Solar cell carrying manipulator for trough type cleaning machine

Abstract

The invention discloses a solar cell carrying manipulator for a trough type cleaning machine, and relates to the technical field of carrying manipulators. Comprising a cleaning machine rack, a mounting base is fixed to the inner side of the top of the cleaning machine rack, a sliding rail base is longitudinally mounted at the lower end of the mounting base, mounting frames are connected into cavities in the two sides of the sliding rail base through reciprocating lead screws, and the lower ends of the mounting frames are connected with fixing frames through spring limiting sleeves; the device further comprises an oil storage assembly, the oil storage assembly is arranged in the sliding rail seat, a one-way extrusion assembly is arranged between the sliding rail seat and the fixing frame, the lower end of the fixing frame is connected with a supporting seat through an electric push rod, and vibration assemblies are arranged between the interiors of the two sides of the fixing frame and the upper end of the supporting seat. According to the carrying manipulator, in the carrying process, continuous lubrication of the guide rails is achieved, movement friction is reduced, the draining efficiency is guaranteed, and the integrity of battery pieces is protected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of handling manipulator, in particular to a solar cell handling manipulator for slot cleaning machine. BACKGROUND

[0002] The solar cell handling manipulator for slot cleaning machine is mainly used for realizing the automatic handling and feeding and discharging operation of the solar cell in the solar cell cleaning process, accurately transporting the solar cell placed in the flower basket or the cell box from the material table to the cleaning tank, switching the position, and transporting the cleaned solar cell from the cleaning tank to the discharging position, so as to accurately transmit the solar cell between different stations. When the handling manipulator is in load operation, it is inconvenient to continuously lubricate and reduce the friction of the guide rail. As a key moving part, the guide rail is prone to wear due to long-term stress, which not only damages the straightness and flatness of the guide rail, reduces the positioning accuracy of the manipulator, increases the risk of collision and scratching of the solar cell, but also increases the running friction, causes equipment shaking, jamming and other problems, reduces the running stability, and regular maintenance and replacement of the guide rail increase the maintenance cost and downtime, affecting the production efficiency. Moreover, the traditional draining measure of the manipulator is to drain the water at the same time as the flower basket carrying the solar cell, which not only aggravates the friction and collision risk between the solar cells, causes edge cracking or surface scratching, but also further aggravates the uneven wear of the guide rail, and causes the water droplets to fall disorderly during the draining process, which affects the draining effect and increases the hidden danger of subsequent solar cell pollution and equipment failure.

[0003] In view of the above problems, it is necessary to make innovative design on the basis of the original solar cell handling manipulator for slot cleaning machine. SUMMARY

[0004] The present application aims to provide a solar cell handling manipulator for slot cleaning machine to solve the problems of guide rail wear and draining mentioned in the background art. The technical solution of the present application provides a solution significantly different from the prior art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a solar cell handling manipulator for slot cleaning machine, comprising a cleaning machine rack, a mounting seat is fixed on the top inner side of the cleaning machine rack, a slide rail seat is longitudinally installed at the lower end of the mounting seat, a mounting frame is connected through a reciprocating screw rod in the cavities on both sides of the slide rail seat, and a fixed frame is connected through a spring limiting sleeve at the lower end of the mounting frame. The oil storage assembly is arranged in the interior of the slide rail seat, a one-way extrusion assembly is arranged between the slide rail seat and the fixed frame, the lower end of the fixed frame is connected with a supporting seat through an electric push rod, a vibration assembly is arranged between the interior of the two sides of the fixed frame and the upper end of the supporting seat, and a boom is oppositely arranged in the interior of the bottom of the supporting seat through a bidirectional screw rod.

[0006] Preferably, the oil storage assembly comprises an oil storage tank, the oil storage tank is arranged in the interior of the middle part of the slide rail seat, a squeeze oil plate is arranged in the interior of the oil storage tank in the transverse direction, oil pipelines are arranged at the two sides of the bottom of the oil storage tank, the tail ends of the oil pipelines are communicated with the bottom cavities of the balls, and the balls are embeddedly arranged in the bottom cavities of the two sides of the slide rail seat.

