CN110963294B - Pickup device - Google Patents

Abstract

The invention provides a pickup device for picking up and moving a piece to be picked up, comprising: a bracket; the picking mechanism is movably and rotatably connected with the bracket; the visual detection mechanism is arranged on the bracket and is used for acquiring image information of the piece to be picked up; the picking mechanism performs translational motion or rotational motion according to the image information so as to align with the to-be-picked piece or perform sorting operation on the picked to-be-picked piece. The invention solves the problem of poor practicality of the pickup device caused by lower intelligent degree of the pickup device in the prior art.

Description

Pickup device

Technical Field

The invention relates to the technical field of solar cell panel production, and in particular to a picking device.

Background Art

In order to improve the automation level of solar panels on a production line of solar panels, a picking device is used to pick up thin-film solar cells. However, the picking device in the prior art has a low intelligence level and cannot intelligently identify the placement of thin-film solar cells or the product quality of thin-film solar cells, resulting in poor practicality of the picking device.

Specifically, the picking device cannot identify the placement of the thin-film battery cell, and cannot ensure that the picking mechanism of the picking device and the thin-film battery cell are aligned. When there is a misalignment between the picking mechanism and the thin-film battery cell, the contact area between the picking mechanism and the thin-film battery cell is small, resulting in the picking mechanism being unable to stably pick up the thin-film battery cell, and there may even be a situation where the picking mechanism is unable to pick up the thin-film battery cell; in addition, the picking device cannot identify the placement of the thin-film battery cell, and cannot sort the thin-film battery cell according to the placement of the thin-film battery cell; the picking device cannot intelligently identify the product quality of the thin-film battery cell, and cannot sort the thin-film battery cell according to the product quality of the thin-film battery cell, resulting in poor practicality of the picking device.

Summary of the invention

The main purpose of the present invention is to provide a picking device to solve the problem that the picking device in the prior art has a low intelligence level, resulting in poor practicability of the picking device.

In order to achieve the above-mentioned purpose, the present invention provides a picking device for picking up and moving an object to be picked up, comprising: a bracket; a picking mechanism, which is movably and rotatably connected to the bracket; a visual detection mechanism, which is arranged on the bracket, and is used to obtain image information of the object to be picked up; the picking mechanism performs translational movement or rotational movement according to the image information to align with the object to be picked up or perform a sorting operation on the picked object to be picked up.

Furthermore, the picking device also includes a controller and a position analysis module. The position analysis module is used to perform position analysis on the image information obtained by the visual detection mechanism, and send a first signal containing the center position coordinates and/or deflection angle value of the object to be picked up to the controller. The controller controls the picking mechanism to move to a position aligned with the object to be picked up according to the first signal.

Furthermore, the picking device also includes a controller and a defect analysis module. The defect analysis module is used to perform defect analysis on the image information obtained by the visual inspection mechanism, and send a second signal containing whether the piece to be picked up is a qualified product or a defective product to the controller. The controller controls the picking mechanism to pick up the piece to be picked up according to the second signal, and then classifies and sorts the piece to be picked up that is detected as a qualified product or a defective product.

Furthermore, the picking device also includes a controller and a placement direction analysis module. The placement direction analysis module is used to perform placement direction analysis on the image information obtained by the visual detection mechanism, and send a third signal containing whether the to-be-picked items are placed forward or reversely to the controller. The controller controls the picking mechanism to pick up the items to be picked according to the third signal, and then classifies and sorts the items to be picked that are detected as being placed forward or reversely.

Furthermore, the picking device also includes a mounting plate and a rotary drive motor, the mounting plate is movably arranged on the bracket, the rotary drive motor is arranged on the mounting plate, the rotary drive motor has a hollow mounting hole, and the picking device also includes a buffer mechanism, the buffer mechanism includes: a sleeve, a sleeve is respectively arranged at the openings at both ends of the mounting hole; a guide rod, the guide rod is movably arranged in the mounting hole, one end of the guide rod facing the piece to be picked up is connected to the picking mechanism, and the guide rod has a limiting structure that cooperates with the sleeve stopper; a buffer spring, the buffer spring is sleeved on the guide rod and is arranged between the sleeve and the limiting structure away from the picking mechanism to provide a pressure for the picking mechanism toward the piece to be picked up.

Furthermore, the picking device also includes a mounting plate and a rotary drive motor, the mounting plate is movably disposed on the bracket, the rotary drive motor is disposed on the mounting plate, the rotary drive motor has a hollow mounting hole, and the picking device also includes a buffer mechanism, the buffer mechanism includes: a sleeve, a sleeve is respectively disposed at the openings at both ends of the mounting hole; a guide rod, the guide rod is movably disposed at the mounting hole, and one end of the guide rod facing the piece to be picked up is connected to the picking mechanism; a buffer spring, the buffer spring is sleeved on the guide rod and is disposed between the rotary drive motor and the picking mechanism to provide a pressure to the picking mechanism toward the piece to be picked up.

