CN110963294A

CN110963294A - Pick-up device

Info

Publication number: CN110963294A
Application number: CN201811161952.6A
Authority: CN
Inventors: 卢志辉; 吴桐; 兰立广
Original assignee: Dongtai Hi Tech Equipment Technology Co Ltd
Current assignee: Zishi Energy Co.,Ltd.
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-04-07

Abstract

The invention provides a pick-up device for picking up and moving a piece to be picked up, comprising: a support; the picking mechanism is movably and rotatably connected with the bracket; the visual detection mechanism is arranged on the bracket and is used for acquiring the image information of the piece to be picked up; the picking mechanism carries out translational motion or rotational motion according to the image information so as to align with the piece to be picked or carry out sorting operation on the picked piece to be picked. The invention solves the problem that the pick-up device in the prior art has lower intelligent degree, so that the pick-up device has poorer practicability.

Description

Pick-up device

Technical Field

The invention relates to the technical field of solar cell panel production, in particular to a pickup device.

Background

On solar cell panel's production line, in order to promote solar cell panel's degree of automation, adopt pickup apparatus to pick up the film battery piece, however, pickup apparatus's among the prior art intelligent degree is lower, can't discern the condition of placing of film battery piece or the product quality of film battery piece intelligently, leads to pickup apparatus's practicality relatively poor.

Specifically, the pickup device cannot identify the placement condition of the thin-film battery piece, that is, it cannot be ensured that the pickup mechanism of the pickup device and the thin-film battery piece can be aligned, and when the pickup mechanism and the thin-film battery piece are misaligned, the contact area between the pickup mechanism and the thin-film battery piece is small, so that the pickup mechanism cannot stably pick up the thin-film battery piece, and even the pickup mechanism cannot pick up the thin-film battery piece; in addition, the pickup device cannot identify the placement condition of the thin film battery pieces, so that the thin film battery pieces cannot be sorted according to the placement condition of the thin film battery pieces; the product quality of the thin-film battery piece cannot be intelligently identified by the pickup device, and the thin-film battery piece cannot be sorted according to the product quality of the thin-film battery piece, so that the practicability of the pickup device is poor.

Disclosure of Invention

The invention mainly aims to provide a pickup device, which is used for solving the problem that the pickup device in the prior art is poor in practicability due to low intelligence degree.

In order to achieve the above object, the present invention provides a pickup apparatus for picking up and moving a member to be picked up, comprising: a support; the picking mechanism is movably and rotatably connected with the bracket; the visual detection mechanism is arranged on the bracket and is used for acquiring the image information of the piece to be picked up; the picking mechanism carries out translational motion or rotational motion according to the image information so as to align with the piece to be picked or carry out sorting operation on the picked piece to be picked.

Furthermore, the picking device also comprises a controller and a position analysis module, wherein the position analysis module is used for carrying out position analysis on the image information acquired by the visual detection mechanism and sending a first signal containing the center position coordinate and/or the deflection angle value of the piece to be picked to the controller, and the controller controls the picking mechanism to move to the position aligned with the piece to be picked according to the first signal.

The picking device further comprises a controller and a defect analysis module, wherein the defect analysis module is used for carrying out defect analysis on the image information acquired by the visual inspection mechanism and sending a second signal containing whether the piece to be picked is a qualified product or a defective product to the controller, and the controller controls the picking mechanism to pick the piece to be picked according to the second signal and then sorts the piece to be picked which is detected as the qualified product or the defective product in a classified mode.

Furthermore, the picking device also comprises a controller and a placing direction analysis module, the placing direction analysis module is used for analyzing the placing direction of the image information acquired by the vision detection mechanism and sending a third signal containing the piece to be picked which is placed in the forward direction or the reverse direction to the controller, and the controller controls the picking mechanism to pick the piece to be picked according to the third signal and then sorts the piece to be picked which is detected to be placed in the forward direction or the reverse direction.

Further, pick device still includes mounting panel and rotation driving motor, and the mounting panel is movably set up on the support, and rotation driving motor sets up on the mounting panel, and rotation driving motor has hollow mounting hole, and pick device still includes buffer gear, and buffer gear includes: the sleeve is arranged at the orifice parts at the two ends of the mounting hole respectively; the guide rod is movably arranged in the mounting hole, one end of the guide rod, facing the piece to be picked, is connected with the picking mechanism, and the guide rod is provided with a limiting structure matched with the sleeve in a stopping way; the buffer spring is sleeved on the guide rod and arranged between the sleeve far away from the picking mechanism and the limiting structure so as to provide a pressure towards the piece to be picked for the picking mechanism.

Further, pick device still includes mounting panel and rotation driving motor, and the mounting panel is movably set up on the support, and rotation driving motor sets up on the mounting panel, and rotation driving motor has hollow mounting hole, and pick device still includes buffer gear, and buffer gear includes: the sleeve is arranged at the orifice parts at the two ends of the mounting hole respectively; the guide rod is movably arranged at the mounting hole, and one end of the guide rod, which faces the to-be-picked piece, is connected with the picking mechanism; and the buffer spring is sleeved on the guide rod and is arranged between the rotary driving motor and the picking mechanism so as to provide a pressure towards the piece to be picked for the picking mechanism.

