CN115302487A

CN115302487A - Photovoltaic silicon chip get piece material loading manipulator

Info

Publication number: CN115302487A
Application number: CN202210996554.6A
Authority: CN
Inventors: 韩广龙
Original assignee: Longwei Microelectronics Equipment Longquan Co ltd
Current assignee: Longwei Microelectronics Equipment Longquan Co ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2022-11-08

Abstract

The invention discloses a slice taking and feeding manipulator for photovoltaic silicon slices, which comprises a base, wherein a large arm and a small arm are arranged above the base, a gripper mechanism is arranged at one end of the small arm, the gripper mechanism comprises a connecting rod connected with a small arm bearing, the bottom of the connecting rod is fixedly connected with a fixing plate, a third driving motor is fixed at the center of the bottom of the fixing plate, the output end of the third driving motor is connected with a rotating shaft, a vacuum generator is arranged at the other end of the rotating shaft, an air distribution disc is connected to the other end of the vacuum generator, a mounting plate is arranged at the bottom of the air distribution disc, a plurality of groups of suckers are arranged on the mounting plate, a hose is connected between each group of suckers and the air distribution disc, and a limiting mechanism is arranged between the vacuum generator and the fixing plate.

Description

Photovoltaic silicon chip get piece material loading manipulator

Technical Field

The invention relates to the technical field of solar photovoltaic equipment, in particular to a piece taking and feeding manipulator for photovoltaic silicon chips.

Background

Since the silicon element has a photoelectric effect, in the field of photovoltaics, silicon wafers are mostly used to complete conversion from solar energy to electric energy. In the field of photovoltaic silicon wafers, a monocrystalline silicon cell piece is generally in a round corner square shape, and the color of the monocrystalline silicon cell piece is dark blue and is slightly close to black. The polysilicon cell is generally square, mainly blue and gray, and is slightly textured. The battery piece divide into monocrystalline silicon piece and polycrystalline silicon piece, and monocrystalline silicon piece price is higher, and photoelectric conversion efficiency is also higher, and chain system fine hair making, chain washing and sintering equipment etc. multichannel solar wafer process equipment's unloading method is accomplished by belt transmission mostly, can use the material loading manipulator to get the piece material loading to the silicon piece this moment.

The gripper mechanism is arranged on a sheet taking and feeding manipulator for the existing photovoltaic silicon wafers, the gripper mechanism is used for grabbing the photovoltaic silicon wafers, multiple silicon wafers are conveniently and simultaneously grabbed, the working efficiency of the manipulator is improved, multiple groups of suckers are generally arranged on the gripper mechanism to simultaneously grab multiple groups of photovoltaic silicon wafers, the existing gripper mechanism is not flexible enough, after the multiple groups of photovoltaic silicon wafers are simultaneously grabbed, the positions of the suckers of the groups cannot be adjusted in real time according to requirements, and the feeding is inconvenient and accurate.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a piece taking and feeding manipulator for photovoltaic silicon wafers, which can drive a vacuum generator and a plurality of groups of suckers below the vacuum generator to rotate as required by matching a third driving motor in a paw mechanism with a rotating shaft, adjust the positions of the suckers in real time, facilitate accurate feeding of the photovoltaic silicon wafers sucked and grabbed by the suckers, and simultaneously position the suckers and the vacuum generator by the limiting mechanism, thereby improving the stability of the manipulator during rotation.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a piece material loading manipulator of getting of photovoltaic silicon chip, the on-line screen storage device comprises a base, the top of base is equipped with big arm and forearm, the one end of forearm is equipped with hand claw mechanism, hand claw mechanism includes the connecting rod of being connected with the forearm bearing, the bottom fixedly connected with fixed plate of connecting rod, the bottom center department of fixed plate is fixed with third driving motor, third driving motor's output is connected with the pivot, the other end of pivot is equipped with vacuum generator, vacuum generator's the other end is connected with the branch gas dish, the bottom of dividing the gas dish is equipped with the mounting panel, be equipped with the multiunit sucking disc on the mounting panel, every group the sucking disc all with divide and be connected with the hose between the gas dish, be equipped with stop gear between vacuum generator and the fixed plate.

As a preferred technical scheme of the invention, the limiting mechanism comprises a fixing ring fixed outside the vacuum generator, a fixing rod is fixedly connected to the fixing ring, a limiting block is fixed at the upper end of the fixing rod, a second annular groove is formed in the bottom of the fixing plate in an upward direction, a first annular groove is communicated with the upper portion of the second annular groove, and the limiting block slides in the first annular groove.

