Automatic feeding machine for whole support type flexible frame of photovoltaic module

Abstract

The utility model relates to the technical field of robot carrying and feeding equipment, and particularly discloses a photovoltaic module whole support type flexible frame automatic feeding machine which comprises an adsorption carrying device and a collaborative robot, and an end effector of the collaborative robot is connected with the adsorption carrying device. The adsorption carrying device is provided with an adsorption tool base, an adsorption module and an interlayer paper grabbing clamp, the adsorption tool base is provided with the adsorption module and the interlayer paper grabbing clamp, the adsorption module is provided with suction cups and air path blocks, the air path blocks are adjustably installed at the bottoms of the two sides of the adsorption tool base, the suction cups are installed on the air path blocks, and the suction cups adsorb a photovoltaic module frame. The interlayer paper grabbing clamp is provided with a grabbing air cylinder, the grabbing air cylinder is installed on one side of the middle of the adsorption tool base, and the grabbing air cylinder controls grabbing fingers to clamp interlayer paper between photovoltaic module frames. According to the utility model, automatic feeding of single-side frames of stacked photovoltaic modules can be realized, a plurality of frames can be sucked at one time, and the feeding efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robot handling and feeding equipment, in particular to a photovoltaic component whole-support type flexible frame automatic feeding machine. Background Art

[0002] During the assembly and production process of photovoltaic modules, after laminating the various hierarchical structures together, it is necessary to use metal frames to protect the four sides of the laminated structure and assemble it into an integrated structure. The rectangular frame is composed of two long-side frames and two short-side frames by snap-on, splicing, screw connection, or adhesive connection. The rectangular frame is assembled together by gluing the four frames together. The incoming materials of the frames are generally stacked, with wooden pallets as the base, and the whole pallet of frames is placed in the designated position by a forklift. In the prior art, they are manually disassembled and carried to the loading end of the dispensing machine in piles. An automatic feeding device for rod-shaped materials is provided at the loading end station, and the frames are manually placed in the silo of the automatic feeding device for rod-shaped materials.

[0003] However, the frames of photovoltaic modules are made of metal and are not light in weight. Operators are prone to fatigue after long-term handling, and the frames need to be frequently replenished and loaded manually, which is labor-intensive and has high labor costs.

[0004] In the prior art, there are also some automatic handling manipulators, but they are generally used for clamping single materials. For example, a manipulator composite clamp disclosed in Patent Publication No. CN209986957U is not suitable for destacking and loading single-sided frames of whole-support photovoltaic modules, and its efficiency is low. Moreover, for destacking and loading single-sided frames of whole-support photovoltaic modules, in order to achieve efficient loading, it is necessary to absorb multiple single-sided frames at one time, and the stacked frame materials are stacked by several layers of frame layer structures, and each layer is flattened with several frames. During the material picking process, there may be a gap between two adjacent frames. If the gap is too large, it may cause the adsorption module to absorb inaccurately, resulting in material absorption failure. There is interlayer paper laid between the two frames of each layer, and the interlayer paper needs to be removed before the frame of the next layer can be adsorbed. At present, the interlayer paper cannot be automatically peeled off.

[0005] Therefore, there is an urgent need to design a photovoltaic module whole-tray flexible frame automatic feeding machine to solve the problems that the existing automatic handling manipulator cannot adjust the spacing and peel off the interlayer paper, resulting in inaccurate suction and low work efficiency. Utility Model Content

[0006] In view of the problems existing in the prior art, the purpose of the utility model is to provide an automatic feeding machine for a photovoltaic module with a whole-supporting flexible frame.

[0007] The technical solution adopted by the utility model to solve its technical problems is: a photovoltaic component whole-support type flexible frame automatic feeding machine, including an adsorption and conveying device and a collaborative robot, the end effector of the collaborative robot is connected to the adsorption and conveying device, the adsorption and conveying device is provided with an adsorption tooling base, an adsorption module and a sandwich paper grabbing fixture, the adsorption module and the sandwich paper grabbing fixture are installed on the adsorption tooling base, the adsorption module is provided with a suction cup and an air circuit block, the air circuit block is adjustably installed at the bottom of both sides of the adsorption tooling base, the suction cup is installed on the air circuit block, the suction cup adsorbs the photovoltaic component frame, the sandwich paper grabbing fixture is provided with a grabbing cylinder, the grabbing cylinder is installed on one side of the middle of the adsorption tooling base, and the grabbing cylinder controls the grabbing fingers to grab the sandwich paper between the frames of the photovoltaic components.

[0008] Specifically, the base of the collaborative robot is installed on a robot mounting frame, the robot mounting frame is installed on a loading base, and a robot control cabinet and a visual TV cabinet are also installed on the loading base.

[0009] Specifically, a mounting frame is provided in the middle of the adsorption tooling base, and the mounting frame is connected to the end effector of the collaborative robot through bolts.