Furthermore, the picking device also includes a non-contact sensor, which is arranged on the mounting plate, and the detection end of the non-contact sensor is spaced apart from the end of the guide rod away from the picking mechanism. When the distance between the end of the guide rod close to the non-contact sensor and the non-contact sensor is less than a safety distance, the non-contact sensor sends a pressure excess signal to the controller. After receiving the pressure excess signal, the controller controls the picking mechanism to move in a direction away from the object to be picked up.

Furthermore, the picking device also includes a contact sensor, which is arranged on the mounting plate. The contact sensor abuts against the end of the guide rod away from the picking mechanism. When the pressure detected by the contact sensor is greater than a predetermined value, the contact sensor sends a pressure excess signal to the controller. After receiving the pressure excess signal, the controller controls the picking mechanism to move in a direction away from the object to be picked up.

Furthermore, the visual inspection mechanism includes a CCD camera, the CCD camera has an imaging terminal for acquiring image information of the object to be picked up, and the CCD camera is mounted on a mounting plate and spaced apart from the rotary drive motor.

Furthermore, the picking device also includes a mounting frame, the visual detection mechanism includes a CCD camera, the CCD camera has an imaging end for acquiring image information of the object to be picked up, and the CCD camera is fixedly mounted on the mounting frame.

Furthermore, the bracket includes: a first guide rail mechanism and a first slider, the first guide rail mechanism is arranged on the bracket, and the first slider is slidably connected to the first guide rail mechanism; a second guide rail mechanism and a second slider, the second guide rail mechanism is connected to the first slider, and the second slider is slidably connected to the second guide rail mechanism; a third guide rail mechanism and a third slider, the third guide rail mechanism is connected to the second slider, and the third slider is slidably connected to the third guide rail mechanism; wherein, the first guide rail mechanism extends along a horizontal first direction, the second guide rail mechanism extends along a horizontal second direction, the first direction is arranged at an angle to the second direction, and the third guide rail mechanism extends along a vertical direction; the picking device also includes a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism is drivingly connected to the first slider, the second driving mechanism is drivingly connected to the second slider, the third driving mechanism is drivingly connected to the third slider, and the mounting plate is fixedly connected to the third slider.

The present application also provides a picking device for picking up and moving a piece to be picked up, the picking device comprising a picking mechanism, a rotary drive motor and a buffer mechanism, the rotary drive motor having a hollow mounting hole, the buffer mechanism comprising: a sleeve, a sleeve is respectively arranged at the openings at both ends of the mounting hole; a guide rod, the guide rod is movably arranged at the mounting hole, one end of the guide rod facing the piece to be picked up is connected to the picking mechanism, the guide rod has a limiting structure cooperating with the sleeve stopper; a buffer spring, the buffer spring is sleeved on the guide rod, and is arranged between a sleeve away from the picking mechanism and the limiting structure to provide a pressure for the picking mechanism toward the piece to be picked up.

The present application also provides a picking device for picking up and moving an object to be picked up, the picking device comprising a picking mechanism, a rotary drive motor and a buffer mechanism, the rotary drive motor having a hollow mounting hole, the buffer mechanism comprising: a sleeve, a sleeve being respectively arranged at the openings at both ends of the mounting hole; a guide rod, the guide rod being movably arranged at the mounting hole, the end of the guide rod facing the object to be picked up being connected to the picking mechanism; a buffer spring, the buffer spring being sleeved on the guide rod and being arranged between the rotary drive motor and the picking mechanism to provide a pressure for the picking mechanism towards the object to be picked up.

By applying the technical solution of the present invention, the intelligence level of the picking device is improved by setting a visual detection mechanism. Specifically, the visual detection mechanism is used to obtain image information of the piece to be picked up. By analyzing the obtained image information of the piece to be picked up, the placement of the piece to be picked up or the product quality of the piece to be picked up can be obtained. The picking mechanism can perform translational movement or rotational movement according to the image information, so as to align with the piece to be picked up or perform sorting operations on the picked piece to be picked up. The picking device provided by the present application has a high degree of intelligence, so as to improve the picking performance of the picking device, improve the practicality of the picking device, and improve the user experience of the picking device.

During the picking process, the picking device provided by the present application utilizes a buffer mechanism to achieve reliable contact between the picking mechanism and the piece to be picked up, thereby preventing the piece to be picked from being damaged due to excessive pressure on the piece to be picked up. At the same time, when the piece to be picked up is subjected to an allowable pressure, the picking device provided by the present application achieves the transfer of the piece to be picked up from the loading position to the picking mechanism by switching the vacuum air path. Due to the pressure exerted by the buffer mechanism on the battery cell to be picked up, the position of the piece to be picked up before picking up and after being adsorbed on the picking mechanism can be ensured to be consistent. This can eliminate the process of secondary position confirmation, thereby reducing the cost of the visual inspection system and shortening the picking cycle time.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

FIG1 is a schematic structural diagram of a pickup device according to an optional embodiment of the present invention;

