CN211109814U - Grabbing device, double-station grabbing device and transfer equipment - Google Patents
Grabbing device, double-station grabbing device and transfer equipment Download PDFInfo
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- CN211109814U CN211109814U CN201921004928.1U CN201921004928U CN211109814U CN 211109814 U CN211109814 U CN 211109814U CN 201921004928 U CN201921004928 U CN 201921004928U CN 211109814 U CN211109814 U CN 211109814U
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Abstract
The application relates to the technical field of solar cell production equipment, in particular to a gripping device, a double-station gripping device and transfer equipment. The grabbing device comprises a suspension plate, a three-dimensional moving mechanism and a rotating module, wherein the suspension plate is provided with a grabbing assembly and an industrial camera; the three-dimensional moving mechanism is connected with the suspension plate and comprises an X-axis moving module, a Y-axis moving module and a Z-axis moving module, so that the suspension plate can be moved along X-axis, Y-axis and Z-axis directions which are orthogonal to each other, wherein the Z-axis direction is perpendicular to the suspension plate; the rotating module is used for driving the hanging plate to rotate around an axis parallel to the Z axis, and the hanging plate is connected with the three-dimensional moving mechanism through the rotating module. The grabbing device can realize the accurate adjustment of four degrees of freedom of X-axis linear movement, Y-axis linear movement, Z-axis linear movement and angular rotation of the workpiece, so that the workpiece can be accurately laid to a specified position automatically, the position deviation between the workpiece placing groove body and the workpiece is compensated, and the positioning precision is high.
Description
Technical Field
The application relates to the technical field of solar cell production equipment, in particular to a gripping device, a double-station gripping device and transfer equipment.
Background
In the PECVD and PVD preparation processes, accurate cell conveying is an important link in the coating process of two working sections, namely, the cell is conveyed in place by a conveying device, and then the carrier plates with the arranged cells are driven by a transfer mechanism to be placed in a PECVD chamber or conveyed to a PVD chamber by a conveying belt. In order to prevent the film coating process of the battery piece in the cavity, the film layer is deposited on the back surface of the battery piece through the edge position of the battery piece, so that the requirement on the accuracy of placing the battery piece arranging plate is high.
The conventional battery piece transferring method has two types, one is that the battery pieces in rows are transferred into corresponding groove bodies on a carrier plate by a linear module depending on the accuracy of the battery pieces; the other transfer mode adopts a four-axis robot positioned by a CCD camera to automatically lay the battery pieces to the tray for designated positioning.
On the one hand, the battery piece that relies on self precision to be moved by sharp module in bank moves and carries to corresponding inslot, and this mode is to placing the precision of battery piece, move and carry equipment to move and carry precision and get and put the precision and put and propose very high requirement, along with the vibration of equipment and the wearing and tearing of structure in debugging and the production process, the accumulative error will be bigger and bigger, need the continuous positional relationship that adjusts the correspondence, and maintenance frequency is very high, and the necessity causes production efficiency to reduce, and the utilization ratio descends.
On the other hand, the four-axis robot that the mode of moving to adopt the CCD camera to shoot lays the tray assigned position with the battery piece is automatic, relies on CCD camera cooperation robot to realize accurate positioning, but places only one to two at every turn, and manufacturing cost is high, and positioning accuracy is high, and production efficiency is low.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the application provides a gripping device, a double-station gripping device and transfer equipment, which can place a plurality of battery pieces at one time, and have the advantages of low manufacturing cost, high positioning accuracy and high production efficiency.
In order to achieve the above object, according to one aspect of the present invention, there is provided a grasping apparatus.
The grabbing device according to this application embodiment includes:
the suspension plate is provided with a grabbing component for grabbing a workpiece and an industrial camera for picking up pictures;
a three-dimensional moving mechanism connected to the suspension plate and including an X-axis moving module, a Y-axis moving module, and a Z-axis moving module so as to be capable of moving the suspension plate in X-axis, Y-axis, and Z-axis directions orthogonal to each other, the Z-axis direction being perpendicular to the suspension plate;
and the rotating module is used for driving the hanging plate to rotate around an axis parallel to the Z axis, and the hanging plate is connected with the three-dimensional moving mechanism through the rotating module.
Further, the suspension plate is rotatably connected with the Y-axis moving module through the rotating module, the X-axis moving module is slidably connected with the Y-axis moving module, and the Z-axis moving module is slidably connected with the X-axis moving module.
Further, the industrial cameras are provided with two and are diagonally mounted on the suspension plate.
Furthermore, the driving mechanism of the rotating module is a motor or an air cylinder.
Further, the grabbing component is a suction nozzle which can be connected with a vacuum-pumping device.
In order to achieve the above object, according to a second aspect of the present technical solution, the present technical solution provides a double-station gripping device.
According to this application embodiment's duplex position grabbing device includes:
a mounting frame;
the first grabbing device is the grabbing device provided by the technical scheme and is fixedly connected to the mounting frame through the Z-axis moving module;
the second grabbing device is the grabbing device provided by the technical scheme of the application, and is movably connected to the mounting frame through the Z-axis moving module;
the telescopic cylinder is fixed to the mounting frame, and a piston of the telescopic cylinder 204 is connected with the Z-axis moving module of the second grabbing device and used for driving the second grabbing device to be close to or far away from the first grabbing device.
In order to achieve the above object, according to a third aspect of the present invention, there is also provided a transfer apparatus.
The transfer equipment according to the embodiment of the application comprises:
a frame;
the device comprises a carrier plate, a workpiece and a workpiece, wherein a groove body for accommodating the workpiece is arranged on the carrier plate;
the workpiece conveying unit is used for conveying the workpiece to a position to be grabbed;
the grabbing unit is used for grabbing the workpiece from the workpiece conveying unit and placing the workpiece in the groove body on the support plate, and the grabbing unit comprises at least one grabbing device provided by the technical scheme of the application or at least one double-station grabbing device provided by the technical scheme of the application.
And the conveying unit is arranged on the rack and is configured to convey the grabbing units which grab the workpieces to the carrier plate from the workpiece conveying unit and convey the unloaded grabbing units to the workpiece conveying unit from the carrier plate.
Furthermore, the grabbing unit is the double-station grabbing device, and the workpiece conveying unit is two rows of conveying belts arranged in parallel.
Furthermore, the carrying unit comprises a transverse moving linear module fixed on the rack and a longitudinal moving linear module connected to the transverse moving linear module in a sliding mode, the transverse moving linear module and the longitudinal moving linear module are vertically arranged in a horizontal plane, and the double-station grabbing devices are connected to the longitudinal moving linear module in a sliding mode.
Furthermore, the telescopic direction of the telescopic cylinder is parallel to the sliding direction of the transverse moving linear module.
Through the grabbing device that this application technical scheme provided, can realize the accurate adjustment to four degrees of freedom of X axle rectilinear movement, Y axle rectilinear movement, Z axle rectilinear movement, angular rotation of work piece to can be accurate lay the assigned position with the work piece is automatic, compensate the work piece and place the position deviation between cell body and the work piece itself, positioning accuracy is high.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic perspective view of a grasping apparatus according to an embodiment of the present application;
FIG. 2 schematically illustrates a side view of a grasping device according to an embodiment of the present application;
fig. 3 schematically shows a top view of a grasping device according to an embodiment of the present application;
fig. 4 is a schematic perspective view of a double-station gripping device according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a side view of a dual-station grasping device according to an embodiment of the present application;
fig. 6 is a schematic perspective view of a transfer apparatus according to an embodiment of the present application;
fig. 7 schematically shows a top view of the transfer apparatus provided in the embodiment of the present application;
fig. 8 is a schematic side view of a transfer apparatus provided in an embodiment of the present application;
FIG. 9 is a schematic perspective view of a carrying unit and a grasping unit in the embodiment of the present application;
FIG. 10 is a schematic top view of a handling unit and a gripping unit in an embodiment of the present application;
FIG. 11 is a schematic side view of a handling unit and a gripping unit according to an embodiment of the present application;
FIG. 12 is a schematic front view of a handling unit and a gripping unit according to an embodiment of the present application; and
fig. 13 schematically shows a sequence diagram of placing a workpiece by the transfer device according to the embodiment of the present application.
In the figure:
1. a carrying device; 101. a suspension plate; 102. a grasping assembly; 103. an industrial camera; 104. a three-dimensional moving mechanism; 1041. an X-axis moving module; 1042. a Y-axis moving module; 1043. a Z-axis moving module; 105. a rotation module; 2. a double-station gripping device; 201. a mounting frame; 202. a first grasping device; 203. a second grasping device; 204. a telescopic cylinder; 3. a frame; 4. a carrier plate; 401. a trough body; 5. a workpiece conveying unit; 6. a grasping unit; 7. a carrying unit; 701. transversely moving the linear module; 702. a longitudinal movement straight line module; 703. a guide rail; 8. a carrier plate conveying device; 9. a chamber.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail with reference to the accompanying examples and figures 1-13.
Example 1
As shown in fig. 1-3, the present embodiment provides a grasping apparatus. Fig. 1 is a perspective view of the grasping apparatus according to the present embodiment; fig. 2 is a side view of the grasping apparatus provided in the present embodiment; fig. 3 is a top view of the grasping apparatus provided in this embodiment.
As shown in fig. 1-3, the grasping apparatus 1 includes a suspension plate 101, a three-dimensional moving mechanism 104, and a rotation module 105, wherein a grasping assembly 102 for grasping a workpiece and an industrial camera 103 for taking pictures are provided on the suspension plate 101; the three-dimensional moving mechanism 104 is connected to the suspension plate 101 and includes an X-axis moving module 1041, a Y-axis moving module 1042 and a Z-axis moving module 1043, wherein the X-axis moving module 1041 can move the suspension plate 101 along the X-axis direction, wherein the Y-axis moving module 1042 can move the suspension plate 101 along the Y-axis direction, wherein the Z-axis moving module 1043 can move the suspension plate 101 along the Z-axis direction, wherein the X-axis direction, the Y-axis direction and the Z-axis direction are orthogonal to each other and the Z-axis direction is perpendicular to the suspension plate 101; the rotating module 105 is used for driving the suspension plate 101 to rotate around an axis parallel to the Z-axis, and the suspension plate 101 is connected with the three-dimensional moving mechanism 104 through the rotating module 105. Through the grabbing device 1 of this embodiment, can realize the accurate adjustment to four degrees of freedom of X axle rectilinear movement, Y axle rectilinear movement, Z axle rectilinear movement, angular rotation of work piece to can be accurate lay the assigned position with the work piece is automatic, compensate the work piece and place the positional deviation between cell body and the work piece itself, positioning accuracy is high. The direction perpendicular to of Z axle hangs board 101, when Z axle removes module 1043 for vertical setting, can guarantee to hang board 101 and be in the horizontality all the time, accords with the demand of actual production scene, and the axis of rotation of rotating module 105 is on a parallel with the Z axle, can guarantee to hang board 101 and be in the horizontality all the time when the adjustment hangs board 101 angle equally.
In the above embodiments, the three-dimensional moving mechanism 104 can have a variety of configurations, and fig. 1-3 show a specific alternative configuration, wherein the suspension plate 101 is rotatably connected to the Y-axis moving module 1042 through the rotating module 105, the X-axis moving module 1041 is slidably connected to the Y-axis moving module 1042, and the Z-axis moving module 1043 is slidably connected to the X-axis moving module 1041. The X-axis moving module 1041, the Y-axis moving module 1042 and the Z-axis moving module 1043 are all linear modules commonly used in the prior art, and the specific implementation form may refer to the prior art, and may be a belt-type linear module, that is, a belt is installed on transmission shafts on two sides of the linear module, and is used as a power input shaft, a slider for increasing a device workpiece is fixed on the belt, and when the belt is input, the slider moves by driving the belt, in this embodiment, the X-axis moving module 1041 may be fixed on the slider of the Y-axis moving module 1042, the Z-axis moving module 1043 is fixed on the slider of the X-axis moving module 1041, and the slider of the Z-axis moving module 1043 may be used for being fixed on a fixing device outside.
As shown in fig. 1 to 3, the industrial camera 103 is preferably a CCD camera, which is provided with two and is installed on the suspension plate 101 in a diagonal manner, and the diagonally arranged CCD camera can photograph and recognize the position or shape of the tank body for preventing the workpiece and the position and state of the grasped workpiece, and perform comparative analysis through the acquired photographs, as a basis for adjusting the position and state of the grasped workpiece by the X-axis moving module 1041, the Y-axis moving module 1042, the Z-axis moving module 1043 and the rotating module 105. It should be noted that the CCD camera is installed on the grasping apparatus 1 as the inherent detection hardware of the CCD visual detection apparatus, and is also connected to other analysis and control structures through a wire, which is suitable for the prior art.
In some embodiments, the driving mechanism of the rotation module 105 is a motor or a cylinder, and preferably a rotation motor, which can achieve more precise control.
In some embodiments, the grabbing component 102 is a suction nozzle connectable to a vacuum extractor, and can stably grab a workpiece, such as a solar cell, with a smooth and flat surface through the negative pressure adsorption effect of the suction nozzle. Optionally, the grabbing components 102 are arranged on the back surface of the suspension plate 101, and the three-dimensional moving mechanism 104 and the rotating module 105 are arranged on the opposite surface of the suspension plate 101, and preferably, a plurality of grabbing components 102 are uniformly arranged on the back surface of the suspension plate 101.
When the gripping device 1 of the present embodiment is used, a plurality of gripping devices 1 may be arranged in a row for gripping a row of a plurality of workpieces at the same time. Can realize wholly snatching and placing, when the work piece is the battery piece, can once realize the accurate position adjustment of in bank battery piece, production efficiency increases substantially, and the utilization rate is high
Example 2
As shown in fig. 4 and 5, the present embodiment provides a double-station gripping device. Fig. 4 is a perspective structural view of the double-station gripping device provided in this embodiment; fig. 5 schematically shows a side view of the double-station gripping device provided by the embodiment of the application.
As shown in fig. 4-5, the double-station gripping device 2 includes a mounting frame 201, a first gripping device 202, a second gripping device 203, and a telescopic cylinder 204, where the first gripping device 202 is the gripping device provided in embodiment 1, and is fixedly connected to the mounting frame 201 through a Z-axis moving module 1043; the second grasping device 203 is the grasping device provided in embodiment 1, and is movably connected to the mounting frame 201 through the Z-axis moving module 1043; the telescopic cylinder 204 is fixed on the mounting frame 201, and a piston of the telescopic cylinder 204 is connected with the Z-axis moving module 1043 of the second gripping device 203, so as to drive the second gripping device 203 to approach or be far away from the first gripping device 202.
Through the double-station gripping device 2 that this embodiment passes through, outside having the function of the gripping device 1 in embodiment 1, can also carry out the work of grabbing the work piece and placing the work piece on two stations simultaneously, when a plurality of double-station gripping devices 2 set up to one row side by side, first gripping device 202 was in a straight line this moment, and a plurality of second gripping devices 203 were in another straight line, can snatch or place two rows of work pieces simultaneously, further improved work efficiency. In addition, because the Z-axis moving module 1043 of the first gripping device 202 is fixedly connected to the mounting frame 201, the Z-axis moving module 1043 of the second gripping device 203 is movably connected to the mounting frame 201, and the piston of the telescopic cylinder 204 is connected to the Z-axis moving module 1043 of the second gripping device 203, the distance between the second gripping device 203 and the first gripping device 202 can be adjusted by the movement of the piston of the telescopic cylinder 204, and when the distance between two rows of workpieces on the workpiece conveying device is different from the distance between two rows of workpieces on the carrier plate, the adjustment can be performed by the telescopic cylinder 204.
Example 3
As shown in fig. 6 to 13, the present embodiment provides a transfer apparatus. Fig. 6 is a perspective view of the transfer apparatus according to the present embodiment; fig. 7 is a plan view of the transfer apparatus provided in the present embodiment; fig. 8 is a side view of the transfer device according to the present embodiment; fig. 9 is a perspective view showing a construction of a carrying unit and a grasping unit in the present embodiment; FIG. 10 is a plan view of the carrying unit and the grasping unit in the present embodiment; FIG. 11 is a side view of the carrying unit and the grasping unit in the present embodiment; fig. 12 is a front view of the carrying unit and the grasping unit in the present embodiment; fig. 10 is a plan view showing still another magnetic field generator provided in the present embodiment; fig. 13 is a sequence diagram showing the placement of the workpiece by the transfer device according to this embodiment.
As shown in the figure, the transfer apparatus includes a rack 3, a carrier plate 4, a workpiece conveying unit 5, a gripping unit 6, and a carrying unit 7. Wherein, a groove body 401 for accommodating the workpiece is arranged on the carrier plate 4; the workpiece conveying unit 5 is used for conveying the workpiece to a position to be grabbed; the grabbing unit 6 is used for grabbing the workpiece from the workpiece conveying unit 5 and placing the workpiece in a groove 401 on the carrier plate 4, and the grabbing unit 6 comprises at least one grabbing device 1 in embodiment 1 or at least one double-station grabbing device 2 in embodiment 2; a transfer unit 7 is provided on the frame 3, which is configured to transfer the gripping unit 6 gripping the workpiece from the workpiece conveying unit 5 to the carrier plate 4, and to transfer the empty gripping unit 6 from the carrier plate 4 to the workpiece conveying unit 5.
Since the gripping unit 6 in the transfer equipment is the gripping device 1 provided in embodiment 1 or the double-station gripping device 2 disclosed in embodiment 2, the transfer equipment with the gripping unit 6 also has all the technical effects of embodiments 1 and 2, and details are not repeated here. The transfer device according to the above embodiments may further include other necessary components or structures such as a driving structure, a transmission structure, a control circuit, etc., and the corresponding arrangement position and connection relationship can be referred to the transfer device in the prior art, and the connection relationship, operation and working principle of each structure that is not mentioned are known to those skilled in the art, and will not be described in detail herein.
Taking the workpiece as the battery piece as an example, the specific working process of the transfer equipment in this embodiment may be as follows:
firstly, the carrying unit 7 drives the grabbing unit 6 to move towards the direction close to the carrier plate 4, so that the grabbing unit 6 reaches the upper part of a groove 401 for placing a battery piece on the carrier plate 4, and the groove 401 is shot by a CCD camera;
secondly, the carrying unit 7 drives the grabbing unit 6 to move towards the workpiece conveying unit 5, so that the grabbing unit 6 reaches the position above the battery piece to be grabbed, and the position of the battery piece is shot through a CCD camera;
thirdly, the hanging plate 101 is driven by the Z-axis moving module 1043 of the grabbing unit 6 to move towards the direction close to the battery piece, so that the grabbing component 102 grabs the battery piece, and then the Z-axis moving module 1043 of the grabbing unit 6 drives the hanging plate 101 to move towards the direction far away from the battery piece to wait for transferring;
step four, the carrying unit 7 drives the grabbing unit 6 to move towards the direction close to the support plate 4, so that the grabbing unit 6 reaches the position above a groove body 401 for placing a battery piece on the support plate 4, the three-dimensional moving mechanism 104 and the rotating module 105 adjust the battery piece according to the position of the groove body 401 of the support plate and the position of the battery piece in the process, if the angle of the battery piece in the plane is deviated from the groove body 401, the hanging plate 101 is driven to rotate around the axis parallel to the Z axis through the rotating module 105, and the angle of the battery piece in the plane is corresponding to the groove body; then, the suspension plate 101 is moved along the X-axis direction by adjusting the X-axis moving module 1041, the suspension plate 101 is moved along the Y-axis direction by the Y-axis moving module 1042, and the position deviation between the workpiece placing groove body and the workpiece itself is adjusted, so that the battery piece can be accurately aligned to the groove body 401 after reaching the upper part of the groove body 401;
step five, the Z-axis moving module 1043 drives the suspension plate 101 to move to a preset position in a direction close to the groove 401 for placing the battery piece on the support plate 4, and the grabbing assembly 102 releases the battery piece into the corresponding support plate groove 401;
and step six, repeating the step above except the step above, identifying the position of the next or lower row of the loading plate groove body on which the battery piece is to be placed, and performing the next cycle.
As shown in the figure, in this embodiment, the gripping unit 6 is preferably the double-station gripping device 2 in embodiment 2, the workpiece conveying unit 5 may be two rows of conveyor belts arranged side by side, and the double-station gripping device 2 may grip the workpieces on the two rows of conveyor belts simultaneously.
As an alternative, as shown in fig. 9 to 12, the carrying unit 7 includes a traverse linear module 701 fixed on the rack 3 and a traverse linear module 702 slidably connected to the traverse linear module 701, the traverse linear module 701 and the traverse linear module 702 are vertically arranged in a horizontal plane, and a plurality of two-station gripping devices 2 are slidably connected to the traverse linear module 702. The carrying unit 7 further comprises a slide rail 703 parallel to the traverse linear module 701, one end of the longitudinal linear module 702 is mounted on a slide block of the traverse linear module 701, the other end of the longitudinal linear module 702 is mounted on a corresponding slide block of the guide rail 703, and the guide rail 703 is used for supporting the longitudinal linear module 702 and the grabbing unit 6 mounted thereon together with the traverse linear module 701. As shown in the figure, two rows of parallel arranged conveyor belts serving as workpiece conveying units 5 are arranged at one end of the transfer equipment, a carrier plate 4 for placing a workpiece is arranged at the other end of the transfer equipment, the conveying direction of the conveyor belts is perpendicular to the telescopic direction of the pistons of the telescopic cylinders 204, the arrangement direction of the double-station gripping devices 2 on the longitudinal movement linear modules 702 is parallel to the conveying direction of the conveyor belts, the carrier plate 4 is arranged at the other end of the transfer equipment, and a conveying unit 7 is arranged between the carrier plate 4 and the conveyor belts.
The transfer equipment can realize the crossing transfer of multiple rows of battery pieces and greatly improve the working efficiency, as shown in fig. 6-12, the grabbing unit 6 comprises 4 double-station grabbing devices 2 arranged side by side, and the grabbing unit can grab or place 2 rows of battery pieces at one time when working simultaneously, for example, 4 battery pieces in each row, for a total of 8 battery pieces, the structural diagram of the carrier plate 4 is shown in fig. 13, and the groove bodies 401 for placing the battery pieces on the carrier plate 4 are arranged in a manner of 8 × 8. In the following, taking the grasping assembly as a suction nozzle and the workpiece as a battery plate as an example, a specific optional working mode of the above transfer equipment for alternately transferring the battery plates is described:
firstly, a longitudinal moving linear module 702 of a carrying unit 7 can drive a double-station gripping device 2 to move, the longitudinal moving linear module 702 and the double-station gripping device 2 arranged on the longitudinal moving linear module can slide on a transverse moving linear module 701 and a sliding rail, so that the double-station gripping device 2 can move to the upper part of a groove body 401 used for placing a battery piece on a support plate 4, the groove body 401 is shot through a CCD camera, and at the moment, two hanging plates of the double-station gripping device 2 are adjusted to be respectively positioned above the groove body marked by the numeral 1 in fig. 13 to shoot the groove body;
step two, the carrying unit 7 drives the double-station gripping device 2 to move towards the direction close to the workpiece conveying unit 5, so that the double-station gripping device 2 reaches the position above the battery pieces to be gripped of the two rows of conveying belts, the distance between the first gripping device 202 and the second gripping device 203 is adjusted through the telescopic cylinder 204, two suspension plates of the double-station gripping device 2 are respectively positioned right above the two conveying belts, and the positions of the battery pieces are shot through a CCD camera;
thirdly, the hanging plate 101 is driven by the Z-axis moving module 1043 of the double-station grabbing device 2 to move towards the direction close to the battery piece, so that the battery piece is adsorbed by the suction nozzle, and then the hanging plate 101 is driven by the Z-axis moving module 1043 of the double-station grabbing device 2 to move towards the direction far away from the battery piece to wait for transferring;
step four, the carrying unit 7 drives the double-station gripping device 2 to move towards the direction close to the support plate 4, so that the double-station gripping device 2 reaches the position above a groove body 401, which is used for placing a battery piece and has the mark 1, on the support plate 4, the three-dimensional moving mechanism 104 and the rotating module 105 adjust the battery piece according to the position of the groove body 401 of the support plate and the position of the battery piece in the process, and if the angle of the battery piece in the plane is deviated from the position of the groove body 401, the hanging plate 101 is driven to rotate around the axis parallel to the Z axis through the rotating module 105, so that the angle of the battery piece in the plane corresponds to the; then, the suspension plate 101 is moved along the X-axis direction by adjusting the X-axis moving module 1041, the suspension plate 101 is moved along the Y-axis direction by the Y-axis moving module 1042, the position deviation between the workpiece placing groove body and the workpiece itself is adjusted, and the distance between the first gripping device 202 and the second gripping device 203 is adjusted by the telescopic cylinder 204, so that the cell can be accurately aligned to the groove body 401 after reaching the upper part of the groove body 401;
step five, the Z-axis moving module 1043 drives the suspension plate 101 to move to a preset position in a direction close to the groove 401 for placing the battery piece on the support plate 4, and the suction nozzle releases the battery piece into the corresponding support plate groove 401;
step six, after the steps are completed, the plurality of double-station gripping devices 2 are all moved to the position above the groove body 401 marked with 2 in fig. 13, photographing is carried out on the groove body, the steps are repeated, the shifting and placing of the battery pieces in the groove body marked with 2 are completed, then the shifting and placing of the battery pieces in the groove body marked with 3-8 in fig. 13 are sequentially completed according to the steps, and therefore the shifting and placing of the battery pieces in all the groove bodies on the support plate 4 are completed.
In the film coating process of the battery pieces, the transfer equipment can be installed in the film coating chamber 9, which can be a chamber of a PECVD process or a chamber of a PVD process, the carrier plates 4 on which the battery pieces are arranged by the transfer equipment can be conveyed into the PECVD chamber by the lifting mechanism, or the carrier plates 4 are conveyed into the PVD chamber by the conveying belt, and the unloaded carrier plates 4 can be conveyed to the transfer equipment by the carrier plate conveying device 8 to wait for the placement of the battery pieces, so as to perform the next cycle.
The transfer equipment of the embodiment can finish independent control of each gripping device, makes up for placement deviation of the front-end cell piece transmission position and the rear-end carrier plate position, and is high in positioning accuracy. This technical scheme moves and carries the device and has realized whole moving and carry, once the accuracy that the cross realized in bank battery piece moves and carries to the biggest advantage than the robot lies in accomplishing the next time and taking a picture of the cell body of placing the battery piece in the time after placing battery piece to the cell body, and production efficiency increases substantially, and the utilization rate is high. The two-row or multi-row position adjustment is completed in the same time, and the whole movement time is slow but is far many times faster than that of a single robot CCD shifting scheme.
Some embodiments in this specification are described in a progressive or parallel manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A grasping device, comprising:
the hanging plate (101) is provided with a grabbing component (102) for grabbing workpieces and an industrial camera (103) for picking up pictures;
a three-dimensional moving mechanism (104) connected to the suspension plate (101) and including an X-axis moving module (1041), a Y-axis moving module (1042), and a Z-axis moving module (1043) so as to be able to move the suspension plate (101) in X-axis, Y-axis, and Z-axis directions orthogonal to each other, the Z-axis direction being perpendicular to the suspension plate (101);
and the rotating module (105) is used for driving the suspension plate (101) to rotate around an axis parallel to the Z axis, and the suspension plate (101) is connected with the three-dimensional moving mechanism (104) through the rotating module (105).
2. The gripping device according to claim 1, wherein the suspension plate (101) is rotatably connected to the Y-axis moving module (1042) through the rotating module (105), the X-axis moving module (1041) is slidably connected to the Y-axis moving module (1042), and the Z-axis moving module (1043) is slidably connected to the X-axis moving module (1041).
3. The grasping apparatus according to claim 1, wherein the industrial camera (103) is provided in two and is diagonally mounted on the suspension plate (101).
4. Gripping device according to claim 1, characterized in that the drive mechanism of the turning module (105) is a motor or a cylinder.
5. Gripping device according to claim 1, wherein the gripping member (102) is a suction nozzle connectable to a vacuum means.
6. A double-station gripping device is characterized by comprising:
a mounting frame (201);
a first gripper (202) according to any one of claims 1 to 5, fixedly connected to the mounting frame (201) by a Z-axis movement module (1043);
-a second gripping device (203) according to any one of claims 1 to 5, movably connected to the mounting frame (201) by means of a Z-axis movement module (1043);
the telescopic cylinder (204) is fixed to the mounting frame (201), and a piston of the telescopic cylinder (204) is connected with the Z-axis moving module (1043) of the second grabbing device (203) and used for driving the second grabbing device (203) to be close to or far away from the first grabbing device (202).
7. A transfer apparatus, characterized by comprising:
a frame (3);
a carrier plate (4) on which a groove body (401) for accommodating a workpiece is arranged;
a workpiece conveying unit (5) for conveying the workpiece to a position to be grasped;
a gripping unit (6) for gripping workpieces from a workpiece transport unit (5) and placing the workpieces in a trough (401) on the carrier plate (4), the gripping unit (6) comprising at least one double-station gripping device (2) according to claim 6;
a handling unit (7) arranged on the machine frame (3) and configured to handle a gripping unit (6) gripping a workpiece from the workpiece transport unit (5) to the carrier plate (4) and to handle an empty gripping unit (6) from the carrier plate (4) to the workpiece transport unit (5).
8. The transfer facility according to claim 7, characterized in that the gripping unit (6) is the double-station gripping device (2) and the workpiece transport unit (5) is two rows of side-by-side conveyor belts.
9. Transfer facility according to claim 7, characterized in that the handling unit (7) comprises a traverse linear module (701) fixed to the frame (3) and a longitudinal linear module (702) slidably connected to the traverse linear module (701), the traverse linear module (701) and the longitudinal linear module (702) being arranged vertically in a horizontal plane, a plurality of the two-station gripping devices (2) being slidably connected to the longitudinal linear module (702).
10. The transfer apparatus according to claim 9, wherein the telescopic direction of the telescopic cylinder (204) is parallel to the sliding direction of the traverse linear module (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921004928.1U CN211109814U (en) | 2019-06-28 | 2019-06-28 | Grabbing device, double-station grabbing device and transfer equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921004928.1U CN211109814U (en) | 2019-06-28 | 2019-06-28 | Grabbing device, double-station grabbing device and transfer equipment |
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| CN211109814U true CN211109814U (en) | 2020-07-28 |
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| CN201921004928.1U Active CN211109814U (en) | 2019-06-28 | 2019-06-28 | Grabbing device, double-station grabbing device and transfer equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112719862A (en) * | 2020-12-24 | 2021-04-30 | 苏州赛腾精密电子股份有限公司 | Six-degree-of-freedom intelligent assembling system for special-shaped parts |
| CN113199538A (en) * | 2021-04-27 | 2021-08-03 | 南京海博机械有限公司 | Automatic recovery plant that peels off of laminate polymer battery chip |
| CN117049159A (en) * | 2023-10-12 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Grabbing and placing device, grabbing and placing method and battery production line |
-
2019
- 2019-06-28 CN CN201921004928.1U patent/CN211109814U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112719862A (en) * | 2020-12-24 | 2021-04-30 | 苏州赛腾精密电子股份有限公司 | Six-degree-of-freedom intelligent assembling system for special-shaped parts |
| CN113199538A (en) * | 2021-04-27 | 2021-08-03 | 南京海博机械有限公司 | Automatic recovery plant that peels off of laminate polymer battery chip |
| CN113199538B (en) * | 2021-04-27 | 2022-08-09 | 南京海博机械有限公司 | Automatic recovery plant that peels off of laminate polymer battery chip |
| CN117049159A (en) * | 2023-10-12 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Grabbing and placing device, grabbing and placing method and battery production line |
| CN117049159B (en) * | 2023-10-12 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Grabbing and placing device, grabbing and placing method and battery production line |
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