Robot automatic installation equipment for photovoltaic module junction box

Abstract

The utility model belongs to the technical field of installation equipment of photovoltaic module junction boxes, and particularly relates to robot automatic installation equipment of a photovoltaic module junction box. Comprising a feeding main frame body, a workbench is placed on the rear side of the feeding main frame body, two material temporary storage trolleys are connected to the front side of the feeding main frame body in an inserted mode, two sets of three-axis linear modules, two feeding conveyors, two sets of material taking visual detection devices and two collaborative robots are installed on the feeding main frame body, and rotating air cylinders are installed on the three-axis linear modules; a feeding clamping jaw is installed on the rotating air cylinder, a tool clamping jaw and a smoothing clamping jaw are installed on the collaborative robot, and a tool conveyor and a discharging visual detection device are installed on the workbench. According to the utility model, the junction box can be automatically mounted, the speed is high, the efficiency is high, the production efficiency is improved, direct manual contact is not needed, the safety is good, and the labor is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of installation equipment for photovoltaic module junction boxes, and particularly relates to a robot automatic installation device for photovoltaic module junction boxes. Background Art

[0002] At present, the installation of photovoltaic module junction boxes is carried out by equipment with a truss structure and motor guide rails for moving and positioning. This method has the following deficiencies:

[0003] (1) Poor flexibility: Compared with collaborative robots, the equipment with a truss structure and motor guide rails for moving and positioning may be less adaptable and flexible, and it is difficult to handle complex installation layout tasks.

[0004] (2) Higher maintenance cost: The maintenance and upkeep of components such as motor guide rails may be more cumbersome, requiring regular inspections and maintenance, which increases the management cost and workload.

[0005] (3) Lower degree of automation: Compared with collaborative robots, the equipment with a truss structure and motor guide rails for moving and positioning has a lower degree of automation, and may require more human participation in operation and monitoring.

[0006] (4) Fewer functions: The current equipment requires manual feeding, which is inefficient and cannot be applied to multiple mechanisms. Summary of the Invention

[0007] The purpose of the utility model is to provide a robot automatic installation device for photovoltaic module junction boxes to solve the problems existing in the prior art.

[0008] The technical solution adopted by the utility model to solve its technical problems is as follows:

[0009] A robot automatic installation device for photovoltaic module junction boxes includes a feeding main frame body. A workbench is placed behind the feeding main frame body. Two material buffer carts are inserted in front of the feeding main frame body. Two sets of three-axis linear modules, two feeding conveyors, two picking vision detection devices, and two collaborative robots are installed on the feeding main frame body. A rotary cylinder is installed on the three-axis linear module, and a feeding gripper is installed on the rotary cylinder. A tooling gripper and a flattening gripper are installed on the collaborative robot. A tooling conveyor and a discharging vision detection device are installed on the workbench.

[0010] Furthermore, two positioning square tubes are welded to the bottom end inside the feeding main frame body, and the other ends of the positioning square tubes face the front side of the feeding main frame body. An upper support frame and a middle support frame are respectively welded to the top end and the middle position at the rear side of the feeding main frame body. The upper support frame and the middle support frame both protrude backward from the feeding main frame body. Two positioning cylinders are installed at the top end of the front side of the feeding main frame body.

[0011] Further, the material buffer vehicle is a frame with an overall L-shaped structure welded by square tubes. A number of universal wheels are symmetrically installed on both sides of the bottom of the material buffer vehicle. One end of the bottom of the material buffer vehicle, which is far from the vertical plane of the L-shaped structure of the material buffer vehicle, has an opening for inserting the positioning square tube into the opening. A number of rollers are symmetrically and horizontally installed on the square tube at the opening end of the bottom of the material buffer vehicle. A rubber pad is installed on the square tube at the middle position of the bottom of the material buffer vehicle, and the rubber pad faces the opening end of the bottom of the material buffer vehicle. A number of support rods are horizontally bolted on the vertical plane of the L-shaped structure of the material buffer vehicle. The number of support rods is arranged in two columns in the vertical direction, and they are staggered between the two columns. Two positioning holes are opened at the top end of the vertical plane of the L-shaped structure of the material buffer vehicle for inserting the output end of the positioning cylinder into the positioning holes.

[0012] Further, the two three-axis linear modules are respectively located on both sides inside the feeding main frame body. The two rotary cylinders are respectively located at the moving ends of the two three-axis linear modules. The two feeding grippers are respectively located at the output ends of the two rotary cylinders. The two grippers of the feeding gripper are U-shaped, and the inner width of the U-shaped gripper of the feeding gripper is greater than the diameter of the support rod.

[0013] Further, the two feeding conveyors are located on the middle support frame. The two collaborative robots are respectively located on the middle support frame on both sides of the two feeding conveyors. The two picking vision detection devices are installed on the upper support frame, and the two picking vision detection devices are respectively located above the two feeding conveyors.

