Flower basket transfer mechanical arm

Abstract

The utility model provides a flower basket transferring mechanical arm. The flower basket transferring mechanical arm comprises a stand column and a transverse rod. Wherein the stand column comprises a fixed seat and a telescopic rod, the fixed seat and the telescopic rod are both of a hollow column body structure, and the fixed seat is arranged on the outer side of the telescopic rod in a sleeving mode. A lifting mechanism is arranged in the fixing base and used for bearing the telescopic rod and driving the telescopic rod to move up and down. Proximity sensors are arranged at the lower ends of the telescopic rods or the upper ends of the lifting mechanisms. The first end of the cross rod is rotatably connected with the telescopic rod, and a hanging device for hanging a flower basket is arranged below the cross rod. A weighing sensor is fixedly arranged at the upper end of the interior of the telescopic rod, and the first end of the transverse rod applies pressure to the weighing sensor from the position above the weighing sensor. According to the technical scheme, the proximity sensor and the weighing sensor are arranged, the basket pressing and falling problems can be detected in real time in the basket transferring process, alarm or shutdown is triggered in time, and therefore the production efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] This application relates to the field of solar cell manufacturing, and more specifically, to a robotic arm for transporting flower baskets. Background Technology

[0002] Texturing and cleaning is a key step in solar cell production. In this process, silicon wafers are typically placed in specialized baskets, and then a robotic arm moves the baskets between different tanks to complete the chemical reaction. Using robotic arms to move the baskets offers several advantages, including but not limited to: rapid and stable transfer, improving overall production line efficiency; eliminating the need for human intervention, avoiding contamination and damage from personnel handling the silicon wafers, thus increasing the yield of the final product; high operational precision, helping to avoid operational errors caused by human fatigue; and the ability to be flexibly programmed and adjusted according to different production needs and processes, facilitating adaptation to changing production tasks.

[0003] However, during the transfer of flower baskets by the robotic arm, factors such as vibration and inertia in the working environment sometimes cause baskets to fall off. If this problem is not detected and resolved in time, it can easily lead to production accidents. Current technology typically involves installing proximity sensors at the fixed positions of each flower basket on the robotic arm. When a basket falls off, the proximity sensors will alarm because they cannot receive feedback signals from the basket. However, this method requires a large number of sensors, resulting in high costs and inconvenient maintenance. Furthermore, the sensors are susceptible to damage or malfunction due to factors such as alkaline crystals, acid mist, and hot steam, thus reducing the reliability and stability of the equipment. On the other hand, the position of the flower baskets may change due to factors such as thermal expansion and contraction in the working environment. If the robotic arm searches for the basket according to a preset program, basket crushing may occur, potentially damaging the robotic arm or the lifting motor in severe cases. Current technology typically uses an encoder to control the number of rotations of the lifting servo motor, thereby controlling the lifting distance of the robotic arm and avoiding basket crushing. However, in actual production, since changes in the position of the flower baskets are difficult to predict in advance, this method is not ideal, and the basket crushing problem remains unresolved. Utility Model Content

[0004] The purpose of this application is to provide a flower basket transport robot arm, which, by setting proximity sensors and weighing sensors, can detect problems such as basket crushing and basket dropping in real time during the flower basket transport process, and trigger alarms or shutdowns in a timely manner, thereby improving production efficiency and reducing production costs.

[0005] This application provides a robotic arm for transporting flower baskets, including a column and a crossbar. The column includes a fixed base and a telescopic rod, both of which are hollow cylindrical structures. The fixed base is fitted onto the outside of the telescopic rod. A lifting mechanism is installed inside the fixed base to support the telescopic rod and drive it to move up and down. A proximity sensor is installed at the lower end of the telescopic rod or the upper end of the lifting mechanism. The first end of the crossbar is rotatably connected to the telescopic rod, and a hanging device for hanging flower baskets is installed below the crossbar. A load cell is fixedly installed at the upper internal end of the telescopic rod, and pressure is applied to the load cell from above by the first end of the crossbar.

