Mechanical hand grabbing device for perovskite solar cell

Abstract

The utility model discloses a kind of mechanical hand gripping devices for perovskite solar cell, including bottom plate, the top of bottom plate is equipped with top plate, both sides of top plate top end are equipped with guide rod through support, movable mounting has linkage seat on the outer wall of guide rod, linkage seat top end is fixedly installed with lower link seat, the upper side of lower link seat is equipped with upper link seat, the top end of upper link seat is installed with the fourth motor, the bottom end of fourth motor is connected with the top end of lower link seat and is connected with upper link seat, the top end of upper link seat is installed with first motor through support, one end of first motor is installed with first drive arm, second drive arm is installed on the inner wall of first drive arm upper end, second motor is rotatably installed on the outer wall of second drive arm.The utility model not only reaches the purpose of easily perovskite solar cell is conveniently grabbed and moves, also improves the grabbing and moving efficiency of solar cell when gripping device is used, and reduce the phenomenon of grabbing loss in solar cell grabbing process.

Description

Technical Field

[0001] This utility model relates to the field of perovskite solar cell production technology, specifically to a robotic gripping device for perovskite solar cells. Background Technology

[0002] Perovskite solar cells, as a novel type of photovoltaic device, have attracted widespread attention due to their advantages such as high photoelectric conversion efficiency, low cost, and simple fabrication process. In the production process of perovskite solar cells, multiple operations are required, such as handling and assembly. This necessitates the use of robotic gripper devices to accurately grasp and transfer the solar cells. Therefore, developing a robotic gripper device for perovskite solar cells has significant practical implications.

[0003] Reference announcement number CN210525109U discloses a robotic gripper for complex irregularly shaped battery springs, comprising a worktable, a radially arranged support fixed at the center of the top of the worktable, a rotating part fixed above the side wall of the support, a slide fixed on the front side wall of the rotating part, axially extending guide rails on both sides of the front side wall of the slide, and a slider, the sides of which are slidably engaged with the guide rails. A robotic arm is fixed to the end of the slider, and a cylinder is fixed to the worktable located on one side of the support. The cylinder cooperates with the slider through a first air pipe and with the rotating part through a second air pipe. The controller is electrically connected to the cylinder and sensing components respectively. Compared with the existing technology, this device enables the robot arm to effectively adjust and accurately grasp complex and irregularly shaped battery springs, avoiding the springs from getting caught on the tool holder and causing production abnormalities. It eliminates the need for manual sorting by technicians and does not affect the production schedule, thereby reducing manual sorting costs and improving production efficiency. As can be seen from the above, although this device can be applied well, it is usually not convenient to grip and transfer two battery bodies at the same time, making it difficult for the device to achieve the expected gripping and transfer efficiency of battery bodies, which still needs to be improved. Utility Model Content

[0004] The purpose of this invention is to provide a robotic gripping device for perovskite solar cells, which solves the problem that although the device proposed in the background art can be applied well, it is usually not convenient to grip and transfer two battery bodies at the same time, making it difficult for the device to achieve the expected gripping and transfer efficiency of the battery bodies.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic gripper for perovskite solar cells, comprising a base plate, a top plate above the base plate, guide rods on both sides of the top of the top of the top plate via brackets, a linkage seat movably mounted on the outer wall of the guide rods, a lower connecting seat fixedly mounted on the top of the linkage seat, an upper connecting seat above the lower connecting seat, a fourth motor mounted on the top of the upper connecting seat, the bottom end of the fourth motor penetrating the upper connecting seat and connecting to the top of the lower connecting seat, a first motor mounted on the top of the upper connecting seat via brackets, and a first... The first drive arm has a second drive arm mounted on its inner wall at the upper end. A second motor is rotatably mounted on the outer wall of the second drive arm. One end of the second motor passes through the second drive arm and is connected to the inner wall of the first drive arm. A third motor is mounted on the end of the second drive arm away from the first drive arm. A support plate is mounted on the bottom end of the third motor. Strip plates are provided on the outer walls of both sides of the support plate. A first telescopic cylinder is mounted at the center of the bottom end of the strip plates. A second telescopic cylinder is mounted on the bottom end of the first telescopic cylinder. A clamping plate is mounted on one end of both the first and second telescopic cylinders.

