An automatic handling device applied to a CIGS power generation glass production line scrapped substrate

Abstract

The utility model discloses a kind of automatic handling device applied to CIGS power generation glass production line scrapped substrate, belong to substrate scrapped processing equipment technical field, first drive mechanism is used to drive second drive mechanism to and fro between transmission belt and recovery tank;Second drive mechanism is used to drive grabbing mechanism vertical movement;Grabbing mechanism includes suction cup subassembly and vacuum negative pressure equipment, for grabbing scrapped substrate on conveyer belt;Positioning mechanism is used to detect the position of scrapped substrate on conveyer belt;Controller is used to receive the signal of positioning mechanism, and control the motion state of first drive mechanism, second drive mechanism and conveyer belt, the utility model detects glass substrate on conveyer belt by positioning mechanism, control first drive mechanism drives second drive mechanism to move to glass substrate, drive suction cup subassembly to clamp glass substrate, then move to recovery tank and recycle, to realize the recycling of automatic scrapped glass substrate, reduce manpower and material resources consumption, avoid dangerous that personnel carry.

Description

Technical Field

[0001] This utility model relates to the technical field of substrate scrapping equipment, specifically to an automatic handling device for scrapped substrates applied in CIGS power generation glass production lines. Background Technology

[0002] CIGS photovoltaic glass is a type of thin-film solar cell module. The core of it is to deposit CIGS thin film on a glass substrate. When sunlight shines on it, electrons in the CIGS semiconductor material are excited to form an electric current, which is collected by electrodes deposited on the substrate and output as electrical energy. The glass, as the substrate, mainly plays a supporting and protective role.

[0003] Currently, compared to crystalline silicon solar panels, CIGS photovoltaic glass, with its high light transmittance, low-light power generation capability, and aesthetic appeal, is very suitable for BIPV (Building Integrated Photovoltaics) applications such as photovoltaic roofs or building curtain walls. As a result, it is being used more and more widely, and the application scenarios of production line equipment for photovoltaic glass are also increasing. During the production process of glass substrates, defects such as cracks, breaks, and chipped edges and corners can occur due to various factors, resulting in scrap. Although there are some scrap substrate processing systems at home and abroad, they still have shortcomings in terms of processing efficiency, automation level, and adaptability to the diversified needs of production lines.

[0004] Therefore, in order to improve the efficiency of waste substrate processing and reduce enterprise operating costs, an automatic handling device for waste substrates in CIGS power generation glass production lines is proposed. Utility Model Content

[0005] The purpose of this invention is to provide an automatic handling device for scrap substrates in CIGS power generation glass production lines, which solves the technical problems of insufficient processing efficiency, automation level and adaptability to the diverse needs of production lines in the existing technology.

[0006] The objective of this utility model can be achieved through the following technical solutions: An automated handling device for scrap substrates in a CIGS photovoltaic glass production line includes a first drive mechanism, a second drive mechanism, a gripping mechanism, a positioning mechanism, and a controller, wherein: The first drive mechanism is used to drive the second drive mechanism back and forth between the transmission belt and the recycling bin; The second drive mechanism is used to drive the gripping mechanism to move vertically; The gripping mechanism includes a suction cup assembly and a vacuum negative pressure device, used to grip scrap substrates on the conveyor belt; The positioning mechanism is used to detect the position of the scrapped substrate on the conveyor belt; The controller is used to receive signals from the positioning mechanism and control the movement of the first drive mechanism, the second drive mechanism, and the conveyor belt.

[0007] This utility model provides an automatic handling device for scrap substrates in a CIGS photovoltaic glass production line, which, compared with the prior art, has, but is not limited to, the following beneficial effects: After the positioning mechanism detects that the glass substrate on the conveyor belt has reached its position, the controller controls the first drive mechanism to drive the second drive mechanism to move to the glass substrate. After the first drive mechanism reaches its position, it controls the second drive mechanism to move, causing the suction cup assembly to approach the glass substrate and adhere to its surface. The vacuum negative pressure device is then activated to clamp the glass substrate. The second drive mechanism is then activated again to retract the substrate. Afterward, the first drive mechanism moves the scrapped glass substrate to the recycling bin for recycling, thereby achieving automatic recycling of scrapped glass substrates, reducing manpower and material consumption, and avoiding dangers caused by personnel handling.

