Heliostat backboard grabbing device

Abstract

The utility model relates to the technical field of heliostat processing, and provides a heliostat backboard grabbing device which comprises a mechanical arm and a grabbing hand arranged at the end of the mechanical arm, the grabbing hand comprises a fixing frame and two grabbing mechanisms symmetrically arranged in the fixing frame, each grabbing mechanism comprises an air cylinder, a first hinge frame is arranged on the back face of the fixing frame, and a second hinge frame is arranged on the back face of the fixing frame. The fixing end of the air cylinder is hinged to the first fixing frame, a clamping rod is hinged to a piston rod of the air cylinder, a through hole is formed in the fixing frame, the clamping rod penetrates through the through hole, a second hinge frame is arranged at the position of the through hole, the clamping rod is hinged to the second hinge frame, and an upper clamping part is arranged at the end of the clamping rod. According to the grabbing device, the heliostat back plate is grabbed, the heliostat back plate is made to move among the working procedures through the mechanical arm, automatic grabbing and carrying of the heliostat back plate are achieved, and the working efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of heliostat processing, and particularly relates to a grasping device for a heliostat backboard. Background Art

[0002] After the production of the heliostat backboard is completed, it needs to be transported from the factory to the mirror factory and adhesively assembled with the mirror surface. During the production and transportation of the backboard, the backboard may be deformed due to collision, and the backboard with poor flatness will affect the consistency of the mirror surface reflection performance of the heliostat, thereby affecting the solar energy collection efficiency. Therefore, before the adhesive assembly of the heliostat backboard, it is necessary to detect the flatness of the heliostat backboard and screen out the unqualified backboards.

[0003] Currently, the detection of the heliostat backboard is carried out by manually transporting the heliostat backboard to the flatness detection equipment. When the backboard is detected to be qualified, the backboard is placed on the conveyor belt and adhesively assembled with the mirror surface. The detection efficiency is low, and the labor intensity of workers is high. To further improve the automation of heliostat processing, a grasping device suitable for the heliostat backboard is needed. Summary of the Utility Model

[0004] To solve the problems existing in the prior art, the utility model provides a grasping device for a heliostat backboard, which includes a robotic arm and a gripper arranged at the end of the robotic arm. The gripper includes a fixing frame and two symmetrically arranged grasping mechanisms in the fixing frame. The grasping mechanism includes a cylinder. A first hinge frame is arranged on the back of the fixing frame. The fixed end of the cylinder is hinged in the first fixing frame. A clamping rod is hinged on the piston rod of the cylinder. A through hole is arranged in the fixing frame. The clamping rod passes through the through hole. A second hinge frame is arranged at the through hole. The clamping rod is hinged to the second hinge frame. An upper clamping part is arranged at the end of the clamping rod. A lower clamping part is arranged at the edge of the through hole. A plugging column is arranged in the lower clamping part.

[0005] Specifically, a proximity sensor is arranged in the fixing frame.

[0006] Specifically, an installation hole is arranged in the fixing frame. A sensor fixing plate installed in the fixing frame is arranged at the installation hole. The proximity sensor passes through the installation hole and is installed in the sensor fixing plate.

[0007] Specifically, first hinge frames are respectively arranged at both ends of the fixing frame. A U-shaped plate is fixedly installed at the fixed end of the cylinder. The U-shaped plate is hinged in the first hinge frame.

[0008] Specifically, a fork-shaped head is arranged at the end of the piston rod of the cylinder. The clamping rod is hinged in the fork-shaped head.

[0009] Specifically, protrusions are respectively arranged on both sides of the upper clamping part and the lower clamping part.

[0010] Specifically, the robotic arm is installed on the base, and a joint is arranged at the end of the robotic arm, and the joint is fixedly installed at the center of the fixing frame.

[0011] Specifically, a controller is further arranged in the grasping device, and the controller is electrically connected to the proximity sensor, the robotic arm, and the cylinder.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] 1. The grasping device inserts the insertion post into the fixing hole of the mounting plate to limit the heliostat backboard. The upper clamping part and the lower clamping part clamp on both sides of the mounting plate, grasp the heliostat backboard, and move the heliostat backboard between each process through the robotic arm, realizing the automatic grasping and handling of the heliostat backboard, and significantly improving the work efficiency.

[0014] 2. A proximity sensor is arranged at the grasping position of the heliostat backboard. The proximity sensor detects whether there is a heliostat backboard at the grasping position and whether the heliostat backboard is successfully grasped, and feeds back a signal to the controller, improving the intelligent degree of the grasping device. Description of the Drawings

[0015] Figure 1 is the schematic diagram of the overall structure of the present utility model;

[0016] Figure 2 is the schematic diagram of grasping the heliostat backboard of the present utility model;

[0017] Figure 3 is the schematic diagram of the front structure of the gripper of the present utility model;

[0018] Figure 4 is the schematic diagram of the back structure of the gripper of the present utility model;

[0019] Figure 5 is the top view of the gripper of the present utility model.

