CN115070376A - Automatic installation equipment and installation method for solar panel junction box - Google Patents
Automatic installation equipment and installation method for solar panel junction box Download PDFInfo
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- CN115070376A CN115070376A CN202211014012.0A CN202211014012A CN115070376A CN 115070376 A CN115070376 A CN 115070376A CN 202211014012 A CN202211014012 A CN 202211014012A CN 115070376 A CN115070376 A CN 115070376A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses automatic installation equipment and an installation method of a solar panel junction box, wherein a lead wire correction plate with a floating function in the installation deviation direction of a bus bar is utilized to fold and correct a lead wire erected at the end part of the bus bar in the installation deviation direction; detecting the initial floating distance of the lead wire correcting plate by using a distance measuring device, and placing the clamping junction box on the lead wire correcting plate based on the initial floating distance so as to ensure that the lead wire passes through the corresponding notch of the junction box; the clamping junction box moves downwards along the lead erecting section to be in place along with the lead straightening plate synchronously, meanwhile, the dynamic floating distance of the lead straightening plate is dynamically monitored by the distance measuring device in real time, and the position of the clamping junction box is dynamically fine-tuned based on the dynamic floating distance so as to ensure that the notch corresponds to the lead position all the time in the downward movement process. The installation position of the junction box is automatically adjusted according to the installation deviation of the bus bar, the lead is ensured to be smoothly and accurately inserted into the junction box by matching with the lead correction plate, and the reliability and the assembly quality of the junction box in the installation process are ensured.
Description
Technical Field
The invention belongs to the technical field of solar panel junction box installation, and particularly relates to automatic installation equipment and an installation method for a solar panel junction box.
Background
Photovoltaic module still need install the terminal box on the backplate after the lamination dress frame, and the terminal box adopts sticky mode to fix on the subassembly, and two lead wires on the subassembly need pass the terminal box and stretch into in the terminal box, then need to press down the lead wire and weld in subsequent process. The main difficulty in mounting the junction box is how precisely the leads pass through the junction box.
In the prior art, patent publication No. CN113023356A discloses a fully automatic junction box installation device, which realizes automatic installation of a junction box and an operation of pressing down a lead, but does not describe how the lead can accurately pass through the junction box.
There is also a patent publication No. CN212093019U in the prior art that discloses a terminal box reshaping and assembling device, which adopts a camera to collect information of lead positions, then reshapes the leads by using a reshaping component, pulls the leads upwards until the leads are in a vertical state, and then places the terminal box accurately so that the leads pass through the terminal box. Although this structure can improve the success rate that the lead wire passed the terminal box smoothly to a certain extent, nevertheless because the state of lead wire sets up for the free end up in the supplied materials subassembly, and is incompletely vertical state, camera down shoots the lead wire from last in this equipment, the projection of lead wire in vertical direction can form an enlarged and irregular shape in border because its slope reason, consequently, be difficult to accurate true position who acquires the lead wire in the image that acquires from the camera, lead to the position to acquire and have the deviation, and then lead to when placing the terminal box, the lead wire can not necessarily be smooth or successful pass the terminal box, lead to the terminal box installation failure.
In the prior art, a patent publication No. CN112846761A also discloses a photovoltaic backboard junction box assembling device, which is characterized in that bus bar (namely lead) correction clamping pieces are arranged on a clamping and mounting module of a junction box, when the junction box is mounted, the lead is corrected to a set position through two clamping pieces, then the junction box is mounted on the surface of a component from top to bottom along the corrected lead and extends to the root of the lead, and in the process, the clamping pieces and the junction box synchronously descend to protect the assembly of the junction box and the lead. However, this apparatus has a problem that, as shown in fig. 1, the mounting position of the bus bar 101 in the incoming material module in the direction perpendicular to the length direction of the bus bar (referred to as Y-axis direction herein) allows a certain offset error, that is, the bus bar standard position 102 (shown by a dotted line bus bar) and the bus bar actual position 103 (shown by a solid line bus bar) have a deviation in the Y-axis direction, and when the apparatus mounts the junction box, the centering position of the clamping mounting module is set according to the center of the bus bar standard position 102; when the clamping piece 105 clamps the lead wire 104, the clamping piece 105 firstly corrects the middle upper part of the lead wire 104, the correction process does not cause any problem, and the lead wire 104 can be corrected in the X-axis direction, but in the Y-axis direction, the lead wire 104 is in a skew state due to the deviation of the bus bar welding position, and as the clamping piece 105 moves downwards to the root of the lead wire, the position of the clamping piece 105 on the lead wire 104 in the Y-axis direction is limited, so that the lead wire is pulled, and the pulling force is larger closer to the root of the lead wire, and the lead wire can even be pulled apart in severe cases; and after the junction box moves to the root of the lead, the lead is in a skew state and is easily pressed to be bent, so that the quality of the assembly is seriously influenced.
