CN202072286U - Loading and unloading handling mechanical arm for solar cell module - Google Patents
Loading and unloading handling mechanical arm for solar cell module Download PDFInfo
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- CN202072286U CN202072286U CN2011200194371U CN201120019437U CN202072286U CN 202072286 U CN202072286 U CN 202072286U CN 2011200194371 U CN2011200194371 U CN 2011200194371U CN 201120019437 U CN201120019437 U CN 201120019437U CN 202072286 U CN202072286 U CN 202072286U
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Abstract
The utility model provides a loading and unloading handling mechanical arm for a solar cell module, and the mechanical arm provided by the utility model is used for realizing the functions of loading and unloading in a solar cell module producing process. The loading and unloading handling mechanical arm is characterized by consisting of a mechanical arm mechanism I, a horizontal motion unit II, two vertical motion units III, a pallet lift mechanism IV and a frame V, wherein the mechanical arm mechanism is of an aluminum alloy frame combined structure, and is provided with a plurality of groups of sucker modules so as to realize safe handling of solar cell modules in different specifications; and the horizontal motion unit and the vertical motion units adopt servo motors as drive, and drive the mechanical arm mechanism through a synchronous cog belt and a ball screw assembly respectively to realize accurate motion positioning in horizontal and vertical directions, and the motion units of two directions can independently or simultaneously move. A position servo control system is of a hierarchical control structure formed by a human-computer interaction layer, a motion control layer and a servo control layer. The handling mechanical arm has the advantages of large working space, high positioning accuracy, small motion inertia, reliable and smooth motion and is suitable for handling large-sized fragile solar cell modules of different specifications.
Description
Technical field
The utility model belongs to the industry mechanical arm technical field, relates to a kind of industrial robot, is a kind of conveying robot of realizing the loading and unloading function in the solar module production process.
Background technology
Along with the continuous development of solar energy power technology and industry thereof, the solar module manufacturing scale realizes that in continuous expansion the automation of its each link of production process is significant.But also there is certain defective in the automation of loading and unloading link in the present domestic solar module production process, for example the loading and unloading of solar module still need manually to finish, because the solar module volume and weight is bigger and frangible, there are problems such as labour intensity is big, operation is inconvenient, damage easily, production efficiency is low in loading and unloading work.
At present, many conveying robot products are also arranged, the form and the construction parameter that adopt because of its end-effector mainly are to determine according to concrete carrying object, and the end-effector of these conveying robots is generally less, is guaranteeing there is certain difficulty aspect the safe and reliable carrying of solar module.
The utility model content
At the defective that exists in the above-mentioned solar module manufacturing line loading and unloading process and the deficiency of prior art, the utility model provides a kind of conveying robot that can finish the solar module loading and unloading, this conveying robot have simple in structure, reliable steadily, characteristics such as accuracy of positioning height, can realize that Z back and forth waits two kinds of motions to the left and right to lifting and X, utilizes manipulator mechanism and pallet elevator structure to finish the operation of feeding and discharging of solar module jointly.
The technical solution of the utility model is as follows:
This solar module loading and unloading conveying robot comprises manipulator mechanism, horizontal motion unit, two groups of perpendicular movement unit, pallet elevator structure and fuselages.Basic machine and pallet elevator structure that manipulator mechanism, horizontal motion unit, perpendicular movement unit and fuselage constitute are separate.
Manipulator mechanism comprises sucker positioning supports plate, Suction cup assembly, manipulator support, level sensor; Sucker positioning supports strip has groove, and and manipulator support between connect firmly, adopt adjustable being threaded between Suction cup assembly and the sucker positioning supports plate, level sensor and manipulator support connect firmly.
The horizontal motion unit comprises that left limit block, left-limit switch, slide, synchronous cog belt, line slideway, synchronous pulley, limit on the right-right-hand limit switch, right limit block and X are to servomotor; Line slideway adopts many crossbeam unitized constructions, be installed on the fuselage, slide and line slideway constitute sliding block joint, left limit block and right limit block and line slideway connect firmly, left-limit switch and limit on the right-right-hand limit switch are separately fixed on left limit block and the right limit block, and two synchronous pulleys are installed in the two ends of line slideway respectively, and slide and synchronous cog belt connect firmly, X is installed in line slideway one end to servomotor, links to each other with slide by synchronous cog belt.
