CN108438383B - Six-axis robot corner wrapping machine - Google Patents

Six-axis robot corner wrapping machine Download PDF

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Publication number
CN108438383B
CN108438383B CN201810413165.XA CN201810413165A CN108438383B CN 108438383 B CN108438383 B CN 108438383B CN 201810413165 A CN201810413165 A CN 201810413165A CN 108438383 B CN108438383 B CN 108438383B
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connecting rod
corner
lifting
plate
corner wrapping
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CN201810413165.XA
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CN108438383A (en
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沈维丰
孙治
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Suzhou Ur Intelligent Technology Co ltd
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Suzhou Ur Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • B65B61/22—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for placing protecting sheets, plugs, or wads over contents, e.g. cotton-wool in bottles of pills

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Photovoltaic Devices (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

The invention discloses a six-axis robot corner wrapping machine, which comprises a frame, wherein a transmission device for transmitting a photovoltaic module is arranged in the middle of the frame, corner wrapping mechanisms are respectively arranged at four corners of the frame, the six-axis robot corner wrapping machine also comprises a lifting mechanism for driving the transmission device to do lifting motion, so that the four corners of the photovoltaic module can fall onto the corner wrapping mechanisms, corner wrapping feeding mechanisms are arranged at the outer sides of the four corners of the frame, six-axis robots for corner wrapping are further arranged on the frame, a positioning mechanism is further arranged at the outer sides of the transmission device, the positioning mechanism comprises four return blocks for contacting with the photovoltaic module, and a telescopic cylinder for driving the four return blocks to simultaneously move outwards and simultaneously shrink.