FIG2 shows a right side view of the pickup device in FIG1 ;

FIG3 is a schematic structural diagram showing an angle of the pickup mechanism, visual detection mechanism, buffer mechanism and mounting plate of the pickup device in FIG1 ;

FIG4 is a schematic structural diagram showing a pickup mechanism, a visual detection mechanism, a buffer mechanism and a mounting plate of the pickup device in FIG3 from another angle;

FIG5 is a schematic cross-sectional view of a pickup mechanism, a visual detection mechanism, a buffer mechanism and a mounting plate of the pickup device in FIG4 at an angle;

FIG6 is a schematic cross-sectional view of the pickup mechanism, visual detection mechanism, buffer mechanism and mounting plate of the pickup device in FIG4 from another angle;

FIG7 shows a schematic bottom view of the pickup mechanism in FIG1 ;

FIG. 8 shows a schematic diagram of the top structure of the feeding mechanism in FIG. 1 .

The above drawings include the following reference numerals:

1. Parts to be picked up; 10. Bracket; 11. First guide rail mechanism; 12. First slider; 13. Second guide rail mechanism; 14. Second slider; 15. Third guide rail mechanism; 16. Third slider; 20. Picking mechanism; 21. Shell; 22. First vacuum chamber; 23. First vacuum adsorption hole; 24. Groove; 30. Visual detection mechanism; 31. CCD camera; 40. Mounting plate; 50. Rotary drive motor; 51. Mounting hole; 60. Buffer mechanism; 61. Sleeve; 62. Guide rod; 621. Limiting structure; 63. Buffer spring; 70. Non-contact sensor; 80. Feeding mechanism; 81. Placement space; 91. Second drive mechanism; 92. Third drive mechanism; 100. Storage box; 110. Drag chain structure.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In order to solve the problem that the picking device in the prior art has a low intelligence level, resulting in poor practicability of the picking device, the present invention provides a picking device.

As shown in Figures 1 to 8, the picking device is used to pick up and move the item 1 to be picked up, and includes a bracket 10, a picking mechanism 20 and a visual detection mechanism 30. The picking mechanism 20 is movably and rotatably connected to the bracket 10. The visual detection mechanism 30 is arranged on the bracket 10. The visual detection mechanism 30 is used to obtain image information of the item 1 to be picked up. The picking mechanism 20 performs translational movement or rotational movement according to the image information to align with the item 1 to be picked up or perform a sorting operation on the picked item 1 to be picked up.

In the present application, by setting up a visual inspection mechanism 30, a guiding role is played for the translational movement or rotational movement of the picking mechanism 20, thereby improving the intelligence level of the picking device. Specifically, the visual inspection mechanism 30 is used to obtain the image information of the piece to be picked up 1. By analyzing the obtained image information of the piece to be picked up 1, the placement of the piece to be picked up 1 or the product quality of the piece to be picked up 1 can be obtained. The picking mechanism 20 performs translational movement or rotational movement according to the image information, thereby aligning with the piece to be picked up 1 or performing a sorting operation on the picked piece to be picked up 1. The picking device provided in the present application has a high degree of intelligence, thereby improving the picking performance of the picking device, improving the practicality of the picking device, and improving the user experience of the picking device.

Optionally, the picking device further includes a controller and a position analysis module, the position analysis module is used to perform position analysis on the image information acquired by the visual detection mechanism 30, and send a first signal including the center position coordinates and/or the deflection angle value of the object 1 to be picked up to the controller, and the controller controls the picking mechanism 20 to move to a position aligned with the object 1 to be picked up according to the first signal. In this way, the visual detection mechanism 30 and the position analysis module are used in conjunction to obtain the placement position of the object 1 to be picked up, and the controller controls the picking mechanism 20 to perform translational movement or rotational movement according to the position analysis result of the position analysis module, so that the picking mechanism 20 is aligned with the object 1 to be picked up, ensuring that the contact area between the picking mechanism 20 and the object 1 to be picked up is large enough, ensuring that the picking mechanism 20 can stably pick up the object 1 to be picked up, and improving the picking performance of the picking device.

Optionally, the picking device also includes a controller and a defect analysis module. The defect analysis module is used to perform defect analysis on the image information obtained by the visual inspection mechanism 30, and send a second signal including whether the piece 1 to be picked up is a qualified product or a defective product to the controller. The controller controls the picking mechanism 20 to pick up the piece 1 to be picked up according to the second signal, and then classifies and sorts the piece 1 to be picked up that is detected as a qualified product or a defective product. In this way, the visual inspection mechanism 30 and the defect analysis module are used in conjunction to obtain the product quality of the piece 1 to be picked up. The controller controls the picking mechanism 20 to perform translational movement or rotational movement according to the defect analysis results analyzed by the defect analysis module, and sorts the qualified products to one location and the defective products to another location. The picking device provided in the present application can sort out defective products in the process of picking up the piece 1 to be picked up, thereby improving the product quality of the solar panel, replacing the manual identification of defective products, reducing the labor intensity of workers, and improving the production efficiency of solar panels.

