Rotary arm manipulator capable of controlling material direction

Abstract

A material direction control rotating arm manipulator comprises a driving assembly and a rotating arm, one end of the rotating arm is fixed to the output end of the driving assembly, the other end of the rotating arm is connected with a suction cup, the rotating arm rotates along the output end of the driving assembly, and a direction keeping module comprises a crank connecting rod assembly, a connecting rod assembly, a linear guide rail assembly and a rocker assembly. One end of the crank connecting rod assembly is rotationally connected to the fixing base, the other end of the crank connecting rod assembly is rotationally connected to the linear guide rail assembly, one end of the connecting rod assembly is rotationally connected to the linear guide rail assembly, and the other end of the connecting rod assembly is rotationally connected to one end of the rocker assembly. A first connecting point where the crank connecting rod assembly is connected with the fixing base does not coincide with the output end of the driving assembly. The utility model provides a rotating arm manipulator capable of controlling the material direction. The material direction can be controlled without adding extra power.

Description

Technical Field

[0001] The present application relates to a rotating arm robot with material direction control, belonging to the technical field of sheet material transmission and processing. Background Art

[0002] With the continuous development of photovoltaic solar cells, the types of solar cells are also increasing. When solar cells are processed in different processes, especially laser grooving and printing, there may be different requirements for the processing direction of solar cells, which requires the direction of solar cells to be adjusted.

[0003] In the prior art, the solar cell can be rotated by rotating the solar cell work platform, but this causes a waste of time. In the prior art, there are also methods that use a multi-axis manipulator to rotate the cell at the same time during the process of transporting the cell to achieve direction adjustment, or install a rotating device on the manipulator to achieve it. However, when there are different requirements for the directions of loading, processing and unloading, the above solutions cannot meet the needs. In the prior art, there are also methods that use synchronous belts to keep the angle of the cell unchanged during the transportation of the robot. This structure can meet the requirements of most processes, but it cannot meet the requirements for occasions with high positioning accuracy. Therefore, there is an urgent need for a structure to meet this requirement. Utility Model Content

[0004] In view of this, the present application provides a rotating arm robot with material direction control, which can control the material direction without adding additional power, aiming to solve the problems of the prior art.

[0005] A material direction-controlled swivel arm robot comprises a driving assembly and a swivel arm, wherein one end of the swivel arm is fixed to the output end of the driving assembly, and the other end is connected to a suction cup, and the swivel arm rotates along the output end of the driving assembly. The robot also comprises a direction maintaining module, wherein the direction maintaining module comprises a crank-connecting rod assembly, a connecting rod assembly, a linear guide rail assembly and a rocker assembly, wherein one end of the crank-connecting rod assembly is rotatably connected to a fixed seat, and the other end is rotatably connected to the linear guide rail assembly, one end of the connecting rod assembly is rotatably connected to the linear guide rail assembly, and the other end is rotatably connected to one end of the rocker assembly, and the other end of the rocker assembly is rotatably connected to the swivel arm and fixedly connected to the suction cup; the first connection point where the crank-connecting rod assembly is connected to the fixed seat does not coincide with the output end of the driving assembly.

[0006] In one embodiment of a material direction controlled rotating arm robot, the linear guide rail assembly includes a linear guide rail arranged along the extending direction of the rotating arm, the slider slides along the linear guide rail, and the crank connecting rod assembly and the connecting rod assembly are both rotatably connected to the connecting plate of the slider.

[0007] In one embodiment of a material direction controlled rotating arm robot, the crank connecting rod assembly includes a first connecting rod, a first bearing kit and a second bearing kit, wherein both ends of the first connecting rod are rotatably connected to a fixed seat through the first bearing kit, and are rotatably connected to a connecting plate of a slider of a linear guide assembly through the second bearing kit.

[0008] In one embodiment of a material direction controlled rotating arm robot, the connecting rod assembly includes a second connecting rod, an adjusting rod, a first joint bearing and a second joint bearing. One end of the second connecting rod is connected to the adjusting rod, and is connected to the first joint bearing and / or the second joint bearing through the adjusting rod. The second connecting rod is rotationally connected to the rocker assembly through the first joint bearing, and is rotationally connected to the slider connecting plate of the linear guide assembly through the second joint bearing.