[0008] Furthermore, the positioning mechanism is a photoelectric sensor and / or a proximity switch.

[0009] Furthermore, the first drive mechanism includes a connecting frame, a first drive motor, a drive screw, a connecting block, and a mounting frame. The drive screw is rotatably connected to the connecting frame. The first drive motor is fixedly connected to the connecting frame and drives the drive screw. The connecting frame is slidably connected to the connecting block, which is connected to the drive screw. The connecting block is fixedly connected to the mounting frame for mounting the second drive mechanism.

[0010] Furthermore, there are two first drive mechanisms, and the two first drive motors are synchronously connected through a synchronization control system.

[0011] Furthermore, the second driving mechanism includes a first connecting plate, a first driving cylinder, and a first mounting plate. The first connecting plate is mounted on a mounting bracket, and the first mounting plate is fixedly connected to the first driving cylinder. The first mounting plate is fixedly connected to the driving end of the first driving cylinder, and the first mounting plate is used to mount the suction cup assembly.

[0012] Furthermore, the suction cup assembly includes a second connecting plate, a suction cup head, and a third driving mechanism. The second connecting plate is detachably connected to the first mounting plate. The suction cup head includes an upper connecting tube, a middle connecting tube, and a suction nozzle. The upper end of the upper connecting tube is used to connect to a vacuum negative pressure device. The lower end of the upper connecting tube is fixedly connected to a horizontally arranged middle connecting tube. The end of the middle connecting tube away from the upper connecting tube is connected to the suction nozzle. The upper connecting tubes of multiple suction cup heads can be rotatably connected to the second connecting plate. The third driving mechanism is used to drive the suction cup head to rotate.

[0013] Furthermore, the third driving mechanism includes a second driving motor, a driving gear, a first rack, a second rack, and a second driving cylinder. The two suction cup heads form a group. The upper connecting tube is fixedly connected to a driven gear. The first rack and the second rack are respectively meshed with the two driven gears on the group of suction cup heads. Both the first rack and the second rack are slidably connected to a second connecting plate. The second connecting plate has a sliding groove between the first rack and the second rack. The sliding groove is slidably connected to a sliding plate. The second driving motor is fixedly connected to the sliding plate. The sliding plate is rotatably connected to the driving gear. The second driving motor is driven by the driving gear. The two sides of the driving gear are respectively meshed with the first rack and the second rack. One end of the second driving cylinder is rotatably connected to the second connecting plate, and the other end is rotatably connected to the sliding plate.

[0014] Furthermore, it also includes a vision device, which is fixedly connected to the gripping mechanism.

[0015] Furthermore, the stroke of the first drive mechanism is 1000-3000mm, and several recycling bins are provided below the end of the first drive mechanism away from the transmission belt.

[0016] Furthermore, a photoelectric counter is installed at the upper end of the recycling bin, and the photoelectric counter is electrically connected to the controller. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a front view of an automatic handling device for scrap substrates applied in a CIGS power-generating glass production line according to this utility model; Figure 2 This is an isometric view of an automatic handling device for scrap substrates in a CIGS power-generating glass production line according to this utility model. Figure 3 This is a bottom view of an automatic handling device for scrap substrates in a CIGS power generation glass production line according to this utility model; Figure 4 This is a bottom view of the suction cup assembly of this utility model; Figure 5 This is a bottom view of the suction cup assembly of this utility model in its first working state; Figure 6 This is a bottom view of the suction cup assembly of this utility model in its second working state.

[0019] In the diagram: 1-First drive mechanism, 11-Connecting frame, 12-First drive motor, 13-Drive screw, 14-Connecting block, 15-Mounting frame, 2-Second drive mechanism, 21-First connecting plate, 22-First drive cylinder, 23-First mounting plate, 3-Suction cup assembly, 31-Second connecting plate, 311-Slide groove, 312-Slide plate, 32-Suction cup head, 321-Upper connecting pipe, 322-Middle connecting pipe, 323-Suction cup nozzle, 33-Third drive mechanism, 331-Second drive motor, 332-Drive gear, 333-First rack, 334-Second rack, 335-Second drive cylinder, 4-Vacuum negative pressure device, 5-Recovery box, 6-Conveyor belt, 7-Vision device, 8-Photoelectric counter. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings showing multiple embodiments according to this application. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0021] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising," "including," "having," "containing," etc., in the description, claims, and accompanying drawings of this application are open-ended terms. Therefore, "comprising," "including," or "having" refers to, for example, a method or apparatus having one or more steps or elements, but is not limited to having only these one or more elements. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] It should be emphasized that when the term "comprising / including" is used in this specification, it is used to explicitly indicate the presence of the stated feature, integer, step, or component, but does not exclude the presence or addition of one or more other features, integers, steps, parts, or groups of features, integers, steps, or parts.

