Defective flaw piece gripper for gripping flaw pieces

Abstract

The utility model belongs to the field of automation, and discloses a flaw piece gripper special for gripping flaw pieces. Comprising a fixed clamping jaw, a movable clamping jaw and a clamping jaw cylinder, the fixed clamping jaw and the movable clamping jaw are oppositely arranged, the clamping jaw air cylinder is fixed to the gripper connecting plate, and the fixed clamping jaw is connected with the end face of the gripper connecting plate. Clamping jaw guide mechanisms are arranged on the two sides of the gripper connecting plate, the two sides of the gripper connecting plate are connected with guide plates through the clamping jaw guide mechanisms respectively, and the guide plates are connected with movable clamping jaws. The front end of a cylinder rod of the clamping jaw cylinder penetrates through the fixed clamping jaw and then is connected with the guide plate through a floating connector. The flaw piece gripper is simple in structure, small in stroke, capable of accurately gripping flaw pieces, small in occupied space and compact in structure. The working efficiency is improved. The cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of automation and relates to a skin edge gripper which is specially used for grabbing skin edges. Background Art

[0002] In the photovoltaic industry, the edge skin has a special structure with one side being curved and is thinner than the silicon rod. It is conventionally transported as a whole, but considering the recycling needs, it needs to be transported, cleaned, recycled and crushed separately. There are currently no grippers specifically designed for grabbing the edge skin. The existing grippers have a long stroke and occupy a large space overall, making it impossible to accurately grab the edge skin. Utility Model Content

[0003] The purpose of this utility model is to overcome the shortcomings of the above-mentioned background technology and provide a side peel gripper specifically for grasping the side peel. The side peel gripper has a simple structure, a small stroke, and can grasp the side peel accurately. It occupies a small space and has a compact structure. It can improve work efficiency and reduce costs and increase efficiency.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a side skin gripper specially used for grabbing side skins, comprising a fixed jaw, a movable jaw, and a jaw cylinder; the fixed jaw and the movable jaw are arranged opposite to each other, the jaw cylinder is fixed on the gripper connecting plate, and the fixed jaw is connected to the end face of the gripper connecting plate; jaw guide mechanisms are arranged on both sides of the gripper connecting plate, and the two sides of the gripper connecting plate are respectively connected to the guide plate through the jaw guide mechanisms, and the guide plate is connected to the movable jaw; the front end of the cylinder rod of the jaw cylinder passes through the fixed jaw and is connected to the guide plate through a floating joint.

[0005] The guide plate includes two side plates, which are connected by a fixing frame, and the fixing frame is arranged behind the fixed clamping claw.

[0006] The gripper cylinder is fixed on the bottom surface of the gripper connecting plate.

[0007] The inner sides of the bottoms of the fixed clamping jaw and the movable clamping jaw are both provided with polyurethane.

[0008] U-shaped grooves are arranged at the bottom of the fixed clamping jaw and the movable clamping jaw.

[0009] The fixed clamping jaw and the movable clamping jaw are provided with a shooting switch for detecting whether the workpiece is in place.

[0010] The edge skin grabber is connected to the grabber connecting frame of the transfer truss through the grabber connecting plate.

[0011] The transfer truss includes a truss stand, on which a Y-axis assembly and a Z-axis assembly are arranged. The side of the Y-axis assembly is connected to the Z-axis assembly, and the side of the Z-axis assembly is provided with a gripper connecting frame for connecting to the side skin gripper.

[0012] The Y-axis assembly includes a Y-axis servo motor, the output end of the Y-axis servo motor is connected to the gear, the gear and the rack are meshed, the gear is set on the truss frame, the Y-axis servo motor is fixed on the Y-axis skateboard, and Y-axis guides for guiding the Y-axis skateboard are also set on both sides of the truss frame. The Y-axis guide includes a Y-axis linear guide and a slider. The Y-axis linear guide is set on the truss frame, and the slider is set on the bottom surface of the Y-axis skateboard.

[0013] The Z-axis assembly is connected to the Y-axis slide through a connecting plate. The Z-axis assembly includes a Z-axis servo motor. The output end of the Z-axis servo motor is connected to the Z-axis servo module. The Z-axis servo module is connected to the Z-axis slide through a servo module slide. The Z-axis slide is connected to the gripper connecting frame.

[0014] The edge skin gripper is also equipped with a PLC control system. The edge Z-axis servo motor, Z-axis servo module, Y-axis servo motor, shooting switch, and gripper cylinder are respectively connected to the PLC control system, and are not limited to a specific model, as long as their specific working functions are realized.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] A special edge peel gripper designed for grabbing edge peels. It features a simple structure, a small stroke, and precise gripping of edge peels. It takes up little space and is compact, improving work efficiency and reducing costs while increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below with reference to the accompanying drawings and embodiments:

[0018] Figure 1 It is a three-dimensional picture of the edge leather gripper.

[0019] Figure 2 This is the main view of the edge leather gripper in working condition.

[0020] Figure 3 yes Figure 2 AA cross-sectional view.