Optionally, the picking device further includes a controller and a placement direction analysis module, the placement direction analysis module is used to perform placement direction analysis on the image information obtained by the visual detection mechanism 30, and send a third signal including whether the piece 1 to be picked up is placed forward or reversely to the controller, and the controller controls the picking mechanism 20 to pick up the piece 1 to be picked up according to the third signal, and then the piece 1 to be picked up that is detected as being placed forward or reversely is classified and sorted. In this way, the visual detection mechanism 30 and the placement direction analysis module are used in conjunction to obtain the placement direction of the piece 1 to be picked up, and the controller controls the picking mechanism 20 to perform translational movement or rotational movement according to the placement direction analysis result analyzed by the placement direction analysis module, and sorts the forward-placed products to one location, and sorts the reverse-placed products to another location. The picking device provided in the present application can judge the placement direction of the piece 1 to be picked up in the process of picking up the piece 1 to be picked up, avoids installing the reverse-placed piece 1 to be picked up in the work area of the next process, improves the product quality of the solar panel, replaces the manual identification of the placement direction of the piece 1 to be picked up, reduces the labor intensity of the workers, and improves the production efficiency of the solar panel.

Optionally, the visual inspection mechanism 30 is used to take a photo of the object to be picked up 1 at high speed, and the placement direction analysis module determines the placement direction of the object to be picked up 1 according to the grayscale of the photo of the object to be picked up 1.

Optionally, the picking device provided in the present application includes at least one of a position analysis module, a defect analysis module and a placement direction analysis module.

Among them, the position analysis module, the defect analysis module and the placement direction analysis module can be integrated on the controller or the visual inspection mechanism 30.

As shown in Figures 3 to 6, the picking device also includes a mounting plate 40 and a rotary drive motor 50. The mounting plate 40 is movably arranged on the bracket 10. The rotary drive motor 50 is arranged on the mounting plate 40. The rotary drive motor 50 has a hollow mounting hole 51. The picking device also includes a buffer mechanism 60. The buffer mechanism 60 includes a sleeve 61, a guide rod 62 and a buffer spring 63. A sleeve 61 is respectively arranged at the openings at both ends of the mounting hole 51. The guide rod 62 is movably arranged in the mounting hole 51. The end of the guide rod 62 facing the part 1 to be picked up is connected to the picking mechanism 20. The guide rod 62 has a limiting structure 621 that cooperates with the sleeve 61 to stop. The buffer spring 63 is sleeved on the guide rod 62 and is arranged between the sleeve 61 and the limiting structure 621 away from the picking mechanism 20 to provide a pressure for the picking mechanism 20 toward the part 1 to be picked up. In this way, the present application controls the rotation of the picking mechanism 20 by setting a rotary drive motor 50, thereby realizing the alignment of the picking mechanism 20 with the part to be picked 1. In addition, when picking up the part to be picked 1, the buffer mechanism 60 is used to realize the pressing force on the part to be picked 1 to be kept within a certain range, so as to ensure that the part to be picked 1 will not be shifted in position during the transfer process from the feeding mechanism 80 to the picking mechanism 20, and ensure that the position of the part to be picked 1 before picking and after being adsorbed on the picking mechanism 20 is consistent, eliminating the process of secondary confirmation of the position of the part to be picked 1, and improving the picking efficiency of the picking device. When the pressing force of the picking mechanism 20 on the part to be picked 1 is too large, the buffer spring 63 can also play a buffering role to avoid damage to the part to be picked 1.

Optionally, the rotary drive motor 50 is a direct drive motor. In order to facilitate the setting of the buffer mechanism 60 , a direct drive motor with a hollow mounting hole 51 is selected, and the structure of the direct drive motor is reasonably utilized to set the buffer mechanism 60 .

In an embodiment of the present application which is not shown in the figure, the picking device further comprises a mounting plate 40 and a rotary drive motor 50, wherein the mounting plate 40 is movably arranged on the bracket 10, the rotary drive motor 50 is arranged on the mounting plate 40, and the rotary drive motor 50 has a hollow mounting hole 51, and the picking device further comprises a buffer mechanism 60, wherein the buffer mechanism 60 comprises: a sleeve 61, wherein a sleeve 61 is respectively arranged at the openings at both ends of the mounting hole 51; a guide rod 62, wherein the guide rod 62 is movably arranged at the mounting hole 51, and the end of the guide rod 62 facing the object 1 to be picked up is connected to the picking mechanism 20; and a buffer spring 63, wherein the buffer spring 63 is sleeved on the guide rod 62 and arranged between the rotary drive motor 50 and the picking mechanism 20 to provide a pressure for the picking mechanism 20 to face the object 1 to be picked up. In this embodiment, the hollow structure of the rotary drive motor 50 is also used to arrange the buffer mechanism 60, and only the arrangement position of the buffer spring 63 is changed.

