CN221164918U - Sucker displacement module and handling device - Google Patents
Sucker displacement module and handling device Download PDFInfo
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- CN221164918U CN221164918U CN202322985264.4U CN202322985264U CN221164918U CN 221164918 U CN221164918 U CN 221164918U CN 202322985264 U CN202322985264 U CN 202322985264U CN 221164918 U CN221164918 U CN 221164918U
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- sucker
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- 238000006073 displacement reaction Methods 0.000 title claims description 4
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000001179 sorption measurement Methods 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 241000252254 Catostomidae Species 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
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Abstract
The utility model discloses a sucker pitch-changing module and a carrying device, wherein the sucker pitch-changing module comprises a pair of supporting slide bars, a plurality of sliding blocks arranged on the supporting slide bars, a plurality of sucker assemblies arranged on the sliding blocks and a first air cylinder, and the sliding blocks comprise a first sliding block arranged close to the first air cylinder, a second sliding block fixed on the supporting slide bars and a plurality of third sliding blocks arranged between the first sliding blocks and the second sliding blocks; the first sliding block and the third sliding block are arranged on the supporting sliding rod in a sliding manner; the first cylinder drives the first sliding block to move; a transmission limiting block is arranged between two adjacent sliding blocks; in two adjacent sliders A, B, one end of the transmission limiting block is fixedly arranged on the slider B, the other end of the transmission limiting block is provided with a limit stop, and the slider A is provided with a stop protrusion which is matched with the limit stop to realize limiting. The utility model can automatically adjust the interval between the suckers, is suitable for adsorbing frames in a wider range, and improves the universality of the adsorption module.
Description
[ Field of technology ]
The utility model belongs to the technical field of frame conveying, and particularly relates to a sucker pitch-changing module and a conveying device.
[ Background Art ]
In the assembly production process of the photovoltaic module, after all the layered structures are laminated together, the periphery of the laminated structure is protected by adopting a metal frame, and the laminated structure is assembled into an integrated structure. The rectangular frame is formed by clamping, splicing, screw connection, adhesive connection or the like of the two long side frames and the two short side frames. The incoming material form of frame generally adopts the feed of material frame, and a plurality of layers of frame stack are in the material frame, and a plurality of frames have been laid to every layer, and the both ends between every layer of frame all are provided with one deck spacer paper. In order to realize automatic production and improve production efficiency, the feeding of frame adopts the manipulator to pick up the material loading automatically. The efficient automatic feeding robot for the frames of the whole-support type photovoltaic modules disclosed by patent publication number CN217530887U in the prior art is characterized in that a plurality of groups of adsorption modules are arranged at the movable tail end of the robot, so that the adsorption and transportation of the frames are realized at one time. However, for photovoltaic modules of different formats, the widths of the frames are different, the widths of the frames are generally 30-45 mm, in the feeding robot, the sucker spacing in the adsorption module is not adjustable, and the feeding robot can only be suitable for adsorbing frames with a certain range of widths.
Therefore, it is necessary to provide a new suction cup pitch-changing module and a handling device to solve the above-mentioned technical problems.
[ utility model ]
The utility model mainly aims to provide a sucker pitch-changing module and a carrying device, which can automatically adjust the distance between suckers, are suitable for adsorbing frames in a wider range, and improve the universality of an adsorption module.
The utility model realizes the aim through the following technical scheme: the sucker pitch-changing module comprises a pair of supporting seats, a supporting sliding rod, a plurality of sliding blocks, a plurality of sucker assemblies and a first air cylinder, wherein the supporting sliding rods are arranged between the pair of supporting seats, the sliding blocks are arranged on the supporting sliding rods in an arrayed mode, the sucker assemblies are arranged on the sliding blocks, the sliding blocks comprise a first sliding block, a second sliding block and a plurality of third sliding blocks, the first sliding block is arranged close to the first air cylinder, the second sliding block is fixedly arranged on the supporting sliding rods, and the third sliding blocks are arranged between the first sliding blocks and the second sliding blocks; the first sliding block and the third sliding block are arranged on the supporting sliding rod in a sliding manner; a piston rod of the first cylinder is connected with the first sliding block; a transmission limiting block is arranged between every two adjacent sliding blocks; in the slider A and the slider B that set up adjacently in the direction of stretching out of first cylinder, the one end of transmission stopper is fixed to be set up on the slider B and the other end extends to slider A top, the transmission stopper extends to the one end of slider A top is provided with limit stop, be provided with on the slider A with limit stop cooperation realizes spacing backstop arch.
