Feeding and discharging robot with space feedback adjusting function

Abstract

The invention discloses a feeding and discharging robot with a distance feedback adjusting function, and relates to the technical field of conveying devices.The feeding and discharging robot comprises a mechanical arm, a clamping device is arranged on the mechanical arm, the clamping device comprises a driving body and a clamping arm, the driving body is connected with the mechanical arm, and the clamping arm is connected with the driving body; the mechanical arm drives the clamping device to move to the position above the workpiece, in the moving process of the clamping device, the clamping arm moves towards the side away from the driving body, so that the clamping arm moves to the farthest end of the stroke, after the axis of the driving body coincides with the axis of the workpiece, the mechanical arm drives the clamping device to descend, and then the clamping arm shrinks towards the side close to the driving body; and after the clamping arm makes contact with the workpiece, a sensor in the clamping arm detects the contact pressure, so that the clamping arm is controlled not to move any more, distance adjustment feedback between the clamping arm and the driving body is achieved, and deformation of the workpiece caused by excessive clamping is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying devices, and specifically to a loading and unloading robot with a spacing feedback adjustment function. Background Art

[0002] A solar panel is an assembly formed by assembling multiple solar cells, which is the core part and also the most important part in a solar power generation system. Generally speaking, in a silicon panel production line, the silicon panel needs to be conveyed multiple times;

[0003] In existing loading and unloading handling devices, traditional grippers usually adopt rigid contact (two-jaw or three-jaw structures), and the clamping force is concentrated on small-area contact points, which easily causes scratches or deformation on the surface of the workpiece. Or, the workpiece is carried by means of suction cups. However, in the case of suction cups, the weight of the workpiece may be greater than the suction force of the suction cups, resulting in the phenomenon of workpiece detachment. In summary, when using grippers and suction cups, the distance between the grippers and suction cups and the center always remains unchanged, and it is impossible to adjust the spacing to adapt to workpieces of different sizes. Summary of the Invention

[0004] The purpose of the present invention is to provide a loading and unloading robot with a spacing feedback adjustment function to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution:

[0006] A loading and unloading robot with a spacing feedback adjustment function includes a robotic arm, and a clamping device is arranged on the robotic arm. The clamping device includes a driving body and clamping arms. The driving body is connected to the robotic arm, and the clamping arms are connected to the driving body. The clamping arms are used for clamping and conveying the workpiece.

[0007] The robotic arm drives the clamping device to move above the workpiece. During the movement of the clamping device, the clamping arms move away from the driving body, so that the clamping arms move to the farthest end of the stroke. After the axis of the driving body coincides with the axis of the workpiece, the robotic arm drives the clamping device to descend. Subsequently, the clamping arms contract towards the driving body, thereby realizing the clamping and fixing of the workpiece. After the clamping arms contact the workpiece, the sensors in the clamping arms detect the contact pressure, thereby controlling the clamping arms to stop moving, thus realizing the distance adjustment feedback between the clamping arms and the driving body, and avoiding deformation of the workpiece caused by excessive clamping.

[0008] Preferably, a driving cavity is arranged in the driving body. A driving gear is arranged at the center of the driving cavity, and a plurality of driven gears are arranged around the driving gear. The driven gears are meshed with the driving gear. A first motor is arranged outside the driving body, and the driving shaft of the first motor passes through the driving body and is connected to the driving gear.

[0009] Preferably, a moving body is provided at the bottom of the driving cavity. A rotating groove and a moving groove are provided in the moving body, and the rotating groove communicates with the moving groove.

[0010] Preferably, a worm gear is provided on the side of the driving gear away from the driving cavity. A moving block is provided in the moving groove, and a worm is provided on the side of the moving block close to the worm gear. The worm gear meshes with the worm.

[0011] Preferably, the number of the clamping arms is several. The several clamping arms are arranged around the axis of the driving body. The clamping arm is composed of a fixed rod and a cam. A micro motor is provided in the fixed rod. The driving shaft of the micro motor is connected to the cam, and the cam is rotatably connected to the fixed rod.

