A rotating gripper device for grasping multiple objects

Abstract

The present invention discloses a rotating gripper device for multiple objects, which comprises a gripper, a driving device and a visual device, wherein the gripper is connected to the driving device, the driving device is mounted on a manipulator, the visual device is located above or below the detection area of ​​the sucked object, and the two are spaced apart by a certain distance, and the gripper device, the driving device for driving the gripper and the visual device for detecting the posture and defects of the sucked object are composed; the gripper device is provided with a suction cup for sucking the sucked object; the driving device is used to drive the gripper to rotate, so as to suck and place multiple sucked objects; the visual device is used to detect the posture and defects of the sucked object. The advantages of the device are: the number of grippers can be flexibly adjusted according to the needs, the structure is simple and compact, the cost is low, the grasping and placing accuracy is high, it has novelty and innovation, and it is particularly suitable for the photovoltaic production field.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic production, relates to photovoltaic module production equipment, and in particular to a one-grasp multi-rotation gripper device used in photovoltaic module production. Background Art

[0002] With the increasing requirements on equipment production capacity in the production process of photovoltaic modules, a one-grab-multiple solution comes into being. In order to enable the equipment to improve production capacity while taking into account repeatability, economy and practicality, the present invention designs a one-grab-multiple rotating gripper device for use in the production of photovoltaic modules. The device can greatly improve the production capacity of the equipment and meet market demand, and has a simple structure, low cost and high precision. Summary of the invention

[0003] The main technical problem to be solved by the present invention is to provide a one-grasp multi-rotation gripper device for use in the production of photovoltaic modules, so as to solve the technical problems of low equipment production capacity and high manufacturing cost in the prior art.

[0004] The present invention is solved by the following technical solutions:

[0005] A rotating gripper device for grabbing multiple objects, the device comprises a multi-grabbing gripper, a driving device, and a visual device, characterized in that the multi-grabbing gripper is connected to the driving device, the driving device is installed on the manipulator, and the visual device is located above or below the detection area of ​​the object to be sucked, and the two are separated by a certain spatial distance.

[0006] Preferably, the one-grab-multiple gripper in the above-mentioned one-grab-multiple rotating gripper device comprises a special-shaped plate, a plurality of suction cup mounting plates, a plurality of suction cups and other parts, wherein the suction cup mounting plates are evenly mounted on the special-shaped plate at a certain angle, and the suction cups are mounted on the suction cup mounting plates;

[0007] Or the special-shaped plate and the suction cup mounting plate are an integral structure, which can be realized through a manufacturing process, and the suction cup is mounted on the suction cup mounting plate.

[0008] Preferably, one end of the special-shaped plate in the above-mentioned rotating gripper device for grasping multiple objects is provided with a mounting surface for mounting a suction cup mounting plate, and the end of the special-shaped plate away from the mounting surface of the suction cup mounting plate is provided with an axial hole structure for mounting a drive shaft.

[0009] Preferably, the lower surface of the suction cup mounting plate described in the above-mentioned rotating gripper device for grasping multiple objects is provided with mounting holes for installing the suction cup, and an air circuit is provided inside the suction cup mounting plate, and the flow direction and on-off of the airflow in the air circuit are controlled by relevant control elements to achieve the suction and placement of the object to be sucked.

[0010] Preferably, the driving device described in the above-mentioned rotating gripper device for grasping multiple things at one time comprises a prime mover, a mounting frame, a driving shaft, a connector and other control elements, wherein the prime mover is mounted on the mounting frame, the prime mover is coaxially connected to the driving shaft through the connector, and the driving shaft is mounted on the mounting frame.

[0011] Preferably, the mounting frame in the above-mentioned rotating gripper device for grasping multiple objects is provided with a rolling body for reducing friction and extending the life of the device, and the rolling body is restrainedly mounted on the mounting frame to ensure that it will not fall off the mounting frame during operation.

