A material handling mechanism

Abstract

The utility model relates to a kind of material handling mechanism, including fixed vertical plate, rotary servo motor, vertical guide slide, horizontal guide slide, handling frame, fixed vertical plate upper portion is equipped with guide slot, rotary servo motor is connected with a swing arm, the middle part of swing arm is equipped with long hole, roller passes through long hole and is adapted with guide slot, vertical guide slide includes vertical slide rail, roller seat and roller, handling frame is connected in the lower end of vertical slide rail and is hung on horizontal guide slide by elastic element.This material handling mechanism makes a part of load of handling frame pass to horizontal slide and then pass to vertical slide rail by elastic element, so the stress at the roller will reduce, the torque passed to swing arm will reduce, protect the driving shaft of rotary servo motor, so that the service life of rotary servo motor is prolonged under the operating condition of high load and high speed of material handling mechanism.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic module manufacturing technology, and in particular to a material handling mechanism. Background Technology

[0002] Photovoltaic modules are devices used to convert light energy into electrical energy, and are generally assembled from photovoltaic panels and frames. The manufacturing process of photovoltaic modules involves many handling mechanisms, one of which is used to transfer the frames from a conveyor belt to a punching device. The conveyor belt has raised partitions at the frame transport point, and the frames need to be placed from top to bottom onto the punching device. Therefore, this handling mechanism requires three actions: lifting, translating, and lowering the frames.

[0003] Chinese patent CN214454950U discloses a precision roller pick-and-place mechanism. This mechanism utilizes a motor to drive a swing arm, which, in conjunction with horizontal and vertical guide rails, moves left and right and up and down to perform the actions of gripping, transporting, and releasing products, allowing items to be picked up from one location and placed in another. However, this mechanism has a drawback when dealing with heavy loads and high-speed applications: at the moment the motor rotates, the pick-and-place mechanism generates a large reverse torque due to inertia, impacting the motor's drive shaft and thus shortening the motor's lifespan.

[0004] Therefore, it is necessary to improve the structure of the handling mechanism to solve the above problems. Utility Model Content

[0005] The main purpose of this invention is to provide a material handling mechanism that can extend the service life of the rotary servo motor under high load and high speed operating conditions.

[0006] This utility model achieves the above objectives through the following technical solution: a material handling mechanism, comprising:

[0007] The fixed upright plate has guide grooves at the top that are low at both ends and high in the middle, and a horizontal slide rail at the bottom.

[0008] The power unit includes a swing arm that swings about a pivot perpendicular to the fixed plate, and the middle part of the swing arm has an elongated hole extending along its length.

[0009] A vertical guide rail includes a vertical slide rail, a roller seat located at the upper end of the vertical slide rail, and a roller rotatably disposed at the rear of the roller seat. The roller passes through the elongated hole and is adapted to the guide groove.

[0010] A horizontal guide rail includes a horizontal slider that cooperates with the horizontal slide rail and a vertical slider that cooperates with the vertical slide rail;

[0011] The transport frame is connected to the lower end of the vertical slide rail and suspended from the horizontal guide frame by an elastic element.

[0012] Specifically, the elastic element is two tension springs, which are placed on both sides of the horizontal guide rail. The upper end of the tension spring is connected to the side end of the horizontal guide rail, and the lower end is connected to the transport frame.

[0013] Furthermore, the elastic coefficient of the tension spring is 0.17 to 0.20 N / mm and / or the natural length is 120 to 150 mm and / or the maximum tensile length is 200 to 230 mm.

[0014] Specifically, the power unit also includes a rotary servo motor, which is fixed to the back of the fixed plate and its drive shaft passes through the fixed plate. One end of the swing arm is connected to the drive shaft.

[0015] Specifically, the roller seat has a T-shaped structure and stepped surfaces on both sides below. The fixed plate has a height-adjustable limiting bolt on each side of the end of the guide groove. The limiting bolt restricts the descent height of the roller seat by abutting against the stepped surfaces.

[0016] Furthermore, a buffer is provided on one side of each limiting bolt, which decelerates the roller seat between contact with the limiting bolt.

[0017] Furthermore, the buffer has a contact that contacts the stepped surface upwards, and the highest point of the contact when it extends upwards is higher than the highest point of the limiting bolt.

[0018] Specifically, the guide groove is in the shape of an inverted U, with a horizontal section in the middle and vertical sections on both sides, and a smooth transition between the horizontal and vertical sections.

[0019] Furthermore, a sensing plate is provided at the free end of the swing arm, and a sensor for adapting to the sensing plate is provided above the horizontal section and on the outer side of the end of the vertical section.