[0014] Further, the action directions of the tooling gripper and the flattening gripper are perpendicular to each other. L-shaped flattening blocks are fixed on both grippers of the flattening gripper. The working end of the flattening block is pointed, the working end of the flattening block faces downward, and it is located between the two grippers of the tooling gripper.

[0015] Further, the collaborative robot is a six-axis robot.

[0016] Further, the tooling conveyor and the workbench are both located below the middle support frame. The feeding vision detection device is located directly above the tooling conveyor.

[0017] The utility model has the following beneficial effects:

[0018] 1. The utility model can automatically install the junction box, with fast speed and high efficiency, improving the production efficiency. It does not require direct human contact, has good safety, and reduces labor.

[0019] 2. Through the positioning square tube, the positioning cylinder, and the rollers, the positioning of the material buffer vehicle is realized, which facilitates the feeding gripper to more accurately grasp the junction box, eliminates the need to additionally increase the positioning system of the feeding manipulator, and prevents the material buffer vehicle from shaking after positioning.

[0020] 3. Collaborative robots are highly flexible and precise, capable of adapting to photovoltaic modules with different sizes, shapes, and layout requirements, enhancing the adaptability and diversity of the production line.

[0021] 4. Collaborative robots can achieve a highly automated layout process, reducing manual intervention, lowering labor costs, and can be integrated into the entire production process to achieve unmanned production with high work efficiency. Brief Description of the Drawings

[0022] Figure 1 It is a schematic front - side structure diagram of the present utility model.

[0023] Figure 2 It is a schematic rear - side structure diagram of the present utility model.

[0024] Figure 3 It is a schematic side - view structure diagram of the present utility model.

[0025] Figure 4 It is the present utility model Figure 1 Schematic structure diagram at position A in the present utility model.

[0026] Figure 5 It is the present utility model Figure 1 Schematic structure diagram at position B in the present utility model.

[0027] Figure 6 It is a schematic structure diagram of the tooling gripper and smoothing gripper of the present utility model.

[0028] Figure 7 It is a schematic structure diagram of the material buffer cart of the present utility model.

[0029] Wherein: 1. Loading main frame; 2. Workbench; 3. Material buffer cart; 4. Three - axis linear module; 5. Loading conveyor; 6. Pick - up vision detection device; 7. Collaborative robot; 8. Rotary cylinder; 9. Loading gripper; 10. Tooling gripper; 11. Smoothing gripper; 12. Tooling conveyor; 13. Unloading vision detection device; 14. Positioning square tube; 15. Upper support frame; 16. Middle support frame; 17. Universal wheel; 18. Roller; 19. Rubber pad; 20. Support rod; 21. Smoothing block; 22. Junction box; 23. Photovoltaic module; 24. Positioning hole; 25. Positioning cylinder. Detailed Embodiment

[0030] In order to make the objectives, technical solutions, and advantages of the present utility model clearer and more understandable, the following further elaborates on the present utility model in conjunction with specific embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0031] As Figure 1-7As shown in the figure, a robot automatic installation device for a photovoltaic module junction box includes a feeding main frame body 1. A workbench 2 is placed at the rear side of the feeding main frame body 1. Two material buffer carts 3 are inserted into the front side of the feeding main frame body 1. Two sets of three-axis linear modules 4, two feeding conveyors 5, two material taking vision detection devices 6, and two collaborative robots 7 are installed on the feeding main frame body 1. A rotary cylinder 8 is installed on the three-axis linear module 4, and a feeding gripper 9 is installed on the rotary cylinder 8. A tooling gripper 10 and a flattening gripper 11 are installed on the collaborative robot 7. A tooling conveyor 12 and a feeding vision detection device 13 are installed on the workbench 2. The material taking vision detection device 6 and the feeding vision detection device 13 are both devices for positioning and identifying objects based on a vision recognition system, which are common technical means in automated design and will not be elaborated here.

[0032] At the bottom end inside the feeding main frame body 1, two positioning square tubes 14 are welded. The other ends of the positioning square tubes 14 face the front side of the feeding main frame body 1. At the top end and the middle position at the rear side of the feeding main frame body 1, an upper support frame 15 and a middle support frame 16 are respectively welded. The upper support frame 15 and the middle support frame 16 both protrude backward from the feeding main frame body 1. Two positioning cylinders 25 are installed at the top end of the front side of the feeding main frame body 1. The positioning square tubes 14 are used to position the material buffer cart 3 to prevent it from shaking left and right, resulting in inaccurate grasping of the junction box 22. The positioning cylinders 25 are used to fix the material buffer cart 3 to prevent it from moving.

