Flower basket carrier device and flower basket grabbing manipulator

Abstract

The utility model belongs to the technical field of battery preparation, and particularly relates to a flower basket carrier device and a flower basket grabbing manipulator, the flower basket carrier device comprises a side plate, a swing plate, a reset mechanism and a counterweight piece, a sensor or a sensed piece is fixed on the side plate, a hook is further fixed on the side plate, the swing plate is rotatably arranged on the side plate, and the reset mechanism is arranged on the side plate. The swing plate is provided with an inducted piece matched with the inductor on the side plate, or the swing plate is provided with an inductor matched with the inducted piece on the side plate. The counterweight piece is arranged at the lower part of the swing plate; the reset mechanism is arranged on the side plate and the swing plate; during use, when a flower basket is arranged on the hook, the flower basket pushes the swing plate upwards to enable the swing plate to rotate upwards, and the swing plate rotates to drive the sensed part to leave the sensing area of the sensor; when no flower basket is arranged on the hook or the flower basket is taken down, the swing plate can be ensured to smoothly return to the original position under the action of the gravity of the swing plate, the gravity of the counterweight piece and the reset mechanism, so that the sensed piece returns to the sensing area of the sensor, and the sensing sensitivity is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of battery preparation, and particularly relates to a flower basket carrier device and a flower basket grabbing manipulator. Background Art

[0002] A solar cell is a component that converts solar energy into electrical energy. It is formed with a silicon wafer as a substrate material through a series of processes, and its process flow includes silicon wafer cleaning - surface texturing - diffusion doping - etching - surface passivation - electrode printing - sintering - testing and sorting; and the transfer of silicon wafers between each process is carried out with a flower basket as a carrier. There is an empty running phenomenon during the transfer of the flower basket by the manipulator, or the problem that the full-load silicon wafers are not unloaded and are carried back to the previous process. Based on this, a flower basket induction mechanism in the groove is designed in the related technology. It installs a flower basket induction mechanism in the groove, which can judge whether a flower basket is placed in the groove body to assist the robotic arm in judging whether to place a flower basket at the corresponding position in the groove. However, it is arranged in the groove body and is easily affected by the crystallization problem, resulting in untimely and inaccurate induction, and it can only detect whether there is a flower basket inside the groove body and cannot avoid the empty running phenomenon of the robotic arm.

[0003] Therefore, it is urgent to design a flower basket carrier device that can be applied to a manipulator. Content of the Utility Model

[0004] To solve the problems in the above background art, the utility model provides a flower basket carrier device and a flower basket grabbing manipulator, including a swing plate, on which a reset mechanism and a counterweight are arranged to ensure that the swing plate can return to its original position smoothly in the state without a flower basket, improving the sensitivity of induction.

[0005] The first aspect of the utility model is to provide a flower basket carrier device, including:

[0006] Side plates, on which an inductor or an inductive part is fixed, and hooks are also fixed on the side plates;

[0007] A swing plate, which is rotatably arranged on the side plates. An inductive part cooperating with the inductor on the side plates is arranged on the swing plate, or an inductor cooperating with the inductive part on the side plates is arranged on the swing plate; the inductor has an induction area; when there is a flower basket on the hook, the swing plate rotates under the push of the flower basket, so that the inductive part leaves the induction area;

[0008] A reset mechanism, which is arranged on the side plates and the swing plate. When there is no flower basket on the hook, the reset mechanism drives the swing plate to rotate and reset, so that the inductive part is located in the induction area of the inductor.

[0009] Further, the reset mechanism includes an elastic member, and both ends of the elastic member are fixedly connected to the side plates and the swing plate respectively;

[0010] When the sensed part is located in the sensing area of the sensor, the elastic part is in a compressed state or a natural state; when the sensed part leaves the sensing area under the push of the flower basket, the elastic part is in a stretched state.

[0011] Furthermore, a counterweight is provided at the lower part of the swing plate; when there is no flower basket on the hook, under the gravity of the counterweight and the action of the reset mechanism, the swing plate resets, so that the sensed part returns to the sensing area of the sensor.

