CN106737679A - Silicon rod automatic loading and unloading structure - Google Patents
Silicon rod automatic loading and unloading structure Download PDFInfo
- Publication number
- CN106737679A CN106737679A CN201611251669.3A CN201611251669A CN106737679A CN 106737679 A CN106737679 A CN 106737679A CN 201611251669 A CN201611251669 A CN 201611251669A CN 106737679 A CN106737679 A CN 106737679A
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- cantilever
- silicon rod
- axis
- rotating mechanism
- automatic loading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D5/00—Fine working of gems, jewels, crystals, e.g. of semiconductor material; apparatus or devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- De-Stacking Of Articles (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Reciprocating Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of silicon rod automatic loading and unloading structure, including cantilever and the second slide mechanism, cantilever both sides are provided with clamp system, cantilever is provided with the first guide cam and the second guide cam, second slide mechanism includes the second motor and the second decelerator coordinated with it, the output end of the second decelerator rotates the second screw pair of connection by synchronous pulley, second nut bottom stationary jaw of the second screw pair, rotating mechanism is additionally provided with cantilever, rotating mechanism is divided into the first rotating mechanism and the second rotating mechanism.Silicon rod automatic loading and unloading structure of the present invention, carry out position adjustment that the handling to silicon rod are realized by slide mechanism easily and fast, without manually operating, multivariant adjustment is realized by simple structure, save the working time of staff, handling are quick and convenient, improve transport efficacy.
Description
Technical field
The invention belongs to Photovoltaic new energy apparatus field, more particularly, to silicon rod automatic loading and unloading structure.
Background technology
The monocrystal of silicon is a kind of crystal with substantially complete lattice structure, is a kind of good semiconducting material, is used
In manufacture semiconductor devices, solar cell etc., with the progress of scientific and technological productive forces, it uses the usage amount of scope increasingly
Height, the proportion for accounting for various products gradually increases, and the monocrystalline silicon of the every field for being used at present, generally it is by larger silicon
Rod carries out cutting processing, cuts into different size to be applied to every field, and existing when being processed to silicon rod, is
Carried by manpower, be placed on corresponding storage rack or process equipment, because the weight of silicon rod is larger, and storage rack compared with
Height, shelf can be collided when carrying up and down unavoidably, cause the damage of silicon rod, produce waste, and on shelf high up and down
A dead lift silicon rod, wasting manpower and material resources, and it is less efficient, it is unfavorable for improving production cost.For this kind of situation, the present invention is carried
A kind of silicon rod automatic loading and unloading structure is gone out, has realized that multivariant adjustment is loaded and unloaded with to silicon rod by simple structure, side
Just it is rapidly performed by position adjustment to promote claw to load and unload silicon rod by slide mechanism, without artificial operation, saves
The working time of staff, reduce the labour intensity of staff, it is ensured that silicon rod loads and unloads the carrying out of efficient stable.
The content of the invention
In view of this, the present invention is directed to propose a kind of silicon rod automatic loading and unloading structure, multiple degrees of freedom is realized with simple mechanism
Adjustment to carry out the handling of fast power-saving to silicon rod, reduce the labour intensity of staff.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of silicon rod automatic loading and unloading structure, including base and the support being fixedly connected placed on it, including cantilever and be placed in
The second slide mechanism thereon, the cantilever both sides are additionally provided with symmetrical clamp system, and the cantilever is the U-shaped of bottom opening
Frame, the two side of the cantilever is arranged with multiple equally distributed first guide cams and the second guide cam, described first
The axis of guide cam is mutually perpendicular to the axis of second guide cam, and second slide mechanism includes the second motor
With the second decelerator for being coaxial therewith heart cooperation, the output end of second decelerator is by synchronous pulley rotation connection second
Thick stick pair of nut, the second nut bottom stationary jaw of second screw pair, is additionally provided with rotating mechanism, institute on the cantilever
State rotating mechanism and be divided into the first rotating mechanism and the second rotating mechanism.
Further, the leading screw of second screw pair is provided with synchronization encoders, described by the second fixed mount
The axis horizontal of one guide cam and vertical with the glide direction of second nut, the claw sets near the side of support
There are a two-way electric cylinders of horizontal positioned, the glide direction of the axis of the two-way electric cylinders perpendicular to second nut.
Further, the cantilever is provided with level meter, and the level meter is placed in first rotating mechanism and described
Between two rotating mechanisms.