[0009] In one embodiment of a material direction controlled rotating arm robot, the rocker assembly includes a holding ring and a rotating shaft, the holding ring clamps the rotating shaft to fix the rotating shaft, the rotating shaft passes through the rotating arm and is rotatably connected to the rotating arm, and the suction cup is fixedly connected to the rotating shaft and rotates with the rotation of the rotating shaft.

[0010] In one embodiment of a material direction controlled swivel arm robot, a fixed seat is arranged above the swivel arm and does not rotate with the swivel arm, a crank connecting rod assembly, a connecting rod assembly, a linear guide rail assembly and a rocker assembly are all arranged above the swivel arm, a suction cup is arranged below the swivel arm, and one end of the rocker assembly passes through the swivel arm and is fixedly connected to the suction cup.

[0011] In a material direction-controlled rotating arm robot of one embodiment, the connection point between the crank connecting rod assembly and the fixed seat is on the extension line of the movement trajectory of the slider of the linear guide assembly.

[0012] In an embodiment of a material direction controlled rotating arm robot, two suction cups are arranged side by side on each rotating arm along an edge perpendicular to the extending direction of the rotating arm.

[0013] In one embodiment of a material direction-controlled rotating arm robot, each suction cup is provided with a corresponding rocker assembly, and the connecting rod assemblies include two, one end of the two connecting rod assemblies is connected to the connecting plate of the slider of the linear guide assembly, and the other end is connected to the rocker assembly corresponding to one of the suction cups.

[0014] In one embodiment of a material direction-controlled rotating arm robot, there are two rotating arms, which are arranged at 60 degrees, 90 degrees, 120 degrees or 180 degrees along the output shaft of the driving component, and a direction maintaining module is correspondingly arranged on each rotating arm.

[0015] In one embodiment of a material direction-controlled rotating arm robot, there are two rotating arms, which are arranged at 90 degrees along the output shaft of the driving component, and a direction maintaining module is correspondingly arranged on each rotating arm.

[0016] Through the above technical solution, this application achieves the following technical effects.

[0017] The present application provides a rotating arm robot with material direction control, which can control the material direction without adding additional power, thus solving the problems of the prior art.

[0018] The present application provides a rotating arm robot with material direction control, in which the connection position of the crank-connecting rod assembly and the fixed seat is on the extension line of the movement trajectory of the slider of the linear guide assembly, so that when the rotating arm starts and stops, the movement speed of the slider along the linear guide is zero, and the rotation speed of the rocker mechanism around the rotating shaft is zero, that is, the rotation speed of the suction cup is zero, thereby reducing the impact of the suction cup sucking materials when starting and stopping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic structural diagram of a rotating arm manipulator for material direction control according to an embodiment of the present application;

[0021] Figure 2 A schematic top view of a rotating arm manipulator for material direction control according to an embodiment of the present application;

[0022] Figure 3 Schematic diagram of top view of the first and second states of the rotating arm manipulator for material direction control of the present application.

[0023] In the figure, 10-drive assembly, 11-motor, 12-motor seat support plate, 13-reducer;

[0024] 20-crank connecting rod assembly, 21-first bearing kit, 22-first connecting rod, 23-second bearing kit;

[0025] 31-connecting rod assembly, 32-linear guide rail assembly, 33-rocker assembly;

[0026] 311-first joint bearing, 312-second connecting rod, 313-adjusting rod, 314-second joint bearing;

[0027] 32-linear guide rail assembly, 321-linear guide rail, 322-connecting plate;

[0028] 33- rocker assembly, 331- holding ring, 333- rotating shaft;

[0029] 51-fixed seat, 52-rotating arm, 53-suction cup, 54-T-plate. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0032] Secondly, the present application is described in detail with reference to the schematic diagram. When describing the embodiments of the present application in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present application. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0033] See also Figures 1 to 3 The present application provides a material direction-controlled rotating arm manipulator, comprising a driving assembly 10 and a rotating arm 52. One end of the rotating arm 52 is fixed to the output end of the driving assembly 10, and the other end is connected to a suction cup 53. The rotating arm 52 rotates around the output end of the driving assembly 10, driving the suction cup 53 to absorb the material at the upper material position, transfer it to the lower material position and release the material, thereby realizing the transfer of the material from the upper material position to the lower material position.