As a preferable technical solution of the present invention, the fixing rod extends into the first annular groove through the second annular groove.

As a preferred technical scheme of the invention, the limiting block is circular, and the vacuum generator is provided with an air inlet.

As a preferable technical scheme of the invention, the bottom of the limiting block is embedded with a ball which is in rolling connection with the limiting block, the bottom of the ball extends out of the lower part of the limiting block, and the ball is in rolling connection with the inner wall of the first annular groove.

As a preferable technical scheme of the invention, a first driving motor is arranged above the base, a motor base is driven above the first driving motor, a large arm is arranged on one side above the motor base, the large arm is rotatably connected with the motor base through a second driving motor, and the other end of the large arm is connected with a small arm.

As a preferable technical scheme of the invention, a joint shaft is arranged between the large arm and the small arm, the large arm and the small arm are rotatably connected through the joint shaft, telescopic rods are arranged on the inner sides of the large arm and the small arm, and two ends of each telescopic rod are respectively hinged with the large arm and the small arm.

As a preferable technical scheme of the invention, the four groups of suckers are uniformly distributed on the periphery of the mounting plate.

Compared with the prior art, the invention can achieve the following beneficial effects:

according to the invention, the third driving motor in the gripper mechanism is matched with the rotating shaft to drive the vacuum generator and the plurality of groups of suckers below the vacuum generator to rotate as required, so that the positions of the plurality of groups of suckers are adjusted in real time, the plurality of groups of photovoltaic silicon wafers adsorbed and grabbed on the plurality of groups of suckers are conveniently and accurately fed, and meanwhile, the plurality of groups of suckers and the vacuum generator are positioned through the arranged limiting mechanism, so that the stability of the vacuum generator during rotation is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a gripper mechanism according to the present invention;

FIG. 3 is a schematic view of the connection structure between the fixing plate and the vacuum generator according to the present invention;

FIG. 4 is an enlarged view of the area A of FIG. 3 according to the present invention;

FIG. 5 is a schematic bottom view of the fixing plate of the present invention;

wherein: 1. a base; 2. a first drive motor; 3. a motor base; 4. a second drive motor; 5. a large arm; 6. a joint axis; 7. a small arm; 8. a telescopic rod; 9. a connecting rod; 10. a fixing plate; 11. mounting a plate; 12. a suction cup; 13. a third drive motor; 14. a rotating shaft; 15. a vacuum generator; 16. an air inlet; 17. a gas distribution disc; 18. a hose; 19. fixing the rod; 20. a stationary ring; 21. a first annular groove; 22. a second annular groove; 23. and a limiting block.

Detailed Description

The present invention will be further described with reference to specific examples, but the following examples are only preferred embodiments of the present invention, and not all embodiments of the present invention are intended to be included in the scope of the present invention. Other embodiments obtained by persons skilled in the art without making creative efforts based on the embodiments in the implementation belong to the protection scope of the invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.

Example (b):

as shown in fig. 1, 2 and 3, the invention provides a photovoltaic silicon wafer taking and feeding manipulator, which comprises a base 1, wherein a large arm 5 and a small arm 7 are arranged above the base 1, one end of the small arm 7 is provided with a gripper mechanism, the gripper mechanism comprises a connecting rod 9 connected with a bearing of the small arm 7, the bottom of the connecting rod 9 is fixedly connected with a fixing plate 10, a third driving motor 13 is fixed at the center of the bottom of the fixing plate 10, the output end of the third driving motor 13 is connected with a rotating shaft 14, the other end of the rotating shaft 14 is provided with a vacuum generator 15, the other end of the vacuum generator 15 is connected with a gas distribution disc 17, the bottom of the gas distribution disc 17 is provided with a mounting plate 11, the mounting plate 11 is provided with a plurality of groups of suction discs 12, a hose 18 is connected between each group of suction discs 12 and the gas distribution disc 17, and a limiting mechanism is arranged between the vacuum generator 15 and the fixing plate 10;

when using this device, can be through vacuum generator 15 and the cooperation of minute gas dish 17, sucking disc 12 that rethread hose 18 is connected adsorbs the photovoltaic silicon chip and snatchs, make multiunit sucking disc 12 adsorb respectively and snatch multiunit photovoltaic silicon chip, and release one by one it in suitable position, accomplish the material loading, in-process can open third driving motor 13 drive pivot 14 when needing and rotate, vacuum generator 15 and minute gas dish 17 that drive its bottom still have mounting panel 11 and sucking disc 12 to rotate, the convenience is adjusted the position of sucking disc 12, the cooperation makes the adsorbed photovoltaic silicon chip in its below can accurate material loading.