[0006] Preferably, a support frame is provided at the corner of the top of the bottom plate, and the top of the support frame is fixedly connected to the bottom of the top plate. The support frame is provided to support and place the top plate.

[0007] Preferably, a drive wheel is rotatably mounted on one side of the top plate between the guide rods, and a driven wheel is rotatably mounted on the other side of the top plate between the guide rods. A transmission belt is wound on the outer wall between the driven wheel and the drive wheel. The outer wall of one side of the transmission belt is connected to the inner wall of the linkage seat. The transmission belt is used to drive the linkage seat to slide on the outer wall of the guide rods.

[0008] Preferably, a fifth motor is installed at the bottom end of the top plate at the location of the drive wheel. The top end of the fifth motor passes through the top plate and is connected to the bottom end of the drive wheel. The fifth motor is used to drive the drive wheel to rotate.

[0009] Preferably, a clamp is installed on the inner wall of the lower end of the clamping plate, and two rubber clamps are installed on the inner wall of the clamp. The rubber clamps are used to flexibly grip the solar cell.

[0010] Preferably, a locking bolt is installed on the outer wall of the lower end of the clamping plate. One end of the locking bolt passes through the clamping plate and is threadedly connected to the outer wall of the chuck. The locking bolt allows for the chuck to be disassembled and assembled.

[0011] Compared with the prior art, the beneficial effects of this utility model are: the robotic gripper for perovskite solar cells not only achieves the purpose of easy and convenient gripping and transfer of perovskite solar cells, but also improves the gripping and transfer efficiency of solar cells when the gripper is used, and reduces the phenomenon of gripping damage during the gripping process of solar cells.

[0012] (1) By setting the fourth motor, the upper connecting seat is driven to rotate at the top of the lower connecting seat, while the first motor can drive the first driving arm to rotate, the second motor can drive the second driving arm to rotate, and the third motor can drive the carrier plate to rotate, so as to move the gripping component at the bottom of the carrier plate to the top of the solar cell. Since the gripping component at the bottom of the carrier plate is set to two sets, it can simultaneously grip and move two sets of solar cells, thereby improving the gripping and moving efficiency of the gripping device when using the solar cell.

[0013] (2) By tightening the locking bolt, one end of the locking bolt passes through the clamp and is screwed into the clamp, so that the clamp can be installed on the inner wall of the lower end of the clamp. Then, the strip plate is moved to the top of the solar cell and the two clamps are placed on both sides of the battery. Then, the first telescopic cylinder and the second telescopic cylinder are driven synchronously to drive the two clamps to move closer to each other, so that the rubber clamping block on the inner wall of the clamp fits against the outer walls of both sides of the battery, so that the solar cell can be flexibly gripped, thereby reducing the phenomenon of gripping damage during the gripping process.

[0014] (3) The fifth motor drives the drive wheel to rotate, so that the drive wheel works with the driven wheel to drive the transmission belt to run. At this time, the transmission belt drives the linkage seat to slide on the outer wall of the guide rod, so that the solar cells grabbed under the bearing plate can be transferred, thereby achieving the purpose of easy grabbing and transfer of perovskite solar cells. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a top view of the structure of this utility model;

[0017] Figure 3 This utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0018] Figure 4 This utility model Figure 1 Enlarged structural diagram at point B.

[0019] In the diagram: 1. Base plate; 2. Support frame; 3. Top plate; 4. Fifth motor; 5. Drive wheel; 6. Transmission belt; 7. Guide rod; 8. Linkage seat; 9. First drive arm; 10. Second drive arm; 11. Second motor; 12. Third motor; 13. Bearing plate; 14. Driven wheel; 15. Strip plate; 16. First telescopic cylinder; 17. Second telescopic cylinder; 18. Clamping plate; 19. Clamp; 20. Rubber clamp; 21. Locking bolt; 22. Lower connecting seat; 23. Upper connecting seat; 24. Fourth motor; 25. First motor. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0021] Please see Figure 1-4 The present invention provides an embodiment of a robotic gripping device for perovskite solar cells, comprising a base plate 1, with a support frame 2 provided at the corner of the top of the base plate 1, the top of the support frame 2 being fixedly connected to the bottom of the top plate 3.