[0012] Preferably, the visual device described in the above-mentioned rotating gripper device for grasping multiple objects at one time comprises a visual mounting bracket, a visual element and a control element, wherein the visual mounting bracket is connected to the mounting frame, the visual element is mounted on the visual mounting bracket, and the visual element is located above or below the detection area of ​​the object to be sucked, and the two are spaced apart by a certain distance.

[0013] Preferably, the visual mounting bracket described in the above-mentioned rotating gripper device for grasping multiple objects is provided with a fine-tuning device slider and an adjusting screw for fine-tuning the visual element.

[0014] In the present application, a one-grip multi-rotating gripper device used in the production of photovoltaic modules includes a manipulator, and the manipulator is provided with a multi-grip driving device, the driving device is used to drive the one-grip multi-grip, and the driving device is controlled by the control element to reciprocate. The one-grip multi-grip performs reciprocating rotation under the action of the driving device, and the flow direction and on-off of the airflow in the air path are controlled by the relevant control elements to achieve the suction and placement of the suction object. The one-grip multi-rotating gripper device also includes a visual device for detecting the posture and defects of the suction object, the visual device is connected to the mounting frame on the driving device, and the visual device is located above or below the suction object detection area, at a certain distance, and the visual device is controlled by the visual control element.

[0015] The one-grab multi-claw device used in the production of photovoltaic modules described in the present invention includes a claw drive device, which includes a mounting frame connected to a manipulator, a rolling body is arranged on the mounting frame, a drive shaft is arranged in the rolling body, the drive shaft is connected to the prime mover coaxially through a connector, and the prime mover is controlled by a controller to reciprocate, thereby driving the drive shaft to reciprocate in the rolling body. The advantages of this device are: simple mechanical structure, low manufacturing cost, and high repeatability. In one embodiment, the rolling body is a deep groove ball bearing or other type of bearing to reduce friction and extend the life of the device; a keyway is arranged on the drive shaft to transmit power to the rotating claw through the key, and the connector is various types of couplings to transmit power to the drive shaft; the prime mover is composed of a servo motor and a reducer with high repeatability to provide power.

[0016] The present invention discloses a one-claw multi-claw device for photovoltaic module production, comprising a rotating claw device, the rotating claw device comprising a special-shaped plate connected to a driving shaft in a driving device, a plurality of suction cup mounting plates evenly installed at a certain angle on the special-shaped plate, and a plurality of suction cups are installed on the suction cup mounting plate according to the required rules. The rotating claw device is driven by the driving shaft of the driving device to reciprocate, and the manipulator drives the entire one-claw multi-claw device to perform corresponding lifting and lowering actions, and the flow direction and on-off of the airflow in the air path are controlled by the relevant control elements to realize the suction and placement of the suction object. The device can flexibly adjust the number of suction cup mounting plates, has high compatibility, and high repeatability positioning accuracy. In one embodiment, a key slot is provided on the special-shaped plate to transmit power. A positioning groove is provided on the mounting surface of the suction cup mounting plate, and a positioning groove is also provided on the upper surface of the corresponding suction cup mounting plate to reduce the difficulty of assembly and improve the assembly accuracy. The suction cup mounting plate is connected to the special-shaped plate by screws. The suction cup is mounted on the suction cup mounting plate through a threaded hole provided on the lower surface of the suction cup mounting plate.

[0017] The present invention discloses a multi-claw device for photovoltaic module production, comprising a visual device, a visual mounting bracket connected to the driving device mounting bracket, a visual element mounted in the visual mounting bracket provided with a fine-tuning device, and the visual element can be slightly adjusted in the horizontal plane along the X and Y directions through the fine-tuning device to ensure that the visual element is located above or below the detection area of ​​the sucked object, at a certain distance, and the visual control element controls its work to detect the posture and defects of the sucked object. The advantages of the device are: low cost and high detection accuracy. In one embodiment, the visual element is a pair of visual cameras, and the visual mounting bracket is provided with a slider groove, which is symmetrically distributed at 90 degrees around the visual mounting bracket, and two adjacent 90-degree slider grooves are built-in sliders, and threaded holes are provided on the sliders. Two adjusting screws are 90 degrees, one end is connected to the slider threaded hole, and the other end cooperates with the slider groove, and the visual element is fine-tuned by rotating the adjusting screw.

