CN201702778U - Cell grabbing manipulator of full-automatic cell printing machine - Google Patents
Cell grabbing manipulator of full-automatic cell printing machine Download PDFInfo
- Publication number
- CN201702778U CN201702778U CN2010201110843U CN201020111084U CN201702778U CN 201702778 U CN201702778 U CN 201702778U CN 2010201110843 U CN2010201110843 U CN 2010201110843U CN 201020111084 U CN201020111084 U CN 201020111084U CN 201702778 U CN201702778 U CN 201702778U
- Authority
- CN
- China
- Prior art keywords
- calvus
- manipulator
- mounting rail
- remote holder
- claw
- 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.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
Abstract
The utility model relates to a cell grabbing manipulator of a full-automatic cell printing machine, which comprises a vertical movement mechanism and a horizontal movement mechanism. A front manipulator mechanism and a rear manipulator mechanism are arranged in the horizontal movement mechanism. The structure of the front manipulator is the same as the structure of the rear manipulator. The front manipulator comprises a pair of claw piece installation beams, a manipulator claw seat, claw pieces, a sensor installation plate, a magnetic grid and a sensing piece. One pair of parallel claw piece installation beams are arranged on the lower surface of the manipulator claw seat. Two to five claw pieces are evenly distributed on one side surface of each claw piece installation beam. The front manipulator mechanism and the rear manipulator mechanism are respectively and fixedly connected with the rotors of corresponding X-direction linear motors. A supporting piece is arranged at the lower end of each claw piece. The utility model has the advantages that the structure is compact, the accuracy is high, the action is quick, the synchronous delivery of two groups of materials can be realized and the materials are prevented from being squeezed and shocked when the materials are grabbed; and the operation is safe and reliable, the work efficiency is high and the needs of mass production can be satisfied.
Description
Technical field
The utility model relates to a kind of sheet-grasping mechanical arm of full-automatic battery plate printing machine, especially silicon chip of solar cell is realized extracting, the manipulator that transmits.
Background technology
The solar battery sheet print system is applied in the production industry of silicon chip of solar cell widely as the production equipment of special use, manipulator is a kind of material transmitting device of maturation, on production line, use on a large scale at present, but traditional being used to grasped, and silicon chip etc. is light, thin, the manipulator of frangible class material can only the transportation list sheet material when the work transmission, adopt the vacuum suction mode directly to contact and get sheet from the material top, cause the extruding or the vibrations so that damaged of material, thereby reduce the material efficiency of transmission, the incompatibility requirements of large-scale production.
The utility model content
Technical problem to be solved in the utility model provides a kind of compact conformation, precision height, moves soon, can realize two groups of material synchronous drivings, avoids the sheet-grasping mechanical arm of full-automatic battery plate printing machine that material is squeezed, shakes in the extracting process.
The utility model adopts following technical scheme:
The utility model is to improve on the basis of existing technology to form, and main improvement is: the first, set up remote holder mechanism and defensive position mechanism in horicontal motion mechanism; The second, set up a supporting spring in the calvus lower end, the pulldown hand is only contacted with the lower surface of material.
Its concrete technical scheme is as follows:
The utility model comprises vertical movement mechanism and horicontal motion mechanism, it is characterized in that in horicontal motion mechanism, being provided with remote holder mechanism and defensive position mechanism, described remote holder mechanism is identical with the structure of defensive position mechanism, and wherein said remote holder mechanism comprises a pair of calvus mounting rail, paw seat, calvus, sensor installing plate, magnetic grid and sensing chip; Be provided with the calvus mounting rail of pair of parallel at the lower surface of described paw seat, be evenly equipped with 2-5 to calvus at a side surface of each calvus mounting rail, remote holder mechanism fixedlys connected to the mover of linear electric motors with corresponding X respectively with defensive position mechanism; The 2-5 of the calvus mounting rail in the described remote holder mechanism constitutes first group of pulldown hand to the 2-5 of the calvus mounting rail in calvus and the described defensive position mechanism one to one to calvus, and the 2-5 on the calvus mounting rail in the described remote holder mechanism constitutes second group of pulldown hand to the 2-5 on the calvus mounting rail in calvus and the defensive position mechanism one to one to calvus; Sensor installing plate, magnetic grid and sensing chip are separately positioned on the sidewall of paw seat; Lower end at described calvus is provided with supporting spring.