[0020] Specifically, the transport frame includes a connecting plate, two transport beams, several reinforcing plates, and two pairs of cylinder grippers. The connecting plate is connected to the lower end of the vertical slide rail. The two transport beams are parallel to each other and connected to both ends of the connecting plate. The reinforcing plates are connected at the corners of the transport beams and the connecting plate. The two pairs of cylinder grippers are respectively located at both ends of the two transport beams.

[0021] The beneficial effects of this utility model's technical solution are:

[0022] This material handling mechanism uses elastic elements to transfer a portion of the load from the handling frame to the horizontal slider and then to the horizontal slide rail. As a result, the force on the rollers is reduced, and the torque transmitted to the swing arm is reduced, protecting the drive shaft of the rotary servo motor and extending the service life of the rotary servo motor under high load and high speed operating conditions. Attached Figure Description

[0023] Figure 1 This is a perspective view of the material handling mechanism in the embodiment;

[0024] Figure 2 for Figure 1 A magnified view of a portion of position A in the middle;

[0025] Figure 3 This is a partial 3D view of the material handling mechanism in the state of clamping the material to be moved.

[0026] The numbers in the diagram represent:

[0027] 100 - Material handling mechanism

[0028] 1-Fixed vertical plate, 11-Guide groove, 12-Horizontal slide rail;

[0029] 2- Rotary servo motor, 21- Swing arm, 211- Elongated hole, 212- Sensor plate;

[0030] 3-Horizontal guide rail, 31-Horizontal slider, 32-Vertical slider;

[0031] 4-Vertical guide rail, 41-Vertical slide rail, 42-Roller seat, 421-Step surface, 43-Roller;

[0032] 5-Transfer frame, 51-Connecting plate, 52-Transfer beam, 53-Reinforcing plate, 54-Cylinder gripper;

[0033] 6-Tension spring;

[0034] 7-Limit bolt;

[0035] 8-Buffer, 81-Contact;

[0036] 9-Sensor.

[0037] 200 - Materials to be moved. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to specific embodiments.

[0039] Example 1:

[0040] like Figure 1 and Figure 3As shown, the material handling mechanism 100 of this utility model includes a fixed upright plate 1, a power unit, a horizontal guide rail 3, a vertical guide rail 4, a handling frame 5, and an elastic element.

[0041] like Figure 1 and Figure 3 As shown, the rotary servo motor 2 is fixed to the back of the fixed plate 1, and the drive shaft of the rotary servo motor 2 passes through the fixed plate 1 and is connected to a swing arm 21. The middle of the swing arm 21 is provided with an elongated hole 211 extending along its length. The upper part of the fixed plate 1 is provided with a guide groove 11 that is low at both ends and high in the middle, and the lower part is provided with a horizontal slide rail 12. The vertical guide frame 4 includes a vertical slide rail 41, a roller seat 42 located at the upper end of the vertical slide rail 41, and a roller 43 rotatably disposed at the rear of the roller seat 42. The roller 43 passes through the elongated hole 211 and is adapted to the guide groove 11. The horizontal guide frame 3 includes a horizontal slider 31 that cooperates with the horizontal slide rail 12 and a vertical slider 32 that cooperates with the vertical slide rail 41. The transport frame 5 is connected to the lower end of the vertical slide rail 41 and is suspended on the horizontal guide frame 3 by an elastic element.

[0042] The cooperation between the horizontal slide rail 12 and the horizontal slider 31 allows the horizontal guide frame 3 to move only horizontally relative to the fixed upright plate 1. The cooperation between the vertical slide rail 41 and the vertical slider 32 allows the vertical guide frame 4 to move only vertically relative to the horizontal guide frame 3. The transport frame 5 connected to the lower part of the vertical guide frame 4 can only translate within a defined vertical plane, which is parallel to the surface of the fixed upright plate 1. The movement path depends on the position of the roller 43 within the guide groove 11. The width of the guide groove 11 matches the outer diameter of the roller 43 and the width of the elongated hole 211. The roller 43 can only be located at the intersection of the guide groove 11 and the elongated hole 211. Therefore, when the rotary servo motor 2 drives the swing arm 21 to swing, the roller 43 will move along the guide groove 11, thereby realizing the raising, fixed-distance translation, and lowering of the transport frame 5. Here, the tension spring 6 transfers part of the load of the conveying frame 5 to the horizontal slider 31 and then to the horizontal slide rail 12. Therefore, the force at the roller 43 is reduced, and the torque transmitted to the swing arm 21 is reduced, which protects the drive shaft of the rotary servo motor 2 and extends the service life of the rotary servo motor 2 under high load and high speed operating conditions.