Further, first rotating mechanism includes the first bearing being fixed on the cantilever, first bearing
On be hinged with swivel becket, manipulator bottom is fixed with suspension ring, and the suspension ring are placed in the swivel becket, second rotating mechanism
Including the second bearing being fixed on the cantilever, moving block, the other end of the moving block are hinged with second bearing
It is slidably connected by the 3rd slide mechanism and the manipulator.
Further, first bearing and the swivel becket are by the first hinge, the axis of first bearing pin
Perpendicular to the cantilever, second bearing and the moving block by the second hinge, the axis of second bearing pin with
The axis of first bearing pin is mutually perpendicular to.
Further, the 3rd slide mechanism includes being fixed on the fixed plate of manipulator bottom, is set in the fixed plate
There are two articles of the 3rd guide rails being parallel to each other, the 3rd guide rail is provided with the 3rd sliding block coordinated with it, and two articles the described 3rd are led
The 3rd screw pair is additionally provided between rail, it is jointly solid on the 3rd nut and the 3rd sliding block of the 3rd screw pair
Surely there is support plate, the moving block is fixed on the support plate, axis and the 3rd sliding block of the 3rd screw pair
Glide direction is parallel, and the axis of second bearing pin is vertical with the glide direction of the 3rd sliding block, the 3rd feed screw nut
Secondary to be driven by three-motor, the 3rd leading screw of the output shaft of the three-motor and the 3rd screw pair passes through
3rd pulley rotation is connected, the diameter parallel of the axis of the output shaft of the three-motor and the 3rd leading screw.
Further, second motor, level meter described in the three-motor and the two-way electric cylinders respectively with
Control unit is electrically connected.
Relative to prior art, silicon rod automatic loading and unloading structure of the present invention has the advantage that：
(1) silicon rod automatic loading and unloading structure of the present invention, realizes multivariant adjustment with right by simple structure
Silicon rod is loaded and unloaded, and position adjustment is carried out easily and fast to promote claw to load and unload silicon rod by slide mechanism, nothing
Need to manually operate, save the working time of staff, reduce the labour intensity of staff, it is ensured that silicon rod handling are high
Imitate the carrying out of stabilization.
(2) base of the present invention is provided with detent mechanism, and the detent mechanism is divided into first order detent mechanism and
Two-stage positioning mechanism, the first order detent mechanism is the AGV control systems for being placed in the bottom, the second level detent mechanism
Including fixed seat and locating piece placed on it, the fixed seat away from the locating piece one end with the manipulator away from institute
The one end for stating support is fixed, and the locating piece is fixed on the cantilever upper surface by the fixed seat, and the locating piece is U-shaped
Structure, and the side of the locating piece is mutually perpendicular to the cantilever upper surface, and front end Laser Measuring is additionally provided with the fixed seat
Away from sensor, the front end laser range sensor is symmetrically placed in the locating piece both sides, and it is highly high with the locating piece
Degree is identical, the U-shaped outer wall Glabrous thorn of the locating piece, and is provided with the U-shaped block coordinated with its outer wall gap, the U-shaped block
With the quality of fit of the locating piece in ± 0.5mm.The preliminary of fixed position in transport process is realized by AGV control systems
Positioning, stopping accuracy ± 5MM loads 500KG, counter to answer the time≤2MS, locating piece and further smart with the U-shaped block that it coordinates
The application of degree control positioning and front end laser range sensor, front end laser range sensor Adjustment precision ± 0.2MM, it is ensured that
Efficient stable and high-precision positioning, are easy to the handling of silicon rod in the equipment transport process, and positioning precision is higher.
(3) rotating mechanism of the present invention is divided into the first rotating mechanism and the second rotating mechanism, and the cantilever is provided with
Level meter, the level meter is placed between first rotating mechanism and second rotating mechanism, first rotating mechanism
Including the first bearing being fixed on the cantilever, swivel becket is hinged with first bearing, the manipulator bottom is fixed
There are suspension ring, the suspension ring are placed in the swivel becket, first bearing and the swivel becket are described by the first hinge
Perpendicular to the cantilever, second rotating mechanism includes the second bearing being fixed on the cantilever to the axis of the first bearing pin,
Moving block is hinged with second bearing, the other end of the moving block is slided by the 3rd slide mechanism with the manipulator
Connection, second bearing is with the moving block by the second hinge, the axis of second bearing pin and the described first pin
The axis of axle is mutually perpendicular to, and the 3rd slide mechanism includes being fixed on the fixed plate of the cantilever bottom, in the fixed plate
Two articles of the 3rd guide rails being parallel to each other are provided with, the 3rd guide rail is provided with the 3rd sliding block coordinated with it, two articles the described 3rd
The 3rd screw pair is additionally provided between guide rail, it is common on the 3rd nut and the 3rd sliding block of the 3rd screw pair
Support plate is fixed with, the moving block is fixed on the support plate, axis and the 3rd sliding block of the 3rd screw pair
Glide direction it is parallel, the axis of second bearing pin is vertical with the glide direction of the 3rd sliding block, the 3rd leading screw spiral shell
Female secondary three-motor drives, and the 3rd leading screw of the output shaft of the three-motor and the 3rd screw pair is by the
Three pulley rotations are connected, the diameter parallel of the axis of the output shaft of the three-motor and the 3rd leading screw.By two
The flexible connection of manipulator and cantilever is realized in the cooperation of individual rotating mechanism, makes it convenient to the different frees degree in position fixing process
It is adjusted, the setting of level meter ensure that the levelness of cantilever, both fixed tracks will not be caused a deviation from position fixing process, effectively
Improve positioning precision.
