CN112476464A - Rotary paw device for one grabbing more - Google Patents

Rotary paw device for one grabbing more Download PDF

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Publication number
CN112476464A
CN112476464A CN202011389215.9A CN202011389215A CN112476464A CN 112476464 A CN112476464 A CN 112476464A CN 202011389215 A CN202011389215 A CN 202011389215A CN 112476464 A CN112476464 A CN 112476464A
Authority
CN
China
Prior art keywords
claw
vision
mounting
sucking disc
sucker
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011389215.9A
Other languages
Chinese (zh)
Inventor
卢嘉彬
何守龙
高振波
柴永鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Zhongwei Photoelectricity Co Ltd
Original Assignee
Hangzhou Zhongwei Photoelectricity Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Zhongwei Photoelectricity Co Ltd filed Critical Hangzhou Zhongwei Photoelectricity Co Ltd
Priority to CN202011389215.9A priority Critical patent/CN112476464A/en
Publication of CN112476464A publication Critical patent/CN112476464A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683Details of suction cup structure, e.g. grooves or ridges
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members

Abstract

The invention discloses a multi-claw rotary paw device, which comprises a multi-claw, a driving device and a visual device, wherein the multi-claw is connected with the driving device, the driving device is arranged on a manipulator, the visual device is positioned above or below a sucked object detection area, and the multi-claw rotary paw device and the driving device are spaced at a certain space; the multi-claw device is provided with a sucker for sucking the sucked object; the driving device is used for driving the one-claw multi-claw to rotate so as to realize the suction and the placement of a plurality of sucked objects; the vision device is used for detecting the posture and the defects of the sucked object. The device has the advantages that: the number of the claws can be flexibly adjusted according to the requirement, the structure is simple and compact, the cost is low, the grabbing and placing precision is high, novelty and novelty are realized, and the device is particularly suitable for the field of photovoltaic production.