[0043] Example 2:

[0044] like Figure 2 As shown, the difference from Embodiment 1 is that the roller seat 42 has a T-shaped structure and a stepped surface 421 is provided on the lower side of both sides. The fixed plate 1 has a height-adjustable limiting bolt 7 on each side of the end of the guide groove 11. The limiting bolt 7 restricts the descent height of the roller seat 42 by abutting against the stepped surface 421.

[0045] The descent position of the transport frame 5 is generally limited by height. Because the transport frame 5 and the vertical guide slide 4 are relatively fixed, the limiting bolt 7 can limit the descent height of the transport frame 5 by restricting the range of motion of the roller seat 42. The limiting bolt 7 itself can also be adjusted in height along the vertical axis, so the descent limit position of the transport frame 5 can be finely adjusted by using the limiting bolt 7.

[0046] like Figure 2 As shown, each limiting bolt 7 is also provided with a buffer 8 on one side, which decelerates the roller seat 42 between contacting the limiting bolt 7. The buffer 8 has a contact 81 that contacts the stepped surface 421 upwards, and the highest point of the contact 81 when it extends upwards is higher than the highest point of the limiting bolt 7.

[0047] The step surface 421 always contacts the contact 81 first, and then contacts the limit bolt 7. Because the buffer 8 is elastic, it can help slow down the roller seat 42 before it reaches the limit position, thereby reducing the shaking amplitude of the transport frame 5 when it stops and reducing the risk of the material to be transported 200 falling when it stops quickly.

[0048] Example 3:

[0049] like Figure 1 and Figure 3 As shown, the difference from Embodiment 1 is that the guide groove 11 is inverted U-shaped, with a horizontal section in the middle and vertical sections on both sides, and a smooth transition between the horizontal and vertical sections.

[0050] This allows the roller 43 to roll more smoothly within the guide groove 11.

[0051] like Figure 1 and Figure 2 As shown, the free end of the swing arm 21 is provided with a sensing plate 212, and a sensor 9 is provided above the horizontal section and on the outer side of the end of the vertical section to adapt to the sensing plate 212.

[0052] As shown in the figure, a total of three sensors 9 are set here. The sensors 9 can detect whether the sensing plate 212 has passed by, thereby determining the swing angle or swing stage of the swing arm 21, and avoiding the problem of transport failure caused by the swing arm 21 and the drive shaft of the rotary servo motor 2 not moving properly.

[0053] Example 4:

[0054] like Figure 1As shown, the difference from Embodiment 3 is that the transport frame 5 includes a connecting plate 51, two transport beams 52, several reinforcing plates 53, and two pairs of cylinder grippers 54. The connecting plate 51 is connected to the lower end of the vertical slide rail 41. The two transport beams 52 are parallel to each other and connected to both ends of the connecting plate 51. The reinforcing plates 53 are connected to the corners of the transport beams 52 and the connecting plate 51. The two pairs of cylinder grippers 54 are respectively disposed at both ends of the two transport beams 52.

[0055] The connecting plate 51 and the transport beam 52 form an I-shaped frame. The reinforcing plate 53 is used to make the I-shaped frame structure more stable. The cylinder grippers 54 are in pairs and are located at the four corners of the I-shaped frame. The materials to be transported 200 are always used in pairs because they are used on the long or short side of the photovoltaic module. Each pair of cylinder grippers 54 can hold one material to be transported 200, so two materials to be transported 200 can be transported at the same time, which is suitable for the need for paired use of the materials to be transported 200.

[0056] like Figures 1 to 3 As shown, the elastic element consists of two tension springs 6, which are placed on both sides of the horizontal guide rail 3. The upper end of the tension spring 6 is connected to the side end of the horizontal guide rail 3, and the lower end is connected to the transport frame 5.

[0057] In this embodiment, the tension spring 6 suspends the transport frame 5 on the horizontal guide rail 3. When the roller 43 rises, the tension spring 6 contracts because the roller 43 is in the horizontal section, at which point the guide groove 11 itself can distribute most of the load. When the roller 43 descends, the tension spring 6 extends because the roller 43 is in the vertical section, at which point the guide groove 11 cannot distribute the load, so the tension spring 6 helps to transfer the load to the horizontal slide rail. The tension spring 6 is only one type of elastic element; as long as the elastic element can transfer part of the load to the horizontal slide rail 12, it is sufficient. Therefore, it can also be replaced by gas springs, rubber springs, or other elastic elements, and their quantity is not limited.

