CN205733327U - Both hands automatic fetching device and series welding machine - Google Patents

Abstract

Both hands automatic fetching device, including pedestal, horizontal mobile mechanism, vertical movement mechanism, rotary drive mechanism and rotation hands, horizontal mobile mechanism is installed on pedestal, vertical movement mechanism is installed on the long-armed end of horizontal mobile mechanism, to drive long-armed lower motion in vertical direction, rotary drive mechanism is installed on the long-armed head end of horizontal mobile mechanism；When rotary drive mechanism drives turning arm to rotate, first handgrip and the second handgrip are followed turning arm rotation vertical movement mechanism and are controlled the place height of the first handgrip and the second handgrip by arm is rotated, and the first vacuum cup on the first handgrip adsorbs under the driving of the first absorption drive mechanism or discharges a cell piece；The second vacuum cup on second handgrip adsorbs under the driving of the second absorption drive mechanism or discharges a cell piece.This utility model embodiment also provides for a kind of series welding machine.

Description

Two-hand automatic pick-up device and stringer

technical field

The utility model relates to the technical field of mechanical equipment, in particular to a two-hand automatic material retrieving device and a string welding machine.

Background technique

With the rapid development of automation equipment in the photovoltaic industry, the welding speed of solar cell stringer is also required to develop rapidly. The earliest stringer that can weld 600 pieces per hour has been eliminated, and now it has been developed to be able to weld 600 pieces per hour. Welding 1800 pieces and 2400 pieces, and the requirements are getting higher and higher, and the speed is still improving, but the work in the welding process cannot be reduced. Therefore, in order to meet the rapid demand of the market, it is necessary to save everything that can be done. Save the time and find ways to speed up the process that can be speeded up.

The battery slices to be used are placed in the station material box, and the stringer takes the battery slices from the station material box and places them on the battery slice transmission station. The number of cells that can be contained in the station material box is limited , when the cells in the station material box are exhausted, the stringer must stop working and start working after the station material box is fed to fill the cells. This processing method brings unnecessary time costs; Some manufacturers choose to purchase robots for feeding and filling the station material box. This method increases the production cost and the control complexity is high.

Contents of the invention

In view of this, it is necessary to provide a two-hand automatic pick-up device, and it is also necessary to provide a stringer.

The embodiment of the utility model provides a two-handed automatic retrieving device, including a base, a horizontal moving mechanism, a vertical moving mechanism, a rotating drive mechanism and a rotating hand, the horizontal moving mechanism is installed on the base, and the vertical moving mechanism is installed At the end of the long arm of the horizontal movement mechanism to drive the long arm to move up and down in the vertical direction, the rotary drive mechanism is installed at the head end of the long arm of the horizontal movement mechanism; the rotating hand includes The rotating arm, the first gripper, the second gripper, the first vacuum suction cup, the second vacuum suction cup, the first suction driving mechanism, and the second suction driving mechanism, the rotation driving mechanism is fixedly installed at the center of the rotation arm , the first gripper and the second gripper are symmetrically installed on both ends of the rotating arm, and the first vacuum chuck and the first adsorption drive mechanism are installed on the first gripper, so The second vacuum chuck and the second adsorption drive mechanism are installed on the second gripper; when the rotation drive mechanism drives the rotating arm to rotate, the first gripper and the second gripper follow The rotating arm rotates; the vertical movement mechanism drives the rotating arm to control the height of the first gripper and the second gripper, so that the first vacuum suction cup on the first gripper and the second vacuum suction cup on the second gripper is close to or away from the battery slice on the station magazine; the first vacuum suction cup is driven by the first suction driving mechanism to absorb or release a battery slice ; The second vacuum chuck is driven by the second suction driving mechanism to absorb or release a battery piece.

Preferably, the horizontal movement mechanism includes the long arm, the vertical plate, the horizontal movement slider seat, the horizontal slider, the horizontal guide rail and the horizontal drive mechanism, the horizontal guide rail is installed on the base, and the horizontal The slider is arranged in the track groove of the horizontal guide rail, the horizontally moving slider seat is installed on the horizontal slider, and connected with the vertical board, and the vertical board is arranged in pairs and vertically on the long Below the end of the arm, the long arm, the vertical plate and the horizontal sliding block seat form a rectangular cavity, and the horizontal sliding block moves along the horizontal guide rail under the drive of the horizontal driving mechanism. Do reciprocating motion in the horizontal direction.

