Flexible grabbing photovoltaic glass unloading robot

Abstract

The utility model discloses a flexible grabbing photovoltaic glass unloading robot, which relates to the technical field of unloading robots, and comprises a sucker robot main body, one end of the sucker robot main body is fixedly connected with a turning assembly, one end of the turning assembly is fixedly connected with a speed reducing motor, and the other end of the turning assembly is fixedly connected with a driving motor. The direction changing assembly comprises a direction changing rod, a push rod, a transmission rod, a double-head rotating rod, a connecting rod and a single-head rotating rod, and one end of the push rod is rotationally connected with the direction changing rod. In this way, shaking of the suction cup robot body can be avoided, the moving direction of the direction changing assembly is fixed within a range all the time, it can be guaranteed that the lowering position of the glass is in the same area and does not change every time, and it is guaranteed that the photovoltaic glass can be normally conveyed in the follow-up process.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of sheet unloading robot, especially to a flexible photovoltaic glass sheet unloading robot. BACKGROUND

[0002] The sheet unloading robot is an automatic device, which is mainly used for taking the finished sheet product from the production equipment or the conveying belt in the industrial production process, and then performing subsequent operations such as carrying, stacking or packaging. The robot is widely used in the production line of photovoltaic glass.

[0003] For example, the robot grasping system for accurate stacking of transparent glass disclosed in CN211945378U comprises a vision system, a conveying drum machine, a robot grasping system and a glass rack turntable. The vision system is composed of a D camera and a mounting bracket, and is arranged above the conveying drum machine. The conveying drum machine is provided with a plurality of rotating conveying shafts, and the conveying shafts are provided with conveying rubber rollers. The conveying shafts are driven to rotate by a transmission mechanism and a frequency conversion motor. An encoder is arranged on the frequency conversion motor to determine the real-time position of the glass. The robot grasping system comprises a robot, a clamp and a vacuum pump. The clamp is installed at the execution end of the robot, and a plurality of suction cups are arranged on the frame of the clamp. The vacuum pump is communicated with the suction cups through a pipeline.

[0004] However, in the prior art, when the glass is moved, the robot may shake slightly due to the smooth surface of the glass, which affects the stability of the glass and may cause the glass to be placed irregularly. If a large number of photovoltaic glass needs to be carried, the placement position is always in a changing state, which directly affects the subsequent transportation of the glass. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the problem that the glass is easily placed irregularly in the prior art, and if a large number of photovoltaic glass needs to be carried, the placement position is always in a changing state, which directly affects the subsequent transportation of the glass. A flexible photovoltaic glass sheet unloading robot is provided.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a flexible photovoltaic glass sheet unloading robot, comprising a suction cup robot main body, one end of the suction cup robot main body is fixedly connected with a direction changing assembly, one end of the direction changing assembly is fixedly connected with a speed reducer motor;

[0007] The variable direction assembly comprises a variable direction rod, a push rod, a transmission rod, a double-head rotary rod, a connecting rod and a single-head rotary rod, one end of the push rod is rotationally connected with the variable direction rod, one end of the transmission rod is fixedly connected with the other end of the push rod, the other end of the transmission rod is fixedly connected with one end of the double-head rotary rod, the other end of the double-head rotary rod is rotationally connected with one end of the connecting rod, the other end of the connecting rod is rotationally connected with one end of the single-head rotary rod, and the single-head rotary rod is fixedly installed on an output shaft of the speed reducer motor.

[0008] Preferably, the bottom of the suction cup robot body is provided with a containing table, and a vertical plate is fixedly installed on the upper surface of the containing table.

[0009] Preferably, an installation connecting plate is fixedly installed at the edge of one side of the vertical plate, and the speed reducer motor is fixedly installed on the outer wall of the installation connecting plate.

[0010] Preferably, the transmission rod penetrates through the vertical plate, and a limiting cylinder is fixedly installed at the joint of the vertical plate and the transmission rod.

[0011] Preferably, a limiting block is fixedly installed at one side of the vertical plate, and the limiting block is slidingly connected with the variable direction rod.

[0012] Preferably, a strip-shaped hole is formed at the joint of the variable direction rod and the limiting block.

[0013] Preferably, an anti-falling bolt is fixedly connected with one end of the limiting block, and the anti-falling bolt is lapped on the variable direction rod.

[0014] Compared with the prior art, the utility model has the advantages and positive effects that:

[0015] 1、In the utility model, the direction of the suction cup robot body is adjusted through the variable direction assembly, in the actual use process, mainly rely on the mode of the rod body rotation to change the direction, this mode can avoid the suction cup robot body to shake, and the activity direction of the variable direction assembly is fixed in a range, can guarantee that the position of glass is placed every time is in the same area and does not change, guarantee the subsequent normal conveying photovoltaic glass.

