Novel robot automatic cross rod feeding tool assembly line

Abstract

The utility model relates to the technical field of photovoltaic panel production equipment, and particularly discloses a novel robot automatic cross rod feeding tool assembly line which comprises a tool feeding mechanism and an assembly feeding mechanism, a conveying assembly is arranged on an assembly feeding rack, and a vision mechanism is installed on one side of the assembly feeding rack; a stack is installed on the rear portion of the tool feeding mechanism, the tool feeding mechanism conveys cross rod tools into the stack to be temporarily stored, the overturning positioning mechanism is installed on the rear portion of the stack, an overturning motor on the overturning rack controls the cross rod tools to be overturned and placed on the positioning rack with the front faces upwards, and a positioning air cylinder on the positioning rack is used for centering and correcting the cross rod tools. A robot feeding mechanism is installed on the rear portion of the positioning rack, and a robot controls a clamping jaw air cylinder at the execution end to clamp a cross rod tool to be installed on the assembly; according to the utility model, a full-automatic assembly line assembly mode is adopted, the stability and the accuracy of placing the cross rod tool are improved, the labor intensity is reduced, and the working efficiency of installing the cross rod tool on the photovoltaic module is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic panel production equipment technical field, concretely relates to a novel robot automatic horizontal pole tool assembly line. BACKGROUND

[0002] Photovoltaic module, also known as solar panel cell, is a kind of cell device that generates electricity by using solar radiation. Silicon is used as the main material to convert solar energy into direct-current electric energy through photoelectric effect. The horizontal pole tool is installed on the photovoltaic module to provide stable support and positioning during installation, ensuring the installation quality and efficiency of the module. This tool is usually used in the construction of large-scale photovoltaic power stations, especially in ground-mounted systems.

[0003] The horizontal pole tool installed on the photovoltaic module plays an important role in the solar panel manufacturing process. The traditional method of installing the horizontal pole tool on the photovoltaic module is basically manual placement. The photovoltaic module is placed on the conveying equipment, and the horizontal pole tool is placed on the photovoltaic module by manual operation. Due to the large size of the horizontal pole tool, it is not convenient to take it, which causes the horizontal pole tool to be placed out of position, which poses a hidden danger to the installation of the junction box on the horizontal pole tool by the robot later. The installation of the junction box requires high precision, which may cause installation errors and affect production efficiency. Manual operation also has safety hazards. The traditional placement method consumes manpower, material resources and financial resources, and limits the production capacity of photovoltaic equipment.

[0004] Therefore, there is an urgent need to design a novel robot automatic horizontal pole tool assembly line to solve the problems of high labor intensity, low efficiency and low placement precision of manual operation in the existing installation of horizontal pole tool on photovoltaic module. INVENTION CONTENTS

[0005] In view of the problems existing in the prior art, the purpose of the utility model is to provide a novel robot automatic horizontal pole tool assembly line.

[0006] The technical scheme adopted by the utility model to solve its technical problems is: a novel robot automatic horizontal pole tool assembly line, including tool feeding mechanism and component feeding mechanism, the component feeding mechanism is provided with component feeding rack, the component feeding rack conveys components, a visual mechanism is installed on one side of the component feeding rack, the visual mechanism is provided with a visual support and a camera, the visual support is located on one side of the component feeding rack, a plurality of cameras are installed on the visual support, and the cameras are located above the component feeding rack;

[0007] The stack is installed behind the tool feeding mechanism, the tool feeding mechanism conveys the crossbar tool into the stack for temporary storage, a turnover positioning mechanism is installed behind the stack, the turnover positioning mechanism includes a positioning frame and a turnover frame, a turnover motor on the turnover frame controls the turnover of the crossbar tool to face upward and be placed on the positioning frame, a positioning cylinder on the positioning frame centers and corrects the crossbar tool, a robot feeding mechanism is installed at the rear of the positioning frame, the robot feeding mechanism is provided with a robot, and the robot controls the clamping of the crossbar tool by the clamping jaw cylinder of the execution end and installs the crossbar tool on the assembly.

