Single crystal edge skin gripper device

Abstract

The utility model belongs to the field of automation, and discloses a single crystal edge skin gripper device. Comprising a gripper frame, a visual camera assembly is arranged on one side of the top of the gripper frame, a plurality of floating suction cup assemblies used for grabbing workpieces are arranged at the bottom of the gripper frame, and each floating suction cup assembly is provided with an edge detection mechanism used for detecting that edge pieces are grabbed in place. The manipulator is simple in structure and high in working rhythm, the deviation of the grabbing height is eliminated, and the working efficiency and the working accuracy are improved.

Description

Technical Field

[0001] The utility model belongs to the field of automation and relates to a single-crystal edge skin gripper device. Background Art

[0002] In the field of automation in the photovoltaic industry, circular silicon rods need to be cut into square rods after being truncated, and four arc-shaped edge skins are cut out. The edge skins are cleaned and crushed and then remelted in the furnace. An AGV cart transports the edge skin material cart to the cleaning station, and a transfer mechanism places the edge skin on a pre-cleaning machine and then transfers it to the cleaning machine material box. During the process from the edge skin cart to the pre-cleaning, due to the various lengths of the edge skins, the surface is smooth and not easy to grasp, and it cannot be accurately positioned in the cart, which requires the transfer mechanism to have good compatibility and stability. However, the existing grippers cannot meet the accurate positioning requirement and often have deviations. Summary of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies in the above background art and provide a single-crystal edge skin gripper device with a simple structure, a high working beat, eliminating the deviation of the grasping height, and improving the working efficiency and accuracy.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a single-crystal edge skin gripper device, including a gripper frame, a vision camera assembly is arranged on one side of the top of the gripper frame, and a plurality of floating suction cup assemblies for grasping workpieces are arranged at the bottom of the gripper frame. An edge skin detection mechanism for detecting that the edge skin is grasped in place is arranged on each floating suction cup assembly.

[0005] The gripper frame includes a base, and the bottom of the base is connected to the floating suction cup assembly through vertical rods; a connecting plate for connecting and realizing a displacement mechanism is arranged on the top surface of the base.

[0006] The vertical rods are arranged according to the number of required floating suction cup assemblies. Preferably, one floating suction cup assembly is correspondingly arranged for every two vertical rods; preferably, four vertical rods are arranged, which are respectively arranged at the four corners of the bottom surface of the base.

[0007] The vision camera assembly includes a light source and an industrial camera. One light source is arranged on each side of the industrial camera. The light sources are arranged on light source brackets, the light source brackets are fixed on the base of the gripper frame, and the industrial camera is fixed on the gripper frame or the light source bracket through a camera bracket.

[0008] Each floating suction cup assembly includes a floating suction cup plate, a plurality of floating suction cups are arranged on the floating suction cup plate, and each floating suction cup is connected to the floating suction cup plate through a floating rod.

[0009] A dead stop for limiting positions is further arranged on the floating suction cup plate.

[0010] The edge skin detection mechanism is arranged on the floating suction cup plate. The edge skin detection mechanism includes a guide shaft which penetrates through the floating suction cup plate. A bearing is sleeved on the outer periphery of the guide shaft, a spring is sleeved on the lower part of the guide shaft, fixing rings are sleeved on the bottom and the upper part of the guide shaft, an induction ring is arranged at the top of the guide shaft, and a detection limit position switch and a detection of workpiece presence / absence switch are respectively arranged at adjacent positions of the induction ring; a positioning block is connected to the bottom end of the guide shaft.

[0011] The bearing is fixed on the floating suction cup plate through a flange.

[0012] A gap is provided between the guide shaft and the bearing.

[0013] The positioning block is a polyurethane block.

[0014] The installation height of the detection limit position switch is higher than that of the detection of workpiece presence / absence switch.

[0015] The detection limit position switch is arranged on the floating suction cup plate through a switch bracket.

[0016] The detection of workpiece presence / absence switch is arranged on the floating suction cup plate through a switch bracket.

[0017] The spring is arranged between the bearing and the bottom fixing ring.

[0018] The top of the spring is arranged between the bearing and the guide shaft.

[0019] The material of the induction ring is preferably iron, and the induction ring is fixed on the guide shaft through bolts.

[0020] Furthermore, the displacement mechanism includes a robot, a truss, etc. The top of the single crystal edge skin gripper device is connected to the robot or the truss through a gripper frame to achieve displacement.

[0021] Furthermore, there is no limitation on any specific model of the robot, as long as its working function can be achieved, and a six-axis robot is preferred.

[0022] The overall single crystal edge skin gripper device is also equipped with a PLC control system. The floating suction cup, the light source, the industrial camera, the detection limit position switch, and the detection of workpiece presence / absence switch are respectively connected to the PLC control system. There is no limitation on a specific model, as long as its specific working function can be achieved.

