Paper taking clamping jaw device and photovoltaic panel production system
By combining pneumatic adsorption with clamping, the problem of high cellophane miss rate in traditional photovoltaic panel production has been solved, improving production efficiency and reducing the miss rate, simplifying the mechanical structure and reducing costs.
Patent Information
- Application Number
- CN202520511372.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-03-21
AI Technical Summary
In existing photovoltaic panel production, traditional automated paper-picking devices mostly use robotic arms combined with adsorption or clamping mechanisms, resulting in a high rate of missed detection of cellophane and low production efficiency.
The paper is picked up by a combination of pneumatic adsorption and gripping. The first and second adsorption components contact the paper surface respectively, and the telescopic component shortens the distance to achieve gripping. The combination of pneumatic adsorption and gripping action improves the reliability of paper picking.
It reduces the missed detection rate of the grippers, improves work efficiency, simplifies the mechanical structure, reduces manufacturing and maintenance costs, avoids paper breakage, and extends service life.
Smart Images
Figure CN223935769U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of photovoltaic panel production technology, specifically to a paper-picking gripper device and a photovoltaic panel production system. Background Technology
[0002] With the increasing demand for automation in photovoltaic module production, the efficient and accurate separation of glass sheets from protective paper has become a crucial step. In existing technologies, photovoltaic glass is typically stored in stacks, separated by interlayered protective paper films to enhance strength, provide toughness, and prevent glass fragments from scattering in case of breakage. The efficiency and accuracy of this feeding process directly impact the efficiency of the entire production process and product quality. Traditional automated paper-feeding devices often employ robotic arms combined with adsorption or gripping mechanisms. Existing glass machine grippers are primarily single mechanical grippers or adsorption functions, resulting in a high rate of missed glass paper inspections and low production efficiency. Utility Model Content
[0003] In view of this, the present invention provides a paper-feeding gripper device and a photovoltaic panel production system to solve the problems of traditional automated paper-feeding devices that mostly use robotic arms combined with adsorption or gripping mechanisms, and existing glass machine grippers that are basically single mechanical grippers or adsorption functions, resulting in a high rate of missed detection of glass paper and low production efficiency.
[0004] In a first aspect, this utility model provides a paper-grabbing gripper device, comprising:
[0005] A first adsorption component, comprising a first adsorption plate, wherein the bottom surface of the first adsorption plate is provided with at least one first adsorption hole;
[0006] The second adsorption component is provided corresponding to the first adsorption component. The second adsorption component includes a second adsorption plate, and the bottom surface of the second adsorption plate is provided with at least one second adsorption hole.
[0007] A telescopic assembly is connected to a first adsorption assembly and a second adsorption assembly. The telescopic assembly includes a telescopic rod. In the paper-taking state, the bottom surfaces of the first adsorption plate and the second adsorption plate are respectively adapted to contact the paper surface, thereby drawing air from the first adsorption hole and the second adsorption hole to adsorb the paper. The telescopic rod is driven to shorten the distance between the first adsorption assembly and the second adsorption assembly to achieve paper clamping.
[0008] By combining "pneumatic adsorption + gripping" actions, the pneumatic adsorption method greatly increases the probability of picking up paper, effectively improves the reliability of the entire device, reduces the missed detection rate of the grippers, and improves work efficiency.
[0009] In one optional embodiment, the first adsorption assembly further includes a first fixed top plate, a first sealed container, and a first connecting pipe. The first connecting pipe is disposed between the first adsorption plate and the first fixed top plate. The first connecting pipe and the first sealed container are respectively disposed on both sides of the first fixed top plate. The first connecting pipe is connected to the first sealed container and to the first adsorption hole. The first connecting pipe is hollow. The first sealed container is adapted to be connected to an air pump pipeline.
[0010] In one optional embodiment, the first adsorption assembly further includes a third adsorption plate, the bottom surface of which is provided with a first adsorption channel, the top surface of the first adsorption plate and the bottom surface of the third adsorption plate are fitted together, the adsorption end of the first adsorption channel is connected to a first adsorption hole, and the confluence end of the first adsorption channel is connected to the air inlet of the first connecting pipe.