[0012] Furthermore, the swing plate includes a rotating part and a touching part connected to the lower end of the rotating part, and the rotating part and the touching part are arranged at an obtuse angle.

[0013] Furthermore, a notch is provided at the lower part of the side plate. When there is no flower basket on the hook, the touching part is movably arranged in the notch.

[0014] Furthermore, the notch divides the lower part of the side plate into a first leg and a second leg. There are two hooks, which are respectively arranged on the first leg and the second leg.

[0015] Furthermore, an installation block is provided on each side of the swing plate. A through hole is provided on the installation block, and a rotating shaft is inserted into two relatively arranged through holes. The swing plate is rotatably arranged on the rotating shaft.

[0016] Furthermore, the sensor is a magnetic sensor, and the sensed part is a magnet.

[0017] Furthermore, an installation hole is provided at the upper part of the side plate, and the side plate is installed on the support plate through the installation hole in a vertically adjustable manner.

[0018] The second object of the present utility model is to provide a flower basket grasping manipulator, which includes at least two spaced-apart flower basket carrier devices as described in any one of the above.

[0019] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0020] The flower basket carrier device provided in the present application includes a side plate, a swing plate and a reset mechanism. A sensor or a sensed part is fixed on the side plate, and a hook is also fixed on the side plate. The swing plate is rotatably arranged on the side plate, and a sensed part or a sensor is arranged on the swing plate. The sensor has a sensing area, and the reset mechanism is arranged on the side plate and the swing plate. When there is a flower basket on the hook, the flower basket pushes the swing plate upward to make the swing plate rotate upward, and the rotation of the swing plate makes the sensed part leave the sensing area of the sensor; when there is no flower basket on the hook or the flower basket is removed, the reset mechanism drives the swing plate to rotate back, so that the sensed part returns to the sensing area of the sensor. The present application can accurately and reliably detect whether a flower basket is grasped by the manipulator;

[0021] A counterweight is provided at the lower part of the swing plate. The counterweight is close to the end of the swing plate, which can increase the weight of the end of the swing plate. Under the action of the self-gravity of the swing plate, the gravity of the counterweight and the reset mechanism, it can ensure that the swing plate can return to its original position smoothly in the absence of the flower basket, improving the sensitivity of induction. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a side view of the flower basket carrier device;

[0024] Figure 2 It is the overall structure diagram (1) of the flower basket carrier device;

[0025] Figure 3 It is Figure 2 The enlarged view of part A of

[0026] Figure 4 It is the overall structure diagram (2) of the flower basket carrier device;

[0027] Wherein: 1 - side plate, 101 - first through hole, 102 - second through hole, 103 - notch, 104 - first leg, 105 - second leg, 106 - first side, 107 - second side, 109 - mounting hole, 2 - swing plate, 21 - rotating part, 22 - touching part, 3 - reset mechanism, 4 - inductor, 5 - hook, 6 - sensed part, 7 - counterweight, 8 - flower basket hanging plate, 81 - hanging groove, 9 - mounting block, 10 - rotating shaft, 11 - support plate. Detailed Embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0029] The following combines the attached Figure 1 to the attached Figure 4 And detailed embodiments to elaborate on the present invention.