Optionally, the guide rod 62 has a limiting structure 621, which cooperates with the sleeve 61 stopper to limit the movement of the guide rod, prevent the guide rod 62 from coming out of the mounting hole 51, and ensure the connection stability between the guide rod 62 and the rotary drive motor 50. Or it can act as a stopper when a non-contact sensor or a contact sensor fails, to prevent the buffer spring 63 from being over-compressed, and to provide excessive pressure to the object 1 to be picked up, thereby damaging the object 1 to be picked up.

As shown in FIGS. 4 to 6 , the picking device further includes a non-contact sensor 70, which is disposed on the mounting plate 40, and the detection end of the non-contact sensor 70 is spaced from the end of the guide rod 62 away from the picking mechanism 20. When the distance between the end of the guide rod 62 close to the non-contact sensor 70 and the detection end of the non-contact sensor 70 is less than the safety distance, the non-contact sensor 70 sends a pressure over-limit signal to the controller, and after receiving the pressure over-limit signal, the controller controls the picking mechanism 20 to move in a direction away from the object 1 to be picked up. The use of a non-contact sensor is not limited to the non-contact sensor 70, and may also be other non-contact sensors, thereby effectively preventing the picking mechanism 20 from applying too much pressure to the object 1 to be picked up and damaging the object 1 to be picked up, further improving the intelligence of the picking device, improving the picking performance of the picking device, improving the practicality of the picking device, and improving the user experience of the picking device.

Optionally, the non-contact sensor 70 is a proximity sensor.

In an embodiment of the present application not shown in the figure, the picking device further comprises a contact sensor, which is arranged on the mounting plate 40, and abuts against the end of the guide rod 62 away from the picking mechanism 20. When the pressure detected by the contact sensor is greater than a predetermined value, the contact sensor sends a pressure over-limit signal to the controller, and after receiving the pressure over-limit signal, the controller controls the picking mechanism 20 to move in a direction away from the object 1 to be picked up. The use of a contact sensor is not limited to a contact sensor, and other contact sensors may also be used, thereby effectively preventing the picking mechanism 20 from pressing too much pressure on the object 1 to be picked up and damaging the object 1 to be picked up, further improving the intelligence of the picking device, improving the picking performance of the picking device, improving the practicality of the picking device, and improving the user experience of the picking device.

Optionally, the contact sensor is a travel switch or a pressure sensor.

The picking device provided in the present application adds a function of pressure over-limit detection. Under normal working conditions, the guide rod 62 will not trigger the non-contact sensor or the contact sensor; when the picking device fails, or the position detection information is incorrect, causing the picking mechanism 20 to descend too low, causing the pressure applied to the piece 1 to be picked up to exceed the limit, in order to prevent damage to the piece 1 to be picked up, the controller can adjust the position of the picking mechanism 20 in time according to the received pressure over-limit signal, thereby reducing the pressure on the piece 1 to be picked up. In addition, the controller can also record the fault to facilitate the operator to analyze the cause and optimize the process.

As shown in Figures 3, 5, 6 and 7, the picking mechanism 20 includes a shell 21, the shell 21 has a first vacuum chamber 22 and at least one first vacuum adsorption hole 23 connected to the first vacuum chamber 22, the picking device also includes a first vacuum generator, a first vacuum pipeline and a vacuum gauge, the first vacuum generator is connected to the first vacuum chamber 22 through a vacuum pipeline to extract the air in the first vacuum chamber 22, the vacuum gauge is arranged in the vacuum pipeline or the first vacuum chamber 22 to measure the vacuum degree in the first vacuum chamber 22, when the vacuum degree in the first vacuum chamber 22 reaches a predetermined value, the vacuum gauge sends an execution signal to the outside. In this way, the part to be picked up 1 is picked up by vacuum adsorption, thereby avoiding damage to the part to be picked up during the picking process. The vacuum gauge is arranged to measure the vacuum degree in the first vacuum chamber 22, so as to ensure that the part to be picked up 1 can be effectively adsorbed.

Optionally, after receiving the execution signal sent by the vacuum gauge, the controller controls the picking mechanism 20 of the picking device to move the picked-up object 1 to a designated location.

As shown in Figures 3 and 7, considering that the middle part of the piece 1 to be picked up does not need to be adsorbed by dense first vacuum adsorption holes 23 during the picking process, at least one groove 24 is provided in the middle of the surface of the picking mechanism 20 facing the piece 1 to be picked up, so as to prevent the piece 1 to be picked up from being damaged due to excessive vacuum suction.

