A clamping manipulator for photovoltaic glass processing

Abstract

The present invention relates to the field of manipulators, and in particular to a clamping manipulator for photovoltaic glass processing, comprising a manipulator arm, a fixed frame fixedly installed at the end of the manipulator arm, a flip frame rotatably installed inside the fixed frame, a bearing frame fixedly installed at one end of the flip frame, two push columns symmetrically and elastically installed on the four sides of the bearing frame, a top frame arranged on the outside of the bearing frame, the lower inner edge of the top frame is arranged in a beveled shape, a pusher connected to the upper end of the flip frame, the pusher is connected to the top frame, and a clamp is fixedly installed at one end of the push column. The present invention can expose both sides of the photovoltaic glass after the photovoltaic glass is clamped to ensure that the cleaning operation of the photovoltaic glass will not be hindered, and can also stably clamp the photovoltaic glass to avoid it from falling and breaking during cleaning.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a clamping robot for photovoltaic glass processing. Background Art

[0002] Photovoltaic glass is one of the solar cell components. Solar modules are mainly based on monocrystalline silicon or polycrystalline silicon cells, which convert light energy into electrical energy. Photovoltaic glass is used to encapsulate silicon wafers to improve their light absorption and conversion efficiency. It is a special glass. During the processing of photovoltaic glass, the surface of the glass often needs to be cleaned to ensure cleanliness. However, when the existing robot clamps the photovoltaic glass and sends it to the cleaning station for cleaning, the clamping end of the robot will block part of the surface of the photovoltaic glass, causing subsequent cleaning to be hindered. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose a clamping robot for photovoltaic glass processing.

[0004] To achieve the above objectives, the technical solution adopted in the present invention is: a clamping robot for photovoltaic glass processing, comprising a robot arm, a fixed frame is fixedly installed at the end of the robot arm, a flip frame is rotatably installed inside the fixed frame, a bearing frame is fixedly installed at one end of the flip frame, two push columns are symmetrically and elastically installed on the four sides of the bearing frame, a top frame is arranged on the outside of the bearing frame, the inner edge of the lower end of the top frame is arranged in a beveled shape, a pusher is connected to the upper end of the flip frame, and the pusher is connected to the top frame, a splint is fixedly installed at one end of the push column, and a push wheel is connected to the other end of the push column, the push wheel is attached to the inner surface of the top frame, and a support is installed on the flip frame.

[0005] Preferably, a return spring is wound around the outside of the push column, one end of the return spring is fixed to the outer surface of the supporting frame, the other end of the push column is fixedly installed with a connecting frame, the push wheel is rotatably installed inside the connecting frame, the other end of the return spring is fixed to the connecting frame, a servo motor is fixedly installed on the upper end of the fixed frame, and the output end of the servo motor is fixed to the flip frame.

[0006] Preferably, the pushing member includes a servo push cylinder fixedly mounted on the upper end of the flip frame, a concave push frame fixedly mounted on the output end of the servo push cylinder, a guide seat fixedly mounted on the middle part of the front and rear end surfaces of the supporting frame, the end of the concave push frame passes through the side of the guide seat, the concave push frame slides with the guide seat, and protruding ears extend from the middle part of the front and rear end surfaces of the top frame, a guide column fixedly mounted on the upper end of the protruding ear, the guide column passes through the upper end of the guide seat, and the guide column slides with the guide seat.

[0007] Preferably, a limiting ring is coaxially embedded in the upper end of the guide column, a guide prism is fixedly installed on the side of the guide seat, a square sliding sleeve is fitted on the outer surface of the guide prism, the square sliding sleeve is fixed to the concave push frame, and a push frame is rotatably installed on the lower end of the square sliding sleeve. The push frame is inclined, and the end of the push frame is rotatably connected to the protruding ear.