Description

Six-axis robot corner wrapping machine
Technical Field
The invention relates to a corner wrapping machine, in particular to a six-axis robot corner wrapping machine.
Background
Photovoltaic modules, also called solar panels, are the core part of the solar power generation system and are the most important part of the solar power generation system. The solar energy is converted into electric energy, and the electric energy is sent to a storage battery for storage or the load is pushed to work. At present, after the production of the photovoltaic module is completed, the corner protector is required to be wrapped at four corners of the photovoltaic module, and then the photovoltaic module wrapped with the corner protector is stacked together for transportation, but at present, when the operation of the corner protector is carried out, the operation is mostly completed manually, and the manual corner protector has the problems of low efficiency, poor quality and the like.
Disclosure of Invention
The invention solves the technical problem of providing a six-axis robot corner wrapping machine capable of improving corner wrapping efficiency.
The technical scheme adopted for solving the technical problems is as follows: the six-axis robot corner wrapping machine comprises a frame, the frame middle part is provided with the transmission device who is used for transmitting photovoltaic module, be provided with corner wrapping mechanism on the frame four corners respectively, still including being used for driving transmission device and do elevating system of elevating movement for photovoltaic module's four corners can fall on the corner wrapping mechanism, the frame four corners outside all is provided with corner protector feed mechanism, still be provided with the six-axis robot that is used for wrapping the corner in the frame, the transmission device outside still is provided with positioning mechanism, positioning mechanism is including four piece of righting that are used for with photovoltaic module contact, still including the link mechanism that drives four piece of righting and outwards move simultaneously and shrink simultaneously, still including the flexible cylinder that drives the link motion.
Further is: the connecting rod mechanism comprises a front connecting rod, a rear connecting rod, a first side connecting rod and a second side connecting rod, wherein the four righting blocks comprise two front righting blocks and two rear righting blocks, two ends of the front connecting rod are respectively connected with the bottoms of the two front righting blocks, one ends of the first side connecting rod and the second side connecting rod are respectively hinged with the middle parts of the two front righting blocks, the other ends of the first side connecting rod and the second side connecting rod are respectively connected with the rear connecting rod, and two ends of the rear connecting rod are respectively hinged with the bottoms of the two rear righting blocks.
Further is: the feeding mechanism comprises a cartridge clip mechanism for placing the corner protector, a lifting module for driving the corner protector to move upwards is arranged at the bottom of the cartridge clip mechanism, the lifting module comprises a lifting bottom plate moving upwards along the cartridge clip mechanism, a waist-shaped hole is formed in the middle of the bottom of the lifting bottom plate, a correcting rod extending into the waist-shaped hole is further arranged at the bottom of the correcting rod, and a correcting cylinder for driving the correcting rod to move horizontally along the waist-shaped hole is arranged at the bottom of the correcting rod.
Further is: the corner wrapping mechanism comprises a corner wrapping workbench, jig workbenches used for conducting corner wrapping operation are respectively arranged on two sides of the corner wrapping workbench, and a correcting mechanism used for correcting the photovoltaic module is arranged in the middle of the corner wrapping workbench.
Further is: the correcting mechanism comprises a correcting plate, a correcting roller which is in contact with the photovoltaic module is arranged on the correcting plate, and the correcting mechanism further comprises a first translation mechanism which is used for driving the correcting plate to move towards the photovoltaic module.
Further is: the bottom of the jig workbench is also provided with a second translation mechanism for driving the jig workbench to move towards the photovoltaic module.
Further is: the jig workbench comprises a bottom plate and an upper plate, wherein the bottom plate is connected with the upper plate through a supporting rod, a jig jacking mechanism for driving the corner protector to be folded is arranged on the bottom plate, a profiling groove for placing the corner protector is arranged in the upper plate, and a slotted hole for the jig jacking mechanism to pass through is formed in the profiling groove.