Operation principle of the present utility model is:
The utility model is operated two groups of materials simultaneously by two groups of pulldown hands, and the extracting of two groups of materials, transmission action realize synchronously, transmits when realizing a plurality of material, has improved operating efficiency.During the pick-and-place material, the utility model manipulator contacts with the material lower surface by the supporting spring on the calvus, and material is subjected to the unidirectional application of force of manipulator, thisly holds extruding, the vibrations that sheet mode has avoided material to cause, and has reduced the material breakage rate; Vertical movement mechanism is driven to linear electric motors by Z, drives the Ifold flange body by connecting plate, and the Ifold flange body drives X to mount pad, realizes lifting, the down maneuver of manipulator; And by magnetic grid, trigger board, null pick-up realization closed-loop control, the accuracy of high-speed motion and motion when guaranteeing manipulator work, the cylinder that is symmetricly set on the installing plate both sides is born the gravitational load of whole manipulator, and be at manipulator and play the buffer protection function under the unexpected powering-off state, and vertical direction stroke, adjustable-speed are whole; Horicontal motion mechanism drives remote holder mechanism and defensive position mechanism by corresponding X to the mover of linear electric motors, the material that takes, puts, transmits of realizing manipulator moves, and by magnetic grid, sensing chip realization closed-loop control, accuracy when guaranteeing manipulator work, by adjusting the level that levelling bolt guarantees to adjust Connection Block, thereby guarantee to grasp the uniformity of material, and horizontal direction stroke, adjustable-speed are whole.
The utility model good effect is as follows: the utility model compact conformation, precision height, action be fast, can realize two groups of material synchronous drivings, avoid that material is squeezed in the grasping movement, shake; Use the utility model is safe and reliable, and high efficiency is suitable for requirements of large-scale production.
Description of drawings
Accompanying drawing 1 is the utility model structural representation;
Accompanying drawing 2-1 is the vertical movement mechanism longitudinal sectional view;
Accompanying drawing 2-2 is the vertical movement mechanism axonometric drawing;
Accompanying drawing 3-1 is the horicontal motion mechanism partial sectional view;
Accompanying drawing 3-2 is the structural representation of preceding (back) mobile phone structure;
Accompanying drawing 3-3 is the axonometric drawing of horicontal motion mechanism;
Accompanying drawing 4-1 is that the utility model manipulator is at the holding fix schematic diagram;
Accompanying drawing 4-2 puts schematic diagram for being synchronized with the movement to getting material level;
Accompanying drawing 4-3 gets the material schematic diagram for descending;
Accompanying drawing 4-4 gets the material schematic diagram for receiving hand;
Accompanying drawing 4-5 is for getting material back lifting schematic diagram;
Accompanying drawing 4-6 is for being synchronized with the movement to the blowing position view;
Accompanying drawing 4-7 is a decline blowing schematic diagram;
Accompanying drawing 4-8 is the blowing schematic diagram of loosing one's grip;
Accompanying drawing 4-9 is a lifting schematic diagram behind the blowing;
Accompanying drawing 4-10 is moving synchronously to the holding fix schematic diagram.
In the accompanying drawings: 1 installing plate, 2 Ifold flange bodies, 3 connecting plates, 4 air-cooled valves, 5Z is to line slideway, 6Z is to linear electric motors, 7 mount pads, 8 trigger board, 9 null pick-ups, 10 cylinders, 11 floating junctions, 12 magnetic grid read heads, 13Z is to link stopper, 14X is to linear motor stator electric, 15 calvus mounting rails, 16 sensor holders, 17 paw seats, 18X is to linear motor rotor, 19X is to line slideway, 20 horizontal blocks, 21 Connection Blocks, 22 levelling bolts, 23 calvus, 24 sensor installing plates, 25 air-cooled valves, 26 magnetic grids, 27 sensing chips, 28X is to mount pad, 29 remote holder mechanisms, 30 defensive position mechanisms, 31 drag chains, 32 supporting springs, 33 calvus mounting rails, 34 calvus mounting rails, 35 calvus mounting rails, A. station, B. station, C. station.