[0008] Preferably, the support comprises two connecting shafts arranged at the front and rear ends of the flip frame, one of the connecting shafts is located above and behind the other connecting shaft, an upper bracket is fixedly installed at one end of one of the connecting shafts, the upper bracket is horizontally arranged, and two upper supporting ears are symmetrically fixedly installed at the lower end of the upper bracket, and a lower bracket is fixedly installed at one end of the other connecting shaft, the lower bracket is vertically arranged, and two lower supporting ears are symmetrically fixedly installed on the side of the lower bracket.

[0009] Preferably, the middle parts of the two connecting shafts are rotatably mounted with shaft frames, the ends of the shaft frames are fixed to the flip frames, the other ends of the two connecting shafts are coaxially inlaid with connecting gears, the sides of the connecting gears are meshed with connecting tooth plates, and the connecting tooth plates are elastically connected to the flip frames.

[0010] Preferably, a pressure ring is provided above the fixed frame, and the center line of the pressure ring is colinear with the rotation center line of the flip frame. Wheel frames are fixedly installed at opposite ends of the two connecting tooth plates, and pressure wheels are installed at the ends of the wheel frames. The pressure wheels located at the upper part are fitted to the inner surface of the pressure ring, and the two ends of the pressure ring are inclined outward. A square rod is fixedly installed on the side of the connecting tooth plate, and a rod seat is fitted to the outer surface of the square rod, and the end of the rod seat is fixed to the flip frame.

[0011] Preferably, a limiting cap is fixedly installed on the upper end of the square rod, a tensioning spring is wound around the outer side of the square rod, the upper end of the tensioning spring is fixed to the lower end of the rod seat, the lower end of the tensioning spring is fixed to the lower end of the square rod, and a ring frame is fixedly installed on the outer surface of the pressure ring, and the end of the ring frame is fixed to the fixing frame.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The concave push frame can be pushed by the working servo push cylinder, so that the concave push frame can slide on the guide seat, thereby driving the square sliding sleeve to move, so as to slide on the guide prism, and then driving the push frame to move, so as to push the top frame so that the top frame can move downward. At this time, the guide column slides on the guide seat to assist the top frame to move downward. During this process, the push wheel will roll on the beveled edge of the top frame to push the push column, so that the four splints can gather inward at the same time to tighten the four sides of the photovoltaic glass, so as to clamp and fix the photovoltaic glass, so that after clamping, the upper and lower surfaces of the photovoltaic glass can be exposed to be cleaned, so as to ensure that the cleaning operation of the photovoltaic glass will not be hindered.

[0014] 2. When the robotic arm flips the photovoltaic glass and turns the bottom of the photovoltaic glass to the top for cleaning, the upper bracket originally located on the top will rotate to the bottom to support the photovoltaic glass from the bottom through the upper supporting ear, so that during the cleaning process, the photovoltaic glass will not fall and break due to the force on the top, thereby ensuring the stable clamping of the photovoltaic glass, and when the servo motor is working to drive the load-bearing frame to flip to clean the other side of the photovoltaic glass, the upper bracket and the lower bracket will rotate accordingly, at this time The pressure wheel on the upper bracket will be separated from the pressure ring, and the upper tightening spring will tighten the upper connecting gear The plate is pushed to drive the upper connecting gear to rotate, and then drive the upper bracket to rotate to stand up, so that the upper bracket can be separated from the top of the photovoltaic glass to expose the other side of the photovoltaic glass for cleaning, thereby further ensuring that the cleaning operation of the photovoltaic glass will not be hindered. Similarly, the pressure wheel on the lower bracket will roll into the pressure ring to drive the lower connecting tooth plate to move under the pressure of the pressure ring, and then drive the lower connecting gear to rotate, so that the lower bracket can be rotated to a horizontal state, so as to support it when cleaning the other side of the photovoltaic glass, thereby further preventing the photovoltaic glass from falling and breaking during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a clamping manipulator for photovoltaic glass processing according to the present invention;

[0016] Figure 2 This is a top frame view of a clamping robot for photovoltaic glass processing according to the present invention;

[0017] Figure 3 It is a schematic diagram of a top frame of a clamping robot for photovoltaic glass processing according to the present invention;