(4) the second slide mechanism of the present invention includes the second motor and is coaxial therewith the second deceleration of heart cooperation
Device, the output end of second decelerator rotates the second screw pair of connection, second feed screw nut by synchronous pulley
The claw is fixed in the second secondary nut bottom, and the leading screw of second screw pair is provided with synchronous volume by the second fixed mount
Code device, the cantilever is the U-shaped frame of bottom opening, and the two side of the cantilever is arranged with multiple equally distributed first and is oriented to
Cam and the second guide cam, the axis of first guide cam are mutually perpendicular to the axis of second guide cam, institute
The axis for stating the first guide cam is vertical with the glide direction of second nut, and first guide cam and described second is led
It is mutually perpendicular to the axis of cam, the claw is provided with the two-way electric cylinders of horizontal positioned near the side of the support, described double
To electric cylinders axis perpendicular to second nut glide direction.The leading screw of power drive second exported by the second motor
Nut secondary motion, and then make that claw is movable to be loaded and unloaded with to silicon rod, the setting of synchronization encoders ensure that the second feed screw nut
Secondary job schedule, realizes the high efficiency of control, be ensure that to handling by the setting of two perpendicular two group guide cams
During silicon rod provide support force and guiding force, save driving force, improve handling efficiency.
(5) cantilever both sides of the present invention are additionally provided with symmetrical clamp system, and the clamp system is included through described
Cantilever is secured to the magnet fixed seat of connection, and the center of the magnet fixed seat is provided with notch cuttype through hole, leads in the through hole
Cross spring and be connected with copper post, electromagnet is fixed in the magnet fixed seat, and cunning is combined with through the electromagnet gap
Post, the traveller is fixed with iron block near one end of the electromagnet, and the other end of the traveller stretches into the center of the copper post
Coordinate with its sidewall spacers in hole, the distance between described iron block to the electromagnet is more than the traveller to the centre bore bottom
The distance in portion, the maximum compressibility of the spring more than the iron block to the electromagnet distance, the copper post it is highly small
In the depth of the magnet fixed seat.Further clamping to silicon rod is realized by the power on/off to electromagnet, it is ensured that transhipment
During safety and stability, prevent security incident, this kind of clamp system simple structure realizes effect preferably, and saving is produced into
This.
(6) the first slide mechanism of the present invention includes the first motor and is coaxial therewith the first leading screw spiral shell of heart connection
Female secondary, the first leading screw both sides of first screw pair are provided with the first symmetrical guide rail slide block, and the first fixed plate is fixed on
On the first sliding shoe top of the first nut top of first screw pair and first guide rail slide block, the machinery
Hand is fixed in first fixed plate, and the axis of first leading screw is parallel with the glide direction of first sliding block, described
The axis of the first leading screw is vertical with the upper surface of the base.Realize being slidably connected manipulator by simple structure, energy
Its is enough set freely to move up and down, displacement control is more accurate, it is ensured that the high accuracy of manipulator and efficient positioning.
(7) silt is detachably connected on base of the present invention and connects disk, the width that the silt connects disk is more than the silicon
The sliding distance sum of the width of rod and the 3rd sliding block, the silt connects disk and is symmetrically arranged on two with handle.Prevent from being moved through
The chip for comparing silicon rod when jolting in journey falls into base, influences the cleannes of its controlling system to require, reduces each several part mechanism
Service life, and maintenance is inconvenient, and production cost increases.