[0006] In one feasible solution, the telescopic rod is connected to the fixed base via a linear guide device, which includes a linear guide rail and a linear slider. The linear guide rail is fixedly mounted on the inner wall of the fixed base in the vertical direction, and the linear slider is fixedly mounted on the outer wall of the telescopic rod.

[0007] In one feasible solution, an air inlet is provided on the surface of the fixed base and / or the telescopic rod, and the air inlet is connected to an external air source through a pipe.

[0008] In one feasible embodiment, the lifting mechanism includes a lead screw, a lead screw nut, and a bearing plate. The lead screw is rotatably connected to the lower end of the fixed seat, the lead screw nut is movably sleeved on the outside of the lead screw, and the bearing plate is fixedly connected to the lead screw nut.

[0009] In one feasible solution, an anti-rotation pin is fixedly installed at the lower end of the telescopic rod, and a pin hole matching the size of the anti-rotation pin is provided through the bearing plate.

[0010] In one feasible embodiment, the hanging device includes a hook connecting plate, multiple hook mounting plates, and multiple hooks. The hook connecting plate is fixedly connected to the crossbar, and each hook mounting plate is fixedly installed on the hook connecting plate at a preset interval. The hooks are fixedly installed on the lower part of the hook mounting plate.

[0011] In one feasible embodiment, the hook has a conical structure, with the cross-section of the end of the hook closer to the hook mounting plate being larger than the cross-section of the end farther from the hook mounting plate.

[0012] In one feasible embodiment, the flower basket transport robotic arm also includes a lifting motor, which is mechanically connected to the lifting mechanism to drive the lifting mechanism to move up and down.

[0013] In one feasible embodiment, the flower basket transport robot arm also includes a controller, which is signal-connected to a proximity sensor, a load cell, and a lifting motor, respectively, for receiving signals from the proximity sensor and the load cell, and controlling the lifting motor to run or stop.

[0014] Compared with the prior art, the beneficial effects of this application include at least the following:

[0015] The flower basket transport robot arm of this application can detect the distance between the telescopic rod and the support plate in real time by installing a proximity sensor at the lower end of the telescopic rod or the upper end of the lifting mechanism. If a basket is crushed, the crossbar stops descending due to the basket's obstruction, causing the telescopic rod to stop as well. At this time, the support plate continues to descend, increasing the distance between the support plate and the lower end of the telescopic rod. The proximity sensor can detect this distance change in real time, thus quickly detecting the basket crushing problem and triggering an alarm or shutdown. Furthermore, by installing a load cell at the upper end of the telescopic rod and pressing the first end of the crossbar against it, the load change of the crossbar can be monitored in real time. During the transport of the flower basket, if a basket falls off, the load on the crossbar will decrease, and the reading of the load cell will decrease instantaneously, thus quickly detecting the basket fall and triggering an alarm or shutdown. Therefore, the flower basket transport robot arm of this application can effectively solve the problems of basket falling and crushing during flower basket transport, reduce production accidents, thereby improving production efficiency and reducing production costs.

[0016] Furthermore, the basket transport robot arm of this application can also prevent external corrosive gases or liquids from entering the column by injecting gas into the column to create a micro-positive pressure environment, thereby protecting the sensors and metal parts from corrosion, reducing maintenance costs and improving equipment stability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a flower basket transport robotic arm according to an embodiment of this application;

[0019] Figure 2 Front view of the flower basket transport robot arm;

[0020] Figure 3 This is a side view of the robotic arm for transporting flower baskets.

[0021] Figure 4 This is a schematic diagram of a robotic arm for transporting flower baskets, equipped with a controller.