[0012] Preferably, the side of the clamping arm away from the cam is connected to the moving block. A scroll ring is provided between adjacent two clamping arms. The scroll ring is made of rubber.

[0013] Preferably, a pressure bladder is provided on the outer wall of the cam. A number of chambers are provided in the pressure bladder. Adjacent two chambers are not communicated with each other. A pressure sensor is provided on the side of the cam close to the pressure bladder. The pressure sensor is used for detecting the pressure change in the chamber.

[0014] Preferably, an air duct is provided in the scroll ring. A number of spray nozzles are provided on the side of the scroll ring close to the clamping arm. The several spray nozzles are evenly distributed around the axis of the scroll ring. The spray nozzles communicate with the air duct, and the spray nozzles are arranged in two upper and lower rows.

[0015] Preferably, a connecting pipe is provided between the scroll ring and the driving cavity. The connecting pipe is a corrugated pipe. One end of the connecting pipe communicates with the driving cavity, and the other end of the connecting pipe communicates with the air duct.

[0016] Preferably, an air jet port is provided on the top of the driving gear. A number of branch ports are provided on the side of the air jet port close to the driving gear. A part of the branch ports face the meshing part of the driving gear and the driving gear. An air pump is provided on the robotic arm. The air pump communicates with the air jet port through a pipeline.

[0017] When the robotic arm drives the clamping device to move above the workpiece so that the axis of the driving body coincides with the axis of the workpiece, the robotic arm drives the driving body to move towards the workpiece. During the movement, the driving body drives the clamping arm to move. At this time, the clamping arm has moved to the farthest end of the stroke. Before the clamping arm moves, the controller controls the first motor to start. The drive shaft of the first motor drives the driving gear to rotate. While the driving gear rotates, it drives the driven gear to rotate. When the driven gear rotates, it drives the worm gear to rotate. When the worm gear rotates, it meshes with the worm. Then, the worm moves along the side of the moving groove under the drive of the worm gear. When the worm moves, it drives the moving block to move, and the moving block pushes the clamping arm to move;

[0018] When the driving body descends, the clamping arm also drives the cam to move to the side of the workpiece. Subsequently, the controller controls the first motor to rotate in the reverse direction. Then, the fixed rod moves under the contraction action of the moving block. The fixed rod drives the cam to move towards the side close to the driving cavity. When the cam moves, it drives the pressure bladder to move. During the movement of the pressure bladder, it contacts the side of the workpiece. Then, the workpiece squeezes the cavity, causing the cavity to deform. As a result, the pressure in the cavity increases. The pressure sensor in the cam converts the pressure signal in the cavity into an electrical signal and transmits it to the controller. The controller controls the first motor to stop rotating according to the electrical signal, thereby completing the clamping of the workpiece. And the pressure bladder is made of flexible material. After the workpiece squeezes the pressure bladder, the pressure bladder deforms and wraps the contact surface of the workpiece, thus realizing the protection of the workpiece and avoiding damage to the side of the workpiece after the clamping arm clamps the workpiece;

[0019] When clamping a regular workpiece, several clamping arms move synchronously, so that several clamping arms contact the side of the workpiece synchronously. Then, the acting force of each clamping arm on the workpiece is equal, avoiding different clamping forces generated when the clamping device clamps the workpiece, which may cause uneven stress on the workpiece. When clamping an irregular workpiece, several clamping arms move synchronously first. When one of the clamping arms contacts the workpiece, the remaining clamping arms that have not contacted the workpiece also stop moving. At this time, the controller controls the micro-motor on the fixed rod to drive. The drive shaft of the micro-motor drives the cam to rotate. The convex side of the cam rotates towards the side close to the driving cavity, making the clamping arm form a shape of a claw. Then, the convex part of the cam lifts and clamps the bottom of the workpiece, thus completing the clamping process of the irregular workpiece and improving the adaptability of the clamping device to workpieces of different shapes;