Description

Rotary paw device for one grabbing more
The technical field is as follows:
the invention belongs to the field of photovoltaic production, relates to photovoltaic module production equipment, and particularly relates to a one-grab multi-rotation gripper device used in photovoltaic module production.
Background art:
the invention designs a one-grab multi-rotating gripper device for photovoltaic module production, which can greatly improve the productivity of equipment, meet market demands, and has the advantages of simple structure, low cost and high precision.
The invention content is as follows:
the invention mainly solves the technical problem of providing a one-grab multi-rotation paw device used in photovoltaic module production, and aims to solve the technical problems of low equipment productivity and high manufacturing cost in the prior art.
The invention is solved by the following technical scheme:
a multi-paw grasping rotary gripper device, comprising a multi-paw grasping rotary gripper, a driving device, and a vision device, wherein: the multi-claw gripper is connected with a driving device, the driving device is installed on a manipulator, the vision device is located above or below a sucked object detection area, and a certain space interval is reserved between the vision device and the sucked object detection area.
Preferably, the multi-gripping gripper used in the multi-gripping rotary gripper device comprises a special-shaped plate, a plurality of sucker mounting plates, a plurality of suckers and other parts, wherein the sucker mounting plates are uniformly arranged on the special-shaped plate at a certain angle, and the suckers are arranged on the sucker mounting plates;
or the special-shaped plate and the sucker mounting plate are of an integral structure and can be realized through the manufacturing process, and the sucker is mounted on the sucker mounting plate.
Preferably, in the one-grip rotary gripper device, an end of the special-shaped plate is provided with a mounting surface for mounting the suction cup mounting plate, and an end of the special-shaped plate, which is far away from the mounting surface for mounting the suction cup mounting plate, is provided with a shaft hole structure for mounting the driving shaft.
Preferably, the lower surface of the sucker mounting plate is provided with mounting holes for mounting the suckers, the sucker mounting plate is internally provided with an air passage, and the suction and the placement of the object to be sucked are realized by controlling the flowing direction and the on-off of air flow in the air passage through related control elements.
Preferably, the driving device for the one-grab multi-rotary gripper device comprises a prime mover, a mounting frame, a driving shaft, a connecting body and other control elements, wherein the prime mover is mounted on the mounting frame, the prime mover is coaxially connected with the driving shaft through the connecting body, and the driving shaft is mounted on the mounting frame.
Preferably, the mounting frame for the one-grab multi-rotating gripper device is provided with a rolling body for reducing friction and prolonging the service life of the device, and the rolling body is limitedly mounted on the mounting frame to ensure that the rolling body cannot fall off the mounting frame in the operation process.
Preferably, the vision device for the one-grip multi-turn gripper device comprises a vision mounting bracket, a vision element and a control element, wherein the vision mounting bracket is connected with the mounting bracket, the vision element is mounted on the vision mounting bracket, and the vision element is positioned above or below the sucked object detection area at a certain distance.
Preferably, the visual mounting bracket for a one-grip-multiple-turn gripper device is provided with a fine adjustment device slider and an adjustment screw for fine adjustment of the visual element.
In the application, the one-claw-and-multi-claw rotating device for photovoltaic module production comprises a manipulator, wherein a one-claw-and-multi-claw driving device is arranged on the manipulator and used for driving the one-claw-and-multi-claw, and the driving device is controlled by the control element to perform reciprocating rotary motion. The one-grab multi-claw does reciprocating rotary motion under the action of the driving device, and the flow direction and the on-off of air flow in the air path are controlled by related control elements to realize the suction and placement of the article to be sucked. The one-grab multi-rotation gripper device further comprises a visual device used for detecting the posture and defects of the sucked object, the visual device is connected with the mounting frame on the driving device, the visual device is positioned above or below the sucked object detection area and is at a certain distance, and the visual device is controlled by the visual control element to work.
The invention relates to a one-claw multi-claw device for photovoltaic module production, which comprises a claw driving device, wherein the claw driving device comprises an installation frame connected with a manipulator, a rolling body is arranged on the installation frame, a driving shaft is arranged in the rolling body, the driving shaft is coaxially connected with a prime motor through a connecting body, and the prime motor is controlled by a controller to rotate in a reciprocating manner so as to drive the driving shaft to rotate in the rolling body in a reciprocating manner. The device has the advantages that: the mechanical structure is simple, the manufacturing cost is low, and the repeated positioning precision is high. In one embodiment, the rolling bodies are deep groove ball bearings or other types of bearings, and are used for reducing friction and prolonging the service life of the device; the driving shaft is provided with a key groove, power is transmitted to the rotating paw through the key, and the connecting body is a coupling of various types and used for transmitting the power to the driving shaft; the prime motor consists of a servo motor and a speed reducer with high repeated positioning precision and is used for providing power.