As shown in fig. 2, 3, 4, and 5, the limiting mechanism includes a fixing ring 20 fixed outside the vacuum generator 15, a fixing rod 19 is fixedly connected to the fixing ring 20, a limiting block 23 is fixed to an upper end of the fixing rod 19, a second annular groove 22 is formed in the bottom of the fixing plate 10, a first annular groove 21 is communicated with the upper side of the second annular groove 22, the limiting block 23 is located inside the first annular groove 21 and slides, and the fixing rod 19 extends into the first annular groove 21 through the second annular groove 22; through setting up stop gear, can improve vacuum generator 15's stability through setting up stop gear, when vacuum generator 15 rotated, its outside fixed retainer ring 20 rotated along with it, and the dead lever 19 outside retainer ring 20 also rotated along with it, stopper 23 above dead lever 19 slides in first ring channel 21 along with it, through the cooperation of first ring channel 21 with stopper 23, and then through the connection of retainer ring 20 and dead lever 19, can carry on spacing and bear its a part of weight to vacuum generator 15, prevent that all weights of vacuum generator 15 and its below mechanism from concentrating on pivot 14 and third driving motor 13 and causing unstability.

As shown in fig. 3, fig. 4 and fig. 5, the limiting block 23 is circular, the vacuum generator 15 is provided with an air inlet 16, the bottom of the limiting block 23 is embedded with a ball which is in rolling connection with the limiting block, the bottom of the ball extends out of the lower part of the limiting block 23, and the ball is in rolling connection with the inner wall of the first annular groove 21; the friction force between the limiting block 23 and the first annular groove 21 can be reduced by arranging the balls, and further, the abrasion to the limiting block 23 and the first annular groove can be reduced when the limiting block and the first annular groove rotate.

As shown in fig. 1, a first driving motor 2 is arranged above a base 1, a motor base 3 is driven above the first driving motor 2, a large arm 5 is arranged on one side above the motor base 3, the large arm 5 is rotatably connected with the motor base 3 through a second driving motor 4, the other end of the large arm 5 is connected with a small arm 7, a joint shaft 6 is arranged between the large arm 5 and the small arm 7, the large arm 5 is rotatably connected with the small arm 7 through the joint shaft 6, telescopic rods 8 are arranged on the inner sides of the large arm 5 and the small arm 7, two ends of each telescopic rod 8 are respectively hinged with the large arm 5 and the small arm 7, and four groups of suckers 12 are uniformly distributed on the periphery of a mounting plate 11; when using this device, can drive motor cabinet 3 and big arm 5 and forearm 7 rotation of its top through first driving motor 2, make the whole rotation of device, adjust the position of device, and can drive big arm 5 and take place to rotate round motor cabinet 3 when second driving motor 4 that sets up between big arm 5 and the motor cabinet 3 rotates, adjust the height of the 5 other ends of big arm, when needing to adjust 7 terminal positions of forearm, can utilize 8 extensions of telescopic link or shorten and drive between forearm 7 and the big arm 5 and take place to rotate round articulated shaft 6, adjust 7 terminal positions of forearm, can conveniently improve the holistic flexibility of device through mutually supporting and using between above multiunit mechanism and the subassembly, the holistic suitability of device has been improved.