[0007] Preferably, the one-way extrusion assembly comprises an adjusting column, the top end of the adjusting column is fixed in the bottom of the squeeze oil plate, adjusting blocks are connected in the cavities of the lower end edges of the adjusting column through springs, the lower end of the adjusting column moves in the vertical direction in the interior of the guide groove arranged in the top of the fixed frame, and the inner wall of the guide groove is fixed with a push strip.

[0008] Preferably, the adjusting blocks are vertically and equidistantly distributed on the adjusting column, the outer end of the adjusting block is designed as a right trapezoidal structure, the outer end of the adjusting block is arranged in a downward inclined surface, and the adjusting block is in contact with the end of the push strip.

[0009] Preferably, the vibration assembly comprises an elastic telescopic rod, the elastic telescopic rod is fixed on the inner wall of the cavity arranged in the bottom of the outer end of the fixed frame, an active column is connected to the inner end of the elastic telescopic rod, a push block is fixed at the top edge of the active column, the end of the push block is in abutment with a sliding block, the sliding block is fixed to the outer side below the mounting frame, a rotating plate is unidirectionally arranged in the cavity of the inner wall of the lower end of the active column through a torsional spring, a fixed rod is fixed to the top of the supporting seat, and a convex block is arranged on the outer side of the fixed rod.

[0010] Preferably, the push block is designed as a right trapezoidal structure, and the bottom inclined surface of the push block is matched with the inclined surface of the sliding block.

[0011] Preferably, the rotating plates are vertically and equidistantly distributed on the active column, the rotating plates are unidirectionally rotated downward, the convex block is designed as a circular arc structure, and the active track of the convex block is in contact with the rotating plate.

[0012] Preferably, the lower end of the mounting frame is designed as an "L" shape, and the mounting frame is elastically slid in the vertical direction on the fixed frame through a spring.

[0013] Compared with the prior art, the present application has the following beneficial effects: In the present application, when the support seat is pushed down by the electric push rod, the boom will be lowered into the groove washer, under the action of the bidirectional screw rod, the boom moves synchronously inward, and the flower basket / sheet box carrying the solar cell piece is stably grabbed. After the grabbing is completed, the mounting frame connected with the fixed frame starts to run smoothly along the preset slide rail seat, the boom puts the flower basket / sheet box of the solar cell piece into the next washer, in the process, the oil storage assembly arranged in the slide rail seat runs smoothly along the inner wall of the oil storage tank under the driving of the one-way extrusion assembly, and the oil in the extrusion tank forms a stable pressure, and then flows into the preset oil pipeline from the oil outlet of the oil storage tank, thereby providing continuous and stable oil supply for the lower end of the ball between the mounting frame and the slide rail seat. The ball can complete the oil lubrication effect when running, reduce the friction between the mounting frame and the slide rail seat, and reduce the loss; In the present application, when the unloading is finished, the support seat moves up to reset, at this time the convex block contacts with the rotating plate, through the one-way rotation of the rotating plate, the convex block is driven to swing by the force, and then the support seat is slightly vibrated to shake off the water on the boom, avoiding pollution. When the boom carries heavy objects, the fixed frame is forced to move down, the movable column is pushed to move horizontally by the sliding block and the push block, so that the rotating plate and the convex block are separated, at this time the up and down movement of the support seat will not vibrate due to the rotating plate and the convex block, and the battery piece can be protected, which is convenient for the transfer of the battery piece. In this process, the vibration and stable feeding can be switched by the gravity of the battery piece, on the one hand, the efficiency of draining water is ensured, and on the other hand, the battery piece can be simply protected, which greatly improves the cleaning effect and integrity of the battery piece. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the mechanical hand structure of the present application; Figure 3 It is a schematic diagram of the mechanical hand structure of the present application; Figure 2 It is a schematic diagram of the enlarged structure at A in the present application; Figure 4 It is a schematic diagram of the enlarged structure at B in the present application; Figure 2 Figure 5 It is a schematic diagram of the enlarged structure at C in the present application; Figure 2 Figure 6 It is a schematic diagram of the enlarged structure at D in the present application; Figure 2 ​​​In the figure: 1, cleaning machine frame; 2, mounting seat; 3, slide rail seat; 4, mounting frame; 41, ball; 5, reciprocating screw; 6, fixed frame; 71, oil storage tank; 72, extrusion plate; 73, oil pipeline; 81, adjusting column; 82, adjusting block; 83, guide groove; 84, push bar; 91, elastic telescopic rod; 92, movable column; 93, push block; 94, sliding block; 95, rotating plate; 96, fixed rod; 97, protruding block; 10, electric push rod; 11, support seat; 12, bidirectional screw; 13, boom. DETAILED DESCRIPTION