Preferably, the vertical moving mechanism is located in the rectangular cavity, and the vertical driving mechanism is fixedly connected with the long arm and the horizontally moving slider base so as to follow the horizontally moving slider base and drive the The long arm moves in the horizontal direction.

Preferably, the vertical movement mechanism includes a support frame, a vertical slider, a vertical guide rail and a vertical drive mechanism, the vertical guide rail is installed on the vertical plate of the horizontal movement mechanism, and the vertical slider is arranged on the In the track groove of the vertical guide rail, the first end of the support frame is connected to the long arm to support and drive the long arm, the second end of the support frame is connected to the vertical slider, and the vertical The driving mechanism is connected with the vertical slide block, and the vertical slide block reciprocates vertically in the vertical guide rail under the drive of the vertical drive mechanism.

Preferably, the rotary drive mechanism includes a rotary drive motor and a reducer, the rotary drive motor is integrally connected with the reducer, and the rotary drive motor passes through the long arm and is fixedly installed on the long arm. The head end of the arm.

Preferably, the rotation angle of the rotating hand is any angle, and the rotating direction of the rotating hand is clockwise or counterclockwise.

The embodiment of the utility model also provides a serial welding machine, including a frame, a double-box feeding device and a two-hand automatic retrieving device, the two-hand automatic retrieving device is the aforementioned two-hand automatic retrieving device, Both the feeding device and the double-box feeding device are installed on the frame, and the double-box feeding device is located within the range of motion of the first gripper and the second gripper of the two-hands automatic retrieving device.

The two-handed automatic retrieving device and the stringer welding machine provided by the utility model realize the rotation in space position, horizontal direction and vertical direction and at a certain angle by setting two grippers, a rotating mechanism, a horizontal moving mechanism and a vertical moving mechanism on the same device. , through the embodiment of the utility model, it is realized that there is no waiting for refueling, and the material can be continuously grabbed, which saves time and improves the production efficiency of the stringer.

Description of drawings

Accompanying drawing 1 is a first structural schematic diagram of a two-hand automatic retrieving device in a preferred embodiment.

Accompanying drawing 2 is a second structural schematic diagram of a two-hand automatic retrieving device in a preferred embodiment.

Accompanying drawing 3 is a third structural schematic diagram of a two-hand automatic retrieving device in a preferred embodiment.

Accompanying drawing 4 is a front view and a top view of the movement starting position of a two-handed automatic pick-up device in a preferred embodiment (the left hand of the rotating hand is located above the magazine of the first station, and the right hand of the rotating hand is located above the cell release area) Schematic.

Accompanying drawing 5 is a schematic diagram of the structure of the front view of the two-hand automatic retrieving device in a preferred embodiment, where the rotating hand is lowered and the left hand is sucking up the first cell.

Accompanying drawing 6 is a schematic diagram of the front structure of the two-handed automatic pick-up device in a preferred embodiment, where the rotating hand is raised and ready to rotate the first battery slice absorbed by the left hand to above the release area of the battery slice.

Accompanying drawing 7 is a preferred embodiment of the two-hand automatic reclaimer in which the rotating hand has finished rotating, the first cell absorbed by the left hand has reached above the release area of the cell, and the right hand is positioned above the material box of the first station and is ready to absorb the second cell Schematic diagram of the slice.

Accompanying drawing 8 is a schematic diagram of a preferred embodiment of the two-handed automatic pick-up device in which the rotating hand is lowered, the left hand places the first battery piece in the battery piece release area, and the right hand absorbs the second battery piece in the first station magazine .

Accompanying drawing 9 is a schematic diagram of a preferred embodiment of the two-hand automatic retrieving device in which the rotating hand rises, the left hand is empty, and the right hand brings the second cell above the magazine of the first station.

Accompanying drawing 10 is a schematic diagram of the structure of the front view and the side view of the rotating hand of the two-handed automatic retrieving device in the second station for retrieving materials in a preferred embodiment.

Accompanying drawing 11 is the simplified structure schematic diagram of the position of the two-hand automatic pick-up device in the stringer of a preferred embodiment.