[0023] The beneficial effects of the present utility model compared with the prior art are:

[0024] The single-crystal edge skin gripper device provided by the utility model has a simple structure, a high working rhythm, eliminates the deviation of the gripping height, and improves the working efficiency and accuracy. It is compatible with edge skins with lengths of 600 mm - 900 mm. The floating suction cup eliminates the deviation in the gripping height direction, and the flexible gripping is more stable. The edge skin detection mechanism guides the gripping of the edge skin, monitors the workpiece gripping state in real time, and prevents over-positioning during movement. Multiple edge skins are gripped each time, improving the gripping efficiency. The overall frame is simplified, avoiding interference with the existing AGV edge skin trolley and reducing the load on the gripper. Brief Description of the Drawings

[0025] The following further illustrates the present utility model in conjunction with the drawings and embodiments:

[0026] Figure 1 It is a perspective view of the specific application state of a single-crystal edge skin gripper device of the present utility model.

[0027] Figure 2 It is Perspective View A of a single-crystal edge skin gripper device of the present utility model.

[0028] Figure 3 It is a top view of a single-crystal edge skin gripper device of the present utility model.

[0029] Figure 4 It is a side view of a single-crystal edge skin gripper device of the present utility model.

[0030] Figure 5 It is Perspective View B of a single-crystal edge skin gripper device of the present utility model.

[0031] Figure 6 It is a cross-sectional view of the front view of the edge skin detection mechanism of the present utility model.

[0032] Figure 7 It is a side view of the edge skin detection mechanism of the present utility model.

[0033] In the figure, 1. Robot, 2. Gripper frame, 3. Edge skin detection mechanism, 4. Floating suction cup assembly, 5. Vision camera assembly, 6. Edge skin, 201. Connecting plate, 202. Vertical rod, 203. Base, 301. Guide shaft, 302. Spring, 303. Bearing, 304. Fixed ring, 305. Positioning block, 306. Induction ring, 307. Switch bracket A, 308. Detection limit position switch, 309. Detection presence or absence of workpiece switch, 310. Switch bracket B, 401. Floating suction cup plate, 402. Floating suction cup, 403. Dead stop, 501. Light source bracket, 502. Light source, 503. Industrial camera. Detailed Embodiment

[0034] The following further illustrates the present utility model in conjunction with the accompanying drawings of the specification, but the present utility model is not limited to the following embodiments.

[0035] Example 1

[0036] A single-crystal edge skin gripper device, as Figures 1-7 shown, includes a gripper frame 2. A vision camera assembly 5 is provided on one side of the top of the gripper frame 2. A plurality of floating suction cup assemblies 4 for gripping workpieces are provided at the bottom of the gripper frame 2. An edge skin detection mechanism 3 for detecting that the edge skin 6 is gripped in place is provided on each floating suction cup assembly 4.

[0037] The gripper frame 2 includes a base 203. The bottom of the base 203 is connected to the floating suction cup assembly 4 through a vertical rod 202. A connecting plate 201 for connecting to implement a displacement mechanism is provided on the top surface of the base 203.

[0038] The vertical rods 202 are provided according to the number of required floating suction cup assemblies 4. Preferably, one floating suction cup assembly 4 is correspondingly provided for every two vertical rods 202. The vertical rods 202 are preferably provided with four, and are respectively provided at the four corners of the bottom surface of the base 203.

[0039] The vision camera assembly 5 includes a light source 502 and an industrial camera 503. One light source 502 is provided on each side of the industrial camera 503. The light source 502 is provided on a light source support 501. The light source support 501 is fixed on the base 203 of the gripper frame 2. The industrial camera 503 is fixed on the gripper frame 2 or the light source support 501 through a camera support.

[0040] Each floating suction cup assembly 4 includes a floating suction cup plate 401. A plurality of floating suction cups 402 are provided on the floating suction cup plate 401. Each floating suction cup 402 is connected to the floating suction cup plate 401 through a floating rod.

[0041] A dead stop 403 for limiting position is further provided on the floating suction cup plate 401.

[0042] The edge skin detection mechanism 3 is provided on the floating suction cup plate 401. The edge skin detection mechanism 3 includes a guide shaft 301. The guide shaft 301 penetrates through the floating suction cup plate 401. A bearing 303 is sleeved on the outer periphery of the guide shaft 301. A spring 302 is sleeved on the lower part of the guide shaft 301. Fixed rings 304 are sleeved on the bottom and the top of the guide shaft 301. An induction ring 306 is provided at the top of the guide shaft 301. A detection limit position switch 308 and a detection presence or absence of workpiece switch 309 are respectively provided at adjacent positions of the induction ring 306. A positioning block 305 is connected to the bottom end of the guide shaft 301.