The working principle is as follows: the motor base 3, the large arm 5 and the small arm 7 above the motor base are driven to rotate by the first driving motor 2, so that the device integrally rotates, the position of the device is adjusted, the large arm 5 can be driven to rotate around the motor base 3 when the second driving motor 4 arranged between the large arm 5 and the motor base 3 rotates, the height of the other end of the large arm 5 is adjusted, when the position of the tail end of the small arm 7 needs to be adjusted, the telescopic rod 8 can be used for extending or shortening the length to drive the small arm 7 and the large arm 5 to rotate around the joint shaft 6, the position of the tail end of the small arm 7 is adjusted, so that each group of suckers 12 on a gripper mechanism connected below the small arm 7 can be respectively aligned with a plurality of groups of photovoltaic silicon wafers, at the moment, the suckers 12 are matched with the gas distribution plate 17 by the vacuum generator 15, and are connected by the hose 18 to adsorb and grab the photovoltaic silicon wafers, so that the plurality of groups of suckers 12 respectively adsorb and grab the photovoltaic silicon wafers, the vacuum generator 15 and the air distribution disc 17 at the bottom of the vacuum generator 15, the mounting plate 11 and the sucker 12 can be driven to rotate by opening the third driving motor 13 to drive the rotating shaft 14 to rotate when needed in the process, the position of the sucker 12 can be conveniently adjusted, and the photovoltaic silicon wafers adsorbed below the sucker can be accurately fed in a matching manner, wherein when the vacuum generator 15 rotates, the fixing ring 20 fixed outside the vacuum generator rotates along with the vacuum generator, the fixing rod 19 outside the fixing ring 20 also rotates along with the fixing ring, the limiting block 23 above the fixing rod 19 slides in the first annular groove 21 along with the fixing ring, the vacuum generator 15 can be limited and bear a part of the weight of the vacuum generator 15 through the matching of the first annular groove 21 and the limiting block 23 and the connection of the fixing ring 20 and the fixing rod 19, so that all the weights of the vacuum generator 15 and the mechanism below the vacuum generator are prevented from being concentrated on the rotating shaft 14 and the third driving motor 13 to cause instability, and the ball that the stopper 23 bottom set up slides with taking place between the inner wall of first ring channel 21, can reduce the frictional force between stopper 23 and the first ring channel 21 through setting up the ball, and then can reduce the wearing and tearing that produce its self when taking place to rotate between the two.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a photovoltaic silicon chip's piece material loading manipulator of getting, includes base (1), the top of base (1) is equipped with big arm (5) and forearm (7), the one end of forearm (7) is equipped with hand claw mechanism, its characterized in that: gripper mechanism includes connecting rod (9) of being connected with forearm (7) bearing, the bottom fixedly connected with fixed plate (10) of connecting rod (9), the bottom center department of fixed plate (10) is fixed with third driving motor (13), the output of third driving motor (13) is connected with pivot (14), the other end of pivot (14) is equipped with vacuum generator (15), the other end of vacuum generator (15) is connected with branch gas dish (17), the bottom of dividing gas dish (17) is equipped with mounting panel (11), be equipped with multiunit sucking disc (12) on mounting panel (11), every group sucking disc (12) all with divide and be connected with hose (18) between gas dish (17), be equipped with stop gear between vacuum generator (15) and fixed plate (10).

2. The manipulator of claim 1, wherein the manipulator comprises: stop gear is including fixing retainer plate (20) in vacuum generator (15) outside, fixedly connected with dead lever (19) on retainer plate (20), the upper end of dead lever (19) is fixed with stopper (23), second annular groove (22) have upwards been seted up to the bottom of fixed plate (10), the top intercommunication of second annular groove (22) has first annular groove (21), stopper (23) are located first annular groove (21) inside and slide.

3. The manipulator of claim 2, wherein the manipulator comprises: the fixing rod (19) extends into the first annular groove (21) through the second annular groove (22).

4. The taking and feeding manipulator of photovoltaic silicon wafers as claimed in claim 3, wherein: the limiting block (23) is circular, and an air inlet (16) is formed in the vacuum generator (15).

5. The manipulator of claim 4, wherein the manipulator comprises: the bottom of stopper (23) is embedded to have rather than roll connection's ball, the bottom of ball stretches out stopper (23) below, roll connection between ball and first ring channel (21) inner wall.

6. The photovoltaic silicon wafer taking and feeding manipulator of claim 1, which is characterized in that: the top of base (1) is equipped with first driving motor (2), the top drive of first driving motor (2) has motor cabinet (3), motor cabinet (3) top one side is equipped with big arm (5), rotate through second driving motor (4) between big arm (5) and motor cabinet (3) and be connected, forearm (7) are connected to the other end of big arm (5).

7. The manipulator of claim 6, wherein the manipulator comprises: the telescopic arm is characterized in that a joint shaft (6) is arranged between the large arm (5) and the small arm (7), the large arm (5) and the small arm (7) are rotatably connected through the joint shaft (6), telescopic rods (8) are arranged on the inner sides of the large arm (5) and the small arm (7), and two ends of each telescopic rod (8) are hinged with the large arm (5) and the small arm (7) respectively.

8. The manipulator of claim 1, wherein the manipulator comprises: the suckers (12) are provided with four groups and are uniformly distributed on the periphery of the mounting plate (11).