[0020] During the process of the clamping device clamping the workpiece, the controller controls the air pump on the robotic arm to start. The air pump extracts the external air, transports it through the pipeline to the jet nozzle, and through the diversion of the branch port at the jet nozzle, the gas is sprayed towards the meshing part between the driving gear and the driven gear, thereby cooling and dissipating heat from the gap between the gears, so that the heat generated by the gear meshing is transferred to the gas and carried away by the gas. The gas that has been cooled and dissipated is transported to the vortex ring through the connecting pipe, the gas is transported to the air duct through the connecting pipe, and finally transported to the spray nozzle through the air duct and sprayed towards the workpiece through the spray nozzle. Since the spray nozzle is provided with upper and lower sides, the upper spray nozzle sprays towards the upper surface of the workpiece, and the lower spray nozzle sprays towards the lower surface of the workpiece, thereby performing dust removal treatment on the upper and lower surfaces of the workpiece. At the same time, the gas carries the heat generated by the gear meshing. Therefore, the heat will first be transferred to the edge of the workpiece. As the gas flows, a state where the edge has a high temperature and the middle has a low temperature will be formed on the surface of the workpiece. During the subsequent edge welding process of the workpiece, the thermal stress is reduced, thus achieving the effect of both completing surface cleaning and preheating the workpiece.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. When clamping a regular workpiece, several clamping arms move synchronously, so that several clamping arms contact the side of the workpiece synchronously, and thus the acting force of each clamping arm on the workpiece is equal, avoiding different clamping forces generated when the clamping device clamps the workpiece, which may cause uneven stress on the workpiece; when clamping an irregular workpiece, several clamping arms move synchronously first. When one of the clamping arms contacts the workpiece, the remaining clamping arms that have not contacted the workpiece also stop moving. At this time, the controller controls the micro-motor on the fixed rod to drive, and the drive shaft of the micro-motor drives the cam to rotate. The convex side of the cam rotates towards the side close to the drive cavity, so that the clamping arm forms a shape of a claw. Then, the convex part of the cam lifts and clamps the bottom of the workpiece, thereby completing the clamping process of the irregular workpiece and improving the adaptability of the clamping device to workpieces of different shapes.

[0023] 2. The gas is sprayed onto the meshing part between the driving gear and the driven gear, thereby cooling and dissipating heat from the gap between the gears, causing the heat generated by the gear meshing to be transferred to the gas and carried away by the gas. The gas that has been cooled and dissipated is transported to the scroll ring through the connecting pipe, and the gas is transported to the air duct through the connecting pipe and finally to the nozzle through the air duct. Since the nozzle has upper and lower sides, the upper nozzle sprays onto the upper surface of the workpiece, and the lower nozzle sprays onto the lower surface of the workpiece, thereby performing dust removal on the upper and lower surfaces of the workpiece. At the same time, the gas carries the heat generated by the gear meshing. Therefore, the heat will first be transferred to the edge of the workpiece. As the gas flows, a state where the edge has a higher temperature and the middle has a lower temperature will be formed on the surface of the workpiece. During the subsequent edge welding process of the workpiece, the thermal stress is reduced, thus achieving the effect of both completing surface cleaning and preheating the workpiece. Brief Description of the Drawings

[0024] Figure 1 is a perspective view of the present invention;

[0025] Figure 2 is a schematic top view of the present invention;

[0026] Figure 3 is a schematic bottom view of the present invention;

[0027] Figure 4 is a schematic internal view of the present invention;

[0028] Figure 5 is a schematic view of the driving gear, driven gear and clamping arm;

[0029] Figure 6 is a schematic view of the rotating groove and moving groove;

[0030] Figure 7 is a schematic view of the pressure bladder;

[0031] Figure 8 is a schematic view of the scroll ring;

[0032] In the figure: 1. Clamping device;

[0033] 2. Driving body; 21. Driving cavity; 22. Driving gear; 23. Driven gear; 24. Moving body; 25. Rotating groove; 26. Moving groove; 27. Worm gear; 28. Moving block; 29. Worm;

