Crystal bar grabbing equipment

Abstract

The utility model discloses crystal bar grabbing equipment. The crystal bar grabbing equipment comprises a moving device, a grabbing device and a driving device, the bracket is arranged on the moving device and moves under the driving of the moving device; the clamping device is arranged on the bracket and is suitable for clamping a crystal bar; the adsorption device is arranged on the bracket and is suitable for adsorbing a crystal bar; and the image acquisition device is arranged on the bracket. According to the embodiment of the utility model, the crystal bar grabbing equipment has the advantages of manpower saving, high automation degree, good stability, strong reliability and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of solar cell manufacturing, in particular to a crystal rod grabbing device. Background Art

[0002] In the stick-bonding production process, the long crystal rods need to be transferred to the assembly line.

[0003] The crystal rod transfer method in the related art is to manually carry the crystal rod to the assembly line. Since the crystal rod weighs about 60 kilograms, two people are required to carry it together. Since the crystal rod is too heavy and lacks force points, it is difficult to carry and the crystal rod is easy to fall due to operational errors. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a crystal rod grabbing device, which has the advantages of saving manpower, high automation, good stability, strong reliability, etc.

[0005] To achieve the above-mentioned purpose, according to an embodiment of the utility model, a crystal rod grasping device is proposed, and the crystal rod grasping device includes: a moving device; a bracket, the bracket is arranged on the moving device and moves under the drive of the moving device; a clamping device, the clamping device is arranged on the bracket and is suitable for clamping the crystal rod; an adsorption device, the adsorption device is arranged on the bracket and is suitable for adsorbing the crystal rod; and an image acquisition device, the image acquisition device is arranged on the bracket.

[0006] The crystal rod grabbing device according to the embodiment of the utility model has the advantages of saving manpower, high degree of automation, good stability, strong reliability, etc.

[0007] In addition, the crystal rod grabbing device according to the above embodiment of the utility model may also have the following additional technical features:

[0008] According to one embodiment of the utility model, the clamping device includes two clamping plates and a clamping plate driving device, the two clamping plates are movable between a clamping position for jointly clamping the crystal rod and a releasing position for releasing the crystal rod, and the clamping plate driving device is arranged on the bracket and is respectively connected to the two clamping plates in terms of transmission.

[0009] According to an embodiment of the present utility model, the clamping plate driving device includes two clamping plate driving assemblies, and the two clamping plate driving assemblies are respectively connected to the two clamping plates in driving connection.

[0010] According to an embodiment of the utility model, each of the splint drive components includes: a motor, which is arranged on the bracket; a screw, which is transmission-connected to the motor; and a slider, which is threadably matched with the screw and connected to the splint.

[0011] According to an embodiment of the utility model, a buffer pad is provided on each of the clamping plates.

[0012] According to an embodiment of the present invention, the adsorption device is a pneumatic suction cup.

[0013] According to an embodiment of the present invention, the adsorption devices are multiple and are arranged at intervals along the length direction of the bracket.

[0014] According to an embodiment of the present invention, the crystal rod grasping device further includes a fill light source, and the fill light source is arranged on the bracket.

[0015] According to an embodiment of the present invention, the clamping device is also suitable for clamping a crystal rod isolation plate.

[0016] According to an embodiment of the present invention, the moving device is a mechanical arm.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 It is a schematic structural diagram of a crystal rod grasping device according to an embodiment of the utility model, wherein the moving device is not shown.

[0020] Figure 2 It is a schematic structural diagram of a crystal rod grasping device according to an embodiment of the utility model, wherein the moving device is not shown.

[0021] Figure 3 1 is a schematic diagram of the structure of a crystal rod grasping device according to an embodiment of the utility model, wherein the moving device is not shown. Reference numerals: crystal rod grasping device 1, bracket 10, clamping device 20, clamping plate 21, clamping plate driving assembly 22, motor 221, lead screw 222, slider 223, reducer 224, buffer pad 23, adsorption device 30, image acquisition device 40, fill light source 50. DETAILED DESCRIPTION

[0022] The present invention is based on the discovery of the following facts and problems by the inventor of the present application:

[0023] The crystal rod transfer method in the related art is to manually carry the crystal rod to the assembly line. Since the crystal rod weighs about 60 kilograms, two people are required to carry it together. Since the crystal rod is too heavy and lacks force points, it is difficult to carry and the crystal rod is easy to fall due to operational errors.