As shown in Figures 1, 2 and 8, the picking device also includes a loading mechanism 80, which has a placement space 81 for placing the part 1 to be picked up, and the loading mechanism 80 has a second vacuum cavity and at least one second vacuum adsorption hole connected to the second vacuum cavity, and the second vacuum adsorption hole is connected to the placement space 81. The picking device also includes a second vacuum generator and a second vacuum pipeline, and the second vacuum generator is connected to the second vacuum cavity through the second vacuum pipeline to extract the air in the second vacuum cavity. Since the thickness of the piece 1 to be picked up is at the micron level, in the absence of any adsorption force, the piece 1 to be picked up is prone to local warping and deformation. Thus, the picking device provided in the present application adsorbs the piece 1 to be picked up placed in the placement space 81 by vacuum adsorption, thereby ensuring that the piece 1 to be picked up is adsorbed and flat, avoiding local warping and deformation of the piece 1 to be picked up, and enabling the picking mechanism 20 to fit and pick up the piece 1 to be picked up well. After the picking mechanism 20 is aligned with the piece 1 to be picked up and is in close contact with the piece 1 to be picked up, the second vacuum pipeline is closed, and the vacuuming of the second vacuum chamber of the feeding mechanism 80 is stopped. The first vacuum pipeline is connected, and the first vacuum chamber 22 is vacuumed until the picking mechanism 20 can stably pick up the piece 1 to be picked up, thereby achieving reliable transfer of the piece 1 to be picked up.

Optionally, the feeding of the feeding mechanism 80 can be achieved manually or automatically.

As shown in FIGS. 3 to 6 , the visual inspection mechanism 30 includes a CCD camera 31, which has an imaging terminal for acquiring image information of the object 1 to be picked up, and the CCD camera 31 is mounted on the mounting plate 40 and is spaced apart from the rotary drive motor 50. In this way, the CCD camera 31 and the picking mechanism 20 move together with the mounting plate 40, thereby increasing the shooting range of the CCD camera 31.

Optionally, the picking device further includes a mounting frame, and the visual inspection mechanism 30 includes a CCD camera 31, the CCD camera 31 has an imaging end for acquiring image information of the object to be picked up 1, and the CCD camera 31 is fixedly mounted on the mounting frame. In this way, the CCD camera 31 is fixedly arranged above the object to be picked up 1, and the CCD camera 31 does not need to move with the picking mechanism 20, and can acquire image information of the object to be picked up 1 more quickly, thereby shortening the time for the picking device to acquire image information of the object to be picked up 1, and improving the picking efficiency of the picking device.

As shown in FIGS. 1 and 2 , the bracket 10 includes: a first guide rail mechanism 11 and a first slider 12, the first guide rail mechanism 11 is arranged on the bracket 10, and the first slider 12 is slidably connected to the first guide rail mechanism 11; a second guide rail mechanism 13 and a second slider 14, the second guide rail mechanism 13 is connected to the first slider 12, and the second slider 14 is slidably connected to the second guide rail mechanism 13; a third guide rail mechanism 15 and a third slider 16, the third guide rail mechanism 15 is connected to the second slider 14, and the third slider 16 is slidably connected to the third guide rail mechanism 15; wherein the first guide rail mechanism 11 extends along a horizontal first direction, the second guide rail mechanism 13 extends along a horizontal second direction, the first direction is arranged at an angle to the second direction, and the third guide rail mechanism 15 extends along a vertical direction; the picking device also includes a first driving mechanism, a second driving mechanism 91 and a third driving mechanism 92, the first driving mechanism is drivingly connected to the first slider 12, the second driving mechanism 91 is drivingly connected to the second slider 14, the third driving mechanism 92 is drivingly connected to the third slider 16, and the mounting plate 40 is fixedly connected to the third slider 16. Optionally, the first direction is arranged perpendicular to the second direction, and the controller can drive the mounting plate 40 to perform translational movement along the X-axis direction, the Y-axis direction or the Z-axis direction by controlling the movement of the first slider 12, the second slider 14 or the third slider 16.

As shown in FIG. 1 , the picking device further includes a drag chain structure 110 for arranging the wires of the picking device to prevent the cables from getting tangled, worn or scattered during the movement of the picking mechanism 20 , thereby protecting the cables.

In a specific embodiment of the present application, the controller first controls the picking mechanism 20 to adjust its position in the horizontal direction so that the picking mechanism 20 is located directly above the object 1 to be picked up, and then the controller controls the rotation of the picking mechanism 20 so that it is aligned with the position of the object 1 to be picked up. Thereafter, the controller controls the lifting and lowering movement of the picking mechanism 20 so that the picking mechanism 20 has a suitable pressing force on the object 1 to be picked up, and after reliably adsorbing the object 1 to be picked up, the object 1 to be picked up is transferred to the placement position.

As shown in Fig. 1 and Fig. 2, the picking device further includes a storage box 100, which is used to store the to-be-picked-up parts 1 picked up and moved by the picking mechanism 20. Optionally, the storage box 100 includes a recycling box for storing defective products or reversely placed to-be-picked-up parts 1, which can not only improve the assembly quality of the to-be-picked-up parts 1 by eliminating defective products, but also facilitate the classification and processing of bad to-be-picked-up parts 1 in the later stage.

Optionally, a device for recycling different categories of the pieces 1 to be picked up can be provided for later classification and processing.