[0008] Specifically, the tool feeding mechanism is provided with a feeding rack, a feeding belt and a feeding motor, the feeding belt is installed on the feeding rack through the belt pulleys on both sides, the belt pulley on one side is connected with the motor shaft of the feeding motor, the feeding motor is installed on the feeding rack, and the feeding motor drives the feeding belt to move to convey the crossbar tool.

[0009] Specifically, the stack is provided with a stack rack and a stack belt machine one, a stack belt machine two and a stack belt machine three, the stack belt machine one, the stack belt machine two and the stack belt machine three are installed at the same height in the middle of the stack rack, the stack belt machine one is matched with the position of the feeding belt, two groups of lifting chains one are installed in the gap between the stack belt machine one and the stack belt machine two, a plurality of lifting pallets one are installed between the two groups of lifting chains one, two groups of lifting chains two are installed in the gap between the stack belt machine two and the stack belt machine three, a plurality of lifting pallets two are installed on the lifting chains two, the lifting chains one and the lifting chains two are controlled to synchronously lift by a lifting motor, and the crossbar tool is temporarily stored by the lifting pallets one and the lifting pallets two.

[0010] Specifically, the positioning frame is provided with a positioning belt installed through the belt pulleys on both sides, the belt pulley on one side is connected with the motor shaft of a positioning conveying motor, the positioning conveying motor is installed on the positioning frame, and the positioning conveying motor drives the positioning belt to move to convey the crossbar tool.

[0011] The positioning cylinder is installed on the positioning frame, a positioning clamping plate is installed on the cylinder rod of the positioning cylinder, and the positioning cylinder drives the positioning clamping plate to correct the crossbar tool on the positioning belt.

[0012] Specifically, two turnover motors are installed on the turnover frame, the motor shaft of the turnover motor is connected with a turnover frame, a clamping cylinder is installed on the turnover frame, a turnover block is installed on the cylinder rod of the clamping cylinder, the clamping cylinders on both sides control the movement of the turnover block to clamp the crossbar tool, and the turnover motor synchronously drives the crossbar tool to rotate.

[0013] The both sides of the turnover frame are fixedly connected with longitudinal beams, the longitudinal beams are provided with longitudinal beam sliding rails, the longitudinal beam sliding rails are slidably connected with longitudinal moving sliding seats, the longitudinal moving sliding seats are provided with nut seats, the nut seats are screwed with longitudinal moving lead screws, the longitudinal moving lead screws are rotatably installed on the longitudinal beams through bearing seats, one end of the longitudinal moving lead screws is connected with the motor shaft of the longitudinal moving motor, the longitudinal moving motor drives the longitudinal moving sliding seat to move along the longitudinal beam sliding rail, a cross beam is installed between the two longitudinal moving sliding seats, the middle of the cross beam is vertically installed with a lifting frame, the lifting frame is provided with lifting sliding rails, the lifting sliding rails are slidably connected with lifting sliding seats, the lifting sliding seats are provided with lifting nut seats, the lifting nut seats are screwed with lifting lead screws, the lifting lead screws are rotatably installed on the lifting frame through bearing seats, the upper portion of the lifting lead screw is connected with the motor shaft of the lifting motor, the lifting motor drives the lifting sliding seat to move up and down along the lifting sliding rail, a turnover clamp cylinder is installed on the lifting sliding seat, two fingers of the turnover clamp cylinder are installed with turnover clamps, and the turnover clamp cylinder controls the turnover clamps to clamp the cross bar tool to move between the positioning belt and the turnover block.

[0014] Specifically, the robot feeding mechanism is arranged between the turnover positioning mechanism and the component feeding mechanism, the robot is installed on a robot base, an execution end of the robot is connected with an execution mounting frame, two groups of clamp cylinders are installed on the execution mounting frame, tool clamps are installed on the two fingers of the clamp cylinders, the clamp cylinders control the tool clamps to grab the cross bar tool on the positioning belt, and the robot controls the cross bar tool to be placed on the component of the component feeding mechanism.