Therefore, an additional design of an automatic installation apparatus and an installation method for a solar panel junction box is needed to solve the above technical problems.
Disclosure of Invention
One of the main objects of the present invention is to provide an automatic installation method for a junction box of a solar panel, which automatically adjusts the installation position of the junction box according to the installation deviation of a bus bar, and ensures smooth and accurate insertion of a lead erected by the bus bar into the junction box by cooperating with a lead correction plate, thereby ensuring the reliability and the assembly quality of the junction box in the installation process.
The invention realizes the purpose through the following technical scheme: an automatic installation method of a solar panel junction box utilizes a pair of lead correction plates with floating function in the installation deviation direction of a bus bar to perform folding correction on leads erected at the end part of the bus bar in the installation deviation direction; the pair of lead straightening plates surround together in a folded state to form a limiting groove for limiting the peripheral position of the lead; detecting an initial floating distance of the lead wire correcting plate by using a distance measuring device, and placing a clamping junction box on the lead wire correcting plate based on the initial floating distance so as to ensure that a lead wire passes through a corresponding notch of the junction box; the clamping junction box moves downwards along the lead erecting section to a proper position along with the lead correcting plate synchronously, meanwhile, the dynamic floating distance of the lead correcting plate is monitored by the distance measuring device in real time, and the position of the junction box is dynamically finely adjusted based on the dynamic floating distance so as to ensure that the notch corresponds to the lead position all the time in the downward movement process.
Further, it comprises the following steps:
s1) conveying the assembly to an installation position, and centering and positioning the periphery and keeping the position stable;
s2) driving the lead wire straightening plate to move in the X-axis direction, move to a horizontal position corresponding to the root position of the lead wire on the assembly, and move to a set height position above the lead wire standing part;
s3) utilizing the lead wire correcting plate to perform folding correction on the lead wire from the Y-axis direction, wherein the lead wire correcting plate generates the corresponding initial floating distance according to the installation deviation of the lead wire on the Y axis;
s4) the distance measuring device detects the initial floating distance and transmits the initial floating distance to the junction box installation robot, and the lead is limited in a limiting groove formed by the lead straightening plate to keep a vertical state at the moment;
s5), the junction box installation robot clamps the junction box and moves the junction box to the lead wire correction plate, the placement position of the junction box is a position corrected in the Y-axis direction by the initial floating distance on the basis of the system set position, and the junction box installation robot keeps a state of clamping the junction box;
s6) the junction box mounting robot clamps the junction box and synchronously descends to a position close to the root of a lead wire, in the process, the distance measuring device monitors the dynamic floating distance of the lead wire correcting plate in real time, and the junction box mounting robot dynamically finely adjusts the position of the junction box according to the dynamic floating distance so as to ensure that the notch and the lead wire position are corresponding to each other all the time in the descending process;
s7), after the lead straightening plate descends to the proper position, the lead straightening plate is opened and withdrawn, and the junction box continues to descend to be attached to the surface of the component;
s8) extending a pair of shifting claws between two leads in the junction box and approaching the height position of the bottom of the junction box, then opening the shifting claws outwards to push the leads to be in a horizontal bending state in the opposite direction, so that the leads are tightly attached to the bottom surface of the inner wall of the junction box, and the installation of the junction box is completed.
Another object of the present invention is to provide an automatic installation apparatus for a solar panel junction box, which includes a module conveyor line, a junction box feeding unit, a junction box feeding robot, a junction box installation robot, and a lead correction unit, wherein the lead correction unit includes a lead correction plate having a floating function on a Y axis, and a laser range finder for detecting a floating distance of the entire lead correction plate due to a lead Y axis installation deviation in a lead correction process, and the laser range finder detects the floating distance and transmits the floating distance to a control system of the junction box installation robot.
Furthermore, the junction box feeding units are three, namely a first feeding unit, a second feeding unit and a third feeding unit which are respectively used for automatically feeding three junction boxes required to be installed on one assembly;
the first feeding unit and the second feeding unit are arranged on one side of the assembly conveying line and used for feeding junction boxes on two sides and conveying the junction boxes on two sides to the working range of the junction box feeding robot;
the third feeding unit is arranged on the other opposite side of the module conveying line and used for feeding the intermediate junction boxes and conveying the intermediate junction boxes to the working range of the junction box mounting robot.