Further, the sliding block A has a sliding distance relative to the sliding block B on the supporting sliding rod, one end of the sliding distance is matched with the limit stop through the stop protrusion to achieve stopping, and the other end of the sliding distance is contacted with the body of the sliding block B to achieve stopping.
Another object of the present utility model is to provide a transporting apparatus including a multi-axis robot and a transporting unit provided at a movable end of the multi-axis robot; the carrying unit comprises a mounting plate and the sucker pitch-changing module which is arranged on the mounting plate.
Further, a CCD camera and a laser range finder are fixedly arranged on the mounting plate; and an avoidance port for the work of the CCD camera and the laser range finder is formed in the mounting plate.
Further, a pair of partition adsorption modules are fixedly arranged on two opposite sides of the mounting plate.
Further, the paper separating adsorption module comprises a second air cylinder fixed on the mounting plate, a first supporting plate driven by the second air cylinder to move up and down, a second supporting plate arranged on the first supporting plate in an up-down elastic floating mode, and a pair of suction nozzle assemblies arranged on the second supporting plate.
Further, the sucker pitch-changing module is provided with two groups, and the positions of sucker components in the two groups of sucker pitch-changing modules are correspondingly arranged; the CCD camera and the laser range finder are arranged between the two groups of sucker variable-pitch modules.
Compared with the prior art, the sucker distance-changing module and the carrying device have the beneficial effects that: through setting up the sucking disc displacement module, set up a fixed second slider and a movable first slider on supporting the slide bar, then set up a plurality of gliding third sliders between first slider and second slider, link together through the transmission stopper between every adjacent two sliders, one end of the transmission stopper is fixed on one of them slider B and another end sets up a limit stop to limit the range of motion of another slider A relative to slider B, when driving the first slider to slide horizontally, can drive all other third sliders to open or draw close the motion relative to the second slider, and then realize the interval adjustment between the sucking disc subassembly that sets up on the slider, be applicable to the frame absorption transport of different width specifications; the carrying device is also provided with a separation paper adsorption module, and separation paper is adsorbed and taken away for unified collection in an adsorption mode, so that the cleaning device is more beneficial to keeping the working site clean compared with the original mode of scattering the separation paper brush on one ground.
[ Description of the drawings ]
FIG. 1 is a schematic perspective view of an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a carrying unit according to an embodiment of the present utility model;
FIG. 3 is a schematic perspective view of a suction cup pitch-varying module according to an embodiment of the present utility model;
FIG. 4 is a schematic top view of a suction cup module according to an embodiment of the present utility model;
FIG. 5 is a schematic diagram of a front view of a suction cup module according to an embodiment of the present utility model;
FIG. 6 is a schematic diagram of a front view of a suction cup pitch module in another pitch state according to an embodiment of the present utility model;
FIG. 7 is a schematic diagram of a separator adsorption module according to an embodiment of the utility model;
The figures represent the numbers:
100-handling device;
1-a multi-axis robot; the device comprises a 2-carrying unit, a 21-mounting plate, a 211-avoiding through hole, a 22-sucking disc distance changing module, a 221-supporting seat, a 222-supporting sliding rod, a 223-sliding block, a 2231-first sliding block, a 2232-second sliding block, a 2233-third sliding block, a 2234-stop protrusion, a 224-sucking disc component, a 225-first air cylinder, a 226-transmission limiting block, a 2261-limiting stop, a 23-CCD camera, a 24-laser distance meter, a 25-separating paper adsorption module, a 251-second air cylinder, a 252-first supporting plate, a 253-second supporting plate and a 254-suction nozzle component.
[ Detailed description ] of the invention
Embodiment one:
Referring to fig. 1-7, the present embodiment is a carrying device 100, which includes a multi-axis robot 1 and a carrying unit 2 disposed at a movable end of the multi-axis robot 1.
The carrying unit 2 comprises a mounting plate 21, a sucker pitch-changing module 22 arranged on the mounting plate 21, a CCD camera 23 and a laser range finder 24 fixed on the mounting plate 21, and a pair of separation paper adsorption modules 25 arranged on two opposite sides of the mounting plate 21, wherein an avoidance through hole 211 for the CCD camera 23 and the laser range finder 24 to work is formed in the mounting plate 21.