[0016] 2、In the utility model, the position of the variable direction rod and the push rod is determined through the limiting block and the limiting cylinder, guarantees that the two rod bodies do not appear misplacement and deviation, improves the structural stability of the variable direction assembly, simultaneously can guarantee that the direction of the glass of grabbing does not appear change. DRAWINGS

[0017] Figure 1 A three-dimensional structure schematic diagram of a flexible photovoltaic glass grabbing and placing robot is provided in the utility model;

[0018] Figure 2A front view of a flexible gripping robot for unloading photovoltaic glass is provided for this utility model;

[0019] Figure 3 This utility model presents a three-dimensional structural diagram of a reversing component for a flexible gripping robot for unloading photovoltaic glass.

[0020] Figure 4 This utility model presents a schematic diagram of the three-dimensional structure of a flexible gripping robot for unloading photovoltaic glass, including a reversing component and a vertical plate.

[0021] Legend: 1. Container platform; 2. Vertical plate; 3. Gear motor; 4. Directional changer assembly; 5. Suction cup robot body; 6. Limiting cylinder; 7. Limiting block; 8. Anti-loosening bolt; 9. Mounting connection plate; 41. Directional changer rod; 42. Push rod; 43. Transmission rod; 44. Double-headed rotating rod; 45. Connecting rod; 46. Single-headed rotating rod; 47. Strip hole. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0024] Example 1: As Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this utility model provides a flexible gripping photovoltaic glass unloading robot, including a suction cup robot body 5, a reversing component 4 fixedly connected to one end of the suction cup robot body 5, and a reduction motor 3 fixedly connected to one end of the reversing component 4.

[0025] The reversing assembly 4 includes a reversing rod 41, a push rod 42, a transmission rod 43, a double-headed rotating rod 44, a connecting rod 45, and a single-headed rotating rod 46. One end of the push rod 42 is rotatably connected to the reversing rod 41. One end of the transmission rod 43 is fixedly connected to the other end of the push rod 42. The other end of the transmission rod 43 is fixedly connected to one end of the double-headed rotating rod 44. The other end of the double-headed rotating rod 44 is rotatably connected to one end of the connecting rod 45. The other end of the connecting rod 45 is rotatably connected to one end of the single-headed rotating rod 46. The single-headed rotating rod 46 is fixedly mounted on the output shaft of the geared motor 3.

[0026] The bottom of the suction cup robot body 5 is provided with a containing table 1, and the upper surface of the containing table 1 is fixedly installed with a vertical plate 2.

[0027] The specific settings and effects of the embodiment will be described below. The conveying belt is arranged above the containing table 1 and specifically between the suction cup robot body 5 and the containing table 1. The vertical plate 2 is used to determine the position of the direction-changing assembly 4. The suction cup robot body 5 is fixedly installed at one end of the direction-changing rod 41. In use, the single-head rotating rod 46 is driven by the speed reducer 3, the single-head rotating rod 46 pushes the connecting rod 45, the other end of the connecting rod 45 is rotationally connected with one end of the double-head rotating rod 44, and the double-head rotating rod 44 is fixedly installed on the transmission rod 43. Therefore, the double-head rotating rod 44 will limit the rotation amplitude of the connecting rod 45.

[0028] Under the pushing of the single-head rotating rod 46, the double-head rotating rod 44 will swing back and forth within a fixed range. As shown in Figure 3 , the double-head rotating rod 44 is in a forty-five-degree inclined state, and the single-head rotating rod 46 is in a horizontal state. The length of the single-head rotating rod 46 is the projection length of the double-head rotating rod 44 on the horizontal plane at this time. When the single-head rotating rod 46 rotates one hundred and eighty degrees, the double-head rotating rod 44 rotates ninety degrees. Then, when the single-head rotating rod 46 rotates one hundred and eighty degrees again, the double-head rotating rod 44 will rotate ninety degrees in the opposite direction.

[0029] During the back-and-forth rotation of the double-head rotating rod 44, the transmission rod 43 drives the push rod 42 to rotate counterclockwise. Since the other end of the push rod 42 is rotationally connected with the direction-changing rod 41, and the direction-changing rod 41 is limited on the vertical plate 2, during the rotation of the push rod 42, the direction-changing rod 41 will be rotated clockwise by ninety degrees, so that the direction-changing rod 41 rotates from the vertical state to the horizontal state. At this time, the suction cup robot body 5 will move the glass sucked from the lower conveying belt to the side, and then another robot will place it on other table surfaces, thereby completing the transportation of the photovoltaic glass. The suction cup uses a flexible suction mode to obtain the photovoltaic glass, and will not cause any damage to the glass.

[0030] As shown in Figure 2 , Figure 3 and Figure 4 , the edge of one side of the vertical plate 2 is fixedly installed with a mounting connecting plate 9, the speed reducer 3 is fixedly installed on the outer wall of the mounting connecting plate 9, the transmission rod 43 penetrates through the vertical plate 2, the intersection between the vertical plate 2 and the transmission rod 43 is fixedly installed with a limiting cylinder 6, one side of the vertical plate 2 is fixedly installed with a limiting block 7, the limiting block 7 is slidingly connected with the direction-changing rod 41, a strip-shaped hole 47 is formed at the intersection between the direction-changing rod 41 and the limiting block 7, one end of the limiting block 7 is fixedly connected with an anti-loosening bolt 8, and the anti-loosening bolt 8 is lapped on the direction-changing rod 41.