[0034] In the present application, the rotating arm 52 may be one or more than one rotating arm 52 arranged at an angle along the output end of the driving assembly 10, for example, two rotating arms 52 arranged at 60 degrees, 90 degrees, 120 degrees, or 180 degrees. Figures 1 to 3 As shown, the rotating arm 52 includes two arms arranged at 90 degrees, which are driven by the driving assembly 10 to reciprocate 90 degrees. The suction cup on one rotating arm transfers the material from the first position to the second position, and the first position and the second position are the corresponding material loading position and material unloading position of this rotating arm, respectively. At the same time, the suction cup on the other rotating arm transfers the material from the second position to the third position, and the second position and the third position are the corresponding material loading position and material unloading position of this rotating arm, respectively.

[0035] See also Figure 1 The motor 11 in the driving assembly 10 is fixed on the reducer 13, and the reducer 13 is arranged on the motor seat support plate 12. The output shaft of the reducer 13 is connected to the rotating arm 52, driving the rotating arm 52 to reciprocate 90 degrees along the output shaft.

[0036] In order to ensure that the direction of the material remains unchanged when the material is transferred from the upper material position to the lower material position, the material direction-controlled swivel arm manipulator of the present application also includes a direction-maintaining module. The direction-maintaining module includes: a crank-connecting rod assembly 20, a connecting rod assembly 31, a linear guide assembly 32 and a rocker assembly 33. Among them, one end of the crank-connecting rod assembly 20 is rotatably connected to the fixed seat 51, and the other end is rotatably connected to the linear guide assembly 32, one end of the connecting rod assembly 31 is rotatably connected to the linear guide assembly 32, and the other end is rotatably connected to one end of the rocker assembly 33, and the other end of the rocker assembly 33 is rotatably connected to the swivel arm 52 and fixedly connected to the suction cup 53. Specifically, the linear guide assembly 32 includes a linear guide 321 arranged along the extension direction of the swivel arm 52, and the slider can slide along the linear guide 321, and the crank-connecting rod assembly 20 and the connecting rod assembly 31 are both rotatably connected to the connecting plate 322 on the slider.

[0037] See also Figure 1 and Figure 2 The fixed seat 51 is fixed, which is arranged above the rotating arm 52 and does not rotate with the rotating arm 52. The crank connecting rod assembly 20, the connecting rod assembly 31, the linear guide rail assembly 32 and the rocker assembly 33 are all arranged above the rotating arm 52. The suction cup 53 is arranged below the rotating arm 52, and one end of the rocker assembly 33 passes through the lower end of the rotating arm 52 and is fixedly connected to the suction cup 53.

[0038] The position of the first connection point A1 is eccentric (i.e., not at the output end of the drive assembly 10). When the rotating arm 52 rotates, the crank-connecting rod assembly 20 drives the slider in the linear guide rail assembly 32 to move linearly along the linear guide rail 321, drives the connecting rod assembly 31 to follow the linear motion, and then drives the rocker assembly 33 to rotate around the fixed end thereof and the suction cup 53, thereby realizing the rotation of the suction cup 53.

[0039] As a preferred embodiment, in order to improve the material transfer efficiency, when each arm driving assembly 10 drives the arm 52 to rotate, two suction cups 53 can be set on the crank connecting rod assembly 20 and the fixed seat 51 connected to the 52, for example, two suction cups 53 are set in parallel perpendicular to the extension direction of the arm 52. Figure 1 and Figure 2 A T-shaped rod 54 is disposed at the end of the rotating arm 52, and two suction cups 53 are disposed at the ends of the T-shaped rod 54, and more specifically, are disposed below the ends of the T-shaped rod 54. The T-shaped rod 54 can be processed separately and fixed on the rotating arm 52, or it can be integrally formed with the rotating arm as a part of the rotating arm.

[0040] At this time, in order to realize that the direction holding module drives the two suction cups 53 to rotate simultaneously, the direction holding module of the present application is set as follows. Among them, each suction cup 53 is correspondingly provided with a rocker assembly 33, and the connecting rod assembly 31 includes two, one end of the two connecting rod assemblies 31 is connected to the connecting plate 322 of the slider of the linear guide assembly 32, and the other end is connected to the rocker assembly 33 corresponding to one of the suction cups 53, so that the direction holding module drives the two suction cups 53 to rotate simultaneously.