[0022] In the diagram: 1. Column; 2. Crossbar; 3. Lifting motor; 4. Controller; 101. Fixed base; 102. Telescopic rod; 103. Lifting mechanism; 104. Proximity sensor; 105. Weighing sensor; 106. Linear guide device; 107. Air inlet; 108. Rotating shaft; 201. Hanging device; 121. Anti-rotation pin; 131. Lead screw; 132. Lead screw nut; 133. Bearing plate; 161. Linear guide rail; 162. Linear slider; 211. Hook connecting plate; 212. Hook mounting plate; 213. Hook. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] like Figures 1-3 As shown, this application provides a flower basket transport robotic arm, including a column 1 and a crossbar 2. The column 1 includes a fixed base 101 and a telescopic rod 102, both of which are hollow columnar structures. The fixed base 101 is sleeved on the outside of the telescopic rod 102. A lifting mechanism 103 is installed inside the fixed base 101, which supports the telescopic rod 102 and drives it to move up and down. A proximity sensor 104 is installed at the lower end of the telescopic rod 102 or the upper end of the lifting mechanism 103. The first end of the crossbar 2 is rotatably connected to the telescopic rod 102 via a rotating shaft 108. A hanging device 201 for hanging flower baskets is installed below the crossbar 2. A weighing sensor 105 is fixedly installed inside the upper end of the telescopic rod 102, and pressure is applied to the weighing sensor 105 from above by the first end of the crossbar 2.

[0026] In use, the lifting mechanism 103 drives the telescopic rod 102 to move downward, thereby driving the hanging device 201 to move downward closer to the flower basket and hang the flower basket. Then, the lifting mechanism 103 moves upward, thereby causing the hanging device 201 to move the flower basket upward, so as to carry out subsequent transfer operations on the flower basket.

[0027] The flower basket transport robotic arm of this application can detect the distance between the telescopic rod 102 and the upper end of the lifting mechanism 103 in real time by installing a proximity sensor 104 at the lower end of the telescopic rod 102 or the upper end of the lifting mechanism 103. If a basket is crushed, the crossbar 2 stops descending due to the basket's obstruction, causing the telescopic rod 102 to stop descending as well. At this time, the lifting mechanism 103 continues to descend, increasing the distance between the upper end of the lifting mechanism 103 and the lower end of the telescopic rod 102. The proximity sensor 104 can detect this distance change in real time, thus quickly detecting the basket crushing problem and triggering an alarm or shutdown. Furthermore, by installing a load cell 105 at the upper end of the telescopic rod 102 and pressing the first end of the crossbar 2 against the load cell 105, the load change of the crossbar 2 can be monitored in real time. During the transport of the flower basket, if a basket falls off, the load on the crossbar 2 will decrease, and the reading of the load cell 105 will decrease instantaneously, thus quickly detecting the basket fall and triggering an alarm or shutdown. Therefore, the flower basket transfer robotic arm of this application can effectively solve the problems of basket dropping and crushing during the flower basket transfer process, reduce production accidents, thereby improving production efficiency and reducing production costs.

[0028] In one embodiment, such as Figure 1 As shown, the telescopic rod 102 is connected to the fixed base 101 via a linear guide device 106. The linear guide device 106 includes a linear guide rail 161 and a linear slider 162. The linear guide rail 161 is fixedly mounted vertically on the inner wall of the fixed base 101, and the linear slider 162 is fixedly mounted on the outer wall of the telescopic rod 102. Using the linear guide device 106 allows for precise control of the telescopic rod 102's movement trajectory, ensuring it maintains linear motion during lifting and lowering, avoiding mechanical failures caused by deviation, and effectively reducing swaying and vibration during movement, thus improving the operational stability of the robotic arm. Preferably, ball bearings or rollers can be installed in the linear guide rail, and lubricant can be added appropriately to make the movement of the linear slider 162 smoother.

[0029] In one embodiment, such as Figure 1 As shown, an air inlet 107 is provided on the surface of the fixed base 101 and / or the telescopic rod 102, and the air inlet 107 is connected to an external air source through a pipe. During the solar cell production process, the working environment of the basket-transfer robotic arm typically contains corrosive substances such as acid mist, alkaline crystals, and water vapor. Inside the column 1, the internal spaces of the fixed base 101 and the telescopic rod 102 together form a column cavity. Compressed air is introduced into the column cavity through the air inlet 107, creating a slightly positive pressure environment within the column cavity. This prevents corrosive gases or liquids from entering the column cavity, protecting the proximity sensor 104, the load cell 105, and other metal components from corrosion, thereby reducing maintenance costs and improving equipment stability.