[0058] The parameters of the tension spring 6 can be selected as follows: spring constant of 0.17 N / mm, natural length of 150 mm, and maximum tensile length of 200 mm; spring constant of 0.19 N / mm and / or natural length of 130 mm and / or maximum tensile length of 200 mm; spring constant of 0.19 N / mm and / or natural length of 140 mm and / or maximum tensile length of 220 mm; spring constant of 0.20 N / mm and / or natural length of 150 mm and / or maximum tensile length of 230 mm. The working process of the material handling mechanism 100 is as follows:

[0059] All cylinder grippers 54 are initially in an open state. The rotary servo motor 2 drives the swing arm 21 to rotate counterclockwise. The roller 43 is subjected to the force of the inner wall of the elongated hole 211, moving the entire vertical guide slide 4 and the transport frame 5 together until the roller seat 42 is blocked by the limit bolt 7 near one end of the guide groove 11. At this time, the material to be transported 200 will be waiting in advance at the picking position of the cylinder gripper 54. The cylinder gripper 54 approaches the material to be transported 200 from top to bottom. One of its buffers 8 will help the transport frame 5 decelerate in advance. When one of its sensors 9 senses that the sensing plate 212 has reached the picking position, the two pairs of cylinder grippers 54 will hold a total of two materials to be transported 200. Rotation Servo motor 2 drives swing arm 21 to rotate clockwise. Roller 43 is subjected to the force of the inner wall of elongated hole 211, and moves together with the entire vertical guide slide 4 and transport frame 5 until roller seat 42 is blocked by limit bolt 7 near the other end of guide groove 11. The buffer 8 on the other side will help transport frame 5 decelerate in advance. At this time, the material to be transported 200 will descend and then stop at the discharge position. When the other sensor 9 senses that the sensing plate 212 has reached the discharge position, the cylinder gripper 54 releases, leaving the two materials to be transported 200 at the discharge position. The materials to be transported 200 enter the next process, and the material transport mechanism 100 returns to pick up the new materials to be transported 200.

[0060] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A material handling mechanism, characterized in that... include: The fixed upright plate has guide grooves at the top that are low at both ends and high in the middle, and a horizontal slide rail at the bottom. The power unit includes a swing arm that swings about a pivot perpendicular to the fixed plate, and the middle part of the swing arm has an elongated hole extending along its length. A vertical guide rail includes a vertical slide rail, a roller seat located at the upper end of the vertical slide rail, and a roller rotatably disposed at the rear of the roller seat. The roller passes through the elongated hole and is adapted to the guide groove. A horizontal guide rail includes a horizontal slider that cooperates with the horizontal slide rail and a vertical slider that cooperates with the vertical slide rail; The transport frame is connected to the lower end of the vertical slide rail and suspended from the horizontal guide frame by an elastic element.

2. The material handling mechanism according to claim 1, characterized in that: The elastic element consists of two tension springs, which are placed on both sides of the horizontal guide rail. The upper end of each tension spring is connected to the side of the horizontal guide rail, and the lower end is connected to the transport frame.

3. The material handling mechanism according to claim 2, characterized in that: The elastic coefficient of the tension spring is 0.17~0.20 N / mm and / or the natural length is 120~150 mm and / or the maximum tensile length is 200~230 mm.

4. The material handling mechanism according to claim 1, characterized in that: The power unit also includes a rotary servo motor, which is fixed to the back of the fixed plate and its drive shaft passes through the fixed plate. One end of the swing arm is connected to the drive shaft.

5. The material handling mechanism according to claim 1, characterized in that: The roller seat has a T-shaped structure and stepped surfaces on both sides below. The fixed plate has a height-adjustable limiting bolt on each side of the end of the guide groove. The limiting bolt restricts the descent height of the roller seat by abutting against the stepped surfaces.

6. The material handling mechanism according to claim 5, characterized in that: Each limiting bolt is also provided with a buffer on one side, which slows down the roller seat between contact with the limiting bolt.

7. The material handling mechanism according to claim 6, characterized in that: The buffer has a contact that contacts the stepped surface upwards, and the highest point of the contact when it extends upwards is higher than the highest point of the limiting bolt.

8. The material handling mechanism according to claim 1, characterized in that: The guide groove is inverted U-shaped, with a horizontal section in the middle and vertical sections on both sides, and a smooth transition between the horizontal and vertical sections.

9. The material handling mechanism according to claim 8, characterized in that: The free end of the swing arm is provided with a sensing plate, and a sensor is provided above the horizontal section and on the outer side of the end of the vertical section to adapt to the sensing plate.

10. The material handling mechanism according to claim 1, characterized in that: The transport frame includes a connecting plate, two transport beams, several reinforcing plates, and two pairs of cylinder grippers. The connecting plate is connected to the lower end of the vertical slide rail. The two transport beams are parallel to each other and connected to both ends of the connecting plate. The reinforcing plates are connected at the corners of the transport beams and the connecting plate. The two pairs of cylinder grippers are respectively located at both ends of the two transport beams.

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