[0031] The whole embodiment achieves the effect that the mounting plate 9 is used for determining the position of the speed reducer motor 3, the limiting cylinder 6 is used for determining the position of the transmission rod 43, and the limiting block 7 is used for determining the position of the direction-changing rod 41, and in the process of rotation of the direction-changing rod 41, the limiting block 7 always determines the position of a point in the direction-changing rod 41, and the other point is the intersection of the direction-changing rod 41 and the push rod 42, through the principle of determining a straight line through two points, it is ensured that the direction-changing rod 41 only rotates 90 degrees, when the direction-changing rod 41 is pushed by the push rod 42, the existence of the strip-shaped hole 47 can ensure that the limiting block 7 determines the position of the direction-changing rod 41 and does not affect the rotation of the direction-changing rod 41 at the same time, and the anti-loosening bolt 8 is used for preventing the direction-changing rod 41 from falling off from the limiting block 7.

[0032] The working principle and method of using the device are as follows: the conveying belt is arranged above the holding table 1, and specifically between the suction cup robot main body 5 and the holding table 1, in use, the suction cup robot main body 5 first sucks the photovoltaic glass, and then the single-head rotating rod 46 is driven by the speed reducer motor 3, the single-head rotating rod 46 pushes the connecting rod 45;

[0033] Under the pushing of the single-head rotating rod 46, the double-head rotating rod 44 swings back and forth within a range of 90 degrees, in the process of swinging back and forth, the double-head rotating rod 44 drives the push rod 42 through the transmission rod 43, the push rod 42 drives the direction-changing rod 41, the limiting block 7 always determines the position of a point in the direction-changing rod 41, and the other point is the intersection of the direction-changing rod 41 and the push rod 42, through the principle of determining a straight line through two points, it is ensured that the direction-changing rod 41 only rotates 90 degrees, at this time, the suction cup robot main body 5 sucks the glass on the conveying belt from below and sends it to the side, and then another robot puts it on another table, thereby completing the transportation of the photovoltaic glass, and then the direction-changing rod 41 rotates back to the vertical state, so that the suction cup robot main body 5 sucks the photovoltaic glass on the conveying belt again.

[0034] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms, and any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made on the basis of the technical essence of the present application to the above embodiments still belongs to the protection scope of the technical scheme of the present application.

Claims

1. A flexible pick-and-place photovoltaic glass robot comprising a suction cup robot body (5), characterized in that: One end of the suction cup robot body (5) is fixedly connected with a direction changing assembly (4), one end of the direction changing assembly (4) is fixedly connected with a speed reducer motor (3); The direction changing assembly (4) comprises a direction changing rod (41), a push rod (42), a transmission rod (43), a double-head rotating rod (44), a connecting rod (45) and a single-head rotating rod (46), one end of the push rod (42) is rotatably connected with the direction changing rod (41), one end of the transmission rod (43) is fixedly connected with the other end of the push rod (42), the other end of the transmission rod (43) is fixedly connected with one end of the double-head rotating rod (44), the other end of the double-head rotating rod (44) is rotatably connected with one end of the connecting rod (45), the other end of the connecting rod (45) is rotatably connected with one end of the single-head rotating rod (46), and the single-head rotating rod (46) is fixedly installed on the output shaft of the speed reducer motor (3). 2.The flexible grasping photovoltaic glass unloading robot according to claim 1, wherein: The bottom of the suction cup robot body (5) is provided with a containing table (1), and the upper surface of the containing table (1) is fixedly installed with a vertical plate (2). 3.The flexible grasping photovoltaic glass unloading robot according to claim 2, characterized in that: The edge of one side of the vertical plate (2) is fixedly installed with a mounting connecting plate (9), and the speed reducer motor (3) is fixedly installed on the outer wall of the mounting connecting plate (9). 4.The flexible grasping photovoltaic glass unloading robot according to claim 2, characterized in that: The transmission rod (43) penetrates through the vertical plate (2), and the intersection of the vertical plate (2) and the transmission rod (43) is fixedly installed with a limiting cylinder (6). 5.The flexible grasping photovoltaic glass unloading robot according to claim 2, characterized in that: One side of the vertical plate (2) is fixedly installed with a limiting block (7), and the limiting block (7) is slidably connected with the direction changing rod (41). 6.The flexible grasping photovoltaic glass unloading robot according to claim 1, wherein: The intersection of the direction changing rod (41) and the limiting block (7) is provided with a strip-shaped hole (47). 7.The flexible grasping photovoltaic glass unloading robot according to claim 5, characterized in that: One end of the limiting block (7) is fixedly connected with an anti-drop bolt (8), and the anti-drop bolt (8) is lapped on the direction changing rod (41).

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