[0010] Specifically, a through hole is provided in the middle of the adsorption tooling base, a visual camera is installed in the through hole, and the upper part of the visual camera is located on the inner side of the mounting frame.

[0011] Specifically, a strip groove is provided on the base of the adsorption tooling, and the air path block is adjustably mounted on the strip groove by bolts. The inside of the air path block is an air path channel, and the air path block is connected to the vacuum solenoid valve through an air pipe. The vacuum solenoid valve is installed in the solenoid valve mounting frame, and the solenoid valve mounting frame is installed on the upper part of the base of the adsorption tooling by bolts. The vacuum solenoid valve controls the on and off of the suction cup on each air path block.

[0012] Specifically, the grabbing cylinder is fixed on the adsorption tooling base through a cylinder mounting seat, and the grabbing cylinder adopts a finger cylinder, which controls the opening and closing of two grabbing fingers.

[0013] Specifically, a rotary adsorption mechanism is also installed on the adsorption tooling base, and the rotary adsorption mechanism and the interlayer paper grabbing fixture are located on the same side of the adsorption tooling base. The rotary adsorption mechanism is provided with a rotating motor, and the rotating motor is installed on the adsorption tooling base through a motor mounting seat. The motor shaft of the rotating motor is connected to the suction cup mounting block, and the interlayer paper suction cup is installed at the lower part of the suction cup mounting block. The rotating motor controls the swing of the interlayer paper suction cup, and the interlayer paper suction cup sucks up the interlayer paper between the frames of the photovoltaic modules.

[0014] Specifically, a light source system is installed on the adsorption tooling base, and an illumination light source of the light source system is installed at the lower part of the adsorption tooling base.

[0015] The utility model has the following beneficial effects:

[0016] The photovoltaic component whole-support type flexible frame automatic feeding machine designed by the utility model can realize the automatic feeding of single-side frames of stacked photovoltaic components, and can absorb multiple frames at one time, with high feeding efficiency.

[0017] The photovoltaic component whole-support type flexible frame automatic feeding machine designed by the utility model arranges and sets multiple groups of adsorption modules, and cooperates with a CCD camera to obtain the horizontal plane position of the entire support frame and the flatness of the top surface, so as to provide a basis for adjusting the position angle of the adsorption module, and ensure that the multiple groups of adsorption modules can better adsorb multiple frames at one time; at the same time, the correction baffle is used to push the frames with larger spacing together, further ensuring the reliability of adsorption, realizing automatic feeding, greatly improving the feeding efficiency of multiple layers and multiple frames, eliminating manual handling, and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the structural diagram of the photovoltaic module whole support type flexible frame automatic feeding machine Figure 1 .

[0019] Figure 2 This is the structural diagram of the photovoltaic module whole support type flexible frame automatic feeding machine Figure 2 .

[0020] Figure 3 This is a schematic diagram of the structure of the adsorption transport device. Figure 1 .

[0021] Figure 4 This is a schematic diagram of the structure of the adsorption transport device. Figure 2 .

[0022] Figure 5 It is a top view of the adsorption transport device.

[0023] Figure 6 It is a front view of the adsorption transport device.

[0024] In the figure: 1-adsorption and handling device, 1.1-adsorption tooling base, 1.2-mounting frame, 1.3-visual camera, 1.4-adsorption module, 1.4.1-suction cup, 1.4.2-air circuit block, 1.4.3-vacuum solenoid valve, 1.4.4-solenoid valve mounting frame, 1.5-sandwich paper grabbing fixture, 1.5.1-grabbing cylinder, 1.5.2-cylinder mounting seat, 1.5.3-grabbing finger, 1.6-light source system, 1.7-rotary adsorption mechanism, 1.7.1-rotating motor, 1.7.2-motor mounting seat, 1.7.3-sandwich paper suction cup, 1.7.4-suction cup mounting block;

[0025] 2-collaborative robot, 2.1-end effector, 2.2-loading base, 2.3-robot mounting frame, 2.4-robot control cabinet, 2.5-visual TV cabinet. 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] like Figure 1-Figure 6 As shown, a photovoltaic module whole-support type flexible frame automatic feeding machine includes an adsorption and handling device 1 and a collaborative robot 2. The base of the collaborative robot 2 is installed on a robot mounting frame 2.3, and the robot mounting frame 2.3 is installed on a feeding base 2.2. A robot control cabinet 2.4 and a visual TV cabinet 2.5 are also installed on the feeding base 2.2. The collaborative robot 2 adopts a commonly used EC612 industrial six-axis robot arm.

