Multifunctional gripper unit
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-29
- Publication Date
- 2026-08-11
Smart Images
Figure CN224627147U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of photovoltaic module production equipment technology, and in particular to a multi-functional hand gripper unit. Background Technology
[0002] In photovoltaic module production, crystal trays are typically used to fix, support, or carry key components such as wafers and crystals. In automated production, after the crystal tray worktable supports the wafers and crystals, a gripper unit picks up the crystal tray worktable and transfers it to the next processing station.
[0003] Different positions of the crystal tray assembly need to be grasped for different production processes.
[0004] Correspondingly, in the positioning and gripping of the crystal tray, there are usually three different workstations for different gripping positions: 1. Direct gripping of the crystal tray worktable; 2. Gripping of the crystal tray basket assembly; 3. Gripping of the material frame assembly.
[0005] In actual positioning and gripping, different gripper units need to be designed according to different gripping structures. For example, to directly grip the crystal tray worktable, a split gripper needs to be designed accordingly, targeting the through hole on the crystal tray worktable, and moving synchronously towards each other from both sides of the through hole to effectively grip it; to grip the crystal tray basket, a gripper mechanism needs to be designed to effectively grip the crystal tray basket based on its shape; gripping the material frame assembly also requires designing gripping positions on the material frame assembly and designing a gripper mechanism to effectively grip those positions.
[0006] In actual assembly, the crystal tray worktable is set on the crystal tray basket assembly, which in turn is located on the material frame assembly. The gripper design typically handles a single component; handling different components requires switching gripper units or moving to another corresponding gripper unit station, placing significant demands on production line and factory installation space. The current challenge is how to further structurally improve the existing gripper unit within limited installation space, enabling it to use the same gripper module to simultaneously handle three different stations during crystal tray positioning and gripping. Utility Model Content
[0007] The technical problem to be solved by this utility model is: in order to overcome the shortcomings of the prior art, this utility model provides a multi-functional hand gripping unit that can respectively position and grip the crystal tray worktable, crystal tray basket and material frame assembly, effectively improving the integration and continuity of the production line.
[0008] The technical solution adopted by this utility model to solve its technical problem is: a multi-functional gripper unit for clamping a crystal tray worktable, a crystal tray basket assembly, and a material frame assembly, including a C-axis rotation mechanism and a gripper frame. The C-axis rotation mechanism drives the gripper frame to reciprocate. The gripper frame is respectively equipped with a crystal tray gripper mechanism, a basket gripper mechanism, and an assembly gripper mechanism. The crystal tray gripper mechanism is located below the C-axis rotation mechanism and includes a first drive mechanism and at least one pair of symmetrically arranged first fingers. Each pair of first fingers is driven by the first drive mechanism to move in opposite directions and then clamps and engages with the opening of the through hole in the crystal tray worktable. The basket gripper mechanism has two sets, symmetrically arranged at both ends of the crystal tray basket assembly. Each set of basket gripper mechanisms includes a second drive mechanism, a second positioning plate, and a second basket connecting plate. The second positioning plate is fixedly connected to the gripper frame, and the second drive mechanism is located on the second positioning plate. The second flower basket connecting plate is driven to move up and down relative to the second positioning plate; the lower end of the second flower basket connecting plate is fixed with a pair of second flower basket hooks. When the C-axis rotation mechanism drives the hand gripping frame to move, the pair of second flower basket hooks respectively engage with the hooks of the crystal support flower basket assembly; the assembly hand gripping mechanism includes two sets, symmetrically arranged at both ends of the material frame assembly. Each end of the material frame assembly has a pair of handles. Each set of assembly hand gripping mechanisms includes a third drive mechanism, a third positioning plate, and a material frame hand gripping plate. The third positioning plate is fixed to the hand gripping frame, and the third drive mechanism is fixed on the third positioning plate and drives the material frame hand gripping plate to move up and down relative to the third positioning plate; the material frame hand gripping plate is fixed with a material frame hook corresponding to each handle. The material frame hook has a support groove for the handle to support. When the material frame hook does not support the handle, the support groove of the same set of assembly hand gripping mechanisms is located on the same side as the handle that needs to be supported.
[0009] In the above solution, three different gripping mechanisms are integrated into the C-axis rotation mechanism. These mechanisms can grip different positions during crystal tray production: the crystal tray gripping mechanism grips the crystal tray worktable, the basket gripping mechanism grips the crystal tray basket assembly, and the assembly gripping mechanism grips the material frame assembly. During the gripping process, the crystal tray gripping mechanism uses a split-type (opposite-to-opposite) gripping method, while the basket gripping mechanism and the assembly gripping mechanism utilize the rotation of the C-axis rotation mechanism. The grippers move in the same direction to achieve the gripping operation, effectively improving the integration and continuity of the production line by utilizing the existing C-axis rotation mechanism.