[0020] Reference numerals: 1, robotic arm; 11, joint; 2, gripper; 21, fixing frame; 211, first articulated frame; 212, second articulated frame; 213, through hole; 214, slot hole; 215, mounting hole; 22, cylinder; 221, fork head; 222, U-shaped plate; 223, clamping rod; 224, upper clamping part; 23, lower clamping part; 24, insertion post; 25, proximity sensor; 251, sensor fixing plate; 3, base; 4, heliostat backboard; 41, mounting plate. Detailed Embodiment

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model. The following describes the specific implementation of the present utility model in detail with specific embodiments.

[0022] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0023] A heliostat backplane grasping device includes a robotic arm 1 and a gripper 2 provided at the end of the robotic arm 1. The robotic arm 1 is installed on a base 3. The end of the robotic arm 1 is connected to the back of the gripper 2 through a joint 11. The gripper 2 includes a fixed frame 21 and two symmetrically arranged grasping mechanisms in the fixed frame 21. The joint 11 is fixedly installed at the center of the fixed frame 21 through bolts. Two mounting plates 41 are provided at the center position of the heliostat backplane 4, and circular fixing holes are provided in the mounting plates 41. The grasping mechanisms grasp the mounting plates 41, and the heliostat backplane 4 is grasped by the robotic arm 1 and moved between various processes.

[0024] The grabbing mechanism is driven by a cylinder 22. A U-shaped plate 222 is fixedly installed at the fixed end of the cylinder 22 by bolts. A first hinge frame 211 is respectively provided at both ends of the fixing frame 21. The first hinge frame 211 is fixedly installed on the back of the fixing frame 21. The U-shaped plate 222 is hinged in the first hinge frame 211. A fork head 221 is provided at the end of the piston rod of the cylinder 22. The clamping rod 223 is hinged in the fork head 221. In the fixing frame 21, through holes 213 are provided on both sides of the joint 11. The clamping rod 223 passes through the through holes 213 and is hinged to the second hinge frame 212 provided at the through holes 213. The second hinge frame 212 is U-shaped and is installed in the fixing frame 21 by bolts. An upper clamping portion 224 is provided at the end of the clamping rod 223. The upper clamping portion 224 is fixedly connected to the clamping rod 223 by bolts. A lower clamping portion 23 is provided at the edge of the through hole 213, and the lower clamping portion 23 is fixedly installed in the fixing frame 21. The positions of the upper clamping portion 224 and the lower clamping portion 23 match the positions of the mounting plate 41, and the lower clamping portion 23 is provided below the mounting plate 41, and the upper clamping portion 224 clamps the mounting plate 41 from both sides of the mounting plate 41. A plug-in column 24 is provided at the center of the lower clamping portion 23, and the position of the plug-in column 24 matches the position of the fixing hole of the mounting plate 41. The plug-in column 24 is inserted into the fixing hole of the mounting plate 41 to limit the heliostat back plate 4. A slot hole 214 is provided below the lower clamping portion 23, and when the cylinder 22 contracts, the clamping rod 223 is placed in the slot hole 214. Protrusions are provided on both sides of the upper clamping portion 224 and the lower clamping portion 23, respectively, and the protrusions abut against both sides of the mounting plate 41 when grasping.

[0025] In a normal state, the cylinder 22 is in a retracted state, and the piston rod of the cylinder 22 pulls the clamping rod 223, so that the upper clamping portion 224 and the lower clamping portion 23 are staggered at an angle; when clamping the heliostat back plate 4, the cylinder 22 extends, and the clamping rod 223 rotates around the second hinge frame 212, so that the upper clamping portion 224 is placed above the lower clamping portion 23, and the protrusions of the upper clamping portion 224 and the lower clamping portion 23 are respectively abutted against the two sides of the mounting plate 41.

[0026] At the mounting plate 41 of the heliostat back plate 4, mounting holes 215 are provided in the fixing frame 21, and proximity sensors 25 are provided in the mounting holes 215. A sensor fixing plate 251 mounted in the fixing frame 21 is provided at the mounting holes 215. The proximity sensors 25 pass through the mounting holes 215 and are mounted in the sensor fixing plate 251. A controller is also provided in the grasping device. The controller is electrically connected to the proximity sensors 25, the robotic arm 1, and the cylinder 22. The controller controls the grasping and movement of the heliostat back plate 4 by controlling the movement of the robotic arm 1 and the telescoping of the cylinder 22. When the robotic arm 1 moves to the grasping position, the proximity sensors 25 determine whether there is a workpiece at this position. When it is confirmed that there is a workpiece at this position, that is, when the insertion post 24 is inserted into the fixing hole of the mounting plate 41, the proximity sensors 25 send a signal to the controller, and the controller controls the cylinder 22 to extend to grasp the heliostat back plate 4. By detecting whether there is a heliostat back plate 4 at the grasping position and whether the heliostat back plate 4 is successfully grasped, and feeding back a signal to the controller, the intelligence level of the grasping device is improved.