[0018] The working process of the present invention is:

[0019] The object to be sucked is transported to the sheet picking position, and the servo motor rotates so that a suction cup mounting plate of the multi-rotating gripper is parallel to the object to be sucked. The manipulator descends so that the suction cup contacts the object to be sucked, and the air path control element controls to generate a vacuum, and the object to be sucked is sucked. During this process, the visual element detects and records the posture and defects of the object to be sucked. The manipulator lifts up, and the servo motor rotates so that the next suction cup mounting plate of the multi-rotating gripper is parallel to the object to be sucked. The manipulator descends so that the suction cup contacts the object to be sucked, and a vacuum is generated, and the object to be sucked is sucked. The visual element also detects and records , repeat the above actions until there are adsorbed objects on all suction cup mounting plates, the manipulator is raised, driving the one-grab multi-rotating gripper device to rotate to the sheet placing position or the sheet discarding position, the manipulator descends, the air path control element controls the vacuum breaking, and the adsorbed objects that have passed the visual device inspection are placed at the sheet placing position, and those that have failed the inspection are placed at the sheet discarding position, the manipulator is raised, the servo motor reverses, and the adsorbed object on the next suction cup is placed at the sheet placing position or the sheet discarding position according to the above actions, until all the adsorbed objects are placed, the manipulator drives the one-grab multi-rotating gripper device back to the sheet picking position to perform the next round of actions.

[0020] Beneficial effects: The device of the present application can greatly improve the production capacity of the equipment, meet market demand, and has a simple structure, low cost and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 This is a schematic diagram of the structure of a multi-gripper.

[0023] Figure 3A schematic diagram of the structure of the driving device.

[0024] Figure 4 Schematic diagram of the structure of the visual device.

[0025] Explanation of the reference numerals: 1. One-grip multi-claws; 2. Driving device; 3. Visual device; 4. Object to be sucked; 11. Special-shaped plate; 12. Suction cup mounting plate; 13. Suction cup; 21. Prime mover; 22. Mounting frame; 23. Driving shaft; 24. Connector; 31. Visual mounting bracket; 32. Visual element; 221. Rolling body; 311. Sliding block; 312. Adjusting screw; 321. Visual camera. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0027] Example 1

[0028] A rotating gripper device for grabbing multiple objects at once, the device comprising a multi-gripper gripper 1, a driving device 2, and a visual device 3, characterized in that: the multi-gripper gripper 1 is connected to the driving device 2, the driving device 2 is mounted on a manipulator, the visual device 3 is located above or below a detection area of ​​a sucked object 4, and the two are spaced apart by a certain distance; the multi-gripper gripper 1 comprises a special-shaped plate 11, a plurality of suction cup mounting plates 12, a plurality of suction cups 13 and other parts, the suction cup mounting plates 12 are evenly mounted on the special-shaped plate 11 at a certain angle, and the suction cups 13 are mounted on the suction cup mounting plates 12; the sucked object is transported to a sheet picking position, the servo motor rotates so that a suction cup mounting plate of the multi-gripper rotating gripper is parallel to the sucked object, the manipulator descends so that the suction cup contacts the sucked object, the air path control element controls to generate a vacuum, and the sucked object is adsorbed In this process, the visual component detects the posture and defects of the object being sucked and records them. The robot arm is raised, and the servo motor rotates to make the next suction cup mounting plate of the multi-rotating gripper parallel to the object being sucked. The robot arm descends, so that the suction cup contacts the object being sucked, a vacuum is generated, and the object being sucked is sucked. The visual component detects and records in the same way, and the above actions are repeated until there are objects being sucked on all suction cup mounting plates. The robot arm is raised, driving the multi-rotating gripper device to rotate to the sheet placing position or the sheet discarding position. The robot arm descends, and the air path control component controls the vacuum breaking, and the qualified objects being sucked by the visual device are placed at the sheet placing position, and the unqualified objects are placed at the sheet discarding position. The robot arm is raised, and the servo motor reverses, and the objects being sucked on the next suction cup are placed at the sheet placing position or the sheet discarding position according to the above actions, until all the objects being sucked are placed. The robot arm drives the multi-rotating gripper device back to the sheet picking position to perform the next round of actions.