[0010] Furthermore, the C-axis rotation mechanism includes a C-axis servo motor, a C-axis connecting plate, and a C-axis slewing bearing. The C-axis servo motor is fixed above the C-axis connecting plate, and the C-axis slewing bearing is rotatably connected below the C-axis connecting plate. The C-axis slewing bearing has an internal gear ring. The output end of the C-axis servo motor is driven by a C-axis drive gear, which meshes with the internal gear ring. The gripper frame is fixed to the lower end face of the C-axis slewing bearing and is driven to reciprocate by the C-axis servo motor.
[0011] Furthermore, the crystal holder gripping mechanism includes a first bracket, a linear guide rail, a slider, a first cylinder, and a drag chain; the first bracket is fixed below the gripping frame; the linear guide rail is fixed to the lower end face of the first bracket, and the paired sliders are slidably mounted on the same linear guide rail; the fixed end of the drag chain is fixed to the first bracket, and the moving end is fixed to the first cylinder, driving the first cylinder to move, and the movement trajectory of the first cylinder is parallel to the axis of the linear guide rail; in the paired sliders, each slider has a first finger fixed to its lower end face via a finger mounting plate; one finger mounting plate is connected to the output end of the first cylinder and driven by the output end of the first cylinder, thereby driving its corresponding slider to slide along the linear guide rail; the other finger mounting plate is fixed to the first cylinder and, along with the first cylinder, is driven by the drag chain, driving its corresponding slider to slide along the linear guide rail.
[0012] Furthermore, the second driving mechanism includes a second cylinder, which is fixed to a second positioning plate, and its output end is fixed to a second basket connecting plate. The second positioning plate has symmetrical second sleeve holes on both sides corresponding to the second cylinder. A second positioning sleeve is fixed inside each of the second sleeve holes, and a second basket connecting rod is slidably disposed within the second positioning sleeve. The lower end of the second basket connecting rod is fixed to the second basket connecting plate. The second positioning sleeve and the second basket connecting rod provide effective guidance for the smooth vertical movement of the second basket connecting rod under the action of the second cylinder.
[0013] Furthermore, each set of flower basket gripping mechanisms includes a flower basket detection device, which comprises a second sensor mounting plate, a second proximity sensor, and a second limiting block. The second sensor mounting plate is fixed to a second positioning plate, and the second proximity sensor is adjustablely connected to the second sensor mounting plate. The end of the second flower basket connecting rod near the second proximity sensor is fixed to the second limiting block via a second connecting plate. The flower basket detection device can effectively detect the movement stroke of the second flower basket connecting rod, thereby achieving position detection of the second flower basket connecting plate.
[0014] Furthermore, in each pair of second basket hooks, at least one second basket hook is equipped with a spring detection device; the spring detection device includes a second sensor bracket, a second proximity sensor, a guide pin sleeve, a second pin, a second spring, and a second sensing block; the second basket hook has a mounting hole, in which the guide pin sleeve is fixed, and the second pin is fitted through and inserted into the guide pin sleeve; the second spring is arranged around the outer periphery of the second pin on the hook side of the second basket hook, and one end of the second spring is elastically connected to the hook side end of the second pin, and the other end is elastically connected to the guide pin sleeve. A second sensing block is fixed to the end of the second pin away from the hook. A second sensor bracket is fixed to the guide pin sleeve away from the hook. A second proximity sensor is fixed to the second sensor bracket and detects the position signal of the second sensing block. When the second basket hook engages with the corresponding crystal basket hook, the side wall of the crystal basket presses against the end face of the second pin hook and compresses the second spring, pushing the second sensing block toward the sensing position of the second proximity sensor. When the second basket hook unlocks from the corresponding crystal basket, the second spring rebounds, causing the second pin and the second sensing block to move away from the sensing position of the second proximity sensor. The second proximity sensor can effectively detect whether the second basket hook has effectively hooked the crystal basket assembly.
[0015] Furthermore, the third driving mechanism includes a third cylinder, which is fixed to the third positioning plate, and its output end is fixed to the material frame gripper plate. The third positioning plate has symmetrically arranged third sleeve holes on both sides corresponding to the third cylinder. A third positioning sleeve is fixed inside each of the third sleeve holes, and a third lifting shaft is slidably disposed within the third positioning sleeve. The lower end of the third lifting shaft is fixed to the material frame gripper plate. The third positioning sleeve and the third lifting shaft provide effective guidance for the material frame gripper plate to smoothly rise and fall vertically under the action of the third cylinder.