[0015] 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 part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0016] Please refer to Figures 1-6 The present application provides a technical solution: a solar cell handling manipulator for a slot type cleaning machine, comprising a cleaning machine frame 1, a mounting seat 2 fixed to the inner side of the top of the cleaning machine frame 1, a slide rail seat 3 longitudinally mounted at the lower end of the mounting seat 2, a mounting frame 4 connected to the fixed frame 6 through the spring limiting sleeve at the lower end of the mounting frame 4 through the reciprocating screw 5 connected in the cavities on both sides of the slide rail seat 3. The lower end of the fixed frame 6 is connected to the support seat 11 through the electric push rod 10, the vibration assembly is arranged between the inner sides of the fixed frame 6 and the upper end of the support seat 11, the boom 13 is oppositely mounted through the bidirectional screw 12 at the inner bottom of the support seat 11, and the bidirectional screw 12 is threadedly connected with the boom 13. The mounting frame 4 runs longitudinally in the slide rail seat 3 through the reciprocating screw 5 controlled by the motor, the slide rail seat 3 is threadedly connected with the reciprocating screw 5, and is stably moved to the upper side of the target cleaning tank. Under the pushing of the electric push rod 10, the support seat 11 vertically runs downward, so that the boom 13 extends into the inside of the cleaning tank. The bidirectional screw 12 is rotated through the motor control, the booms 13 on both sides move towards each other, grab the flower basket / slice box of the solar cell, the electric push rod 10 drives the support seat 11 to move upward and reset, the mounting frame 4 runs longitudinally in the slide rail seat 3 through the reciprocating screw 5, carries the grabbed flower basket / slice box of the solar cell to the upper side of the next cleaning tank, cooperates with the rolling of the ball 41, reduces the friction between the mounting frame 4 and the slide rail seat 3, and reduces the loss.

[0017] As an embodiment of the present application, the oil storage assembly comprises an oil storage tank 71, which is arranged inside the middle part of the slide rail seat 3, and a squeezing plate 72 is arranged inside the oil storage tank 71, and oil conveying pipes 73 are arranged at the bottom of the oil storage tank 71, and the ends of the oil conveying pipes 73 are connected with the bottom cavity of the ball 41, and the ball 41 is embeddedly arranged at the bottom of the cavity of the slide rail seat 3; the one-way squeezing assembly comprises an adjusting column 81, the top end of the adjusting column 81 is fixed at the bottom of the squeezing plate 72, a adjusting block 82 is connected with the cavity at the lower end of the adjusting column 81 through a spring, and the lower end of the adjusting column 81 moves vertically inside the guide groove 83 arranged at the top of the fixing frame 6, and a push strip 84 is fixed on the inner wall of the guide groove 83; the adjusting blocks 82 are vertically and equidistantly arranged on the adjusting column 81, the outer end of the adjusting block 82 is designed as a right-angled trapezoidal structure, and the inclined surface of the outer end of the adjusting block 82 is arranged downward, and the adjusting block 82 is in contact with the end of the push strip 84; When the fixing frame 6 moves downward under force, the push strip 84 on the inner wall of the guide groove 83 moves vertically downward, the push strip 84 moves downward and is in contact with the right-angled surface of the adjusting block 82, the adjusting block 82 and the adjusting column 81 move downward by one unit distance, the adjusting column 81 drives the squeezing plate 72 at the top to move vertically downward by one unit distance along the inner wall of the oil storage tank 71, so that the oil flows smoothly from the oil outlet of the oil storage tank 71 into the prearranged oil conveying pipe 73, thereby providing oil supply for the lower end of the ball 41 between the mounting frame 4 and the slide rail seat 3, and further, when the push strip 84 moves upward with the fixing frame 6 and returns to the original position, the push strip 84 is in contact with the inclined surface of the adjusting block 82, the adjusting block 82 is pushed into the cavity outside the adjusting column 81, and the subsequent reset is realized through the spring, so that the adjusting column 81 moves downward by one unit distance in each process of the fixing frame 6, and the ball 41 is continuously supplied with oil.