[0030] Such as Figures 1-4As shown in the figure, the utility model provides a flower basket carrier device, which includes a side plate 1, a swing plate 2 and a reset mechanism 3. An inductor 4 or an inductive element is fixed on the upper part of the side plate 1. A hook 5 is fixed on the lower part of the side plate 1, and the hook 5 is used for hanging a flower basket. The swing plate 2 is rotatably arranged on the side plate 1. An inductive element 6 that cooperates with the inductor 4 on the upper part of the side plate 1 is arranged at the upper end of the swing plate 2, or an inductor that cooperates with the inductive element on the upper part of the side plate 1 is arranged at the upper end of the swing plate 2. The inductor 4 has an induction area. By rotating the swing plate 2, the inductive element 6 can be located in the induction area of the inductor 4 or the inductive element 6 can leave the induction area of the inductor 4. When the inductive element 6 is located in the induction area, there is no flower basket on the hook 5, that is, the flower basket carrier device is in a no-basket induction state. When the inductive element 6 is far away from the induction area, there is a flower basket on the hook 5, that is, the flower basket carrier device is in a with-basket induction state. It can also be understood that the power for rotating the swing plate 2 comes from the acting force of the flower basket. When there is a flower basket on the hook 5, the flower basket pushes the swing plate 2 upward to apply an upward acting force on the swing plate 2 to make the swing plate 2 rotate upward. The rotation of the swing plate 2 drives the inductive element 6 thereon to rotate away from the induction area of the inductor 4. The reset mechanism 3 is arranged on the side plate 1 and the swing plate 2. When there is no flower basket on the hook 5 or the flower basket is removed, there is no mutual acting force between the swing plate 2 and the flower basket, and the reset mechanism 3 will drive the swing plate 2 to rotate back to its original position, so that the inductive element 6 returns to the induction area of the inductor 4. In the following description, the case where the inductor 4 is arranged on the side plate 1 and the inductive element 6 is arranged on the swing plate 2 is taken as an example for illustration, but it is not limited thereto.

[0031] It can be understood that during the process of hanging a flower basket on the hook 5 of the present application, the swing plate 2 rotates in one direction. After the flower basket is removed, the swing plate 2 rotates in the opposite direction back to its original position under the action of the reset mechanism 3. The specific structure of the reset mechanism 3 is not limited in the present application, and anything that can realize the auxiliary return movement of the swing plate 2 belongs to the protection scope of the present application.

[0032] In some embodiments, the reset mechanism 3 includes an elastic member. One end of the elastic member is fixedly connected to the side plate 1, and the other end of the elastic member is fixedly connected to the swing plate 2. The elastic member is perpendicular to the side plate 1. When the sensed member 6 is located in the sensing area of the sensor 4, the elastic member is in a compressed state or a natural state. If it is in a compressed state, the compression amount is small and not enough to push the swing plate 2 out of the sensing area. When the sensed member 6 leaves the sensing area under the push of the flower basket, the elastic member is in a stretched state. After the flower basket is removed, the swing plate 2 can be pulled back to the initial position, that is, back into the sensing area, under the action of the pulling force of the elastic member. Optionally, the elastic member is a spring. A first through hole 101 is provided on the side plate 1, and opposite second through holes 102 are provided on the swing plate 2. Brackets are fixed in both the first through hole 101 and the second through hole 102. Both ends of the spring are firmly hung on the brackets. The brackets can be cross-shaped brackets, and the spring is hung at the intersection of the cross-shaped brackets. The setting of the above structure increases the convenience of spring installation. When the performance of the spring is reduced during long-term use, it can be easily replaced.

[0033] In some embodiments, a counterweight 7 is provided at the lower part of the swing plate 2, and the counterweight 7 is arranged close to the lower end of the swing plate 2. The counterweight 7 is used to increase the weight of the end of the swing plate 2 and facilitate the return of the swing plate 2. When there is no flower basket on the hook 5, under the combined action of the gravity of the counterweight 7 and the reset mechanism 3, the sensed member 6 can accurately and timely return to the sensing area of the sensor 4. The present application does not limit the shape, material and size of the counterweight 7, and those skilled in the art can design according to actual needs.

[0034] In some embodiments, referring to Figure 3 , the swing plate 2 includes a rotating part 21 and a touching part 22 connected to the lower end of the rotating part 21. The rotating part 21 and the touching part 22 are arranged at an obtuse angle. For example, if the rotating part 21 is arranged vertically, the touching part 22 is arranged obliquely downward. In this way, at the same distance from the flower basket, the vertical height of the rotating part 21 can be reduced to achieve the purpose of saving materials. In addition, since the free end of the touching part 22 contacts the flower basket and the position heights of other parts are higher than the free end, the touching part 22 will not interfere with the flower basket during rotation. Optionally, the rotating part 21 and the touching part 22 are integrally formed. The rotating part 21 is arranged vertically downward. When the sensed member 6 is located in the sensing area, the rotating part 21 is arranged vertically or approximately vertically, and the touching part 22 is arranged obliquely downward. The bottom surface of the touching part 22 can contact the flower basket, and the flower basket exerts an upward acting force on the touching part 22 to make the swing plate 2 rotate.