[0030] Specifically, the air injection port 107 can be connected to an external compressed air cylinder or air compressor to ensure a continuous supply of gas, and the specific air pressure value can be controlled by adjusting the pressure of the air source. Furthermore, a gas filter device can be installed on the pipeline connected to the air injection port 107 to remove impurities and moisture from the compressed air, further improving the purity of the internal environment of the robotic arm. A pressure sensor can also be installed inside the column 1 to monitor the air pressure within the column cavity in real time, and automatically alarm or activate the backup air source when the air pressure value falls below the set value.

[0031] In one embodiment, such as Figure 3 As shown, the lifting mechanism 103 includes a lead screw 131, a lead screw nut 132, and a bearing plate 133. The lead screw 131 is rotatably connected to the lower end of the fixed base 101, the lead screw nut 132 is movably sleeved on the outside of the lead screw 131, and the bearing plate 133 is fixedly connected to the lead screw nut 132. Furthermore, the flower basket transport robotic arm may also include a lifting motor 3, which is mechanically connected to the lifting mechanism 103 and used to drive the lifting mechanism 103 to move up and down. Additionally, as... Figure 3 As shown, an anti-rotation pin 121 can also be fixedly installed at the lower end of the telescopic rod 102, and a pin hole that matches the size of the anti-rotation pin 121 is provided through the bearing plate 133.

[0032] In use, the lifting motor 3 is started. The lifting motor 3 drives the lead screw 131 to rotate via a transmission device (not shown in the figure). The rotation of the lead screw 131 causes the lead screw nut 132 to move up and down. Since the lead screw nut 132 is fixedly connected to the support plate 133, the support plate 133 moves up and down with the lead screw nut 132, thereby driving the telescopic rod 102 supported above it to move up and down, realizing the lifting function of the basket transfer robot arm. There is no fixed connection between the support plate 133 and the lower end of the telescopic rod 103. Therefore, when the telescopic rod 103 cannot descend due to the pressure of the basket, the support plate 133 can continue to descend, thereby separating the support plate 133 from the lower end of the telescopic rod 103.

[0033] In one embodiment, such as Figure 1 and Figure 2 As shown, the hanging device 201 includes a hook connecting plate 211, multiple hook mounting plates 212, and multiple hooks 213. The hook connecting plate 211 is fixedly connected to the crossbar 2. Each hook mounting plate 212 is fixedly installed on the hook connecting plate 211 at a preset interval. The hooks 213 are fixedly installed on the lower part of the hook mounting plates 212. The hook connecting plate 211 provides a platform for installing multiple hook mounting plates 212. The hook mounting plates 212 can be connected to the hook connecting plate 211 by screws or other fasteners. The preset interval between adjacent hook mounting plates 212 is adapted to the size of the flower basket to ensure that the hooks 213 can accurately grip the flower basket.

[0034] Specifically, the hook 213 can be configured as a conical structure, wherein the cross-section of the end of the hook 213 near the hook mounting plate 212 is larger than the cross-section of the end away from the hook mounting plate 212. The tip of the conical structure can be more easily inserted into the hanging hole or groove of the basket, thus enabling smooth gripping even with slight deviations in the basket's position. This design reduces the requirements for the basket's positional accuracy and improves the adaptability of the robotic arm in complex environments. Furthermore, the thicker root of the conical structure provides a larger contact area, reducing the risk of the basket swaying or slipping during transport, thereby better minimizing the possibility of the basket falling. It also gives the hook higher strength, making it less prone to deformation or damage even when the basket is heavy or the robotic arm is under heavy load, thus improving equipment safety.