[0011] In one optional embodiment, the first adsorption assembly further includes a first clamping plate, a first fastener, and a first pressure block, wherein the first clamping plate is located between the first pressure block and the second adsorption plate, and the first fastener passes through the first pressure block, the first clamping plate, the third adsorption plate, and the first adsorption plate in sequence for fixation.
[0012] In one optional embodiment, the first connecting tube passes through the first pressure block, the first clamping plate, and the third adsorption plate in sequence before entering the limiting hole of the first adsorption plate.
[0013] In one optional embodiment, it further includes a first elastic element and a first buffer block. The first elastic element is sleeved on the outer periphery of the first connecting pipe and is located between the first fixed top plate and the first pressure block. The first buffer block is sleeved on the outer periphery of the first connecting pipe and is fixedly connected to the first fixed top plate.
[0014] In one alternative embodiment, the first clamp is L-shaped, with the clamping end of the first clamp facing the second adsorption component.
[0015] In one optional embodiment, the second adsorption assembly includes a second fixed top plate, a second sealed container, and a second connecting pipe. The second connecting pipe is disposed between the second adsorption plate and the second fixed top plate. The second connecting pipe and the second sealed container are respectively disposed on both sides of the second fixed top plate. The second connecting pipe is connected to the second sealed container and to the second adsorption hole. The second sealed container is connected to the air pump pipeline.
[0016] In one optional embodiment, the telescopic assembly includes a first connecting seat and a second connecting seat, the first connecting seat being connected to a first fixed top plate, the second connecting seat being connected to a second fixed top plate, and the telescopic rod being connected to the first connecting seat and the second connecting seat respectively.
[0017] Secondly, this utility model also provides a photovoltaic panel production system, including the aforementioned paper-grabbing gripper device. Attached Figure Description
[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of a paper-grabbing gripper device according to an embodiment of the present utility model;
[0020] Figure 2 This is a schematic diagram of the first adsorption component according to an embodiment of the present invention;
[0021] Figure 3 This is a schematic diagram showing the connection of the first adsorption plate, the second adsorption plate, the first clamping plate, and the first pressure block in an embodiment of the present utility model;
[0022] Figure 4 This is a schematic diagram of the bottom surface of the second adsorption plate in an embodiment of the present invention;
[0023] Figure 5 This is a schematic diagram of the top surface of the first adsorption plate in an embodiment of the present invention;
[0024] Figure 6 This is a schematic diagram of the bottom surface of the first adsorption plate in an embodiment of the present invention;
[0025] Figure 7 This is a schematic diagram showing the connection of the first connecting pipe, the first fixed top plate, the first elastic element, the first sealing tank, and the first buckle in an embodiment of the present utility model.
[0026] Figure 8 This is a schematic diagram of the second adsorption component according to an embodiment of the present invention;
[0027] Figure 9 This is a schematic diagram of the telescopic component according to an embodiment of the present utility model.
[0028] Explanation of reference numerals in the attached drawings: 1. First adsorption assembly; 101. First adsorption plate; 1011. First adsorption hole; 102. Third adsorption plate; 1021. First adsorption channel; 1022. Adsorption end; 1023. Converging end; 103. First clamping plate; 1031. Clamping end; 104. First pressure block; 105. First connecting pipe; 1051. Air inlet; 106. First elastic element; 107. First fixed top plate; 108. First buffer block; 109. First sealing tank; 110. Limiting hole; 11 1. First fastener; 112. First buckle; 113. Photoelectric sensor; 2. Second adsorption assembly; 201. Second adsorption plate; 202. Fourth adsorption plate; 203. Second clamping plate; 204. Second pressure block; 205. Second connecting pipe; 206. Second elastic element; 207. Second fixed top plate; 2071. Fixed end; 208. Second buffer block; 209. Second sealing tank; 3. Telescopic assembly; 301. Telescopic rod; 302. First connecting seat; 303. Second connecting seat; 4. Paper. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0030] The following is combined with Figures 1 to 9 The following describes embodiments of the present invention.
[0031] According to an embodiment of the present invention, a paper-grabbing gripper device is provided, comprising:
[0032] The first adsorption component 1 includes a first adsorption plate 101, and the bottom surface of the first adsorption plate 101 is provided with at least one first adsorption hole 1011.
