CN102107783B - Loading and unloading handling mechanical arm for solar cell module - Google Patents
Loading and unloading handling mechanical arm for solar cell module Download PDFInfo
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- CN102107783B CN102107783B CN201110023579XA CN201110023579A CN102107783B CN 102107783 B CN102107783 B CN 102107783B CN 201110023579X A CN201110023579X A CN 201110023579XA CN 201110023579 A CN201110023579 A CN 201110023579A CN 102107783 B CN102107783 B CN 102107783B
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- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000003993 interaction Effects 0.000 abstract description 3
- 229910000838 Al alloy Inorganic materials 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 6
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- 238000010521 absorption reaction Methods 0.000 description 2
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Abstract
The invention provides a loading and unloading handling mechanical arm for a solar cell module, and the mechanical arm provided by the invention is used for realizing the functions of loading and unloading in a solar cell module producing process. The loading and unloading handling mechanical arm is characterized by consisting of a mechanical arm mechanism I, a horizontal motion unit II, two vertical motion units III, a pallet lift mechanism IV and a frame V, wherein the mechanical arm mechanism is of an aluminum alloy frame combined structure, and is provided with a plurality of groups of sucker modules so as to realize safe handling of solar cell modules in different specifications; and the horizontal motion unit and the vertical motion units adopt servo motors as drive, and drive the mechanical arm mechanism through a synchronous cog belt and a ball screw assembly respectively to realize accurate motion positioning in horizontal and vertical directions, and the motion units of two directions can independently or simultaneously move. A position servo control system is of a hierarchical control structure formed by a human-computer interaction layer, a motion control layer and a servo control layer. The handling mechanical arm has the advantages of large working space, high positioning accuracy, small motion inertia, reliable and smooth motion and suitability for handling large-sized fragile solar cell modules in different specifications.
Description
Technical field
The invention belongs to the industry mechanical arm technical field, relate to a kind of industrial robot, is a kind of conveying robot of in the solar module production process, realizing the loading and unloading function.
Background technology
Along with the continuous development of solar energy power technology and industry thereof, the solar module manufacturing scale realizes that in continuous expansion the automation of its each link of production process is significant.But also there is certain defective in the automation of loading and unloading link in the present domestic solar module production process; For example the loading and unloading of solar module still need artificial the completion; Because the solar module volume and weight is bigger and frangible, there are problems such as labour intensity is big, operation is inconvenient, damage easily, production efficiency is low in loading and unloading work.
At present; Many conveying robot products are also arranged; The form and the construction parameter that adopt because of its end-effector mainly are to confirm according to concrete carrying object; And the end-effector of these conveying robots is generally less, is guaranteeing there is certain difficulty aspect the safe and reliable carrying of solar module.
Summary of the invention
To the defective that exists in the above-mentioned solar module manufacturing line loading and unloading process and the deficiency of prior art; The invention provides a kind of conveying robot that can accomplish the solar module loading and unloading; This conveying robot have simple in structure, reliable steadily, characteristics such as accuracy of positioning height; Can realize that Z back and forth waits two kinds of motions to the left and right to up-down and X, utilizes manipulator mechanism and pallet elevator structure to accomplish the operation of feeding and discharging of solar module jointly.
Technical scheme of the present invention is following:
This solar module loading and unloading conveying robot comprises manipulator mechanism, horizontal motion unit, two groups of perpendicular movement unit, pallet elevator structure and fuselages.Basic machine and pallet elevator structure that manipulator mechanism, horizontal motion unit, perpendicular movement unit and fuselage constitute are separate.
Manipulator mechanism comprises sucker positioning supports plate, Suction cup assembly, manipulator support, level sensor; Sucker positioning supports strip has groove, and and manipulator support between connect firmly, adopt adjustable being threaded between Suction cup assembly and the sucker positioning supports plate, level sensor and manipulator support connect firmly.
The horizontal motion unit comprises that left limit block, left-limit switch, slide, synchronous cog belt, line slideway, synchronous pulley, limit on the right-right-hand limit switch, right limit block and X are to servomotor; Line slideway adopts many crossbeam unitized constructions, is installed on the fuselage, and slide and line slideway constitute sliding block joint; Left limit block and right limit block and line slideway connect firmly; Left-limit switch and limit on the right-right-hand limit switch are separately fixed on left limit block and the right limit block, and two synchronous pulleys are installed in the two ends of line slideway respectively, and slide and synchronous cog belt connect firmly; X is installed in line slideway one end to servomotor, links to each other with slide through synchronous cog belt.
Z is to adopting two groups of perpendicular movement unit, and symmetry is installed on the manipulator mechanism.Every group of perpendicular movement unit comprises that line slideway, slide, ball guide screw nat and Z are to servomotor; Line slideway and slide constitute sliding block joint; Line slideway and manipulator mechanism connect firmly through butt flange; Z directly links to each other with ball guide screw nat to servomotor, and ball guide screw nat and slide connect firmly, and slide and horizontal motion unit slide connect firmly through connecting panel.
