Typesetting manipulator mechanism applied to battery strings and high-speed typesetting machine

Abstract

The utility model discloses a typesetting manipulator mechanism applied to a battery string and a high-speed typesetting machine. The typesetting manipulator mechanism comprises two Y-axis movement assemblies, the at least one X-axis movement assembly is movably arranged on the corresponding Y-axis movement assembly; the lifting rotating assemblies and the vacuum generators are movably arranged on the corresponding X-axis movement assemblies respectively, and the vacuum generators are arranged on the side edges of the corresponding lifting rotating assemblies; and the at least one adsorption assembly is movably arranged below the corresponding lifting rotating assembly and is communicated with the corresponding vacuum generator. Through cooperation of the Y-axis movement assembly, the X-axis movement assembly and the lifting rotating assembly, movement of the adsorption assembly in the X-axis, the Y-axis, the Z-axis and the R-axis is achieved, and the problem that the cost is high due to the fact that an existing typesetting mechanical arm adopts a six-axis robot for transferring is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of typesetting machines, and in particular to a typesetting robot mechanism and a high-speed typesetting machine applied to a battery string. Background Art

[0002] When the battery string completely flows into the typesetting machine, the robot needs to absorb and grab the battery string, and then adjust the position of the battery string on the glass block by rotating, moving up and down, front and back, left and right. The speed and accuracy of the robot's movement from taking the string to typesetting determines the speed and accuracy of typesetting, and the transportation of the battery cell involves vacuum adsorption and movement in four dimensions: X-axis (front and back direction), Y-axis (left and right direction), Z-axis (up and down direction), and R-axis (rotation direction).

[0003] At present, most of the handling manipulators of typesetting machines on the market use six-axis robots to carry and typeset the battery strings. Although the six-axis robots are flexible, fast and efficient, their structural costs are high and they are expensive. With the increasingly fierce competition in the photovoltaic equipment market, it is necessary to reduce the cost of equipment, meet the string output speed of the front-end string welding equipment, and take into account the typesetting accuracy; therefore, a typesetting manipulator mechanism and a high-speed typesetting machine applied to battery strings are provided. Utility Model Content

[0004] One of the purposes of the utility model is to provide a typesetting robot mechanism and a high-speed typesetting machine applied to a battery string, so as to solve the problem of high transportation cost of the existing typesetting robot using a six-axis robot.

[0005] The utility model can realize a typesetting robot mechanism and a high-speed typesetting machine applied to a battery string through the following technical solutions:

[0006] The utility model discloses a typesetting robot mechanism applied to a battery string, comprising two Y-axis motion components, both of which are arranged in parallel on a high-speed typesetting machine body; at least one X-axis motion component, both ends of which are movably arranged on the corresponding Y-axis motion components; at least one lifting and rotating component, which is movably arranged on the corresponding X-axis motion component; at least one vacuum generator, which is movably arranged on the corresponding X-axis motion component and is arranged on the side of the corresponding lifting and rotating component; at least one adsorption component, which is movably arranged below the corresponding lifting and rotating component and is connected to the corresponding vacuum generator.

[0007] In one embodiment, the Y-axis motion assembly includes a fixed plate on which a rack is fixedly mounted; two movable plates and two anti-collision sensing devices are movably mounted on the fixed plate, and the two anti-collision sensing devices are respectively mounted on the corresponding movable plates; and two gear drive motors are respectively fixedly mounted on the corresponding movable plates, and both are respectively meshingly connected to the rack.

[0008] In one embodiment, at least one guide rail is fixedly disposed on the fixed plate, and the two movable plates are movably disposed on at least one guide rail respectively.

[0009] In one embodiment, the X-axis motion assembly includes a linear module body, both ends of which are fixedly disposed on the corresponding movable plates; a slide seat movably disposed on the linear module body, and the lifting and rotating assembly is fixedly connected to the slide seat.

[0010] In one embodiment, the lifting and rotating assembly includes a fixed connection mechanism, which is fixedly connected to the slide seat; a lifting mechanism arranged on the fixed connection mechanism; a supporting mechanism movably arranged on the fixed connection mechanism and transmission connected to the lifting mechanism; and a rotating mechanism arranged on the supporting mechanism, and the adsorption assembly is transmission connected to the rotating mechanism.