[0016] Furthermore, the support groove of the material frame hook is a V-shaped groove, and at least one material frame hook in the material frame gripper plate has a material frame handle detection device. The material frame handle detection device includes a third proximity switch and a material frame guide shaft. The V-shaped groove of the material frame hook with the material frame handle detection device has a third mounting hole extending to the bottom. The material frame guide shaft is elastically disposed in the third mounting hole, and the third proximity switch is disposed on the lower end face of the material frame hook and located to the side of the third mounting hole. When the material frame hook supports the handle, the handle elastically presses down the material frame guide shaft, and the lower end of the material frame guide shaft extends out of the third mounting hole and is detected by the third proximity switch. When the material frame does not support the handle, the material frame guide shaft elastically returns to its original position and rises, and the lower end of the material frame guide shaft moves away from the third proximity switch. The third proximity switch can effectively detect the position of the guide shaft, thereby determining whether the material frame hook effectively hooks and supports the handle of the material frame assembly.
[0017] Furthermore, each assembly gripper mechanism includes an assembly detection device, which comprises a third sensor mounting plate, a third proximity sensor, and a third limiting block. The third sensor mounting plate is fixed to a third positioning plate, the third proximity sensor is tunably connected to the third sensor mounting plate, and the third limiting block is fixed to the end of the third lifting shaft near the third proximity sensor via a third connecting plate. The assembly detection device detects the position of the third lifting shaft and the material frame gripper by detecting the position signal of the third limiting block.
[0018] Furthermore, material frame gripper limiting blocks are fixed on both sides of the connection position corresponding to the output end of the third cylinder of the material frame gripper plate. The material frame gripper limiting blocks are set on the material frame gripper plate. When the material frame gripper plate rises, the material frame gripper limiting blocks are used to separate the material frame gripper plate from the third positioning plate, so as to prevent the rising material frame gripper plate from hitting the output end of the third cylinder and improve safety performance.
[0019] The beneficial effects of this utility model are that the multifunctional gripper unit provided by this utility model has a reasonable structural design. It integrates a crystal tray gripper device, a basket gripper device, and an assembly gripper device on the existing C-axis rotation mechanism. It can respectively grip the crystal tray worktable, the crystal tray basket, and the material frame assembly. When gripping the crystal tray basket and the material frame assembly, the rotation of the C-axis rotation mechanism completes the corresponding cooperation with the handles of the crystal tray basket and the material frame assembly. It has high gripping and positioning accuracy, strong automation, and high continuity, which improves the integration of the production line and can effectively reduce the installation space requirements of the production line. It has good market prospects. Attached Figure Description
[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0021] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.
[0022] Figure 2 This is a schematic diagram of the crystal holder gripping mechanism in an embodiment of this utility model.
[0023] Figure 3 This is a cross-sectional view of the crystal holder gripping mechanism in an embodiment of this utility model.
[0024] Figure 4 This is a schematic diagram of the structure of the flower basket grabbing mechanism hooking the flower basket assembly in an embodiment of this utility model.
[0025] Figure 5 This is a schematic diagram of the structure at the position of the second positioning plate in the flower basket gripping mechanism of this utility model embodiment.
[0026] Figure 6 This is a schematic diagram of the assembly hand gripping mechanism supporting the material frame during the assembly of this utility model embodiment.
[0027] Figure 7 This is a side view of the assembly hand gripping mechanism supporting the material frame during assembly in an embodiment of this utility model.
[0028] In the diagram: 1. C-axis servo motor; 2. C-axis connecting plate; 3. C-axis slewing bearing; 4. Hand gripper frame; 5. First bracket; 6. Linear guide rail; 7. Second positioning plate; 8. Third positioning plate; 9. Crystal tray worktable; 10. Slider; 11. Cable chain; 12. First cylinder; 13. Finger mounting plate; 14. First finger; 15. Flower basket vertical plate; 16. Vertical plate connecting hole; 17. Second positioning sleeve; 18. Second cylinder; 19. Second connecting plate; 20. Second limit block; 21. Second sensor mounting plate; 22. Second flower basket connecting rod; 23. Second proximity sensor; 24. Second flower basket. Connecting plate 25, second basket hook 26, second spring 27, second pin 28, guide pin sleeve 29, second sensing block 30, second proximity sensor 31, second sensor bracket 32, material frame assembly 33, handle 34, material frame guide shaft 35, material frame hook 36, third proximity switch 37, material frame hand gripping plate 38, third lifting shaft 39, third limit block 40, third proximity sensor 41, third cylinder 42, third sensor mounting plate 43, third connecting plate 44, third positioning sleeve 45, arc surface 46, material frame hand gripping limit block. Detailed Implementation
[0029] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention. Therefore, they only show the components relevant to the present invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.
[0030] like Figures 1 to 7 The multi-functional gripper unit shown is an embodiment of this utility model. This multi-functional gripper unit is used to clamp the crystal tray worktable 9, the crystal tray basket assembly, and the material frame assembly 32, respectively.