[0041] As a further preferred solution, the connecting plate 322 of the slider of the linear guide assembly 32 is a triangular connecting plate, and the two connecting rod assemblies 31 and the crank connecting rod assembly 20 are respectively connected to a corner of the triangular connecting plate.

[0042] Further preferably, the crank-connecting rod assembly 20 includes a first connecting rod 22, a first bearing kit 21 and a second bearing kit 23, wherein both ends of the first connecting rod 22 are rotatably connected to the fixed seat 51 through the first bearing kit 21, and are rotatably connected to the connecting plate 322 of the slider of the linear guide assembly 32 through the second bearing kit 23.

[0043] The connecting rod assembly 31 includes a second connecting rod 312, an adjusting rod 313, a first joint bearing 311 and a second joint bearing 314. One end of the second connecting rod 312 is connected to the adjusting rod 313, and is connected to the first joint bearing 311 and / or the second joint bearing 314 through the adjusting rod 313. The second connecting rod 312 is rotatably connected to the rocker assembly 33 through the first joint bearing 311, and is rotatably connected to the slider connecting plate 322 of the linear guide assembly 32 through the second joint bearing 314. The adjusting rod 313 is provided to accommodate assembly errors.

[0044] The rocker assembly 33 includes a holding ring 331 and a rotating shaft 333. The rotating shaft 333 passes through the rotating arm 52 and is rotatably connected to the rotating arm 52. The suction cup 53 is fixed on the rotating shaft 333 and can rotate with the rotation of the rotating shaft 333. The present application fixes the rotating shaft 333 by clamping the holding ring 331, and the angle of the rotating shaft 333 can be adjusted, thereby adjusting the angle of the suction cup 53.

[0045] like Figures 1 to 3 As shown, when there are two rotating arms 52, the above-mentioned direction maintaining module is correspondingly arranged on each rotating arm.

[0046] See also Figure 3 , please refer to the schematic diagram of the top view of the first state and the second state of the rotating arm manipulator for material direction control, wherein the position where the crank connecting rod assembly 20 and the fixed seat 51 are connected is Figure 3 The first connection point A1 is shown in FIG. 1 , and the output end of the drive assembly 10 is Figure 3 The rotation center O is shown in FIG. 5 , that is, the position around which the rotating arm 52 rotates, wherein the first connection point A1 and the rotation center O do not coincide.

[0047] One end of the crank-connecting rod assembly 20 is connected to the fixed seat 51 and can rotate around the connection point A1. The other end of the crank-connecting rod assembly 20 is connected to the mounting plate of the slider of the linear guide assembly 32 and can rotate around it. The connection point A1 is on the extension line of the slider motion trajectory of the linear guide assembly 32.

[0048] The purpose of this setting is that after the rotating arm 52 is in place, the speed of the slider along the guide rail is 0, so that the instantaneous rotation speed of the suction cup 53 is 0 at this moment, thereby achieving a stable stop and reducing impact.

[0049] Figure 3 In the figure, the direction of the material is shown by the hollow arrow, and the direction of movement of each component is shown by the solid arrow. When the motor 11 rotates, the rotating arm 52 is driven to rotate, and the mechanism composed of the crank connecting rod assembly, the linear guide assembly, the connecting rod assembly, and the rocker assembly moves as follows:

[0050] The rotating arm 52 rotates, and the crank-connecting rod assembly 20 rotates around the connection point A1. Since the position of the connection point A1 is eccentric (i.e., it does not coincide with O), it drives the slider in the linear guide assembly to make a linear motion, and the connecting rod assembly 31 set on the slider of the assembly in the linear guide follows to make a linear motion, thereby driving the rocker assembly 33 to rotate around the rotating axis, wherein the first joint bearing 311 and the second joint bearing 314 rotate at an angle during the movement.

[0051] In this example, the motor rotates 90 degrees and the suction cup also rotates 90 degrees in the same direction. The angle of rotation of the suction cup is related to the length of the joystick assembly.

[0052] The material is a sheet material, such as a photovoltaic cell sheet.