Z is to adopting two groups of perpendicular movement unit, and symmetry is installed on the manipulator mechanism.Every group of perpendicular movement unit comprises that line slideway, slide, ball guide screw nat and Z are to servomotor; Line slideway and slide constitute sliding block joint, line slideway and manipulator mechanism connect firmly by butt flange, Z directly links to each other with ball guide screw nat to servomotor, and ball guide screw nat and slide connect firmly, and slide and horizontal motion unit slide connect firmly by connecting panel.
The pallet elevator structure comprises pallet guardrail, tray supporter, cylinder and pallet positioning baffle; Cylinder has four, interconnects by tray supporter, and the placement that is parallel to each other, tray supporter and cylinder connect firmly, and the pallet guardrail has all been installed in the tray supporter both sides, and the pallet positioning baffle is fixed on an end of tray supporter.
Effect of the present utility model and benefit are:
(1) relative position between many group Suction cup assemblies can be regulated, adapt to the carrying operation of different size solar module, and organize Suction cup assembly more and can guarantee that solar module is evenly stressed in the adsorption process, can finish the loading and unloading of solar battery sheet safely and reliably.
(2) two groups of perpendicular movement unit of symmetry installation can guarantee perpendicular movement unit stress equalization in handling process, avoid producing moment of flexure.
(3) have simple in structure, working space is big, accuracy of positioning is high, reliable characteristics such as steadily.
(4) reduced labour intensity, improved labor efficiency, the high fragment rate of having avoided a dead lift to cause.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is a manipulator mechanism structural representation of the present utility model.
Fig. 3 is a horizontal motion block construction scheme drawing of the present utility model.
Fig. 4 is a perpendicular movement block construction scheme drawing of the present utility model.
Fig. 5 is perpendicular movement of the present utility model unit and manipulator mechanism assembly structural representation.
Fig. 6 is a pallet elevator structure structural representation of the present utility model.
Among the figure:
The I manipulator mechanism, II horizontal motion unit, III perpendicular movement unit, IV pallet elevator structure,
The V fuselage.
1 sucker positioning supports plate, 2 Suction cup assemblies, 3 manipulator supports, 4 level sensors;
5 left limit blocks, 6 left-limit switches, 7 slides, 8 synchronous cog belts, 9 line slideways,
10 synchronous pulleys, 11 limit on the right-right-hand limit switches, 12 right limit blocks, 13X are to servomotor,
14 line slideways, 15 slides, 16 ball guide screw nats, 17Z are to servomotor,
18 butt flanges, 19 connecting panels, 20 pallet guardrails, 21 tray supporters, 22 cylinders,
23 pallet positioning baffles.
The specific embodiment
Be described in detail the specific embodiment of the present utility model below in conjunction with technical scheme and accompanying drawing.
Solar module loading and unloading conveying robot of the present utility model is made up of manipulator mechanism I, horizontal motion unit II, two groups of perpendicular movement unit III, pallet elevator structure IV and fuselage V, manipulator mechanism adopts aluminium alloy extrusions frame combination structure, utilize vacuum cup as applying the Clamping force main body, relative position can be regulated between each sucker.The horizontal motion unit is made horizontal reciprocating movement to servomotor by synchronous cog belt speed reduction gearing drives mechanical hand mechanism by X.The perpendicular movement unit passes through the dipping and heaving of ball guide screw nat drives mechanical hand mechanism by Z to servomotor.Finally finish the operation of feeding and discharging of solar module jointly by pallet elevator structure and manipulator mechanism.
Concrete course of action is as follows:
The motion of pallet elevator structure: pallet is placed on the tray supporter 21, pallet positioning baffle 23 is determined pallet position on tray supporter 21, after pallet is placed, feed the gas of certain pressure to four cylinders 22, four cylinders 22 will drive tray supporter 21 and upwards rise synchronously, and the pallet guardrail 20 of both sides is used for preventing that the solar module sideslip damages in the process of lifting.
X links to each other with slide 7 by synchronous toothed belt wheel speed reduction gearing to servomotor 13 to motion: X, driving slide 7 through synchronous cog belt 8 slides on line slideway 9, slide 7 drives robot movement by the perpendicular movement unit in the horizontal motion unit, thereby the X that realizes conveying robot is to motion, when X when motion runs into left-limit switch 6 or limit on the right-right-hand limit switch 11, the conveying robot stop motion, when left- limit switch 6 or 11 inefficacies of limit on the right-right-hand limit switch, left limit block 5 and right limit block 12 will be forced the conveying robot stop motion.