In the figure: two-handed automatic retrieving device 10, base 1, horizontal moving mechanism 2, long arm 21, vertical plate 22, horizontal moving slider seat 23, horizontal sliding block 24, horizontal guide rail 25, horizontal driving mechanism 26, vertical moving Mechanism 3, support frame 31, vertical slider 32, vertical guide rail 33, vertical drive mechanism 34, rotary drive mechanism 4, rotary drive motor 41, reducer 42, rotary hand 5, rotary arm 51, first gripper 52, second Second gripper 53, first vacuum chuck 54, second vacuum chuck 55, first adsorption drive mechanism 56, second adsorption drive mechanism 57, battery sheet 300, stringer 100, frame 20, double box feeding device 30 , The material box 301 of the first station, the material box 302 of the second station.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. . Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

As shown in Figure 1-10, the embodiment of the utility model provides a two-handed automatic retrieving device 10, which may include a base 1, a horizontal movement mechanism 2, a vertical movement mechanism 3, a rotation drive mechanism 4 and a rotation hand 5, Wherein, the horizontal movement mechanism 2 is installed on the base 1, the vertical movement mechanism 3 is installed on the end of the long arm 21 of the horizontal movement mechanism 2, to drive the long arm 21 to move up and down in the vertical direction, and the rotary drive mechanism 4 is installed on the horizontal movement mechanism The head end of the long arm 21 of 2; the rotating hand 5 includes a rotating arm 51, a first gripper 52, a second gripper 53, a first vacuum chuck 54, a second vacuum chuck 55, a first suction drive mechanism 56, a second Adsorption drive mechanism 57, rotation drive mechanism 4 is fixedly installed on the central position of the rotating arm 51, the first handle 52 and the second handle 53 are symmetrically installed on the two ends of the rotating arm 51, the first handle 52 is installed with the first The vacuum chuck 54 and the first suction drive mechanism 56, the second vacuum chuck 55 and the second suction drive mechanism 57 are installed on the second gripper 53; The second gripper 53 rotates with the rotating arm 51; the vertical movement mechanism 3 controls the height of the first gripper 52 and the second gripper 53 by driving the rotating arm 51, so as to facilitate the first vacuum chuck 54 and the second gripper 51 on the first gripper 51. The second vacuum chuck 55 on the second gripper 52 is close to or away from the cell on the station magazine; the first vacuum chuck 54 absorbs or releases a cell under the drive of the first adsorption drive mechanism 56; the second vacuum chuck 55 Under the driving of the second suction driving mechanism 57, a battery piece is sucked or released.

Specifically, the horizontal movement mechanism 2 includes a long arm 21, a vertical plate 22, a horizontal movement slider seat 23, a horizontal slider 24, a horizontal guide rail 25 and a horizontal drive mechanism 26, the horizontal guide rail 25 is installed on the base 1, and the horizontal slider 24 is arranged in the track groove of horizontal guide rail 25, and horizontally moving slider seat 23 is installed on the horizontal slider 24, and is connected with vertical plate 22, and vertical plate 22 is paired, and is arranged vertically below the end of long arm 21, and long arm 21. The vertical plate 22 and the horizontally moving slider seat 23 form a rectangular cavity, and the horizontal slider 24 reciprocates along the horizontal direction in the horizontal guide rail 25 under the drive of the horizontal driving mechanism 26 .

The vertical moving mechanism 3 is located in the rectangular cavity, and the vertical driving mechanism 34 is fixedly connected with the long arm 21 and the horizontally moving slider base 23 to follow the horizontally moving slider base 23 and drive the long arm 21 to move in the horizontal direction.

Vertical movement mechanism 3 comprises support frame 31, vertical slide block 32, vertical guide rail 33 and vertical driving mechanism 34, and vertical guide rail 33 is installed on the vertical plate 22 of horizontal movement mechanism 2, and vertical slide block 32 is arranged on the track groove of vertical guide rail 33 Inside, the first end of the support frame 31 is connected to the long arm 21 to support and drive the long arm 21, the second end of the support frame 31 is connected with the vertical slider 32, the vertical drive mechanism 34 is connected with the vertical slider 32, and the vertical slide The block 32 reciprocates vertically in the vertical guide rail 33 under the drive of the vertical drive mechanism 34 .

The rotary drive mechanism 4 includes a rotary drive motor 41 and a reducer 42 , the rotary drive motor 41 is connected with the reducer 42 as a whole, and the rotary drive motor 41 passes through the long arm 21 and is fixedly installed on the head end of the long arm 21 .

In the embodiment of the present invention, the rotation angle of the rotating hand 5 can be any angle, and the rotating direction of the rotating hand 5 is clockwise or counterclockwise.