The pallet elevator structure comprises pallet guardrail, tray supporter, cylinder and pallet positioning baffle; Cylinder has four, interconnects through tray supporter, and the placement that is parallel to each other, tray supporter and cylinder connect firmly, and the pallet guardrail has all been installed in the tray supporter both sides, and the pallet positioning baffle is fixed on an end of tray supporter.
Effect of the present invention and benefit are:
(1) relative position between many group Suction cup assemblies can be regulated; Adapt to the carrying operation of different size solar module; And organize Suction cup assembly more and can guarantee that solar module is evenly stressed in the adsorption process, can accomplish the loading and unloading of solar battery sheet safely and reliably.
(2) two groups of perpendicular movement unit of symmetry installation can guarantee perpendicular movement unit stress equalization in handling process, avoid producing moment of flexure.
(3) have simple in structure, working space is big, accuracy of positioning is high, reliable characteristics such as steadily.
(4) reduced labour intensity, improved labor efficiency, the high fragment rate of having avoided a dead lift to cause.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a manipulator mechanism structural representation of the present invention.
Fig. 3 is a horizontal motion block construction scheme drawing of the present invention.
Fig. 4 is a perpendicular movement block construction scheme drawing of the present invention.
Fig. 5 is perpendicular movement of the present invention unit and manipulator mechanism assembly structural representation.
Fig. 6 is a pallet elevator structure structural representation of the present invention.
Among the figure:
The I manipulator mechanism, II horizontal motion unit, III perpendicular movement unit, IV pallet elevator structure,
The V fuselage.
1 sucker positioning supports plate, 2 Suction cup assemblies, 3 manipulator supports, 4 level sensors;
5 left limit blocks, 6 left-limit switches, 7 first slides, 8 synchronous cog belts, 9 first line slideways,
10 synchronous pulleys, 11 limit on the right-right-hand limit switches, 12 right limit blocks, 13 X are to servomotor,
14 second line slideways, 15 second slides, 16 ball guide screw nats, 17 Z are to servomotor,
18 butt flanges, 19 connecting panels, 20 pallet guardrails, 21 tray supporters, 22 cylinders,
23 pallet positioning baffles.
The specific embodiment
Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
Solar module loading and unloading conveying robot of the present invention is made up of manipulator mechanism I, horizontal motion unit II, two groups of perpendicular movement unit III, pallet elevator structure IV and fuselage V; Manipulator mechanism adopts aluminium alloy extrusions frame combination structure; Utilize vacuum cup as applying the Clamping force main body, relative position can be regulated between each sucker.The horizontal motion unit is made horizontal reciprocating movement to servomotor through synchronous cog belt speed reduction gearing drives mechanical hand mechanism by X.The perpendicular movement unit passes through the dipping and heaving of ball guide screw nat drives mechanical hand mechanism by Z to servomotor.Finally accomplish the operation of feeding and discharging of solar module jointly by pallet elevator structure and manipulator mechanism.
Concrete course of action is following:
The motion of pallet elevator structure: pallet is placed on the tray supporter 21; Pallet positioning baffle 23 is confirmed pallet position on tray supporter 21; After pallet is placed; To the gas of four cylinders, 22 feeding certain pressures, four cylinders 22 will drive tray supporter 21 and upwards rise synchronously, and the pallet guardrail 20 of both sides is used for preventing that the solar module sideslip damages in the process of going up and down.
X links to each other with first slide 7 through synchronous toothed belt wheel speed reduction gearing to servomotor 13 to motion: X; Driving first slide 7 through synchronous cog belt 8 slides on first line slideway 9; First slide 7 drives robot movement through the perpendicular movement unit in the horizontal motion unit; Thereby the X that realizes conveying robot is to motion, when X when motion runs into left-limit switch 6 or limit on the right-right-hand limit switch 11, the conveying robot stop motion; When left-limit switch 6 or 11 inefficacies of limit on the right-right-hand limit switch, left limit block 5 will be forced the conveying robot stop motion with right limit block 12.
Z is to motion: by the realization that is synchronized with the movement of two groups of perpendicular movement unit; Z makes through ball guide screw nat 16 between second line slideway 14 and second slide 15 to servomotor 17 and produces relative motion; Thereby through two Z to servomotor 17 be synchronized with the movement realize conveying robot Z to motion; When the downward location of conveying robot fails correctly to accomplish, destroy solar module in order to prevent manipulator mechanism, a level sensor 4 is installed below manipulator mechanism; When level sensor 4 triggers; Force the conveying robot stop motion immediately, wherein ball guide screw nat 16 has self-lock ability, prevents under the solar module action of gravity, to occur counter-rotating decline phenomenon.