Z is to motion: by the realization that is synchronized with the movement of two groups of perpendicular movement unit, Z makes between line slideway 14 and the slide 15 by ball guide screw nat 16 to servomotor 17 and produces relative motion, thereby by two Z to servomotor 17 be synchronized with the movement realize conveying robot Z to motion, when the downward location of conveying robot fails correctly to finish, in order to prevent that manipulator mechanism from destroying solar module, a level sensor 4 is installed below manipulator mechanism, when level sensor 4 triggers, force the conveying robot stop motion immediately, wherein ball guide screw nat 16 has self-lock ability, prevents to occur under the solar module action of gravity counter-rotating decline phenomenon.
The solar module sucking action is realized: the automatic operational process of manipulator relies on software to realize its accurate location, and when finished the manipulator mechanism location, X and Z stopped to motion, organize Suction cup assembly 2 more and adsorb solar module simultaneously.On vacuum cup source of the gas general line, adorned a vacuum manometer, be used for monitoring real-time force value, judge whether current pressure reaches required value when whether satisfying absorption needed pressure of solar module or release, thus the safety of operating in assurance absorption and the dispose procedure.When the solar module specification changes, adjust between the Suction cup assembly 2 relative position by groove on the sucker positioning supports plate and can regulate, guarantee to draw safely and reliably solar module.
Solar module loading and unloading conveying robot of the present utility model adopts programmable controller and touch-screen to jointly control mode, the preferred site master mode.Control system is made of three levels, that is: man-machine interaction layer (touch-screen), motion control layer (programmable controller) and servocontrol layer.Man-machine interaction layer (touch-screen) is used to carry out mission planning and parameter setting, forms handling machinery hands movement requisite space parameter, comprises parameters such as starting point, terminal point, and the work of the real-time monitoring aspect of responsible control system.Motion control layer (programmable controller) is the function block of programmable controller utilization " MAP SERV " instruction database, to actuator outbound course and position pulse signal, realizes the motion control of manipulator according to the program of setting and parameter thereof.The servocontrol layer as given, as feedback, is realized position servo control with the servomotor actual position that measures with the position signal of motion control layer.
Claims (1)
1. a solar module loading and unloading conveying robot comprises manipulator mechanism (I), horizontal motion unit (II), two groups of perpendicular movement unit (III), pallet elevator structure (IV) and fuselage (V); It is characterized in that:
Manipulator mechanism comprises sucker positioning supports plate (1), Suction cup assembly (2), manipulator support (3), level sensor (4); Sucker positioning supports plate (1) has groove, and and manipulator support (3) between connect firmly, adopt adjustable being threaded between Suction cup assembly (2) and the sucker positioning supports plate (1), level sensor (4) connects firmly with manipulator support (3);
The horizontal motion unit comprises that left limit block (5), left-limit switch (6), slide (7), synchronous cog belt (8), line slideway (9), synchronous pulley (10), limit on the right-right-hand limit switch (11), right limit block (12) and X are to servomotor (13); Line slideway (9) adopts many crossbeam unitized constructions, be installed on the fuselage, slide (7) constitutes sliding block joint with line slideway (9), left limit block (5) and right limit block (12) connect firmly with line slideway (9), left-limit switch (6) and limit on the right-right-hand limit switch (11) are separately fixed on left limit block (5) and the right limit block (12), two synchronous pulleys (10) are installed in the two ends of line slideway (9) respectively, slide (7) connects firmly with synchronous cog belt (8), and X is installed in line slideway (9) one ends to servomotor (13);
This solar module loading and unloading conveying robot adopts two groups of perpendicular movement unit, is assemblied on the manipulator mechanism symmetrically; Every group of perpendicular movement unit comprises that line slideway (14), slide (15), ball guide screw nat (16) and Z are to servomotor (17); Line slideway (14) constitutes sliding block joint with slide (15), line slideway (14) connects firmly by butt flange (18) with manipulator mechanism, Z directly links to each other with ball guide screw nat (16) to servomotor (17), slide (15) connects firmly with the nut of ball guide screw nat (16), and slide (15) connects firmly by connecting panel (19) with horizontal motion unit slide (7);