Further, the picking device further comprises a non-contact sensor, the non-contact sensor is arranged on the mounting plate, the detection end of the non-contact sensor and the end portion, far away from the picking mechanism, of the guide rod are arranged at intervals, when the distance between the end portion, close to the non-contact sensor, of the guide rod and the non-contact sensor is smaller than a safety distance, the non-contact sensor sends a pressure overrun signal to the controller, and after the controller receives the pressure overrun signal, the picking mechanism is controlled to move towards the direction far away from the piece to be picked.

Further, the picking device further comprises a contact sensor, the contact sensor is arranged on the mounting plate and is abutted to the end portion, far away from the picking mechanism, of the guide rod, when the pressure detected by the contact sensor is larger than a preset value, the contact sensor sends a pressure overrun signal to the controller, and after the controller receives the pressure overrun signal, the picking mechanism is controlled to move towards the direction far away from the piece to be picked.

Further, visual inspection mechanism includes the CCD camera, and the CCD camera has the end of getting for instance that is used for acquireing the image information of waiting to pick up the piece, and the CCD camera is installed on the mounting panel and is set up with rotary drive motor looks interval ground.

Further, pick device still includes the mounting bracket, and visual detection mechanism includes the CCD camera, and the CCD camera has the end of getting for instance that is used for acquireing the image information of waiting to pick up the piece, and CCD camera fixed mounting is on the mounting bracket.

Further, the stand includes: the first guide rail mechanism is arranged on the bracket, and the first sliding block is connected with the first guide rail mechanism in a sliding manner; the second guide rail mechanism is connected with the first sliding block, and the second sliding block is connected with the second guide rail mechanism in a sliding manner; the third guide rail mechanism is connected with the second sliding block, and the third sliding block is connected with the third guide rail mechanism in a sliding manner; the first guide rail mechanism extends along a horizontal first direction, the second guide rail mechanism extends along a horizontal second direction, the first direction and the second direction form an included angle, and the third guide rail mechanism extends along a vertical direction; the picking device further comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism is in driving connection with the first sliding block, the second driving mechanism is in driving connection with the second sliding block, the third driving mechanism is in driving connection with the third sliding block, and the mounting plate is fixedly connected with the third sliding block.

The application also provides a pickup apparatus for pick up and remove and wait to pick up the piece, pickup apparatus is including picking up mechanism, rotary drive motor and buffer gear, and rotary drive motor has hollow mounting hole, and buffer gear includes: the sleeve is arranged at the orifice parts at the two ends of the mounting hole respectively; the guide rod is movably arranged at the mounting hole, one end of the guide rod, facing the piece to be picked, is connected with the picking mechanism, and the guide rod is provided with a limiting structure matched with the sleeve in a stopping way; the buffer spring is sleeved on the guide rod and arranged between a sleeve far away from the picking mechanism and the limiting structure so as to provide a pressure towards the piece to be picked for the picking mechanism.

The application also provides a pickup apparatus for pick up and remove and wait to pick up the piece, pickup apparatus is including picking up mechanism, rotary drive motor and buffer gear, and rotary drive motor has hollow mounting hole, and buffer gear includes: the sleeve is arranged at the orifice parts at the two ends of the mounting hole respectively; the guide rod is movably arranged at the mounting hole, and one end of the guide rod, which faces the to-be-picked piece, is connected with the picking mechanism; and the buffer spring is sleeved on the guide rod and is arranged between the rotary driving motor and the picking mechanism so as to provide a pressure towards the piece to be picked for the picking mechanism.

By applying the technical scheme of the invention, the intelligent degree of the picking device is improved by arranging the visual detection mechanism, specifically, the visual detection mechanism is used for acquiring the image information of the piece to be picked, the placement condition of the piece to be picked or the product quality of the piece to be picked can be obtained by analyzing the acquired image information of the piece to be picked, and the picking mechanism can perform translational motion or rotational motion according to the image information so as to align with the piece to be picked or perform sorting operation on the picked piece to be picked. The application provides a pickup apparatus has higher intelligent degree to can promote pickup apparatus's the performance of picking up, promote pickup apparatus's practicality, promote pickup apparatus's user experience good feeling.

The application provides a pickup apparatus is picking up the in-process, utilize buffer gear to realize picking up the mechanism and treat the reliable contact of picking up the piece, avoid treating that the too big pressure that the piece that picks up bore leads to treating that the piece damages, and simultaneously, the pickup apparatus that this application provided treats that the piece bears under the pressure effect of allowwing, the switching through the vacuum gas circuit realizes treating that the piece from last material level to the transfer of picking up the mechanism of picking up, this process is because buffer gear exerts the pressure effect on waiting to pick up the battery piece, can ensure to treat that the piece picks up before and by the position assurance unanimity behind the mechanism of picking up, the process of position secondary confirmation can be saved like this, the cost of visual detection system has both been reduced has shortened the beat time of picking up again.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of a pick-up device according to an alternative embodiment of the invention;

fig. 2 shows a right side view of the pick-up device in fig. 1;

FIG. 3 is a schematic view showing an angle of the pick-up mechanism, the visual inspection mechanism, the buffer mechanism and the mounting plate of the pick-up device of FIG. 1;

FIG. 4 is a schematic view showing another angle configuration of the pick-up mechanism, the visual inspection mechanism, the buffer mechanism and the mounting plate of the pick-up device of FIG. 3;

FIG. 5 is a schematic cross-sectional view of one angle of the pick-up mechanism, the visual inspection mechanism, the buffer mechanism and the mounting plate of the pick-up device of FIG. 4;

FIG. 6 is a schematic cross-sectional view of another angle of the pick-up mechanism, the visual inspection mechanism, the buffer mechanism, and the mounting plate of the pick-up device of FIG. 4;

FIG. 7 shows a schematic bottom view of the pick-up mechanism of FIG. 1;

fig. 8 shows a schematic top view of the feeding mechanism in fig. 1.