[0011] In one embodiment, the fixed connection mechanism includes a fixed plate, which is fixedly connected to the slide seat; two first side plates are fixedly arranged in parallel on the fixed plate, both of which have slide rails arranged along the Z-axis direction, and the two ends of the support mechanism are respectively movably arranged on the corresponding slide rails.

[0012] In one embodiment, the lifting mechanism includes a driving motor and a synchronous wheel transmission structure respectively arranged on the fixed connection mechanism, the driving motor drives the screw structure to move in the Z-axis direction through the synchronous wheel transmission structure, and the supporting mechanism is fixedly connected to the screw structure.

[0013] In one embodiment, the adsorption assembly includes a connecting block fixedly connected to the rotating mechanism; a mounting mechanism fixedly arranged on the connecting block; and a plurality of suction nozzle mechanisms respectively arranged on the mounting mechanism.

[0014] In one embodiment, the mounting mechanism includes a connecting rod fixedly disposed on the connecting block; and two movable rods detachably fixedly connected to both ends of the connecting rod, and both movable rods can be adjusted in length relative to the connecting rod.

[0015] The utility model discloses a high-speed typesetting machine applied to a battery string, comprising any one of the above-mentioned typesetting manipulator mechanisms.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The utility model discloses a typesetting robot mechanism and a high-speed typesetting machine applied to battery strings, which realize the movement of an adsorption component in four dimensions of X-axis, Y-axis, Z-axis and R-axis through the cooperation of a Y-axis motion component, an X-axis motion component and a lifting and rotating component, and effectively solves the problem of high transportation cost of the existing typesetting robot using a six-axis robot; at the same time, a double gantry robot handling structure is adopted, and the double Y-axis motion components are respectively driven by two groups of gear racks, and the double X-axis motion components are respectively driven by two groups of linear motors, which can respectively carry the battery strings; at the same time, by adopting a retractable and adjustable adsorption component, it is convenient to switch the production of photovoltaic components of different specifications and sizes according to the string lengths of different battery strings; at the same time, through the linkage of the four axes of X, Y, Z and R, the action time of carrying the battery strings can be shortened to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a three-dimensional structural diagram of a typesetting robot mechanism applied to a battery string of the utility model, including a Y-axis motion component, an X-axis motion component, a lifting and rotating component, an adsorption component and a vacuum generator;

[0020] Figure 2 yes Figure 1 The structural diagram of the Y-axis motion assembly shown;

[0021] Figure 3 yes Figure 1 The schematic diagram of the connection structure of the X-axis motion component, the lifting and rotating component, the adsorption component and the vacuum generator is shown;

[0022] Figure 4 yes Figure 3 The exploded structural diagram of the lifting and rotating assembly shown;

[0023] Figure 5 yes Figure 3 A schematic diagram of the structure of the adsorption assembly shown;

[0024] Figure 6 The utility model is a structural schematic diagram of a high-speed typesetting machine applied to a battery string.