The pallet elevator structure comprises pallet guardrail (20), tray supporter (21), cylinder (22) and pallet positioning baffle (23); Cylinder (22) has four, interconnect by tray supporter (21), and the placement that is parallel to each other, tray supporter (21) connects firmly with cylinder (22) outside face, pallet guardrail (20) has all been installed in tray supporter (21) both sides, and pallet positioning baffle (23) is installed in an end of tray supporter (21);
Basic machine and pallet elevator structure that manipulator mechanism, horizontal motion unit, perpendicular movement unit and fuselage constitute are separate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200194371U CN202072286U (en) | 2011-01-21 | 2011-01-21 | Loading and unloading handling mechanical arm for solar cell module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200194371U CN202072286U (en) | 2011-01-21 | 2011-01-21 | Loading and unloading handling mechanical arm for solar cell module |
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| Publication Number | Publication Date |
|---|---|
| CN202072286U true CN202072286U (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200194371U Expired - Lifetime CN202072286U (en) | 2011-01-21 | 2011-01-21 | Loading and unloading handling mechanical arm for solar cell module |
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|---|---|
| CN (1) | CN202072286U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107783A (en) * | 2011-01-21 | 2011-06-29 | 丛明 | Loading and unloading handling mechanical arm for solar cell module |
| CN102626923A (en) * | 2012-04-12 | 2012-08-08 | 山西省机电设计研究院 | Mechanical arm device for automatic detection line of mutual inductors |
| CN103723514A (en) * | 2013-11-21 | 2014-04-16 | 格力电器（石家庄）有限公司 | Automatic feeding device of air conditioner indoor unit bottom support |
| CN104362376A (en) * | 2014-11-08 | 2015-02-18 | 苏州三屹晨光工业设备有限公司 | Transferring mechanism of battery cold/hot press |
| CN105151772A (en) * | 2015-08-12 | 2015-12-16 | 文登蓝岛建筑工程有限公司 | Board carrying robot |
| CN106429426A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Net mold handling device |
| CN107235326A (en) * | 2016-12-27 | 2017-10-10 | 山东大学 | A kind of large stone material plate truss-like automatic blanking device and method |
| CN108128629A (en) * | 2018-01-05 | 2018-06-08 | 安徽机电职业技术学院 | A kind of automobile skylight glass detection conveying robot |
| CN108501452B (en) * | 2018-04-03 | 2019-09-06 | 青岛理工大学 | A kind of quick distribution apparatus of tray foot of paper pallet |
| CN110316556A (en) * | 2019-06-10 | 2019-10-11 | 广东美的智能机器人有限公司 | Tablet adsorbent equipment, tablet transfer production line and the method for adsorbing tablet |
| CN113023358A (en) * | 2021-05-31 | 2021-06-25 | 四川英创力电子科技股份有限公司 | A categorised conveyor for circuit board detects |
-
2011
- 2011-01-21 CN CN2011200194371U patent/CN202072286U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107783A (en) * | 2011-01-21 | 2011-06-29 | 丛明 | Loading and unloading handling mechanical arm for solar cell module |
| CN102107783B (en) * | 2011-01-21 | 2012-08-08 | 丛明 | Loading and unloading handling mechanical arm for solar cell module |
| CN102626923A (en) * | 2012-04-12 | 2012-08-08 | 山西省机电设计研究院 | Mechanical arm device for automatic detection line of mutual inductors |
| CN103723514A (en) * | 2013-11-21 | 2014-04-16 | 格力电器（石家庄）有限公司 | Automatic feeding device of air conditioner indoor unit bottom support |
| CN104362376A (en) * | 2014-11-08 | 2015-02-18 | 苏州三屹晨光工业设备有限公司 | Transferring mechanism of battery cold/hot press |
| CN106429426A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Net mold handling device |
| CN106429426B (en) * | 2015-08-07 | 2019-10-25 | 山东天和绿色包装科技有限公司 | A kind of net mould handling device |
| CN105151772A (en) * | 2015-08-12 | 2015-12-16 | 文登蓝岛建筑工程有限公司 | Board carrying robot |
| CN107235326A (en) * | 2016-12-27 | 2017-10-10 | 山东大学 | A kind of large stone material plate truss-like automatic blanking device and method |
| CN108128629A (en) * | 2018-01-05 | 2018-06-08 | 安徽机电职业技术学院 | A kind of automobile skylight glass detection conveying robot |
| CN108501452B (en) * | 2018-04-03 | 2019-09-06 | 青岛理工大学 | A kind of quick distribution apparatus of tray foot of paper pallet |
| CN110316556A (en) * | 2019-06-10 | 2019-10-11 | 广东美的智能机器人有限公司 | Tablet adsorbent equipment, tablet transfer production line and the method for adsorbing tablet |
| CN113023358A (en) * | 2021-05-31 | 2021-06-25 | 四川英创力电子科技股份有限公司 | A categorised conveyor for circuit board detects |
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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: 20111214 Effective date of abandoning: 20130227 |
|
| RGAV | Abandon patent right to avoid regrant |