The picking device provided by the present application has a high degree of intelligence, and fully considers the inconsistency of the placement posture of the piece 1 to be picked up on the loading mechanism 80 and the possible incorrect placement of the front and back sides. It can enable the picking mechanism 20 to automatically adapt to the position state of the piece 1 to be picked up on the loading mechanism 80, which is beneficial to ensure that the vacuum adsorption surface of the picking mechanism 20 is highly consistent with the piece 1 to be picked up, improve the picking accuracy of the picking device, ensure the adsorption strength of the picking device, achieve the effect of self-adaptation, and can correctly identify the wrongly placed piece 1 to be picked up, and sort out defective products with defects.

Optionally, the picking device provided in the present application is applied to the production of solar panels, that is, the object 1 to be picked up is a thin-film solar cell.

The present application also provides a storage medium storing a program for implementing at least one function of a storage position analysis module, a defect analysis module, a placement direction analysis module, and a pressure control module.

It should be noted that the pressure control module involved in the present application is used to control the pressing force of the picking device on the object 1 to be picked up.

The present application also provides a picking device for picking up and moving a piece to be picked up 1, the picking device includes a picking mechanism 20, a rotary drive motor 50 and a buffer mechanism 60, the rotary drive motor 50 has a hollow mounting hole 51, the buffer mechanism 60 includes a sleeve 61, a guide rod 62 and a buffer spring 63, a sleeve 61 is respectively arranged at the openings at both ends of the mounting hole 51, the guide rod 62 is movably arranged at the mounting hole 51, one end of the guide rod 62 facing the piece to be picked up 1 is connected to the picking mechanism 20, the guide rod 62 has a limiting structure 621 that cooperates with the sleeve 61 to stop, the buffer spring 63 is sleeved on the guide rod 62, and is arranged between a sleeve 61 away from the picking mechanism 20 and the limiting structure 621, so as to provide a pressure for the picking mechanism 20 toward the piece to be picked up 1.

In this way, the rotary drive motor 50 of the picking device is used to control the rotation of the picking mechanism 20, so as to achieve the alignment of the picking mechanism 20 and the object 1 to be picked up. In addition, the picking device utilizes the hollow structure of the rotary drive motor 50 and sets a buffer mechanism 60 to achieve the pressing force on the object 1 to be picked up within a certain range, so as to ensure that the object 1 to be picked up will not be shifted in position during the transfer process from the feeding mechanism 80 to the picking mechanism 20, and ensure that the position of the object 1 to be picked up before picking up and after being adsorbed on the picking mechanism 20 is consistent, eliminating the process of secondary confirmation of the position of the object 1 to be picked up, and improving the picking efficiency of the picking device. When the pressing force of the picking mechanism 20 on the object 1 to be picked up is too large, the buffer spring 63 can also play a buffering role to avoid damage to the object 1 to be picked up.

An unillustrated embodiment of the present application further provides a picking device for picking up and moving the object 1 to be picked up. The picking device includes a picking mechanism 20, a rotary drive motor 50 and a buffer mechanism 60. The rotary drive motor 50 has a hollow mounting hole 51. The buffer mechanism 60 includes a sleeve 61, a guide rod 62 and a buffer spring 63. A sleeve 61 is respectively provided at the openings at both ends of the mounting hole 51. The guide rod 62 is movably provided at the mounting hole 51. The end of the guide rod 62 facing the object 1 to be picked up is connected to the picking mechanism 20. The buffer spring 63 is sleeved on the guide rod 62 and is provided between the rotary drive motor 50 and the picking mechanism 20 to provide a pressure for the picking mechanism 20 to face the object 1 to be picked up. In this embodiment, the hollow structure of the rotary drive motor 50 is also used to set the buffer mechanism 60, and only the setting position of the buffer spring 63 is changed.

Optionally, the guide rod 62 has a limiting structure 621, which cooperates with the sleeve 61 stopper to limit the movement stroke of the guide rod, prevent the guide rod 62 from escaping from the mounting hole 51, and ensure the connection stability between the guide rod 62 and the rotary drive motor 50.

Optionally, the rotary drive motor 50 involved in the present application is a direct drive motor.

The specific embodiment provided in the present application defines the setting position of the buffer spring 63 according to the structure of the rotary drive motor 50. Those skilled in the art can flexibly set the setting position of the buffer spring 63 based on the specific embodiment provided in the present application, thereby expanding other embodiments not shown in the figures.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and/or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values of the parts and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (7)