The specific embodiment
Shown in accompanying drawing 1-accompanying drawing 3-3 embodiment, present embodiment comprises vertical movement mechanism and horicontal motion mechanism, in horicontal motion mechanism, be provided with remote holder mechanism 29 and defensive position mechanism 30, described remote holder mechanism 29 is identical with the structure of defensive position mechanism 30, and wherein said remote holder mechanism 29 comprises calvus mounting rail 15,33, paw seat 17, calvus 23, sensor installing plate 24, magnetic grid 26 and sensing chip 27; Be provided with the calvus mounting rail 15 of pair of parallel at the lower surface of described paw seat 17,33, a side at each calvus mounting rail is evenly equipped with 5 pairs of calvus 23 in groups, have 10 calvus 23, per two one group, 5 groups uniform, the lower end of calvus 23 is provided with supporting spring 32, calvus mounting rail 15 is fixedlyed connected with the mover 18 of linear electric motors by paw seat 17, the 2-5 of the calvus mounting rail 15 in the remote holder mechanism 29 constitutes first group of pulldown hand to the 2-5 on the calvus mounting rail 34 in calvus and the described defensive position mechanism 30 one to one to calvus, and the 2-5 on the calvus mounting rail 33 in the remote holder mechanism 29 constitutes second group of pulldown hand to the 2-5 of the calvus mounting rail 35 in calvus 23 and the defensive position mechanism 30 one to one to calvus 23; Sensor installing plate 24, magnetic grid 26 and sensing chip 27 are fixedly installed on respectively on the sidewall of paw seat 17, and air-cooled valve 25 is installed in paw seat 17 lower surfaces with drag chain 31, and the back calvus assemble towards opposite with defensive position mechanism 30 in remote holder mechanism 29; Vertical movement mechanism and horicontal motion mechanism constitute manipulator jointly.
Shown in accompanying drawing 1,2-1,2-2 embodiment, the present embodiment vertical movement mechanism comprise installing plate 1, Ifold flange body 2, connecting plate 3, air-cooled valve 4, Z to line slideway 5, Z to linear electric motors 6, Z to mount pad 7, trigger board 8, null pick-up 9, cylinder 10, floating junction 11, magnetic grid read head 12, Z to link stopper 13; The vertical movement mechanism of present embodiment is driven to linear electric motors 6 by Z, drives Ifold flange body 2 by connecting plate 3, and Ifold flange body 2 drives X to mount pad 28, realizes lifting, the down maneuver of manipulator; And, guarantee the accuracy of manipulator work by magnetic grid 12, trigger board 8, null pick-up 9 realization closed-loop controls; Bear the gravitational load of whole manipulator by symmetrically arranged cylinder 10, and be at manipulator and play the buffer protection function under the unexpected powering-off state; And vertical direction stroke, adjustable-speed are put in order.
Shown in accompanying drawing 3-1-accompanying drawing 3-3 embodiment, the present embodiment horicontal motion mechanism comprises sensor holder 16, X is to linear motor stator electric 14, X is to linear motor rotor 18, X is to line slideway 19, horizontal block 20, adjust Connection Block 21, levelling bolt 22, X is to mount pad 28 and drag chain 31, the utility model horicontal motion mechanism drives remote holder mechanism 29 by corresponding X to linear motor rotor, defensive position mechanism 30, realize getting of manipulator, put, the action of transmission material, remote holder mechanism 29, defensive position mechanism 30 is direction of motion unanimity in transmitting the material action, stroke is identical, receiving hand, loose one's grip the action in remote holder mechanism 29, defensive position mechanism 30 direction of action, stroke is identical; And by magnetic grid 26, sensing chip 27 is realized closed-loop control, guarantees the accuracy of manipulator behavior; Adjust the level of Connection Block 21 by adjusting levelling bolt 22 assurances, thereby guarantee to grasp the uniformity of material; And horizontal direction stroke, adjustable-speed are put in order.Supporting spring 32 surfaces during the work of the utility model manipulator on the calvus 23 contact with material, and in the whole process, material only is subjected to the unidirectional application of force of manipulator, has farthest avoided the material damage.