Further is: the jig jacking mechanism comprises a jacking cylinder, wherein a jacking plate is arranged on an output shaft of the jacking cylinder, elastic mounting grooves are formed in two sides of the jacking plate, and leaf springs are mounted in the elastic mounting grooves, so that the jacking plate has tensioning and adjusting performances.
Further is: the bottom plate is also provided with a sucker fixing mechanism, and the upper plate is provided with a through hole for the sucker fixing mechanism to pass through.
The beneficial effects of the invention are as follows: the six-axis robot corner wrapping machine adopts the six-axis robot to conduct corner wrapping operation, and improves the efficiency, quality and stability of corner wrapping.
Drawings
Fig. 1 is a schematic view of a six-axis robot corner wrapping machine.
Fig. 2 is a schematic diagram of a transmission device.
Fig. 3 is a schematic view of a positioning mechanism.
Fig. 4 is a schematic diagram of a feeding mechanism.
Fig. 5 is a schematic view of a wrap angle mechanism.
FIG. 6 is a schematic diagram of a jig table.
Fig. 7 is an internal schematic view of the jig table.
Marked in the figure as: the device comprises a frame 1, a transmission device 2, a wrap angle mechanism 3, a wrap angle workbench 31, a return plate 32, return rollers 33, a first translation mechanism 34, a second translation mechanism 35, a lifting mechanism 4, a corner protector feeding mechanism 5, a cartridge clamping mechanism 51, a lifting module 52, a return rod 53, a six-axis robot 6, a positioning mechanism 7, a front connecting rod 71, a rear connecting rod 72, a first side connecting rod 73, a second side connecting rod 74, a front return block 75, a rear return block 76, a telescopic cylinder 77, a jig workbench 8, a bottom plate 81, an upper plate 82, a jacking cylinder 83, a jacking plate 84, a plate spring 85 and a sucker fixing mechanism 86.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
The hexagonal robot 6 wrap angle machine as shown in fig. 1 to 7 comprises a frame 1, the middle part of the frame 1 is provided with a transmission device 2 for transmitting a photovoltaic module, four corners of the frame 1 are respectively provided with a wrap angle mechanism 3, the hexagonal robot further comprises a lifting mechanism 4 for driving the transmission device 2 to do lifting motion, four corners of the photovoltaic module can fall onto the wrap angle mechanism 3, the outer sides of four corners of the frame 1 are respectively provided with a wrap angle feeding mechanism 5, the frame 1 is further provided with a hexagonal robot 6 for wrapping angles, the outer sides of the transmission device 2 are further provided with a positioning mechanism 7, the positioning mechanism 7 comprises four right-angle blocks for contacting with the photovoltaic module, the four right-angle blocks are driven to move outwards simultaneously and shrink simultaneously, the hexagonal robot further comprises a telescopic cylinder 77 for driving the connecting rod to move, when the hexagonal robot 6 absorbs the wrap angle on the feeding mechanism and places the wrap angle mechanism 3, after the photovoltaic module is transmitted to a specified position through the transmission device 2, the four right-angle blocks shrink inwards, the four right-angle blocks shrink simultaneously, the photovoltaic module is driven by the hexagonal robot 6 to enable the photovoltaic module to fall angle protection mechanism 3, the hexagonal robot 6 to realize the effect of the wrap angle protection mechanism is realized, the contact with the photovoltaic module is realized, the hexagonal robot wrap angle protection mechanism is further, the hexagonal robot is driven by the hexagonal robot 6, the photovoltaic module is driven to shrink the wrap angle protection mechanism is arranged on the four-round angle protection mechanism, and the photovoltaic module is enabled to realize the contact with the wrap angle protection mechanism, and the photovoltaic module is controlled by the mechanism is simultaneously, and the mechanism is enabled to roll down by the mechanism, and the mechanism is subjected to the lifting mechanism to the protection by the mechanism.
On the basis of the above, as shown in fig. 3, the link mechanism comprises a front link 71, a rear link 72, a first side link 73 and a second side link 74, the four return blocks comprise two front return blocks 75 and two rear return blocks 76, two ends of the front link 71 are respectively connected with bottoms of the two front return blocks 75, one ends of the first side link 73 and the second side link 74 are respectively hinged with middle parts of the two front return blocks 75, the other ends of the first side link 73 and the second side link 74 are respectively connected with the rear link 72, two ends of the rear link 72 are respectively hinged with bottoms of the two rear return blocks 76, a specific positioning return operation is that a telescopic cylinder 77 drives the front link 71 to shrink, so that upper ends of the first side link 73, the second side link 74 and the rear link 72 are simultaneously moved outwards, the telescopic cylinder 77 drives the front link 71 to stretch out, and accordingly drives the first side link 73, the second side link 74 and the rear link 74 to simultaneously move inwards of the two return blocks 76, and the positioning return blocks are simultaneously moved inwards by the whole positioning return block 76, and the positioning return assembly is accurately positioned in the whole position.