[0015] Specifically, four synchronous belts are installed on the component feeding frame, the synchronous belts are installed on the component feeding frame through synchronous pulleys on the two sides, a transmission shaft is connected between the synchronous pulleys on one side, the transmission shaft is connected with the motor shaft of a component feeding motor, the component feeding motor drives the four synchronous belts to rotate synchronously, and the components are placed on the synchronous belts.

[0016] Correcting cylinders are installed on the two sides of the component feeding frame, a blocking wheel frame is installed on the cylinder rod of the correcting cylinder, and a blocking wheel is installed on the blocking wheel frame; the correcting cylinder controls the blocking wheel to abut against the two sides of the component.

[0017] Specifically, the upper portion of the vision frame is installed with a camera mounting frame, three through holes are arranged on the camera mounting frame, cameras are installed in the through holes, and the cameras are located directly above the component installation cross bar tool position.

[0018] Specifically, the outer sides of the positioning frame and the robot feeding mechanism are installed with protective nets.

[0019] Specifically, the outer side of the protective net is provided with a control mechanism, the control mechanism is provided with a control frame, the inner side of the control frame is provided with a general power distribution cabinet and a robot power distribution cabinet, the upper portion of the control frame is provided with a control display and a computer display.

[0020] The utility model has the following beneficial effects:

[0021] The novel robot automatic horizontal rod tooling assembly line has the advantages that full-automatic assembly line assembling is adopted, photovoltaic module automatic feeding and alignment are realized, horizontal rod tooling automatic feeding, temporary storage, alignment and robot grabbing and placing on the module are realized, positioning is realized through a visual camera, the robot is accurately placed, the stability and accuracy of horizontal rod tooling placing are improved, the labor intensity is reduced, and the working efficiency of horizontal rod tooling installation on the photovoltaic module is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a whole structure schematic diagram of the novel robot automatic horizontal rod tooling assembly line Figure 1 .

[0023] Figure 2 is a whole structure schematic diagram of the novel robot automatic horizontal rod tooling assembly line Figure 2 .

[0024] Figure 3 is a structure schematic diagram of the tooling feeding mechanism.

[0025] Figure 4 is a structure schematic diagram of the stack.

[0026] Figure 5 is Figure 4 the right view.

[0027] Figure 6 is a structure schematic diagram of the positioning rack of the turnover positioning mechanism.

[0028] Figure 7 is a structure schematic diagram of the turnover rack of the turnover positioning mechanism.

[0029] Figure 8 is Figure 7 the left view.

[0030] Figure 9 is a structure schematic diagram of the robot feeding mechanism.

[0031] Figure 10 is a structure schematic diagram of the execution installation frame.

[0032] Figure 11 is Figure 10 the bottom view.

[0033] Figure 12 is a structure schematic diagram of the module feeding mechanism.

[0034] Figure 13 is a structure schematic diagram of the visual mechanism.

[0035] Figure 14 is the bottom view of the visual mechanism.

[0036] Figure 15Is the structure diagram of the guard net.

[0037] Figure 16 Is the structure diagram of the control mechanism.

[0038] Figure 17 Is the structure diagram of the assembly on the mounting crossbar tool.

[0039] In the figure: 1-Tool feeding mechanism, 1.1-Feeding rack, 1.2-Feeding belt, 1.3-Feeding motor;

[0040] 2-Stack, 2.1-Stack rack, 2.2-Stack belt machine one, 2.3-Stack belt machine two, 2.4-Stack belt machine three, 2.5-Lifting pallet one, 2.6-Lifting pallet two, 2.7-Lifting chain one, 2.8-Lifting chain two;