Wherein the figures include the following reference numerals:

1. a part to be picked up; 10. a support; 11. a first guide rail mechanism; 12. a first slider; 13. a second guide rail mechanism; 14. a second slider; 15. a third guide rail mechanism; 16. a third slider; 20. a pickup mechanism; 21. a housing; 22. a first vacuum chamber; 23. a first vacuum adsorption hole; 24. a groove; 30. a visual detection mechanism; 31. a CCD camera; 40. mounting a plate; 50. a rotary drive motor; 51. mounting holes; 60. a buffer mechanism; 61. a sleeve; 62. a guide bar; 621. a limiting structure; 63. a buffer spring; 70. a non-contact sensor; 80. a feeding mechanism; 81. a placement space; 91. a second drive mechanism; 92. a third drive mechanism; 100. a storage box; 110. a drag chain structure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve the problem that the picking device in the prior art is poor in practicability due to low intelligence degree, the invention provides the picking device.

As shown in fig. 1 to 8, the pickup device is used for picking up and moving a to-be-picked-up piece 1, and includes a support 10, a pickup mechanism 20 and a visual detection mechanism 30, wherein the pickup mechanism 20 is movably and rotatably connected to the support 10, the visual detection mechanism 30 is disposed on the support 10, the visual detection mechanism 30 is used for acquiring image information of the to-be-picked-up piece 1, and the pickup mechanism 20 performs a translational motion or a rotational motion according to the image information to align with the to-be-picked-up piece 1 or perform a sorting operation on the picked-up to-be-picked-up piece 1.

In this application, through setting up visual detection mechanism 30, the translation motion or the rotary motion for picking up mechanism 20 play the effect of guide, pick device's intelligent degree has been promoted, specifically speaking, visual detection mechanism 30 is used for acquireing the image information of waiting to pick up 1, through waiting to pick up 1 image information to acquireing and analyzing, can obtain waiting to pick up 1 the condition of placing or the product quality of waiting to pick up 1, pick up mechanism 20 carries out translation motion or rotary motion according to image information, thereby with wait to pick up 1 to be adjusted well or to the picking up of waiting to pick up 1 carry out the letter sorting operation. The application provides a pickup apparatus has higher intelligent degree to can promote pickup apparatus's the performance of picking up, promote pickup apparatus's practicality, promote pickup apparatus's user experience good feeling.

Optionally, the pickup apparatus further includes a controller and a position analysis module, the position analysis module is configured to perform position analysis on the image information acquired by the vision detection mechanism 30, and send a first signal containing the center position coordinates and/or the deflection angle value of the piece to be picked 1 to the controller, and the controller controls the pickup mechanism 20 to move to the position aligned with the piece to be picked 1 according to the first signal. Like this, visual detection mechanism 30 and position analysis module cooperation are used, obtain the position of placing of waiting to pick up 1, the controller carries out translation motion or rotary motion according to position analysis result control picking mechanism 20 of position analysis module to make picking mechanism 20 and wait to pick up 1 and adjust well, guarantee that picking mechanism 20 and wait to pick up the area of contact between 1 big enough, guarantee that picking mechanism 20 can pick up and wait to pick up 1 steadily, the pick-up performance of pickup apparatus has been promoted.

Optionally, the picking apparatus further includes a controller and a defect analysis module, the defect analysis module is configured to perform defect analysis on the image information acquired by the vision inspection mechanism 30, and send a second signal containing whether the to-be-picked object 1 is a qualified product or a defective product to the controller, and the controller controls the picking mechanism 20 to pick the to-be-picked object 1 according to the second signal and then sort the to-be-picked object 1 detected as a qualified product or a defective product. Thus, the visual inspection mechanism 30 and the defect analysis module are used in cooperation to obtain the product quality of the piece 1 to be picked up, and the controller controls the pickup mechanism 20 to perform translational motion or rotational motion according to the defect analysis result analyzed by the defect analysis module, so that the qualified product is sorted to one place, and the defective product is sorted to another place. The application provides a pickup apparatus can be in picking up the in-process of waiting to pick up 1 and sort out the defective products to promoted solar cell panel's product quality, replaced the manual work and carried out the discernment of defective products, reduced workman's intensity of labour, promoted solar cell panel's production efficiency.