[0024] Specifically, some crystal rod handling devices in the related art use claws to clamp the crystal rod, but due to the heavy weight of the crystal rod, the stability and reliability of the clamping are poor, and the crystal rod is easily displaced relative to the claws, causing the crystal rod to be scratched or even detached and fall. In addition, some gripping devices move by clamping the crystal tray and the crystal rod, but the crystal rod itself lacks positioning, and the crystal rod and the crystal tray are prone to relative movement.

[0025] Some crystal rod handling devices in the related art grab the crystal rod by suction cups, but lack horizontal positioning of the crystal rod, making it difficult to ensure the position of the crystal rod. In addition, the suction cups have a certain degree of flexibility, resulting in poor stability of the crystal rod after grabbing.

[0026] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] The crystal rod grasping device 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0030] like Figure 1-Figure 3 As shown, the crystal rod grasping device 1 according to the embodiment of the utility model includes a moving device, a bracket 10, a clamping device 20, an adsorption device 30 and an image acquisition device 40.

[0031] The support 10 is arranged on the mobile device and moves under the driving of the mobile device. The clamping device 20 is arranged on the support 10 and is suitable for clamping the crystal rod. The adsorption device 30 is arranged on the support 10 and is suitable for adsorbing the crystal rod. The image acquisition device 40 is arranged on the support 10.

[0032] Specifically, the mobile device positions the crystal rod according to the image captured by the image acquisition device 40, moves to the corresponding crystal rod position, clamps the crystal rod using the clamping device 20 and adsorbs the crystal rod using the adsorption device 30 to achieve the grasping of the crystal rod, and then the mobile device moves the crystal rod to the assembly line and releases the clamping device 20 and the adsorption device 30.

[0033] According to the crystal rod grasping device 1 of the embodiment of the utility model, after grasping the crystal rod, the crystal rod can be transferred to the assembly line through the moving device. Compared with the manual handling method in the related art, it can not only save manpower and improve the degree of automation of the production process, but also avoid the loss caused by the crystal rod falling during the handling process.

[0034] Furthermore, by providing the clamping device 20, the crystal rod can be clamped by the clamping device 20, and by providing the adsorption device 30, the crystal rod can be adsorbed by the adsorption device 30, thereby realizing the dual positioning of the crystal rod. Compared with the technical solution of only clamping the crystal rod in the related art, the crystal rod is further adsorbed by the adsorption device 30, thereby improving the stability and reliability of the crystal rod grasping, preventing the heavy crystal rod from sliding or even detaching, avoiding the crystal rod from being scratched or even falling, and directly clamping the crystal rod can ensure the stability of the crystal rod and avoid displacement between the crystal tray and the crystal rod compared with the method of clamping the crystal tray. Compared with the technical solution of only adsorbing the crystal rod in the related art, the crystal rod is further clamped by the clamping device 20, which can not only position the crystal rod in the horizontal direction and improve the position accuracy of the crystal rod grasping and releasing, but also improve the stability of the crystal rod after grasping and avoid shaking of the crystal rod.

[0035] In addition, by setting up the image acquisition device 40, the position of the crystal rod can be determined using the image captured by the image acquisition device 40, so that the moving device can accurately move the bracket 10 to the position of the crystal rod to be grasped according to the captured image, thereby facilitating the grasping of the crystal rod from the horizontally arranged crystal rods and the grasping of the stacked crystal rods, avoiding scratches on the crystal rods during the grasping process, improving the intelligence of the grasping, and further improving the reliability of the grasping.

[0036] Therefore, the crystal rod grasping device 1 according to the embodiment of the utility model has the advantages of saving manpower, high degree of automation, good stability, strong reliability, etc.

[0037] The crystal rod grasping device 1 according to a specific embodiment of the utility model is described below with reference to the accompanying drawings.

[0038] In some specific embodiments of the present invention, Figure 1-Figure 3 As shown, the crystal rod grasping device 1 according to the embodiment of the utility model includes a moving device, a bracket 10, a clamping device 20, an adsorption device 30 and an image acquisition device 40.