(8) support of the present invention is provided with dual touch screen away from one end of the manipulator, and the cradle top is provided with
Warning lamp, is additionally provided with 120AH lithium batteries on the base, universal wheel is evenly distributed with the bottom corner, on the base
It is provided with control unit, the AGV control systems, the universal wheel, first motor, second motor, described
Three-motor, the dual touch screen, the electromagnet, the level meter, the warning lamp, front end laser range sensor and institute
Two-way electric cylinders are stated to be electrically connected with described control unit respectively.The automation of control is realized, the fast of equipment is realized in the use of lithium battery
Speed charges, it is ensured that equipment continually and steadily efficiently works, and improves operating efficiency, reduces cost.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of silicon rod automatic loading and unloading machine people's overall structure diagram described in the embodiment of the present invention；
Fig. 2 is that the first slide mechanism of a kind of silicon rod automatic loading and unloading machine people part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 3 is the silicon rod automatic loading and unloading structure division schematic diagram described in the embodiment of the present invention；
Fig. 4 is a kind of silicon rod automatic loading and unloading machine people's rotating mechanism part-structure schematic diagram described in the embodiment of the present invention；
Fig. 5 is that the second slide mechanism of a kind of silicon rod automatic loading and unloading machine people part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 6 is a kind of silicon rod automatic loading and unloading machine people's clamp system part-structure schematic diagram described in the embodiment of the present invention；
Fig. 7 is a kind of silicon rod automatic loading and unloading machine people's clamp system part-structure schematic diagram described in the embodiment of the present invention.
Description of reference numerals：
1- bases；2- silts connect disk；3- silicon rods；4- clamp systems；5- rotating mechanisms；6- cantilevers；7- second level localization machine
Structure；8- manipulators；9- supports；10- universal wheels；11-AGV control systems；12- lithium batteries；13- dual touch screens；14- first is electronic
Machine；The fixed plates of 15- first；The guide rail slide blocks of 16- first；The screw pairs of 17- first；18- warning lamps；The slide mechanisms of 19- second；
20- level meters；201- handles；401- magnet fixed seats；402- through holes；403- springs；404- copper posts；405- electromagnet；406-
Traveller；407- iron blocks；408- centre bores；The bearings of 501- first；502- swivel beckets；503- suspension ring；The bearing pins of 504- second；505- consolidates
Fixed board；506- support plates；507- moving blocks；The bearings of 508- second；The guide rails of 509- the 3rd；The screw pairs of 510- the 3rd；511-
Three sliding blocks；The belt pulleys of 512- the 3rd；513- three-motors；The bearing pins of 514- first；The guide cams of 601- first；602- second leads
To cam；701- front ends laser range sensor；702- locating pieces；703- fixed seats；704-U shape blocks；1901- second is electronic
Machine；The decelerators of 1902- second；The fixed mounts of 1903- second；1904- synchronization encoders；1905- synchronous pulleys；1906- second
Thick stick pair of nut；The nuts of 1907- second；The two-way electric cylinders of 1908-；1909- claws.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of silicon rod automatic loading and unloading machine people as shown in Figure 1, including base 1 and the support 9 being fixedly connected placed on it, institute
State the side wall of support 9 to be slidably connected manipulator 8 by the first slide mechanism, the bottom of the manipulator 8 is flexible even by rotating mechanism 5
Cantilever 6 is connected to, the bottom of the cantilever 6 is provided with clamping jaw 1909, and the clamping jaw 1909 is by the second slide mechanism 19 in the cantilever 6
On be slidably connected.The control clamping jaw 1909 of high-accuracy high-efficiency rate is to the clamping of silicon rod 3 or loosens, can by the use of this equipment
The automatic loading and unloading of silicon rod 3 is realized, without artificial operation, can efficiently be realized accurately positioning and filled automatically with to silicon rod 3
Unload, realize the automation of control, mitigate the workload of staff, improve operating efficiency and reduce cost.