Optionally, the picking apparatus further includes a controller and a placement direction analyzing module, the placement direction analyzing module is configured to analyze a placement direction of the image information acquired by the vision detecting mechanism 30, and send a third signal containing the to-be-picked piece 1 placed in the forward direction or the reverse direction to the controller, and the controller controls the picking mechanism 20 to pick up the to-be-picked piece 1 according to the third signal and then sort the to-be-picked piece 1 detected as placed in the forward direction or the reverse direction. In this way, the visual inspection mechanism 30 and the placement direction analysis module are used in cooperation to obtain the placement direction of the piece to be picked 1, the controller controls the pickup mechanism 20 to perform translational motion or rotational motion according to the placement direction analysis result analyzed by the placement direction analysis module, so as to sort the products placed in the forward direction to one place and sort the products placed in the reverse direction to another place. The application provides a pick device can be at the in-process of picking up and treating pick 1 and judge the direction of placing of treating pick 1, avoid installing reverse the placing treat pick 1 on the workspace of next process, promoted solar cell panel's product quality, replaced the manual work and treated the discernment of the direction of placing of picking 1, reduced workman's intensity of labour, promoted solar cell panel's production efficiency.

Alternatively, the visual inspection mechanism 30 is used to take a picture of the piece to be picked up 1 at high speed, and the placement direction analyzing module judges the placement direction of the piece to be picked up 1 from the gradation of the picture of the piece to be picked up 1.

Optionally, the pickup apparatus provided by the present application includes at least one of a position analysis module, a defect analysis module, and a placement direction analysis module.

Wherein the position analysis module, the defect analysis module, and the placement direction analysis module may be integrally provided on the controller or the visual inspection mechanism 30.

As shown in fig. 3 to 6, the picking device further includes a mounting plate 40 and a rotary driving motor 50, the mounting plate 40 is movably disposed on the support 10, the rotary driving motor 50 is disposed on the mounting plate 40, the rotary driving motor 50 has a hollow mounting hole 51, the picking device further includes a buffer mechanism 60, the buffer mechanism 60 includes a sleeve 61, a guide rod 62 and a buffer spring 63, a sleeve 61 is disposed at each of the openings of the two ends of the mounting hole 51, the guide rod 62 is movably disposed in the mounting hole 51, the end of the guide rod 62 facing the to-be-picked part 1 is connected to the picking mechanism 20, the guide rod 62 has a limit structure 621 in stop fit with the sleeve 61, the buffer spring 63 is sleeved on the guide rod 62, and is arranged between the sleeve 61 remote from the picking mechanism 20 and the stop structure 621 to provide a pressure force for the picking mechanism 20 towards the piece 1 to be picked. In this way, the present application controls the rotation of the picking mechanism 20 by providing the rotary drive motor 50, thereby achieving alignment of the picking mechanism 20 with the member to be picked 1. In addition, when picking up the piece 1 to be picked up, utilize buffer gear 60 to realize treating the piece 1 to be picked up and keep at the pressing force degree of certain extent, can guarantee like this that the piece 1 to be picked up is from feed mechanism 80 to the transfer in-process of picking up mechanism 20 and treat that piece 1 can not take place the offset, guarantee to treat that piece 1 to be picked up is unanimous with the position assurance after being adsorbed on picking up mechanism 20 before picking up, the process of carrying out the secondary and confirming to the position of treating the piece 1 to be picked up is saved, pick-up device's pick-up efficiency has been promoted. When the pressing force of the picking mechanism 20 on the to-be-picked piece 1 is too large, the buffer spring 63 can also play a role in buffering, so that the to-be-picked piece 1 is prevented from being damaged.

Alternatively, the rotary drive motor 50 is a direct drive motor, and in order to facilitate the arrangement of the buffer mechanism 60, a direct drive motor having a hollow mounting hole 51 is selected, and the buffer mechanism 60 is arranged by reasonably utilizing the structure of the direct drive motor.

In an embodiment of the present application, which is not shown in the drawings, the pickup apparatus further includes a mounting plate 40 and a rotation driving motor 50, the mounting plate 40 is movably disposed on the stand 10, the rotation driving motor 50 is disposed on the mounting plate 40, the rotation driving motor 50 has a hollow mounting hole 51, the pickup apparatus further includes a buffer mechanism 60, and the buffer mechanism 60 includes: the sleeves 61, and the orifices at the two ends of the mounting hole 51 are respectively provided with one sleeve 61; a guide rod 62, the guide rod 62 is movably arranged at the mounting hole 51, and one end of the guide rod 62 facing to the member to be picked 1 is connected with the picking mechanism 20; a buffer spring 63, the buffer spring 63 is sleeved on the guide rod 62 and arranged between the rotary driving motor 50 and the picking mechanism 20 to provide a pressure towards the piece 1 to be picked for the picking mechanism 20. In the present embodiment, the damper mechanism 60 is also provided using the hollow structure of the rotation drive motor 50, and only the installation position of the damper spring 63 is changed.

Optionally, the guide rod 62 has a limiting structure 621, and the limiting structure 621 cooperates with the sleeve 61 for limiting the moving stroke of the guide rod, so as to prevent the guide rod 62 from being disengaged from the mounting hole 51, and ensure the connection stability of the guide rod 62 and the rotary driving motor 50. Or a stop function in the event of a malfunction of the non-contact sensor or the contact sensor, to avoid the buffer spring 63 from being excessively compressed and providing an excessive pressure to the member to be picked 1 to cause damage to the member to be picked 1.