[0022] In use, the support frame 2 is used to support and place the top plate 3.

[0023] A top plate 3 is provided above the base plate 1. Guide rods 7 are provided on both sides of the top of the top plate 3 via brackets. A drive wheel 5 is rotatably installed on one side of the top of the top plate 3 between the guide rods 7, and a driven wheel 14 is rotatably installed on the other side of the top of the top plate 3 between the guide rods 7. A transmission belt 6 is wound on the outer wall between the driven wheel 14 and the drive wheel 5. The outer wall of one side of the transmission belt 6 is connected to the inner wall of the linkage seat 8.

[0024] In use, the transmission belt 6 is used to drive the linkage seat 8 to slide on the outer wall of the guide rod 7;

[0025] A fifth motor 4 is installed at the bottom of the top plate 3 at the position of the drive wheel 5. The top of the fifth motor 4 passes through the top plate 3 and is connected to the bottom of the drive wheel 5.

[0026] In use, the fifth motor 4 is configured to drive the drive wheel 5 to rotate;

[0027] A linkage seat 8 is movably mounted on the outer wall of the guide rod 7. A lower connecting seat 22 is fixedly mounted on the top of the linkage seat 8. An upper connecting seat 23 is located above the lower connecting seat 22. A fourth motor 24 is mounted on the top of the upper connecting seat 23. The bottom end of the fourth motor 24 passes through the upper connecting seat 23 and connects to the top of the lower connecting seat 22. A first motor 25 is mounted on the top of the upper connecting seat 23 via a bracket. A first drive arm 9 is mounted on one end of the first motor 25. A second drive arm 10 is mounted on the inner wall of the upper end of the first drive arm 9. A second motor 11 is rotatably mounted on the outer wall of the second drive arm 10. One end of the second motor 11 passes through the second drive arm 9. The drive arm 10 is connected to the inner wall of the first drive arm 9. The end of the second drive arm 10 away from the first drive arm 9 is equipped with a third motor 12. The bottom end of the third motor 12 is equipped with a support plate 13. The outer walls on both sides of the support plate 13 are provided with strip plates 15. The center of the bottom end of the strip plate 15 is equipped with a first telescopic cylinder 16. The bottom end of the first telescopic cylinder 16 is equipped with a second telescopic cylinder 17. One end of the first telescopic cylinder 16 and the second telescopic cylinder 17 is equipped with a clamping plate 18. The inner wall of the lower end of the clamping plate 18 is equipped with a clamp 19. The inner wall of the clamp 19 is equipped with two rubber clamping blocks 20.

[0028] When in use, the rubber clamp 20 is set to enable flexible gripping of the solar cells;

[0029] A locking bolt 21 is installed on the outer wall of the lower end of the clamping plate 18. One end of the locking bolt 21 passes through the clamping plate 18 and is threadedly connected to the outer wall of the chuck 19.

[0030] During use, the locking bolt 21 is used to allow for the disassembly and assembly of the chuck 19.