[0039] Specifically, Figure 1-Figure 3 As shown, the clamping device 20 includes two clamping plates 21 and a clamping plate driving device. The two clamping plates 21 can move between a clamping position for clamping the crystal ingot together and a releasing position for releasing the crystal ingot. The clamping plate driving device is arranged on the bracket 10 and is respectively connected to the two clamping plates 21. In this way, the two clamping plates 21 can be used to clamp the crystal ingot, which is convenient for positioning the horizontal position of the crystal ingot and for grabbing the crystal ingot.

[0040] More specifically, Figure 1 and Figure 2As shown, the clamping plate driving device includes two clamping plate driving components 22, and the two clamping plate driving components 22 are respectively connected to the two clamping plates 21. In this way, the two clamping plate driving components 22 can be used to independently drive the two clamping plates 21, thereby ensuring the clamping force of the clamping plates 21, preventing the crystal rod from slipping, and improving the reliability of clamping.

[0041] Advantageously, if Figure 1 and Figure 2 As shown, each clamping plate driving assembly 22 includes a motor 221, a lead screw 222 and a slider 223. The motor 221 is arranged on the clamping plate 21. The lead screw 222 is in transmission connection with the motor 221. The slider 223 is threadedly matched with the lead screw 222 and connected to the clamping plate 21. In this way, the rotation of the lead screw 222 can be converted into the axial movement of the slider 223 along the lead screw 222 through the threaded match between the lead screw 222 and the slider 223, and the lead screw 222 is driven to rotate together when the motor 221 rotates, so that the slider 223 moves along the axial direction of the lead screw 222, thereby further driving the clamping plate 21 to move. In this way, the threaded match between the lead screw 222 and the slider 223 can convert the smaller motor torque into a larger driving force for the clamping plate 21, thereby improving the driving force of each clamping plate driving assembly 22, further improving the clamping force of the two clamping plates 21, and further improving the reliability of the crystal rod clamping.

[0042] Specifically, the motor 221 and the screw 222 are connected via a reducer transmission, so that the high-speed and low-torque input of the motor 221 can be converted into a high-torque and low-speed output, reducing the speed of the screw 222 and increasing the torque of the screw 222, thereby further increasing the driving force on the clamping plate 21 and further increasing the clamping force.

[0043] More advantageously, if Figure 1 and Figure 2 As shown, each clamping plate 21 is provided with a buffer pad 23. In this way, the buffer pad 23 can not only buffer the process of clamping the crystal rod by the clamping plate 21 to prevent the clamping plate 21 from damaging the crystal rod, but also increase the friction force on the crystal rod to further prevent the crystal rod from falling off.

[0044] Figure 1-Figure 3 FIG. 1 shows a crystal rod grasping device 1 according to some examples of the present invention. Figure 2 As shown, the adsorption device 30 is a pneumatic suction cup. In this way, the crystal rod can be adsorbed by air pressure, which can not only further improve the stability and reliability of grasping, but also realize the adsorption and release control of the crystal rod through pneumatic control.

[0045] Advantageously, if Figure 2As shown, there are multiple adsorption devices 30 and they are spaced apart along the length direction of the bracket 10. In this way, multiple adsorption devices 30 can be used to adsorb the crystal rod, reducing the force on each adsorption device 30. On the one hand, the force on the crystal rod can be more uniform, and on the other hand, the adsorption strength of the crystal rod can be further improved, which is convenient for adsorbing heavy crystal rods and improves the adsorption reliability of heavy crystal rods.

[0046] More advantageously, if Figure 1 and Figure 3 As shown, the crystal rod grasping device 1 further includes a fill light source 50, which is disposed on the clamping plate 21. Specifically, the fill light source 50 fills light to the image acquisition area of ​​the image acquisition device 40, so as to avoid the image acquisition device 40 being unable to acquire a valid image due to shadow or insufficient ambient brightness, thereby ensuring the stability and reliability of the image acquisition of the image acquisition device 40, and thus ensuring the reliability of the positioning of the mobile device.

[0047] Specifically, the clamping device 20 is also suitable for clamping the crystal rod isolation plate. It should be understood here that the crystal rod isolation plate is used for the interval between the adjacent two sides of the stacked crystal rods, which is different from the crystal support used on the assembly line. Specifically, the clamping plate 21 has an isolation plate clamping position in addition to the clamping position and the release position, and the two clamping plates 21 are suitable for clamping the crystal rod isolation plate together when they are in the isolation plate clamping position. In this way, after the crystal rod grasping device 1 grasps a layer of crystal rods, the crystal rod isolation plate can be grasped onto the bracket to facilitate grasping the next layer of crystal rods, thereby realizing continuous grasping of stacked multi-layer crystal rods without the need to manually transfer the crystal rod isolation plate, further improving the degree of automation of the crystal rod grasping device 1.