As shown in Figure 11, the utility model embodiment also provides a kind of stringer welding machine 100, and it can comprise frame 20, double material box feeding device 30 and two-hands automatic retrieving device 10, wherein, two-hands automatic retrieving device 10 is Figure 1-10 describes any two-hand automatic retrieving device 10, both hands automatic retrieving device 10, double material box feeding device 30 are all installed on the frame 20, double material box feeding device 30 can include the first station material box 301 and the second station material box 302, as shown in Figure 1-11, the first station material box 301 and the second station material box 302 are located near the two-hand automatic retrieving device 10, and can be placed side by side. When working, when the two-hand automatic retrieving device 10 takes battery slices in the first station material box 301, the first station material box 301, the center position of the rotating arm 51 on the two-hand automatic material reclaimer 10, and the cell release area should be Located on the same straight line, so as to correctly pick and place the battery slices; The center position of the cell and the cell release area should be on the same straight line so that the cells can be picked and placed correctly. Both the first station material box 301 and the second station material box 302 are located within the range of movement of the first gripper 52 and the second gripper 53 of the two-hand automatic pick-up device 10 . It realizes that there is no need to wait for the refueling box, which saves time for the serial welding automatic production equipment.

The specific use steps of the two-handed automatic retrieving device or the string welding machine provided by the embodiment of the utility model may include:

Step S1: The rotating arm 51 in the rotating hand 5 of the two-handed automatic retrieving device 10 drives the first gripper 52 to rotate, so that the first gripper 52 rotates above the first station material box 301, please refer to FIG. 4 ;

Step S2: The vertical moving mechanism 3 of the two-handed automatic retrieving device 10 drives the rotating arm 51 to descend to the first vacuum suction cup 54 on the first gripper 52 to touch the first cell in the first station magazine 301 ;

Step S3: the first vacuum chuck 54 on the first gripper 52 absorbs the first cell, please also refer to FIG. 5 ;

Step S4: The vertical moving mechanism 3 drives the rotating arm 51 to rise to the initial height, please refer to FIG. 6 as well;

Step S5: Rotate the rotating arm 51 by 180°, so that the first gripper 52 moves above the cell release area, and the second gripper 53 moves above the first station magazine 301, please refer to FIG. 7 together;

Step S6: The vertical movement mechanism 3 drives the rotating arm 51 down to the second vacuum chuck 55 on the second gripper 53 to touch the second cell in the first station magazine 301 ;

Step S7: The second vacuum chuck 55 on the second gripper 53 absorbs the second cell, and at the same time, the first vacuum chuck 54 releases the first cell, so that the first cell falls on the release area of the cell, please As shown in Figure 8;

Step S8: The vertical moving mechanism 3 drives the rotating arm 51 to rise to the initial height, please also refer to FIG. 9 ;

Step S9: The rotating arm 51 in the two-handed automatic retrieving device 10 drives the first gripper 52 to rotate above the first station material box 301 and then descends until the first vacuum suction cup 54 touches the first station material box 301. Three cells;

Step S10: the first gripper 52 absorbs the third battery slice, and at the same time, the second gripper 53 releases the second battery slice, and the two-handed automatic retrieving device 10 repeatedly absorbs and releases the battery slice in the magazine 301 of the first station, Until the cells in the first station magazine 301 are exhausted and released to the cell release area; step S9 and step S10 are to repeat the aforementioned steps S1-S8, and the cells in the first station magazine 301 are completely exhausted After that, it can be switched to take battery slices from the magazine 302 of the second station;

Step S11, the horizontal moving mechanism 2 of the two-hand automatic retrieving device 10 drives the rotating arm 51 to move in the horizontal direction, and the rotating arm 51 drives the first gripper 52 to rotate until the first gripper 52 is located above the second station material box 302, so as to Adsorb the cells from the magazine 302 of the second station until the batteries in the magazine 302 of the second station are exhausted and released to the release area of the batteries, please refer to Figure 10 together;

Step S12: After all the batteries in the magazine 302 of the second station are exhausted, the magazine 301 of the first station has been supplemented with batteries, and the two-handed automatic retrieving device 10 can switch to fetching batteries from the magazine 301 of the first station again. slices, switching repeatedly in this way can achieve the effect of uninterrupted supply of battery slices.

It can be known from the above steps that the first gripper 52 and the second gripper 53 of the rotating hand 5 are in coordinated action, that is, when the first gripper 52 is in the position of grabbing the battery slice and absorbing the battery slice, the second gripper 53 is in the position of Release the position of the battery slice, release the battery slice, or vice versa.

Through the embodiment of the utility model, it is realized that there is no need to wait for refueling, and the material can be grasped continuously, which saves time and improves the production efficiency of the stringer.

The modules or units in the device of the embodiment of the utility model can be combined, divided and deleted according to actual needs.

