Photovoltaic robot and arm device thereof

Abstract

The utility model discloses a photovoltaic robot and an arm device thereof. The photovoltaic robot comprises a first transverse profile, a second transverse profile, a first vertical profile, a second vertical profile and a first air cylinder. The first transverse profile and the second transverse profile are arranged in parallel, and the first vertical profile is connected with the first ends of the first transverse profile and the second transverse profile through the sliding installation assembly. The second vertical profile is connected with the second ends of the first transverse profile and the second transverse profile; the two first air cylinders are fixed to the first transverse profile and the second transverse profile respectively, and air cylinder arms of the two first air cylinders are both connected with the first vertical profile, so that the first vertical profile can move in the length direction of the first transverse profile. According to the utility model, the first air cylinder is arranged, so that the suction force is increased, and meanwhile, the bending degree of the sucked glass substrate in the suction and transfer processes is reduced, so that the fragmentation caused by the bending degree is effectively reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic glass transfer technology, and in particular to a photovoltaic robot and its arm device. Background Technology

[0002] With the continuous development of technology, the production of photovoltaic glass is moving towards larger sizes, lighter weight, and thinner designs. Because large-size photovoltaic glass requires that no object come into contact with the effective surface of the glass during production, the robotic arm that grips the photovoltaic glass uses contact suction cups. All suction cups are distributed on both sides of the robotic arm, evenly distributed along the two long sides of the photovoltaic glass. All suction cups adsorb the ineffective areas of the glass, ensuring the excellent quality of the effective areas. However, with the increase in size and the thinning of the glass, older robotic arms, during normal gripping, cause significant glass wobbling due to the large surface area. This wobbling frequently leads to glass breakage, affecting production efficiency.

[0003] Patent application No. 202310629148.0 discloses a high-generation substrate glass robotic arm mechanism, which achieves adsorption and transfer of large-size glass substrates by adjusting the range of the robotic arm covering the glass substrate. However, it still cannot solve the technical problem caused by the shaking of the glass during the transfer process due to the increase in size and the thinning of the glass.

[0004] Therefore, existing technologies still need improvement. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model proposes a photovoltaic robot and its arm device to solve the breakage problem during the glass substrate transfer process in the prior art.

[0006] To solve the above-mentioned technical problems, some embodiments of this utility model disclose a photovoltaic robot arm device, including a first horizontal profile, a second horizontal profile, a first vertical profile, a second vertical profile, and a first cylinder;

[0007] The first horizontal profile and the second horizontal profile are arranged in parallel, and the first vertical profile is connected to the first end of the first horizontal profile and the second horizontal profile through a sliding mounting assembly; the second vertical profile is connected to the second end of the first horizontal profile and the second horizontal profile.

[0008] Furthermore, the two first cylinders are respectively fixed on the first transverse profile and the second transverse profile, and the cylinder arms of the two first cylinders abut against the first vertical profile, so that the first vertical profile can move in the length direction of the first transverse profile.

[0009] In some embodiments, a second cylinder is also included, with two second cylinders respectively fixed on the first transverse profile and the second transverse profile, and the second vertical profile is mounted on the second end of the first transverse profile and the second transverse profile via a sliding mounting assembly;

[0010] The cylinder arms of both first cylinders abut against the second vertical profile, allowing the first vertical profile to move along the length of the first transverse profile.

[0011] In some embodiments, the sliding mounting assembly includes a plug rod that is adapted to be inserted into a profile hole by a first end of a first transverse profile and a second transverse profile; and the other end of the plug rod is vertically fixed to a first vertical profile or a second vertical profile.

[0012] In some embodiments, a third and fourth transverse profile, both parallel to the first transverse profile, are also included, with the first, second, third, and fourth transverse profiles located in the same plane.

[0013] The two ends of the first vertical profile are respectively connected to the first ends of the first horizontal profile and the second horizontal profile via sliding mounting components; the two ends of the second vertical profile are respectively connected to the second ends of the first horizontal profile and the second horizontal profile.

[0014] Furthermore, both the third and fourth transverse profiles are equipped with cutting board assemblies, which are arranged on the same side as the suction cup assembly and are lower in height than the suction cup assembly.

[0015] In some embodiments, multiple suction cup assemblies are uniformly installed on the first vertical profile and the second vertical profile.

[0016] In some embodiments, the suction cup assembly includes a suction cup body, a connecting tube, a mounting block, and a suction cup air passage. The mounting block is mounted on a first vertical profile and a second vertical profile. The mounting block is provided with a mounting hole. The connecting tube is installed in the mounting hole. The suction cup body is mounted on the first end of the connecting tube. The second end of the mounting tube passes through the mounting hole and connects to the air passage suction cup air passage.