[0041] 3-Overturning positioning mechanism, 3.1-Positioning rack, 3.2-Positioning belt, 3.3-Positioning conveying motor, 3.4-Positioning clamping plate, 3.5-Positioning cylinder, 3.6-Overturning rack, 3.7-Overturning clamping jaw, 3.8-Overturning clamping jaw cylinder, 3.9-Overturning block, 3.10-Clinching cylinder, 3.11-Overturning frame, 3.12-Overturning motor, 3.13-Lifting slide, 3.14-Lifting frame, 3.15-Cross beam, 3.16-Longitudinal beam, 3.17-Longitudinal movement slide, 3.18-Longitudinal movement motor, 3.19-Longitudinal movement screw;

[0042] 4-Robot feeding mechanism, 4.1-Robot base, 4.2-Robot, 4.3-Execution mounting frame, 4.4-Clamping jaw cylinder, 4.5-Tool clamping jaw;

[0043] 5-Assembly feeding mechanism, 5.1-Assembly feeding rack, 5.2-Synchronous belt, 5.3-Transmission shaft, 5.4-Assembly feeding motor, 5.5-Stop wheel, 5.6-Stop wheel frame, 5.7-Alignment cylinder;

[0044] 6-Vision mechanism, 6.1-Vision rack, 6.2-Camera mounting frame, 6.3-Camera;

[0045] 7-Control mechanism, 7.1-Control rack, 7.2-General power distribution cabinet, 7.3-Robot power distribution box, 7.4-Control display, 7.5-Computer display;

[0046] 8-Guard net; 9-Assembly; 10-Crossbar tool. DETAILED DESCRIPTION

[0047] The technical solutions of the present utility model will be described in further detail below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0048] like Figures 1-17 As shown, a novel robotic automatic crossbar tooling assembly line includes a tooling loading mechanism 1, a stack 2, a flipping and positioning mechanism 3, a robot loading mechanism 4, a component loading mechanism 5, a vision mechanism 6, a control mechanism 7, and a protective net 8. The component loading mechanism 5 is equipped with a component loading frame 5.1, on which components 9 are conveyed. The vision mechanism 6 is installed on one side of the component loading frame 5.1. The vision mechanism 6 is equipped with a vision bracket 6.1 and cameras 6.3. The vision bracket 6.1 is located on one side of the component loading frame 5.1, and three cameras 6.3 are installed on the vision bracket 6.1. The cameras 6.3 are located above the component loading frame 5.1.

[0049] A stack 2 is installed at the rear of the tooling feeding mechanism 1. The tooling feeding mechanism 1 conveys the crossbar tooling 10 into the stack 2 for temporary storage. A flipping and positioning mechanism 3 is installed at the rear of the stack 2. The flipping and positioning mechanism 3 includes a positioning frame 3.1 and a flipping frame 3.6. The flipping motor 3.12 on the flipping frame 3.6 controls the crossbar tooling 10 to flip face up and place it on the positioning frame 3.1. The positioning cylinder 3.5 on the positioning frame 3.1 centers and aligns the crossbar tooling 10. A robot feeding mechanism 4 is installed at the rear of the positioning frame 3.1. The robot feeding mechanism 4 is equipped with a robot 4.2. The robot 4.2 controls the gripper cylinder 4.4 at the execution end to grip the crossbar tooling 10 and install it onto the assembly 9.

[0050] The tooling feeding mechanism 1 is equipped with a feeding frame 1.1, a feeding belt 1.2 and a feeding motor 1.3. The feeding belt 1.2 is mounted on the feeding frame 1.1 via pulleys on both sides. One pulley is connected to the motor shaft of the feeding motor 1.3. The feeding motor 1.3 is mounted on the feeding frame 1.1 and drives the feeding belt 1.2 to move the conveyor crossbar tooling 10.