The invention relates to a one-claw multi-claw device for photovoltaic module production, which comprises a rotary claw device, wherein the rotary claw device comprises a special-shaped plate connected with a driving shaft in a driving device, a plurality of sucker mounting plates are uniformly arranged on the special-shaped plate at a certain angle, and a plurality of suckers are arranged on the sucker mounting plates according to a required rule. The rotary paw device is driven by the driving shaft of the driving device to rotate in a reciprocating mode, the manipulator drives the whole one-paw-multi-paw-grabbing device to perform corresponding lifting and lowering actions, and the flow direction and the on-off of air flow in the air path are controlled through related control elements to achieve sucking and placing of the object to be sucked. The device can flexibly adjust the number of the sucker mounting plates, and has high compatibility and high repeated positioning precision. In one embodiment, the shaped plate is provided with a key slot for transmitting power. The sucking disc mounting panel installation face is provided with the constant head tank, and corresponding sucking disc mounting panel upper surface also is provided with the constant head tank, reduces the assembly degree of difficulty, improves the assembly precision, and the sucking disc mounting panel passes through the screw connection with the dysmorphism board. The sucking disc is installed on the sucking disc mounting panel through the screw hole that sets up on the sucking disc mounting panel lower surface.
The one-claw multi-claw device for photovoltaic module production comprises a vision device, wherein the vision device comprises a vision mounting support connected with a driving device mounting frame, a vision element is mounted in the vision mounting support provided with a fine adjustment device, the vision element can be slightly adjusted in the X, Y direction in the horizontal plane through the fine adjustment device, the vision element is ensured to be positioned above or below a detection area of an absorbed object at a certain distance, and the posture and the defect of the absorbed object are detected by controlling the operation of the vision control element through the vision control element. The device has the advantages that: low cost and high detection precision. In one embodiment, the visual element is a pair of visual cameras, the visual mounting bracket is provided with slide block grooves which are symmetrically distributed at 90 degrees along the periphery of the visual mounting bracket, two adjacent slide block grooves at 90 degrees are internally provided with slide blocks, the slide blocks are provided with threaded holes, two adjusting screws at 90 degrees are arranged, one end of each adjusting screw is connected with the threaded holes of the slide blocks, the other end of each adjusting screw is matched with the slide block grooves, and fine adjustment of the visual element is realized by rotating the adjusting screws.
The working process of the invention is as follows:
the sucked object is conveyed to a chip taking position, a servo motor rotates to enable a certain sucking disc mounting plate of one grabbing multi-rotating claw to be parallel to the sucked object, a mechanical arm descends to enable a sucking disc to be in contact with the sucked object, a gas circuit control element controls to generate vacuum, the sucked object is sucked, in the process, a visual element detects and records the posture and the defect of the sucked object, the mechanical arm ascends, the servo motor rotates to enable the next sucking disc mounting plate of one grabbing multi-rotating claw to be parallel to the sucked object, the mechanical arm descends to enable the sucking disc to be in contact with the sucked object to generate vacuum, the sucked object is sucked, the same visual element detects and records, the actions are repeated until all the sucking disc mounting plates have the sucked object, the mechanical arm is lifted to drive the one grabbing multi-rotating claw device to rotate to the chip releasing position or the chip losing position together, the mechanical arm descends, and the gas circuit control element controls to break the vacuum, placing the qualified sucked object of the vision device detection at the piece placing position, detecting unqualified placing at the piece losing position, lifting the mechanical arm, reversing the servo motor, placing the sucked object on the next suction disc at the piece placing position or the piece losing position according to the actions until all the sucked objects are placed, and driving the mechanical arm to grab the multi-rotation gripper device to return to the piece taking position and execute the next round of actions.
Has the advantages that: the device of the application can greatly improve the productivity of equipment, meet market demands, and is simple in structure, low in cost and high in precision.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a one-grab multi-paw.
Fig. 3 is a schematic structural diagram of the driving device.
Fig. 4 is a schematic structural diagram of the visual device.
Description of reference numerals: 1. a plurality of claws are grabbed; 2. a drive device; 3. a vision device; 4. an object to be suctioned; 11. a shaped plate; 12. a sucker mounting plate; 13. a suction cup; 21. a prime mover; 22. a mounting frame; 23. a drive shaft; 24. a linker; 31. a vision mounting bracket; 32. a visual element; 221. a rolling body; 311. a slider; 312. an adjusting screw; 321. a vision camera.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Example 1