[0025] Indications in the figure: 10, typesetting robot mechanism; 11, Y-axis motion assembly; 111, fixed plate; 1111, rack; 1112, guide rail; 112, movable plate; 113, gear drive motor; 114, anti-collision sensing device; 12, X-axis motion assembly; 121, linear module body; 122, slide seat; 13, lifting and rotating assembly; 131, fixed connection mechanism; 1311, fixed plate; 1312, first side plate; 13121, slide rail; 132, lifting mechanism; 1321, Driving motor; 1322, synchronous wheel transmission structure; 1323, screw structure; 133, supporting mechanism; 1331, connecting plate; 1332, second side plate; 134, rotating mechanism; 1341, rotating motor; 1342, rotating shaft; 14, vacuum generator; 15, adsorption assembly; 151, connecting block; 152, mounting mechanism; 1521, connecting rod; 1522, movable rod; 153, nozzle mechanism; 1531, mounting piece; 1532, vacuum nozzle; 20, battery string. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. The components of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-Figure 5As shown, the utility model is a typesetting robot mechanism 10 applied to a battery string, which mainly includes two Y-axis motion components 11, at least one X-axis motion component 12, at least one lifting and rotating component 13, at least one vacuum generator 14 and at least one adsorption component 15; the two Y-axis motion components 11 are arranged in parallel on the main body of the high-speed typesetting machine; the two ends of at least one X-axis motion component 12 are movably arranged on the corresponding Y-axis motion components 11, and the two Y-axis motion components 11 drive at least one X-axis motion component 12 to move in the Y-axis direction; at least one lifting and rotating component 13 and at least one vacuum generator 14 are movably arranged on the corresponding X-axis motion components 12, and the X-axis motion component 12 drives the corresponding lifting and rotating component 13 and the vacuum generator 14 to move in the X-axis direction; at least one adsorption component 15 is movably arranged below the corresponding lifting and rotating component 13 and is connected to the corresponding vacuum generator 14, the lifting and rotating component 13 drives the adsorption component 15 to move and rotate in the Z-axis direction, and the vacuum generator 14 provides negative pressure for the adsorption component 15, so that the adsorption component 15 can adsorb the battery string 20 for transportation operation. In this embodiment, two X-axis motion components 12 are relatively movable and arranged between two Y-axis motion components 11, and the Y-axis motion components 11 respectively drive the two X-axis motion components 12 to move in the Y-axis direction. In other embodiments, the number of X-axis motion components 12 can be one, three, or other plurality, and the number is set according to actual needs.

[0029] See also Figure 1 and Figure 2 As shown, in this embodiment, the Y-axis motion assembly 11 includes a fixed plate 111, two movable plates 112, two gear drive motors 113 and two anti-collision sensing devices 114; the fixed plate 111 is fixedly arranged on the high-speed typesetting machine body, and a rack 1111 is arranged on it; the two movable plates 112 are movably arranged on the fixed plate 111, specifically, at least one guide rail 1112 is fixedly arranged on the fixed plate 111, and the two movable plates 112 are movably arranged on at least one guide rail 1112, and the guide rail 1112 is used to control the movable plate 1112. The plate 112 is guided relative to the movement of the fixed plate 111; two gear drive motors 113 are respectively fixedly arranged on the corresponding movable plate 112 and are respectively meshed and connected with the rack 1111. Through the cooperation of the gear drive motor 113 and the rack 1111, the movable plate 112 is driven to move along the Y-axis direction on the guide rail 1112; two anti-collision sensing devices 114 are respectively arranged on the movable plate 112, which move with the movement of the movable plate 112 and monitor the distance between the two movable plates 112 in real time, thereby realizing the anti-collision function. Specifically, the anti-collision sensing device 114 adopts an infrared sensor.

[0030] See also Figure 1 and Figure 3 As shown, in this embodiment, the two ends of the X-axis motion component 12 are respectively fixed on the corresponding movable plate 112, and the X-axis motion component 12 is driven to move in the Y-axis direction through the cooperation of the gear drive motor 113 and the rack 1111; specifically, the X-axis motion component 12 includes a linear module body 121 and a slide 122; the two ends of the linear module body 121 are respectively fixed on the corresponding movable plate 112; the slide 122 is movably arranged on the linear module body 121, and the linear module body 121 drives the slide 122 to move in the X-axis direction, and the lifting and rotating component 13 and the vacuum generator 14 are respectively fixedly connected to the slide 122, and both of them move following the movement of the slide 122 in the X-axis direction.

[0031] See also Figure 1 , Figure 3 and Figure 4 As shown, in this embodiment, the lifting and rotating assembly 13 includes a fixed connection mechanism 131, a lifting mechanism 132, a supporting mechanism 133 and a rotating mechanism 134; the fixed connection mechanism 131 is fixedly connected to the slide 122, and moves following the movement of the slide 122 in the X-axis direction; the lifting mechanism 132 is arranged on the fixed connection mechanism 131, and moves following the movement of the fixed connection mechanism 131; the supporting mechanism 133 is movably arranged on the fixed connection mechanism 131 and is transmission-connected with the lifting mechanism 132, and the lifting mechanism 132 drives the supporting mechanism 133 to move in the Z-axis direction relative to the fixed connection mechanism 131; the rotating mechanism 134 is arranged on the supporting mechanism 133, and moves following the movement of the supporting mechanism 133, the adsorption assembly 15 is transmission-connected with the rotating mechanism 134, and the rotating mechanism 134 drives the adsorption assembly 15 to rotate, thereby realizing the angle adjustment of the adsorption assembly 15.