[0051] The stack 1 is provided with a stack rack 2.1, a stack belt conveyor 1 2.2, a stack belt conveyor 2 2.3, a stack belt conveyor 3 2.4, a lifting pallet 1 2.5, a lifting pallet 2 2.6, a lifting chain 1 2.7 and a lifting chain 2 2.8, the stack belt conveyor 1 2.2, the stack belt conveyor 2 2.3 and the stack belt conveyor 3 2.4 are installed at the same height in the middle of the stack rack 2.1, the stack belt conveyor 1 2.2 is matched with the position of the feeding belt 1.2, two groups of lifting chains 1 2.7 are installed in the gap between the stack belt conveyor 1 2.2 and the stack belt conveyor 2 2.3, the lifting chains 1 2.7 are installed on the stack rack 2.1 through sprocket wheels, a plurality of lifting pallets 1 2.5 are installed between the two groups of lifting chains 1 2.7, two groups of lifting chains 2 2.8 are installed in the gap between the stack belt conveyor 2 2.3 and the stack belt conveyor 3 2.4, the lifting chains 2 2.8 are installed on the stack rack 2.1 through sprocket wheels, a plurality of lifting pallets 2 2.6 are installed on the lifting chains 2 2.8, the lifting chains 1 2.7 and the lifting chains 2 2.8 are synchronously lifted by the lifting motor, the lifting pallets 1 2.5 and the lifting pallets 2 2.6 are lifted respectively with the lifting chains 1 2.7 and the lifting chains 2 2.8, and the cross rod tooling 10 is temporarily stored by lifting.

[0052] The positioning rack 3.1 is provided with a positioning belt 3.2 installed through the belt pulleys on both sides, and one side of the belt pulley is connected with the motor shaft of a positioning conveying motor 3.3 installed on the positioning rack 3.1, and the positioning conveying motor 3.3 drives the positioning belt 3.2 to move the cross rod tooling 10.

[0053] Both sides of the positioning rack 3.1 are provided with a positioning cylinder 3.5, and a positioning clamp plate 3.4 is installed on the cylinder rod of the positioning cylinder 3.5, and the positioning cylinder 3.5 drives the positioning clamp plate 3.4 to align the cross rod tooling 10 on the positioning belt 3.2.

[0054] The overturning rack 3.6 is provided with two overturning motors 3.12 installed oppositely, the motor shaft of the overturning motor 3.12 is connected with an overturning frame 3.11, a clamping cylinder 3.10 is installed on the overturning frame 3.11, a overturning block 3.9 is installed on the cylinder rod of the clamping cylinder 3.10, and the clamping cylinders 3.10 on both sides control the overturning block 3.9 to move and clamp the cross rod tooling 10, and the overturning motor 3.12 synchronously drives the cross rod tooling 10 to rotate.

[0055] The two sides of the turnover frame 3.6 are fixedly connected with longitudinal beams 3.16, longitudinal beam slides are installed on the longitudinal beams 3.16, longitudinal moving slides 3.17 are slidably connected with the longitudinal beam slides, a screw nut seat is arranged on the longitudinal moving slides 3.17, a longitudinal moving screw 3.19 is screwed with the screw nut seat, the longitudinal moving screw 3.19 is rotatably installed on the longitudinal beam 3.16 through a bearing seat, one end of the longitudinal moving screw 3.19 is connected with a motor shaft of a longitudinal moving motor 3.18, the longitudinal moving motor 3.18 drives the longitudinal moving slides 3.17 to move along the longitudinal beam slides, a cross beam 3.15 is installed between the two longitudinal moving slides 3.17, a lifting frame 3.14 is vertically installed in the middle of the cross beam 3.15, lifting slides are arranged on the lifting frame 3.14, lifting slides 3.13 are slidably connected with the lifting slides, lifting screw nut seats are arranged on the lifting slides 3.13, lifting screws are screwed with the lifting screw nut seats, the lifting screws are rotatably installed on the lifting frame 3.14 through bearing seats, the upper portions of the lifting screws are connected with motor shafts of lifting motors, the lifting motors drive the lifting slides to move up and down along the lifting slides, a turnover clamp cylinder 3.8 is installed on the lifting slides, the turnover clamp cylinder 3.8 is a finger cylinder, turnover clamps 3.7 are installed on the two fingers of the turnover clamp cylinder 3.8, the turnover clamp cylinder 3.8 controls the turnover clamps 3.7 to clamp the cross bar tooling 10, the longitudinal moving motor 3.18 and the lifting motor cooperate to control the turnover clamp cylinder 3.8 to move between the positioning belt 3.2 and the turnover block 3.9, and the cross bar tooling that needs to be turned over is turned over to face forward.