Wherein, the base 1 is provided with detent mechanism, and the detent mechanism is divided into first order detent mechanism and the second level is fixed
Position mechanism 7, the first order detent mechanism is the AGV control systems 11 for being placed in the bottom, the second level detent mechanism bag
Include fixed seat 703 and locating piece 702 placed on it, the one end and the machine of the fixed seat 703 away from the locating piece 702
Tool hand 8 is fixed away from one end of the support 9, and the locating piece 702 is fixed on the cantilever 6 by the fixed seat 703
Surface, the locating piece 702 is U-shaped structure, and the side of the locating piece 702 is mutually perpendicular to the upper surface of the cantilever 6, institute
State and front end laser range sensor 701 is additionally provided with fixed seat 703, the front end laser range sensor 701 is symmetrically placed in institute
The both sides of locating piece 702 are stated, and it is highly highly identical with the locating piece 702, the smooth nothing of U-shaped outer wall of the locating piece 702
Burr, and the U-shaped block 704 coordinated with its outer wall gap is provided with, the quality of fit of the U-shaped block 704 and the locating piece 702 exists
±0.5mm.The Primary Location of the fixed position in transport process, stopping accuracy ± 5MM, load are realized by AGV control systems
500KG, counter to answer the time≤2MS, locating piece 702 and the U-shaped block 704 being fixed on other shelfs coordinated with it are further smart
The application of degree control positioning and front end laser range sensor 701, front end laser range sensor 701 Adjustment precisions ± 0.2MM,
Efficient stable and high-precision positioning in the equipment transport process are ensure that, is easy to the handling of silicon rod 3, positioning precision is higher.
Wherein, 5 points of the rotating mechanism is the first rotating mechanism and the second rotating mechanism, and the cantilever 6 is provided with level
Instrument 20, the level meter 20 is placed between first rotating mechanism and second rotating mechanism, first rotating mechanism
Including the first bearing 501 being fixed on the cantilever 6, swivel becket 502, the machinery are hinged with first bearing 501
The bottom of hand 8 is fixed with suspension ring 503, and the suspension ring 503 are placed in the swivel becket 502, first bearing 501 and the rotation
Ring 502 is hinged by the first bearing pin 514, and the axis of first bearing pin 514 is perpendicular to the cantilever 6, second rotating machine
Structure includes the second bearing 508 being fixed on the cantilever 6, and moving block 507, described turn are hinged with second bearing 508
The other end of motion block 507 is slidably connected by the 3rd slide mechanism with the manipulator 8, second bearing 508 with described turn
Motion block 507 is hinged by the second bearing pin 504, and the axis of second bearing pin 504 mutually hangs down with the axis of first bearing pin 514
Directly, the 3rd slide mechanism includes being fixed on the fixed plate 505 of the bottom of the cantilever 6, and the fixed plate 505 is provided with two
The 3rd guide rail 509 being parallel to each other, the 3rd guide rail 509 is provided with the 3rd sliding block 511 coordinated with it, two articles the described 3rd
The 3rd screw pair 510, the 3rd nut and the described 3rd of the 3rd screw pair 510 are additionally provided between guide rail 509
Support plate 506 is fixed with sliding block jointly, the moving block 507 is fixed on the support plate 506, the 3rd screw pair
510 axis is parallel with the glide direction of the 3rd sliding block 511, the axis of second bearing pin 504 and the 3rd sliding block
511 glide direction is vertical, and the 3rd screw pair 510 is driven by three-motor 513, the three-motor
3rd leading screw of 513 output shaft and the 3rd screw pair 510 rotates connection, described the by the 3rd belt pulley 512
The diameter parallel of the axis of the output shaft of three-motor 513 and the 3rd leading screw.Realized by two cooperations of rotating mechanism
Manipulator 8 and the flexible connection of cantilever 6, make it be conveniently adjusted to the different frees degree in position fixing process, level meter 20
Setting ensure that the levelness of cantilever 6, both fixed tracks will not be caused a deviation from position fixing process, effectively increase positioning accurate
Degree.
Wherein, second slide mechanism 19 includes the second motor 1901 and is coaxial therewith the second decelerator of heart cooperation
1902, the output end of second decelerator 1902 rotates the second screw pair 1906 of connection, institute by synchronous pulley 1905
The claw 1909, second screw pair 1906 are fixed in the bottom of the second nut 1907 for stating the second screw pair 1906
Leading screw synchronization encoders 1904 are provided with by the second fixed mount 1903, the cantilever 6 is the U-shaped frame of bottom opening, described outstanding
The two side of arm 6 is arranged with multiple equally distributed guide cams 602 of first guide cam 601 and second, and described first leads
It is mutually perpendicular to the axis and the axis of second guide cam 602 of cam 601, the axis of first guide cam 601
Level and vertical with the glide direction of second nut 1907, first guide cam 601 and described second be oriented to it is convex
The axis of wheel 602 is mutually perpendicular to, and the claw 1909 is provided with the two-way electric cylinders of horizontal positioned near the side of the support 9
1908, the glide direction of the axis of the two-way electric cylinders 1908 perpendicular to second nut 1907.By the second motor
Second screw pairs of power drive 1906 of 1901 outputs are moved, and then make that claw 1909 is movable to be loaded and unloaded with to silicon rod 3,
The setting of synchronization encoders 1904 ensure that the job schedule of the second screw pair 1906, realize the high efficiency of control, pass through
The setting of two perpendicular two group guide cams ensure that and provide support force and guiding force to silicon rod in cargo handling process 3, saves
Driving force, improves the efficiency of handling.