[0031] The gripper unit includes a C-axis rotation mechanism and a gripper frame 4. The C-axis rotation mechanism drives the gripper frame 4 to reciprocate. The C-axis rotation mechanism includes a C-axis servo motor 1, a C-axis connecting plate 2, and a C-axis slewing bearing 3. The C-axis servo motor 1 is fixed above the C-axis connecting plate 2, and the C-axis slewing bearing is rotatably connected below the C-axis connecting plate 2. The C-axis slewing bearing 3 has an internal gear ring. The output end of the C-axis servo motor 1 is connected to a C-axis drive gear, which meshes with the internal gear ring. The gripper frame 4 is fixed to the lower end face of the C-axis slewing bearing and is driven to reciprocate by the C-axis servo motor 1.
[0032] In actual assembly, the C-axis connecting plate 2 of the gripper unit serves as a positioning component. During production line installation, it is positioned and connected to the output ends of other power mechanisms. These other power mechanisms can be, but are not limited to, hydraulic cylinders, pneumatic cylinders, cable chains, linear modules, etc. They can drive the C-axis connecting plate 2 to perform vertical lifting and horizontal translation, thereby achieving the overall lifting, lowering, and horizontal translation of the gripper unit. This part of the structure is a common existing mechanism and will not be described in detail here. In this embodiment, the gripper frame 4 is equipped with a crystal tray gripper mechanism, a basket gripper mechanism, and an assembly gripper mechanism. These three different gripper mechanisms are integrated into the C-axis rotation mechanism, allowing them to grip different positions during crystal tray production. The crystal tray gripper mechanism grips the crystal tray worktable 9, the basket gripper mechanism grips the crystal tray basket assembly, and the assembly gripper mechanism grips the material frame assembly 32.
[0033] Crystal holder gripping mechanism: like Figure 2 and Figure 3 As shown, the crystal tray gripping mechanism is located below the C-axis rotation mechanism and includes a first drive mechanism and two pairs of symmetrically arranged first fingers 14. Each pair of first fingers 14 is driven by the first drive mechanism to move in opposite directions and then clamps and engages with the opening of the through hole of the crystal tray worktable 9.
[0034] The crystal holder gripping mechanism includes a first support 5, two linear guide rails 6, sliders 10, a first cylinder 12, and a drag chain 11. The first support 5 is fixed below the gripping frame 4. The linear guide rails 6 are fixed to the lower end face of the first support 5, and the two pairs of sliders 10 are slidably mounted on the two linear guide rails 6 respectively. Among the two pairs of sliders 10, the sliders 10 located on different linear guide rails 6 but on the same side are synchronized by the finger mounting plate 13. The sliding trajectory of the sliders 10 along the linear guide rails 6 is parallel to the axis of the through hole.
[0035] The fixed end of the cable chain 11 is fixed to the first bracket 5, while the moving end is fixed to the first cylinder 12 and drives the first cylinder 12 to move. The moving trajectory of the first cylinder 12 is parallel to the axis of the linear guide rail 6. In the pair of sliders 10, each slider 10 has a first finger 14 fixed to its lower end face via a finger mounting plate 13. One finger mounting plate 13 is connected to the output end of the first cylinder 12 and is driven by the output end of the first cylinder 12, thereby driving its corresponding slider 10 to slide along the linear guide rail 6. The other finger mounting plate 13 is fixed to the first cylinder 12 and, along with the first cylinder 12, is driven by the cable chain 11, driving its corresponding slider 10 to slide along the linear guide rail 6.
[0036] Thus, when gripping the crystal tray worktable 9, the movement of the cable chain 11 and the first cylinder 12 causes the first finger 14 on one side of the through hole to move, while the output end of the first cylinder 12 causes the first finger 14 on the other side of the through hole to move. The two move towards each other, and in conjunction with the descending movement of the C-axis connecting plate 2, the gripping action of the crystal tray worktable 9 is completed. Conversely, when the two move in opposite directions, the crystal tray worktable 9 is released.
[0037] Flower basket hand-held mechanism: like Figure 4 and Figure 5 As shown, the flower basket gripping mechanism has two sets, which are symmetrically arranged at both ends of the crystal support flower basket assembly. Each set of flower basket gripping mechanism includes a second drive mechanism, a second positioning plate 7 and a second flower basket connecting plate 24. The second positioning plate 7 is fixedly connected to the gripping frame 4. The second drive mechanism is set on the second positioning plate 7 and drives the second flower basket connecting plate 24 to move up and down relative to the second positioning plate 7.
[0038] Specifically, the second drive mechanism includes a second cylinder 18, which is fixed on the second positioning plate 7. The output end of the second cylinder 18 is fixed to the second basket connecting plate 24. The second positioning plate 7 has symmetrical second sleeve holes on both sides corresponding to the second cylinder 18. A second positioning sleeve 17 is fixed in the second sleeve hole. A second basket connecting rod 22 is slidably provided in the second positioning sleeve 17. The lower end of the second basket connecting rod 22 is fixed to the second basket connecting plate 24.