The suction cup pitch changing module 22 comprises a pair of supporting seats 221 oppositely arranged on the mounting plate 21, a supporting sliding rod 222 arranged between the pair of supporting seats 221, a plurality of sliding blocks 223 arranged on the supporting sliding rod 222, a plurality of suction cup assemblies 224 mounted on the sliding blocks 223 and a first air cylinder 225 fixed on the mounting plate 21, wherein the sliding blocks 223 comprise a first sliding block 2231 arranged close to the first air cylinder 225, a second sliding block 2232 fixedly arranged on the supporting sliding rod 222 and a plurality of third sliding blocks 2233 positioned between the first sliding blocks 2231 and the second sliding blocks 2232; the first slider 2231 and the third slider 2233 are slidably disposed on the support slide bar 222; the piston rod of the first cylinder 225 is connected with the first slider 2231; a transmission limiting block 226 is arranged between every two adjacent sliding blocks 223; in the adjacent sliding blocks A and B which are sequentially arranged in the extending direction of the first air cylinder 225, one end of the transmission limiting block 226 is fixedly arranged on the sliding block B, the other end of the transmission limiting block 226 extends to the upper part of the sliding block A, a limit stop 2261 is arranged at one end of the transmission limiting block 226 extending to the upper part of the sliding block A, and a stop protrusion 2234 which is matched with the limit stop 2261 to realize limit is arranged on the sliding block A; the slider a has a sliding distance (not shown) on the support slide bar 222 with respect to the slider B, one end of the sliding distance being stopped by the stopper protrusion 2234 in cooperation with the limit stop 2261, and the other end being stopped by the contact of the slider a body with the slider B body.
When the first cylinder 225 is in the contracted state, the piston rod of the first cylinder 225 pulls the first slider 2231 to slide toward the first cylinder 225, and the first slider 2231 pulls the third slider 2233 on the side with the cooperation of the stopper protrusion 2234 and the limit stopper 2261; of the first slider 2231 and the side third slider 2233, the first slider 2231 corresponds to the slider a and the side third slider 2233 corresponds to the slider B; then the third side sliders 2233 drive the adjacent third side sliders 2233 again, and so on until the third side sliders 2232 are transferred to the last second sliders 223, all the sliders 223 stop sliding, and finally all the third side sliders 2233 in the middle are pulled apart; so that the interval between two adjacent sliders 223 becomes larger, and the suction cup assembly 224 under each slider 223 is in a large interval state; when the first cylinder 225 is in the extended state, the piston rod of the first cylinder 225 pushes the first slider 2231 outwards, the first slider 2231 moves to contact the side third slider 2233, then continues to push the side third slider 2233 to be close to the side adjacent third slider 2233, and so on until the last second slider 2232 is pushed, all the sliders 223 stop moving, and finally all the middle third sliders 2233 are closed, so that the distance between the two adjacent sliders 223 is reduced, and the sucker assembly 224 below each slider 223 is in a small-distance state; thereby realizing the adjustment of the distance.
The different setting positions of the limit stops 2261 on the transmission limiting block 226 can be suitable for frames with different widths, for example, in the embodiment, the transmission limiting block 226 is suitable for frames with the width of 30-35 mm; if the frame width is greater than 35mm, only the corresponding transmission limiting block 226 needs to be replaced, and the transmission limiting blocks 226 with different specifications are different only in the positions of the limit stops 2261, namely, the ranges of the sliding intervals are different.
The embodiment is applied to the adsorption and carrying operation of the photovoltaic module frames, two groups of sucking disc pitch-changing modules 22 are arranged on the mounting plate 21, and a plurality of frames are adsorbed on the mounting plate 21 in a symmetrical mode. The positions of the sliding blocks 223 in each group of sucker pitch-changing modules 22 are correspondingly arranged, and sucker assemblies 224 on the sliding blocks 223 corresponding to the positions jointly form a group of frame adsorption modules, and the adsorption modules correspondingly adsorb one frame so as to ensure the adsorption stability of the slender frame.
The CCD camera 23 and the laser range finder 24 are arranged between the two groups of sucker pitch-changing modules 22.
The separator suction module 25 is used for sucking away separator paper at two ends of each layer of frame, and comprises a second air cylinder 251 fixed on the mounting plate 21, a first support plate 252 driven by the second air cylinder 251 to move up and down, a second support plate 253 arranged on the first support plate 252 in an up-and-down elastic floating manner, and a pair of suction nozzle assemblies 254 arranged on the second support plate 253.