Wherein, the both sides of the cantilever 6 are additionally provided with symmetrical clamp system 4, and the clamp system 4 is included through the cantilever
The 6 magnet fixed seats 401 for being secured to connection, the center of the magnet fixed seat 401 is provided with notch cuttype through hole 402, described logical
Copper post 404 is elasticly connected with by spring 403 in hole 402, electromagnet 405 is fixed in the magnet fixed seat 401, through institute
State the gap of electromagnet 405 and be combined with traveller 406, the traveller 406 is fixed with iron block 407 near one end of the electromagnet 405,
The other end of the traveller 406 is stretched into the centre bore 408 of the copper post 404 and coordinated with its sidewall spacers, and the iron block 407 is arrived
The distance between described electromagnet 405 arrives the distance of the bottom of the centre bore 408 more than the traveller 406, the spring 403
, more than the distance of the iron block 407 to the electromagnet 405, the height of the copper post 404 is less than the magnet for maximum compressibility
The depth of fixed seat 401.Further clamping to silicon rod 3 is realized by the power on/off to electromagnet 405, it is ensured that transport process
Middle safety and stability, prevents security incident, and the simple structure of this kind of clamp system 4 realizes that effect preferably, saves production cost.
Wherein, first slide mechanism includes the first motor 14 and is coaxial therewith the first screw pair of heart connection
17, the first leading screw both sides of first screw pair 17 are provided with the first symmetrical guide rail slide block 16, and the first fixed plate 15 is consolidated
It is scheduled on the first sliding shoe top of the first nut top of first screw pair 17 and first guide rail slide block 16,
The manipulator 8 is fixed in first fixed plate 15, the slip side of the axis of first leading screw and first sliding block
To parallel, the axis of first leading screw is vertical with the upper surface of the base 1.Realized to manipulator 8 by simple structure
Be slidably connected, its can be made freely to move up and down, displacement control it is more accurate, it is ensured that the high accuracy of manipulator 8 and efficiently
The positioning of rate.
Wherein, silt is detachably connected on the base 1 and connects disk 2, the width that the silt connects disk 2 is more than the silicon rod 3
Width and the 3rd sliding block 511 sliding distance sum, the silt connects disk 2 and is symmetrically arranged on two with handle 201.Prevent fortune
The chip for comparing silicon rod 3 when jolting during dynamic falls into base 1, influences the cleannes of its controlling system to require, reduces each portion
The service life of sub-agencies, and maintenance is inconvenient, production cost increases.
Wherein, the support 9 is provided with dual touch screen 13 away from one end of the manipulator 8, and the top of the support 9 is provided with police
Show lamp 18,120AH lithium batteries 12 are additionally provided with the base 1, universal wheel 10 is evenly distributed with 1 four jiaos of the bottom, it is described
Base 1 is provided with control unit, the AGV control systems 11, the universal wheel 10, first motor 14, described second
Motor 1901, the three-motor 513, the dual touch screen 13, the electromagnet 405, the level meter 20, the police
Show that lamp 18, the front end laser range sensor 701 and the two-way electric cylinders 1908 are electrically connected with described control unit respectively.
The automation of control is realized, the quick charge of equipment is realized in the use of lithium battery 12, it is ensured that equipment continually and steadily efficiently works,
Improve operating efficiency, reduces cost.