[0017] In some embodiments, the mounting hole is a threaded hole, and the connecting pipe is connected to the threaded hole by an external thread on the outer wall.

[0018] In some embodiments, the mounting block is inserted into the profile groove on the side of the first vertical profile and the second vertical profile away from the first horizontal profile.

[0019] In some embodiments, two parallel connecting profiles are also included, with the two ends of the connecting profiles being vertically fixedly connected to the first transverse profile and the second transverse profile, respectively.

[0020] On the other hand, this utility model embodiment also discloses a photovoltaic robot, which includes the aforementioned photovoltaic robot arm device.

[0021] By adopting the above technical solution, this utility model has at least the following beneficial effects:

[0022] This utility model provides a photovoltaic robot and its arm device. By incorporating a first cylinder, the distance between two vertical profiles can be adjusted. After adsorbing a glass substrate, the cylinder switch is activated, and the cylinder arm of the first cylinder moves the first and / or second vertical profiles, increasing the distance between them. This allows for uniform tension after glass adsorption, increasing the holding force and reducing the curvature of the adsorbed glass substrate during adsorption and transport, thus effectively reducing breakage. Furthermore, by incorporating an anvil assembly, the anvil assembly provides support on both sides of the glass substrate during placement, effectively reducing glass curvature and further minimizing breakage during placement. This design makes the glass more stable during gripping and transport, preventing breakage and improving production efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a structural schematic diagram of a photovoltaic robot arm device disclosed in some embodiments of this utility model.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. First horizontal profile; 2. Second horizontal profile; 3. Third horizontal profile; 4. Fourth horizontal profile; 5. First vertical profile; 6. Second vertical profile; 7. First cylinder; 8. Second cylinder; 9. Cutting board assembly; 10. Suction cup assembly; 11. Suction cup body; 12. Connecting pipe; 13. Mounting block; 14. Connecting profile. Detailed Implementation

[0027] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure. This disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0028] These embodiments are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0029] It should be noted that, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] Furthermore, the terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after the word, and do not exclude the possibility of encompassing other elements as well.

[0031] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. When a particular device is described as being located between a first device and a second device, an intermediary device may or may not be present between the particular device and the first or second device.

[0032] All terms used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0034] like Figure 1 As shown, some embodiments of this utility model disclose a photovoltaic robot arm device, which can be used as part of a photovoltaic robot and is generally used to move thin and large glass substrates. It includes a first horizontal profile 1, a second horizontal profile 2, a first vertical profile 5, a second vertical profile 6, and a first cylinder 7. The first horizontal profile 1 and the second horizontal profile 2 are arranged in parallel. The first vertical profile 5 is connected to the first ends of the first horizontal profile 1 and the second horizontal profile 2 via a sliding mounting assembly. The second vertical profile 6 is connected to the second ends of the first horizontal profile 1 and the second horizontal profile 2. Two first cylinders 7 are respectively fixed to the first horizontal profile 1 and the second horizontal profile 2, and the cylinder arms of both first cylinders 7 abut against the first vertical profile 5, allowing the first vertical profile 5 to move along the length of the first horizontal profile 1.

[0035] In this embodiment, by setting a first cylinder 7, the distance between the two vertical profiles can be adjusted. After the glass substrate is adsorbed, the cylinder switch is turned on, and the cylinder arm of the first cylinder 7 abuts against the first vertical profile 5 and / or the second vertical profile 6, thereby increasing the distance between the two vertical profiles. After the glass is adsorbed, it is tensioned at a constant speed, which increases the holding force and reduces the curvature of the adsorbed glass substrate during adsorption and transfer, thereby effectively reducing the breakage caused by it. This makes the glass substrate more stable during the gripping process and greatly reduces the breakage rate.

[0036] To further improve the stability during the glass substrate gripping process, a second cylinder 8 may be included. Two second cylinders 8 are respectively fixed to the first horizontal profile 1 and the second horizontal profile 2. A second vertical profile 6 is mounted on the second end of the first horizontal profile 1 and the second horizontal profile 2 via a sliding mounting assembly. The cylinder arms of both first cylinders 7 abut against the second vertical profile 6, allowing the first vertical profile 5 to move along the length of the first horizontal profile 1. During the glass substrate gripping operation, after adsorption is completed, the first cylinders 7 and the second cylinders 8 are activated simultaneously, and the first vertical profile 5 and the second vertical profile 6 move simultaneously away from each other, thereby uniformly tensioning the glass substrate from two directions, further reducing the breakage rate of the glass substrate during gripping, lowering production costs, and improving economic efficiency.