[0028] The end effector 2.1 of the collaborative robot 2 is connected to the adsorption and handling device 1. The adsorption and handling device 1 is provided with an adsorption tooling base 1.1, a mounting frame 1.2, a visual camera 1.3, an adsorption module 1.4, a sandwich paper grabbing fixture 1.5, a light source system 1.6 and a rotary adsorption mechanism 1.7. A mounting frame 1.2 is provided in the middle of the adsorption tooling base 1.1, and the mounting frame 1.2 is connected to the end effector 2.1 of the collaborative robot 2 by bolts.

[0029] An adsorption module 1.4, a sandwich paper grabbing fixture 1.5 and a rotary adsorption mechanism 1.7 are installed on the adsorption tooling base 1.1. The adsorption module 1.4 is provided with a suction cup 1.4.1, an air circuit block 1.4.2, a vacuum solenoid valve 1.4.3 and a solenoid valve mounting frame 1.4.4. The air circuit block 1.4.2 is adjustably mounted on the bottom of both sides of the adsorption tooling base 1.1. A suction cup 1.4.1 is installed on the air circuit block 1.4.2. The suction cup 1.4.1 adsorbs the frame of the photovoltaic module.

[0030] A strip groove is provided on the adsorption tooling base 1.1, and the air path block 1.4.2 is installed on the strip groove in an adjustable spacing form by bolts. The interior of the air path block 1.4.2 is an air path channel, and the air path block 1.4.2 is connected to the vacuum solenoid valve 1.4.3 through an air pipe. The vacuum solenoid valve 1.4.3 is installed in the solenoid valve mounting frame 1.4.4, and the solenoid valve mounting frame 1.4.4 is installed on the upper part of the adsorption tooling base 1.1 by bolts. The vacuum solenoid valve 1.4.3 controls the on and off of the suction cup 1.4.1 on each air path block 1.4.2.

[0031] The sandwich paper grabbing fixture 1.5 is provided with a grabbing cylinder 1.5.1, a cylinder mounting seat 1.5.2 and grabbing fingers 1.5.3. The grabbing cylinder 1.5.1 is mounted on one side of the middle of the adsorption tooling base 1.1. The grabbing cylinder 1.5.1 controls the grabbing fingers 1.5.3 to clamp the sandwich paper between the frames of the photovoltaic modules. The grabbing cylinder 1.5.1 is fixed on the adsorption tooling base 1.1 through the cylinder mounting seat 1.5.2. The grabbing cylinder 1.5.3 adopts a finger cylinder. The grabbing cylinder 1.5.1 controls the opening and closing of two grabbing fingers 1.5.3 to clamp the sandwich paper between the frames of the photovoltaic modules, so as to better remove the sandwich paper in all environments without the phenomenon of being unable to be sucked.

[0032] A through hole is provided in the middle of the adsorption tooling base 1.1, and a visual camera 1.3 is installed in the through hole. The visual camera 1.3 adopts a CCD camera, and the upper part of the visual camera 1.3 is located on the inner side of the mounting frame 1.2.

[0033] A rotary adsorption mechanism 1.7 is also installed on the adsorption tooling base 1.1. The rotary adsorption mechanism 1.7 and the interlayer paper grabbing fixture 1.5 are located on the same side of the adsorption tooling base 1.1. The rotary adsorption mechanism 1.7 is provided with a rotating motor 1.7.1, a motor mounting seat 1.7.2, an interlayer paper suction cup 1.7.3 and a suction cup mounting block 1.7.4. The rotating motor 1.7.1 is installed on the adsorption tooling base 1.1 through the motor mounting seat 1.7.2. The motor shaft of the rotating motor 1.7.1 is connected to the suction cup mounting block 1.7.4. The interlayer paper suction cup 1.7.3 is installed at the lower part of the suction cup mounting block 1.7.4. The rotating motor 1.7.1 controls the interlayer paper suction cup 1.7.3 to swing. The interlayer paper suction cup 1.7.3 sucks up the interlayer paper between the frames of the photovoltaic modules, which is convenient for the subsequent grabbing fingers 1.5.3 to clamp the interlayer paper between the frames of the photovoltaic modules and cooperate with the collaborative robot to peel off the interlayer paper. The rotary adsorption mechanism 1.7 perfectly avoids the adjustable adsorption module 1.4, and there will be no interference when adsorbing a specific frame.

[0034] A light source system 1.6 is installed on the adsorption tooling base 1.1, and an illumination light source of the light source system 1.6 is installed at the lower part of the adsorption tooling base 1.1.

[0035] The adsorption module 1.4, the sandwich paper grabbing fixture 1.5 and the rotary adsorption mechanism 1.7 are arranged back to back on two opposite surfaces of the adsorption tooling base 1.1.