[0034] 3. Clamping arm; 31. Fixed rod; 32. Cam; 33. Scroll ring; 34. Pressure bladder; 35. Chamber; 36. Air duct; 37. Nozzle; 38. Connecting pipe; 39. Jet orifice. Detailed Description of the Invention

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0036] Embodiment: As Figures 1 - 8 shown, the present invention provides a technical solution for a loading and unloading robot with a spacing feedback adjustment function, including a robotic arm, a clamping device 1 is provided on the robotic arm, the clamping device 1 includes a driving body 2 and a clamping arm 3, the driving body 2 is connected to the robotic arm, the clamping arm 3 is connected to the driving body 2, and the clamping arm 3 is used for clamping and conveying workpieces.

[0037] As a specific implementation manner of the present application, a driving cavity 21 is provided inside the driving body 2, a driving gear 22 is provided at the center of the driving cavity 21, several driving gears 23 are provided around the driving gear 22, the driving gears 23 are meshed with the driving gear 22, and a first motor is provided outside the driving body 2, and a driving shaft of the first motor passes through the driving body 2 and is connected to the driving gear 22.

[0038] As a specific implementation manner of the present application, a jet port 39 is provided at the top of the driving gear 23, several branch ports are provided on one side of the jet port 39 close to the driving gear 23, a part of the branch ports face the meshing portion of the driving gear 22 and the driving gear 23, and an air pump is provided on the robotic arm, and the air pump is connected to the jet port 39 through a pipeline.

[0039] As a specific implementation manner of the present application, a moving body 24 is provided at the bottom of the driving cavity 21, a rotating groove 25 and a moving groove 26 are provided inside the moving body 24, and the rotating groove 25 is communicated with the moving groove 26.

[0040] As a specific implementation manner of the present application, a worm gear 27 is provided on the side of the driving gear 23 away from the driving cavity 21, a moving block 28 is provided in the moving groove 26, a worm 29 is provided on one side of the moving block 28 close to the worm gear 27, and the worm gear 27 is meshed with the worm 29.

[0041] As a specific implementation manner of the present application, the number of the clamping arms 3 is several, several clamping arms 3 are arranged around the axis of the driving body 2, the clamping arm 3 is composed of a fixed rod 31 and a cam 32, a micro motor is provided inside the fixed rod 31, a driving shaft of the micro motor is connected to the cam 32, and the cam 32 is rotatably connected to the fixed rod 31.

[0042] As a specific implementation manner of the present application, the side of the clamping arm 3 away from the cam 32 is connected to the moving block 28, and a scroll ring 33 is arranged between two adjacent clamping arms 3. The scroll ring 33 is made of rubber.

[0043] As a specific implementation manner of the present application, a pressure bladder 34 is arranged on the outer wall of the cam 32. A plurality of chambers 35 are arranged in the pressure bladder 34, and adjacent chambers 35 are not communicated with each other. A pressure sensor is arranged on the side of the cam 32 close to the pressure bladder 34, and the pressure sensor is used for detecting the pressure change in the chamber 35.

[0044] As a specific implementation manner of the present application, an air duct 36 is arranged in the scroll ring 33. A plurality of nozzles 37 are arranged on the side of the scroll ring 33 close to the clamping arm 3. The plurality of nozzles 37 are equidistantly arranged around the axis of the scroll ring 33. The nozzles 37 are communicated with the air duct 36, and the nozzles 37 are arranged in two upper and lower rows.

[0045] As a specific implementation manner of the present application, a connecting pipe 38 is arranged between the scroll ring 33 and the driving chamber 21. The connecting pipe 38 is a corrugated pipe. One end of the connecting pipe 38 is communicated with the driving chamber 21, and the other end of the connecting pipe 38 is communicated with the air duct 36.