As shown in fig. 4 to 6, the pickup apparatus further includes a non-contact sensor 70, the non-contact sensor 70 is disposed on the mounting plate 40, and a detection end of the non-contact sensor 70 is spaced apart from an end of the guide rod 62 away from the pickup mechanism 20, when a distance between an end of the guide rod 62 close to the non-contact sensor 70 and the detection end of the non-contact sensor 70 is smaller than a safety distance, the non-contact sensor 70 sends a pressure overrun signal to the controller, and the controller receives the pressure overrun signal and controls the pickup mechanism 20 to move in a direction away from the to-be-picked up component 1. Adopt non-contact sensor, not be limited to non-contact sensor 70, also can be other non-contact sensor to avoid picking mechanism 20 to treat effectively that the piece 1 that picks up is too big and damage and treat the piece 1 that picks up according to the pressure intensity, further promoted pickup assembly's intelligent degree, promoted pickup assembly's pick-up performance, promoted pickup assembly's practicality, promoted pickup assembly's user experience good feeling.

Optionally, the non-contact sensor 70 is a proximity sensor.

In an embodiment of the present application, which is not shown in the drawings, the picking device further includes a touch sensor, the touch sensor is disposed on the mounting plate 40, the touch sensor abuts against an end portion of the guide rod 62 away from the picking mechanism 20, when the pressure detected by the touch sensor is greater than a predetermined value, the touch sensor sends a pressure overrun signal to the controller, and the controller receives the pressure overrun signal and controls the picking mechanism 20 to move in a direction away from the to-be-picked up member 1. Adopt contact sensor, be not limited to contact sensor, also can be other contact sensor to avoid picking mechanism 20 to treat according to the too big degree of pressure and damage of picking member 1 and treat picking member 1 effectively, further promoted pickup assembly's intelligent degree, promoted pickup assembly's the performance of picking up, promoted pickup assembly's practicality, promoted pickup assembly's user experience good feeling.

Optionally, the touch sensor is a travel switch or a pressure sensor.

The pickup device provided by the application has the advantages that the function of pressure overrun detection is added, and the guide rod 62 cannot trigger a non-contact sensor or a contact sensor under the condition of normal work; when the pickup apparatus breaks down, or position detection information leads to the descending height of pickup mechanism 20 to take place excessively low condition by mistake, cause to apply when waiting to pick up the pressing force degree of 1 and surpass the limit, for preventing to cause the damage of waiting to pick up 1, the controller can be according to received pressure overrun signal, in time make the adjustment to pickup mechanism 20's position, thereby reduce the pressing force degree of treating to pick up 1, in addition, the controller can also record the trouble, so that operating personnel analyzes the reason, optimize technology.

As shown in fig. 3, 5, 6 and 7, the pickup mechanism 20 includes a housing 21, the housing 21 having a first vacuum chamber 22 and at least one first vacuum suction hole 23 communicating with the first vacuum chamber 22, the pickup device further including a first vacuum generator communicating with the first vacuum chamber 22 through a vacuum line to draw out air from the first vacuum chamber 22, a first vacuum line, and a vacuum gauge provided in the vacuum line or the first vacuum chamber 22 to measure a degree of vacuum in the first vacuum chamber 22, the vacuum gauge sending an execution signal to the outside when the degree of vacuum in the first vacuum chamber 22 reaches a predetermined value. Like this, pick up through the mode of vacuum adsorption treating pickup 1 to avoid damaging the piece of treating pickup in the pick-up process. A vacuum gauge is provided to measure the vacuum in the first vacuum chamber 22 to ensure effective suction of the item 1 to be picked.

Alternatively, the controller controls the pick-up mechanism 20 of the pick-up device to move the picked-up piece 1 to be picked up to a specified place after receiving the execution signal sent by the vacuum gauge.

As shown in fig. 3 and 7, in consideration of the fact that the picking member 1 is picked up, the middle part of the picking member 1 does not need to be sucked by the dense first vacuum suction holes 23, and at least one groove 24 is formed in the middle of the surface of the picking mechanism 20 facing the picking member 1, so as to prevent the picking member 1 from being damaged due to the excessive vacuum suction force.

As shown in fig. 1, 2 and 8, the picking apparatus further includes a feeding mechanism 80, the feeding mechanism 80 has a placing space 81 for placing the to-be-picked piece 1, the feeding mechanism 80 has a second vacuum chamber and at least one second vacuum absorption hole communicated with the second vacuum chamber, the second vacuum absorption hole is communicated with the placing space 81, the picking apparatus further includes a second vacuum generator and a second vacuum pipeline, and the second vacuum generator is communicated with the second vacuum chamber through the second vacuum pipeline to pump air out of the second vacuum chamber. Since the thickness of the member to be picked up 1 is in the order of micrometers, the member to be picked up 1 is liable to undergo local warp deformation without any suction force, in this way, the picking device provided by the application sucks the to-be-picked piece 1 placed in the placing space 81 in a vacuum sucking way, thereby ensuring the smooth absorption of the piece 1 to be picked up, avoiding the occurrence of local warping deformation of the piece 1 to be picked up, leading the picking mechanism 20 to be well attached and picked up with the piece 1 to be picked up, after the picking mechanism 20 is aligned with the piece to be picked 1 and tightly attached to the piece to be picked 1, the second vacuum pipeline is in a closed state, the second vacuum cavity of the feeding mechanism 80 is stopped being vacuumized, the first vacuum pipeline is in a communicated state, the first vacuum container 22 is evacuated until the picking mechanism 20 can pick up the piece to be picked 1 stably, thereby achieving a reliable transfer of the piece to be picked 1.