[0039] The lower end of the second flower basket connecting plate 24 is fixed with a pair of second flower basket hooks 25. When the C-axis rotation mechanism drives the hand-grip frame 4 to move, the pair of second flower basket hooks 25 respectively engage with the hooks of the crystal support flower basket assembly. In this embodiment, a flower basket vertical plate 15 is fixed at the position corresponding to the hook connection of the crystal support flower basket assembly, and a vertical plate connecting hole 16 is provided on the flower basket vertical plate 15. In order to facilitate the hook engagement between the second flower basket hook 25 and the vertical plate connecting hole 16 by using the rotational motion of the C-axis rotation mechanism, the vertical plate connecting hole 16 needs to be selected with a hole shape that is smaller at the top and larger at the bottom. It is preferable to adopt an isosceles trapezoidal hole shape, with the longer upper base on top and the longer lower base on the bottom of the isosceles trapezoid. The second flower basket hook 25 adopts an L-shaped structure. The vertical part is used to fix the second flower basket connecting plate 24, and the horizontal part is connected to the lower end of the vertical part. The horizontal part is the hook part that engages with the vertical plate connecting hole 16.
[0040] Thus, during hooking, the C-axis rotation mechanism drives the gripping frame 4 to rotate at a certain angle, ensuring that the second flower basket hook 25 does not interfere with the corresponding vertical plate 15. The second drive mechanism drives the second flower basket hook 25 downward to the side of the vertical plate connection hole 16. At this time, the second drive mechanism stops moving, and the C-axis rotation mechanism drives the gripping frame 4 to rotate back at a certain angle, causing the horizontal part of the second flower basket hook 25 to rotate into the vertical plate connection hole 16. At this time, the C-axis rotation mechanism stops rotating and maintains its position, and the second drive mechanism drives the second flower basket hook 25 to move upward until the horizontal part of the second flower basket hook 25 is well hooked with the vertical plate connection hole 16, completing the gripping action of the flower basket component.
[0041] Material frame assembly hand gripping mechanism: like Figure 6 and Figure 7 As shown, the assembly gripper mechanism includes two sets, symmetrically arranged at both ends of the material frame assembly 32. Each end of the material frame assembly 32 has a pair of handles 33. Each set of the assembly gripper mechanism includes a third drive mechanism, a third positioning plate 8, and a material frame gripper plate 37. The third positioning plate 8 is fixed to the gripper frame 4, and the third drive mechanism is fixed to the third positioning plate 8 and drives the material frame gripper plate 37 to move up and down relative to the third positioning plate 8.
[0042] Specifically, the third drive mechanism includes a third cylinder 41, which is fixed on the third positioning plate 8. The output end of the third cylinder 41 is fixed to the material frame hand gripper plate 37. The third positioning plate 8 has symmetrical third sleeve holes on both sides corresponding to the third cylinder 41. A third positioning sleeve 44 is fixed in the third sleeve hole. A third lifting shaft 38 is slidably provided in the third positioning sleeve 44. The lower end of the third lifting shaft 38 is fixed to the material frame hand gripper plate 37.
[0043] Each handle 33 is fixed with a material frame hook 35 on the material frame gripper plate 37. The material frame hook 35 has a support groove for the handle 33 to support. When the material frame hook 35 does not support the handle 33, the support groove of the same group of assembled gripper mechanisms is located on the same side of the handle 33 that it needs to support. In this way, the support and release of the material frame hook 35 and the handle 33 can be completed by the reciprocating rotation of the C-axis rotation mechanism.
[0044] Specifically, when the material frame assembly gripper mechanism is needed to support the material frame assembly 32, the C-axis rotation mechanism first drives the gripper frame 4 to rotate at a certain angle, ensuring that when the assembly gripper mechanism controls the material frame hook 35 to descend, there is no interference with the material frame assembly 32, handle 33, etc. Then, the third drive mechanism drives the material frame gripper plate 37 to descend, and the material frame hook 35 descends until the material frame hook 35 is below the handle 33 in the height direction. At this time, the C-axis rotation mechanism rotates, causing the material frame hook 35 to rotate synchronously, so that the material frame hook 35 is directly below the handle 33. The C-axis rotation mechanism maintains its position, and then the third drive mechanism drives the material frame gripper plate 37 to rise, and the material frame hook 35 rises until the material frame hook 35 effectively supports the handle 33, completing the support and positioning of the material frame assembly 32. When unlocking, the third drive mechanism drives the material frame hook 35 to descend, and the C-axis rotation mechanism rotates, so that the material frame hook 35 and the handle 33 are misaligned and do not interfere with each other. Then, the third drive mechanism drives the material frame hook 35 to rise and reset.
[0045] In this embodiment, material frame gripper plates 37 are fixed with material frame gripper limiting blocks 46 on both sides of the connection position corresponding to the output end of the third cylinder 41. The material frame gripper limiting blocks 46 are set on the material frame gripper plates 37. When the material frame gripper plates 37 rise, the material frame gripper limiting blocks 46 are used to separate the material frame gripper plates 37 from the third positioning plate 8, so as to prevent the rising material frame gripper plates 37 from hitting the output end of the third cylinder 41 and improve safety performance.