[0043] The bearing 303 is fixed on the floating suction cup plate 401 through a flange.

[0044] The guide shaft 301 is provided with a clearance from the bearing 303,

[0045] The positioning block 305 is a polyurethane block.

[0046] The detection limit position switch 308 is set at a height higher than the height at which the switch 309 for detecting the presence or absence of a workpiece is set.

[0047] The detection limit position switch 308 is arranged on the floating suction cup plate 401 through a switch bracket.

[0048] The switch 309 for detecting the presence or absence of a workpiece is arranged on the floating suction cup plate 401 through a switch bracket.

[0049] The spring 302 is arranged between the bearing 303 and the bottom fixing ring 304.

[0050] The top of the spring 302 is arranged between the bearing 303 and the guide shaft 301.

[0051] The material of the induction ring 306 is preferably iron, and the induction ring 306 is fixed on the guide shaft 301 through bolts.

[0052] The displacement mechanism includes a robot 1, a truss, etc. The top of the single-crystal edge skin gripper device is connected to the robot 1 or the truss through a gripper frame 2 to achieve displacement.

[0053] The robot 1 is not limited to any specific model, as long as its working function can be realized, and a six-axis robot 1 is preferred.

[0054] The overall single-crystal edge skin gripper device is also equipped with a PLC control system. The floating suction cup 402, the light source 502, the industrial camera 503, the detection limit position switch 308, and the switch 309 for detecting the presence or absence of a workpiece are respectively connected to the PLC control system. It is not limited to a specific model, as long as its specific working function can be realized.

[0055] During specific operation, taking the six-axis robot 1 as an example, the gripper frame 2 is connected to the connecting flange of the six-axis robot 1. The robot 1 drives the entire single-crystal edge skin gripper device, and the industrial camera 503 in the vision camera assembly 5 takes pictures and positions the edge skin trolley; the robot 1 drives the gripper frame 2 to move down as a whole, moves to the position of the edge skin 6, and slowly descends. When the polyurethane block in the edge skin detection mechanism 3 is in place, the spring 302 is compressed, driving the guide shaft 301 to move and feeding back the in-place signal; the floating suction cup 402 sucks the edge skin 6; after the suction is in place, the robot 1 transports the edge skin to the next required process.

[0056] Although the present invention has been described in detail above with general descriptions and specific embodiments, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A single-crystal edge gripper device, characterized in that It includes a gripper frame (2). A vision camera assembly (5) is arranged on one side at the top of the gripper frame (2). A number of floating suction cup assemblies (4) for gripping workpieces are arranged at the bottom of the gripper frame (2). An edge skin detection mechanism (3) for detecting the in-place gripping of the edge skin (6) is arranged on each floating suction cup assembly (4). The edge skin detection mechanism (3) includes a guide shaft (301) which penetrates through a floating suction cup plate (401). A bearing (303) is sleeved on the outer periphery of the guide shaft (301). A spring (302) is sleeved on the lower part of the guide shaft (301). Fixed rings (304) are sleeved on the bottom and the top of the guide shaft (301). An induction ring (306) is arranged at the top of the guide shaft (301). A detection limit position switch (308) and a detection of presence or absence of workpiece switch (309) are respectively arranged at adjacent positions of the induction ring (306). A positioning block (305) is connected to the bottom end of the guide shaft (301).

2. The single-crystal edge gripper device according to claim 1, characterized in that, The gripper frame (2) includes a base (203), and the bottom of the base (203) is connected to the floating suction cup assembly (4) through a vertical rod (202).

3. The single-crystal edge gripper device according to claim 1, characterized in that, The vision camera assembly (5) includes a light source (502) and an industrial camera (503). A light source (502) is arranged on each side of the industrial camera (503).

4. The single-crystal edge gripper device according to claim 1, characterized in that, Each floating suction cup assembly (4) includes a floating suction cup plate (401). A number of floating suction cups (402) are arranged on the floating suction cup plate (401). Each floating suction cup (402) is connected to the floating suction cup plate (401) through a floating rod.

5. The single-crystal edge gripper device according to claim 1, characterized in that, The edge skin detection mechanism (3) is arranged on the floating suction cup plate (401).

6. The single-crystal edge gripper device according to claim 2, characterized in that, A connecting plate (201) is arranged on the top surface of the base (203).

7. The single-crystal edge gripper device according to claim 3, characterized in that, The light source (502) is arranged on a light source support (501), and the light source support (501) is fixed on the base (203) of the gripper frame (2).

8. The single-crystal edge skin gripper device according to claim 4, wherein, A dead stop (403) for limiting is also arranged on the floating suction cup plate (401).

9. The single-crystal edge gripper device according to claim 6, characterized in that, The installation height of the detection limit position switch (308) is higher than that of the detection of presence or absence of workpiece switch (309).

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