[0032] See also Figure 3 and Figure 4As shown, specifically, the fixed connection mechanism 131 includes a fixed plate 1311 and two first side plates 1312; the fixed plate 1311 is fixedly connected to the slide 122, and moves following the movement of the slide 122; the two first side plates 1312 are fixedly arranged in parallel on the fixed plate 1311, and both of them have slide rails 13121 arranged along the Z-axis direction, and the two ends of the support mechanism 133 are respectively movably arranged on the corresponding slide rails 13121, and the movement of the support mechanism 133 in the Z-axis direction is guided by the slide rails 13121. In this embodiment, the lifting mechanism 132 includes a driving motor 1321, a synchronous wheel transmission structure 1322 and a screw structure 1323; the driving motor 1321 and the synchronous wheel transmission structure 1322 are respectively arranged on the fixed connection mechanism 131, and the driving motor 1321 drives the screw structure 1323 to move in the Z-axis direction through the transmission action of the synchronous wheel transmission structure 1322; specifically, the driving motor 1321 adopts a servo motor, and the synchronous wheel transmission structure 1322 and the screw structure 1323 both adopt conventional modules in the prior art, so their structures and specific working processes are not repeated here, as long as they meet this application.

[0033] See also Figure 3 and Figure 4 As shown, specifically, the support mechanism 133 includes a connecting plate 1331 and two second side plates 1332, the connecting plate 1331 is connected to the lifting mechanism 132 in a transmission manner, and the lifting mechanism 132 drives the connecting plate 1331 to move in the Z-axis direction; the two second side plates 1332 are fixedly arranged on the connecting plate 1331 in parallel and are movably arranged on the corresponding slide rails 13121, so as to guide the movement of the support mechanism 133 in the Z-axis direction. Specifically, the rotating mechanism 134 includes a rotating motor 1341 and a rotating shaft 1342; the rotating motor 1341 is fixedly arranged on the support mechanism 133; the rotating shaft 1342 is connected to the rotating motor 1341 in a transmission manner and penetrates the support mechanism 133 to connect with the adsorption component 15, so as to drive the adsorption component 15 to rotate.

[0034] See also Figure 1 , Figure 3 and Figure 4As shown, in this embodiment, the adsorption assembly 15 includes a connection block 151, a mounting mechanism 152 and a plurality of suction nozzle mechanisms 153; the connection block 151 is fixedly connected to the rotating shaft 1342, and the rotating motor 1341 drives the connection block 151 to rotate through the rotating shaft 1342; the mounting mechanism 152 is fixedly arranged on the connection block 151, and moves following the movement of the connection block 151; a plurality of suction nozzle mechanisms 153 are respectively arranged on the mounting mechanism 152, and the battery string 20 is adsorbed by the cooperation of the plurality of them. Specifically, the mounting mechanism 152 includes a connecting rod 1521 and two movable rods 1522; the connecting rod 1521 is fixedly arranged on the connection block 151; the two movable rods 1522 are respectively detachably fixedly connected to the two ends of the connecting rod 1521, and the two can be adjusted in length relative to the connecting rod 1521 to achieve the adjustment of different lengths of the mounting mechanism 152, so as to be compatible with battery strings 20 of different lengths. Specifically, the suction nozzle mechanism 153 includes a mounting member 1531 and at least one vacuum suction nozzle 1532. The mounting member 1531 is detachably fixed on the mounting mechanism 152; at least one vacuum suction nozzle 1532 is fixed on the mounting member 1531 and is respectively connected to the vacuum generator 14, thereby realizing the adsorption operation of the battery string 20.

[0035] See also Figure 6 As shown, the utility model provides a high-speed typesetting machine applied to a battery string, including any of the typesetting robot mechanisms 10 described above.