The utility model workflow is as follows:
Shown in accompanying drawing 4-1, before the utility model work, Z drives horicontal motion mechanisms to linear electric motors 6 by connecting plate 3, Ifold flange body 2 and runs to vertical direction position topmost, remote holder mechanism 29, defensive position mechanism 30 holding fix that mediates; Shown in accompanying drawing 4-2, during the utility model work, two corresponding X drive mechanism of remote holder mechanism 29, defensive position mechanism 30 simultaneously to left movement to linear motor rotor, and remote holder mechanism 29 stops when arriving high order end station A; Shown in accompanying drawing 4-3, the utility model Z drives horicontal motion mechanism to linear electric motors 6 and moves to the vertical direction lowest positions, and supporting spring 32 working faces on the calvus 23 are positioned at the material below at this moment; Shown in accompanying drawing 4-4, two X of the utility model drive remote holder mechanism 29 respectively to linear motor rotor and move right, and defensive position mechanism 30 finishes the pulldown action to left movement; Shown in accompanying drawing 4-5, the utility model Z drives upwards operation of horicontal motion mechanism to linear electric motors 6, and finishing rises gets material; Shown in accompanying drawing 4-6, two corresponding X of the utility model move right simultaneously to linear motor rotor driving remote holder mechanism 29, defensive position mechanism 30, remote holder mechanism 29 stops when arriving low order end station C, this moment, the material at former station A place was transferred to station B position, and the material at former station B place is transferred to station C position; Shown in accompanying drawing 4-7, the utility model Z drives horicontal motion mechanism to linear electric motors 6 and moves downwards, finishes the action of decline blowing; Shown in accompanying drawing 4-8, two X of the utility model drive remote holder mechanism 29 respectively to left movement to linear motor rotor, and defensive position mechanism 30 moves right and finishes the blowing action of loosing one's grip; Shown in accompanying drawing 4-9, Z drives upwards operation of horicontal motion mechanism to linear electric motors 6 behind the utility model blowing; Shown in accompanying drawing 4-10, two X of the utility model drive remote holder mechanism 29, defensive position mechanism 30 simultaneously to left movement to linear motor rotor, get back to initial position; Be repeated to first step action, the manipulator shuttling movement is finished pulldown work.
Claims (1)
1. sheet-grasping mechanical arm of full-automatic battery plate printing machine, it comprises vertical movement mechanism and horicontal motion mechanism, it is characterized in that in horicontal motion mechanism, being provided with remote holder mechanism (29) and defensive position mechanism (30), described remote holder mechanism (29) is identical with the structure of defensive position mechanism (30), and wherein said remote holder mechanism (29) comprises calvus mounting rail (15,33), paw seat (17), calvus (23), sensor installing plate (24), magnetic grid (26) and sensing chip (27); Be provided with the calvus mounting rail (15,33) of pair of parallel at the lower surface of described paw seat (17), side surface at each calvus mounting rail is evenly equipped with 2-5 to calvus (23), and remote holder mechanism (29) fixedlys connected to the mover of linear electric motors with corresponding X respectively with defensive position mechanism (30); The 2-5 of the calvus mounting rail (15) in the described remote holder mechanism (29) constitutes first group of pulldown hand to the 2-5 of the calvus mounting rail (34) in calvus (23) and the described defensive position mechanism (30) one to one to calvus (23), and the 2-5 on the calvus mounting rail (33) in the described remote holder mechanism constitutes second group of pulldown hand to the 2-5 on the calvus mounting rail (35) in calvus (23) and the defensive position mechanism (30) one to one to calvus (23); Sensor installing plate (24), magnetic grid (26) and sensing chip (27) are separately positioned on the sidewall of paw seat (17); Be provided with supporting spring (32) in the lower end of described calvus (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201110843U CN201702778U (en) | 2010-02-10 | 2010-02-10 | Cell grabbing manipulator of full-automatic cell printing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201110843U CN201702778U (en) | 2010-02-10 | 2010-02-10 | Cell grabbing manipulator of full-automatic cell printing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201702778U true CN201702778U (en) | 2011-01-12 |
Family
ID=43439927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201110843U Expired - Lifetime CN201702778U (en) | 2010-02-10 | 2010-02-10 | Cell grabbing manipulator of full-automatic cell printing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201702778U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| WO2020035324A1 (en) * | 2018-08-16 | 2020-02-20 | Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG | Transport device having transport rake and counter rake |
| CN117068752A (en) * | 2023-10-12 | 2023-11-17 | 常州比太科技有限公司 | Silicon wafer overturning and conveying system and working method thereof |
-
2010
- 2010-02-10 CN CN2010201110843U patent/CN201702778U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774173A (en) * | 2010-02-10 | 2010-07-14 | 中国电子科技集团公司第四十五研究所 | Sheet-grasping mechanical arm of full-automatic battery plate printing machine |
| WO2020035324A1 (en) * | 2018-08-16 | 2020-02-20 | Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG | Transport device having transport rake and counter rake |
| US11332324B2 (en) | 2018-08-16 | 2022-05-17 | Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG | Transport device having transport rake and counter rake |
| CN117068752A (en) * | 2023-10-12 | 2023-11-17 | 常州比太科技有限公司 | Silicon wafer overturning and conveying system and working method thereof |
| CN117068752B (en) * | 2023-10-12 | 2024-01-23 | 常州比太科技有限公司 | Silicon wafer overturning and conveying system and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110112 Effective date of abandoning: 20120627 |