[0056] The robot feeding mechanism 4 is arranged between the turnover positioning mechanism 3 and the assembly feeding mechanism 5, a robot 4.2 is installed on a robot base 4.1, the robot 4.2 is a ROKAE (Rostock Robot) of the xMate CR series, an execution end of the robot 4.2 is connected with an execution mounting frame 4.3, two sets of clamp cylinders 4.4 are installed on the execution mounting frame 4.3, the clamp cylinders 4.4 are finger cylinders, tooling clamps 4.5 are installed on the two fingers of the clamp cylinders 4.4, the clamp cylinders 4.4 control the tooling clamps 4.5 to grab the cross bar tooling 10 on the positioning belt 3.2, and the robot 4.2 controls the cross bar tooling 10 to be placed on the assembly 9 of the assembly feeding mechanism 5.

[0057] Four synchronous belts 5.2 are installed on the assembly feeding frame 5.1, the synchronous belts 5.2 are installed on the assembly feeding frame 5.1 through synchronous pulleys on the two sides, a transmission shaft 5.3 is connected between the synchronous pulleys on one side, the transmission shaft 5.3 is connected with a motor shaft of an assembly feeding motor 5.4, the assembly feeding motor 5.4 drives the four synchronous belts 5.2 to synchronously rotate, and the assembly 9 is placed on the synchronous belts 5.2.

[0058] A righting cylinder 5.7 is installed on the two sides of the assembly feeding frame 5.1, a wheel blocking frame 5.6 is installed on the cylinder rod of the righting cylinder 5.7, a wheel 5.5 is installed on the wheel blocking frame 5.6, and the righting cylinder 5.7 controls the wheel 5.5 to abut against the two sides of the assembly 9.

[0059] The upper part of the visual rack 6.1 is provided with a camera mounting rack 6.2, and three through holes are arranged on the camera mounting rack 6.2, and a camera 6.3 is arranged in the through holes, and the camera 6.3 is located directly above the assembly 9 mounting cross bar tooling 10 position.

[0060] The outer side of the positioning rack 3.1 and the robot feeding mechanism 4 is provided with a protective net 8. The outer side of the protective net 8 is provided with a control mechanism 7, and the control mechanism 7 is provided with a control rack 7.1, and the inner side of the control rack 7.1 is provided with a general power distribution cabinet 7.2 and a robot power distribution cabinet 7.3, and the upper part of the control rack 7.1 is provided with a control display 7.4 and a computer display 7.5.

[0061] The working principle of the utility model:

[0062] The cross bar tooling 10 is placed on the tooling feeding mechanism 1, enters the stacking 2 for buffering, reaches the turnover positioning mechanism 3, and the positioning cylinder 3.5 starts to center the cross bar tooling 10, if the cross bar tooling 10 is turned over, the turnover clamp 3.7 on the tooling turnover rack 3.6 grabs the right cross bar tooling 10 and turns it over. Under normal circumstances, after the cross bar tooling 10 is right, the robot 4.2 uses the clamp cylinder 4.4 to grab the cross bar tooling 10, and then places it on the photovoltaic assembly 9, and the vision is positioned, and the robot 4.2 starts to insert the junction box into the cross bar tooling 10, and then the assembly 9 flows out, and then the next cycle action is carried out.

[0063] The utility model can move as a whole to meet different wires, can grab the cross bar tooling 10 and the plug at the same time, can effectively solve the problem that the plug is blocked by the cross bar tooling, can meet 12s production line, first take the cross bar tooling 10, then take the first plug and insert it, then place the cross bar tooling 10, then take the second plug and insert it, and the robot continues to take the next cross bar tooling 10.