[0025] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0026] Please see Figure 1-3 As shown, this utility model is an automatic handling device for scrap substrates in a CIGS photovoltaic glass production line, including a first drive mechanism 1, a second drive mechanism 2, a gripping mechanism, a positioning mechanism, and a controller, wherein: The first drive mechanism 1 is used to drive the second drive mechanism 2 back and forth between the transmission belt and the recycling box 5; The second drive mechanism 2 is used to drive the gripping mechanism to move vertically; The gripping mechanism includes a suction cup assembly 3 and a vacuum negative pressure device 4, used to grip scrap substrates on the conveyor belt 6; The positioning mechanism is used to detect the position of the scrapped substrate on the conveyor belt 6; The controller is used to receive signals from the positioning mechanism and control the movement of the first drive mechanism 1, the second drive mechanism 2 and the conveyor belt 6.

[0027] In this embodiment, the positioning mechanism can be set on the mounting frame 15 of the conveyor belt 6. When the glass substrate on the conveyor belt 6 is detected to be in place, the controller receives the signal from the positioning mechanism that the glass substrate is in place and controls the conveyor belt 6 to stop rotating. If the conveyor belt 6 is a wheeled conveyor belt with a limit, the limit mechanism of the conveyor belt can also be controlled to stop the glass substrate or the transport plate carrying the glass substrate. Then the controller controls the first drive mechanism 1 to drive the second drive mechanism 2 to move to the glass substrate. After the first drive mechanism 1 is in place, the controller controls the second drive mechanism 2 to move, driving the suction cup assembly 3 to approach the glass substrate and adhere to the surface of the glass substrate. The vacuum negative pressure device 4 is activated to clamp the glass substrate. Then the second drive mechanism 2 is activated again to retract. After that, the first drive mechanism 1 drives the scrapped glass substrate to the recycling box 5, and the second drive mechanism 2 is used to lower it.

[0028] Optionally, please refer to Figure 1-3 As shown, the positioning mechanism is a photoelectric sensor and / or a proximity switch.

[0029] In this embodiment, the position of the glass substrate is detected by photoelectric sensors and / or proximity switches installed on the conveyor belt 6. When the glass substrate is in the appropriate position, a signal is sent to the controller so that the controller can perform subsequent control.

[0030] Optionally, please refer to Figure 1-3 As shown, the first drive mechanism 1 includes a connecting frame 11, a first drive motor 12, a drive screw 13, a connecting block 14, and a mounting frame 15. The drive screw 13 is rotatably connected to the connecting frame 11. The first drive motor 12 is fixedly connected to the connecting frame 11 and is driven by the drive screw 13. The connecting block 14 is slidably connected to the connecting frame 11. The connecting block 14 is connected to the drive screw 13. The mounting frame 15 for mounting the second drive mechanism 2 is fixedly connected to the connecting block 14.

[0031] In this embodiment, the first drive motor 12 drives the drive screw 13 to move. The stroke is controlled by the controller, which can accurately control the displacement. When it cooperates with the positioning mechanism, it can accurately grasp the glass substrate. The stroke range of the first drive mechanism 1 is 1000-3000mm.

[0032] Optionally, please refer to Figure 1-3 As shown, there are two first drive mechanisms 1, and the two first drive motors 12 are synchronously connected through a synchronous control system.

[0033] In this embodiment, the first drive motor 12 is preferably a synchronous motor or a servo motor, and the synchronization signal is ensured by a synchronous control system or the same control model.