[0046] The working principle of the present invention:

[0047] When the robotic arm drives the clamping device 1 to move above the workpiece so that the axis of the driving body 2 coincides with the axis of the workpiece, the robotic arm drives the driving body 2 to move towards the side close to the workpiece. During the movement, the driving body 2 drives the clamping arm 3 to move. At this time, the clamping arm 3 has moved to the farthest end of the stroke. Before the clamping arm 3 moves, the controller controls the first motor to start. The driving shaft of the first motor drives the driving gear 22 to rotate. While the driving gear 22 rotates, it drives the driven gear 23 to rotate. When the driven gear 23 rotates, it drives the worm gear 27 to rotate. When the worm gear 27 rotates, it meshes with the worm 29. Then, the worm 29 moves along the side of the moving groove 26 under the drive of the worm gear 27. When the worm 29 moves, it drives the moving block 28 to move, and the moving block 28 pushes the clamping arm 3 to move;

[0048] When the driving body 2 descends, the clamping arm 3 also drives the cam 32 to move to the side of the workpiece. Subsequently, the controller controls the first motor to rotate in the reverse direction. Then, the fixed rod 31 moves under the contraction action of the moving block 28. The fixed rod 31 drives the cam 32 to move towards the side close to the driving cavity 21. When the cam 32 moves, it drives the pressure bladder 34 to move. During the movement, the pressure bladder 34 contacts the side of the workpiece. Then, the workpiece squeezes the chamber 35, causing the chamber 35 to deform. As a result, the pressure in the chamber 35 increases. The pressure sensor in the cam 32 converts the pressure signal in the chamber 35 into an electrical signal and transmits it to the controller. The controller controls the first motor to stop rotating based on the electrical signal, thus completing the clamping of the workpiece. Moreover, since the pressure bladder 34 is made of a flexible material, after the workpiece squeezes the pressure bladder 34, the pressure bladder 34 deforms and wraps the contact surface of the workpiece, thereby realizing the protection of the workpiece and avoiding damage to the side of the workpiece after the clamping arm 3 clamps the workpiece;

[0049] When clamping a regular workpiece, several clamping arms 3 move synchronously, so that several clamping arms 3 contact the side of the workpiece synchronously. Then, the acting force of each clamping arm 3 on the workpiece is equal, avoiding different clamping forces generated when the clamping device 1 clamps the workpiece, which may cause uneven stress on the workpiece. When clamping an irregular workpiece, several clamping arms 3 first move synchronously. When one of the clamping arms 3 contacts the workpiece, the remaining clamping arms 3 that have not contacted the workpiece stop moving. At this time, the controller controls the micro-motor on the fixed rod 31 to drive. The drive shaft of the micro-motor drives the cam 32 to rotate. The convex side of the cam 32 rotates towards the side close to the driving cavity 21, making the clamping arm 3 form a claw shape. Then, the convex part of the cam 32 lifts and clamps the bottom of the workpiece, thus completing the clamping process of the irregular workpiece;

[0050] During the process of the clamping device 1 clamping the workpiece, the controller controls the air pump on the robotic arm to start. The air pump extracts the external air and transports it through the pipeline to the air jet port 39. Through the diversion of the branch port by the air jet port 39, the gas is sprayed towards the meshing part between the driving gear 22 and the driven gear 23, thereby cooling and dissipating the heat of the gap between the gears, so that the heat generated by the gear meshing is transferred to the gas and carried away by the gas. The gas that has been cooled and dissipated is transported to the vortex ring 33 through the connecting pipe 38. The gas is transported to the air duct 36 through the connecting pipe 38 and finally transported to the nozzle 37 through the air duct 36. Through the nozzle 37, it is sprayed towards the workpiece. Since the nozzle 37 is provided on the upper and lower sides, the nozzle 37 on the upper side sprays towards the upper surface of the workpiece, and the nozzle 37 on the lower side sprays towards the lower surface of the workpiece, thereby performing dust removal treatment on the upper and lower surfaces of the workpiece. At the same time, the gas carries the heat generated by the gear meshing. Therefore, the heat will first be transferred to the edge of the workpiece. With the flow of the gas, a state where the edge has a high temperature and the middle has a low temperature will be formed on the surface of the workpiece. During the subsequent edge welding process of the workpiece, the thermal stress is reduced, thus achieving the effect of both completing the surface cleaning and preheating the workpiece.