Furthermore, the first feeding unit and the second feeding unit both comprise a first motor, a rotating plate driven by the first motor to rotate, storage bins symmetrically arranged on the rotating plate, and a lifting mechanism located on the feeding station side to lift the junction box in the storage bin to a set height position.
Furthermore, a transfer positioning platform for accurately positioning the junction box is arranged between the junction box feeding robot and the junction box mounting robot; and the junction box feeding robot grabs the corresponding junction box from the junction box feeding unit, places the junction box on the transfer positioning platform for positioning, and then takes away the junction box from the junction box mounting robot for mounting.
Furthermore, the junction box feeding robot is provided with one junction box feeding robot for feeding the junction box; the terminal box mounting robot is provided with two terminal boxes, wherein one terminal box mounting robot is used for mounting a two-side terminal box, and the other terminal box mounting robot is used for mounting a middle terminal box and a two-side terminal box; the lead correction units are three, and lead at the installation positions of the three junction boxes are corrected simultaneously.
Furthermore, the junction box installation robot comprises a second robot body, a second support plate arranged at the movable tail end of the second robot body, a CCD camera and a third air cylinder which are fixed on the second support plate, a third support plate driven by the third air cylinder to move up and down, a second clamping module, a third clamping module and a pusher dog module which are fixed on the third support plate.
Furthermore, the second clamping module comprises a clamping jaw air cylinder, a clamping jaw driven by the clamping jaw air cylinder to perform clamping action, a pressing plate arranged between the two clamping jaws, and a sensor fixed on the lower surface of the pressing plate and used for detecting whether the clamping jaw is provided with a junction box or not.
Furthermore, be provided with the dodge opening about the pipe leads to on the clamp plate, the pusher dog module includes the fourth cylinder, receives the fourth cylinder drive is opened or is drawn close the pusher dog of motion, the pusher dog passes dodge the opening.
Further, the lead correction unit comprises a third motor, a fourth support plate driven by the third motor to move parallel to the conveying direction of the assembly, a fourth motor fixed on the fourth support plate, a fifth support plate driven by the fourth motor to move up and down, a sixth support plate arranged on the fifth support plate in a floating mode along the Y-axis direction, a fifth air cylinder fixed on the sixth support plate, and a zero limit plate fixed on the fifth support plate and used for limiting the zero position of the fifth air cylinder, wherein the laser range finder is fixed on the fifth support plate and used for obtaining the floating distance by detecting the floating distance of the sixth support plate; and the lead correcting plate is driven by the fifth cylinder to open or close.
Compared with the prior art, the automatic installation equipment and the installation method for the solar panel junction box have the beneficial effects that: the clamping and mounting of the junction box are realized by skillfully designing a plurality of robots to be matched, and the synchronous position correction is carried out on the lead by combining a plurality of lead correction units, so that the mounting efficiency of the junction box is greatly improved; in the lead correcting unit, a lead correcting plate with a floating function in the Y-axis direction is arranged, the floating function of the lead correcting plate reflects the installation deviation of the lead on the Y-axis in the process of correcting the lead, and the distance measuring device is used for automatically detecting the installation deviation, so that more real and accurate position information is provided for the placement position of a subsequent junction box, the lead can accurately and smoothly pass through the junction box, and the technical problem of poor junction box installation caused by the installation deviation of the lead on the Y-axis is effectively solved; the reliability and the precision of the terminal box installation process are guaranteed, and the product quality is improved.