Operation principle of the invention：A kind of silicon rod automatic loading and unloading machine people as shown in Figure 1, in this equipment using preceding, first
Need that U-shaped block 704 is fixed on the storage rack side wall for depositing silicon rod 3, carried near it and set on vacant lot of U-shaped block 704 AGV's
Positioner, enables AGV control systems 11 to track into its orientation range, by lithium battery 12 it is fully charged after be fixed on base
On 1, staff is input into the control flow of AGV control systems 11 and manipulator 8 by dual touch screen 13 respectively, after finishing, opens
Dynamic control unit, the mechanism that control unit control each several part is connected electrically moves respectively, is driven by AGV control systems 11 first
Dynamic universal wheel 10 is moved on fixed position, and during universal wheel 10 is moved, warning lamp 18 is lighted, now stopping accuracy
± 5MM, loads 500KG, counter to answer the time≤2MS, realizes the coarse localization of robot, while passing through the first slide mechanism control machine
Tool hand 8 moves up and down, and makes U-shaped block 704 and the relative same straight line of holding of locating piece 702, then by the multiple degrees of freedom of rotating mechanism 5
The position of flexibility adjustment cantilever, while improving the locating piece on cantilever by the collective effect of front end laser range sensor 701
702 and storage rack on the quality of fit of U-shaped block 704, make robot positioning precision further improve between ± 0.2MM, it is complete
Into after positioning, control unit controls the second slide mechanism 19 to work, and drives synchronous pulley 1905 to enter by the second motor 1901
And controlling the second screw pair 1906 to move, the use of synchronization encoders 1904 controls the work of the second screw pair 1906
Make precision, the claw 1909 on the second nut 1907 travels forward therewith, claw 1909 is existing common structure, and rear portion is by double
Its horizontal-clamping is controlled to electric cylinders 1908 or loosened, now the push rod of two-way electric cylinders 1908 stretches out, claw 1909 is open and become big,
Stop motion when the through hole on the head of claw 1909 and silicon rod 3 is proceeded to its, controls the push rod of two-way electric cylinders 1908 to reclaim,
Claw 1909 is clamped, and is stretched into its head of claw 1909 and is clamped in the through hole of silicon rod 3, after the completion of clamping, the electricity of control second
The antiport of motivation 1901, makes silicon rod 3 enter the guide rail of the bottom of cantilever 6, and the first guide cam 601 is while silicon rod 3 are supported
The slid inward of silicon rod 3 is driven together with the second guide cam 602, reduces frictional force, until the of the second screw pair 1906
Two nuts 1907 are resetted, and then electromagnet 405 is powered, and iron block 407 is adsorbed on the surface of electromagnet 405 therewith, solid with it
Fixed traveller 406 is moved downward, so as to promote the copper post 404 with the elastic connection of magnet fixed seat 401 to the silicon rod 3 in cantilever 6
Compress, and then realize the further clamping to silicon rod 3, improve the security in transport process, now the loading of silicon rod 3 is complete
The setting that silt into, bottom connects disk 2 ensure that the powder of silicon rod 3 enters in the control system of base 1, and then control system sends
Order, starts to be transported through silicon rod 3, and the requirement of the another location of transhipment is equally that underground has AGV positioners and corresponding
Shelf be provided with U-shaped block 704, repeat above-mentioned step and be transported through, after positioning, electromagnet 405 is powered off, and claw 1909 drives
Silicon rod 3 is removed, opening claw 1909, you can is completed silicon rod 3 and is unloaded, and robot is returned by original position repeats to operate above certainly
The dynamic handling for efficiently completing silicon rod 3.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (7)
1. a kind of silicon rod automatic loading and unloading structure, it is characterised in that：It is described outstanding including cantilever and the second slide mechanism placed on it
Arm (6) both sides are additionally provided with symmetrical clamp system (4), and the cantilever (6) is the U-shaped frame of bottom opening, and the two of the cantilever (6)
Sidewall symmetry is provided with multiple equally distributed first guide cams (601) and the second guide cam (602), and first guiding is convex
The axis for taking turns (601) is mutually perpendicular to the axis of second guide cam (602), and second slide mechanism (19) includes the
Two motor (1901) and be coaxial therewith the heart cooperation the second decelerator (1902), the output end of second decelerator (1902)
The second screw pair of connection (1906), the second of second screw pair (1906) are rotated by synchronous pulley (1905)
Nut (1907) bottom stationary jaw (1909), is additionally provided with rotating mechanism on the cantilever, the rotating mechanism (5) is divided into first
Rotating mechanism and the second rotating mechanism.
2. silicon rod automatic loading and unloading structure according to claim 1, it is characterised in that：Second screw pair (1906)
Leading screw synchronization encoders (1904), the axis water of first guide cam (601) are provided with by the second fixed mount (1903)
Flat and vertical with the glide direction of second nut (1907), the claw (1909) is provided near the side of support (9)
The two-way electric cylinders (1908) of horizontal positioned, the cunning of the axis of the two-way electric cylinders (1908) perpendicular to second nut (1907)
Dynamic direction.
3. silicon rod automatic loading and unloading structure according to claim 1, it is characterised in that：The cantilever (6) is provided with level meter
(20), the level meter (20) is placed between first rotating mechanism and second rotating mechanism.