Alternatively, the feeding of the feeding mechanism 80 may be achieved manually or automatically.

As shown in fig. 3 to 6, the vision inspection mechanism 30 includes a CCD camera 31, the CCD camera 31 has an image capturing end for capturing image information of the piece 1 to be picked up, and the CCD camera 31 is mounted on the mounting plate 40 and disposed at an interval from the rotation driving motor 50. In this way, the CCD camera 31 and the pickup mechanism 20 move together with the mounting plate 40, so that the shooting range of the CCD camera 31 can be increased.

Optionally, the picking apparatus further comprises a mounting frame, the vision inspection mechanism 30 comprises a CCD camera 31, the CCD camera 31 has an image capturing end for acquiring image information of the piece to be picked 1, and the CCD camera 31 is fixedly mounted on the mounting frame. Like this, CCD camera 31 is fixed to be set up in the top of waiting to pick up 1, and CCD camera 31 need not follow pickup mechanism 20 and move together, can acquire the image information of waiting to pick up 1 more fast to shorten the time that pickup apparatus acquireed the image information of waiting to pick up 1, promoted pickup apparatus's the efficiency of picking up.

As shown in fig. 1 and 2, the stent 10 includes: the first guide rail mechanism 11 is arranged on the support 10, and the first sliding block 12 is connected with the first guide rail mechanism 11 in a sliding manner; the second guide rail mechanism 13 is connected with the first slide block 12, and the second slide block 14 is connected with the second guide rail mechanism 13 in a sliding manner; the third guide rail mechanism 15 is connected with the second slider 14, and the third slider 16 is connected with the third guide rail mechanism 15 in a sliding manner; the first guide rail mechanism 11 extends along a horizontal first direction, the second guide rail mechanism 13 extends along a horizontal second direction, the first direction and the second direction form an included angle, and the third guide rail mechanism 15 extends along a vertical direction; the picking device further comprises a first driving mechanism, a second driving mechanism 91 and a third driving mechanism 92, wherein the first driving mechanism is in driving connection with the first sliding block 12, the second driving mechanism 91 is in driving connection with the second sliding block 14, the third driving mechanism 92 is in driving connection with the third sliding block 16, and the mounting plate 40 is fixedly connected with the third sliding block 16. Alternatively, the first direction is perpendicular to the second direction, and the controller may drive the mounting plate 40 to perform a translational motion along the X-axis direction, the Y-axis direction, or the Z-axis direction by controlling the first slider 12, the second slider 14, or the third slider 16 to move.

As shown in fig. 1, the pick-up device further includes a drag chain structure 110 for organizing the wires of the pick-up device and preventing the cables from being tangled, worn or scattered during the movement of the pick-up mechanism 20, thereby protecting the cables.

In an embodiment of the present application, the controller first controls the picking mechanism 20 to adjust the position along the horizontal direction, so that the picking mechanism 20 is located right above the to-be-picked piece 1 to be picked, then the controller controls the picking mechanism 20 to rotate so as to align with the position of the to-be-picked piece 1 to be picked, and then the controller controls the lifting movement of the picking mechanism 20 to make the picking mechanism 20 have a suitable pressing force on the to-be-picked piece 1 to be picked, so that the to-be-picked piece 1 is transferred to the placement position after the to-be-picked piece 1 is reliably adsorbed.

As shown in fig. 1 and 2, the picking apparatus further includes a storage box 100, and the storage box 100 is used for storing the to-be-picked piece 1 picked and moved by the picking mechanism 20. Optionally, the storage box 100 includes a recycling box for storing defective products or reversely placed pieces 1 to be picked up, so that the defective products can be removed to improve the assembling quality of the pieces 1 to be picked up, and the defective pieces 1 can be classified and processed in the later period conveniently.

Alternatively, provision may be made for recovering different categories of pieces to be picked 1 for later sorting processes.

The application provides a pickup apparatus has higher intelligent degree, consider fully waiting to pick up the non-uniformity of the posture of placing and probably appearing positive and negative mistake phenomenon such as placing of 1 on feed mechanism 80, can let pickup mechanism 20 adapt to the position state of waiting to pick up 1 on feed mechanism 80 automatically, be favorable to guaranteeing that the vacuum adsorption surface of pickup mechanism 20 highly coincide with waiting to pick up 1, improve pickup apparatus's the precision of picking up, guarantee pickup apparatus's absorption dynamics, reach the effect of self-adaptation, and can correctly discern the waiting to pick up 1 by mistake placement, and will have the defect product letter sorting of defect to go out.

Optionally, the pickup apparatus provided in the present application is applied to solar panel production, that is, the to-be-picked up member 1 is a thin film cell.

The present application also provides a storage medium storing a program for implementing at least one function of the storage location analysis module, the defect analysis module, the placement direction analysis module, and the pressure control module.

The pressure control module according to the present application is used to control the pressing force of the pickup device on the to-be-picked-up component 1.