[0033] The material buffer cart 3 is a frame with an overall L-shaped structure welded by square tubes. On both sides of the bottom of the material buffer cart 3, a number of universal wheels 17 are symmetrically installed. One end of the bottom of the material buffer cart 3, which is far from the vertical plane of the L-shaped structure of the material buffer cart 3, has an opening for inserting the positioning square tube 14 into the opening. On the square tubes at the opening end of the bottom of the material buffer cart 3, a number of rollers 18 are symmetrically and horizontally installed. When the material buffer cart 3 is positioned, the rollers 18 roll on the positioning square tubes 14. After positioning, the rollers 18 abut against both sides of the positioning square tubes 14, so that the opening end of the bottom of the material buffer cart 3 will not shake after being inserted on both sides of the positioning square tubes 14. A rubber pad 19 is installed on the square tube at the middle position of the bottom of the material buffer cart 3, and the rubber pad 19 faces the opening end of the bottom of the material buffer cart 3. The rubber pad 19 is used to buffer the impact of the material buffer cart 3 on the positioning square tubes 14. A number of support rods 20 are horizontally bolted on the vertical plane of the L-shaped structure of the material buffer cart 3. The number of support rods 20 is arranged in two columns in the vertical direction, and the two columns of support rods 20 are staggered. The support rods 20 are used to hang the junction box 22. The staggered distribution is to enable the feeding gripper 9 to pass through the staggered space to grasp the junction boxes 22 at different positions. Two positioning holes 24 are opened at the top end of the vertical plane of the L-shaped structure of the material buffer cart 3 for inserting the output end of the positioning cylinder 25 into the positioning holes 24 to fix the material buffer cart 3.

[0034] Two three-axis linear modules 4 are respectively located on both sides inside the loading main frame 1. Two rotary cylinders 8 are respectively located at the moving ends of the two three-axis linear modules 4. Two loading grippers 9 are respectively located at the output ends of the two rotary cylinders 8. The two grippers of the loading gripper 9 are U-shaped, and the inner width of the U-shaped grippers of the loading gripper 9 is greater than the diameter of the support rod 20. The three-axis linear module 4 is a commonly used automated machine and can move in three directions. The three-axis linear module 4 of the present utility model can move the loading gripper 9 in the front-back, up-down, and left-right directions, so that the loading gripper 9 can grasp the junction box 22 at different positions. When grasping, the two U-shaped grippers of the loading gripper 9 are stuck on the support rod 20, and the two U-shaped grippers are respectively located on both sides of a junction box 22 for grasping. The rotary cylinder 8 is used to flip the junction box 22 after the loading gripper 9 grasps it, so that the junction box 22 is placed on the loading conveyor 5 after flipping.

[0035] Two loading conveyors 5 are located on the middle support frame 16. Two collaborative robots 7 are respectively located on the middle support frame 16 on both sides of the two loading conveyors 5. Two picking vision detection devices 6 are installed on the upper support frame 15, and the two picking vision detection devices 6 are respectively located above the two loading conveyors 5. The loading conveyor 5 is used to convey the junction box 22 above the workbench 2, and the collaborative robot 7 grasps it and installs it on the photovoltaic module 23.

[0036] The action directions of the tooling gripper 10 and the smoothing gripper 11 are perpendicular to each other. L-shaped smoothing blocks 21 are fixed on both grippers of the smoothing gripper 11. The working end of the smoothing block 21 is pointed, the working end of the smoothing block 21 faces downwards, and is located between the two grippers of the tooling gripper 10. When the collaborative robot 7 grasps the junction box 22, the tooling gripper 10 clamps on both sides of the junction box 22, and the smoothing gripper 11 aligns with the lead wire and presses and smooths it.

[0037] The collaborative robot 7 is a six-axis robot. The six-axis robot has flexible movements, can flexibly adjust the angle, and has high precision.

[0038] The tooling conveyor 12 and the workbench 2 are both located below the middle support frame 16. The feeding vision detection device 13 is located directly above the tooling conveyor 12. The tooling conveyor 12 is used to convey the photovoltaic module 23 to the workbench 2, and the feeding vision detection device 13 has a camera and a lighting lamp to position the installation position, so as to complete the precise installation work of the junction box 22.

[0039] The working principle of the present utility model is:

[0040] During use, the tooling conveyor 12 conveys the photovoltaic module 23 under the middle support frame 16. Hang the junction box 22 on the support rods 20 of the two material buffer carts 3, manually push the material buffer cart 3 into the main loading frame body 1, and insert the positioning square tube 14 into the open end of the material buffer cart 3. The rubber pad 19 buffers the impact of the material buffer cart 3, and the rollers 18 form a clamping on both sides of the positioning square tube 14, effectively preventing the material buffer cart 3 from shaking. The output end of the positioning cylinder 25 extends and inserts into the positioning hole 24, thereby fixing the material buffer cart 3 to prevent its movement, facilitating the accurate grasping of the junction box 22 by the loading gripper 9. After both material buffer carts 3 are fixed, the loading gripper 9 moves up and down, left and right, and back and forth through the three-axis linear module 4 to sequentially grasp the junction box 22 (the junction boxes 22 have the same thickness, and the loading gripper 9 can sequentially grasp according to the thickness of the junction box 22, so no additional installation positioning system is required), and send it above the loading conveyor 5. At the same time, the rotating cylinder 8 rotates to rotate the junction box 22 and then place it on the loading conveyor 5. After the junction box 22 is conveyed to the vicinity of the collaborative robot 7 by the loading conveyor 5, the collaborative robot 7 is positioned through the picking vision detection device 6. The tooling gripper 10 clamps both sides of the junction box 22, and the placing vision detection device 13 locates the installation position. The collaborative robot 7 performs the installation action. The flattening block 21 presses on the lead wire. When the flattening gripper 11 acts, it drives the flattening block 21 to act, thereby pressing and flattening the lead wire, and thus completing the installation work. The tooling conveyor 12 conveys the photovoltaic module 23 to the next process.

[0041] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope of the present invention.

[0042] The technologies, shapes, and structures not detailedly described in the present invention are all well-known technologies.

Claims

1. A robot automatic installation device for a photovoltaic module junction box, characterized in that, It includes a loading main frame body. A workbench is placed at the rear side of the loading main frame body. Two material buffer carts are inserted into the front side of the loading main frame body. Two sets of three-axis linear modules, two loading conveyors, two picking vision detection devices, and two collaborative robots are installed on the loading main frame body. A rotary cylinder is installed on the three-axis linear module, and a loading gripper is installed on the rotary cylinder. A tooling gripper and a flattening gripper are installed on the collaborative robot. A tooling conveyor and a discharging vision detection device are installed on the workbench.

2. The robotic automatic installation device for the photovoltaic module junction box according to claim 1, characterized in that, Two positioning square tubes are welded to the bottom end inside the loading main frame body. The other ends of the positioning square tubes face the front side of the loading main frame body. An upper support frame and a middle support frame are respectively welded to the top end and the middle position at the rear side of the loading main frame body. Both the upper support frame and the middle support frame protrude backward from the loading main frame body. Two positioning cylinders are installed at the top end of the front side of the loading main frame body.

3. The robot automatic installation device for the photovoltaic module junction box according to claim 2, characterized in that, The material buffer cart is a frame integrally formed by welding square tubes and having an L-shaped structure. A number of universal wheels are symmetrically installed on both sides of the bottom of the material buffer cart. One end of the bottom of the material buffer cart away from the vertical plane of the L-shaped structure of the material buffer cart has an opening for inserting the positioning square tube into the opening. A number of rollers are symmetrically and horizontally installed on the square tube at the opening end of the bottom of the material buffer cart. A rubber pad is installed on the square tube at the middle position of the bottom of the material buffer cart, and the rubber pad faces the opening end of the bottom of the material buffer cart. A number of support rods are horizontally bolted to the vertical plane of the L-shaped structure of the material buffer cart. The number of support rods is arranged in two columns in the vertical direction, and they are staggered between the two columns. Two positioning holes are opened at the top end of the vertical plane of the L-shaped structure of the material buffer cart for inserting the output end of the positioning cylinder into the positioning holes.

4. The robot automatic installation device for the photovoltaic module junction box according to claim 3, characterized in that, The two three-axis linear modules are respectively located on both sides inside the loading main frame body. The two rotary cylinders are respectively located at the moving ends of the two three-axis linear modules. The two loading grippers are respectively located at the output ends of the two rotary cylinders. The two grippers of the loading gripper are U-shaped, and the inner width of the U-shaped gripper of the loading gripper is greater than the diameter of the support rod.

5. The robot automatic installation device for the photovoltaic module junction box according to claim 3, characterized in that, The two loading conveyors are located on the middle support frame. The two collaborative robots are respectively located on the middle support frames on both sides of the two loading conveyors. The two picking vision detection devices are installed on the upper support frame, and the two picking vision detection devices are respectively located above the two loading conveyors.

6. The robot automatic installation device for the photovoltaic module junction box according to claim 1, characterized in that, The action directions of the tooling gripper and the flattening gripper are perpendicular to each other. L-shaped flattening blocks are fixed on both grippers of the flattening gripper. The working end of the flattening block is pointed, the working end of the flattening block faces downward, and it is located between the two grippers of the tooling gripper.

7. The robot automatic installation device for the photovoltaic module junction box according to claim 1, characterized in that, The collaborative robot is a six-axis robot.

8. The robot automatic installation device for the photovoltaic module junction box according to claim 1, characterized in that, The tooling conveyor and the workbench are both located below the middle support frame. The discharging vision detection device is located directly above the tooling conveyor.

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