[0037] Furthermore, to achieve slidable installation between the profiles in the vertical and horizontal directions, the profile holes in the middle of the horizontal profiles (first horizontal profile 1 and second horizontal profile 2) can be fully utilized. The sliding installation assembly includes a plug-in rod, which is adapted to be inserted into the profile hole by the first end of the first horizontal profile 1 and the second horizontal profile 2. That is, the plug-in rod has a shape that is adapted and slightly smaller than the profile hole, so that the plug-in rod can be smoothly pulled in and out of the profile hole. The plug-in rod should have sufficient length to avoid the connection strength between the vertical and horizontal profiles being too low when the first cylinder 7 or the second cylinder 8 is running. The other end of the plug-in rod is vertically fixed to the first vertical profile 5 or the second vertical profile 6, generally by welding or other methods.

[0038] This utility model discloses a photovoltaic robot arm device in some embodiments. Based on the above embodiments, to ensure the stability of the glass substrate during its descent, it further includes a third horizontal profile 3 and a fourth horizontal profile 4, both parallel to the first horizontal profile 1. The first horizontal profile 1, the second horizontal profile 2, the third horizontal profile 3, and the fourth horizontal profile 4 are located on the same plane. The two ends of the first vertical profile 5 are respectively connected to the first ends of the first horizontal profile 1 and the second horizontal profile 2 via sliding mounting components. The two ends of the second vertical profile 6 are respectively connected to the second ends of the first horizontal profile 1 and the second horizontal profile 2. Furthermore, both the third horizontal profile 3 and the fourth horizontal profile 4 are provided with an anvil assembly 9, which is arranged on the same side as the suction cup assembly 10 and is lower than the height of the suction cup assembly 10. During the descent of the glass substrate, the anvil assembly 9 can provide support or abutment to the glass substrate, effectively reducing the resulting glass curvature and thus effectively reducing breakage during the placement of the glass substrate. This makes the glass more stable during gripping and transport, avoids glass breakage, and improves production efficiency.

[0039] This utility model discloses a photovoltaic robot arm device in some embodiments. Based on the above embodiments, multiple suction cup assemblies 10 are evenly installed on the first vertical profile 5 and the second vertical profile 6. Each suction cup assembly 10 may include a suction cup body 11, a connecting pipe 12, a mounting block 13, and a suction cup air passage. The mounting block 13 is installed on the first vertical profile 5 and the second vertical profile 6, and has mounting holes. The connecting pipe 12 is installed in the mounting holes, and the suction cup body 11 is installed at the first end of the connecting pipe 12. The second end of the mounting pipe passes through the mounting holes and connects to the suction cup air passage. The mounting holes can be threaded holes, and the connecting pipe 12 can be connected to the threaded holes by external threads on its outer wall. The threaded connection method improves the stability of the connection between the two. The length of the threaded rod can also be adjusted as needed to adjust the height of the suction cup, effectively meeting the adsorption and transfer requirements of curved glass. Each vertical profile can have seven suction cup bodies, evenly arranged along the length of the profile. Correspondingly, the cutting board assembly 9 may include a cutting board body that will not cause contact damage to the glass substrate and a mounting post. Generally, the cutting board body can be provided with sufficient length, usually approximately the same as the distance between the first vertical profile 5 and the second vertical profile 6. The cutting board body can be installed on the first end of the mounting post by a detachable connection such as plugging. The second end of the mounting post can be fitted with the profile groove of the profile, that is, the second end has a shape and size that fits the profile groove. During installation, it can slide into the profile groove from one side. Its position in the profile groove can be fixed by conventional fastening methods in the prior art, such as fastening with bolts using fastening holes on the profile. The mounting block 13 is inserted into the profile groove of the first vertical profile 5 and the second vertical profile 6 on the side away from the first horizontal profile 1, that is, inserted into the outside of the first vertical profile 5 or the second vertical profile 6, so that the connecting pipe 12 of the suction cup assembly 10 can be better connected to the suction cup air passage.

[0040] This utility model discloses a photovoltaic robot arm device in some embodiments. Based on the above embodiments, to improve the rigidity of the entire device and to facilitate connection with other components of the photovoltaic robot, it may further include two parallel connecting profiles 14. The two ends of the connecting profiles 14 are respectively vertically fixedly connected to a first transverse profile 1 and a second transverse profile 2. Furthermore, the first transverse profile, the second transverse profile, the third transverse profile, the fourth transverse profile, the first vertical profile, and the second vertical profile can be made from profiles of the same structure.