[0036] It should be noted that the specific working process of the utility model, a typesetting robot mechanism and a high-speed typesetting machine applied to a battery string, is as follows: when the battery string 20 flowing out of the string welding machine flows into the bottom of the adsorption component 15 through the transmission line, the lifting and rotating component 13 first drives the adsorption component 15 to descend and adsorb the battery string 20, and then the lifting and rotating component 13 drives the adsorption component 15 adsorbed with the battery string 20 to rise and rotate, and then the Y-axis motion component 11 and the X-axis motion component 12 cooperate to drive the adsorption component 15 to move to the photo position for photo detection operation, and then the Y-axis motion component 11 and the X-axis motion component 12 cooperate to drive the adsorption component 15 to move to the solder strip cutting position for solder strip cutting operation, and then the Y-axis motion component 11 and the X-axis motion component 12 cooperate to drive the adsorption component 15 to transfer the battery string 20 to the typesetting position above the glass plate, and finally the lifting and rotating component 13 drives the adsorption component 15 to descend and place the adsorbed battery string 20 on the glass plate, thereby completing the working process of the entire typesetting robot.

[0037] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A typesetting robot mechanism applied to a battery string, characterized in that: include: Two Y-axis motion components, both of which are arranged in parallel on the high-speed typesetting machine body; At least one X-axis motion component, two ends of which are movably arranged on the corresponding Y-axis motion component; At least one lifting and rotating assembly, which is movably arranged on the corresponding X-axis motion assembly; At least one vacuum generator, which is movably arranged on the corresponding X-axis motion component and arranged on the side corresponding to the lifting and rotating component; At least one adsorption component, which is movably arranged below the corresponding lifting and rotating component and is connected to the corresponding vacuum generator; Among them, the Y-axis motion assembly includes a fixed plate, on which a rack is fixedly arranged; two movable plates and two anti-collision sensing devices are respectively movably arranged on the fixed plate, and the two anti-collision sensing devices are respectively arranged on the corresponding movable plates; two gear drive motors are respectively fixedly arranged on the corresponding movable plates, and both of them are respectively meshingly connected with the rack.

2. A typesetting robot mechanism applied to a battery string according to claim 1, characterized in that: At least one guide rail is fixedly arranged on the fixed plate, and the two movable plates are movably arranged on at least one guide rail respectively.

3. A typesetting robot mechanism applied to a battery string according to claim 1, characterized in that: The X-axis motion assembly comprises a linear module body, both ends of which are respectively fixedly arranged on the corresponding movable plates; a slide seat movably arranged on the linear module body, and the lifting and rotating assembly is fixedly connected to the slide seat.

4. A typesetting robot mechanism applied to a battery string according to claim 3, characterized in that: The lifting and rotating assembly includes a fixed connection mechanism, which is fixedly connected to the slide seat; a lifting mechanism arranged on the fixed connection mechanism; a supporting mechanism movably arranged on the fixed connection mechanism and transmission-connected to the lifting mechanism; and a rotating mechanism arranged on the supporting mechanism, and the adsorption assembly is transmission-connected to the rotating mechanism.

5. A typesetting robot mechanism applied to a battery string according to claim 4, characterized in that: The fixed connection mechanism includes a fixed plate, which is fixedly connected to the slide seat; two first side plates are fixedly arranged in parallel on the fixed plate, both of which have slide rails arranged along the Z-axis direction, and the two ends of the support mechanism are movably arranged on the corresponding slide rails.

6. A typesetting robot mechanism applied to a battery string according to claim 4, characterized in that: The lifting mechanism includes a driving motor and a synchronous wheel transmission structure respectively arranged on the fixed connection mechanism, the driving motor drives the screw structure to move in the Z-axis direction through the synchronous wheel transmission structure, and the supporting mechanism is fixedly connected to the screw structure.

7. A typesetting robot mechanism applied to a battery string according to claim 4, characterized in that: The adsorption assembly comprises a connection block fixedly connected to the rotating mechanism; a mounting mechanism fixedly arranged on the connection block; and a plurality of suction nozzle mechanisms respectively arranged on the mounting mechanism.

8. A typesetting robot mechanism applied to a battery string according to claim 7, characterized in that: The installation mechanism comprises a connecting rod, which is fixedly arranged on the connecting block; and two movable rods which are detachably fixedly connected to both ends of the connecting rod, and the two movable rods can be adjusted in length relative to the connecting rod.

9. A high-speed typesetting machine applied to battery strings, characterized in that: It comprises the typesetting robot mechanism described in any one of claims 1-8.

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