[0046] This multi-functional gripper unit features a rational structural design, integrating a crystal tray gripper, a basket gripper, and an assembly gripper onto the existing C-axis rotation mechanism. These grippers can respectively grip the crystal tray worktable 9, the crystal tray basket, and the material frame assembly 32. When gripping the crystal tray basket and material frame assembly 32, the rotation of the C-axis mechanism completes the respective engagement with these components. This results in high gripping and positioning accuracy, strong automation, high continuity, and improved production line integration. It effectively reduces the required installation space on the production line and has promising market prospects.
[0047] It should be noted that in this application, the clamping and positioning of the crystal tray basket and the material frame assembly 32 by the basket gripper and the assembly gripper of the flower basket and the assembly gripper of the final assembly utilizes the C-axis rotation mechanism to drive the gripper frame 4 to rotate back and forth. The rotation axis of the C-axis rotation mechanism is used as the rotation center line. By reciprocating around the rotation center line, the rotational misalignment and reset between the clamping component and the crystal tray component are completed. This is suitable for production lines that do not have the conditions to drive the gripper unit to move laterally as a whole. When other motor mechanisms of the production line can drive the gripper unit to move laterally as a whole on the horizontal plane, the C-axis rotation mechanism is not required. The basket gripper uses the second drive mechanism to perform the lifting action, and the final assembly gripper uses the third drive mechanism to perform the lifting action. Together with other power mechanisms of the production line, they can directly drive the gripper frame 4 to move laterally, thereby realizing the positioning and clamping action of the crystal tray component.
[0048] Example 2: like Figure 4 and Figure 5 The multi-functional gripper unit shown is a second embodiment of this utility model. The second embodiment adds a flower basket detection device and a spring detection device to the first embodiment.
[0049] Specifically, each set of flower basket gripping mechanisms includes a flower basket detection device, which comprises a second sensor mounting plate 21, a second proximity sensor 3023, and a second limiting block 20. The second sensor mounting plate 21 is fixed on the second positioning plate 7, and the second proximity sensor 3023 is tunably connected to the second sensor mounting plate 21. The end of the second flower basket connecting rod 22 near the second proximity sensor 3023 is fixed to the second limiting block 20 via a second connecting plate 19. The flower basket detection device is used to detect the position signal of the second limiting block 20, thereby determining the position signal of the second flower basket hook 25 in the height direction.
[0050] In each pair of second flower basket hooks 25, one of the second flower basket hooks 25 is equipped with a spring detection device. The spring detection device is used to detect whether the second flower basket hook and the vertical plate connection hole 16 are properly engaged.
[0051] Specifically, the spring detection device includes a second sensor bracket 31, a second proximity sensor 3023, a guide pin sleeve 28, a second pin 27, a second spring 26, and a second sensing block 29. A mounting hole is provided on the second basket hook 25. This mounting hole can be an elongated hole vertically aligned with the vertical section. The guide pin sleeve 28 is fixed within this elongated hole after being positioned as needed. The second pin 27 is fitted through the guide pin sleeve 28. The second spring 26 surrounds the second pin 27 on the hook side of the second basket hook 25, with one end of the second spring 26 elastically connected to the hook side end of the second pin 27 and the other end elastically connected to the guide pin sleeve 28. The second sensing block 29 is fixed to the end of the second pin 27 away from the hook side. The second sensor bracket 31 is fixed to the guide pin sleeve 28 away from the hook side. The second proximity sensor 3023 is fixed to the second sensor bracket 31 and detects the position signal of the second sensing block 29.
[0052] To facilitate the pressing action between the vertical plate 15 of the flower basket and the end face of the second pin 27, an arc-shaped surface 45 for guiding can be designed above the vertical plate connecting hole 16 of the flower basket 15, so that when the second flower basket hook moves up and down relative to the vertical plate 15, the arc-shaped surface 45 can effectively guide and press the end face of the second pin 27.
[0053] When the second flower basket hook 25 engages with the vertical plate connection hole 16 of the corresponding side crystal support flower basket, the arc-shaped surface 45 of the side wall of the crystal support flower basket presses against the hook side end face of the second pin 27 and compresses the second spring 26, pushing the second sensing block 29 toward the sensing position of the second proximity sensor 3023. When the second flower basket hook 25 unlocks from the vertical plate connection hole 16 of the corresponding side crystal support flower basket, the arc-shaped surface 45 no longer presses against the second pin 27, and the second spring 26 rebounds, causing the second pin 27 and the second sensing block 29 to move away from the sensing position of the second proximity sensor 3023, completing the rebound and reset action of the second pin 27.
[0054] Example 3: like Figure 6 and Figure 7 The multi-functional gripper unit shown is the third embodiment of this utility model. The third embodiment adds an assembly inspection device and a material frame handle inspection device to the first embodiment.
