Using automatic loading equipment for framing machines can reduce production costs. The automated loading process can reduce operating errors and reduce the scrap rate of gluing and framing. The use of automatic loading equipment for framing machines can replace one person, thereby reducing labor costs and training costs.

[0044] 3. Improve safety: A safety grating 5 is installed around the frame of the suspended collaborative robot. When a person mistakenly enters the working area, an alarm will be sounded and the flipping and rotation operations of the frame will be suspended to prevent personal injury accidents.

[0045] 4. Enhance product adaptability: The automatic loading equipment of the frame machine has higher process adaptability. It can meet the frame loading requirements of 980-2650mm, and the loading position can be adjusted according to actual needs.

[0046] 5. Improve competitiveness and market share: The use of automatic feeding equipment for photovoltaic frame machines can help companies improve their competitiveness and market share. Efficient production can give companies an advantage in market competition and attract more customers and partners. High-quality products and a good brand image can help improve the company's reputation and market recognition, and further expand its business scale and market share.

[0047] 6. Promote the development of the photovoltaic industry: The development and application of automatic feeding equipment for photovoltaic industry frame machines can promote the development of the entire photovoltaic industry. This mechanism can not only reduce production costs, improve production efficiency, attract more investment and market participants, but also promote technological innovation and industrial upgrading, and promote the sustainable development of the photovoltaic industry.

[0048] 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.

[0049] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

[0050] 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.

[0051] 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. An automatic feeding device for a framing machine, characterized in that: It includes a frame grabbing tool, a six-axis collaborative robot and a robot suspension bracket. The robot suspension bracket is installed on the feeding side of the frame assembly machine gluing equipment, the frame is placed inside the robot suspension bracket, a seventh-axis slide rail assembly is provided on the top of the robot suspension bracket, the six-axis collaborative robot is slidably connected to the seventh-axis slide rail assembly, and the frame grabbing tool is installed on the sixth axis of the six-axis collaborative robot; The frame grabbing tooling is equipped with a vacuum suction cup, which absorbs and grabs the frame. The six-axis collaborative robot and the seventh-axis slide rail assembly cooperate to transport the frame to the framing machine's gluing equipment.

2. The automatic feeding equipment for the framing machine according to claim 1, characterized in that: The robot suspension bracket adopts a four-legged supported frame structure, and the left and right sides of the robot suspension bracket are frame material preparation entrances and exits.

3. The automatic feeding equipment for the framing machine according to claim 1, characterized in that: The frame includes a short frame and a long frame. The short frame code is placed on the short frame preparation pallet, and the long frame code is placed on the long frame preparation pallet. The short frame preparation pallet and the long frame preparation pallet are both placed on the inner side of the robot suspension bracket, and the long frame preparation pallet is placed on the side close to the framing machine gluing equipment.

4. The automatic feeding equipment for the framing machine according to claim 1, characterized in that: The seventh-axis slide rail assembly includes a slide rail, a moving seat and a mounting plate. The mounting plate is fixed on the top of the robot suspension bracket, the slide rail is installed on the bottom of the mounting plate, the slide rail is slidably connected to the moving seat, and the moving seat is connected to the base of the six-axis collaborative robot.

5. The automatic feeding equipment for the framing machine according to claim 1, characterized in that: The frame grabbing tooling is also provided with a connecting flange, a connecting main beam and a connecting auxiliary beam. The connecting flange is fixedly connected to the sixth axis of the six-axis collaborative robot. The bottom of the connecting flange is fixedly connected to the connecting main beam. A plurality of connecting auxiliary beams are vertically connected to the connecting main beam. The connecting main beam and the connecting auxiliary beams are arranged in a "mountain" shape.

6. The automatic feeding equipment for the frame assembling machine according to claim 5, characterized in that: A plurality of groups of vacuum suction cups are installed at the bottom of the connecting auxiliary beams. The vacuum suction cups are arranged in a matrix on all the connecting auxiliary beams. The bottoms of the vacuum suction cups are kept flush, and the vacuum suction cups in the same row parallel to the connecting main beam act on the same frame.

7. The automatic feeding equipment for the frame assembling machine according to claim 1, characterized in that: Safety gratings are installed on both sides and rear supporting legs of the robot suspension bracket.

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