[0034] Optionally, please refer to Figure 1-3As shown, the second drive mechanism 2 includes a first connecting plate 21, a first drive cylinder 22, and a first mounting plate 23. The first connecting plate 21 is mounted on the mounting bracket 15. The first mounting plate 23 is fixedly connected to the first drive cylinder 22 and is fixedly connected to the drive end of the first drive cylinder 22. The first mounting plate 23 is used to mount the suction cup assembly 3. In this embodiment, the lifting and lowering are achieved by the first drive cylinder 22 of the second drive mechanism 2. The stroke of the first drive cylinder 22 is controlled by the controller. When picking up the substrate on the conveyor belt 6, attention should be paid to the descent and lifting speed to avoid excessive speed causing secondary damage to the substrate. When placing the glass substrate into the recycling box 5, attention should also be paid to the change in depth after the glass substrate is stacked, and the controller should be used for precise control.

[0035] Optionally, please refer to Figure 3-6 As shown, the suction cup assembly 3 includes a second connecting plate 31, a suction cup head 32, and a third driving mechanism 33. The second connecting plate 31 is detachably connected to the first mounting plate 23. The suction cup head 32 includes an upper connecting tube 321, a middle connecting tube 322, and a suction cup nozzle 323. The upper end of the upper connecting tube 321 is used to connect to the vacuum negative pressure device 4. The lower end of the upper connecting tube 321 is fixedly connected to the horizontally arranged middle connecting tube 322. The end of the middle connecting tube 322 away from the upper connecting tube 321 is connected to the suction cup nozzle 323. The upper connecting tubes 321 of multiple suction cup heads 32 can be rotatably connected to the second connecting plate 31. The third driving mechanism 33 is used to drive the suction cup head 32 to rotate.

[0036] In this embodiment, since the scrapped glass substrates may come from various production lines and have different specifications, the position of the suction cup is changed by driving the suction head 32 to rotate, thereby adapting to glass substrates of different sizes.

[0037] Optionally, please refer to Figure 3-6 As shown, the third drive mechanism 33 includes a second drive motor 331, a drive gear 332, a first rack 333, a second rack 334, and a second drive cylinder 335. Two suction heads 32 form a group. A driven gear is fixedly connected to the upper connecting pipe 321. The first rack 333 and the second rack 334 respectively mesh with two driven gears on the group of suction heads 32. Both the first rack 333 and the second rack 334 are slidably connected to the second connecting plate 31. The second connecting plate 31 connects the first rack 333 and the second rack 334. A sliding groove 311 is provided between the racks 334, and a sliding plate 312 is slidably connected to the sliding groove 311. A second drive motor 331 is fixedly connected to the sliding plate 312, and a drive gear 332 is rotatably connected to the sliding plate 312. The second drive motor 331 is driven by the drive gear 332. The two sides of the drive gear 332 are respectively engaged with the first rack 333 and the second rack 334. One end of the second drive cylinder 335 is rotatably connected to the second connecting plate 31, and the other end is rotatably connected to the sliding plate 312.

[0038] In this embodiment, in a set of suction cup heads 32, the slide plate 312 is moved by the second drive cylinder 335. When the second drive motor 331 is not started, the drive gear 332 is locked, thereby driving the first rack 333 and the second rack 334 to move in the same direction, thereby driving the two driven gears to rotate in opposite directions. Driven by the second drive motor 331, the drive gear 332 is driven to rotate, thereby driving the first rack 333 and the second rack 334 to move in opposite directions, thereby driving the two driven gears to rotate in the same direction. This allows for flexible changes in the suction cup position, enabling stable clamping of glass substrates of different sizes.

[0039] Optionally, it also includes a vision device 7, which is fixedly connected to the gripping mechanism; The stroke of the first drive mechanism 1 is 1000-3000mm, and several recycling bins 5 are provided below the end of the first drive mechanism 1 away from the transmission belt. A photoelectric counter 8 is installed at the top of the recycling bin 5, and the photoelectric counter 8 is electrically connected to the controller.

[0040] In this embodiment, the positioning accuracy of the glass substrate can be further improved by the vision device 7. At the same time, it is possible to obtain a photo of the appearance of the glass substrate to analyze the location of cracks and defects. Then, the suction head 32 is moved by the third drive mechanism 33 to avoid the crack location. When the first drive mechanism 1 has a large stroke, multiple recycling bins 5 can be placed under the first drive mechanism 1 to recycle glass substrates of different specifications. The photoelectric device on the recycling bin 5 is used for counting. When the preset number is accumulated, no more substrates will be put in. After the controller receives the signal, it can also give a reminder message to replace the recycling bin 5.