Drawings
FIG. 1 is a schematic diagram of a lead straightening method in the prior art;
FIG. 2 is a schematic perspective view of an embodiment of the present invention;
FIG. 3 is a schematic top view of an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first supply unit according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a transit positioning platform according to an embodiment of the present disclosure;
fig. 6 is a schematic perspective view of a junction box loading robot according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a movable end of a junction box loading robot according to an embodiment of the invention;
FIG. 8 is a schematic perspective view of a terminal box mounting robot according to an embodiment of the present invention;
FIG. 9 is a partial schematic structural view of a movable end of a junction box mounting robot according to an embodiment of the present invention;
fig. 10 is a schematic perspective view of a lead wire straightening unit according to an embodiment of the present invention;
fig. 11 is a schematic partial structure diagram of a lead wire straightening unit according to an embodiment of the present invention;
fig. 12 is a schematic bottom view of a partial structure of a lead straightening unit according to an embodiment of the invention;
FIG. 13 is an enlarged view of a portion of FIG. 12 at A;
the figures in the drawings represent:
100-automatic installation equipment of a solar panel junction box;
101-bus bar, 102-bus bar standard position, 103-bus bar actual position, 104-lead, 105-clip combination;
1-module conveying line;
2-junction box feeding unit, 21-first feeding unit, 211-first motor, 212-rotating plate, 213-feeding jig, 2131-first bottom plate, 2132-storage bin, 2133-limiting vertical rod, 214-baffle plate, 215-lifting mechanism, 2151-second motor, 22-second feeding unit and 23-third feeding unit;
3-junction box feeding robot, 31-first robot body, 32-first supporting plate, 33-second cylinder, 34-first clamping module, 341-clamping jaw cylinder, 342-clamping jaw, 343-pressing plate, 3431-avoiding port and 344-sensor;
4-junction box installation robot, 41-second robot body, 42-second supporting plate, 43-CCD camera, 44-third cylinder, 45-third supporting plate, 46-second clamping module, 47-third clamping module, 48-pusher dog module, 481-fourth cylinder and 482-pusher dog;
5-lead correction unit, 51-third motor, 52-fourth support plate, 53-fourth motor, 54-fifth support plate, 55-sixth support plate, 56-fifth cylinder, 57-lead correction plate, 571-correction groove, 5711-leading-in section opening, 5712-linear limit groove, 58-laser range finder, 59-zero limit plate, 591-limit part, 510-mounting plate, 511-sliding rail;
6-a transfer positioning platform, 61-a second bottom plate, 62-a fixed limiting block, 63-a movable limiting block and 64-a first cylinder.
Detailed Description
The first embodiment is as follows:
referring to fig. 2 to 13, the present embodiment is an automatic installation equipment 100 for a solar panel junction box, which includes a component conveying line 1, a junction box feeding unit 2, a junction box feeding robot 3, a junction box installation robot 4, and a lead straightening unit 5; the junction box feeding robot 3, the junction box mounting robot 4 and the lead straightening unit 5 are all arranged above the assembly conveying line 1; the junction box supply unit 2 is located beside the module transfer line 1.
In this embodiment, three terminal box supply units 2 are provided, namely a first supply unit 21, a second supply unit 22 and a third supply unit 23, corresponding to the automatic supply of three terminal boxes to be mounted on one module. The first feeding unit 21 and the second feeding unit 22 are arranged at one side of the module conveying line 1, and are used for feeding junction boxes at two sides and conveying the junction boxes at two sides to the working range of the junction box feeding robot 3; a third supply unit 23 is provided on the other opposite side of the module transfer line 1 for supplying a supply of the intermediate junction boxes and transferring the intermediate junction boxes to the working range of the junction box mounting robot 4. Since the intermediate junction box is not provided with a wire harness in this embodiment, the third feeding unit 23 in this embodiment realizes automatic feeding of the junction box by using a vibrating plate in cooperation with a flow channel. The junction boxes on two sides are provided with wiring harnesses, and the first feeding unit 21 and the second feeding unit 22 realize feeding by adopting a bin matching lifting mechanism.
The first feeding unit 21 has the same structure as the second feeding unit 22, and includes a first motor 211, a rotating plate 212 driven by the first motor 211 to rotate, feeding jigs 213 symmetrically disposed on the rotating plate 212, a baffle plate 214 disposed between the two feeding jigs 213 and separating the two feeding jigs, and a lifting mechanism 215 located at the feeding station side to lift the junction box in the feeding jigs 213 to a set height position.
The feeding jig 213 includes a first bottom plate 2131 disposed on the rotating plate 212, a bin 2132 fixed on the first bottom plate 2131 and used for bearing the stacked junction box, and a limiting upright 2133 fixed on the bottom plate 2131 and used for limiting the wiring harness of the junction box. The lifting mechanism 215 includes a second motor 2151, and a material supporting plate (not labeled in the figure) driven by the second motor 2151 to move up and down and extend into the bin 2132 to lift the junction box, a through groove penetrating up and down is formed in one side wall of the bin 2132, and the material supporting plate moving up and down extends into the bin 2132.
The module conveying line 1 is provided with a correcting and limiting mechanism (not marked in the figure) for positioning and fixing the side edges around the module.
