CN205058042U - A transfer robot for welding battery piece - Google Patents

Abstract

The utility model discloses a handling robot for welding battery sheets, wherein the first transmission mechanism includes a first motor and a first reducer connected with it, and is connected with the lower rotary arm through the first reducer to control the Basic positioning; and the upper slewing arm and the robot wrist joint, the upper slewing arm includes second to fourth transmission mechanisms; the second transmission mechanism includes a second motor and a second reducer connected to it, through the second reducer It is connected with the lower slewing arm in the first transmission mechanism to control the precise positioning in the horizontal direction. The third transmission mechanism, including the third motor, drives the lead screw through the synchronous belt. The lead screw is connected with the spline shaft through the connecting plate to control the vertical rotation. Accurate positioning in the vertical direction, the fourth transmission mechanism, including the fourth motor, drives the spline shaft to rotate through the synchronous belt, and controls the rotational movement of the robot's wrist joint. It has fast welding speed, can pick and place battery slices accurately, and reduces the rework rate of battery components.

Description

Handling robot for welding battery slices

technical field

The utility model relates to the technical field of industrial robots, in particular to a handling robot for welding battery chips, which can carry out low-load and high-speed handling, and is applied to solar battery chip welding machines.

Background technique

At present, it is used for the production of solar cell welding, mainly by manual welding. Manual welding will affect the speed and accuracy, cell welding quality and output, and the personal safety of production operators, working environment, labor intensity, productivity, raw material consumption and production costs and other issues. According to this situation, it is well known that an industrial robot is a multi-functional, multi-degree-of-freedom mechatronic automatic mechanical equipment and system that can complete certain operational tasks in the manufacturing process through repeated programming and automatic control, and can be combined with manufacturing hosts or The production line can be composed of a single machine or a multi-machine automation system, which can realize various production operations such as handling, welding, assembly and spraying without human participation. Therefore, it is very necessary to develop such industrial handling robots to achieve high speed and high precision of cell welding.

Contents of the invention

In view of the above situation, the purpose of this utility model is to provide a simple structure, easy to control, low cost, fast, high-precision handling robot for welding battery chips, which can realize accurate grasping and placement of battery chips, and meet the needs of photovoltaic industry needs.

In order to achieve the above purpose, the technical solution of the present invention is a handling robot for welding battery sheets, including:

The first transmission mechanism, the first transmission mechanism includes a first motor and a first reducer connected to it, is connected to the lower swing arm through the first reducer, controls the rotation of the lower swing arm, and realizes the basic positioning of the robot in the horizontal direction; and

The upper slewing arm and the robot wrist joint, the upper slewing arm includes second to fourth transmission mechanisms inside; the second transmission mechanism includes a second motor and a second reducer connected to it, through the second reducer and the first The lower slewing arm in the first transmission mechanism is connected to control the rotation of the upper slewing arm to realize the precise positioning of the robot in the horizontal direction. The third transmission mechanism, including the third motor, drives the lead screw through the synchronous belt. The spline shaft is connected to control the precise positioning of the vertical movement of the robot. The fourth transmission mechanism, including the fourth motor, drives the spline shaft to rotate through the synchronous belt to control the rotary motion of the vacuum suction cup of the robot. Therefore, the new model accurately absorbs the battery slices through the movement and rotation of the robot, puts the good slices on the welding conveyor belt, and puts the bad slices into the waste box, so as to realize the precise positioning of the pick-and-place position of the battery slices and improve the welding performance of the battery slices. quality and efficiency.

In the present model, one end of the connecting plate is movably connected with the spline shaft, and the other end is connected with the lead screw through an internal thread. In this way, the spline shaft can be rotated relative to the connecting plate, and the precise positioning of the vertical movement of the spline shaft is controlled by the screw thread cooperation with the lead screw. In addition, since the parts are assembled separately from each other, the assembly is simple and the control is easy.

The beneficial effect of the new model is: judge the quality of the cell through the vision system camera and send the coordinates of the cell to the robot. Put it into the waste box, realize the precise positioning of the pick-and-place position of the cell, improve the welding quality and output of the cell, and reduce the human resource cost of the enterprise. In addition, it also has the advantages of low cost, high precision, high speed and high comprehensive cost performance.

Description of drawings

Fig. 1 is the schematic diagram of the present invention.

detailed description

The utility model will be further described below in conjunction with the embodiments of the accompanying drawings.