[0055] Each assembly gripper mechanism includes an assembly inspection device. The assembly inspection device detects the position of the third lifting shaft 38 and the material frame gripper plate 37 by detecting the position signal of the third limit block 39.
[0056] Specifically, the final assembly testing device includes a third sensor mounting plate 42, a third proximity sensor 40, and a third limiting block 39. The third sensor mounting plate 42 is fixed on the third positioning plate 8, the third proximity sensor 40 is tunably connected to the third sensor mounting plate 42, and the end of the third lifting shaft 38 near the third proximity sensor 40 is fixed with the third limiting block 39 via the third connecting plate 43.
[0057] In embodiment three, the support groove of the material frame hook 35 is a V-shaped groove. On the one hand, the V-shaped groove can facilitate the guidance and support of the handle 33. On the other hand, the V-shaped groove can facilitate the design and installation of the material frame guide shaft 34 in the groove.
[0058] Specifically, one of the material frame hooks 35 in the material frame gripper plate 37 has a material frame handle detection device. The material frame handle detection device includes a third proximity switch 36 and a material frame guide shaft 34. The third proximity switch 36 can effectively detect the position of the guide shaft, thereby determining whether the material frame hook 35 effectively hooks and supports the handle 33 of the material frame assembly 32.
[0059] The material frame hook 35, equipped with a material frame handle detection device, has a V-shaped groove that extends to the bottom and provides a third mounting hole. The material frame guide shaft 34 is elastically disposed within the third mounting hole, and the third proximity switch 36 is disposed on the lower end face of the material frame hook 35 and located to the side of the third mounting hole. When the material frame hook 35 supports the handle 33, the handle 33 elastically presses down the material frame guide shaft 34, causing the lower end of the material frame guide shaft 34 to extend out of the third mounting hole and be detected by the third proximity switch 36. When the material frame does not support the handle 33, the material frame guide shaft 34 elastically returns to its original position and rises, moving the lower end of the material frame guide shaft 34 away from the third proximity switch 36.
[0060] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A multi-functional gripping unit for respectively clamping a crystal tray worktable, a crystal tray basket assembly, and a material frame assembly, characterized in that: It includes a C-axis rotation mechanism and a gripper frame, wherein the C-axis rotation mechanism drives the gripper frame to reciprocate in a rotary motion; The aforementioned hand-grip frame is respectively equipped with a crystal holder hand-grip mechanism, a flower basket hand-grip mechanism, and an assembly hand-grip mechanism; The crystal tray gripping mechanism is located below the C-axis rotation mechanism and includes a first drive mechanism and at least a pair of symmetrically arranged first fingers. Each pair of first fingers is driven by the first drive mechanism to move in opposite directions and then clamps and engages with the opening of the through hole of the crystal tray worktable. The flower basket gripping mechanism has two sets, symmetrically arranged at both ends of the crystal support flower basket assembly; each set of flower basket gripping mechanism includes a second drive mechanism, a second positioning plate and a second flower basket connecting plate. The second positioning plate is fixedly connected to the gripping frame, the second drive mechanism is set on the second positioning plate and drives the second flower basket connecting plate to move up and down relative to the second positioning plate; the lower end of the second flower basket connecting plate is fixed with a pair of second flower basket hooks. When the C-axis rotation mechanism drives the gripping frame to move, the pair of second flower basket hooks respectively engage with the hooks of the crystal support flower basket assembly. The assembly gripping mechanism comprises two sets, symmetrically arranged at both ends of the material frame assembly. Each end of the material frame assembly has a pair of handles. Each set of assembly gripping mechanisms includes a third drive mechanism, a third positioning plate, and a material frame gripping plate. The third positioning plate is fixed to the gripping frame, and the third drive mechanism is fixed to the third positioning plate and drives the material frame gripping plate to move up and down relative to the third positioning plate. Each material frame gripping plate has a material frame hook fixed to each handle. The material frame hook has a support groove for the handle to support. When the material frame hook does not support the handle, the support groove of the assembly gripping mechanism in the same set is located on the same side as the handle that needs to be supported.
2. The multifunctional gripper unit as described in claim 1, characterized in that: The C-axis rotation mechanism includes a C-axis servo motor, a C-axis connecting plate, and a C-axis slewing bearing. The C-axis servo motor is fixed above the C-axis connecting plate, and the C-axis slewing bearing is rotatably connected below the C-axis connecting plate. The C-axis slewing bearing has an internal gear ring. The output end of the C-axis servo motor is driven by a C-axis drive gear, which meshes with the internal gear ring. The gripper frame is fixed to the lower end face of the C-axis slewing bearing and is driven to reciprocate by the C-axis servo motor.