This embodiment is provided with transfer positioning platform 6 that carries out the position accurate positioning to both sides terminal box for improving the precision of snatching of terminal box, the installation accuracy of the follow-up terminal box of guarantee between terminal box material loading robot 3 and terminal box installation robot 4, is provided with two location stations on transfer positioning platform 6. The terminal box feeding robot 3 is matched with the first feeding unit 21 or the second feeding unit 22 to grab the terminal boxes on two sides, correspondingly places the terminal boxes on two positioning stations, and after accurate positioning is carried out, the terminal box feeding robot is taken away by the terminal box mounting robot 4 to carry out mounting.
The transfer positioning platform 6 comprises a second bottom plate 61, a fixed limiting block 62 fixed on the second bottom plate 61 and used for limiting two adjacent or one side position of the junction box, a movable limiting block 63 matched with the fixed limiting block 62 and used for limiting two adjacent or one opposite side position of the junction box, and a first air cylinder 64 used for driving the movable limiting block 63 to perform horizontal linear motion.
The junction box feeding robot 3 comprises a first robot body 31, a first supporting plate 32 arranged at the movable tail end of the first robot body 31, a second air cylinder 33 fixed on the first supporting plate 32, and a first clamping module 34 driven by the second air cylinder 33 to move up and down and used for clamping the junction box.
The first clamping module 34 includes a clamping jaw cylinder 341, a clamping jaw 342 driven by the clamping jaw cylinder 341 to perform a clamping action, a pressing plate 343 disposed between the two clamping jaws 342, and a sensor 344 fixed on a lower surface of the pressing plate 343 for detecting whether a terminal box is present on the clamping jaw 342.
The junction box mounting robot 4 comprises a second robot body 41, a second support plate 42 arranged at the movable tail end of the second robot body 41, a CCD camera 43 and a third air cylinder 44 which are fixed on the second support plate 42, a third support plate 45 driven by the third air cylinder 44 to move up and down, a second clamping module 46 fixed on the third support plate 45, a third clamping module 47 and a pusher dog module 48; the second clamping module 46 is used for clamping the junction box body, and one or two third clamping modules 47 are arranged for clamping the wiring harness part of the junction box; the pusher dog module 48 is used for extending into the junction box to push the lead wire open, so that the lead wire is opened towards two sides and pushed to be in a bending state. The CCD camera 43 is mainly used to position the outgoing lines on the solar module and to check the quality of the junction box before installation, in preparation for the subsequent installation of the junction box.
The second clamping module 46 is identical in structure to the first clamping module 34. An avoidance port 3431 which is communicated with the upper part and the lower part of the pipe is arranged on the pressure plate 343 in the second clamping module 46, the pusher dog module 48 comprises a fourth air cylinder 481 and a pusher dog 482 which is driven by the fourth air cylinder 481 to open or close, and the pusher dog 482 passes through the avoidance port 3431.
In order to improve the overall installation rhythm of the junction box, in the embodiment, one junction box feeding robot 3 is arranged for feeding the junction box; the terminal box mounting robot 4 is provided with two terminal boxes, wherein one terminal box is used for mounting a two-side terminal box, and the other terminal box is used for mounting a middle terminal box and a two-side terminal box; the lead wire correcting units 5 are provided in three, and simultaneously correct the lead wires at the three terminal block mounting positions.
The wire straightening unit 5 includes a third motor 51, a fourth support plate 52 driven by the third motor 51 to move parallel to the module conveying direction, a fourth motor 53 fixed to the fourth support plate 52, a fifth support plate 54 driven by the fourth motor 53 to move up and down, a sixth support plate 55 floatingly provided on the fifth support plate 54 in a direction perpendicular to the module conveying direction (i.e., the Y-axis direction shown in fig. 1), a fifth cylinder 56 fixed to the sixth support plate 55, a wire straightening plate 57 driven by the fifth cylinder 56 to move open or close, a laser distance meter 58 fixed to the fifth support plate 54 and detecting a floating distance of the sixth support plate 55, and a zero point restricting plate 59 fixed to the fifth support plate 54 to restrict a zero point position of the fifth cylinder 56.
The two lead wire correcting plates 57 realize correction of the lead wires by opening or closing, the two lead wire correcting plates 57 are respectively fixed at the tail ends of the two mounting plates 510 to form a relative clamping state, the two mounting plates 510 are respectively fixed at the two movable ends of the fifth cylinder 56, and the zero limit plate 59 is provided with a limit part 591 extending into the space between the two movable ends of the fifth cylinder 56. The fifth supporting plate 54 is provided with a sliding rail 511, and the sixth supporting plate 55 is movably arranged on the sliding rail 511 through a sliding block.