[0041] Some embodiments of this utility model also include a photovoltaic robot, comprising the photovoltaic robot arm device described in the aforementioned embodiments. By setting a first cylinder 7, the distance between the two vertical profiles is adjusted. After adsorbing the glass substrate, the cylinder switch is turned on, and the cylinder arm of the first cylinder 7 abuts against the first vertical profile 5 and / or the second vertical profile 6, thereby increasing the distance between the two vertical profiles. This allows for uniform tensioning after glass adsorption, increasing the holding force and reducing the curvature of the adsorbed glass substrate during adsorption and transport, effectively reducing breakage. By setting an anvil assembly 9, during the placement of the glass substrate, the anvil assembly 9 provides support on both sides of the glass substrate, effectively reducing the resulting glass curvature and further reducing breakage during placement. This makes the glass more stable during gripping and transport, preventing breakage and improving production efficiency.

[0042] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0043] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner.

Claims

1. A photovoltaic robotic arm device, characterized in that, It includes a first horizontal profile (1), a second horizontal profile (2), a first vertical profile (5), a second vertical profile (6), and a first cylinder (7); The first horizontal profile (1) and the second horizontal profile (2) are arranged in parallel, and the first vertical profile (5) is connected to the first end of the first horizontal profile (1) and the second horizontal profile (2) through a sliding mounting assembly; the second vertical profile (6) is connected to the second end of the first horizontal profile (1) and the second horizontal profile (2). The two first cylinders (7) are respectively fixed on the first transverse profile (1) and the second transverse profile (2), and the cylinder arms of the two first cylinders (7) are connected to the first vertical profile (5), so that the first vertical profile (5) can move in the length direction of the first transverse profile (1).

2. The photovoltaic robot arm device according to claim 1, characterized in that, It also includes a second cylinder (8), with two second cylinders (8) fixed on the first transverse profile (1) and the second transverse profile (2) respectively; The second vertical profile (6) is mounted on the second end of the first horizontal profile (1) and the second horizontal profile (2) via the sliding mounting assembly; Furthermore, the cylinder arms of both second cylinders (8) are connected to the second vertical profile (6), so that the second vertical profile (6) can move along the length of the first horizontal profile (1).

3. The photovoltaic robot arm device according to claim 1 or 2, characterized in that, The sliding mounting assembly includes a plug rod, which is adapted to be inserted into a profile hole by a first end of the first transverse profile (1) and the second transverse profile (2); and the other end of the plug rod is vertically fixed to the first vertical profile (5) or the second vertical profile (6).

4. The photovoltaic robot arm device according to claim 1, characterized in that, Multiple suction cup assemblies (10) are evenly installed on the first vertical profile (5) and the second vertical profile (6).

5. The photovoltaic robot arm device according to claim 4, characterized in that, It also includes a third transverse profile (3) and a fourth transverse profile (4) that are parallel to the first transverse profile (1), and the first transverse profile (1), the second transverse profile (2), the third transverse profile (3) and the fourth transverse profile (4) are located on the same plane; The two ends of the first vertical profile (5) are respectively connected to the first ends of the first horizontal profile (1) and the second horizontal profile (2) through sliding mounting components; the two ends of the second vertical profile (6) are respectively connected to the second ends of the first horizontal profile (1) and the second horizontal profile (2); Furthermore, both the third transverse profile (3) and the fourth transverse profile (4) are provided with an anvil assembly (9), the anvil assembly (9) is arranged on the same side as the suction cup assembly (10) and its height is lower than that of the suction cup assembly (10).

6. The photovoltaic robotic arm device according to claim 5, characterized in that, The suction cup assembly (10) includes a suction cup body (11), a connecting pipe (12), a mounting block (13), and a suction cup air passage. The mounting block (13) is mounted on the first vertical profile (5) and the second vertical profile (6). The mounting block (13) is provided with a mounting hole. The connecting pipe (12) is installed in the mounting hole. The suction cup body (11) is installed at the first end of the connecting pipe (12). The second end of the connecting pipe passes through the mounting hole and connects to the air passage suction cup air passage.

7. The photovoltaic robot arm device according to claim 6, characterized in that, The mounting hole is a threaded hole, and the connecting pipe (12) is connected to the threaded hole by an external thread on the outer wall.

8. The photovoltaic robot arm device according to claim 6, characterized in that, The mounting block (13) is inserted into the profile groove on the side of the first vertical profile (5) and the second vertical profile (6) away from the first horizontal profile (1).

9. The photovoltaic robot arm device according to claim 1, characterized in that, It also includes two parallel connecting profiles (14), the two ends of which are respectively vertically fixed to the first transverse profile (1) and the second transverse profile (2).

10. A photovoltaic robot, characterized in that, Includes the photovoltaic robotic arm device according to any one of claims 1-9.

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