[0033] The second adsorption component 2 is provided corresponding to the first adsorption component 1. The second adsorption component 2 includes a second adsorption plate 201, and the bottom surface of the second adsorption plate 201 is provided with at least one second adsorption hole.
[0034] The telescopic component 3 is connected to the first adsorption component 1 and the second adsorption component 2 respectively. The telescopic component 3 includes a telescopic rod 301. In the paper-taking state, the bottom surface of the first adsorption plate 101 and the bottom surface of the second adsorption plate 201 are respectively adapted to contact the surface of the paper 4, and respectively draw out the air in the first adsorption hole 1011 and the second adsorption hole to adsorb the paper 4. The telescopic rod 301 is driven to shorten the distance between the first adsorption component 1 and the second adsorption component 2 to achieve the gripping of the paper 4.
[0035] By combining pneumatic adsorption with gripping action, the pneumatic adsorption method greatly increases the probability of successfully picking up the paper 4, effectively improving the reliability of the entire device, reducing the missed detection rate of the gripper, and increasing work efficiency. In this embodiment, the paper 4 is cellophane. In this embodiment, preferably, the telescopic rod 301 is driven to move the second adsorption component 2 toward the first adsorption component 1, and the first adsorption plate 101 and the second adsorption plate 201 are made of elastic materials such as silicone or polyurethane as the plates in contact with the paper 4 to avoid rigid collision with the paper 4.
[0036] In one embodiment, such as Figure 1 , Figure 2 , Figure 3 As shown, the first adsorption assembly 1 also includes a first fixed top plate 107, a first sealed container 109, and a first connecting pipe 105. The first connecting pipe 105 is disposed between the first adsorption plate 101 and the first fixed top plate 107. The first connecting pipe 105 and the first sealed container 109 are respectively disposed on both sides of the first fixed top plate 107. The first connecting pipe 105 communicates with the first sealed container 109 and with the first adsorption hole 1011. The first connecting pipe 105 is hollow. The first sealed container 109 is suitable for connection to an air pump pipeline. The air pump draws gas from the first sealed container 109, allowing gas from the first adsorption hole 1011 to enter the sealed container through the first connecting pipe 105, thereby achieving adsorption of the paper 4. It should be noted that, as Figure 5 , Figure 6 As shown, the first adsorption plate 101 is provided with eight first adsorption holes 1011, and a photoelectric sensor 113 is also provided on the bottom surface of the first adsorption plate 101 to detect whether paper 4 is present.
[0037] In one embodiment, such as Figure 2 , Figure 3 , Figure 4 and Figure 7 As shown, the first adsorption component 1 also includes
[0038] The third adsorption plate 102 has a first adsorption channel 1021 on its bottom surface. The top surface of the first adsorption plate 101 and the bottom surface of the third adsorption plate 102 are attached to each other. The adsorption end 1022 of the first adsorption channel 1021 is connected to the first adsorption hole 1011, and the confluence end 1023 of the first adsorption channel 1021 is connected to the air inlet 1051 of the first connecting pipe 105. The air inlet 1051 of the first connecting pipe 105 corresponds to and is connected to the confluence end 1023 of the first adsorption channel 1021. The first adsorption channel 1021 is connected to each first adsorption hole 1011, so that the gas in the first adsorption hole 1011 flows along the first adsorption channel 1021 through the confluence end 1023 into the air inlet 1051 of the first connecting pipe 105. It should be noted that, as Figure 1 , Figure 2 and Figure 4 As shown, there are two of each of the following: the first sealed container 109, the first connecting pipe 105, and the first adsorption channel 1021. One first connecting pipe 105 corresponds to one first sealed container 109, and one first adsorption channel 1021 corresponds to one first adsorption channel 1021. Furthermore, one first adsorption channel 1021 corresponds to four first adsorption holes 1011. In addition, the first sealed container 109 is connected to the first fixed top plate 107 via a first buckle 112, with one first buckle 112 corresponding to one first sealed container 109.