[0018] When the oil storage tank 71 is replenished with oil, new oil can be injected into the inside through the oil injection port outside the oil storage tank 71, and the adjusting column 81 is manually rotated, so that the adjusting block 82 is temporarily separated from the push strip 84, and with the entry of the oil, the squeezing plate 72 is pushed upward to return to the original position through the adjusting column 81, and then the adjusting column 81 is rotated to return to the original position, so that continuous lubrication operation is facilitated, and then the mounting frame 4 runs longitudinally in the slide rail seat 3 through the reciprocating screw rod 5, and the flower basket / sheet box of the solar cell piece grabbed is transported to the upper side of the next cleaning tank, and cooperates with the rolling of the ball 41 to reduce the friction between the mounting frame 4 and the slide rail seat 3.

[0019] As an embodiment of the present application, the vibration assembly comprises an elastic telescopic rod 91 fixed on the inner wall of the cavity opened at the bottom of the outer end of the fixed frame 6, the inner end of the elastic telescopic rod 91 is connected with a movable column 92, the top edge of the movable column 92 is fixed with a push block 93, the end of the push block 93 abuts against a sliding block 94 fixed on the outer side below the mounting frame 4, the inner wall cavity of the lower end of the movable column 92 is unidirectionally installed with a rotating plate 95 through a torsion spring, the top of the support base 11 is fixed with a fixed rod 96, and the outer side of the fixed rod 96 is provided with a protruding block 97; the push block 93 is designed as a right trapezoidal structure, the bottom inclined surface of the push block 93 is fitted with the inclined surface of the sliding block 94; the rotating plate 95 is vertically and equidistantly distributed on the movable column 92, the rotating plate 95 is unidirectionally downwardly rotated, the protruding block 97 is designed as a circular arc structure, and the movement track of the protruding block 97 is in contact with the rotating plate 95. The lower end of the mounting frame 4 is designed as an "L" shape, the mounting frame 4 is vertically and elastically slid on the fixed frame 6 through a spring, The fixed frame 6 is stressed to stably descend along the mounting frame 4, so that the bottom inclined surface of the push block 93 is fitted and descended along the inclined surface of the sliding block 94, and then the push block 93 abuts against the sliding block 94, so that the movable column 92 is away from the fixed rod 96, that is, the rotating plate 95 and the protruding block 97 are separated, at this time, the support base 11 is upwardly and downwardly movable, and vibration is not generated due to the rotating plate 95 and the protruding block 97.

[0020] When the blanking ends, the carrying manipulator is not affected by the heavy object, at this time, the fixed frame 6 is upwardly reset under the action of the spring, and the movable column 92 away from the fixed rod 96 is restored to the initial position under the action of the elastic telescopic rod 91, is moved to the vicinity of the fixed rod 96, and the support base 11 is upwardly reset under the driving of the electric push rod 10, at this time, the protruding block 97 is upwardly reset and in contact with the rotating plate 95, at this time, the rotating plate 95 cannot be rotated into the cavity, so that the protruding block 97 is stressed to drive the upper half of the fixed rod 96 of the metal material to be transversely movable, and when the protruding block 97 is separated from the rotating plate 95, the fixed rod 96 is reset according to the material characteristics, the fixed rod 96 is reciprocatingly swung to generate vibration through the cooperation of the plurality of rotating plates 95 (the fixed rod 96 of the metal material has certain elasticity and rigidity, so that it can be swung under external force, for example, iron, aluminum and copper), and the vibration is transmitted to the suspender 13 through the support base 11 to shake the water on the suspender 13.