[0029] Example 2

[0030] The one-grasp multi-rotation gripper device used in the production of photovoltaic modules described in the present invention is beneficial to improving the production capacity of equipment in the production of photovoltaic modules.

[0031] The one-grasp multi-rotation gripper device includes a prime mover 21, which is composed of a servo motor and a reducer. The prime mover 21 is coaxially connected to the drive shaft 23 through a connector 24. The connector 24 can be various types of couplings. A keyway is provided on the drive shaft 23. The prime mover 21 is installed on one side of a mounting frame 22. A rolling body 221 is provided on the mounting frame 22 to reduce friction and extend the life of the device. The rolling body 221 can be a deep groove ball bearing or other types of bearings. The upper surface of the mounting frame 22 is connected to a manipulator, which can be a multi-axis manipulator or other types of manipulators.

[0032] The one-grab multi-rotating gripper device also includes a one-grab multi-grip 1, which is composed of a special-shaped plate 11 connected to a drive shaft 23, a suction cup mounting plate 12, and a suction cup 13. A positioning groove is provided on the upper surface of the suction cup mounting plate 12 to cooperate with the positioning groove on the special-shaped plate 11 to ensure the assembly accuracy of the two and reduce the difficulty of assembly. A threaded hole for mounting the suction cup 13 is provided on the lower surface of the suction cup mounting plate 12. An air path is provided inside the suction cup mounting plate. The flow direction and on-off of the airflow in the air path are controlled by an air path control element to achieve the suction and placement of the object 4.

[0033] The one-grab multi-rotation gripper device also includes a visual element 32, which is composed of a pair of visual cameras 321. The visual element 32 is installed in a visual mounting bracket 31 provided with a fine-tuning device, and its operation is controlled by the visual control element to detect the posture and defects of the sucked object 4. The visual mounting bracket 31 is provided with a slider groove, which is symmetrically distributed at 90 degrees along the four sides of the visual mounting bracket 31. Sliders 311 are built into two adjacent 90-degree slider grooves. Sliders 311 are provided on the sliders 311. Threaded holes are provided on the sliders 311. Two adjusting screws 312 are 90 degrees, one end is connected to the threaded hole of the slider 311, and the other end cooperates with the slider groove. The visual element 32 is fine-tuned in the X and Y directions in the horizontal plane by rotating the adjusting screws 312 to ensure that the visual element 32 is located above or below the detection area of ​​the sucked object 4, and is at a certain distance.

[0034] The working process of the present invention is:

[0035] The object 4 to be sucked is transported to the film picking position, the prime mover 21 rotates so that a suction cup mounting plate 12 of the one-grasp multi-rotating gripper 1 is parallel to the object 4 to be sucked, the manipulator drives the one-grasp multi-rotating gripper device to descend, so that the suction cup 13 contacts the object 4 to be sucked, the air path control element controls to generate a vacuum, and the object 4 to be sucked is sucked. During this process, the visual camera 321 detects the posture and defects of the object 4 to be sucked and records them, the manipulator lifts up, the prime mover 21 rotates so that the next suction cup mounting plate 12 of the one-grasp multi-rotating gripper 1 is parallel to the object 4 to be sucked, the manipulator descends, so that the suction cup 13 contacts the object 4 to generate a vacuum, and the object 4 to be sucked is sucked, and at the same time The sample visual camera 321 detects and records, and the above actions are repeated until there are adsorbed objects 4 on all suction cup mounting plates 12. The manipulator is raised, driving the one-grab multi-rotating gripper device to rotate to the sheet placing position or the sheet discarding position, the manipulator descends, and the air path control element controls the vacuum breaking, and the adsorbed objects 4 that have passed the inspection by the visual device 3 are placed at the sheet placing position, and those that have failed the inspection are placed at the sheet discarding position. The manipulator is raised, and the prime mover 21 is reversed, and the adsorbed object 4 on the next suction cup 13 is placed at the sheet placing position or the sheet discarding position according to the above actions, until all adsorbed objects 4 are placed, the manipulator drives the one-grab multi-rotating gripper device back to the sheet picking position to perform the next round of actions.