[0064] 1. Technical maturity: with the development of robot technology and the accumulation of application experience, modern robot tooling has greatly improved in terms of technical maturity. Precise control system, optimized action and reliability test, etc. Modern design helps to improve the stability and reliability of the equipment.

[0065] 2. Automation and intelligence: modern collaborative robot tooling realizes higher degree of automation and intelligence. By adopting advanced machine vision system, sensor and control algorithm, the equipment can realize automatic process control, quality detection. This makes the equipment operation more convenient, improves the production efficiency and consistency.

[0066] 3. Production efficiency and speed: Modern collaborative robots have significantly improved in terms of work efficiency and speed. By optimizing robot parameters and other factors, modern devices can achieve faster tooling and improve production efficiency.

[0067] 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 capability. By adjusting parameters and adaptive control according to actual needs, modern devices can meet various tooling tasks.

[0068] The utility model is not limited to the above-mentioned embodiment, any person should know that the structural change made under the inspiration of the utility model, any identical or similar technical scheme with the utility model falls into the protection scope of the utility model.

[0069] The technical, shape, structure parts not described in detail in the utility model are well-known technologies.

Claims

1. A novel robotic automatic crossbar loading tooling line characterized in that, The device comprises a tool feeding mechanism and an assembly feeding mechanism, the assembly feeding mechanism is provided with an assembly feeding rack, and assemblies are conveyed on the assembly feeding rack; a visual mechanism is installed on one side of the assembly feeding rack, the visual mechanism is provided with a visual support and a camera, the visual support is located on one side of the assembly feeding rack, a plurality of cameras are installed on the visual support, and the cameras are located above the assembly feeding rack; A stack is installed at the rear of the tool feeding mechanism, the tool feeding mechanism conveys a horizontal bar tool into the stack for temporary storage, a turnover positioning mechanism is installed at the rear of the stack, the turnover positioning mechanism comprises a positioning rack and a turnover rack, a turnover motor on the turnover rack controls the turnover of the horizontal bar tool to face upwards and be placed on the positioning rack, a positioning cylinder on the positioning rack centers and corrects the horizontal bar tool, a robot feeding mechanism is installed at the rear of the positioning rack, the robot feeding mechanism is provided with a robot, and the robot controls the clamping of the horizontal bar tool by a clamping jaw cylinder on the execution end and installs the horizontal bar tool on the assembly.

2. The novel robotic automatic cross-pole jacking assembly line according to claim 1, characterized in that, The tool feeding mechanism is provided with a feeding rack, a feeding belt and a feeding motor, the feeding belt is installed on the feeding rack through belt pulleys on both sides, a belt pulley on one side is connected with a motor shaft of the feeding motor, the feeding motor is installed on the feeding rack, and the feeding motor drives the feeding belt to move and convey the horizontal bar tool.

3. The novel robotic automatic cross-pole jacking assembly line according to claim 2, characterized in that, The stack is provided with a stack rack, a stack belt machine one, a stack belt machine two and a stack belt machine three, the stack belt machine one, the stack belt machine two and the stack belt machine three are installed at the same height in the middle of the stack rack, the stack belt machine one is matched with the position of the feeding belt, two groups of lifting chains one are installed in the gap between the stack belt machine one and the stack belt machine two, a plurality of lifting supporting plates one are installed between the two groups of lifting chains one, two groups of lifting chains two are installed in the gap between the stack belt machine two and the stack belt machine three, a plurality of lifting supporting plates two are installed on the lifting chains two, the lifting chains one and the lifting chains two are controlled to synchronously lift by a lifting motor, and the lifting supporting plates one and the lifting supporting plates two lift the horizontal bar tool for temporary storage.

4. The novel robotic automatic cross-pole jacking assembly line according to claim 1, wherein, The positioning rack is provided with a positioning belt installed through belt pulleys on both sides, a belt pulley on one side is connected with a motor shaft of a positioning conveying motor, the positioning conveying motor is installed on the positioning rack, and the positioning conveying motor drives the positioning belt to move and convey the horizontal bar tool. Positioning cylinders are installed on both sides of the positioning rack, positioning clamps are installed on the cylinder rods of the positioning cylinders, and the positioning cylinders drive the positioning clamps to correct the horizontal bar tool on the positioning belt.