[0021] In the figure, 1. movable clamping jaw, 2. fixed clamping jaw, 3. guide plate, 4. shooting switch, 5. gripper connecting plate, 6. clamping jaw slide, 7. clamping jaw linear guide, 8. clamping jaw cylinder, 9. fixing frame. DETAILED DESCRIPTION

[0022] The present invention is further described below with reference to the accompanying drawings, but the present invention is not limited to the following embodiments.

[0023] Example 1

[0024] A side skin gripper specially used for grabbing side skins, such as Figure 1-3As shown, it includes a fixed jaw 2, a movable jaw 1, and a jaw cylinder 8; the fixed jaw 2 and the movable jaw 1 are arranged opposite to each other, the jaw cylinder 8 is fixed on the gripper connecting plate 5, and the fixed jaw 2 is connected to the end face of the gripper connecting plate 5; jaw guide mechanisms are set on both sides of the gripper connecting plate 5, and the two sides of the gripper connecting plate 5 are respectively connected to the guide plate 3 through the jaw guide mechanism, and the guide plate 3 is connected to the movable jaw 1; the front end of the cylinder rod of the jaw cylinder 8 passes through the fixed jaw 2 and is connected to the guide plate 3 through a floating joint.

[0025] The guide plate 3 includes two side plates, which are connected by a fixing frame 9 , and the fixing frame 9 is arranged behind the fixed clamping jaw 2 .

[0026] The clamping claw cylinder 8 is fixed on the bottom surface of the gripper connecting plate 5.

[0027] Polyurethane is provided on the inner side surfaces of the bottoms of the fixed clamping jaw 2 and the movable clamping jaw 1.

[0028] U-shaped grooves are provided at the bottom of the fixed clamping jaw 2 and the movable clamping jaw 1.

[0029] The fixed clamping jaw 2 and the movable clamping jaw 1 are provided with a beam switch 4 for detecting whether the workpiece is in place.

[0030] The edge skin gripper 5 is connected to the gripper connecting frame of the transfer truss through the gripper connecting plate 5.

[0031] The edge skin gripper specially used for grabbing edge skin is also equipped with a PLC control system. The Z-axis servo motor, Z-axis servo module, Y-axis servo motor, shooting switch 4, and clamping claw cylinder 8 are respectively connected to the PLC control system, and are not limited to a specific model, as long as their specific working functions are realized.

[0032] During specific work, the transfer truss (an auxiliary equipment used to explain the entire working condition) is fixed on the frame as a whole, and the Z-axis slide of the transfer truss drives the edge skin gripper to descend. The edge skin gripper descends to the edge skin position, and the previous process releases the edge skin. The edge skin gripper clamps the edge skin, and the cylinder rod of the clamping cylinder 8 extends to drive the guide plate to move along the guide mechanism. The shooting switch feedback shows that the material is in place. After grasping, the Z-axis slide of the transfer truss drives the edge skin gripper to rise, and the axis assembly of the transfer truss moves horizontally to drive the edge skin gripper to clamp the edge skin and move horizontally to the edge skin material box position. The Z-axis slide of the transfer truss drives the edge skin gripper to descend. After the side skin is placed in the side skin material box, the side skin gripper is released and the transfer truss returns to its original position.

[0033] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications or improvements may be made to the present invention. Therefore, such modifications or improvements, without departing from the spirit of the present invention, are within the scope of protection claimed herein.

Claims

1. A side skin gripper specially used for grabbing side skins, characterized by: The invention comprises a fixed clamping jaw (2), a movable clamping jaw (1), and a clamping jaw cylinder (8); the fixed clamping jaw (2) and the movable clamping jaw (1) are arranged facing each other, the clamping jaw cylinder (8) is fixed on the gripper connecting plate (5), and the fixed clamping jaw (2) is connected to the end face of the gripper connecting plate (5); clamping jaw guide mechanisms are arranged on both sides of the gripper connecting plate (5), and the two sides of the gripper connecting plate (5) are respectively connected to the guide plate (3) through the clamping jaw guide mechanisms, and the guide plate (3) is connected to the movable clamping jaw (1); the front end of the cylinder rod of the clamping jaw cylinder (8) passes through the fixed clamping jaw (2) and is connected to the guide plate (3) through a floating joint.

2. A side skin gripper specifically for grabbing side skins as claimed in claim 1, characterized in that: The guide plate (3) comprises two side plates, which are connected via a fixing frame (9), and the fixing frame (9) is arranged behind the fixed clamping claw (2).

3. The edge skin gripper specially used for grabbing edge skin as claimed in claim 1, characterized in that: The clamping claw cylinder (8) is fixed on the bottom surface of the gripper connecting plate (5).

4. The edge skin gripper specially used for grabbing edge skin as claimed in claim 1, characterized in that: Polyurethane is provided on the inner side surfaces of the bottoms of the fixed clamping jaw (2) and the movable clamping jaw (1).

5. The edge skin gripper specially used for grabbing edge skin as claimed in claim 1, characterized in that: U-shaped grooves are provided at the bottoms of the fixed clamping jaw (2) and the movable clamping jaw (1).

6. The edge skin gripper specially used for grabbing edge skin as claimed in claim 1, characterized in that: A beam switch (4) for detecting whether a workpiece is in place is provided on the fixed clamping jaw (2) and the movable clamping jaw (1).

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