[0039] In one embodiment, such as Figure 1 , Figure 2 and Figure 3 As shown, the first adsorption assembly 1 further includes a first clamping plate 103, a first fastener 111, and a first pressing block 104. The first clamping plate 103 is located between the first pressing block 104 and the third adsorption plate 102. The first fastener 111 passes through the first pressing block 104, the first clamping plate 103, the third adsorption plate 102, and the first adsorption plate 101 in sequence for fixation. Specifically, the first fastener 111 is a bolt. The first fastener 111 achieves integrated fixation of the first pressing block 104, the first clamping plate 103, the third adsorption plate 102, and the first adsorption plate 101, ensuring the stability of the first adsorption plate 101 during the adsorption of paper 4.
[0040] In one embodiment, such as Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the first connecting pipe 105 sequentially passes through the first pressing block 104, the first clamping plate 103, and the third adsorption plate 102 before entering the limiting hole 110 of the first adsorption plate 101. It should be noted that, as... Figure 5 and Figure 6As shown, the limiting hole 110 of the first adsorption plate 101 is not a through hole, but the first pressure block 104, the first clamping plate 103 and the third adsorption plate 102 are respectively provided with limiting holes 110 in the form of through holes corresponding to the first connecting pipe 105, so that the first adsorption plate 101 can slide along the axial direction of the first connecting pipe 105 during adsorption.
[0041] In one embodiment, such as Figure 2 , Figure 7 As shown, it also includes a first elastic element 106 and a first buffer block 108. The first elastic element 106 is sleeved on the outer periphery of the first connecting pipe 105 and is located between the first fixed top plate 107 and the first pressure block 104. The first buffer block 108 is sleeved on the outer periphery of the first connecting pipe 105 and is fixedly connected to the first fixed top plate 107 by a first fastener 111. Specifically, the first elastic element 106 is a spring. The first elastic element 106 buffers the sliding of the first pressure block 104, and the design of the first buffer block 108 prevents the impact force of the first elastic element 106 from impacting the first fixed top plate 107. It should be noted that one first buffer block 108 corresponds to one first elastic element 106.
[0042] In one embodiment, such as Figure 1 , Figure 2 and Figure 3 As shown, the first clamping plate 103 is "L" shaped, and the clamping end 1031 of the first clamping plate 103 is set towards the second adsorption component 2. The clamping end 1031 is used to clamp and increase the contact area with the paper 4.
[0043] In one embodiment, such as Figure 1 , Figure 8 As shown, the second adsorption assembly 2 includes a second fixed top plate 207, a second sealed container 209, and a second connecting pipe 205. The second connecting pipe 205 is located between the second adsorption plate 201 and the second fixed top plate 207. The second connecting pipe 205 and the second sealed container 209 are respectively located on both sides of the second fixed top plate 207. The second connecting pipe 205 communicates with the second sealed container 209 and with the second adsorption hole. The second sealed container 209 is connected to an air pump pipeline. The air pump draws gas from the second sealed container 209, allowing gas from the second adsorption hole to enter the sealed container through the second connecting pipe 205, thereby achieving adsorption of the paper 4. It should be noted that in this embodiment, the second sealed container 209 and the first sealed container 109, and the second connecting pipe 205 and the first connecting pipe 105 have the same size specifications. The second adsorption plate 201 has eight second adsorption holes, and the first sealed container 109 and the second sealed container 209 share a single air pump via a suction pipe.
[0044] In this embodiment, as Figure 1 , Figure 8 As shown, the second adsorption assembly 2 also includes a fourth adsorption plate 202. The bottom surface of the fourth adsorption plate 202 is provided with a second adsorption channel. The top surface of the second adsorption plate 201 and the bottom surface of the fourth adsorption plate 202 are fitted together. The adsorption end 1022 of the second adsorption channel communicates with the second adsorption hole, and the confluence end 1023 of the second adsorption channel communicates with the air inlet 1051 of the second connecting pipe 205. The air inlet 1051 of the second connecting pipe 205 corresponds to and communicates with the confluence end 1023 of the second adsorption channel. The second adsorption channel is connected to each second adsorption hole, so that the gas in the second adsorption hole flows along the second adsorption channel through the confluence end 1023 into the air inlet 1051 of the second connecting pipe 205. It should be noted that the fourth adsorption plate 202 is identical in size to the third adsorption plate 102, and the first adsorption channel 1021 is identical to the second adsorption channel. There are two of each of the second sealed container 209, the second connecting pipe 205, and the second adsorption channel; one second connecting pipe 205 corresponds to one second sealed container 209, and one second adsorption channel corresponds to four second adsorption holes. Furthermore, a photoelectric sensor 113 is provided on the bottom surface of the second adsorption plate 201 to detect the presence of paper 4. In addition, the second sealed container 209 is connected to the second fixed top plate 207 via a second snap-fit, with one second snap-fit corresponding to one second sealed container 209.