[0018] Figure 4 This is a schematic diagram of a pressure ring of a clamping robot for photovoltaic glass processing according to the present invention;

[0019] Figure 5 This is another perspective view of the top frame of a clamping robot for photovoltaic glass processing according to the present invention;

[0020] Figure 6 A photovoltaic glass processing clamping robot according to the present invention Figure 5 A magnified view of middle;

[0021] Figure 7 This is a view of a guide seat of a clamping manipulator for photovoltaic glass processing according to the present invention;

[0022] Figure 8 This is a view of the pushing column of a clamping robot for photovoltaic glass processing according to the present invention.

[0023] In the figure: 1. mechanical arm; 2. top frame; 3. lower bracket; 4. servo motor; 5. fixed frame; 6. guide column; 7. upper bracket; 8. pressure ring; 9. ring frame; 10. clamping plate; 11. pushing column; 12. reset spring; 13. connecting frame; 14. push wheel; 15. bearing frame; 16. pressure wheel; 17. wheel frame; 18. connecting gear; 19. connecting shaft; 20. shaft frame; 21. flip frame; 22. connecting gear plate; 23. tightening spring; 24. square rod; 25. limiting cap; 26. rod seat; 27. concave push frame; 28. servo push cylinder; 29. ​​guide seat; 30. upper ear; 31. lower ear; 32. square sliding sleeve; 33. guide prism; 34. push frame; 35. extending ear; 36. limiting ring. DETAILED DESCRIPTION

[0024] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0025] like Figure 1-Figure 8A photovoltaic glass processing clamping robot shown in the figure includes a robot arm 1. Because it is a prior art to drive objects to move by the robot arm 1 and it has been widely used, it is not elaborated in detail here. A fixed frame 5 is fixedly installed at the end of the robot arm 1. A flip frame 21 is rotatably installed inside the fixed frame 5. The fixed frame 5 serves to connect the flip frame 21. A bearing frame 15 is fixedly installed at one end of the flip frame 21. The flip frame 21 serves to drive the bearing frame 15 to flip. Two push rods are symmetrically installed elastically on the four sides of the bearing frame 15. The outer side of the moving column 11 and the supporting frame 15 is provided with a top frame 2, and the inner edge of the lower end of the top frame 2 is provided with a bevel, which can push the pushing column 11 to make the four clamps 10 move inward synchronously. The upper end of the flip frame 21 is connected with a pushing member, and the pushing member is connected to the top frame 2. The clamp 10 is fixedly installed on one end of the pushing column 11, and the pushing column 11 plays a role of guiding and pushing the clamp 10. The other end of the pushing column 11 is connected with a push wheel 14, and the push wheel 14 is in contact with the inner surface of the top frame 2. The push wheel 14 plays a role of reducing friction. A support is installed on the flip frame 21.

[0026] A return spring 12 is wound around the outside of the pushing column 11, and one end of the return spring 12 is fixed to the outer surface of the supporting frame 15. The return spring 12 plays a role in resetting the moved splint 10. The other end of the pushing column 11 is fixedly installed with a connecting frame 13, and a push wheel 14 is rotatably installed inside the connecting frame 13. The connecting frame 13 plays a role in connecting the push wheel 14. The other end of the return spring 12 is fixed to the connecting frame 13. A servo motor 4 is fixedly installed on the upper end of the fixed frame 5, and the output end of the servo motor 4 is fixed to the flip frame 21. The servo motor 4 plays a role in driving the flip frame 21 to rotate 180 degrees.