[0053] The above is only a preferred implementation of the present application. Although the present application has been disclosed as a preferred embodiment, it is not intended to limit the present application. Any technician familiar with the art can use the above disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present application without departing from the scope of the technical solution of the present application, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of protection of the technical solution of the present application.

Claims

1. A material direction controlled rotating arm manipulator, comprising a driving assembly and a rotating arm, wherein one end of the rotating arm is fixed to the output end of the driving assembly, and the other end is connected to a suction cup, and the rotating arm rotates along the output end of the driving assembly, characterized in that: It also includes a direction maintaining module, which includes a crank-connecting rod assembly, a connecting rod assembly, a linear guide assembly and a rocker assembly, wherein one end of the crank-connecting rod assembly is rotatably connected to a fixed seat, and the other end is rotatably connected to the linear guide assembly, one end of the connecting rod assembly is rotatably connected to the linear guide assembly, and the other end is rotatably connected to one end of the rocker assembly, and the other end of the rocker assembly is rotatably connected to a rotating arm and fixedly connected to a suction cup; the first connection point where the crank-connecting rod assembly is connected to the fixed seat does not overlap with the output end of the drive assembly.

2. The material direction controlled rotating arm manipulator according to claim 1, characterized in that: The linear guide rail assembly comprises a linear guide rail arranged along the extending direction of the rotating arm, the slider slides along the linear guide rail, and the crank connecting rod assembly and the connecting rod assembly are both rotatably connected to the connecting plate of the slider.

3. The material direction controlled rotating arm manipulator according to claim 2 is characterized in that: The crank-connecting rod assembly includes a first connecting rod, a first bearing kit and a second bearing kit, wherein both ends of the first connecting rod are rotatably connected to a fixed seat through the first bearing kit, and are rotatably connected to a connecting plate of a slider of a linear guide assembly through the second bearing kit.

4. The material direction controlled rotating arm manipulator according to claim 2, characterized in that: The connecting rod assembly includes a second connecting rod, an adjusting rod, a first joint bearing and a second joint bearing. One end of the second connecting rod is connected to the adjusting rod and is connected to the first joint bearing and / or the second joint bearing through the adjusting rod. The second connecting rod is rotationally connected to the rocker assembly through the first joint bearing and is rotationally connected to the slider connecting plate of the linear guide assembly through the second joint bearing.

5. The material direction controlled rotating arm manipulator according to claim 2, characterized in that: The rocker assembly includes a holding ring and a rotating shaft. The holding ring and the clamp fix the rotating shaft. The rotating shaft passes through the rotating arm and is rotatably connected to the rotating arm. The suction cup is fixedly connected to the rotating shaft and rotates with the rotation of the rotating shaft.

6. The material direction controlled rotating arm manipulator according to claim 1, characterized in that: The fixing seat is arranged above the rotating arm and does not rotate with the rotating arm. The crank connecting rod assembly, the connecting rod assembly, the linear guide rail assembly and the rocker assembly are all arranged above the rotating arm. The suction cup is arranged below the rotating arm. One end of the rocker assembly passes through the rotating arm and is fixedly connected to the suction cup.

7. The material direction controlled rotating arm manipulator according to claim 2, characterized in that: The connection point between the crank-connecting rod assembly and the fixed seat is on the extension line of the sliding block motion track of the linear guide assembly.

8. The material direction controlled rotating arm manipulator according to any one of claims 1 to 7, characterized in that: Two suction cups are arranged in parallel on each rotating arm along a direction perpendicular to the extending direction of the rotating arm.

9. The material direction controlled rotating arm manipulator according to claim 8, characterized in that: A rocker assembly is correspondingly arranged for each suction cup, and the connecting rod assemblies include two, one end of the two connecting rod assemblies is connected to the connecting plate of the slider of the linear guide assembly, and the other end is connected to the rocker assembly corresponding to one of the suction cups.

10. The material direction controlled rotating arm manipulator according to claim 1, characterized in that: There are two rotating arms, which are arranged at 60 degrees, 90 degrees, 120 degrees or 180 degrees along the output shaft of the driving component, and a direction holding module is correspondingly arranged on each rotating arm.

11. The material direction controlled rotating arm manipulator according to claim 10, characterized in that: There are two rotating arms, which are arranged at 90 degrees along the output shaft of the driving component, and a direction holding module is correspondingly arranged on each rotating arm.

Images