What is disclosed above is only a preferred embodiment of the utility model, and of course it cannot be used to limit the scope of rights of the utility model. Those of ordinary skill in the art can understand all or part of the process of realizing the above-mentioned embodiments, and according to the utility model The equivalent changes made by the claims still belong to the scope covered by the utility model.

Claims (7)

1. a both hands automatic fetching device, it is characterised in that include pedestal, horizontal mobile mechanism, vertical movement mechanism, rotation Drive mechanism and rotation hands, described horizontal mobile mechanism is installed on pedestal, and described vertical movement mechanism is installed on described level The long-armed end of travel mechanism, to drive described long-armed lower motion in vertical direction, described rotary drive mechanism is installed on The described long-armed head end of described horizontal mobile mechanism；Described rotation hands include turning arm, the first handgrip, the second handgrip, first Vacuum cup, the second vacuum cup, the first absorption drive mechanism, the second absorption drive mechanism, described rotary drive mechanism is fixed It is installed on the center of described turning arm, described first handgrip and described second handgrip and is symmetrically arranged on the two of described turning arm End, described first handgrip is provided with described first vacuum cup and described first absorption drive mechanism, on described second handgrip Described second vacuum cup and described second absorption drive mechanism are installed；Described rotary drive mechanism drives the rotation of described turning arm When turning, described first handgrip and described second handgrip are followed described turning arm and are rotated；Described vertical movement mechanism is by driving institute State turning arm and control described first handgrip and the place height of described second handgrip, it is simple to described first on described first handgrip Described second vacuum cup on vacuum cup and described second handgrip is closer or far from the cell piece on station magazine；Described One vacuum cup adsorbs under the described first driving adsorbing drive mechanism or discharges a cell piece；Described second vacuum cup exists Adsorb under the driving of described second absorption drive mechanism or discharge a cell piece.

2. both hands automatic fetching device as claimed in claim 1, it is characterised in that described horizontal mobile mechanism includes described length Arm, riser, moving horizontally take-up housing, cross sliding clock, horizontal guide rail and horizontal drive mechanism, described horizontal guide rail is installed on described On pedestal, described cross sliding clock is arranged in the rail groove of described horizontal guide rail, described in move horizontally take-up housing and be installed on described On cross sliding clock, and being connected with described riser, described riser is paired, be vertically installed in below described long-armed described end, institute State riser long-armed, described and described in move horizontally take-up housing composition one rectangular cavity, described cross sliding clock is in described horizontal drive Move reciprocatingly along horizontal direction in described horizontal guide rail under the driving of mechanism.

3. both hands automatic fetching device as claimed in claim 2, it is characterised in that described vertical movement mechanism is positioned at described square Shape intracavity, described vertical driving mechanism is long-armed with described and described moves horizontally that take-up housing is fixing to be connected, to follow described level Mobile take-up housing also drives described long-armed move in the horizontal direction.

4. both hands automatic fetching device as claimed in claim 3, it is characterised in that described vertical movement mechanism includes supporting Frame, vertical slipper, vertical guide rail and vertical driving mechanism, described vertical guide rail is arranged on the described vertical of described horizontal mobile mechanism On plate, described vertical slipper is arranged in the rail groove of described vertical guide rail, and support frame as described above the first end is connected to described long-armed To support and to drive described long-armed, the second end of support frame as described above is connected with described vertical slipper, described vertical driving mechanism Be connected with described vertical slipper, described vertical slipper under the driving of described vertical driving mechanism in described vertical guide rail edge Vertical direction moves reciprocatingly.

5. both hands automatic fetching device as claimed in claim 1, it is characterised in that described rotary drive mechanism includes that rotation is driven Galvanic electricity machine and decelerator, described rotary drive motor connects as one with described decelerator, and described rotary drive motor passes institute State long-armed and be fixedly mounted on described long-armed described head end.

6. both hands automatic fetching device as claimed in claim 1, it is characterised in that the anglec of rotation of described rotation hands is arbitrary Angle, the direction of rotation of described rotation hands is direction clockwise or counter-clockwise.

7. a series welding machine, it is characterised in that include frame, extra quality box feeding device and both hands automatic fetching device, described double Hands automatic fetching device is the arbitrary described both hands automatic fetching device of claim 1～6, described both hands automatic fetching device, Described extra quality box feeding device is installed in described frame, and described extra quality box feeding device is positioned at described both hands automatic material taking dress Within the first handgrip put and the range of activity of the second handgrip.