[0027] The pushing member includes a servo push cylinder 28 fixedly mounted on the upper end of the flip frame 21, and a concave push frame 27 is fixedly mounted on the output end of the servo push cylinder 28, and the servo push cylinder 28 plays a role in pushing the concave push frame 27. A guide seat 29 is fixedly mounted in the middle of the front and rear end surfaces of the bearing frame 15, and the guide seat 29 plays a role in guiding the concave push frame 27. The end of the concave push frame 27 passes through the side of the guide seat 29, and the concave push frame 27 slides with the guide seat 29. A protruding ear 35 is extended from the middle of the front and rear end surfaces of the top frame 2, and the protruding ear 35 plays a connecting role. A guide column 6 is fixedly mounted on the upper end of the protruding ear 35, and the guide column 6 passes through the upper end of the guide seat 29, and the guide column 6 plays a role in guiding the top frame 2, and the guide column 6 slides with the guide seat 29.

[0028] The upper end of the guide column 6 is coaxially inlaid with a limit ring 36, and a guide prism 33 is fixedly installed on the side of the guide seat 29. The limit ring 36 plays a role of limiting. The outer surface of the guide prism 33 is fitted with a square sleeve 32, and the concave push frame 27 plays a role in driving the square sleeve 32 to move. The square sleeve 32 is fixed to the concave push frame 27, and the guide prism 33 plays a role in guiding the square sleeve 32. The lower end of the square sleeve 32 is rotatably installed with a push frame 34, and the push frame 34 is inclined. The push frame 34 plays a role in pushing the top frame 2, and the end of the push frame 34 rotates with the extended ear 35 Dynamic connection, the servo push cylinder 28 works to push the concave push frame 27, so that the concave push frame 27 can slide on the guide seat 29, and then drive the square sliding sleeve 32 to move, so as to slide on the guide prism 33, and then drive the push frame 34 to move, so as to push the top frame 2, so that the top frame 2 can move downward. At this time, the guide column 6 slides on the guide seat 29 to assist the top frame 2 to move downward. In this process, the push wheel 14 will roll on the bevel on the top frame 2, thereby pushing the push column 11, so that the four splints 10 can gather inward at the same time to tighten the four sides of the photovoltaic glass, thereby clamping the photovoltaic glass.

[0029] The support includes two connecting shafts 19 arranged at the front and rear ends of the flip frame 21, one of the connecting shafts 19 is located above and behind the other connecting shaft 19, one end of one of the connecting shafts 19 is fixedly installed with an upper bracket 7, and the connecting shaft 19 plays a role in driving the upper bracket 7 and the lower bracket 3 to flip, the upper bracket 7 is horizontally arranged, and two upper supporting ears 30 are symmetrically fixedly installed on the lower end of the upper bracket 7, and one end of the other connecting shaft 19 is fixedly installed with a lower bracket 3, and the lower bracket 3 is vertically arranged, and two lower supporting ears 31 are symmetrically fixedly installed on the side of the lower bracket 3, and the upper supporting ears 30 and the lower supporting ears 31 play a role in alternately supporting the photovoltaic glass during cleaning.

[0030] The middle parts of the two connecting shafts 19 are rotatably mounted with shaft frames 20, and the ends of the shaft frames 20 are fixed to the flip frames 21. The shaft frames 20 play the role of connecting the connecting shafts 19. The other ends of the two connecting shafts 19 are coaxially inlaid with connecting gears 18, and the side surfaces of the connecting gears 18 are meshed with connecting tooth plates 22. The connecting gears 18 and the connecting tooth plates 22 play the role of driving the connecting shafts 19 to rotate ninety degrees, and the connecting tooth plates 22 are elastically connected to the flip frames 21.

[0031] A pressure ring 8 is arranged above the fixed frame 5, and the center line of the pressure ring 8 is colinear with the rotation center line of the flip frame 21. The pressure ring 8 plays a role in pressing the pressure wheel 16. Wheel frames 17 are fixedly installed on the opposite ends of the two connecting tooth plates 22. The pressure wheels 16 are installed on the ends of the wheel frames 17. The wheel frames 17 play a role in connecting the pressure wheels 16. The pressure wheels 16 located at the upper part are fitted to the inner surface of the pressure ring 8. The two ends of the pressure ring 8 are inclined outward to facilitate the pressure wheel 16 to roll into the pressure ring 8. A square rod 24 is fixedly installed on the side of the connecting tooth plate 22. A rod seat 26 is fitted on the outer surface of the square rod 24. The end of the rod seat 26 is fixed to the flip frame 21. The square rod 24 and the rod seat 26 play a role in guiding the connecting tooth plate 22.