A multi-gripper rotary gripper device comprising a multi-gripper 1, drive means 2, vision means 3, characterized in that: the multi-claw 1 is connected with a driving device 2, the driving device 2 is installed on a manipulator, the vision device 3 is positioned above or below the detection area of the sucked object 4, and a certain space interval is formed between the vision device and the sucked object; the one-claw multi-claw 1 comprises a special-shaped plate 11, a plurality of sucker mounting plates 12, a plurality of suckers 13 and other parts, wherein the sucker mounting plates 12 are uniformly arranged on the special-shaped plate 11 at a certain angle, and the suckers 13 are arranged on the sucker mounting plates 12; the sucked object is conveyed to a chip taking position, a servo motor rotates to enable a certain sucking disc mounting plate of one grabbing multi-rotating claw to be parallel to the sucked object, a mechanical arm descends to enable a sucking disc to be in contact with the sucked object, a gas circuit control element controls to generate vacuum, the sucked object is sucked, in the process, a visual element detects and records the posture and the defect of the sucked object, the mechanical arm ascends, the servo motor rotates to enable the next sucking disc mounting plate of one grabbing multi-rotating claw to be parallel to the sucked object, the mechanical arm descends to enable the sucking disc to be in contact with the sucked object to generate vacuum, the sucked object is sucked, the same visual element detects and records, the actions are repeated until all the sucking disc mounting plates have the sucked object, the mechanical arm is lifted to drive the one grabbing multi-rotating claw device to rotate to the chip releasing position or the chip losing position together, the mechanical arm descends, and the gas circuit control element controls to break the vacuum, placing the qualified sucked object of the vision device detection at the piece placing position, detecting unqualified placing at the piece losing position, lifting the mechanical arm, reversing the servo motor, placing the sucked object on the next suction disc at the piece placing position or the piece losing position according to the actions until all the sucked objects are placed, and driving the mechanical arm to grab the multi-rotation gripper device to return to the piece taking position and execute the next round of actions.
Example 2
The one-grab multi-rotation paw device used in photovoltaic module production is beneficial to improving the equipment productivity in photovoltaic module production.
The multi-claw rotary gripper device comprises a prime motor 21, wherein the prime motor 21 consists of a servo motor and a speed reducer, the prime motor 21 is coaxially connected with a driving shaft 23 through a connecting body 24, the connecting body 24 can be various couplings, a key groove is formed in the driving shaft 23, the prime motor 21 is installed on one side surface of an installation frame 22, a rolling body 221 is arranged on the installation frame 22 and used for reducing friction and prolonging the service life of the device, the rolling body 221 can be a deep groove ball bearing or other types of bearings, the upper surface of the installation frame 22 is connected with a manipulator, and the manipulator can be a multi-shaft manipulator or other types of manipulators.
One grab many rotatory hand claw device still includes one and grabs many hand claw 1, one grabs many hand claw 1 by the dysmorphism board 11 that links to each other with drive shaft 23, sucking disc mounting panel 12, sucking disc 13 is constituteed, sucking disc mounting panel 12 upper surface is provided with the constant head tank and is used for cooperating with the constant head tank on the dysmorphism board 11, guarantee assembly precision between them, reduce the assembly degree of difficulty, sucking disc mounting panel 12 lower surface is provided with the screw hole of installation sucking disc 13, the inside gas circuit that is provided with of sucking disc mounting panel, flow direction through air circuit control element control gas circuit air current, the break-make is realized inhaling and placing of.
The one-grab multi-rotation gripper device further comprises a visual element 32, the visual element 32 is composed of a pair of visual cameras 321, the visual element 32 is installed in a visual installation bracket 31 provided with a fine adjustment device, and the visual control element controls the operation of the visual element to detect the posture and the defects of the sucked object 4. The visual mounting support 31 is provided with slide block grooves which are symmetrically distributed at 90 degrees around the visual mounting support 31, the slide blocks 311 are arranged in two adjacent 90-degree slide block grooves, the slide blocks 311 are provided with threaded holes, the two adjusting screws 312 are at 90 degrees, one end of each adjusting screw is connected with the threaded holes of the slide blocks 311, the other end of each adjusting screw is matched with the corresponding slide block groove, fine adjustment of the visual element 32 in the X, Y direction in the horizontal plane is realized by rotating the adjusting screws 312, and the visual element 32 is ensured to be positioned above or below the detection area of the absorbed object 4 at a certain distance.
The working process of the invention is as follows:
the absorbed object 4 is conveyed to a piece taking position, the prime motor 21 rotates to enable a certain sucking disc mounting plate 12 of one grabbing multi-rotating claw 1 to be parallel to the absorbed object 4, the manipulator drives the one grabbing multi-rotating claw device to descend to enable the sucking disc 13 to be in contact with the absorbed object 4, the air channel control element controls to generate vacuum, the absorbed object 4 is absorbed, in the process, the visual camera 321 detects and records the posture and the defect of the absorbed object 4, the manipulator lifts, the prime motor 21 rotates to enable the next sucking disc mounting plate 12 of one grabbing multi-rotating claw 1 to be parallel to the absorbed object 4, the manipulator descends to enable the sucking disc 13 to be in contact with the absorbed object 4 to generate vacuum, the absorbed object 4 is absorbed, the visual camera 321 detects and records the above actions are repeated until all the absorbed objects 4 are arranged on the sucking disc mounting plates 12, the manipulator lifts up to drive the one grabbing multi-rotating claw device to rotate to a piece placing position or a piece losing position together, the manipulator descends, and broken vacuum is controlled to the gas circuit control element, and the qualified 4 of being absorbed of 3 detection vision devices is placed and is being put the piece position, and the unqualified placing of detection is being put at the piece position of losing, and the manipulator is raised, and the reverse rotation of prime mover 21 places the piece position or the piece position of losing according to above-mentioned action with 4 of being absorbed on the next suction disc 13, until placing all 4 of being absorbed and accomplishing, the manipulator drives one and grabs many rotatory hand claw devices and returns to and gets the piece position, carries out next round of action.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A rotary gripper device for one-grip multi-gripper, the device comprising a multi-gripper (1), drive means (2), vision means (3), characterized in that: the multi-claw gripper is characterized in that the multi-claw gripper (1) is connected with the driving device (2), the driving device (2) is installed on a manipulator, and the vision device (3) is located above or below a detection area of an object to be sucked (4) and has a certain space distance.
2. A rotary gripper unit for one-grip applications as claimed in claim 1, wherein: the one-claw-multiple-claw (1) comprises a special-shaped plate (11), a plurality of sucker mounting plates (12), a plurality of suckers (13) and other parts, wherein the sucker mounting plates (12) are uniformly arranged on the special-shaped plate (11) at a certain angle, and the suckers (13) are arranged on the sucker mounting plates (12);
or the special-shaped plate (11) and the sucker mounting plate (12) are of an integral structure, and the sucker (13) is mounted on the sucker mounting plate (12).
3. A rotary gripper unit for one-grip applications as claimed in claim 2, wherein: dysmorphism board (11) one end be provided with the installation face of installation sucking disc mounting panel (12), dysmorphism board (11) keep away from the one end of sucking disc mounting panel (12) installation face be provided with the shaft hole structure of installation drive shaft (23).
4. A rotary gripper unit for one-grip applications as claimed in claim 2, wherein: sucking disc mounting panel (12) lower surface be provided with the installation hole site of sucking disc (13), and sucking disc mounting panel (12) inside be provided with the gas circuit, flow direction, the break-make through air current in the relevant control element control gas circuit realize right the absorption and the placing of article (4) are got in the absorption.
5. A rotary gripper unit for one-grip applications as claimed in claim 1, wherein: the driving device (2) comprises a prime mover (21), a mounting frame (22), a driving shaft (23), a connecting body (24) and other control elements, wherein the prime mover (21) is mounted on the mounting frame (22), the prime mover (21) is coaxially connected with the driving shaft (23) through the connecting body (24), and the driving shaft (23) is mounted on the mounting frame (22).
6. A rotary gripper unit for one-grip applications as claimed in claim 5, wherein: the mounting frame (22) is provided with a rolling body (221), and the rolling body (221) is mounted on the mounting frame (22).
7. A rotary gripper unit for one-grip applications as claimed in claim 1, wherein: the vision device (3) comprises a vision mounting bracket (31), a vision element (32) and a control element, wherein the vision mounting bracket (31) is connected with the mounting frame (22), the vision element (32) is mounted on the vision mounting bracket (31), and the vision element (32) is positioned above or below the detection area of the sucked object (4) and is at a certain distance.
8. A rotary gripper unit for one-grip applications as claimed in claim 7, wherein: the visual mounting bracket (31) is provided with a fine adjustment device sliding block (33) and an adjusting screw (34) for fine adjustment of the visual element (32).
CN202011389215.9A 2020-12-01 2020-12-01 Rotary paw device for one grabbing more Pending CN112476464A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011389215.9A CN112476464A (en) 2020-12-01 2020-12-01 Rotary paw device for one grabbing more

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011389215.9A CN112476464A (en) 2020-12-01 2020-12-01 Rotary paw device for one grabbing more

Publications (1)

Publication Number Publication Date
CN112476464A true CN112476464A (en) 2021-03-12

Family

ID=74938698

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011389215.9A Pending CN112476464A (en) 2020-12-01 2020-12-01 Rotary paw device for one grabbing more

Country Status (1)

Country Link
CN (1) CN112476464A (en)

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