[0021] The working principle of the present application is as follows: Firstly, the handling robot is in the initial state, after receiving the transfer instruction, the mounting frame 4 runs longitudinally in the slide rail seat 3 through the reciprocating screw rod 5 controlled by the motor, moves stably to the upper side of the target cleaning tank, under the push of the electric push rod 10, the support seat 11 runs vertically downward, the hanger rods 13 extend into the cleaning tank, through the rotation of the bidirectional screw rod 12 controlled by the motor, the hanger rods 13 on both sides move towards each other to grab the solar cell tray / cassette, at this time the hanger rods 13 bear the load, since the fixed frame 6 is a spring limiting sleeve connected to the mounting frame 4, the fixed frame 6 moves downward stably under the force, so that the bottom inclined surface of the push block 93 moves downward along the inclined surface of the sliding block 94, and then the push block 93 abuts against the sliding block 94, so that the movable column 92 moves away from the fixed rod 96, that is, the rotating plate 95 and the protruding block 97 are separated, at this time the support seat 11 moves up and down, and does not vibrate due to the rotating plate 95 and the protruding block 97, so as to protect the solar cell and facilitate the transfer of the solar cell; at the same time, the fixed frame 6 moves downward under the force, so that the push strip 84 on the inner wall of the guide groove 83 moves vertically downward, the push strip 84 moves downward and contacts the right angle surface of the adjusting block 82, which pushes the adjusting block 82 and the adjusting column 81 to move downward by one unit distance, the adjusting column 81 drives the oil squeezing plate 72 at the top to move vertically downward along the inner wall of the oil storage tank 71 by one unit distance, so that the oil flows smoothly from the oil outlet of the oil storage tank 71 into the preset oil pipeline 73, and then provides oil supply for the lower end of the ball 41 between the mounting frame 4 and the slide rail seat 3, further, when the push strip 84 moves upward with the fixed frame 6 and resets, the push strip 84 contacts the inclined surface of the adjusting block 82, which pushes the adjusting block 82 into the cavity outside the adjusting column 81, and then resets through the spring, so that the adjusting column 81 moves downward by one unit distance in each process of the fixed frame 6, and continuously supplements the ball 41 with oil, when the oil storage tank 71 is supplemented with oil, new oil can be injected into the inside through the oil injection port outside the oil storage tank 71, and the adjusting column 81 is manually rotated to temporarily separate the adjusting block 82 from the push strip 84, and then the adjusting column 81 is rotated to reset, so as to continuously lubricate, then the mounting frame 4 runs longitudinally in the slide rail seat 3 through the reciprocating screw rod 5, and moves the grabbed solar cell tray / cassette to the upper side of the next cleaning tank, cooperates with the rolling of the ball 41 to reduce the friction between the mounting frame 4 and the slide rail seat 3, and reduces the loss; When the blanking ends, the handling robot has no heavy object influence, at this time the fixed frame 6 is reset upward under the action of the spring, and the movable column 92 away from the fixed rod 96 is restored to the initial position under the action of the elastic expansion rod 91, moves to the vicinity of the fixed rod 96, and the support seat 11 is reset upward under the action of the electric push rod 10, at this time the protrusion 97 moves upward and contacts the rotating plate 95, at this time the rotating plate 95 cannot be rotated into the cavity, so that the protrusion 97 drives the upper half of the fixed rod 96 of the metal material to be offset and moved horizontally, and when the protrusion 97 is separated from the rotating plate 95, the fixed rod 96 is reset according to its own material characteristics, through the cooperation of multiple rotating plates 95, the fixed rod 96 reciprocatingly swings to generate vibration, the thickness and material hardness of the movable column 92 are greater than those of the fixed rod 96, and the elastic force of the elastic expansion rod 91 is greater than the material rigidity of the fixed rod 96, based on this, first, the elastic expansion rod 91 is located in the upper region of the movable column 92, and the fixed rod 96 is located in the lower half region of the movable column 92, at this time the force of the fixed rod 96 is also limited by the distance and cannot be transmitted to the elastic expansion rod 91, and then when the protrusion 97 contacts the rotating plate 95, the end of the fixed rod 96 is offset and moved under force, while the movable column 92 does not move, and the vibration is transmitted to the suspender 13 through the support seat 11, so that the water on the suspender 13 is shaken off to avoid pollution, and since the rotating plate 95 can be rotated downward in one direction, the suspender 13 will not vibrate when the support seat 11 moves downward for handling work.