[0032] A limiting cap 25 is fixedly installed on the upper end of the square rod 24, and a tensioning spring 23 is wound around the outer side of the square rod 24. The limiting cap 25 serves to limit the reset position of the connecting tooth plate 22. The upper end of the tensioning spring 23 is fixed to the lower end of the rod seat 26. The tensioning spring 23 serves to reset the moving connecting tooth plate 22. The lower end of the tensioning spring 23 is fixed to the lower end of the square rod 24. A ring frame 9 is fixedly installed on the outer surface of the pressure ring 8. The ring frame 9 serves to fix the pressure ring 8. The end of the ring frame 9 is fixed to the fixing frame 5.

[0033] When in use, the mechanical arm 1 drives the carrying frame 15 to move to the outside of the photovoltaic glass, and then the servo push cylinder 28 works to push the concave push frame 27, so that the concave push frame 27 can slide on the guide seat 29, thereby driving the square sliding sleeve 32 to move, so as to slide on the guide prism 33, and then driving the push frame 34 to move, so as to push the top frame 2 so that the top frame 2 can move downward. At this time, the guide column 6 slides on the guide seat 29 to assist the top frame 2 to move downward. In this process, the push wheel 14 will roll on the bevel on the top frame 2 to push the push column 11 so that the four clamps 10 can gather inward at the same time to tighten the photovoltaic glass around, so as to clamp the photovoltaic glass. Then the mechanical arm 1 works to pick up the photovoltaic glass, and at the same time, the mechanical arm 1 flips the photovoltaic glass so that the bottom of the photovoltaic glass flips to the top. At this time, the upper bracket 7 originally located on the top will rotate to the bottom to support the photovoltaic glass from the bottom through the upper support ear 30, and then the mechanical The arm 1 sends the photovoltaic glass to the cleaning station to clean the bottom of the photovoltaic glass. When the cleaning of this surface is completed, the servo motor 4 works to drive the supporting frame 15 to flip so that the other side of the photovoltaic glass faces upward. In this process, the upper bracket 7 and the lower bracket 3 will rotate accordingly, and the pressure wheel 16 on the upper bracket 7 will disengage from the pressure ring 8, and the upper tightening spring 23 will push the upper connecting tooth plate 22 to drive the upper connecting gear 18 to rotate, thereby driving the upper bracket 7 to rotate to stand up, so that the upper bracket 7 can be separated from the top of the photovoltaic glass to expose the other side of the photovoltaic glass. Similarly, the pressure wheel 16 on the lower bracket 3 will roll into the pressure ring 8 to drive the lower connecting tooth plate 22 to move under the pressure of the pressure ring 8, thereby driving the lower connecting gear 18 to rotate, so that the lower bracket 3 can rotate to a horizontal state, so as to support the photovoltaic glass through the lower support ear 31, and then the robotic arm 1 sends the photovoltaic glass to the cleaning station again to clean the other side of the photovoltaic glass.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A clamping robot for photovoltaic glass processing, comprising a robot arm (1), characterized in that: A fixed frame (5) is fixedly installed at the end of the mechanical arm (1), a flip frame (21) is rotatably installed inside the fixed frame (5), a bearing frame (15) is fixedly installed at one end of the flip frame (21), and two push columns (11) are symmetrically and elastically installed on the four sides of the bearing frame (15), a top frame (2) is arranged on the outside of the bearing frame (15), and the inner edge of the lower end of the top frame (2) is arranged in a beveled shape, the upper end of the flip frame (21) is connected to a push member, and the push member is connected to the top frame (2), a clamping plate (10) is fixedly installed at one end of the push column (11), and a push wheel (14) is connected to the other end of the push column (11), and the push wheel (14) is attached to the inner surface of the top frame (2), and a support is installed on the flip frame (21); The support comprises two connecting shafts (19) arranged at the front and rear ends of the turning