The industrial transfer robot of solar cell chip bonding machine
The present invention relates to Industrial Robot Technology field, refer to the industrial transfer robot of a kind of solar cell chip bonding machine especially, carrying at a high speed in low year can be carried out, be applied in solar cell chip bonding machine.
In current production in solar cell chip bonding machine, mainly in manual welding mode.The problems such as the accuracy and runtime that manual welding can have influence on, welding of battery film quality and output and production operation personnel personal safety, work situation, labour intensity, capacity rating, raw materials consumption and productive costs.According to this present situation, it is a kind of by overprogram and control automatically for knowing industrial robot, multi-functional, multivariant Mechatronics Automatics tool equipment and the system of some operation task in manufacturing process can be completed, and can in conjunction with manufacture main frame or manufacturing line, unit or multimachine automation system can be formed, in unmanned participation, realize the multiple production operations such as carrying, welding, assembling and spraying.Therefore, this type of industrial carrying machine people is researched and developed to realize the high speed of welding of battery film and high precision is very necessary.
Summary of the invention
In view of above-mentioned present situation, the object of the present invention is to provide a kind of structure simple, be easy to control, the industrial transfer robot of solar cell chip bonding machine that cost is low, speed is fast, precision is high, the accurate crawl that can realize cell piece is put, and meets the demand of photovoltaic industry.
For achieving the above object, technical solution of the present invention is, the industrial transfer robot of a kind of solar cell chip bonding machine, comprising:
First transmission device, this first transmission device comprises the first motor and connected first retarder, is connected with lower revoliving arm by the first retarder, controls the rotation of lower revoliving arm, realizes robot basic fixed position in the horizontal direction; With
Last time pivoted arm and robot wrist joint, last time, pivoted arm was provided with the second to the 4th transmission device in comprising; Described second transmission device comprises the second motor and connected second retarder, be connected with the lower revoliving arm in the first transmission device by the second retarder, control the rotation of pivoted arm last time, realize robot accurate location in the horizontal direction, 3rd transmission device, comprise the 3rd motor, leading screw is driven by Timing Belt, this leading screw is connected with castellated shaft by connecting panel, the accurate location of control vertical direction movement, the 4th transmission device, comprises the 4th motor, castellated shaft is driven to rotate by Timing Belt, the rotary motion of control vacuum cup.Therefore, the present invention, by the movement of robot, rotation, accurately draws cell piece, good sheet is put into welding belt conveyor, bad sheet is put into waste material box, realize the access position of accurate locating batteries sheet, improve welding quality and the efficiency of cell piece.
In the present invention, described connecting panel one end and castellated shaft activity are connected, and the other end is connected with leading screw by negative thread.Like this, castellated shaft can rotate relative to connecting panel, utilizes again the accurate location controlling the vertical direction movement of castellated shaft with the screw thread fit of leading screw.In addition, because each parts are separated from each other assembling, assembling is simple, is easy to control.
The invention has the beneficial effects as follows: judge the quality of cell piece by vision system shooting and cell piece coordinate is sent to robot, robot armshaft moves, rotates, accurately draw cell piece, good sheet is put into welding belt conveyor, bad sheet is put into waste material box, realize the access position of accurate locating batteries sheet, improve welding quality and the output of cell piece, reduce drainage of human resources cost.In addition, also there is the advantage that cost is low, precision is high, speed is fast, comprehensive cost performance is high.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is the birds-eye view of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the invention will be further described.
See the industrial transfer robot of a kind of solar cell chip bonding machine shown in Fig. 1 to Fig. 2, comprise the first transmission device be arranged on pedestal 12, this first transmission device comprises the first motor 1 and connected first retarder 2, be connected by the first retarder 2 one end with lower revoliving arm 3, for driving the rotation of lower revoliving arm 3, control basic fixed position in the horizontal direction; Pivoted arm last time of the other end of described lower revoliving arm 3 and robot 4 is connected.Last time of the present invention pivoted arm 4 and robotic vacuum sucker, last time, pivoted arm 4 was provided with the second to the 4th transmission device in comprising, the second described transmission device, comprise the second motor 5 and connected second retarder 6, be connected with lower revoliving arm 3 by the second retarder 6, the rotation of control pivoted arm last time 4, realize robot accurate location in the horizontal direction, 3rd transmission device, comprise the 3rd motor 7, leading screw 9 is driven by Timing Belt, this leading screw 9 is connected with castellated shaft 10 by connecting panel 11, the accurate location of control vacuum cup vertical direction movement, 4th transmission device, 4th transmission device comprises the 4th motor 8, castellated shaft 10 is driven to rotate by Timing Belt, the rotary motion of control vacuum cup.Last time of the present invention, pivoted arm 4 was having coordinated by the second motor 5 and the second retarder 6 relative to rotating of lower revoliving arm 3.In above-mentioned, the robotic vacuum sucker of castellated shaft 10 end connects (meaning not shown in the figures).Connecting panel 11 one end of the present invention and castellated shaft 10 activity are connected, and the other end is connected with leading screw 9 by negative thread.Like this, castellated shaft 10 can be rotated relative to connecting panel 11, utilize again the accurate location controlling the vertical direction movement of castellated shaft 10 with the screw thread fit of leading screw 9.
The the first to the second above-mentioned retarder 2,6 is harmonic gear reducer.
In above-mentioned, involved robot be provided with vision system and take pictures machine.
Repetitive positioning accuracy of the present invention reaches ± 0.01mm, and effective swinging radius 0.6m, uses it in solar cell chip bonding machine, guarantees that welding accurately covers cell piece main gate line surface.Vision system (belong to prior art, therefore omit statement) can be coordinated, cell piece that is broken, that collapse limit is rejected, reduces the repair rate of assembly.Have that cost is low, precision is high, speed is fast, comprehensive cost performance advantages of higher.
Principle of work of the present invention:
1, first judged by vision system machine of taking pictures, if without discovery cell piece, robot remains on origin position (can be set as that waste paper box upper end is initial point position).
2, if find that there is cell piece, judge the quality of cell piece and cell piece coordinate position is sent to robot, the first retarder 2 is driven to drive lower revoliving arm 3 to rotate by the first motor 1 of robot, the second motor 5 simultaneously in the second drive mechanism and the second retarder 6 band drive pivoted arm last time 4 rotate, rotate to and get sheet position, 3rd motor 7 of the 3rd drive mechanism drives leading screw 9 to rotate by Timing Belt, leading screw 9 is by connecting panel 14 and castellated shaft 10 synchronous shift, the vertical direction being castellated shaft 10 by the convert rotational motion of leading screw 9 moves, castellated shaft 10 end installs vacuum cup, vacuum cup drops to cell piece upper end, open vacuum, vacuum cup draws cell piece, complete grasping movement.
If 3 are judged as bad sheet, after 3rd motor 7 runs and castellated shaft 10 rising is put in place, first motor 1 and the second motor 5 run and upper and lower revoliving arm 4,3 are rotated, 4th motor 8 drives castellated shaft 10 to rotate by Timing Belt simultaneously, adjust the angle of relative cell piece, after rotating to waste paper box, the 3rd motor 7 runs and castellated shaft 10 is declined, and destroys vacuum, bad sheet is put into waste paper box.
If 4 judge as well sheet, robot castellated shaft 10 rises, and rise after putting in place, upper and lower revoliving arm 4,3 rotates, castellated shaft 10 rotates simultaneously, after rotating to film releasing place, castellated shaft 10 declines, and destroys vacuum, good sheet is put into position film releasing place of welding belt conveyor specified coordinate, in like manner next time good sheet is placed on film releasing place, carries out two-wire welding, improve welding efficiency.