[0035] In one embodiment, such as Figure 4 As shown, the flower basket transport robot arm also includes a controller 4. The controller 4 is signal-connected to the proximity sensor 104, the load cell 105, and the lifting motor 3, respectively. It receives signals from the proximity sensor 104 and the load cell 105 and controls the lifting motor 3 to run or stop. Additionally, an alarm (not shown) can be connected to the controller 4. By configuring the controller 4, the status of the flower basket transport robot arm can be monitored in real time using the proximity sensor 104 and the load cell 105, allowing for timely detection of basket compression and dropping issues, thus improving the system's response speed. Furthermore, since the controller 4 can automatically control the operation of the lifting motor 3 based on the signals from each sensor and issue timely alarms, manual intervention is reduced, thereby improving the system's reliability and safety.

[0036] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A flower basket transfer robot characterized by comprising: The utility model relates to a flower stand, including: The fixed seat (101) and the telescopic rod (102) are all hollow column structure, the fixed seat (101) is set outside the telescopic rod (102), the fixed seat (101) inside is provided with lifting mechanism (103), the lifting mechanism (103) is used for carrying the telescopic rod (102) and drives the telescopic rod (102) up and down movement, the lower end of telescopic rod (102) or the upper end of lifting mechanism (103) is provided with proximity sensor (104), The first end of the cross bar (2) is rotatably connected with the telescopic rod (102), the lower of the cross bar (2) is provided with the hanging device (201) for hanging flower basket, the inside upper end of telescopic rod (102) is fixedly provided with weighing sensor (105), the first end of the cross bar (2) is from the upper of weighing sensor (105) and exerts pressure on weighing sensor (105).

2. The flower basket transfer robot arm of claim 1, wherein, The telescopic rod (102) is connected with the fixed seat (101) through linear guide device (106), the linear guide device (106) includes linear guide rail (161) and linear slide (162), the linear guide rail (161) is fixedly arranged on the inner wall of the fixed seat (101) along the vertical direction, the linear slide (162) is fixedly arranged on the outer wall of the telescopic rod (102).

3. The flower basket transfer robot arm of claim 1, wherein, The surface of the fixed seat (101) and / or the telescopic rod (102) is provided with gas injection port (107), the gas injection port (107) is connected with gas source through pipeline.

4. The flower basket transfer robot arm of claim 1, wherein, The lifting mechanism (103) includes lead screw (131), lead screw nut (132) and bearing plate (133), the lead screw (131) is rotatably connected with the lower end of the fixed seat (101), the lead screw nut (132) is movably sleeved on the outer side of the lead screw (131), the bearing plate (133) is fixedly connected with the lead screw nut (132).

5. The flower basket transfer robot arm of claim 4, wherein, The lower end of the telescopic rod (102) is fixedly provided with anti-rotation pin (121), the bearing plate (133) is provided with pin hole matched with the size of the anti-rotation pin (121) through.

6. The flower basket transfer robot arm of claim 1, wherein, The hanging device (201) includes hook connecting plate (211), a plurality of hook mounting plates (212) and a plurality of hooks (213), the hook connecting plate (211) is fixedly connected with the cross bar (2), each hook mounting plate (212) is fixedly arranged on the hook connecting plate (211) according to the preset interval, and the hook (213) is fixedly arranged on the lower part of the hook mounting plate (212).

7. The flower basket transfer robot arm of claim 6, wherein, The hook (213) is a conical structure, the cross section of one end of the hook (213) close to the hook mounting plate (212) is larger than the cross section of the other end away from the hook mounting plate (212).

8. The flower basket transfer robot arm of claim 1, wherein, Further including lifting motor (3), the lifting motor (3) is mechanically connected with the lifting mechanism (103), is used for driving the lifting mechanism (103) to move up and down.

9. The flower basket transfer robot arm of claim 8, wherein, Also include a controller (4), the controller (4) is signal connected with the proximity sensor (104), the weighing sensor (105) and the lifting motor (3) respectively, for receiving the signal from the proximity sensor (104) and the weighing sensor (105), and control the lifting motor (3) operation or stop.

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