On the basis, as shown in fig. 4, the feeding mechanism comprises a cartridge clip mechanism 51 for placing the corner protector, a lifting module 52 for driving the corner protector to move upwards is arranged at the bottom of the cartridge clip mechanism 51, the lifting module 52 comprises a lifting bottom plate 81 moving upwards along the cartridge clip mechanism 51, a kidney-shaped hole is formed in the middle of the bottom of the lifting bottom plate 81, a correcting cylinder for driving the correcting rod 53 to move horizontally along the kidney-shaped hole is arranged at the bottom of the correcting rod 53, during operation, stacked corner protector is firstly placed on the lifting bottom plate 81 of the cartridge clip mechanism 51 manually, then the correcting cylinder drives the correcting rod 53 to move, the correcting rod 53 is clamped in a groove on the side face of the corner protector, the correcting limit of the corner protector is achieved, after the device is started, the lifting bottom plate 81 is gradually lifted, and the six-axis robot 6 can suck the corner protector one by one for feeding.
On the basis of the above, as shown in fig. 5, the cornering mechanism 3 includes a cornering workbench 31, two sides of the cornering workbench 31 are respectively provided with a jig workbench 8 for performing cornering operation, a righting mechanism for righting the photovoltaic module is arranged in the middle of the cornering workbench 31, the righting mechanism includes a righting plate 32, a righting roller 33 in contact with the photovoltaic module is arranged on the righting plate 32, the cornering mechanism further includes a first translation mechanism 34 for driving the righting plate 32 to move towards the photovoltaic module, a second translation mechanism 35 for driving the jig workbench 8 to move towards the photovoltaic module is further arranged at the bottom of the jig workbench 8, and when four corners of the photovoltaic module are respectively arranged on the jig workbench 8, the first translation mechanism 34 drives the righting plate 32 to move towards the photovoltaic module, so that the righting roller 33 contacts with the side edge of the photovoltaic module, the four corners of the photovoltaic module can be accurately positioned at a specific position of the cornering workbench 31, and thus the corner protector can be accurately positioned at the specific position of the cornering workbench 31, and the second translation mechanism can be adjusted by the aid of the corner protector.
On the basis, as shown in fig. 6 and 7, the jig workbench 8 comprises a bottom plate 81 and an upper plate 82, the bottom plate 81 and the upper plate 82 are connected through a supporting rod, a jig jacking mechanism for driving the corner protector to be folded is installed on the bottom plate 81, a profiling groove for placing the corner protector is arranged in the upper plate 82, a groove hole for the jig jacking mechanism to pass through is formed in the profiling groove, the corner protector is placed in the profiling groove during specific work, one corner of the photovoltaic module is pressed on the corner protector, at the moment, the jig jacking mechanism penetrates through the groove hole to bend and jack two side edges of the corner protector, and then the corner protector bending jacking part is folded and pressed into the photovoltaic module frame again by the six-axis robot 6, so that the whole corner protector wrapping operation is completed.
On the basis, as shown in fig. 6 and 7, the jig jacking mechanism comprises a jacking cylinder 83, a jacking plate 84 is mounted on an output shaft of the jacking cylinder 83, elastic mounting grooves are formed in two sides of the jacking plate 84, and leaf springs 85 are mounted in the elastic mounting grooves, so that the jacking plate 84 has tensioning adjustment performance, and the jacking plate 84 has certain elasticity, so that the problem that a corner protection folding surface of a photovoltaic module due to positioning accuracy cannot be tightly attached to a frame of the module is effectively solved.
On the basis, as shown in fig. 6 and 7, the bottom plate 81 is further provided with a suction cup fixing mechanism 86, the upper plate 82 is provided with a through hole for the suction cup fixing mechanism 86 to pass through, and the suction cup is arranged to firmly adsorb the corner protector placed on the jig workbench 8, so that the corner protector is prevented from sliding, and the accuracy of corner protector installation is ensured.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.