[0036] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotating gripper device for grasping multiple objects, the device comprising a gripper (1), a driving device (2), and a visual device (3), characterized in that: The one-grip multi-gripper (1) is connected to a driving device (2), the driving device (2) is mounted on the manipulator, and the visual device (3) is located below a detection area of ​​the sucked object (4), and the two are spaced apart by a certain distance; The one-grasp multi-grip gripper (1) comprises a special-shaped plate (11), a plurality of suction cup mounting plates (12), a plurality of suction cups (13) and other parts, wherein one end of the special-shaped plate (11) is provided with a mounting surface for mounting the suction cup mounting plate (12), and one end of the special-shaped plate (11) away from the mounting surface for mounting the suction cup mounting plate (12) is provided with an axial hole structure for mounting a drive shaft (23); the suction cup mounting plate (12) is evenly mounted at a certain angle on the special-shaped plate (11) at one end having the mounting surface for mounting the suction cup mounting plate (12), and the suction cup (13) is mounted on the suction cup mounting plate (12); or the special-shaped plate (11) and the suction cup mounting plate (12) are an integral structure, and the suction cup (13) is mounted on the suction cup mounting plate (12); The visual device (3) comprises a visual mounting bracket (31), a visual element (32) and a control element, wherein the visual mounting bracket (31) is connected to the mounting bracket (22) of the driving device (2), the visual element (32) is mounted on the visual mounting bracket (31), and the visual element (32) is located below the detection area of ​​the sucked object (4), and the two are separated by a certain distance; the visual mounting bracket (31) is provided with a fine-tuning device for fine-tuning the visual element (32), and the fine-tuning device comprises a slider (311) and an adjusting screw (312); the visual The element (32) is composed of a pair of visual cameras (321), and the visual element (32) is installed in a visual mounting bracket (31) provided with a fine-tuning device; a slider groove is provided on the visual mounting bracket (31), and is symmetrically distributed at 90 degrees around the visual mounting bracket (31), and two slider grooves adjacent to each other at 90 degrees are built with sliders (311), and threaded holes are provided on the sliders (311), and two adjusting screws (312) are 90 degrees, one end is connected to the threaded hole of the slider (311), and the other end is matched with the slider groove, and the visual element (32) is finely adjusted in the X and Y directions in the horizontal plane by rotating the adjusting screws (312); The visual element (32) is used to detect the posture and defects of the sucked object (4), and the one-grip multi-claw (1) is used to place the sucked object (4) that has passed the visual device detection at the sheet placement position, and place the sucked object (4) that has failed the detection at the sheet discarding position.

2. A rotating gripper device for multiple grasping according to claim 1, characterized in that: The lower surface of the suction cup mounting plate (12) is provided with a mounting hole for mounting the suction cup (13), and an air path is provided inside the suction cup mounting plate (12). The flow direction and on / off of the airflow in the air path are controlled by relevant control elements to achieve the suction and placement of the sucked object (4).

3. A rotating gripper device for multiple grasping according to claim 1, characterized in that: The driving device (2) comprises a prime mover (21), a mounting frame (22), a driving shaft (23), a connecting body (24) and other control elements. The prime mover (21) is mounted on the mounting frame (22). The prime mover (21) is coaxially connected to the driving shaft (23) via the connecting body (24). The driving shaft (23) is mounted on the mounting frame (22).

4. A rotating gripper device for multiple grasping according to claim 3, characterized in that: A rolling body (221) is provided on the mounting frame (22), and the rolling body (221) is mounted on the mounting frame (22).

Images