One side of the lead wire correcting plate 57 for correcting the lead wire is provided with a correcting groove 571 which penetrates up and down, and the correcting groove 571 comprises a horn-shaped leading-in section opening 5711 and a linear limiting groove 5712 for accurately limiting the lead wire. The two lead wire correction plates 57 are disposed in a vertically displaced manner, and in a closed state, the linear stopper grooves 5712 of the two correction grooves 571 together form a stopper groove for restricting the outer peripheral position of the lead wire. Through the design of leading-in section opening 5711, improve the fault-tolerant rate of the crooked degree of lead wire, even there is the skew in the X axle direction in the lead wire, nevertheless under the direction of leading-in section opening 5711, can lead to the lead wire to sharp spacing groove 5712 position gradually, and then the guarantee lead wire is accurate unified in the position of X axle orientation.
When the lead is inclined in the Y-axis direction, the fifth air cylinder 56 for driving the lead correcting plate 57 to perform correcting action is arranged on a sixth supporting plate 55 with a Y-axis floating function, when the lead with Y-axis inclination is corrected, the lead can pull the lead correcting plate 57 to a position consistent with the Y-axis direction of the lead, meanwhile, the sixth supporting plate 55 is driven by the lead correcting plate 57 to synchronously float, and then the floating distance of the sixth supporting plate 55 is detected by using the laser range finder 58, so that the welding deviation of the lead in the Y-axis direction of the assembly can be accurately detected, and the welding deviation can be sequentially used as a position compensation basis during installation of the junction box, so that accurate position information is provided for position adjustment on the Y-axis during installation of the junction box, and the lead can smoothly and accurately pass through the junction box during installation of the junction box; in the process that the junction box descends synchronously along with the lead straightening plate 57, the position of the lead straightening plate 57 can be dynamically adjusted according to the real position of the root of the lead, the dynamic adjustment process is dynamically monitored in real time through the laser range finder 58 and transmitted to a control system of the junction box mounting robot 4, the position of the junction box is dynamically adjusted synchronously, and therefore the junction box is prevented from being extruded and collided with the lead, and the safety of the lead is protected. After the lead wire is corrected and the junction box is installed in place, the fifth cylinder 56 drives the two lead wire correcting plates 57 to be opened, the position constraint on the lead wire is released, at the moment, due to the floatability of the fifth cylinder 56, under the action of the zero point limiting plate 59, the two movable ends of the fifth cylinder 56 approach the zero point limiting plate 59, and the two lead wire correcting plates 57 return to the initial opening state; when the two movable ends of the fifth cylinder 56 are separated, the two wire straightening plates 57 perform a closing straightening action.
The embodiment also provides an automatic installation method of the solar panel junction box, which comprises the following steps:
s1) conveying the assembly to an installation position, and centering and positioning the periphery and keeping the position stable;
s2) providing at least one pair of lead correction plates 57, and imparting a floating function in the Y-axis direction thereto, and driving the lead correction plates 57 to move in the X-axis direction to a horizontal position corresponding to the position of the root of the lead on the package and to a set height position above the lead standing portion;
s3) utilizing the lead wire correcting plate 57 to fold and correct the lead wire from the Y-axis direction, ensuring the position precision of the lead wire in the X-axis direction, and utilizing the floating function of the lead wire correcting plate 57 on the Y-axis in the correcting process, under the pulling and holding action of the lead wire, floating a corresponding distance on the Y-axis by the lead wire correcting plate 57, wherein the distance is consistent with the Y-axis installation deviation of the lead wire on the component;
s4) detecting the floating distance of the wire correction plate 57 by an automatic distance measuring device such as a laser distance meter and transmitting the floating distance to the junction box mounting robot 4;
s5), at this time, the lead wire straightening plate 57 performs position straightening of the lead wire in the X-axis direction at the true Y-axis position of the lead wire, and the lead wire does not have deflection of the X-axis and the Y-axis at this time and is limited in a limiting groove formed by the lead wire straightening plate 57;
s6) the terminal box mounting robot 4 clamps the terminal box and moves it onto the lead wire correction plate 57, the terminal box is placed at a position where the floating distance detected by the automatic distance measuring device is corrected in the Y-axis direction (plus or minus the floating distance in the Y-axis direction) on the basis of the system setting position, and the terminal box mounting robot 4 maintains the terminal box clamped state;
s7) the junction box mounting robot 4 clamps the junction box and synchronously descends to a position close to the root of the lead wire together with the lead wire straightening plate 57, then the lead wire straightening plate 57 is opened and evacuated, and the junction box continues to descend to be attached to the surface of the component;
s8) using a pair of fingers 482 to extend between two leads inside the junction box and approach the height position of the bottom of the junction box, then the fingers 482 are opened outwards to push the leads to a horizontal bending state in opposite directions, so that the leads are tightly attached to the bottom surface of the inner wall of the junction box, and the installation of the junction box is completed.