4. silicon rod automatic loading and unloading structure according to claim 1, it is characterised in that：First rotating mechanism includes fixing
The first bearing (501) on the cantilever (6), is hinged with swivel becket (502), manipulator (8) on first bearing (501)
Bottom is fixed with suspension ring (503), and the suspension ring (503) are placed in the swivel becket (502), and second rotating mechanism includes solid
The second bearing (508) on the cantilever (6) is scheduled on, moving block (507), described turn are hinged with second bearing (508)
The other end of motion block (507) is slidably connected by the 3rd slide mechanism with the manipulator (8).
5. silicon rod automatic loading and unloading structure according to claim 4, it is characterised in that：First bearing (501) and described
Swivel becket (502) is hinged by the first bearing pin (514), and the axis of first bearing pin (514) is perpendicular to the cantilever (6), institute
State the second bearing (508) to be hinged by the second bearing pin (504) with the moving block (507), the axis of second bearing pin (504)
Axis with first bearing pin (514) is mutually perpendicular to.
6. silicon rod automatic loading and unloading structure according to claim 5, it is characterised in that：3rd slide mechanism includes fixing
In the fixed plate (505) of manipulator (8) bottom, the fixed plate (505) is provided with two articles of the 3rd guide rails being parallel to each other
(509), the 3rd guide rail (509) is provided with the 3rd sliding block (511) coordinated with it, two articles of the 3rd guide rails (509) it
Between be additionally provided with the 3rd screw pair (510), on the 3rd nut and the 3rd sliding block of the 3rd screw pair (510)
Support plate (506) is fixed with jointly, and the moving block (507) is fixed on the support plate (506), the 3rd screw pair
(510) axis is parallel with the glide direction of the 3rd sliding block (511), the axis of second bearing pin (504) and described
The glide direction of three sliding blocks (511) is vertical, and the 3rd screw pair (510) is driven by three-motor (513), described
3rd leading screw of the output shaft of three-motor (513) and the 3rd screw pair (510) passes through the 3rd belt pulley (512)
Rotate connection, the axis of the output shaft of the three-motor (513) and the diameter parallel of the 3rd leading screw.
7. silicon rod automatic loading and unloading structure according to claim 7, it is characterised in that：Second motor (1901), institute
State three-motor (513) described level meter (20) and the two-way electric cylinders (1908) are electrically connected with control unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251669.3A CN106737679B (en) | 2016-12-30 | 2016-12-30 | Automatic loading and unloading structure for silicon rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251669.3A CN106737679B (en) | 2016-12-30 | 2016-12-30 | Automatic loading and unloading structure for silicon rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737679A true CN106737679A (en) | 2017-05-31 |
| CN106737679B CN106737679B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611251669.3A Active CN106737679B (en) | 2016-12-30 | 2016-12-30 | Automatic loading and unloading structure for silicon rod |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229597A (en) * | 2018-09-20 | 2019-01-18 | 内黄县阳光机械有限责任公司 | A kind of charge bar tying robot |
| CN112820681A (en) * | 2021-01-06 | 2021-05-18 | 广州方群科技有限公司 | High-end equipment semiconductor silicon rod transfer device for manufacturing |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008055532A (en) * | 2006-08-30 | 2008-03-13 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN105922342A (en) * | 2016-06-20 | 2016-09-07 | 天津瑞岭科技发展有限公司 | Drilling fixture for plastic pipe |
| CN206521053U (en) * | 2016-12-30 | 2017-09-26 | 天津朗誉科技发展有限公司 | Silicon rod automatic loading and unloading machine people's construct for handling |
-
2016
- 2016-12-30 CN CN201611251669.3A patent/CN106737679B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008055532A (en) * | 2006-08-30 | 2008-03-13 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN105922342A (en) * | 2016-06-20 | 2016-09-07 | 天津瑞岭科技发展有限公司 | Drilling fixture for plastic pipe |
| CN206521053U (en) * | 2016-12-30 | 2017-09-26 | 天津朗誉科技发展有限公司 | Silicon rod automatic loading and unloading machine people's construct for handling |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229597A (en) * | 2018-09-20 | 2019-01-18 | 内黄县阳光机械有限责任公司 | A kind of charge bar tying robot |
| CN109229597B (en) * | 2018-09-20 | 2024-02-09 | 内黄县阳光机械有限责任公司 | Rod tying robot |
| CN112820681A (en) * | 2021-01-06 | 2021-05-18 | 广州方群科技有限公司 | High-end equipment semiconductor silicon rod transfer device for manufacturing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737679B (en) | 2023-05-16 |
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