[0045] In this embodiment, as Figure 1 , Figure 8 As shown, the second adsorption assembly 2 also includes a second clamping plate 203, a second fastener, and a second pressure block 204. The second clamping plate 203 is located between the second pressure block 204 and the fourth adsorption plate 202. The second fastener passes through the second pressure block 204, the second clamping plate 203, the fourth adsorption plate 202, and the second adsorption plate 201 in sequence for fixation. Specifically, the second fastener is a bolt. In this embodiment, the dimensions of the first clamping plate 103 and the second clamping plate 203, the first pressure block 104 and the second pressure block 204 are exactly the same. The second fastener achieves integrated fixation of the second pressure block 204, the second clamping plate 203, the fourth adsorption plate 202 and the second adsorption plate 201, ensuring the stability of the second adsorption plate 201 during the adsorption of paper 4. It should be noted that the second clamping plate 203 is "L"-shaped, and the gripping end 1031 of the second clamping plate 203 faces the first adsorption assembly 1. The two gripping ends 1031 are set to increase the contact area with the paper 4 and enhance the gripping effect.
[0046] In this embodiment, as Figure 1 , Figure 8As shown, the second connecting pipe 205 sequentially passes through the second pressing block 204, the second clamping plate 203, and the fourth adsorption plate 202 before entering the limiting hole 110 of the second adsorption plate 201. It should be noted that the limiting hole 110 in the first adsorption plate 101 and the limiting hole 110 in the second adsorption plate 201 have the same dimensions. The limiting hole 110 in the second adsorption plate 201 is not a through hole, but the second pressing block 204, the second clamping plate 203, and the fourth adsorption plate 202 each have limiting holes 110 in the form of through holes corresponding to the second connecting pipe 205, so that the second adsorption plate 201 can slide along the axial direction of the second connecting pipe 205 during adsorption.
[0047] In this embodiment, as Figure 1 , Figure 8 As shown, it also includes a second elastic element 206 and a second buffer block 208. The second elastic element 206 is sleeved on the outer periphery of the second connecting pipe 205 and is located between the second fixed top plate 207 and the second pressure block 204. The second buffer block 208 is sleeved on the outer periphery of the second connecting pipe 205 and is fixedly connected to the second fixed top plate 207 by a second fastener. Specifically, the second elastic element 206 is a spring. The second elastic element 206 buffers the sliding of the second pressure block 204, and the design of the second buffer block 208 prevents the impact force of the second elastic element 206 from impacting the second fixed top plate 207. It should be noted that one second buffer block 208 corresponds to one second elastic element 206.
[0048] In one embodiment, such as Figure 1 , Figure 8 and Figure 9 As shown, the telescopic assembly 3 includes a first connecting seat 302 and a second connecting seat 303. The first connecting seat 302 is connected to the first fixed top plate 107, and the second connecting seat 303 is connected to the fixed end 2071 of the second fixed top plate 207. The telescopic rod 301 is connected to both the first connecting seat 302 and the second connecting seat 303. It should be noted that in this embodiment, the dimensions of the second fixed top plate 207 are the same as those of the first fixed top plate 107, except for the fixed end 2071. Specifically, the telescopic rod 301 is an electrically operated telescopic rod 301.
[0049] A photovoltaic panel production system includes the aforementioned paper-grabbing gripper device, a controller, and a robotic arm. The controller is connected to an air pump, a telescopic component 3, and the robotic arm via wiring. The moving end of the robotic arm is fixedly connected to a second fixed top plate 207. Furthermore, a conveying device is located downstream of the paper-grabbing gripper device. A photoelectric sensor 113 is also installed at the inlet of the conveying device. The photoelectric sensor 113 at the adsorption plate and the photoelectric sensor 113 at the inlet of the conveying device work together to detect the paper 4, thus avoiding missed detections.