[0041] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. An automated handling device for scrap substrates in a CIGS photovoltaic glass production line, characterized in that, It includes a first drive mechanism (1), a second drive mechanism (2), a gripping mechanism, a positioning mechanism, and a controller, wherein: The first drive mechanism (1) is used to drive the second drive mechanism (2) back and forth between the transmission belt and the recycling box (5); The second drive mechanism (2) is used to drive the gripping mechanism to move vertically; The gripping mechanism includes a suction cup assembly (3) and a vacuum negative pressure device (4) for gripping scrap substrates on the conveyor belt (6); The positioning mechanism is used to detect the position of the scrapped substrate on the conveyor belt (6); The controller is used to receive signals from the positioning mechanism and control the motion state of the first drive mechanism (1), the second drive mechanism (2) and the conveyor belt (6).

2. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 1, characterized in that, The positioning mechanism is a photoelectric sensor and / or a proximity switch.

3. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 1, characterized in that, The first drive mechanism (1) includes a connecting frame (11), a first drive motor (12), a drive screw (13), a connecting block (14), and a mounting frame (15). The drive screw (13) is rotatably connected to the connecting frame (11). The first drive motor (12) is fixedly connected to the connecting frame (11) and is driven by the drive screw (13). The connecting frame (11) is slidably connected to the connecting block (14). The connecting block (14) is connected to the drive screw (13). The connecting block (14) is fixedly connected to the mounting frame (15) for mounting the second drive mechanism (2).

4. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 1, characterized in that, There are two first drive mechanisms (1), and the two first drive motors (12) are synchronously connected through a synchronous control system.

5. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 3, characterized in that, The second drive mechanism (2) includes a first connecting plate (21), a first drive cylinder (22), and a first mounting plate (23). The first connecting plate (21) is mounted on the mounting bracket (15). The first mounting plate (23) is fixedly connected to the first drive cylinder (22). The first mounting plate (23) is fixedly connected to the drive end of the first drive cylinder (22). The first mounting plate (23) is used to mount the suction cup assembly (3).

6. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 5, characterized in that, The suction cup assembly (3) includes a second connecting plate (31), a suction cup head (32), and a third driving mechanism (33). The second connecting plate (31) is detachably connected to the first mounting plate (23). The suction cup head (32) includes an upper connecting tube (321), a middle connecting tube (322), and a suction nozzle (323). The upper end of the upper connecting tube (321) is used to connect to the vacuum negative pressure device (4). The lower end of the upper connecting tube (321) is fixedly connected to the horizontally arranged middle connecting tube (322). The end of the middle connecting tube (322) away from the upper connecting tube (321) is connected to the suction nozzle (323). The upper connecting tubes (321) of multiple suction cup heads (32) can be rotatably connected to the second connecting plate (31). The third driving mechanism (33) is used to drive the suction cup head (32) to rotate.

7. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 6, characterized in that, The third drive mechanism (33) includes a second drive motor (331), a drive gear (332), a first rack (333), a second rack (334), and a second drive cylinder (335). The two suction heads (32) are a set. The upper connecting pipe (321) is fixedly connected to a driven gear. The first rack (333) and the second rack (334) are respectively meshed with two driven gears on a set of suction heads (32). The first rack (333) and the second rack (334) can be slidably connected to a second connecting plate (31). The second connecting plate (31) is located between the first rack (333) and the second rack (334). A groove (311) is provided between the strips (334), and a slide plate (312) is slidably connected to the groove (311). A second drive motor (331) is fixedly connected to the slide plate (312), and a drive gear (332) is rotatably connected to the slide plate (312). The second drive motor (331) is driven to the drive gear (332). The two sides of the drive gear (332) are respectively engaged with the first rack (333) and the second rack (334). One end of the second drive cylinder (335) is rotatably connected to the second connecting plate (31), and the other end is rotatably connected to the slide plate (312).

8. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 1, characterized in that, It also includes a vision device (7), which is fixedly connected to the gripping mechanism.

9. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 1, characterized in that, The stroke of the first drive mechanism (1) is 1000-3000mm, and several recycling bins (5) are provided below the end of the first drive mechanism (1) away from the transmission belt.

10. An automatic handling device for scrap substrates in a CIGS photovoltaic glass production line according to claim 9, characterized in that, A photoelectric counter (8) is installed at the upper end of the recycling bin (5), and the photoelectric counter (8) is electrically connected to the controller.

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