[0051] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A loading and unloading robot with spacing feedback adjustment function, characterized in that: The invention comprises a mechanical arm, on which a clamping device (1) is arranged, the clamping device (1) comprises a driving body (2) and a clamping arm (3), the driving body (2) is connected to the mechanical arm, the clamping arm (3) is connected to the driving body (2), and the clamping arm (3) is used to clamp and transport a workpiece.

2. The loading and unloading robot with spacing feedback adjustment function according to claim 1 is characterized in that: A driving cavity (21) is arranged in the driving body (2), a driving gear (22) is arranged at the center of the driving cavity (21), a plurality of driving gears (23) are arranged around the driving gear (22), the driving gears (23) are meshed with the driving gear (22), a No. 1 motor is arranged outside the driving body (2), and a driving shaft of the No. 1 motor passes through the driving body (2) and is connected to the driving gear (22).

3. The loading and unloading robot with spacing feedback adjustment function according to claim 2 is characterized in that: A moving body (24) is provided at the bottom of the driving cavity (21), a rotating groove (25) and a moving groove (26) are provided in the moving body (24), and the rotating groove (25) is communicated with the moving groove (26).

4. The loading and unloading robot with spacing feedback adjustment function according to claim 3 is characterized in that: A worm wheel (27) is arranged on the side of the driving gear (23) away from the driving chamber (21), a moving block (28) is arranged in the moving groove (26), a worm (29) is arranged on the side of the moving block (28) close to the worm wheel (27), and the worm wheel (27) is meshed with the worm (29).

5. The loading and unloading robot with spacing feedback adjustment function according to claim 4 is characterized in that: The number of the clamping arms (3) is several, and the several clamping arms (3) are arranged around the axis of the driving body (2). The clamping arm (3) is composed of a fixed rod (31) and a cam (32). A micro motor is arranged inside the fixed rod (31). The driving shaft of the micro motor is connected to the cam (32), and the cam (32) is rotatably connected to the fixed rod (31).

6. The loading and unloading robot with spacing feedback adjustment function according to claim 5, characterized in that: The side of the clamping arm (3) away from the cam (32) is connected to the moving block (28), and a vortex ring (33) is arranged between two adjacent clamping arms (3), and the vortex ring (33) is made of rubber.

7. The loading and unloading robot with spacing feedback adjustment function according to claim 6 is characterized in that: A pressure bag (34) is arranged on the outer wall of the cam (32), a plurality of chambers (35) are arranged in the pressure bag (34), and no two adjacent chambers (35) are connected. A pressure sensor is arranged on a side of the cam (32) close to the pressure bag (34), and the pressure sensor is used to monitor the pressure change in the chamber (35).

8. The loading and unloading robot with spacing feedback adjustment function according to claim 6, characterized in that: An air passage (36) is provided in the vortex ring (33), and a plurality of nozzles (37) are provided on a side of the vortex ring (33) close to the clamping arm (3). The plurality of nozzles (37) are equally spaced around the axis of the vortex ring (33), and the nozzles (37) are connected to the air passage (36). The nozzles (37) are arranged in two rows, one above the other.

9. The loading and unloading robot with spacing feedback adjustment function according to claim 6, characterized in that: A connecting pipe (38) is provided between the swirl ring (33) and the driving chamber (21); the connecting pipe (38) is a bellows; one end of the connecting pipe (38) is connected to the driving chamber (21), and the other end of the connecting pipe (38) is connected to the airway (36).

10. The loading and unloading robot with spacing feedback adjustment function according to claim 2, characterized in that: The top of the driving gear (23) is provided with an air jet (39), and a side of the air jet (39) close to the driving gear (23) is provided with a plurality of branch ports, a part of which faces the meshing position between the driving gear (22) and the driving gear (23), and an air pump is provided on the mechanical arm, and the air pump is connected to the air jet (39) through a pipeline.

Images