[0048] Specifically, the crystal rods are arranged in multiple layers when stacked, each layer includes multiple crystal rods arranged at intervals in the horizontal direction, and two adjacent layers of crystal rods are separated by a crystal rod isolation plate. Each crystal rod isolation plate may be provided with multiple crystal rod positioning grooves. Multiple crystal rods are respectively fitted in the multiple crystal rod positioning grooves.

[0049] Optionally, the moving device is a mechanical arm, which can be used to drive the support 10 to move, thereby driving the grasped crystal rod to move.

[0050] The image acquisition device 40 may be a camera or a webcam.

[0051] Specifically, the image acquisition device 40 acquires images of the stacked crystal rods, the control device analyzes the images to determine the contours of the crystal rods and the isolation plate, and the robotic arm moves the bracket 10 to the crystal rod to be grasped according to the acquired images. The two clamping plates 21 of the clamping device 20 clamp the crystal rod under the drive of the motor 221, and the adsorption device 30 adsorbs the crystal rod to achieve the grasping of the crystal rod. Then, the robotic arm drives the bracket 10 to move the crystal rod to the assembly line, and the clamping device 20 and the adsorption device 30 release the crystal rod to complete the transfer of a crystal rod.

[0052] When the top layer of stacked crystal rods has been grabbed, the program determines through counting that the crystal rod isolation plate needs to be grabbed, and the robot moves the clamping device 20 to the corresponding crystal rod isolation plate according to the collected image. The clamping plate 21 clamps the crystal rod isolation plate under the drive of the motor 221, and then the robot moves the crystal rod isolation plate to the bracket of the stacked isolation plate to continue the transfer of the next layer of crystal rods.

[0053] When all the crystal rods on a tray are taken, the employees use a forklift to replace it with a new tray full of crystal rods. When the tray is full of crystal rod isolation plates, the employees use a forklift to replace it with a new tray.

[0054] Other structures and operations of the crystal rod grasping device 1 according to the embodiment of the utility model are known to ordinary technicians in the field and will not be described in detail here.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A crystal rod grabbing device, It is characterized in that include: Mobile devices; A bracket, the bracket being arranged on the moving device and moving under the driving of the moving device; A clamping device, the clamping device is arranged on the support and is suitable for clamping the crystal rod; An adsorption device, which is arranged on the support and is suitable for adsorbing the crystal rod; An image acquisition device is arranged on the bracket.

2. The crystal rod grasping device according to claim 1, It is characterized in that The clamping device includes two clamping plates and a clamping plate driving device. The two clamping plates are movable between a clamping position for jointly clamping the crystal rod and a releasing position for releasing the crystal rod. The clamping plate driving device is arranged on the bracket and is respectively connected to the two clamping plates in a transmission manner.

3. The crystal rod grasping device according to claim 2, It is characterized in that The clamping plate driving device comprises two clamping plate driving assemblies, and the two clamping plate driving assemblies are respectively connected to the two clamping plates in a transmission manner.

4. The crystal rod grasping device according to claim 3, It is characterized in that Each of the clamping plate drive assemblies comprises: A motor, wherein the motor is arranged on the bracket; A lead screw, the lead screw being drivingly connected to the motor; A sliding block is threadably matched with the lead screw and connected to the clamping plate.

5. The crystal rod grasping device according to claim 2, It is characterized in that Each of the clamping plates is provided with a buffer pad.

6. The crystal rod grasping device according to claim 1, It is characterized in that The adsorption device is a pneumatic suction cup.

7. The crystal rod grasping device according to claim 6, It is characterized in that The adsorption devices are multiple and are arranged at intervals along the length direction of the bracket.

8. The crystal rod grasping device according to claim 1, It is characterized in that It also includes a fill light source, which is arranged on the bracket.

9. The crystal rod grasping device according to claim 1, It is characterized in that The clamping device is also suitable for clamping a crystal rod isolation plate.

10. The crystal rod grasping device according to claim 1, It is characterized in that The moving device is a mechanical arm.

Images