The working principle of the carrying device 100 of this embodiment is as follows: when a plurality of frames are sucked, firstly, corresponding transmission limiting blocks 226 are selected according to the width specification of the frames, the position of each sliding block 223 is determined by utilizing the action of a first air cylinder 225, and the interval between each two sliding blocks 223 is adjusted; then the CCD camera 23 is used for obtaining the horizontal plane position of the whole frame, on one hand, the center position of the frame to be moved when the robot absorbs the frame is determined, the absorption center of each frame absorption module in the sucker pitch-changing module 22 is ensured to be corresponding to the center of the corresponding frame when the frame is absorbed, and the frame is prevented from tilting in the carrying process; on the other hand, when the robot is determined to absorb the frames, the placement angle of the absorption center line of each frame absorption module in each sucking disc pitch-changing module 22 is ensured, so that the absorption center line of each frame absorption module is parallel to the center axis of the corresponding frame, and each frame absorption module is ensured to be accurately absorbed on the surface of the frame; the heights of four corner areas of the whole support frame are measured by using the laser range finder 24, the plane angle of the upper surface of the frame at the uppermost layer is determined, the pitching angle of the adsorption plane of the sucker pitch-changing module 22 when the robot absorbs the frame is determined, the adsorption plane of the sucker pitch-changing module 22 is ensured to be parallel to the upper surface of the frame, and therefore a plurality of frames can be absorbed at one time; after the positions of the sucker pitch-changing modules 22 are adjusted, the sucking and carrying of a plurality of groups of frames are started; after the upper frame is sucked, the separating paper sucking module 25 sucks the separating papers at two ends of the frame, and then the next frame is sucked and conveyed.
It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the utility model.
Claims (7)
1. The utility model provides a sucking disc displacement module which characterized in that: the device comprises a pair of supporting seats, a supporting sliding rod, a plurality of sliding blocks, a plurality of sucking disc assemblies and a first air cylinder, wherein the supporting sliding rods are arranged between the pair of supporting seats, the sliding blocks are arranged on the supporting sliding rods, the sucking disc assemblies are arranged on the sliding blocks, the sliding blocks comprise a first sliding block, a second sliding block and a plurality of third sliding blocks, the first sliding block is arranged close to the first air cylinder, the second sliding block is fixedly arranged on the supporting sliding rod, and the third sliding blocks are arranged between the first sliding block and the second sliding block; the first sliding block and the third sliding block are arranged on the supporting sliding rod in a sliding manner; a piston rod of the first cylinder is connected with the first sliding block; a transmission limiting block is arranged between every two adjacent sliding blocks; in the slider A and the slider B that set up adjacently in the direction of stretching out of first cylinder, the one end of transmission stopper is fixed to be set up on the slider B and the other end extends to slider A top, the transmission stopper extends to the one end of slider A top is provided with limit stop, be provided with on the slider A with limit stop cooperation realizes spacing backstop arch.
2. The suction cup pitch module as set forth in claim 1, wherein: the sliding block A is provided with a sliding distance relative to the sliding block B on the supporting sliding rod, one end of the sliding distance is matched with the limit stop through the stop protrusion to achieve stopping, and the other end of the sliding distance is contacted with the body of the sliding block B through the sliding block A to achieve stopping.
3. A handling device, characterized in that: the device comprises a multi-axis robot and a carrying unit arranged at the movable tail end of the multi-axis robot; the carrying unit comprises a mounting plate and a sucker pitch-changing module which is arranged on the mounting plate and is as claimed in claim 1.
4. A handling device according to claim 3, wherein: a CCD camera and a laser range finder are fixedly arranged on the mounting plate; and an avoidance port for the work of the CCD camera and the laser range finder is formed in the mounting plate.
5. A handling device according to claim 3, wherein: a pair of paper separating adsorption modules are fixedly arranged on two opposite sides of the mounting plate.
6. The handling device of claim 5, wherein: the paper separating adsorption module comprises a second air cylinder fixed on the mounting plate, a first supporting plate driven by the second air cylinder to move up and down, a second supporting plate arranged on the first supporting plate in an up-down elastic floating mode, and a pair of suction nozzle assemblies arranged on the second supporting plate.
7. A handling device according to claim 3, wherein: the sucker pitch-changing module is provided with two groups, and the positions of sucker components in the two groups of sucker pitch-changing modules are correspondingly arranged; the CCD camera and the laser range finder are arranged between the two groups of sucker variable-pitch modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322985264.4U CN221164918U (en) | 2023-11-06 | 2023-11-06 | Sucker displacement module and handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322985264.4U CN221164918U (en) | 2023-11-06 | 2023-11-06 | Sucker displacement module and handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221164918U true CN221164918U (en) | 2024-06-18 |
Family
ID=91535986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322985264.4U Active CN221164918U (en) | 2023-11-06 | 2023-11-06 | Sucker displacement module and handling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221164918U (en) |
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2023
- 2023-11-06 CN CN202322985264.4U patent/CN221164918U/en active Active
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