[0027] During use, the heliostat back plate 4 is placed at the position to be grasped. The cylinder 22 is in a contracted state. The robotic arm 1 controls the gripper 2 to be parallel to the heliostat back plate 4 according to a preset program. The insertion post 24 is aligned with the fixing hole, inserted into the fixing hole, and moved until the protrusion of the lower clamping portion 23 abuts against the mounting plate 41 of the heliostat back plate 4. After the proximity sensors 25 detect that the heliostat back plate 4 is installed in place, they transmit an electrical signal to the controller. The controller controls the piston rod of the cylinder 22 to extend. The clamping rod 223 rotates around the second hinge frame 212 as the axis, and the protrusion of the upper clamping portion 224 abuts against the mounting plate 41. Through the cooperation of the insertion post 24, the upper clamping portion 224, and the lower clamping portion 23, the heliostat back plate 4 is grasped, and the heliostat back plate 4 is moved by the robotic arm 1 to the next process. After the heliostat back plate 4 is moved into place, the controller controls the cylinder 22 to contract. The clamping rod 223 rotates towards the inside of the fixing frame 21 around the second hinge frame 212 as the axis, so that the upper clamping portion 224 and the lower clamping portion 23 are staggered. The robotic arm 1 controls the gripper 2 to move outwards, and the insertion post 24 is removed from the fixing hole.

[0028] The above are only the preferred embodiments of the present invention, and do not limit the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications into equivalent embodiments with equivalent changes. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solution content of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A heliostat back plate grabbing device, characterized in that: The invention comprises a mechanical arm (1) and a gripper (2) arranged at the end of the mechanical arm (1), the gripper (2) comprising a fixed frame (21) and two gripping mechanisms symmetrically arranged in the fixed frame (21), the gripping mechanism comprising a cylinder (22), a first hinge frame (211) being arranged on the back of the fixed frame (21), the fixed end of the cylinder (22) being hinged in the fixed frame (21), a clamping rod (223) being hinged on the piston rod of the cylinder (22), and the first hinge frame (211) being arranged on the back of the fixed frame (21). A through hole (213) is provided in the fixed frame (21), a clamping rod (223) passes through the through hole (213), a second hinged frame (212) is provided at the through hole (213), the clamping rod (223) is hingedly connected to the second hinged frame (212), an upper clamping portion (224) is provided at the end of the clamping rod (223), a lower clamping portion (23) is provided at the edge of the through hole (213), and a plug-in column (24) is provided in the lower clamping portion (23).

2. The heliostat back plate grabbing device according to claim 1, characterized in that: A proximity sensor (25) is arranged in the fixing frame (21).

3. The heliostat back plate grabbing device according to claim 2, characterized in that: The fixing frame (21) is provided with a mounting hole (215), a sensor fixing plate (251) installed in the fixing frame (21) is provided at the mounting hole (215), and the proximity sensor (25) passes through the mounting hole (215) and is installed in the sensor fixing plate (251).

4. The heliostat back plate grabbing device according to claim 1, characterized in that: First articulated frames (211) are respectively arranged at both ends of the fixed frame (21), and a U-shaped plate (222) is installed at the fixed end of the cylinder (22), and the U-shaped plate (222) is hinged in the first articulated frame (211).

5. The heliostat back plate grabbing device according to claim 1, characterized in that: The end of the piston rod of the cylinder (22) is provided with a fork-shaped head (221), and the clamping rod (223) is hinged in the fork-shaped head (221).

6. The heliostat back plate grabbing device according to claim 1, characterized in that: Protrusions are respectively provided on both sides of the upper clamping portion (224) and the lower clamping portion (23).

7. The heliostat back plate grabbing device according to claim 1, characterized in that: The mechanical arm (1) is mounted on a base (3), a joint (11) is provided at the end of the mechanical arm (1), and the joint (11) is fixedly mounted at the center of a fixing frame (21).

8. The heliostat back plate grabbing device according to claim 2, characterized in that: The grasping device is also provided with a controller, and the controller is electrically connected to the proximity sensor (25), the mechanical arm (1), and the cylinder (22).

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