5. The novel robotic automatic cross-pole jacking assembly line according to claim 4, characterized in that, Two turnover motors are installed on the turnover rack in opposition, motor shafts of the turnover motors are connected with turnover frames, clamping cylinders are installed on the turnover frames, turnover blocks are installed on the cylinder rods of the clamping cylinders, the clamping cylinders on both sides control the turnover blocks to move and clamp the horizontal bar tool, and the turnover motors synchronously drive the horizontal bar tool to rotate. The two sides of the turnover frame are fixedly connected with longitudinal beams, longitudinal beam slides are installed on the longitudinal beams, longitudinal moving slides are slidably connected with the longitudinal beam slides, a screw nut seat is arranged on the longitudinal moving slide, a longitudinal moving screw rod is screwed with the screw nut seat, the longitudinal moving screw rod is rotatably installed on the longitudinal beam through a bearing seat, one end of the longitudinal moving screw rod is connected with a motor shaft of a longitudinal moving motor, the longitudinal moving motor drives the longitudinal moving slide to move along the longitudinal beam slide, a cross beam is installed between the two longitudinal moving slides, a lifting frame is vertically installed in the middle of the cross beam, a lifting slide is arranged on the lifting frame, a lifting slide seat is slidably connected with the lifting slide, a lifting screw nut seat is arranged on the lifting slide seat, a lifting screw rod is screwed with the lifting screw nut seat, the lifting screw rod is rotatably installed on the lifting frame through a bearing seat, the upper portion of the lifting screw rod is connected with a motor shaft of a lifting motor, the lifting motor drives the lifting slide to move up and down along the lifting slide, a turnover clamp cylinder is installed on the lifting slide, turnover clamps are installed on the two fingers of the turnover clamp cylinder, and the turnover clamp cylinder controls the turnover clamps to clamp the cross bar tool to move between the positioning belt and the turnover block.

6. The novel robotic automatic cross-pole jacking assembly line according to claim 1, wherein, The robot loading mechanism is arranged between the turnover positioning mechanism and the component loading mechanism, the robot is installed on a robot base, an execution end of the robot is connected with an execution mounting frame, two groups of clamp cylinders are installed on the execution mounting frame, tool clamps are installed on the two fingers of the clamp cylinders, and the clamp cylinders control the tool clamps to grab the cross bar tool on the positioning belt.

7. The novel robotic automatic cross-pole jacking assembly line according to claim 1, wherein, Four synchronous belts are installed on the component loading frame, the synchronous belts are installed on the component loading frame through synchronous pulleys on the two sides, a transmission shaft is connected between the synchronous pulleys on one side, the transmission shaft is connected with a motor shaft of a component loading motor, the component loading motor drives the four synchronous belts to synchronously rotate, and the components are placed on the synchronous belts. Correcting cylinders are installed on the two sides of the component loading frame, a blocking wheel frame is installed on a cylinder rod of the correcting cylinder, and a blocking wheel is installed on the blocking wheel frame; and the correcting cylinder controls the blocking wheel to abut against the two sides of the component.

8. The novel robotic automatic cross-pole jacking assembly line according to claim 1, wherein, A camera mounting frame is installed on the upper portion of the visual support, three through holes are arranged in the camera mounting frame, and cameras are installed in the through holes and located directly above the component installation cross bar tool position.

9. The novel robotic automatic cross-pole jacking assembly line according to claim 1, wherein, A protective net is installed on the outer side of the positioning frame and the robot loading mechanism.

10. The novel robotic automatic cross-pole jacking assembly line according to claim 9, wherein, A control mechanism is arranged on the outer side of the protective net, the control mechanism is provided with a control frame, a general power distribution cabinet and a robot power distribution cabinet are arranged on the inner side of the control frame, and a control display and a computer display are arranged on the upper portion of the control frame.

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