CN206711882U - A kind of grasping mechanism of solar silicon wafers - Google Patents

A kind of grasping mechanism of solar silicon wafers Download PDF

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Publication number
CN206711882U
CN206711882U CN201720621996.7U CN201720621996U CN206711882U CN 206711882 U CN206711882 U CN 206711882U CN 201720621996 U CN201720621996 U CN 201720621996U CN 206711882 U CN206711882 U CN 206711882U
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China
Prior art keywords
grasping
sucker
silicon wafers
rotary
solar silicon
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CN201720621996.7U
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Inventor
曹志明
张春雷
席劲松
谭平
唐星
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CHENGDU FUYU TECHNOLOGY Co Ltd
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CHENGDU FUYU TECHNOLOGY Co Ltd
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Abstract

A kind of grasping mechanism of solar silicon wafers is the utility model is related to, comprising gripper components, comprising at least one sucker, all suckers are generally aligned in the same plane;Rotary part, all suckers are all connected on the rotary part, and the rotary part drives all suckers to move in the same direction;Drive system, drive the gripper components and rotary part;Control system, control the drive system.The gripper components can be driven to rotate to different station by rotary part using mechanism, the gripper components are controlled to carry out loading or unloading operation to silicon chip by the control system, the gripper components are always maintained in the same plane, and rotate in the same direction always, avoid gripper components decline, rising and iterative motion, reduce mechanical movement stroke, shorten working hours, when being configured with multiple suckers, it can simultaneously carry out capturing silicon chip and place silicon chip, operating efficiency is further improved, reduces mechanical loss.

Description

A kind of grasping mechanism of solar silicon wafers
Technical field
Solar silicon wafers manufacturing technology field is the utility model is related to, particularly a kind of grasping mechanism of solar silicon wafers.
Background technology
The main composition part of solar panels is solar silicon wafers, and the photoelectric converting function efficiency of solar silicon wafers constantly carries Rise, have particularly important application in aspects such as civilian, national defence, Aeronautics and Astronautics, it has also become indispensable in the peace and quiet energy One of member, industry are ardent to solar silicon wafers demand, and silicon chip is required for carrying out grading by silicon chip separator, so as to Quality control is carried out, but solar silicon wafers are very frivolous, it is careless slightly, it is possible to cause in automated manufacturing and detection process Damaged, the unfilled corner microscopic checks that even naked eyes can not be observed, reduces production efficiency, increases production cost, to lift solar panels Quality to silicon chip, it is necessary to detect.
Prior art is lifted when capturing silicon chip after drawing silicon chip downwards frequently with cleft hand, then after being moved to next station Decline is detected or placed, and is then risen and is resetted, therefore cleft hand needs frequently in working link, repeated on reciprocal Liter, decline and movement, crawl process stroke is longer every time, and the operating time, long efficiency was low, and mechanical loss is big.
Utility model content
Goal of the invention of the present utility model is to overcome prior art longer in the process stroke of crawl silicon chip, and the time is long-acting Rate is low, the above-mentioned deficiencies such as mechanical loss is big, there is provided a kind of grasping mechanism of solar silicon wafers, shortens mechanical trip, improves work Efficiency, reduce mechanical loss.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of grasping mechanism of solar silicon wafers, including:
Gripper components, comprising at least one sucker, all suckers are generally aligned in the same plane;
Rotary part, all suckers are all connected on the rotary part, and the rotary part drives all described Sucker moves in the same direction;
Drive system, drive the gripper components and rotary part;
Control system, control the drive system.
Using a kind of grasping mechanism of solar silicon wafers of the present utility model, the drivetrain is controlled by the control system System drives the rotary part to rotate, and all suckers are generally aligned in the same plane, and are all connected on the rotary part, described Sucker is connected with negative pressure source, and when the rotary part drives the sucker to turn to above silicon chip, the silicon chip is positioned at described The adsorption range of sucker, the sucker form negative pressure and draw the silicon chip in the original location, and then the rotary part makes the sucker Next station is turned to, when the control system closes negative pressure, the sucker puts down the silicon chip and realizes blanking, discharge station Height be adapted to the position of the sucker, the sucker is put down the silicon chip in the original location, rotation can be passed through using mechanism Part drives the gripper components to rotate to different station, controls the gripper components to take silicon chip by the control system Operation is put, the gripper components are always maintained in the same plane, and are rotated in the same direction always, are avoided gripper components and are existed Need to decline during crawl, rise and iterative motion, simplify the structure of grasping mechanism, reduce mechanical movement stroke, contracting The short working time, when being configured with multiple suckers, it can simultaneously carry out capturing silicon chip and place silicon chip, further improve work Efficiency, reduce mechanical loss.
Preferably, also comprising feeding device and blanking device, described in the position adaptation of the feeding device and blanking device The rotary motion trace of sucker, so that each sucker is realized respectively when rotating to above feeding device and the blanking device station Feeding and blanking.
In all suckers are generally aligned in the same plane, and always around fixed-circumference rotation, the sucker is rotated on described Expect the crawl silicon chip at device, treat to put down the silicon chip, feeding device and the blanking device cloth at rotation to blanking device It is placed in the rotary motion trace of the sucker, is adapted to the height of the sucker and the angle of rotation, so that each sucker rotation Feeding and blanking are realized respectively when going to above feeding device and the blanking device station, can during using multiple suckers Feeding and blanking operation are realized simultaneously, are improved mechanical efficiency, are easy to Mechanical course.
It is further preferred that the feeding device includes jacking part.
Because the height of the sucker is fixed, and silicon chip is easily broken, reaches between silicon chip to be drawn and the sucker The negative pressure of the sucker could pick up the silicon chip during certain distance, and the control system control jacking part is by described in Silicon chip is jacked to the position for being adapted to the sucker absorption, ensures that crawl link continues uninterruptedly, to improve operating efficiency, avoid working as institute The silicon chip can not be drawn by stating when sucker reaches upper discharge position.
It is further preferred that the feeding device also includes air blowing part.
Because silicon chip is relatively light relatively thin, the silicon chip to be drawn is dispelled by separation using the air blowing part, is easy to described Sucker is drawn, and avoids once drawing the silicon chip of more than two.
It is further preferred that the feeding device also includes photoelectric sensor.
The photoelectric sensor is used to sense distance of the silicon chip apart from plane where the sucker, can be used for sensing Whether the silicon chip is had on the sucker, and the control system is according to the photoelectric sensor control jacking part jacking institute Silicon chip is stated to adapting position, and be confirmed whether draw silicon chip, ensure crawl everything goes well with your work carry out.
Preferably, the rotary part includes a point of pneumatic module, described to divide pneumatic module to include airway tube and sleeve, described Airway tube is hollow structure, and the sleeve is provided with endoporus, and the lower end of the airway tube is connected with the endoporus, the airway tube Upper end be provided with an opening one, the lower end of the sleeve is provided with least two openings two, and each opening two connects institute Endoporus is stated, each opening two is connected with tracheae one, and the tracheae one connects the sucker.
The drive system connects the sleeve, drives the sleeve rotating, the upper end of the airway tube is opened provided with one Mouth one, the lower end of the sleeve are provided with least two openings two, and each opening two is connected with tracheae one, each the tracheae One is used to connect a sucker, and each opening two connects the endoporus so that each tracheae one and the opening One is connected, and the connection of opening one negative pressure source, the tracheae one coordinates realization to divide gas by the airway tube and sleeve, described Sleeve is in the sucker rotary course is driven, the tracheae one and sleeve synchronous rotary, relative to institute between each tracheae one The position for stating sleeve is fixed, and avoids tracheae one from being wound during rotating Vortex always, is ensured always along rotating Vortex The sucker can continue to produce negative pressure, be advantageous to improve operating efficiency, continual rotation is picked and placeed to different station, Mechanical breakdown is avoided, it is simple in construction, it is easy to process.
It is further preferred that the opening one connects tracheae two by swivel joint.
That is described swivel joint one end connects the airway tube, other end connection tracheae two, during work, the swivel joint One end that one end of connection tracheae two remained stationary as, connected the airway tube rotates with the airway tube, avoids the gas Pipe two influences negative pressure and formed because rotation causes to reverse.
It is further preferred that the sleeve connection has rotating disk, all suckers are connected to the rotating disk, all suctions Even circumferential distribution of the disk along the rotating disk, the angle that the sucker rotates every time are identical.
Using aforesaid way, i.e., when described sucker is rotated to different station, each rotational angle is identical, is easy to system control And station arrangement, often rotate once, the sucker is corresponding with each station, therefore feeding and blanking behaviour can be carried out simultaneously Make, improve operating efficiency.
It is further preferred that vertical connecting plate is connected with the rotating disk, each described one institute of sucker bolt connection State connecting plate.
Be connected with vertical connecting plate on the rotating disk, the connecting plate is provided with chute, the sucker bolt connection with On the chute, it is easy to adjust the height of the sucker, is convenient for changing the sucker, while be advantageous to improve intensity, avoids Produce and rock during rotation.
It is further preferred that each tracheae one is connected with least one gas-distributing pipe, each gas-distributing pipe is connected with Magnetic valve.
When provided with multiple suckers, each gas-distributing pipe connects a sucker, each on the gas-distributing pipe Magnetic valve is connected with, the magnetic valve is connected with electric wire, and the electric wire is shunted by collector ring, avoids occurring when rotated Winding, it is easy to control rotation to the sucker of different station to draw or put down the silicon chip.
In summary, by adopting the above-described technical solution, the beneficial effects of the utility model are:
1st, using a kind of grasping mechanism of solar silicon wafers of the present utility model, can be driven by rotary part described in grab Take part to rotate to different station, control the gripper components to carry out loading or unloading operation to silicon chip by the control system, it is described to grab Take part to be always maintained in the same plane, and rotate in the same direction always, avoid gripper components needs during crawl Decline, rise and iterative motion, simplify the structure of grasping mechanism, reduce mechanical movement stroke, shorten working hours, match somebody with somebody When being equipped with multiple suckers, it can simultaneously carry out capturing silicon chip and place silicon chip, further improve operating efficiency, reduce machinery Loss.
2nd, using a kind of grasping mechanism of solar silicon wafers of the present utility model, feeding device and the blanking device arrangement In in the rotary motion trace of the sucker, being adapted to the height of the sucker and the angle of rotation, so that each sucker rotation Feeding and blanking are realized respectively when above to the feeding device and blanking device station, using can be same during multiple suckers Shi Shixian feedings and blanking operation, improve mechanical efficiency, are easy to Mechanical course.
3rd, the jacking portion is controlled using a kind of grasping mechanism of solar silicon wafers of the present utility model, the control system Part jacks the silicon chip to the position for being adapted to the sucker absorption, ensures that crawl link continues uninterruptedly, to improve operating efficiency, Avoid that when the sucker reaches upper discharge position the silicon chip can not be drawn.
4th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, it is easy to the sucker to draw, avoids once Draw the silicon chip of more than two.
5th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, the control system is according to the photoelectric transfer The sensor control jacking part jacks the silicon chip to adapting position, and is confirmed whether to draw silicon chip, ensures that crawl work is suitable Profit is carried out.
6th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, the tracheae one by the airway tube with Sleeve coordinates realization to divide gas, in the sucker rotary course, the tracheae one and sleeve synchronous rotary, between each tracheae one Fixed relative to the position of the sleeve, avoid tracheae one from being wound during rotating Vortex always, ensure edge always The sucker of rotating Vortex can continue to produce negative pressure, be advantageous to improve operating efficiency, continual rotation to different station Picked and placeed, avoid mechanical breakdown, it is simple in construction, it is easy to process.
7th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, the tracheae two is avoided using swivel joint Because rotation causes to reverse, influence negative pressure and formed.
8th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, when the sucker is rotated to different station, Each rotational angle is identical, is easy to system control and station to arrange, often rotates once, the suction is corresponding with each station Disk, therefore feeding and blanking operation can be carried out simultaneously, improve operating efficiency.
9th, using a kind of grasping mechanism of solar silicon wafers of the present utility model, vertical connection is connected with the rotating disk Plate, the connecting plate are provided with chute, the sucker bolt connection with the chute, being easy to adjust the height of the sucker, The sucker is convenient for changing, while is advantageous to improve intensity, avoids producing when rotated and rocks.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the grasping mechanism of solar silicon wafers in the utility model.
Fig. 2 is a kind of structure top view of the grasping mechanism of solar silicon wafers in the utility model.
Fig. 3 is the structural section figure for dividing pneumatic module in the utility model.
Marked in figure:1- suckers, 2- airway tubes, 3- sleeves, 31- endoporus, 4- tracheaes one, 51- jacking parts, 52- blow Part, 6- swivel joints, 7- tracheaes two, 8- rotating disks, 9- connecting plates, 10- magnetic valves.
Embodiment
Below in conjunction with the accompanying drawings, the utility model is described in detail.
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this Utility model, it is not used to limit the utility model.
Embodiment 1
Such as Fig. 1-3, a kind of grasping mechanism of solar silicon wafers described in the utility model, gripper components, rotating part are included Part, feeding device, blanking device, drive system and control system, the control system are controlled described in the drive system drive Gripper components, rotary part, feeding device and blanking device, the gripper components include four suckers 1, the rotary part bag Described to divide pneumatic module to include airway tube 2 and sleeve 3 containing a point of pneumatic module, the airway tube 2 is the copper pipe of hollow structure, institute State sleeve 3 and be provided with endoporus 31, the lower end of the airway tube 2 is connected with the endoporus 31, and the upper end of the airway tube 2 is provided with one Individual opening one, the opening one connect tracheae 27 by swivel joint 6, and the tracheae 27 connects negative pressure source, 3 sets of the sleeve A horizontally disposed rotating disk 8 is connect, four pieces of vertical connecting plates 9 are connected with the rotating disk 8, each bolt of sucker 1 connects A connecting plate 9, even circumferential distribution of all suckers 1 along the rotating disk 8 are connect, each sucker 1 turns every time Dynamic angle is identical, and all suckers 1 are located at same level, and the lower end of the sleeve 3 is provided with two openings two, two institutes State opening two to be arranged symmetrically, each opening two connects the endoporus 31, and each opening two is connected with a tracheae One 4, each tracheae 1 is connected with two gas-distributing pipes, and each gas-distributing pipe connects a sucker 1, each described Magnetic valve 10 is connected with gas-distributing pipe, the feeding device includes jacking part 51, air blowing part 52 and photoelectric sensor, described The position of feeding device and blanking device is adapted to the rotary motion trace and rotational angle of the sucker 1, and the jacking part 51 is located at The lower section of the sucker 1, for the air blowing part 52 located at jacking part 51 both sides, its height is adapted to the sucker 1, described Blanking device is conveyer belt.
The sleeve 3 rotates in the counterclockwise direction, 90 ° is rotated every time, when the sucker 1 is turned at the feeding device When, the control system controls the drive system to drive the jacking part 51 by silicon according to the signal of the photoelectric sensor Piece jacks to the height of adaptation, the air blowing part 52 and dispels the silicon chip at top, corresponding to the control system control The magnetic valve 10 of the sucker 1 is opened, and the sucker 1 draws individual described silicon chip, and then the sleeve 3 continued along the inverse time Pin direction rotates 90 °, is now placed in the sucker 1 at the feeding device and continues to draw the silicon chip, when suction has the silicon When the sucker 1 of piece is turned at the blanking device, the magnetic valve 10 of the corresponding sucker 1 is closed, the silicon Piece is positioned over progress next step operation on conveyer belt, now carries out suction operation, four suctions simultaneously at the feeding device Disk 1 can be captured, shifted, placed by rotation in same level to the silicon chip, is avoided gripper components and is declined, rises And iterative motion, mechanical movement stroke is reduced, is shortened working hours, at the feeding device and blanking device not Two same suckers 1, by the open and close controlling of the magnetic valve 10 corresponding to it, feeding can be carried out simultaneously and blanking is moved Make, further improve operating efficiency, reduce mechanical loss.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

  1. A kind of 1. grasping mechanism of solar silicon wafers, it is characterised in that including:
    Gripper components, comprising at least one sucker (1), all suckers (1) are generally aligned in the same plane;
    Rotary part, all suckers (1) are all connected on the rotary part, and the rotary part drives all suctions Disk (1) moves in the same direction;
    Drive system, drive the gripper components and rotary part;
    Control system, control the drive system.
  2. A kind of 2. grasping mechanism of solar silicon wafers according to claim 1, it is characterised in that also comprising feeding device and Blanking device, the position of the feeding device and blanking device are adapted to the rotary motion trace of the sucker (1), so that each suction Disk (1) realizes feeding and blanking respectively when rotating to above feeding device and the blanking device station.
  3. 3. the grasping mechanism of a kind of solar silicon wafers according to claim 2, it is characterised in that the feeding device includes Jack part (51).
  4. 4. the grasping mechanism of a kind of solar silicon wafers according to claim 2, it is characterised in that the feeding device also wraps Part containing air blowing (52).
  5. 5. the grasping mechanism of a kind of solar silicon wafers according to claim 2, it is characterised in that the feeding device also wraps Containing photoelectric sensor.
  6. 6. according to a kind of grasping mechanism of any described solar silicon wafers of claim 1-5, it is characterised in that the rotating part Part includes a point of pneumatic module, described to divide pneumatic module to include airway tube (2) and sleeve (3), and the airway tube (2) is hollow knot Structure, the sleeve (3) are provided with endoporus (31), and the lower end of the airway tube (2) is connected with the endoporus (31), the airway tube (2) upper end is provided with an opening one, and the lower end of the sleeve (3) is provided with least two openings two, and each opening two is equal The endoporus (31) is connected, each opening two is connected with tracheae one (4), and the tracheae one (4) connects the sucker (1).
  7. 7. the grasping mechanism of a kind of solar silicon wafers according to claim 6, it is characterised in that the opening one passes through rotation Adapter (6) connection tracheae two (7).
  8. A kind of 8. grasping mechanism of solar silicon wafers according to claim 6, it is characterised in that sleeve (3) connection There is rotating disk (8), all suckers (1) are connected to the rotating disk (8), circumference of all suckers (1) along the rotating disk (8) It is uniformly distributed, the angle that the sucker (1) rotates every time is identical.
  9. 9. the grasping mechanism of a kind of solar silicon wafers according to claim 8, it is characterised in that connect on the rotating disk (8) Vertical connecting plate (9) is connected to, each connecting plate (9) of sucker (1) bolt connection one.
  10. A kind of 10. grasping mechanism of solar silicon wafers according to claim 6, it is characterised in that each tracheae one (4) at least one gas-distributing pipe is connected with, each gas-distributing pipe is connected with magnetic valve (10).
CN201720621996.7U 2017-05-31 2017-05-31 A kind of grasping mechanism of solar silicon wafers Active CN206711882U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108389814A (en) * 2018-03-02 2018-08-10 爱佩克斯(北京)科技有限公司 A kind of jig of the spinner with guide bracket
CN111001707A (en) * 2019-12-09 2020-04-14 洪东潦 Rotary continuous stamping device for automobile part metal plates
CN111169996A (en) * 2020-01-02 2020-05-19 佛山隆深机器人有限公司 Sorting device
CN111357800A (en) * 2020-03-26 2020-07-03 江苏省海洋水产研究所 Fishing catch identification and separation device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108389814A (en) * 2018-03-02 2018-08-10 爱佩克斯(北京)科技有限公司 A kind of jig of the spinner with guide bracket
CN108389814B (en) * 2018-03-02 2020-06-12 爱佩克斯(北京)科技有限公司 Spin-drying machine is with tool that has guide frame
CN111001707A (en) * 2019-12-09 2020-04-14 洪东潦 Rotary continuous stamping device for automobile part metal plates
CN111169996A (en) * 2020-01-02 2020-05-19 佛山隆深机器人有限公司 Sorting device
CN111357800A (en) * 2020-03-26 2020-07-03 江苏省海洋水产研究所 Fishing catch identification and separation device

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