Claims (3)

1.六轴机器人包护角机，包括机架(1)，其特征在于：所述机架(1)中部设置有用于传输光伏组件的传输装置(2)，所述机架(1)四角上分别设置有包角机构(3)，还包括用于驱动传输装置(2)做升降运动的升降机构(4)，使得光伏组件的四角能落到包角机构(3)上，所述机架(1)四角外侧均设置有护角上料机构(5)，所述机架(1)上还设置有用于包护角的六轴机器人(6)，所述传输装置(2)外侧还设置有定位机构(7)，所述定位机构(7)包括用于跟光伏组件接触的四根归正块，还包括驱动四根归正块同时向外运动和同时收缩的连杆机构，还包括驱动连杆运动的伸缩气缸(77)；1. A six-axis robot corner wrapping machine, comprising a frame (1), characterized in that: a transmission device (2) for transmitting photovoltaic modules is arranged in the middle of the frame (1), corner wrapping mechanisms (3) are arranged at the four corners of the frame (1), and a lifting mechanism (4) is provided for driving the transmission device (2) to perform lifting and lowering movements, so that the four corners of the photovoltaic modules can fall onto the corner wrapping mechanisms (3), corner protection feeding mechanisms (5) are arranged at the outer sides of the four corners of the frame (1), a six-axis robot (6) for corner wrapping is also arranged on the frame (1), and a positioning mechanism (7) is also arranged at the outer side of the transmission device (2), the positioning mechanism (7) comprises four alignment blocks for contacting with the photovoltaic modules, a connecting rod mechanism for driving the four alignment blocks to move outward and contract simultaneously, and a telescopic cylinder (77) for driving the connecting rod to move; 所述连杆机构包括前连杆(71)、后连杆(72)、第一侧连杆(73)和第二侧连杆(74)，所述四根归正块包括两块前归正块(75)和两块后归正块(76)，所述前连杆(71)的两端分别与两块前归正块(75)的底部连接，所述第一侧连杆(73)和第二侧连杆(74)的一端分别和两块前归正块(75)的中部铰接，所述第一侧连杆(73)和第二侧连杆(74)的另一端分别和后连杆(72)连接，所述后连杆(72)的两端分别和两块后归正块(76)底部铰接；The connecting rod mechanism comprises a front connecting rod (71), a rear connecting rod (72), a first side connecting rod (73) and a second side connecting rod (74); the four return blocks comprise two front return blocks (75) and two rear return blocks (76); the two ends of the front connecting rod (71) are respectively connected to the bottoms of the two front return blocks (75); one end of the first side connecting rod (73) and the second side connecting rod (74) are respectively hinged to the middle of the two front return blocks (75); the other ends of the first side connecting rod (73) and the second side connecting rod (74) are respectively connected to the rear connecting rod (72); the two ends of the rear connecting rod (72) are respectively hinged to the bottoms of the two rear return blocks (76); 所述包角机构(3)包括包角工作台(31)，所述包角工作台(31)两侧分别设置有用于进行包角操作的治具工作台(8)，所述包角工作台(31)的中部设置有对光伏组件进行归正的归正机构；The corner wrapping mechanism (3) comprises a corner wrapping workbench (31), and a jig workbench (8) for performing corner wrapping operations is respectively arranged on both sides of the corner wrapping workbench (31), and a correction mechanism for correcting the photovoltaic module is arranged in the middle of the corner wrapping workbench (31); 所述归正机构包括归正板(32)，所述归正板(32)上设置有与光伏组件接触的归正滚轮(33)，还包括用于驱动归正板(32)向光伏组件方向运动的第一平移机构(34)；The alignment mechanism comprises an alignment plate (32), on which an alignment roller (33) in contact with the photovoltaic assembly is arranged, and also comprises a first translation mechanism (34) for driving the alignment plate (32) to move in the direction of the photovoltaic assembly; 所述治具工作台(8)包括底板(81)和上板(82)，所述底板(81)和上板(82)之间通过支撑杆连接，所述底板(81)上安装有用于驱使护角折起的治具顶伸机构，所述上板(82)内设置有用于放置护角的仿形槽，所述仿形槽内设至有供治具顶升机构穿过的槽孔；The jig workbench (8) comprises a bottom plate (81) and an upper plate (82), wherein the bottom plate (81) and the upper plate (82) are connected via a support rod, a jig lifting mechanism for driving the corner guard to be folded is installed on the bottom plate (81), a contoured groove for placing the corner guard is arranged in the upper plate (82), and a slot hole for the jig lifting mechanism to pass through is arranged in the contoured groove; 所述治具顶升机构包括顶升气缸(83)，所述顶升气缸(83)的输出轴上安装有顶升板(84)，所述顶升板(84)两侧设置有弹性安装槽，所述弹性安装槽内部安装有板簧(85)，使得顶升板(84)具有张紧调节性能；The jig lifting mechanism comprises a lifting cylinder (83), a lifting plate (84) is installed on the output shaft of the lifting cylinder (83), elastic mounting grooves are arranged on both sides of the lifting plate (84), and leaf springs (85) are installed inside the elastic mounting grooves, so that the lifting plate (84) has tension adjustment performance; 所述底板(81)上还设置有吸盘固定机构(86)，所述上板(82)上设置有供吸盘固定机构(86)穿过的通孔。The bottom plate (81) is also provided with a suction cup fixing mechanism (86), and the upper plate (82) is provided with a through hole for the suction cup fixing mechanism (86) to pass through. 2.如权利要求1所述的六轴机器人包护角机，其特征在于：所述上料机构包括用于放置护角的弹夹机构(51)，所述弹夹机构(51)底部设置有驱使护角向上运动的升降模组(52)，所述升降模组(52)包括沿弹夹机构(51)向上运动的升降底板(81)，所述升降底板(81)底部中部设置有腰形孔，还包括伸入腰形孔的归正杆(53)，所述归正杆(53)底部设置有驱动归正杆(53)沿腰形孔水平运动的归正气缸。2. The six-axis robot corner protection machine as described in claim 1 is characterized in that: the feeding mechanism includes a clip mechanism (51) for placing the corner protector, and a lifting module (52) is arranged at the bottom of the clip mechanism (51) to drive the corner protector to move upward, and the lifting module (52) includes a lifting base plate (81) that moves upward along the clip mechanism (51), and a waist-shaped hole is arranged in the middle of the bottom of the lifting base plate (81), and also includes a return rod (53) extending into the waist-shaped hole, and a return cylinder is arranged at the bottom of the return rod (53) to drive the return rod (53) to move horizontally along the waist-shaped hole. 3.如权利要求1所述的六轴机器人包护角机，其特征在于：所述治具工作台(8)底部还设置有驱动治具工作台(8)朝光伏组件方向运动的第二平移机构(35)。3. The six-axis robot corner protection machine as described in claim 1 is characterized in that a second translation mechanism (35) is also provided at the bottom of the jig workbench (8) to drive the jig workbench (8) to move toward the photovoltaic module.
CN201810413165.XA 2018-05-03 2018-05-03 Six-axis robot corner wrapping machine Active CN108438383B (en)

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CN109159979B (en) * 2018-09-29 2024-11-08 苏州宏瑞达新能源装备有限公司 Paper corner guard material splicing device
CN109159980B (en) * 2018-09-29 2024-11-29 苏州宏瑞达新能源装备有限公司 Automatic paper corner protector packaging device
CN114802953A (en) * 2022-04-29 2022-07-29 苏州小牛自动化设备有限公司 Automatic solar PV modules angle bead mechanism packs
CN121225079B (en) * 2025-12-02 2026-03-24 苏州晟成智能装备有限公司 An integrated packaging material handling component, an edge and corner protector installation machine, and an installation method.

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