[0031] In this embodiment, during use, firstly, by tightening the locking bolt 21, one end of the locking bolt 21 passes through the clamping plate 18 and is screwed into the clamp 19, thus installing the clamp 19 onto the inner wall of the lower end of the clamping plate 18. Then, the strip plate 15 is moved above the solar cell, and the two clamping plates 18 are positioned on either side of the cell. Subsequently, the first telescopic cylinder 16 and the second telescopic cylinder 17 are simultaneously driven to bring the two clamping plates 18 closer together, so that the rubber clamping blocks 20 on the inner wall of the clamp 19 adhere to the outer walls of both sides of the cell, thus performing a flexible gripping operation on the solar cell. Then, the fourth motor 24 drives the upper connecting seat 23 to rotate at the top of the lower connecting seat 22, while the first motor 25 drives the first drive arm 9 to rotate. The motor 11 drives the second drive arm 10 to rotate, and the third motor 12 drives the support plate 13 to rotate, so as to move the gripping component at the bottom of the support plate 13 to the top of the solar cell. Since the gripping component at the bottom of the support plate 13 is set into two sets, it can grip two sets of solar cells at the same time. Finally, the fifth motor 4 drives the drive wheel 5 to rotate, so that the drive wheel 5 cooperates with the driven wheel 14 to drive the transmission belt 6 to rotate. At this time, the transmission belt 6 drives the linkage seat 8 to slide on the outer wall of the guide rod 7, so as to transfer the solar cell gripped below the support plate 13. This device is electrically connected to an external terminal system so that the external terminal system can control the device to complete the use of the gripping device.

Claims

1. A robotic gripping device for perovskite solar cells, characterized in that: The system includes a base plate (1), a top plate (3) above the base plate (1), guide rods (7) on both sides of the top of the top of the top plate (3) via brackets, a linkage seat (8) movably mounted on the outer wall of the guide rod (7), a lower connecting seat (22) fixedly mounted on the top of the linkage seat (8), an upper connecting seat (23) above the lower connecting seat (22), a fourth motor (24) mounted on the top of the upper connecting seat (23), the bottom end of the fourth motor (24) penetrating the upper connecting seat (23) and connected to the top of the lower connecting seat (22), a first motor (25) mounted on the top of the upper connecting seat (23) via brackets, a first drive arm (9) mounted on one end of the first motor (25), and a second drive arm (9) mounted on the inner wall of the upper end of the first drive arm (9). The boom (10) has a second motor (11) rotatably mounted on the outer wall of the second drive arm (10). One end of the second motor (11) passes through the second drive arm (10) and is connected to the inner wall of the first drive arm (9). A third motor (12) is mounted on the end of the second drive arm (10) away from the first drive arm (9). A bearing plate (13) is mounted on the bottom end of the third motor (12). Strip plates (15) are provided on the outer walls on both sides of the bearing plate (13). A first telescopic cylinder (16) is mounted at the center of the bottom end of the strip plate (15). A second telescopic cylinder (17) is mounted on the bottom end of the first telescopic cylinder (16). A clamping plate (18) is mounted on one end of both the first telescopic cylinder (16) and the second telescopic cylinder (17).

2. The robotic gripper for perovskite solar cells according to claim 1, characterized in that: Each of the corners at the top of the base plate (1) is provided with a support frame (2), and the top of the support frame (2) is fixedly connected to the bottom of the top plate (3).

3. The robotic gripper for perovskite solar cells according to claim 1, characterized in that: A drive wheel (5) is rotatably mounted on one side of the top plate (3) between the guide rods (7), and a driven wheel (14) is rotatably mounted on the other side of the top plate (3) between the guide rods (7). A transmission belt (6) is wound on the outer wall between the driven wheel (14) and the drive wheel (5), and the outer wall of one side of the transmission belt (6) is connected to the inner wall of the linkage seat (8).

4. A robotic gripper for perovskite solar cells according to claim 3, characterized in that: A fifth motor (4) is installed at the bottom end of the top plate (3) at the position of the drive wheel (5). The top end of the fifth motor (4) passes through the top plate (3) and is connected to the bottom end of the drive wheel (5).

5. A robotic gripper for perovskite solar cells according to claim 1, characterized in that: A clamp (19) is installed on the inner wall of the lower end of the clamp (18), and two rubber clamps (20) are installed on the inner wall of the clamp (19).

6. A robotic gripper for perovskite solar cells according to claim 5, characterized in that: A locking bolt (21) is installed on the outer wall of the lower end of the clamp (18). One end of the locking bolt (21) passes through the clamp (18) and is threadedly connected to the outer wall of the chuck (19).

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