[0035] In some embodiments, the side plate 1 is a vertical plate. An upwardly recessed notch 103 is provided at the middle position of the lower part of the side plate 1. The touch part 22 is movably arranged in the notch 103, and the notch 103 divides the lower part of the side plate 1 into a first leg 104 and a second leg 105. There are two hooks 5, which are respectively arranged on the first leg 104 and the second leg 105. Correspondingly, the flower basket includes a flower basket hanging plate 8. The flower basket hanging plate 8 is vertically arranged, and the flower basket is hung on the hook 5 through the flower basket hanging plate 8. Specifically in this embodiment, the side plate 1 includes a first side surface 106 and a second side surface 107. The sensor 4 is arranged on the first side surface 106. The sensed part 6 and the rotating part 21 are arranged on one side of the first side surface 106. The touch part 22 extends from one side of the first side surface 106 through the notch 103 to the other side of the second side surface 107. The hook 5 is arranged on the second side surface 107. When the flower basket hanging plate 8 is hung on the hook 5, the top of the flower basket hanging plate 8 just contacts the end of the touch part 22. According to the lever principle, applying an upward force on the end face of the touch part 22 can more easily make the swing plate 2 rotate, avoiding problems such as jamming and untimely induction during the induction process.

[0036] Refer to Figure 2 , Figure 4 , on both sides of the swing plate 2, there is respectively provided an installation block 9. Through holes are provided in the installation block 9. A rotating shaft 10 is inserted into two oppositely arranged through holes. The swing plate 2 is rotatably arranged on the rotating shaft 10. The rotating shaft 10 is horizontally arranged and parallel to the side plate 1. It should be noted that the rotating part 21 needs to have a certain movement space during the process of rotating around the rotating shaft 10. Therefore, a certain gap needs to be left between the rotating part 21 and the side plate 1, and this gap provides a rotating space for the rotating part 21. In an alternative embodiment, the position of the rotating shaft 10 is close to the top of the notch 103, and the rotating part 21 extends downward to the lower part of the top of the notch 103, so that the rotation of the swing plate 2 will not interfere with the side plate 1. Through the smooth swing of the swing plate 2, the flower basket detection device of the present application can accurately and timely sense the flower basket.

[0037] In some embodiments, the reset mechanism 3 includes a torsion spring. The torsion spring is installed on the rotating shaft 10. One end of the torsion spring is arranged on the side plate 1, and the other end of the torsion spring is arranged on the swing plate 2. The swing plate 2 can be reset by the action of the torsion spring.

[0038] In a preferred embodiment, the sensor 4 is a magnetic sensor, and the sensed part 6 is a magnet. Isolation layers are wrapped on the outer surfaces of the magnetic sensor and the magnet, which play a role in waterproofing and anti-corrosion, enabling the flower basket carrier device to operate not only on water but also underwater. Of course, the sensor 4 can also be selected as a laser sensor. The laser sensor has a sensing area. When the sensed part is within the sensing area, the laser sensor senses the sensed part, and the flower basket carrier device is in a state of no-basket induction; when the sensed part leaves the sensing area, the flower basket carrier device is in a state of having-basket induction.

[0039] In one embodiment, referring to Figure 4 , an installation hole 109 is provided in the upper part of the side plate 1. The side plate 1 is installed on the support plate 11 in an up-and-down adjustable manner through the installation hole 109. Optionally, the installation hole 109 is a strip-shaped installation hole extending up and down. Threaded holes are provided at corresponding positions on the support plate 11. After the fixing member passes through the strip-shaped installation hole, it is screwed into the threaded hole of the support plate 11, thereby fixing the side plate 1 on the support plate 11. When it is necessary to adjust the height position of the side plate 1, loosen the fixing member, adjust the side plate 1 up and down, and then tighten the fixing member.