3. The multifunctional gripper unit as described in claim 1, characterized in that: The crystal holder gripping mechanism includes a first bracket, a linear guide rail, a slider, a first cylinder, and a drag chain; The first bracket is fixed below the hand-grabbing frame; The linear guide rail is fixed to the lower end face of the first bracket, and the pair of sliders are slidably mounted on the same linear guide rail. The fixed end of the cable chain is fixed to the first bracket, and the moving end is fixed to the first cylinder and drives the first cylinder to move. The moving trajectory of the first cylinder is parallel to the axis of the linear guide rail. In the pair of sliders, each slider has a first finger fixed to its lower end face by a finger mounting plate; one finger mounting plate is connected to the output end of the first cylinder and driven by the output end of the first cylinder, thereby driving its corresponding slider to slide along the linear guide rail; the other finger mounting plate is fixed to the first cylinder and, along with the first cylinder, is driven by the drag chain, thus driving its corresponding slider to slide along the linear guide rail.
4. The multifunctional gripper unit as described in claim 1, characterized in that: The second driving mechanism includes a second cylinder, which is fixed to a second positioning plate. The output end of the second cylinder is fixed to a second flower basket connecting plate. The second positioning plate has symmetrical second sleeve holes on both sides corresponding to the second cylinder. A second positioning sleeve is fixed in the second sleeve hole. A second flower basket connecting rod is slidably provided in the second positioning sleeve. The lower end of the second flower basket connecting rod is fixed to the second flower basket connecting plate.
5. The multifunctional gripper unit as described in claim 4, characterized in that: Each set of flower basket gripping mechanisms includes a flower basket detection device, which includes a second sensor mounting plate, a second proximity sensor, and a second limiting block. The second sensor mounting plate is fixed to a second positioning plate, and the second proximity sensor is tunably connected to the second sensor mounting plate. The end of the second flower basket connecting rod near the second proximity sensor is fixed to the second limiting block via a second connecting plate.
6. The multifunctional gripper unit as described in claim 4, characterized in that: In each pair of second flower basket hooks, at least one second flower basket hook is equipped with a spring detection device; The spring detection device includes a second sensor bracket, a second proximity sensor, a guide pin sleeve, a second pin, a second spring, and a second sensing block. A mounting hole is provided on the second basket hook, in which a guide pin sleeve is fixed. The second pin is fitted through the guide pin sleeve. The second spring surrounds the second pin on the hook side of the second basket hook, with one end elastically connected to the hook side end of the second pin and the other end elastically connected to the guide pin sleeve. A second sensing block is fixed to the end of the second pin away from the hook side. A second sensor bracket is fixed to the guide pin sleeve away from the hook side. The second proximity sensor is fixed to the second sensor bracket and detects the position signal of the second sensing block. When the second flower basket hook engages with the corresponding side crystal support flower basket hook, the side wall of the crystal support flower basket presses against the side end face of the second pin hook and compresses the second spring, pushing the second sensing block toward the sensing position of the second proximity sensor. When the second flower basket hook unlocks from the corresponding side crystal holder flower basket, the second spring rebounds, causing the second pin and the second sensing block to move away from the sensing position of the second proximity sensor.
7. The multifunctional gripper unit as described in claim 1, characterized in that: The third driving mechanism includes a third cylinder, which is fixed on a third positioning plate. The output end of the third cylinder is fixed to the material frame hand gripper plate. The third positioning plate has symmetrical third sleeve holes on both sides corresponding to the third cylinder. A third positioning sleeve is fixed in the third sleeve hole. A third lifting shaft is slidably provided in the third positioning sleeve. The lower end of the third lifting shaft is fixed to the material frame hand gripper plate.
8. The multifunctional gripper unit as described in claim 7, characterized in that: The support groove of the material frame hook is a V-shaped groove. At least one material frame hook in the material frame hand gripper plate has a material frame handle detection device. The material frame handle detection device includes a third proximity switch and a material frame guide shaft. The V-shaped groove of the material frame hook with the material frame handle detection device is opened to the bottom and a third mounting hole is provided. The material frame guide shaft is elastically set in the third mounting hole. The third proximity switch is set on the lower end face of the material frame hook and located on the side of the third mounting hole. When the material frame hook supports the handle, the handle will elastically press down the material frame guide shaft, and the lower end of the material frame guide shaft will extend out of the third mounting hole and be detected by the third proximity switch. When the material frame does not support the handle, the guide shaft of the material frame elastically resets and rises, and the lower end of the guide shaft moves away from the third proximity switch.
9. The multifunctional gripper unit as described in claim 7, characterized in that: Each assembly gripper mechanism includes an assembly testing device, which includes a third sensor mounting plate, a third proximity sensor, and a third limiting block. The third sensor mounting plate is fixed on a third positioning plate, the third proximity sensor is tunably connected to the third sensor mounting plate, and the end of the third lifting shaft near the third proximity sensor is fixed to the third limiting block via a third connecting plate.
10. The multifunctional gripper unit as described in claim 7, characterized in that: The material frame hand gripper plate is fixed with material frame hand gripper limit blocks on both sides of the connection position corresponding to the output end of the third cylinder.