According to the automatic installation equipment and the installation method of the solar panel junction box, the junction box is clamped and installed by skillfully designing a plurality of robots to be matched, and the plurality of lead correction units are combined to perform synchronous position correction on the leads, so that the installation efficiency of the junction box is greatly improved; in the lead correction unit, a lead correction plate with a floating function in the Y-axis direction is arranged, the floating function of the lead correction plate reflects the installation deviation of the lead on the Y-axis through the floating on the Y-axis in the process of correcting the lead, and the installation deviation is automatically detected by using a distance measuring device, so that more real and accurate position information is provided for the placement position of a subsequent junction box, the lead can accurately and smoothly pass through the junction box, and the technical problem of poor installation of the junction box caused by the installation deviation of the lead on the Y-axis is effectively solved; the reliability and the precision of the terminal box installation process are guaranteed, and the product quality is improved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (11)
1. An automatic installation method of a solar panel junction box is characterized in that: a pair of lead wire correction plates having a floating function in a direction of installation deviation of the bus bar is used for performing folding correction on the lead wires standing up at the ends of the bus bar in the direction of installation deviation; the pair of lead straightening plates surround together in a folded state to form a limiting groove for limiting the peripheral position of the lead; detecting an initial floating distance of the lead wire correcting plate by using a distance measuring device, and placing a clamping junction box on the lead wire correcting plate based on the initial floating distance so as to ensure that a lead wire passes through a corresponding notch of the junction box; the clamping junction box moves downwards along the lead erecting section to a proper position along with the lead correcting plate synchronously, meanwhile, the dynamic floating distance of the lead correcting plate is monitored by the distance measuring device in real time, and the position of the junction box is dynamically finely adjusted based on the dynamic floating distance so as to ensure that the notch corresponds to the lead position all the time in the downward movement process.
2. The automatic installation method of a solar panel junction box of claim 1, wherein: which comprises the following steps:
s1) conveying the assembly to an installation position, and centering and positioning the periphery and keeping the position stable;
s2) driving the lead wire straightening plate to move in the X-axis direction, move to a horizontal position corresponding to the root position of the lead wire on the assembly, and move to a set height position above the lead wire standing part;
s3) utilizing the lead wire straightening plate to perform folding straightening on the lead wire from the Y-axis direction, wherein the lead wire straightening plate generates the corresponding initial floating distance according to the installation deviation of the lead wire on the Y axis;
s4) the distance measuring device detects the initial floating distance and transmits the initial floating distance to the junction box installation robot, and the lead is limited in a limiting groove formed by the lead straightening plate to keep a vertical state at the moment;
s5), the junction box installation robot clamps the junction box and moves the junction box to the lead wire correction plate, the placement position of the junction box is a position corrected in the Y-axis direction by the initial floating distance on the basis of the system set position, and the junction box installation robot keeps a state of clamping the junction box;
s6) the junction box mounting robot clamps the junction box and synchronously descends to a position close to the root of a lead wire, in the process, the distance measuring device monitors the dynamic floating distance of the lead wire correcting plate in real time, and the junction box mounting robot dynamically finely adjusts the position of the junction box according to the dynamic floating distance so as to ensure that the notch and the lead wire position always correspond to each other in the descending process;
s7), after the lead straightening plate descends to the proper position, the lead straightening plate is opened and withdrawn, and the junction box continues to descend to be attached to the surface of the component;
s8) extending a pair of shifting claws between two leads in the junction box and approaching the height position of the bottom of the junction box, then opening the shifting claws outwards to push the leads to be in a horizontal bending state in the opposite direction, so that the leads are tightly attached to the bottom surface of the inner wall of the junction box, and the installation of the junction box is completed.
3. The utility model provides a solar panel terminal box automatic installation equipment, its includes subassembly transfer chain, terminal box feed unit, terminal box material loading robot, terminal box installation robot and lead wire correction unit, its characterized in that: the lead correction unit comprises a lead correction plate with a floating function on a Y axis and a laser range finder for detecting the floating distance generated by the lead correction plate in the whole lead correction process due to the mounting deviation of the lead Y axis, and the laser range finder detects the floating distance and transmits the floating distance to the junction box mounting robot control system.