The application also provides a pickup device, be used for picking up and removing waiting to pick up piece 1, pickup device includes pickup mechanism 20, rotary drive motor 50 and buffer gear 60, rotary drive motor 50 has hollow mounting hole 51, buffer gear 60 includes sleeve 61, guide bar 62 and buffer spring 63, the drill way punishment at both ends of mounting hole 51 is provided with a sleeve 61 respectively, guide bar 62 is movably set up in mounting hole 51 department, the one end of guide bar 62 towards waiting to pick up piece 1 is connected with pickup mechanism 20, guide bar 62 has limit structure 621 with sleeve 61 backstop, buffer spring 63 overlaps on guide bar 62, and set up between a sleeve 61 and the limit structure 621 far away from pickup mechanism 20, provide a pressure towards waiting to pick up piece 1 for pickup mechanism 20.

Like this, pickup apparatus's rotary drive motor 50 is used for controlling the rotation of picking up mechanism 20, thereby realize picking up mechanism 20 and waiting to pick up the alignment of piece 1, in addition, pickup apparatus has utilized rotary drive motor 50's hollow structure, buffer gear 60 has been set up, be used for realizing treating that picking up piece 1 keeps the degree of pressing at the certain limit, can guarantee like this that waiting to pick up piece 1 from feed mechanism 80 to picking up mechanism 20 transfer in-process waiting to pick up piece 1 and can not take place the offset, guarantee to wait to pick up piece 1 before picking up and by the position assurance after the absorption on picking up mechanism 20 unanimous, save the process of carrying out the secondary confirmation to the position of treating picking up piece 1, pickup apparatus's pick efficiency has been promoted. When the pressing force of the picking mechanism 20 on the to-be-picked piece 1 is too large, the buffer spring 63 can also play a role in buffering, so that the to-be-picked piece 1 is prevented from being damaged.

An unillustrated embodiment of the present application further provides a pickup apparatus for picking up and moving the to-be-picked-up member 1, the pickup apparatus includes a pickup mechanism 20, a rotary drive motor 50 and a buffer mechanism 60, the rotary drive motor 50 has a hollow mounting hole 51, the buffer mechanism 60 includes a sleeve 61, a guide rod 62 and a buffer spring 63, a sleeve 61 is disposed at each of the openings at both ends of the mounting hole 51, the guide rod 62 is movably disposed at the mounting hole 51, an end of the guide rod 62 facing the to-be-picked-up member 1 is connected to the pickup mechanism 20, and the buffer spring 63 is sleeved on the guide rod 62 and disposed between the rotary drive motor 50 and the pickup mechanism 20 to provide a pressure force to the pickup mechanism 20 toward the to-be-picked-up member 1. In the present embodiment, the damper mechanism 60 is also provided using the hollow structure of the rotation drive motor 50, and only the installation position of the damper spring 63 is changed.

Optionally, the guide rod 62 has a limiting structure 621, and the limiting structure 621 cooperates with the sleeve 61 for limiting the moving stroke of the guide rod, so as to prevent the guide rod 62 from being disengaged from the mounting hole 51, and ensure the connection stability of the guide rod 62 and the rotary driving motor 50.

Alternatively, the rotary drive motor 50 referred to herein is a direct drive motor.

The embodiment provided in the present application defines the arrangement position of the buffer spring 63 according to the structure of the rotary drive motor 50, and those skilled in the art can flexibly set the arrangement position of the buffer spring 63 based on the embodiment provided in the present application, thereby extending to other embodiments not shown in the figures.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pick-up device for picking up and moving an item (1) to be picked up, characterized in that it comprises:

a support (10);

a pick-up mechanism (20), said pick-up mechanism (20) being movably and rotatably connected with said carriage (10);

the visual detection mechanism (30), the visual detection mechanism (30) is arranged on the bracket (10), and the visual detection mechanism (30) is used for acquiring the image information of the piece to be picked (1);

the picking mechanism (20) performs translational motion or rotational motion according to the image information so as to align with the piece to be picked (1) or perform sorting operation on the picked piece to be picked (1).

2. Pickup device according to claim 1, further comprising a controller and a position analysis module, wherein the position analysis module is configured to perform a position analysis on the image information acquired by the vision inspection mechanism (30) and to send a first signal containing a center position coordinate and/or a deflection angle value of the member to be picked up (1) to the controller, and the controller controls the pickup mechanism (20) to move to a position aligned with the member to be picked up (1) according to the first signal.

3. The pickup apparatus as set forth in claim 1 or 2, further comprising a controller and a defect analysis module, wherein the defect analysis module is configured to perform defect analysis on the image information acquired by the vision inspection mechanism (30) and send a second signal to the controller, the second signal including whether the to-be-picked-up piece (1) is a qualified product or a defective product, and the controller controls the pickup mechanism (20) to pick up the to-be-picked-up piece (1) according to the second signal and then sorts the to-be-picked-up piece (1) detected as a qualified product or a defective product.

4. The picking device according to claim 1 or 2, characterized in that the picking device further comprises a controller and a placement direction analyzing module, the placement direction analyzing module is configured to analyze the placement direction of the image information obtained by the visual inspection mechanism (30) and send a third signal to the controller, the third signal includes that the to-be-picked piece (1) is placed in a forward direction or a reverse direction, and the controller controls the picking mechanism (20) to pick up the to-be-picked piece (1) according to the third signal and then sorts the to-be-picked piece (1) detected as being placed in the forward direction or the reverse direction.