[0036] When the utility model absorbs multiple frames, it first uses a CCD camera to obtain the horizontal plane position of the entire frame. On the one hand, it determines the center position that the collaborative robot 2 needs to move when absorbing the frame, to ensure that the adsorption center of the adsorption module 1.4 corresponds to the center of the frame when the frame is adsorbed, to prevent the frame from tilting during the handling process; on the other hand, it determines the placement angle of the adsorption center line of each adsorption module 1.4 when the collaborative robot 2 absorbs the frame, to ensure that the adsorption center line of each adsorption module 1.4 is parallel to the central axis of the frame, to ensure that each adsorption module can be accurately adsorbed to the surface of the frame; after adjusting the position of the adsorption module 1.4, it starts to adsorb multiple groups of frames. before each transport, take photos of the frames transported in the same batch with a CCD camera. If the distance between two adjacent frames is too large, push the frames with the back of the large base 1.1 of the adsorption tooling to bring each frame closer together, so as to ensure that the surface area of ​​each frame can be adsorbed by the corresponding adsorption module 1.4. If the number of frames remaining in the same layer is less than the number of adsorption modules 1.4, only the corresponding number of adsorption modules 1.4 are controlled to generate negative pressure adsorption force. When all the frames of one layer are taken away, the interlayer paper grabbing fixture 1.5 and the rotary adsorption mechanism 1.7 are used to brush off the interlayer paper on the surface, and then the adsorption of the next layer of frames is started.

[0037] By arranging and setting multiple groups of adsorption modules and cooperating with CCD cameras to obtain the horizontal plane position of the entire support frame and the flatness of the top surface, a basis is provided for adjusting the position angle of the adsorption module 1.4, ensuring that multiple groups of adsorption modules 1.4 can better adsorb multiple frames at one time; at the same time, the correction baffle is used to push the frames with larger spacing closer together, further ensuring the reliability of adsorption, realizing automatic loading, greatly improving the loading efficiency of multiple layers and multiple frames, eliminating manual handling, and reducing labor intensity.

[0038] 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.

[0039] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

[0040] 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.

[0041] 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 photovoltaic module whole support type flexible frame automatic feeding machine, characterized in that: It includes an adsorption and handling device and a collaborative robot, wherein the end effector of the collaborative robot is connected to the adsorption and handling device, the adsorption and handling device is provided with an adsorption tooling base, an adsorption module and a sandwich paper grabbing fixture, the adsorption module and the sandwich paper grabbing fixture are installed on the adsorption tooling base, the adsorption module is provided with a suction cup and an air circuit block, the air circuit block is adjustably installed at the bottom of both sides of the adsorption tooling base, the suction cup is installed on the air circuit block, the suction cup adsorbs the photovoltaic component frame, the sandwich paper grabbing fixture is provided with a grabbing cylinder, the grabbing cylinder is installed on one side of the middle of the adsorption tooling base, and the grabbing cylinder controls the grabbing fingers to grab the sandwich paper between the frames of the photovoltaic components.

2. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1 is characterized in that: The base of the collaborative robot is installed on a robot mounting frame, the robot mounting frame is installed on a loading base, and a robot control cabinet and a visual TV cabinet are also installed on the loading base.

3. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1 is characterized in that: A mounting frame is provided in the middle of the adsorption tooling base, and the mounting frame is connected to the end effector of the collaborative robot through bolts.

4. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 3 is characterized in that: A through hole is provided in the middle of the adsorption tooling base, a visual camera is installed in the through hole, and the upper part of the visual camera is located on the inner side of the mounting frame.

5. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1, characterized in that: The adsorption tooling base is provided with a strip groove, the air path block is adjustably mounted on the strip groove by bolts, the inside of the air path block is an air path channel, the air path block is connected to the vacuum solenoid valve through an air pipe, the vacuum solenoid valve is mounted in the solenoid valve mounting frame, the solenoid valve mounting frame is mounted on the upper part of the adsorption tooling base by bolts, and the vacuum solenoid valve controls the on and off of the suction cup on each air path block.

6. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1, characterized in that: The grabbing cylinder is fixed on the adsorption tooling base through a cylinder mounting seat. The grabbing cylinder adopts a finger cylinder, and the grabbing cylinder controls the opening and closing of two grabbing fingers.

7. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1, characterized in that: A rotary adsorption mechanism is also installed on the adsorption tooling base. The rotary adsorption mechanism and the interlayer paper grabbing fixture are located on the same side of the adsorption tooling base. The rotary adsorption mechanism is provided with a rotary motor. The rotary motor is installed on the adsorption tooling base through a motor mounting seat. The motor shaft of the rotary motor is connected to the suction cup mounting block. The interlayer paper suction cup is installed at the lower part of the suction cup mounting block. The rotary motor controls the swing of the interlayer paper suction cup, and the interlayer paper suction cup sucks up the interlayer paper between the frames of the photovoltaic components.

8. The photovoltaic module whole-support type flexible frame automatic feeding machine according to claim 1, characterized in that: A light source system is installed on the adsorption tooling base, and an illumination light source of the light source system is installed at the lower part of the adsorption tooling base.

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