As shown in Figure 1, a handling robot for welding battery sheets includes a first transmission mechanism installed on a base 12, the first transmission mechanism includes a first motor 1 and a first reducer 2 connected thereto, The first reducer 2 is connected with one end of the lower swivel arm 3 to drive the rotation of the lower swivel arm 3 to control the basic positioning of the robot in the horizontal direction; the other end of the lower swivel arm 3 is connected to the upper swivel arm 4 of the robot connect. The new upper rotary arm 4 and robot vacuum chuck; the upper rotary arm 4 includes second to fourth transmission mechanisms; the second transmission mechanism includes a second motor 5 and a second reducer 6 connected thereto , is connected with the lower rotary arm 3 through the second reducer 6, controls the rotation of the upper rotary arm 4, and realizes the precise positioning of the robot in the horizontal direction, and the third transmission mechanism, including the third motor 7, drives the lead screw 9 through the synchronous belt, The lead screw 9 is connected with the spline shaft 10 through the connecting plate 11 to control the precise positioning of the vertical movement of the vacuum chuck of the robot. The fourth transmission mechanism includes the fourth motor 8 and drives the spline shaft through a synchronous belt. 10 rotations, to control the rotation movement of the vacuum suction cup of the robot. The rotation of the upper swivel arm 4 relative to the lower swivel arm 3 of the present invention is accomplished through the cooperation of the second motor 5 and the second speed reducer 6 . In the above, the robot vacuum chuck at the end of the spline shaft 10 is connected (not shown in the figure). One end of the connecting plate 11 described in the present invention is movably connected with the spline shaft 10, and the other end is connected with the lead screw 9 through an internal thread. In this way, the spline shaft 10 can be rotated relative to the connecting plate 11 , and the precise positioning of the vertical movement of the spline shaft 10 can be controlled by the thread cooperation with the lead screw 9 .

The above-mentioned first to second reducers 2, 6 are harmonic gear reducers.

In the above, the involved robot is equipped with a vision system camera.

The repeated positioning accuracy of the new type is up to ±0.01mm, and the effective working radius is 0.6m. It is used in a solar cell welding machine to ensure that the welding strip is accurately covered on the surface of the main grid line of the cell. It can cooperate with the vision system (which belongs to the existing technology, so the description is omitted) to remove broken and chipped cells and reduce the repair rate of components. It has the advantages of low cost, high precision, high speed and high comprehensive cost performance.

The working principle of this new type:

1. First judge by the camera of the vision system. If no battery is found, the robot remains at the origin position (the upper end of the waste film box can be set as the origin position).

2. If a battery is found, judge whether the battery is good or not and send the coordinate position of the battery to the robot. The first motor 1 of the robot drives the first reducer 2 to drive the lower slewing arm 3 to rotate. At the same time, the second transmission structure The second motor 5 and the second reducer 6 in the drive belt drive the upper rotary arm 4 to rotate to the film taking position, the third motor 7 of the third transmission structure drives the screw 9 to rotate through the synchronous belt, and the screw 9 passes through the connecting plate 14 is displaced synchronously with the spline shaft 10, and the rotation of the lead screw 9 is transformed into the vertical movement of the spline shaft 10. A vacuum suction cup is installed at the end of the spline shaft 10, and the vacuum suction cup descends to the upper end of the cell, and the vacuum is turned on, and through the vacuum The suction cup absorbs the battery sheet to complete the grabbing action.

3. If it is judged to be a bad film, after the third motor 7 runs to make the spline shaft 10 rise to the position, the first motor 1 and the second motor 5 run to make the upper and lower rotary arms 4 and 3 rotate, and at the same time, the fourth motor 8 passes the synchronous The belt drives the spline shaft 10 to rotate, adjust the angle relative to the cell, rotate to the waste film box, and the third motor 7 runs to lower the spline shaft 10, break the vacuum, and put the bad film into the waste film box.

4. If it is judged to be a good film, the spline shaft 10 of the robot rises, and when it is in place, the upper and lower rotating arms 4 and 3 rotate, and the spline shaft 10 rotates at the same time. Vacuum, put the good piece on the specified coordinate position of the welding conveyor belt, similarly put the good piece on the piece next time, and perform double-wire welding to improve welding efficiency.

Claims (2)

1. for welding a transfer robot for cell piece, it is characterized in that, comprising:

First transmission mechanism, this first transmission mechanism comprises the first motor (1) and connected first decelerator (2), be connected with lower revoliving arm (3) by the first decelerator (2), control the rotation of lower revoliving arm (3), realize robot basic fixed position in the horizontal direction; With

Pivoted arm last time (4) and vacuum cup, be provided with the second to the 4th transmission mechanism in pivoted arm last time (4) comprises, described second transmission mechanism comprises the second motor (5) and connected second decelerator (6), be connected with the lower revoliving arm (3) in the first transmission mechanism by the second decelerator (6), control the rotation of pivoted arm last time (4), realize robot accurate location in the horizontal direction, 3rd transmission mechanism, comprise the 3rd motor (7), leading screw (9) is driven by Timing Belt, this leading screw (9) is connected with splined shaft (10) by connecting plate (11), the accurate location of control vertical direction movement, 4th transmission mechanism, comprise the 4th motor (8), splined shaft (10) is driven to rotate by Timing Belt, the rotary motion of control vacuum cup.

2. the transfer robot for welding cell piece according to claim 1, is characterized in that, described connecting plate (11) one end and splined shaft (10) activity are connected, and the other end is connected with leading screw (9) by internal thread.