5. The pickup apparatus according to claim 1, further comprising a mounting plate (40) and a rotary drive motor (50), the mounting plate (40) being movably disposed on the stand (10), the rotary drive motor (50) being disposed on the mounting plate (40), the rotary drive motor (50) having a hollow mounting hole (51), the pickup apparatus further comprising a buffer mechanism (60), the buffer mechanism (60) comprising:

the sleeves (61), and the orifices at two ends of the mounting hole (51) are respectively provided with one sleeve (61);

the guide rod (62), the guide rod (62) is movably arranged at the mounting hole (51), one end of the guide rod (62) facing the to-be-picked piece (1) is connected with the picking mechanism (20), and the guide rod (62) is provided with a limit structure (621) matched with the sleeve (61) in a stop mode;

buffer spring (63), buffer spring (63) cover is established guide bar (62) is last to the setting is in keeping away from one of pick mechanism (20) sleeve (61) with between limit structure (621), for pick mechanism (20) provide one towards wait to pick up the pressure of piece (1).

6. The pickup apparatus according to claim 1, further comprising a mounting plate (40) and a rotary drive motor (50), the mounting plate (40) being movably disposed on the stand (10), the rotary drive motor (50) being disposed on the mounting plate (40), the rotary drive motor (50) having a hollow mounting hole (51), the pickup apparatus further comprising a buffer mechanism (60), the buffer mechanism (60) comprising:

a guide rod (62), wherein the guide rod (62) is movably arranged at the mounting hole (51), and one end of the guide rod (62) facing to the to-be-picked up piece (1) is connected with the picking mechanism (20);

a buffer spring (63), wherein the buffer spring (63) is sleeved on the guide rod (62) and arranged between the rotary driving motor (50) and the picking mechanism (20) to provide a pressure towards the to-be-picked piece (1) for the picking mechanism (20).

7. A pick-up device according to claim 5 or 6, further comprising a non-contact sensor (70), wherein the non-contact sensor (70) is arranged on the mounting plate (40), and a detection end of the non-contact sensor (70) is spaced from an end of the guide rod (62) far away from the pick-up mechanism (20), when a distance between the end of the guide rod (62) close to the non-contact sensor (70) and the non-contact sensor (70) is smaller than a safety distance, the non-contact sensor (70) sends a pressure overrun signal to a controller, and the controller receives the pressure overrun signal and controls the pick-up mechanism (20) to move towards a direction far away from the to-be-picked-up member (1).

8. A pick-up device according to claim 5 or 6, further comprising a contact sensor arranged on the mounting plate (40) and abutting against the end of the guide rod (62) remote from the pick-up mechanism (20), wherein when the pressure detected by the contact sensor is greater than a predetermined value, the contact sensor sends a pressure overrun signal to a controller, and the controller receives the pressure overrun signal and controls the pick-up mechanism (20) to move in a direction away from the element (1) to be picked up.

9. Pickup unit according to claim 5 or 6, wherein the visual inspection means (30) comprise a CCD camera (31), the CCD camera (31) having an image pick-up head for acquiring image information of the piece to be picked up (1), and the CCD camera (31) being mounted on the mounting plate (40) and being arranged spaced apart from the rotary drive motor (50).

10. A pick-up device according to claim 1, further comprising a mounting frame, wherein the vision inspection mechanism (30) comprises a CCD camera (31), the CCD camera (31) having an image pick-up head for acquiring image information of the piece to be picked-up (1), and wherein the CCD camera (31) is fixedly mounted on the mounting frame.

11. A pick-up device according to claim 5 or 6, characterised in that the carriage (10) comprises:

the device comprises a first guide rail mechanism (11) and a first sliding block (12), wherein the first guide rail mechanism (11) is arranged on the bracket (10), and the first sliding block (12) is in sliding connection with the first guide rail mechanism (11);

the second guide rail mechanism (13) is connected with the first sliding block (12), and the second sliding block (14) is connected with the second guide rail mechanism (13) in a sliding manner;

the third guide rail mechanism (15) is connected with the second sliding block (14), and the third sliding block (16) is connected with the third guide rail mechanism (15) in a sliding manner;

the first guide rail mechanism (11) extends along a horizontal first direction, the second guide rail mechanism (13) extends along a horizontal second direction, the first direction and the second direction form an included angle, and the third guide rail mechanism (15) extends along a vertical direction;

the picking device further comprises a first driving mechanism, a second driving mechanism (91) and a third driving mechanism (92), the first driving mechanism is in driving connection with the first sliding block (12), the second driving mechanism (91) is in driving connection with the second sliding block (14), the third driving mechanism (92) is in driving connection with the third sliding block (16), and the mounting plate (40) is fixedly connected with the third sliding block (16).

12. A pick-up device for picking up and moving an item (1) to be picked up, the pick-up device comprising a pick-up mechanism (20), a rotary drive motor (50) and a damping mechanism (60), the rotary drive motor (50) having a hollow mounting hole (51), the damping mechanism (60) comprising:

13. A pick-up device for picking up and moving an item (1) to be picked up, the pick-up device comprising a pick-up mechanism (20), a rotary drive motor (50) and a damping mechanism (60), the rotary drive motor (50) having a hollow mounting hole (51), the damping mechanism (60) comprising: