WO2020000780A1 - Transplanting device and transplanting system - Google Patents

Abstract

A transplanting device and a transplanting system. The transplanting device comprises a transporting mechanism (3) and a grabbing mechanism (4); the transporting mechanism (3) comprises a first movement mechanism and a second movement mechanism, the first movement mechanism being provided to be movable in a first direction, the second movement mechanism being connected to the first movement mechanism and being movable in a third direction under driving of the first movement mechanism; and the gripping mechanism (4) is connected to the second movement mechanism and is movable in a second direction under driving of the second movement mechanism. The transplanting system comprises the transplanting device and a loading and unloading apparatus (2).

Description

Transplanting device and system

This application is based on a Chinese patent application with an application number of 201810680118.1 and an application date of 2018-6-27, and claims the priority of the Chinese patent application. The entire content of this Chinese patent application is incorporated herein by reference.

Technical field

The present application relates to, but is not limited to, the technical field of battery chip production, and in particular, to a transplanting device and a transplanting system.

Background technique

With the rapid development of solar cell manufacturing technology, solar cell production lines have also developed rapidly.

In the solar cell production line, the manufacturing process of battery cells includes the transfer of battery-bearing flower baskets. At present, the transfer of battery-bearing flower baskets mainly depends on manual transportation. However, the battery chips are thin and brittle. During the manual transportation process, It is easy to cause damage to the cell and affect production efficiency.

Summary of invention

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

An embodiment of the present application provides a transplanting device, including: a carrying mechanism and a grasping mechanism; the carrying mechanism includes a first moving mechanism and a second moving mechanism, and the first moving mechanism is configured to be capable of moving along a first direction Move, the second movement mechanism is connected to the first movement mechanism, and can move in the third direction under the driving of the first movement mechanism; the grasping mechanism is connected to the second movement mechanism, and can Driven by the second movement mechanism in a second direction.

An embodiment of the present application further provides a transplanting system, including: a transplanting device and a loading and unloading device. The transplanting device includes a conveying mechanism and a grasping mechanism provided at one end of the conveying mechanism. The grasping mechanism is provided. A carrying device for moving between a first space area and a delivery port of the loading and unloading device to carry empty materials, and a carrying device for moving between a second space area and a delivery port of the loading and unloading device to carry materials Wherein, the first space area is used to accommodate the empty load carrying device, and the second space area is used to receive the load carrying device.

After reading and understanding the summary of the drawings and the embodiments of the present application, other aspects can be understood.

Overview of the drawings

The drawings are used to provide a further understanding of the technical solutions of the embodiments of the present application, and constitute a part of the specification. They are used to explain the technical solutions of the embodiments of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the embodiments of the present application .

FIG. 1 is a schematic structural diagram of a transplanting system according to an embodiment of the present application; FIG.

2 is a schematic structural diagram of a transplanting device according to an embodiment of the present application;

FIG. 3 is a schematic exploded view of a rail device and a carrying mechanism of a transplanting device according to another embodiment of the present application.

Elaborate

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. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

1 to 3 of the accompanying drawings, an embodiment of the present application provides a transplanting device, including: a transport mechanism 3 and a grasping mechanism 4; the transport mechanism 3 includes a first moving mechanism and a second moving mechanism, and the first A movement mechanism is provided to be movable in a first direction, the second movement mechanism is connected to the first movement mechanism, and can be moved in a third direction driven by the first movement mechanism; the grasping mechanism 4 Connected to the second movement mechanism and capable of moving in a second direction under the driving of the second movement mechanism.

The transplanting device according to the embodiment of the present application can realize the movement of the grasping mechanism 4 in three directions of the space through the cooperation of the first and second moving mechanisms, so that it can reach any position in a certain space for grasping. Take action.

In an exemplary embodiment, the first direction, the second direction, and the third direction may be set perpendicular to each other in a three-dimensional space, that is, the three directions may be set as directions of a spatial three-dimensional coordinate axis, so as to facilitate The grasping mechanism 4 reaches an arbitrary position within a certain space. Of course, the three directions can also be set according to actual needs.

In an exemplary embodiment, the transplanting device further includes a rail device 1, the rail device 1 is disposed along the first direction, and the first moving mechanism is slidably disposed on the rail device 1. In this embodiment, the first movement mechanism is moved in the first direction by the guiding effect of the guide rail device 1.

The first movement mechanism includes a first telescopic component 31, and the telescopic direction of the first telescopic component 31 is a third direction. The second movement mechanism is connected to the telescopic end of the first telescopic component 31. In this embodiment, the second telescopic movement of the first telescopic component 31 of the first movement mechanism in the third direction drives the second movement mechanism to move in the third direction. In addition, in order to achieve the second movement mechanism moving in the third direction, the first movement mechanism may of course also adopt other driving methods, such as a screw nut mechanism, a chain, a belt, or a gear transmission mechanism.

The first telescopic component 31 includes at least one cylinder. In order to enable the first telescopic component 31 to achieve a larger telescopic range in the third direction, the first telescopic component 31 may include multiple cylinders, and each cylinder has a piston rod. The telescopic stroke can be superimposed in the third direction. For example, the cylinders are connected coaxially in order to form a rod-shaped telescopic component. The number of cylinders can be set according to actual operation needs.

Exemplarily, the first telescopic assembly 31 includes a first cylinder 312 and a second cylinder 313; a cylinder block of the second cylinder 313 is connected to a cylinder block of the first cylinder 312, and A piston rod is connected to the second movement mechanism; the axial direction of the piston rod of the first cylinder 312 is the same as the axial direction of the piston rod of the second cylinder 313.

The first telescopic assembly 31 further includes a fixing member 311. The fixing member 311 includes a plate 3111 and a positioning block 3112 provided at one end of the plate 3111. The piston rod of the first cylinder 312 is connected to the positioning. Block 3112, the cylinder block of the first cylinder 312 and the cylinder block of the second cylinder 313 are both connected to a mounting plate 314, and the mounting plate 314 can move on the plate body 3111; the plate body 3111 is provided with a guide member, and the second movement mechanism is provided with a sliding member that slidingly cooperates with the guide member. The plate body 3111 of the fixing member 311 is slidably connected to the rail device 1.

The guide member includes a support block 315, and the sliding member includes a guide rod 316. The support block 315 is provided with a first through hole 3151, and an axial direction of the first through hole 3151 and the first cylinder 312 are provided. The axial direction of the piston rod is the same. The first through hole 3151 is movably provided with the guide rod 316, and one end of the guide rod 316 is connected to the second movement mechanism. As the piston rod of the second cylinder 313 moves, the guide rod 316 moves along the axial direction of the first through hole 3151 with the second movement mechanism. Through the cooperation of the guide member and the sliding member, the movement of the second movement mechanism can be made more stable.

In another exemplary embodiment, the second movement mechanism includes a second telescopic component 32, the telescopic direction of the second telescopic component 32 is the second direction, and the grasping mechanism 4 is connected to the first telescopic component 32. Telescopic ends of two telescopic components 32. In this embodiment, the grasping mechanism 4 is driven to move in the second direction by the telescopic movement of the second telescopic component 32 of the second moving mechanism in the second direction. In addition, the structure of the second movement mechanism is not limited. In order to drive the grasping mechanism 4 to move in the second direction, the second movement mechanism may also adopt a screw nut mechanism, a chain, a belt, or a gear transmission mechanism. .

The second telescopic component 32 includes at least one cylinder, and the structure of the second telescopic component 32 can be borrowed from the first telescopic component 31.

Exemplarily, the second telescopic assembly 32 includes a third cylinder 321, and the first telescopic assembly 31 includes the first cylinder 312 and the second cylinder 313. The piston rod of the second cylinder 313 is connected to the cylinder block of the third cylinder 321, and the piston rod of the third cylinder 321 is connected to the grasping mechanism 4; the shaft of the piston rod of the third cylinder 321 The direction is perpendicular to the axial direction of the piston rod of the second cylinder 313.

The piston rod of the second cylinder 313 is connected to the cylinder block of the third cylinder 321 through a connecting component 33. The connecting component 33 includes a first pushing plate 331 and a fixing plate 332 which are vertically connected. The second cylinder A piston rod of 313 is connected to a plate surface of the first pushing plate 331, and an end surface of a cylinder block of the third cylinder 321 is connected to a plate surface of the fixing plate 332; a second passage is provided on the fixing plate 332 Hole 3321, the piston rod of the third cylinder 321 passes through the second through hole 3321 and is connected with a second push plate 34, and the piston rod of the third cylinder 321 is connected to the second push plate 34 Mentioned grasping mechanism 4.

In order to limit the position where the first movement mechanism moves on the guide rail device 1, the transplanting device further includes: a first limit device and / or a second limit device, the first limit Both the device and the second limit device may have the same structure, and may be both referred to as the limit device 15. The first limiting device includes a matching first fixed limiting portion 151 and a first movable limiting portion 152. The first fixed limiting portion 151 is disposed at one end of the rail device 1, and the first The movement limiting portion 152 is connected to the first moving mechanism; when the first movement mechanism slides on the guide rail device 1 to the first movement limiting portion 152 and the first fixed limiting portion When 151 is docked, the first movement mechanism stops slipping; the second limit device includes a matching second fixed limit portion 153 and a second movable limit portion 154, and the second fixed limit portion 153 The second movement limiting portion 154 is disposed on the other end of the guide rail device 1 and is connected to the first movement mechanism; when the first movement mechanism slides on the guide rail device 1 to the second movement When the limiting portion 154 is docked with the second fixed limiting portion 153, the first movement mechanism stops sliding.

An embodiment of the present application further provides a transplanting system, which includes a transplanting device and a loading and unloading device 2. The transplanting device includes a carrying mechanism 3 and a gripping mechanism 4 provided at one end of the carrying mechanism 3. The mechanism 4 is provided to move between the first space area 11 and the conveying port 21 of the loading and unloading device 2 to convey the empty loader device 51, and the second space area 12 and the conveying port 21 of the loading and unloading device 2 Carrying equipment 52 moving between to carry materials; wherein, the first space area 11 is used to accommodate the empty loading equipment 51, and the second space area 12 is used to accommodate the loading materials. Equipment 52.

In the transplanting system in the embodiment of the present application, the transplanting device used may be any of the foregoing transplanting devices.

In an exemplary embodiment, the transplanting system further includes a first conveying device 61 and a second conveying device 62; the first conveying device 61 is disposed in the first space area 11 and is configured to carry and convey The empty carrying device 51; the second conveying device 62 is disposed in the second space area 12, and is provided as a carrying device 52 for carrying the load. The first conveying device 61 and the second conveying device 62 may both be automatic guided transport vehicles.

The guide rail device 1 of the transplanting device is disposed at the conveying port 21 of the loading and unloading device 2, and the first movement mechanism of the conveying mechanism 3 is slidably connected to the guide rail device 1. Specifically, the guide rail device 1 includes a linear module 13, and a guiding direction of the linear module 13 is a first direction. Exemplarily, the guide rail device 1 may extend from one side to the other side of the loading and unloading device 2, and a first space region 11 is formed between the guide rail device 1 and both sides of the loading and unloading device 2 respectively. And second space area 12.

In specific operations, the first telescopic assembly 31 includes the first cylinder 312 and the second cylinder 313. When the piston rod of the first cylinder 312 is at the minimum stroke and the piston rod of the second cylinder 313 is at the maximum stroke, the grasping mechanism 4 is located at a first height, and the first height is at the first space When the piston rod of the first cylinder 312 and the piston rod of the second cylinder 313 are at the maximum stroke, the gripping range is within the height range of the region 11 and within the height range of the second space region 12. The taking mechanism 4 is located at a second height, and the second height is at the height of the first layer of the conveyor belt 22 in the conveying port 21 of the loading and unloading device 2; when the piston rod of the first cylinder 312 is at the maximum stroke, the When the piston rod of the second cylinder 313 is at the minimum stroke, the grasping mechanism 4 is located at a third height, and the third height is at the height of the second-layer conveyor belt 23 in the conveying port 21 of the loading and unloading device 2. In this way, by adjusting the telescopic strokes of the first cylinder 312 and the second cylinder 313 of the first telescopic assembly 31, the height at which the grasping mechanism 4 is located can be adjusted to facilitate actual operation.

The transplanting system according to the embodiment of the present application will be described in detail below with reference to FIGS. 1 to 3.

As shown in FIG. 1, the transplanting system according to the embodiment of the present application includes the transplanting device and the loading and unloading equipment. The conveying mechanism 3 of the transplanting device is slidably connected to the guide rail device 1. A gripping mechanism 4 is provided at one end. In practical applications, a guide rail device 1 may be provided, and the guide rail device 1 is provided at the conveying port 21 of the loading and unloading device 2; in the transplanting device, the conveying mechanism 3 may be assisted by the guide rail device 1 or other moving auxiliary structures commonly used by those skilled in the art. mobile.

The loading and unloading device 2 may be a device for loading and unloading a load bearing device in a solar cell production line, and includes a conveying port 21.

When the guide rail device 1 is installed, the guide rail device 1 can be set at the conveying port 21 of the loading and unloading device 2 so that the gripping mechanism 4 can reach the position of the conveying port 21 when the conveying mechanism 3 slides on the guide rail device 1.

A first space area 11 for accommodating an empty load bearing device 51 and a second space area 12 for a load carrying device 52 may be provided at a peripheral position of the loading and unloading device 2.

In one embodiment of the present application, the grasping mechanism 4 can slide from the first space area 11 to the second space area 12; the first space area 11 and the second space area 12 may be areas opposite to the rail device 1. The gripping mechanism 4 can be moved relative to the guide rail device 1 between the first space area 11 and the conveying port 21 of the loading and unloading equipment 2 to convey the empty loading equipment 51, and the conveyance in the second space area 12 and the loading and unloading equipment 2. A carrying device 52 that moves between the ports 21 to carry a load.

The first space area 11 and the second space area 12 can be provided on both sides of the loading and unloading equipment 2, and the gripping mechanism 4 moves from one side of the loading and unloading equipment 2 to the conveying port 21 during the transplanting and carrying equipment, and then The mouth 21 is moved to the other side of the loading and unloading equipment 2, or the first space area and the second space area can be located on the same side of the loading and unloading equipment. The first space area and the second space area can also be set according to other moving paths of the grasping mechanism, which is not limited here.

In an embodiment of the present application, the transplanting system further includes a first conveying device 61 and a second conveying device 62. The first conveying device 61 is disposed in the first space area 11 and is used for carrying empty conveying equipment; the second conveying device 62 is disposed in the second space area 12 and is used for carrying the conveying equipment.

The gripping mechanism 4 can be moved between the first conveying device 61 and the conveying port 21 of the loading and unloading device 2 to convey the empty loading device 51, and between the second conveying device 62 and the conveying port 21 of the unloading device 2 To carry the load carrying equipment 52.

The first conveying device 61 and the second conveying device 62 may be additional devices separately provided in the transplanting system, or may be devices provided by the transplanting device.

In one embodiment of the present application, the work flow involved in the loading and unloading equipment 2 includes a loading operation process and a loading operation process. The work process of the loading operation is: sending the empty bearing equipment 51 from the transfer port 21 to the transfer On the first layer of the conveyor belt 22 in the mouth 21, the empty carrier device 51 is sent to the loading and unloading device 2 through the first layer of the conveyor belt 22. The inside of the device takes out the battery chip and inserts the battery chip into the empty carrier device 51. Then, the load-carrying device carrying the battery chip is sent to the second-layer conveyor belt 23, and then transferred to the conveying port 21 through the second-layer conveyor belt 23; the working process of the unloading operation is: The material carrying device 52 is sent to the first layer of the conveyor belt 22 in the conveying port 21, and the material carrying device 52 is sent to the loading and unloading device 2 through the first layer of the conveyor belt 22. The inside of the device performs the loading of the material carrying device The battery chip in the device 52 is removed, and then the empty bearing device 51 is sent to the second-layer conveyor belt 23, and then transferred to the transport port 21 through the second-layer conveyor belt 23.

The bearing equipment usually adopts a bearing flower basket. Of course, other devices capable of carrying materials such as battery chips can also be used, which is not limited here.

The grasping mechanism 4 can grasp the bearing equipment, and the grasping mechanism 4 can adopt a pneumatic gripper, an electric gripper, or the like. In order to enable the grasping mechanism 4 to move between the first space region 11, the conveying port 21 of the loading and unloading device 2, and the second space region 12, the movement track of the grasping mechanism 4 may include the first horizontal direction X, vertical In the second horizontal direction Y and the vertical direction Z in the first horizontal direction X, that is, in the direction of the XYZ space coordinate axis, the sliding connection between the carrying mechanism 3 and the guide rail device 1 can be designed as follows: the guide rail device 1 includes The slideway in the direction X, the second horizontal direction Y, and the vertical direction Z is designed according to the position to be reached by the grasping mechanism 4, so that the grasping mechanism 4 slides along the slideway to the The corresponding position; or, the guide rail device 1 includes only the slide rails in one of the first horizontal direction X, the second horizontal direction Y, or the vertical direction Z, and the carrying mechanism 3 includes a mechanism capable of being retracted in the other two directions, and The two telescopic mechanisms are connected in series, that is, the telescopic movement of one telescopic mechanism drives the overall movement of the other telescopic mechanism, and the grasping mechanism 4 is connected to the telescopic component of the other telescopic mechanism so as to extend with the extension of the other telescopic mechanism. Retract to move accordingly to reach the corresponding position.

The work process of transplanting includes two cases: one case is the loading operation: the empty bearing device 51 is placed in the first space area 11 and the empty bearing device 51 is transported to the loading and unloading device 2 through the grasping mechanism 4 Here, after the inserting work is performed, the carrier device carrying the battery chip is transported into the second space area 12 by the grasping mechanism 4; the other case is the unloading operation: the carrier device 52 carrying the material is placed in the second In the space area 12, the load carrying device 52 carrying the material is carried into the loading and unloading device 2 by the gripping mechanism 4. After the unloading work is performed, the empty carrying device 51 is carried into the first space area by the gripping mechanism 4.

The transplanting device according to the embodiment of the present application may be used for transferring equipment or other objects. In the transplanting system according to the embodiment of the present application, the grasping mechanism of the transplanting device conveys the first space area and the loading and unloading equipment. The carrier device moves between the ports to carry the empty carrier equipment, and the carrier device moves between the second space region and the transport port of the loading and unloading equipment to carry the carrier materials. For example, in the manufacturing process of the solar cell, during the loading operation, the grasping mechanism is moved from the first space area to the conveying port of the loading and unloading equipment to convey the empty load equipment in the first space area to the upper and lower places. On the conveyor belt in the conveying opening of the feeding equipment, the conveying belt sends the carrying equipment to the loading and unloading equipment to perform the inserting work. After the inserting is completed, the conveying belt sends the carrying device carrying the battery chip to the conveying opening and grabs The mechanism is moved relative to the guide rail device from the conveying opening of the loading and unloading equipment to the second space area to convey the carrying device carrying the battery chip at the conveying opening into the second space area; or, during the unloading operation, the grasping mechanism Moving from the second space area to the loading port of the loading and unloading equipment to convey the load-bearing equipment in the second space area to the conveyor belt in the loading port of the loading and unloading equipment, and the conveyor belt sends the loading equipment to the loading and unloading equipment , Carry out the blanking work, remove the battery chip in the carrying equipment, and then the conveyor belt sends the empty carrying equipment to the conveying port, and the grasping mechanism The prepared conveying port is moved to the first space area to convey the load-bearing equipment empty at the conveying port into the first space area, and the transplanting of the load-bearing equipment is completed.

Compared with manual handling operations, the transplanting device of the embodiment of the present application can realize automatic transplanting operations, has a strong load-bearing capacity, is easier to realize fast and stable transportation, and reduces damage to battery cells during transportation, thereby improving Production efficiency; and because there is no manual operation in the transplanting process, the pollution to the battery chip is reduced.

Regarding the transplanting device according to the embodiment of the present application, specifically, the design of the sliding connection of the carrying mechanism 3 and the guide rail device 1 adopts the following implementation manner: the guide rail device 1 includes a linear module 13, and the guide direction of the linear module 13 is the first level Direction X; in conjunction with FIG. 2, the carrying mechanism 3 includes a first telescopic component 31 and a second telescopic component 32. The first telescopic component 31 is slidably connected to the linear module 13. The telescopic direction of the first telescopic component 31 is the vertical direction Z. The second telescopic component 32 is connected to the first telescopic component 31 for moving in the vertical direction Z as the first telescopic component 31 is telescopic. The telescopic direction of the second telescopic component 32 is the second horizontal direction Y and the second horizontal direction. Y is perpendicular to the first horizontal direction X; the grasping mechanism 4 is connected to the second telescopic component 32 for moving along the second horizontal direction Y as the second telescopic component 32 expands and contracts.

Among them, the linear module 13 can realize the linear movement of the load through the combination of various units. It has the characteristics of fast moving speed, high positioning accuracy, light weight, small space occupation and long life. It can adopt a timing belt mechanism or a screw nut mechanism. The driving mechanism 3 is driven to move linearly in the first direction, or the linear module 13 is only a guide rail extending in the first direction, and serves as a guide. The transportation mechanism 3 is driven by an additional driving mechanism to achieve movement.

In an embodiment of the present application, the linear module 13 is only a guide rail extending in the first direction, and plays a guiding role. The guide rail device 1 further includes a post 14 supporting the linear module 13.

The upright 14 may include two, which are respectively disposed on both sides of the loading and unloading equipment 2 to better support the linear module 13; the carrying mechanism 3 is connected to a slider slidingly matched with the linear module 13, and the carrying mechanism 3 can Slide in the first horizontal direction X. The carrying mechanism 3 includes a first telescopic component 31 capable of being telescopic in the vertical direction Z and a second telescopic component 32 capable of being telescopic in a second horizontal direction Y, and the second telescopic component 32 is capable of following the first telescopic component 31. The telescopic movement moves in the vertical direction Z, and the grasping mechanism 4 can move in the second horizontal direction Y with the expansion and contraction of the second telescopic component 32, so that the grasping mechanism 4 can respectively move in the first horizontal direction X and the vertical direction Z. It moves with the second horizontal direction Y to reach the required position for grasping and transplanting operations. Both the first telescopic component 31 and the second telescopic component 32 may adopt an air cylinder, an electric cylinder, or the like to implement the telescopic motion.

The above-mentioned guide rail device 1 only includes a linear module 13 extending along the first horizontal direction X, and the conveying mechanism 3 includes a mechanism capable of expanding and contracting in two directions of the vertical direction Z and the second horizontal direction Y. This design can reduce the number of The number of slideways is set, and the telescopic component is designed to be telescopic in two directions, so that the entire transplanting device takes up relatively little space, the design is more flexible and convenient, and the operation is more convenient.

Specifically, the first telescopic assembly 31 includes a fixing member 311, a first cylinder 312, and a second cylinder 313; the fixing member 311 is slidably connected to the linear module 13; and the piston rod of the first cylinder 312 is connected to the fixing member 311. When the piston rod of the cylinder 312 moves, the cylinder of the first cylinder 312 moves relative to the fixed member 311; the cylinder of the second cylinder 313 is connected to the cylinder of the first cylinder 312, and the piston rod of the second cylinder 313 is connected to the second The axial direction of the piston rod of the first cylinder 312 is the same as the axial direction of the piston rod of the second cylinder 313.

Among them, when only the piston rod of the first cylinder 312 is extended, the cylinder of the first cylinder 312 moves downward to drive the second cylinder 313 as a whole to move downward, and the second telescopic assembly 32 as a whole is moved downward, thereby The grasping mechanism 4 moves downward, and at this time, the maximum stroke of the piston rod of the first cylinder 312 can make the grasping mechanism 4 reach the position of the second-layer conveyor belt 23 of the loading and unloading device 2; When the piston rod is extended, the piston rod of the second cylinder 313 drives the second telescopic assembly 32 as a whole to move downward, and the grasping mechanism 4 moves downward accordingly. At this time, the maximum stroke of the piston rod of the second cylinder 313 can be extended. The grasping mechanism 4 reaches the position where the bearing device is placed in the first space area 11 and the second space area 12; when the piston rods of the first cylinder 312 and the second cylinder 313 are extended, the second telescopic assembly 32 moves downward as a whole The distance is the piston rod extension distance of the first cylinder 312 plus the piston rod extension distance of the second cylinder 313, and the grasping mechanism 4 moves downwards. At this time, the piston rods of the first cylinder 312 and the second cylinder 313 Maximum extended stroke enables gripping mechanism Of the machine of the first layer 2 transmission belt 22 location.

The first telescopic assembly 31 is designed in the form of a combination of two cylinders, which enables the grasping mechanism 4 to be vertically moved from the initial position to three different height positions, which are respectively for the bearing equipment placed in the first space area 11 and the second space area 12 Position, the location of the first layer of the conveyor belt 22 of the loading and unloading equipment 2 and the location of the second layer of the conveyor belt 23 of the loading and unloading equipment 2 in order to realize that the grasping mechanism 4 grasps the empty bearing equipment 51 from the first space area 11 and sends it. To the first layer of the conveyor belt 22 of the loading and unloading equipment 2, and then the load carrying equipment 52 that picks up the material from the second layer of the conveyor belt 23 of the loading and unloading equipment 2 to the second space area 12; according to these three different positions The height of the piston rod stroke of the first cylinder 312 and the second cylinder 313 can be selected. Compared with the use of a cylinder, no need to use electromagnetic valves and other instruments to control the stroke of the piston rod of the cylinder, the control method is simple and convenient, and compared with the servo electric Cylinder, the cost is lower.

Specifically, the second telescopic assembly 32 includes a third cylinder 321; the piston rod of the second cylinder 313 is connected to the cylinder block of the third cylinder 321, and the piston rod of the third cylinder 321 is connected to the grasping mechanism 4; The axial direction of the piston rod and the axial direction of the piston rod of the second cylinder 313 are perpendicular to each other.

In an embodiment of the present application, when the piston rod of the first cylinder 312 is at the minimum stroke and the piston rod of the second cylinder 313 is at the maximum stroke, the grasping mechanism 4 is at a first height, and the first height is in a first space area When the piston rod of the first cylinder 312 and the piston rod of the second cylinder 313 are at the maximum stroke, the grasping mechanism 4 is located at the second height. The second height is at the height of the first layer of the conveyor belt 22 in the conveying port 21 of the loading and unloading equipment; when the piston rod of the first cylinder 312 is at the maximum stroke and the piston rod of the second cylinder 313 is at the minimum stroke, the grasping mechanism 4 is located at the first Three heights, the third height is the height of the second-layer conveyor belt 23 in the conveying port 21 of the loading and unloading equipment.

When the piston rod of the third cylinder 321 is extended, the grasping mechanism 4 moves along the second direction Y toward the loading and unloading device 2 with the extension of the piston rod, so that the piston rod of the third cylinder 321 can be extended. Protrude into the conveying port 21 of the loading and unloading device 2 so as to feed the empty carrying device grasped by the grasping mechanism 4 onto the conveying belt in the conveying port 21 or allow the grasping mechanism 4 to grasp the load in the conveying port 21 Loading equipment.

In the following, the working principle of the transplanting device is used to specifically describe the embodiments of the present application.

As an example, during the operation of cutting, during the transplanting operation, the conveying mechanism 3 is slid to the position corresponding to the first space area 11 through the linear module 13, and the piston rod of the second cylinder 313 is extended to the maximum stroke so that The grasping mechanism 4 reaches the first space area 11, and then the grasping mechanism 4 grasps the empty bearing device 51 in the first space area 11, the piston rod of the second cylinder 313 retracts, lifts the empty bearing device 51, and then passes The linear module 13 slides the conveying mechanism 3 to a position opposite to the conveying port 21 of the loading and unloading equipment 2, and the piston rod of the third cylinder 321 extends upward to the loading and unloading equipment 2 so that the grasping mechanism 4 grasps the loading equipment and enters In the delivery port 21, the piston rod of the first cylinder 312 is extended to the maximum stroke so that the empty bearing device 51 reaches the first-layer conveyor belt 22, and at the same time, the grasping mechanism 4 is released to complete the transplantation of the empty bearing device 51 ; The empty bearing device 51 enters the loading and unloading device 2 through the first layer of the conveyor belt 22 to insert pieces, and then conveys the bearing device 52 carrying the battery chip to the second layer of the conveyor belt 23 through the first layer of the conveyor belt 22, And sent to the conveyor through the second-layer conveyor belt 23 21 at the delivery port; when the battery-bearing device is to be transplanted, the piston rod of the first cylinder 312 is extended to the maximum stroke, and the piston rod of the second cylinder 313 is retracted to the initial position. The carrying mechanism 3 is slid to a position opposite to the battery-equipped carrying device 52 to be grasped, and the piston rod of the third cylinder 321 is extended upward to the blanking device 2 so that the grasping mechanism 4 is located in the conveying port 21 The bearing device carrying the battery chip, and then the piston rod of the first cylinder 312 is retracted, while the piston rod of the third cylinder 321 is retracted, so that the grasping mechanism 4 grasps the bearing device carrying the battery chip and moves out of the conveying port 21, Then, the transport mechanism 3 is slid to the position opposite to the second space area 12 through the linear module 13, and the piston rod of the second cylinder 313 is extended to the maximum stroke so that the grasping mechanism 4 reaches the second space area 12 and grasps The mechanism 4 releases the bearing device carrying the battery sheet, and completes the transplantation of the bearing device carrying the battery sheet.

The transplanting device in the embodiment of the present application uses the combination of the linear module 13 and the three cylinders to realize the movement of the grasping mechanism 4 in the first horizontal direction X, the vertical direction Z, and the second horizontal direction Y to complete the emptying. The transplanting of the load-bearing equipment and the battery-bearing equipment does not require manual operation during the transplantation process, and can realize automatic transplanting operations. The load-bearing capacity is strong, and it is easier to achieve rapid and stable transportation, reducing the Damage and pollution during transportation, thereby improving production efficiency.

Specifically, the fixing member 311 includes a plate body 3111 and a positioning block 3112 provided at one end of the plate body 3111. A piston rod of the first cylinder 312 is connected to the positioning block 3112, a cylinder block of the first cylinder 312 and a cylinder block of the second cylinder 313. Both are connected to a mounting plate 314, and the mounting plate 314 can be moved on the plate body 3111. The plate body 3111 is provided with a support block 315. The support block 315 is provided with a first through hole 3151 and an axial direction of the first through hole 3151. The direction is the same as the axial direction of the piston rod of the first cylinder 312. A guide rod 316 is inserted through the first through hole 3151. One end of the guide rod 316 is connected to the second telescopic component 32. When the second telescopic component 32 follows the second telescopic component 32, When the piston rod of the air cylinder 313 moves, the guide rod 316 moves along the axial direction of the first through hole 3151 with the second telescopic assembly 321.

Among them, the mounting plate 314 supports the first cylinder 312 and the second cylinder 313, and the guide rod 316 moves relative to the support block 315 with the expansion and contraction of the piston rods of the first cylinder 312 and the second cylinder 313, that is, when the first When the air cylinder 312 and the second air cylinder 313 drive the second telescopic assembly 32 as a whole, the guide rod 316 moves accordingly, and the guide rod 316 plays a guiding role, so that the second telescopic assembly 32 as a whole is more stable when moving, and the moving direction is not uniform. It will be offset, thereby ensuring that the moving position of the grasping mechanism 4 is more accurate.

Specifically, the piston rod of the second cylinder 313 is connected to the cylinder block of the third cylinder 321 through a connecting component 33. The connecting component 33 includes a first pushing plate 331 and a fixing plate 332 which are vertically connected. The piston rod of the second cylinder 313 is connected to The plate surface of the first pushing plate 331 and the end surface of the cylinder block of the third cylinder 321 are connected to the plate surface of the fixing plate 332; the fixing plate 332 is provided with a second through hole 3321, and the piston rod of the third cylinder 321 passes through the second The through hole 3321 is also connected to the second pushing plate 34, and the piston rod of the third cylinder 321 is connected to the grasping mechanism 4 through the second pushing plate 34. One end of the guide rod 316 may be connected to the first push plate 331. When the piston rod of the second cylinder 313 telescopically drives the first push plate 331 to move, the guide rod 316 moves accordingly. The first pushing plate 331 and the fixing plate 332 may be connected by threads, and the second pushing plate 34 and the grasping mechanism 4 may be connected by threads.

Specifically, as shown in FIG. 3, the transplanting device further includes a limiting device 15. The limiting device 15 includes a matching first fixed limiting portion 151 and a first movable limiting portion 152. The portion 151 is disposed at one end of the linear module 13. The first movable limiting portion 152 is connected to the first telescopic component 31. The first movable limiting portion 152 is opposite to the first fixed limiting portion 151. When the linear module 13 slides to the first movable limiting portion 152 and the first fixed limiting portion 151, the first telescopic component 31 stops sliding; and / or, the limiting device 15 includes a matching second fixed portion. The limiting portion 153 and the second movable limiting portion 154. The second fixed limiting portion 153 is disposed at the other end of the linear module 13. The second movable limiting portion 154 is connected to the first telescopic component 31 and the second movable limiting portion. The portion 154 is opposite to the second fixed limit portion 153. When the first telescopic component 31 slides on the linear module 13 to the second movable limit portion 154 and the second fixed limit portion 153, the first telescopic component 31 Stop slipping.

When the limiter devices 15 are provided at both ends of the linear module 13, the first telescopic assembly 31 is connected to the first movable limiter 152 and the second movable limiter 154, respectively. At this time, the first telescopic assembly 31 is in a straight line. During the sliding process on the module 13, the two ends of the linear module 13 will not slide out, so as to limit the movement of the first telescopic component 31 in the first direction X. The first movable limiting portion 152 and the second movable limiting portion 154 may be connected to the first telescopic component 31 through a plate 155 capable of sliding on the linear module 13, and the plate 155 may be connected to a plate of the first telescopic component 31. The body 3111 is connected by a thread, and at the same time, the plate 3111 of the first telescopic assembly 31 can be connected to the slider 131 on the linear module 13 by screwing. Both the slider 131 and the plate 155 can be connected together, and both are connected to the linear module 13 Sliding fit, when the first telescopic component 31 slides on the linear module 13, the board 155 and the slider 131 slide along with the first telescopic component 31 at the same time; the above-mentioned limiting device 15 is used to prevent the carrying mechanism 3 from sliding out of the linear module 13. Improve safety.

The transplanting system of this embodiment is provided with a device for carrying and conveying equipment, including a first conveying device 61 and a second conveying device 62. The first conveying device 61 and the second conveying device 62 can respectively carry and convey a plurality of bearing devices. The bearing heights of the first conveying device 61 and the second conveying device 62 can be designed to be the same. When the height on the conveying device 62 is the same, when the gripping mechanism 4 reaches the empty carrying equipment 51 in the first space area 11 and the carrying equipment 52 dropping the load in the second space area 12, the gripping mechanism 4 The height position to be reached can be designed uniformly, which is convenient for the design of the carrying mechanism and the guide rail device.

Specifically, the first conveying device 61 and the second conveying device 62 may both be automatic guided transport vehicles. Among them, an Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, which can travel along a prescribed guidance path, has a safety protection function, and does not require a driver. The first conveying device 61 and the second conveying device 62 both adopt an automatic guided transport vehicle, which is used in the solar cell production line to transport the carrying equipment. Before the grasping mechanism 4 transplants the empty carrying equipment 51, the guided transport vehicle is automatically guided. The empty carrier equipment 51 is transported into the first space area 11; when the gripping mechanism 4 transfers the carrier equipment carrying the battery chips to the automatic guided transport vehicle located in the second space area 12, the second space area The automatic guided transport vehicle in 12 can transport the battery-bearing equipment to other parts of the production line.

Adopting the AGV transportation method, the transportation speed is fast, and the production efficiency can be improved, and the AGV equipment can be seamlessly connected with the solar cell production line. The transplanting device in the embodiment of the present application can realize automatic transplanting and carrying equipment. Cooperate to realize fast and stable transfer of the bearing equipment, save manpower and improve production efficiency. Compared with the use of robots on the production line to complete the transportation and transplantation of the bearing equipment, the cost of the transplanting device in the embodiment of this application is lower and the occupied area is small. .

In the embodiment of the present application, the loading and unloading equipment 2 is a part of the transplanting system. The specific structure and working principle of the loading and unloading equipment 2 are the same as those of the loading and unloading equipment 2 described in the above embodiment, and details are not described herein again.

Specifically, the rail device 1 extends from one side to the other side of the loading and unloading device 2, and the first space region 11 and the second space region 12 are formed between the rail device 1 and both sides of the loading and unloading device 2, respectively. Wherein, the first space area 11 and the second space area 12 are located on both sides of the loading and unloading equipment 2, respectively, the gripping mechanism 4 moves from one side of the loading and unloading equipment 2 to the conveying port 21 in the process of transplanting and carrying equipment, and Moving from the conveying port 21 to the other side of the loading and unloading equipment 2, the grasping mechanism 4 moves in place from one side to the other side in one direction, which facilitates the sliding design of the conveying mechanism 3 on the guide rail device 1.

In the description of the embodiments of the present application, it should be noted that the terms "up", "down", "left", "right", "top", "inner", "outer", "axial", "four corners" The azimuth or position relationship indicated by "" is based on the azimuth or position relationship shown in the drawings, and is only for the convenience of describing the simplified description of the embodiments of the present application, rather than indicating or implying that the structure referred to has a specific orientation, a specific The azimuth structure and operation cannot be understood as a limitation on this application.

In the description of the embodiments of the present application, the terms “connected”, “fixed connection”, “installation”, and “assembly” should be understood in a broad sense unless specified and limited otherwise. For example, they may be fixed connections or may be Removable connection, or integral connection; the terms "installation", "connection", and "fixed connection" may be directly connected, indirectly connected through an intermediate medium, or internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application may be understood in specific situations.

The above are only the preferred embodiments of the present application, and are not intended to limit the application in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the application still belong to the present invention. Within the scope of applying for technical solutions.

Claims (20)

A transplanting device includes: a carrying mechanism and a grasping mechanism; The carrying mechanism includes a first movement mechanism and a second movement mechanism. The first movement mechanism is configured to be movable in a first direction. The second movement mechanism is connected to the first movement mechanism and is capable of moving in the first movement mechanism. Driven by the first movement mechanism in the third direction; The grasping mechanism is connected to the second movement mechanism and is capable of moving in a second direction under the driving of the second movement mechanism. The transplanting device according to claim 1, wherein the first moving mechanism includes a first telescopic component, a telescopic direction of the first telescopic component is the third direction, and the second moving mechanism is connected to the The telescopic end of the first telescopic component is described. The transplanting device according to claim 2, wherein the first telescopic assembly includes at least one air cylinder. The transplanting device according to claim 3, wherein the first telescopic assembly includes a first cylinder and a second cylinder; The cylinder of the second cylinder is connected to the cylinder of the first cylinder, and the piston rod of the second cylinder is connected to the second movement mechanism; The axial direction of the piston rod of the first cylinder is the same as the axial direction of the piston rod of the second cylinder. The transplanting device according to claim 4, wherein: The second movement mechanism includes a third cylinder; A piston rod of the second cylinder is connected to a cylinder block of the third cylinder, and a piston rod of the third cylinder is connected to the grasping mechanism; The axial direction of the piston rod of the third cylinder and the axial direction of the piston rod of the second cylinder are perpendicular to each other. The transplanting device according to claim 5, wherein: The piston rod of the second cylinder is connected to the cylinder block of the third cylinder through a connecting component. The connecting component includes a first pushing plate and a fixing plate connected vertically. The piston rod of the second cylinder is connected to the cylinder. The plate surface of the first pushing plate, and the end surface of the cylinder block of the third cylinder is connected to the plate surface of the fixing plate; A second through hole is provided on the fixing plate, and a piston rod of the third cylinder passes through the second through hole and is connected with a second pushing plate, and the piston rod of the third cylinder passes through the second pushing A plate is connected to the grasping mechanism. The transplanting device according to claim 4, wherein: The first telescopic assembly further includes a fixing member, the fixing member includes a plate body and a positioning block provided at one end of the plate body, a piston rod of the first cylinder is connected to the positioning block, and the first cylinder Both the cylinder block and the cylinder block of the second cylinder are connected to a mounting plate, and the mounting plate can move on the plate body; The plate body is provided with a guide member, and the second movement mechanism is provided with a sliding member slidingly engaged with the guide member. The transplanting device according to claim 7, wherein: The guide member includes a support block, and the sliding member includes a guide rod; The support block is provided with a first through hole, an axial direction of the first through hole is the same as an axial direction of a piston rod of the first cylinder, and the first through hole is movably provided in the first through hole. A guide rod, one end of which is connected to the second movement mechanism, and when the second movement mechanism moves with the piston rod of the second cylinder, the guide rod follows the second movement mechanism Moving along the axial direction of the first through hole. The transplanting device according to claim 7, further comprising a guide rail device arranged along the first direction, and a plate body of the fixing member is slidably connected to the guide rail device. The transplanting device according to claim 1, wherein the second movement mechanism includes a second telescopic component, a telescopic direction of the second telescopic component is the second direction, and the grasping mechanism is connected to the Telescopic end of the second telescopic component. The transplanting device according to claim 10, wherein the second telescopic assembly includes at least one air cylinder. The transplanting device according to claim 1, further comprising a rail device, the rail device is disposed along the first direction, and the first moving mechanism is slidably disposed on the rail device. The transplanting device according to claim 12, further comprising: A first limiting device, the first limiting device comprising a matching first fixed limiting portion and a first movable limiting portion, the first fixed limiting portion being disposed at one end of the guide rail device, the A first movable stopper is connected to the first moving stopper; when the first movable stopper slides on the guide rail device, the first movable stopper is docked with the first fixed stopper When the first movement mechanism stops sliding; And / or a second limit device, The second limit device includes a matching second fixed limit portion and a second movable limit portion. The second fixed limit portion is disposed at the other end of the guide rail device, and the second movable limit portion is connected. On the first movement mechanism; when the first movement mechanism slides on the guide rail device to the second movable limit portion and the second fixed limit portion is docked, the first movement The mechanism stops slipping. The transplanting device according to claim 1, wherein the first direction, the second direction, and the third direction are perpendicular to each other in a three-dimensional space. A transplanting system includes: a transplanting device and a loading and unloading device, the transplanting device includes a conveying mechanism and a grasping mechanism provided at one end of the conveying mechanism, and the grasping mechanism is provided in a first space area and Moving between the loading ports of the loading and unloading equipment to transport empty loading equipment, and loading equipment moving between the second space region and the loading port of the loading and unloading equipment to transport loading materials; Wherein, the first space area is used to accommodate the empty load-bearing equipment, and the second space area is used to receive the load-bearing equipment. The transplanting system according to claim 15, further comprising a first conveying device and a second conveying device; The first conveying device is disposed in the first space area and is configured to carry the empty carrying equipment; The second conveying device is disposed in the second space area, and is provided as a carrying device for carrying the carrying material. The transplanting system according to claim 16, wherein the first conveying device and the second conveying device are both automatic guided transport vehicles. The transplanting system according to claim 16, wherein: the transplanting device is the transplanting device according to claim 12; The guide rail device of the transplanting device extends from one side to the other side of the loading and unloading device, and a first space area and a second space area are respectively formed between the guide rail device and both sides of the loading and unloading device; Accordingly, the first conveying device is disposed in the first space area; The second conveying device is disposed in the second space area. The transplanting system according to claim 15, wherein: the transplanting device is the transplanting device according to claim 4; When the piston rod of the first cylinder is at the minimum stroke and the piston rod of the second cylinder is at the maximum stroke, the grasping mechanism is located at a first height, and the first height is at a height of the first space region Within the range, and within the height range of the second space region; When both the piston rod of the first cylinder and the piston rod of the second cylinder are at the maximum stroke, the grasping mechanism is located at a second height, and the second height is first in the conveying port of the loading and unloading equipment The height of the transmission belt; When the piston rod of the first cylinder is at the maximum stroke and the piston rod of the second cylinder is at the minimum stroke, the grasping mechanism is located at a third height, and the third height is in a conveying port of the loading and unloading equipment The height of the second-level conveyor belt. The transplanting system according to claim 15, wherein the transplanting device is a transplanting device according to any one of claims 1 to 14.

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