[0050] A method of using a paper gripper device includes the following steps:
[0051] (1) In the paper-picking state, the robotic arm drives the paper-picking gripper to move above the paper 4, so that the surfaces of the first adsorption plate 101 and the second adsorption plate 201 contact the surface of the paper 4 to reach the gripping position. The air pump draws air from the first connecting pipe 105, the second connecting pipe 205, the first adsorption hole 1011 and the second adsorption hole to create a vacuum, so that the surface of the paper 4 is adsorbed by the bottom surface of the first adsorption plate and the bottom surface of the second adsorption plate 201, so as to adsorb the paper 4. The first elastic element 106 buffers the axial vibration of the first pressure block 104 relative to the first connecting pipe 105, and the second elastic element 206 buffers the axial vibration of the second pressure block 204 relative to the second connecting pipe 205.
[0052] (2) The telescopic rod 301 shortens the preset length so that the first adsorption component 1 moves toward the second adsorption component 2 to clamp the paper 4. After clamping, the paper 4 is no longer subject to adsorption force (i.e., the air pump no longer pumps air from the clamped paper 4).
[0053] (3) When the paper is loose, the robotic arm drives the paper gripper to move to the release position, the telescopic rod 301 extends to a preset length, and the air pump fills the first connecting pipe 105 and the second connecting pipe 205 with air so that the paper 4 is separated from the first adsorption plate 101 and the second adsorption plate 201, so that the paper 4 reaches the corresponding position.
[0054] In this embodiment, the gripping position refers to the position where the paper 4 is to be gripped, while the release position refers to the position where the paper 4 is to be placed after leaving the gripping position.
[0055] This utility model provides a fixed paper gripper device, which has the following advantages: (1) By adopting the combination of "pneumatic adsorption + gripping" action, the reliability of the entire device is effectively improved, the gripper miss rate is reduced, and the work efficiency is improved; (2) The first adsorption plate 101 and the second adsorption plate 201 use elastic materials such as silicone or polyurethane as the plates that contact the paper 4, and wrap the paper 4 of different thicknesses through elastic deformation without frequent adjustment of the air extraction parameters; (3) The adsorption and gripping are integrated into one device, which simplifies the mechanical structure, and most of the parts of the first adsorption component 1 and the second adsorption component 2 are the same size, which reduces the manufacturing and maintenance costs and reduces the number of external cables and independent sensors; (4) (5) Since the first adsorption plate 101 slides relative to the first connecting pipe 105 and the second adsorption plate 201 slides relative to the second connecting pipe 205, the vibration is isolated by the first elastic element 106 and the second elastic element 206 through damping, ensuring the stability of the entire adsorption and clamping process. The progressive compression characteristics of the first elastic element 106 and the second elastic element 206 make the clamping force decrease from the center to the outside (pressure gradient < 10%), preventing the paper 4 from wrinkling or slipping due to local stress concentration; (6) The use of pre-adsorption method for very thin paper 4 (glass paper) avoids the cracking caused by the direct rigid contact of the traditional clamping claw with the paper 4; (7) The intermittent operation of the air pump is realized, which improves the service life.
[0056] As an alternative implementation, the number of first adsorption pores 1011 may be one, two, three or even more.
[0057] As an alternative implementation, the telescopic rod 301 can also be driven to move the first adsorption component 1 toward the second adsorption component 2, or the telescopic rod 301 can also be driven to move the first adsorption component 1 toward the second adsorption component 2 closer to each other.
[0058] As an alternative implementation, only the bottom surface of the first adsorption plate 101 is provided with a photoelectric sensor 113, or only the bottom surface of the second adsorption plate 201 is provided with a photoelectric sensor 113.
[0059] As an alternative implementation, the telescopic rod 301 can also be a hydraulic or pneumatic telescopic rod 301.