frame (21), one of the connecting shafts (19) being located above and behind the other connecting shaft (19), one end of one of the connecting shafts (19) being fixedly mounted with an upper bracket (7), the upper bracket (7) being arranged horizontally, and the lower end of the upper bracket (7) being symmetrically fixedly mounted with two upper supporting ears (30), and one end of the other connecting shaft (19) being fixedly mounted with a lower bracket (3), the lower bracket (3) being arranged vertically, and the side of the lower bracket (3) being symmetrically fixedly mounted with two lower supporting ears (31); A shaft frame (20) is rotatably mounted in the middle of the two connecting shafts (19), the end of the shaft frame (20) is fixed to the turning frame (21), and the other ends of the two connecting shafts (19) are coaxially inlaid with a connecting gear (18), the side of the connecting gear (18) is meshed with a connecting tooth plate (22), and the connecting tooth plate (22) is elastically connected to the turning frame (21); A pressure ring (8) is arranged above the fixed frame (5), and the center line of the pressure ring (8) is colinear with the rotation center line of the turning frame (21). Wheel frames (17) are fixedly installed at opposite ends of the two connecting tooth plates (22), and pressure wheels (16) are installed at the ends of the wheel frames (17). The pressure wheels (16) located at the upper part are fitted on the inner surface of the pressure ring (8), and the two ends of the pressure ring (8) are arranged to be inclined outward. A square rod (24) is fixedly installed on the side of the connecting tooth plate (22), and a rod seat (26) is fitted on the outer surface of the square rod (24), and the end of the rod seat (26) is fixed to the turning frame (21); A return spring (12) is wound around the outer side of the push column (11), one end of the return spring (12) is fixed to the outer surface of the bearing frame (15), the other end of the push column (11) is fixedly mounted with a connecting frame (13), the push wheel (14) is rotatably mounted inside the connecting frame (13), the other end of the return spring (12) is fixed to the connecting frame (13), a servo motor (4) is fixedly mounted on the upper end of the fixed frame (5), and the output end of the servo motor (4) is fixed to the flip frame (21); The pushing member comprises a servo push cylinder (28) fixedly mounted on the upper end of the flip frame (21), a concave push frame (27) fixedly mounted on the output end of the servo push cylinder (28), a guide seat (29) fixedly mounted on the middle of the front and rear end surfaces of the bearing frame (15), the end of the concave push frame (27) penetrates from the side of the guide seat (29), the concave push frame (27) and the guide seat (29) are slidably matched, and a protruding ear (35) is extended from the middle of the front and rear end surfaces of the top frame (2), a guide column (6) is fixedly mounted on the upper end of the protruding ear (35), the guide column (6) penetrates from the upper end of the guide seat (29), and the guide column (6) and the guide seat (29) are slidably matched; The upper end of the guide column (6) is coaxially inlaid with a limit ring (36), and a guide prism (33) is fixedly mounted on the side of the guide seat (29). A square sliding sleeve (32) is fitted on the outer surface of the guide prism (33), and the square sliding sleeve (32) is fixed to the concave push frame (27). A push frame (34) is rotatably mounted on the lower end of the square sliding sleeve (32), and the push frame (34) is inclined, and the end of the push frame (34) is rotatably connected to the protruding ear (35).

2. The photovoltaic glass processing clamping robot according to claim 1, characterized in that: A limiting cap (25) is fixedly mounted on the upper end of the square rod (24); a tensioning spring (23) is wound around the outer side of the square rod (24); the upper end of the tensioning spring (23) is fixed to the lower end of the rod seat (26); the lower end of the tensioning spring (23) is fixed to the lower end of the square rod (24); a ring frame (9) is fixedly mounted on the outer surface of the pressure ring (8); and the end of the ring frame (9) is fixed to the fixing frame (5).

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