[0022] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] Although the present application has been described in detail with reference to the foregoing embodiments, the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced by equivalent features, by those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A solar cell handling robot for a trough cleaning machine, comprising a cleaning machine frame (1), wherein a mounting base (2) is fixed on the inner top of the cleaning machine frame (1), a slide rail seat (3) is longitudinally mounted on the lower end of the mounting base (2), and a mounting frame (4) is connected to the cavity on both sides of the slide rail seat (3) by a reciprocating screw (5), and a fixing frame (6) is connected to the lower end of the mounting frame (4) by a spring limiting sleeve. Its features are: It also includes an oil storage component, which is located inside the slide rail seat (3). A one-way extrusion component is provided between the slide rail seat (3) and the fixed frame (6). The lower end of the fixed frame (6) is connected to a support seat (11) via an electric push rod (10). A vibration component is provided between the inner sides of the fixed frame (6) and the upper end of the support seat (11). A hanger (13) is installed in opposite directions at the bottom of the support seat (11) via a two-way screw rod (12).

2. The solar cell handling robot for a trough cleaning machine according to claim 1, characterized in that: The oil storage assembly includes an oil storage tank (71), which is located inside the middle of the slide rail seat (3). An oil squeezing plate (72) is arranged horizontally inside the oil storage tank (71). Oil delivery pipes (73) are installed on both sides of the bottom of the oil storage tank (71), and the ends of the oil delivery pipes (73) are connected to the bottom cavity of the ball bearings (41). The ball bearings (41) are embedded in the bottom of the cavities on both sides of the slide rail seat (3).

3. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 2, characterized in that: The unidirectional extrusion assembly includes an adjusting column (81), the top of which is fixed to the bottom of the extrusion plate (72). An adjusting block (82) is connected to the cavity on the lower side of the adjusting column (81) by a spring. The lower end of the adjusting column (81) moves vertically inside the guide groove (83) opened on the top of the fixing frame (6). A pusher (84) is fixed to the inner wall of the guide groove (83).

4. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 3, characterized in that: The adjusting blocks (82) are vertically and equally spaced on the adjusting column (81). The outer end of the adjusting block (82) is designed as a right-angled trapezoidal structure, and the outer end of the adjusting block (82) is set with the inclined surface facing downward. The adjusting block (82) is in contact with the end of the push bar (84).

5. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 4, characterized in that: The vibration assembly includes an elastic telescopic rod (91), which is fixed to the inner wall of a cavity opened at the bottom of the outer end of the fixed frame (6). The inner end of the elastic telescopic rod (91) is connected to a movable column (92). A push block (93) is fixed at the top edge of the movable column (92). A slider (94) is abutted at the end of the push block (93). The slider (94) is fixed on the outer side below the mounting frame (4). A rotating plate (95) is installed unidirectionally in the inner wall cavity at the lower end of the movable column (92) by a torsion spring. A fixed rod (96) is fixed at the top of the support base (11). A protrusion (97) is provided on the outer side of the fixed rod (96).

6. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 5, characterized in that: The push block (93) is designed as a right-angled trapezoidal structure, and the bottom inclined surface of the push block (93) is in contact with the inclined surface of the slider (94).

7. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 6, characterized in that: The rotating plates (95) are vertically and equally spaced on the movable column (92). The rotating plates (95) rotate downward in one direction. The protrusions (97) are designed with an arc shape. The movement trajectory of the protrusions (97) is in contact with the rotating plates (95).

8. A robotic arm for handling solar cells in a trough-type cleaning machine according to claim 7, characterized in that: The lower end of the mounting bracket (4) is designed in an "L" shape, and the mounting bracket (4) slides vertically elastically on the fixed bracket (6) by means of a spring.

Images