4. The automatic solar panel junction box mounting apparatus of claim 3, wherein: the junction box feeding units are three, namely a first feeding unit, a second feeding unit and a third feeding unit, and correspond to automatic feeding of three junction boxes required to be installed on one assembly;
the first feeding unit and the second feeding unit are arranged on one side of the assembly conveying line and used for feeding junction boxes on two sides and conveying the junction boxes on two sides to the working range of the junction box feeding robot;
the third feeding unit is arranged on the other opposite side of the module conveying line and used for feeding the intermediate junction boxes and conveying the intermediate junction boxes to the working range of the junction box mounting robot.
5. The automatic solar panel junction box mounting apparatus of claim 4, wherein: the first feeding unit and the second feeding unit respectively comprise a first motor, a rotating plate driven by the first motor to rotate, storage bins symmetrically arranged on the rotating plate, and a lifting mechanism located on the feeding station side and used for lifting the junction box in the storage bins to a set height position.
6. The automatic solar panel junction box mounting apparatus of claim 3, wherein: a transfer positioning platform for accurately positioning the junction box is arranged between the junction box feeding robot and the junction box mounting robot; and the junction box feeding robot grabs the corresponding junction box from the junction box feeding unit, places the junction box on the transfer positioning platform for positioning, and then takes away the junction box from the junction box mounting robot for mounting.
7. The automatic solar panel junction box mounting apparatus of claim 3, wherein: the junction box feeding robot is provided with one junction box feeding robot and is used for feeding junction boxes; the terminal box mounting robot is provided with two terminal boxes, wherein one terminal box mounting robot is used for mounting a two-side terminal box, and the other terminal box mounting robot is used for mounting a middle terminal box and a two-side terminal box; the lead correction units are three, and lead at the installation positions of the three junction boxes are corrected simultaneously.
8. The automatic solar panel junction box mounting apparatus of claim 3, wherein: the junction box mounting robot comprises a second robot body, a second supporting plate arranged at the movable tail end of the second robot body, a CCD camera and a third air cylinder which are fixed on the second supporting plate, a third supporting plate driven by the third air cylinder to move up and down, a second clamping module, a third clamping module and a pusher dog module which are fixed on the third supporting plate.
9. The automatic solar panel junction box mounting apparatus of claim 8, wherein: the second clamping module comprises a clamping jaw air cylinder, clamping jaws driven by the clamping jaw air cylinder to perform clamping action, a pressing plate arranged between the two clamping jaws, and a sensor fixed on the lower surface of the pressing plate and used for detecting whether a junction box is arranged on each clamping jaw.
10. The automatic solar panel junction box mounting apparatus of claim 9, wherein: the pressing plate is provided with an upper and a lower avoidance opening of the pipe, the pusher dog module comprises a fourth cylinder and a pusher dog driven by the fourth cylinder to open or close, and the pusher dog penetrates through the avoidance opening.
11. The automatic solar panel junction box mounting apparatus of claim 3, wherein: the lead correction unit comprises a third motor, a fourth supporting plate driven by the third motor to move in parallel to the conveying direction of the assembly, a fourth motor fixed on the fourth supporting plate, a fifth supporting plate driven by the fourth motor to move up and down, a sixth supporting plate arranged on the fifth supporting plate in a floating mode along the Y-axis direction, a fifth air cylinder fixed on the sixth supporting plate, and a zero limiting plate fixed on the fifth supporting plate and used for limiting the zero position of the fifth air cylinder, wherein the laser range finder is fixed on the fifth supporting plate and used for obtaining the floating distance by detecting the floating distance of the sixth supporting plate; and the lead correcting plate is driven by the fifth cylinder to open or close.
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| CN202211014012.0A CN115070376B (en) | 2022-08-23 | 2022-08-23 | Automatic installation equipment and installation method for solar panel junction box |
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| CN115070376B CN115070376B (en) | 2023-02-03 |
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| CN113245826A (en) * | 2021-07-01 | 2021-08-13 | 科圣达(苏州)智能科技有限公司 | Automatic installation equipment of photovoltaic module junction box and control method thereof |
| CN114193112A (en) * | 2021-11-18 | 2022-03-18 | 苏州晟成智能装备有限公司 | Automatic installing machine for solar panel junction box |
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| US5255948A (en) * | 1991-10-09 | 1993-10-26 | Northern Telecom Limited | Device for use in positioning an article precisely in a desired location |
| CN105522378A (en) * | 2016-02-19 | 2016-04-27 | 苏州天准科技股份有限公司 | Self-center-return rotation deviation rectification mechanism for alignment and rotation press-in device |
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| CN115070376B (en) | 2023-02-03 |
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