[0040] Through the design of the bent swing plate 2, the counterweight 7 cooperating with the bent swing plate 2, and the reset mechanism 3 in this application, after the manipulator grabs the flower basket, the sensed part 6 on the swing rod 2 is always away from the sensing area, that is, the state of having a basket is sensed; when the manipulator puts down the flower basket, the swing plate 2 can return to the original position in a timely and accurate manner, so that the sensed part 6 on the swing plate 2 returns to the sensing area, that is, the state of not having a basket is sensed; the accuracy of the detection result is improved.

[0041] The present utility model further provides a flower basket grabbing manipulator, which includes at least two spaced-apart flower basket carrier devices as described in any one of the above. It can be known that the flower basket is a shell structure with an open upper end, including two oppositely arranged flower basket hanging plates 8. Two hanging grooves 81 are provided on each flower basket hanging plate 8, and the two hanging grooves 81 correspond to the two hooks 5; each flower basket hanging plate 8 corresponds to a flower basket carrier device, and the transfer of the flower basket can be realized through the two flower basket carrier devices.

[0042] The flower basket grabbing manipulator of this application adopts all the technical solutions of all the embodiments of the above flower basket carrier device, so it has at least all the beneficial effects brought by the technical solutions of the embodiments of the above flower basket carrier device, which will not be elaborated here one by one.

[0043] The above further describes the present utility model with the aid of specific embodiments. However, it should be understood that this specific description should not be construed as a limitation on the essence and scope of the present utility model. Various modifications made by those of ordinary skill in the art to the above embodiments after reading this specification all fall within the scope protected by the present utility model.

Claims

1. A flower basket carrier device, characterized in that, Comprising: Side plates, on which an inductor or an inductive element is fixed, and hooks are also fixed on the side plates; A swing plate rotatably arranged on the side plates, with an inductive element cooperating with the inductor on the side plates arranged thereon, or an inductor cooperating with the inductive element on the side plates arranged thereon; the inductor has an induction area; when there is a flower basket on the hook, the swing plate rotates under the push of the flower basket, so that the inductive element leaves the induction area; A reset mechanism arranged on the side plates and the swing plate, when there is no flower basket on the hook, the reset mechanism drives the swing plate to rotate and reset, so that the inductive element moves to the induction area of the inductor.

2. The flower basket carrier device according to claim 1, wherein, The reset mechanism includes an elastic member, and two ends of the elastic member are respectively fixedly connected to the side plates and the swing plate; When the inductive element is located in the induction area of the inductor, the elastic member is in a compressed state or a natural state; when the inductive element leaves the induction area under the push of the flower basket, the elastic member is in a stretched state.

3. The flower basket carrier device according to claim 1 or 2, characterized in that, A counterweight is arranged at the lower part of the swing plate; when there is no flower basket on the hook, under the gravity of the counterweight and the acting force of the reset mechanism, the swing plate resets, so that the inductive element returns to the induction area of the inductor.

4. The flower basket carrier device according to claim 1, wherein The swing plate includes a rotating part and a touching part connected to the lower end of the rotating part, and the rotating part and the touching part are arranged at an obtuse angle.

5. The flower basket carrier device according to claim 4, wherein A notch is arranged at the lower part of the side plate, and when there is no flower basket on the hook, the touching part is movably arranged in the notch.

6. The flower basket carrier device according to claim 5, wherein, The notch divides the lower part of the side plate into a first leg and a second leg, and there are two hooks respectively arranged on the first leg and the second leg.

7. The flower basket carrier device according to claim 1, characterized in that, One mounting block is arranged on each side of the swing plate, through holes are formed in the mounting blocks, and a rotating shaft is inserted into two oppositely arranged through holes, and the swing plate is rotatably arranged on the rotating shaft.

8. The flower basket carrier device according to claim 1, characterized in that, The inductor is a magnetic inductor, and the inductive element is a magnet.

9. The flower basket carrier device according to claim 1, characterized in that, Mounting holes are arranged at the upper part of the side plates, and the side plates are mounted on a support plate in a vertically adjustable manner through the mounting holes.

10. A flower basket grabbing manipulator, characterized in that, Comprising at least two spaced-apart flower basket carrier devices according to any one of claims 1-9.

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