The solar module sucking action is realized: the automatic operational process of manipulator relies on software to realize its accurate location, and when accomplished the manipulator mechanism location, X and Z stopped to motion, organize Suction cup assembly 2 more and adsorb solar module simultaneously.On vacuum cup source of the gas general line, adorned a vacuum manometer; Be used for monitoring real-time force value; Judge whether current pressure satisfies when the needed pressure of absorption solar module perhaps discharges whether reach required value, thus the safety of operating in assurance absorption and the dispose procedure.When the solar module specification changes, through on the sucker positioning supports plate between the groove adjustment Suction cup assembly 2 relative position can regulate, guarantee to draw safely and reliably solar module.
Solar module loading and unloading conveying robot of the present invention adopts programmable controller and touch-screen to jointly control mode, the preferred site master mode.Control system is made up of three levels, that is: man-machine interaction layer (touch-screen), motion control layer (programmable controller) and servocontrol layer.Man-machine interaction layer (touch-screen) is used to carry out mission planning and parameter setting, forms handling machinery hands movement requisite space parameter, comprises parameters such as starting point, terminal point, and the work of the real-time monitoring aspect of responsible control system.Motion control layer (programmable controller) is the function block of programmable controller utilization " MAP SERV " instruction database, to actuator outbound course and position pulse signal, realizes the motion control of manipulator according to the program of setting and parameter thereof.The servocontrol layer as given, as feedback, is realized position servo control with the servomotor actual position that measures with the position signal of motion control layer.
Claims (2)
1. a solar module loading and unloading conveying robot comprises manipulator mechanism (I), horizontal motion unit (II), two groups of perpendicular movement unit (III), pallet elevator structure (IV) and fuselage (V); It is characterized in that:
Manipulator mechanism comprises sucker positioning supports plate (1), Suction cup assembly (2), manipulator support (3), level sensor (4); Sucker positioning supports plate (1) has groove, and and manipulator support (3) between connect firmly, adopt adjustable being threaded between Suction cup assembly (2) and the sucker positioning supports plate (1), level sensor (4) connects firmly with manipulator support (3);
The horizontal motion unit comprises that left limit block (5), left-limit switch (6), first slide (7), synchronous cog belt (8), first line slideway (9), synchronous pulley (10), limit on the right-right-hand limit switch (11), right limit block (12) and X are to servomotor (13); First line slideway (9) adopts many crossbeam unitized constructions; Be installed on the fuselage; First slide (7) constitutes sliding block joint with first line slideway (9); Left limit block (5) and right limit block (12) connect firmly with first line slideway (9), and left-limit switch (6) and limit on the right-right-hand limit switch (11) are separately fixed on left limit block (5) and the right limit block (12), and two synchronous pulleys (10) are installed in the two ends of first line slideway (9) respectively; First slide (7) connects firmly with synchronous cog belt (8), and X is installed in first line slideway (9) one ends to servomotor (13);
Adopt two groups of perpendicular movement unit, be assemblied on the manipulator mechanism symmetrically; Every group of perpendicular movement unit comprises that second line slideway (14), second slide (15), ball guide screw nat (16) and Z are to servomotor (17); Second line slideway (14) constitutes sliding block joint with second slide (15); Second line slideway (14) connects firmly through butt flange (18) with manipulator mechanism; Z directly links to each other with ball guide screw nat (16) to servomotor (17); Second slide (15) connects firmly with the nut of ball guide screw nat (16), and second slide (15) connects firmly through connecting panel (19) with horizontal motion unit slide (7);
The pallet elevator structure comprises pallet guardrail (20), tray supporter (21), cylinder (22) and pallet positioning baffle (23); Cylinder (22) has four; Interconnect through tray supporter (21), and the placement that is parallel to each other, tray supporter (21) connects firmly with cylinder (22) outside face; Pallet guardrail (20) has all been installed in tray supporter (21) both sides, and pallet positioning baffle (23) is installed in an end of tray supporter (21);
Basic machine and pallet elevator structure that manipulator mechanism, horizontal motion unit, perpendicular movement unit and fuselage constitute are separate.
2. solar module loading and unloading conveying robot as claimed in claim 1 is characterized in that: relative position can be regulated between the Suction cup assembly on the said manipulator mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110023579XA CN102107783B (en) | 2011-01-21 | 2011-01-21 | Loading and unloading handling mechanical arm for solar cell module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110023579XA CN102107783B (en) | 2011-01-21 | 2011-01-21 | Loading and unloading handling mechanical arm for solar cell module |
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| Publication Number | Publication Date |
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| CN102107783A CN102107783A (en) | 2011-06-29 |
| CN102107783B true CN102107783B (en) | 2012-08-08 |
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| CN102107783A (en) | 2011-06-29 |
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