1. A picking device for picking up and moving a piece to be picked up (1), characterized in that it comprises: Bracket (10); A picking mechanism (20), the picking mechanism (20) being movably and rotatably connected to the bracket (10); A visual detection mechanism (30), the visual detection mechanism (30) being arranged on the support (10), and the visual detection mechanism (30) being used to obtain image information of the object (1) to be picked up; The picking mechanism (20) performs translational movement or rotational movement according to the image information to align with the to-be-picked object (1) or to perform a sorting operation on the picked to-be-picked object (1); The picking device further comprises a controller and a position analysis module, wherein the position analysis module is used to perform position analysis on the image information acquired by the visual detection mechanism (30), and send a first signal including the center position coordinates and/or the deflection angle value of the object (1) to be picked up to the controller, and the controller controls the picking mechanism (20) to move to a position aligned with the object (1) to be picked up according to the first signal; The pickup device further comprises a mounting plate (40) and a rotary drive motor (50), wherein the mounting plate (40) is movably arranged on the bracket (10), the rotary drive motor (50) is arranged on the mounting plate (40), and the rotary drive motor (50) has a hollow mounting hole (51), and the pickup device further comprises a buffer mechanism (60), wherein the buffer mechanism (60) comprises: A sleeve (61), wherein one sleeve (61) is respectively disposed at the openings at both ends of the mounting hole (51); A guide rod (62), the guide rod (62) being movably arranged at the mounting hole (51), the end of the guide rod (62) facing the object (1) to be picked up being connected to the picking mechanism (20), the guide rod (62) having a limiting structure (621) cooperating with the stopper of the sleeve (61); a buffer spring (63), the buffer spring (63) being sleeved on the guide rod (62) and arranged between a sleeve (61) away from the picking mechanism (20) and the limiting structure (621) so as to provide a pressure for the picking mechanism (20) toward the object (1) to be picked up; The support (10) comprises: A first guide rail mechanism (11) and a first sliding block (12), wherein the first guide rail mechanism (11) is arranged on the bracket (10), and the first sliding block (12) is slidably connected to the first guide rail mechanism (11); A second guide rail mechanism (13) and a second slider (14), wherein the second guide rail mechanism (13) is connected to the first slider (12), and the second slider (14) is slidably connected to the second guide rail mechanism (13); A third guide rail mechanism (15) and a third slider (16), wherein the third guide rail mechanism (15) is connected to the second slider (14), and the third slider (16) is slidably connected to the third guide rail mechanism (15); Wherein, the first guide rail mechanism (11) extends along a first horizontal direction, the second guide rail mechanism (13) extends along a second horizontal direction, the first direction and the second direction are arranged at an angle, and the third guide rail mechanism (15) extends along a vertical direction; The picking device further comprises a first driving mechanism, a second driving mechanism (91) and a third driving mechanism (92); the first driving mechanism is drivingly connected to the first slider (12); the second driving mechanism (91) is drivingly connected to the second slider (14); the third driving mechanism (92) is drivingly connected to the third slider (16); and the mounting plate (40) is fixedly connected to the third slider (16). 2. The picking device according to claim 1 is characterized in that the picking device also includes a controller and a defect analysis module, wherein the defect analysis module is used to perform defect analysis on the image information obtained by the visual inspection mechanism (30), and send a second signal containing whether the piece to be picked up (1) is a qualified product or a defective product to the controller, and the controller controls the picking mechanism (20) to pick up the piece to be picked up (1) according to the second signal, and then classifies and sorts the piece to be picked up (1) that is detected as a qualified product or a defective product. 3. The picking device according to claim 1 or 2 is characterized in that the picking device also includes a controller and a placement direction analysis module, the placement direction analysis module is used to perform placement direction analysis on the image information obtained by the visual detection mechanism (30), and send a third signal including whether the piece to be picked up (1) is placed forward or reversely to the controller, and the controller controls the picking mechanism (20) to pick up the piece to be picked up (1) according to the third signal, and then classifies and sorts the piece to be picked up (1) detected as being placed forward or reversely. 4. The picking device according to claim 1 is characterized in that the picking device also includes a non-contact sensor (70), which is arranged on the mounting plate (40), and the detection end of the non-contact sensor (70) is spaced apart from the end of the guide rod (62) away from the picking mechanism (20). When the distance between the end of the guide rod (62) close to the non-contact sensor (70) and the non-contact sensor (70) is less than a safety distance, the non-contact sensor (70) sends a pressure excess signal to the controller, and after receiving the pressure excess signal, the controller controls the picking mechanism (20) to move in a direction away from the object to be picked up (1). 5. The picking device according to claim 1 is characterized in that the picking device also includes a contact sensor, which is arranged on the mounting plate (40), and the contact sensor abuts against the end of the guide rod (62) away from the picking mechanism (20). When the pressure detected by the contact sensor is greater than a predetermined value, the contact sensor sends a pressure excess signal to a controller, and after receiving the pressure excess signal, the controller controls the picking mechanism (20) to move in a direction away from the object to be picked up (1). 6. The picking device according to claim 1 is characterized in that the visual detection mechanism (30) includes a CCD camera (31), the CCD camera (31) has an imaging end for acquiring image information of the object to be picked up (1), and the CCD camera (31) is installed on the mounting plate (40) and is arranged spaced apart from the rotary drive motor (50). 7. The picking device according to claim 1 is characterized in that the picking device also includes a mounting frame, the visual detection mechanism (30) includes a CCD camera (31), the CCD camera (31) has an imaging end for acquiring image information of the object to be picked up (1), and the CCD camera (31) is fixedly mounted on the mounting frame.