[0060] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A paper-grabbing gripper device, characterized in that, include: The first adsorption component (1) includes a first adsorption plate (101), and the bottom surface of the first adsorption plate (101) is provided with at least one first adsorption hole (1011). The second adsorption component (2) is provided corresponding to the first adsorption component (1). The second adsorption component (2) includes a second adsorption plate (201), and the bottom surface of the second adsorption plate (201) is provided with at least one second adsorption hole. The telescopic component (3) is connected to the first adsorption component (1) and the second adsorption component (2) respectively. The telescopic component (3) includes a telescopic rod (301). In the paper-taking state, the bottom surface of the first adsorption plate (101) and the bottom surface of the second adsorption plate (201) are respectively adapted to contact the surface of the paper (4) to draw air from the first adsorption hole (1011) and the second adsorption hole to adsorb the paper (4). The telescopic rod (301) is driven to shorten the distance between the first adsorption component (1) and the second adsorption component (2) to achieve the gripping of the paper (4).
2. The paper-feeding gripper device according to claim 1, characterized in that, The first adsorption assembly (1) further includes a first fixed top plate (107), a first sealed container (109), and a first connecting pipe (105). The first connecting pipe (105) is disposed between the first adsorption plate (101) and the first fixed top plate (107). The first connecting pipe (105) and the first sealed container (109) are respectively disposed on both sides of the first fixed top plate (107). The first connecting pipe (105) is connected to the first sealed container (109) and to the first adsorption hole (1011). The first connecting pipe (105) is hollow. The first sealed container (109) is suitable for connection to an air pump pipeline.
3. The paper-feeding gripper device according to claim 2, characterized in that, The first adsorption assembly (1) further includes a third adsorption plate (102), the bottom surface of the third adsorption plate (102) is provided with a first adsorption channel (1021), the top surface of the first adsorption plate (101) and the bottom surface of the third adsorption plate (102) are attached together, the adsorption end (1022) of the first adsorption channel (1021) is connected to the first adsorption hole (1011), and the confluence end (1023) of the first adsorption channel (1021) is connected to the air inlet (1051) of the first connecting pipe (105).
4. The paper-feeding gripper device according to claim 3, characterized in that, The first adsorption assembly (1) further includes a first clamping plate (103), a first fastener (111) and a first pressure block (104). The first clamping plate (103) is located between the first pressure block (104) and the second adsorption plate (201). The first fastener (111) passes through the first pressure block (104), the first clamping plate (103), the third adsorption plate (102) and the first adsorption plate (101) in sequence for fixation.
5. The paper-feeding gripper device according to claim 4, characterized in that, The first connecting tube (105) passes through the first pressing block (104), the first clamping plate (103), and the third adsorption plate (102) in sequence, and then enters the limiting hole (110) of the first adsorption plate (101).
6. The paper-feeding gripper device according to claim 4, characterized in that, It also includes a first elastic element (106) and a first buffer block (108). The first elastic element (106) is sleeved on the outer periphery of the first connecting pipe (105) and is located between the first fixed top plate (107) and the first pressure block (104). The first buffer block (108) is sleeved on the outer periphery of the first connecting pipe (105) and is fixedly connected to the first fixed top plate (107).
7. The paper-feeding gripper device according to claim 4, characterized in that, The first clamping plate (103) is "L" shaped, and the clamping end (1031) of the first clamping plate (103) is set towards the second adsorption component (2).
8. The paper-feeding gripper device according to claim 2, characterized in that, The second adsorption assembly (2) includes a second fixed top plate (207), a second sealed container (209), and a second connecting pipe (205). The second connecting pipe (205) is located between the second adsorption plate (201) and the second fixed top plate (207). The second connecting pipe (205) and the second sealed container (209) are respectively located on both sides of the second fixed top plate (207). The second connecting pipe (205) is connected to the second sealed container (209) and to the second adsorption hole. The second sealed container (209) is connected to the air pump pipeline.
9. The paper-feeding gripper device according to claim 8, characterized in that, The telescopic assembly (3) includes a first connecting seat (302) and a second connecting seat (303). The first connecting seat (302) is connected to the first fixed top plate (107), and the second connecting seat (303) is connected to the second fixed top plate (207). The telescopic rod (301) is connected to the first connecting seat (302) and the second connecting seat (303) respectively.
10. A photovoltaic panel production system, characterized in that, Includes the paper-grabbing gripper device according to any one of claims 1-9.