CN106743634B - Clamping mechanism for loading and unloading silicon rods - Google Patents
Clamping mechanism for loading and unloading silicon rods Download PDFInfo
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- CN106743634B CN106743634B CN201611251501.2A CN201611251501A CN106743634B CN 106743634 B CN106743634 B CN 106743634B CN 201611251501 A CN201611251501 A CN 201611251501A CN 106743634 B CN106743634 B CN 106743634B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- C—CHEMISTRY; METALLURGY
- C30—CRYSTAL GROWTH
- C30B—SINGLE-CRYSTAL GROWTH; UNIDIRECTIONAL SOLIDIFICATION OF EUTECTIC MATERIAL OR UNIDIRECTIONAL DEMIXING OF EUTECTOID MATERIAL; REFINING BY ZONE-MELTING OF MATERIAL; PRODUCTION OF A HOMOGENEOUS POLYCRYSTALLINE MATERIAL WITH DEFINED STRUCTURE; SINGLE CRYSTALS OR HOMOGENEOUS POLYCRYSTALLINE MATERIAL WITH DEFINED STRUCTURE; AFTER-TREATMENT OF SINGLE CRYSTALS OR A HOMOGENEOUS POLYCRYSTALLINE MATERIAL WITH DEFINED STRUCTURE; APPARATUS THEREFOR
- C30B35/00—Apparatus not otherwise provided for, specially adapted for the growth, production or after-treatment of single crystals or of a homogeneous polycrystalline material with defined structure
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention provides a clamping mechanism for loading and unloading a silicon rod, which comprises a magnet fixing seat, wherein a step-shaped through hole is formed in the center of the magnet fixing seat, a copper column is elastically connected in the through hole through a spring, an electromagnet is fixed on the magnet fixing seat, a sliding column penetrates through the electromagnet in a clearance fit mode, and an iron block is fixed at one end, close to the electromagnet, of the sliding column. The clamping mechanism for loading and unloading the silicon rod is firm and reliable in clamping mode, the silicon rod is further clamped, the effect is good, the silicon rod can be further clamped and fixed through the clamping mechanism, the safety coefficient in the silicon rod transferring process is improved, the operation is realized through power on and power off, the mechanical maintenance frequency is reduced, and the service life is prolonged.
Description
Technical Field
The invention belongs to the field of photovoltaic new energy equipment, and particularly relates to a clamping mechanism for loading and unloading a silicon rod.
Background
A single crystal of silicon is a crystal having a substantially complete lattice structure, is a good semiconductor material for manufacturing semiconductor devices, solar cells, etc., and, with the progress of technological productivity, the using amount of the silicon single crystal is higher and higher, the silicon single crystal occupies more and more specific weight of various products, but the silicon single crystal in various fields used at present is generally cut and processed by a larger silicon rod and is cut into different sizes to be applied to various fields, the prior art carries the silicon rods by manpower when processing the silicon rods and places the silicon rods on corresponding storage racks or processing equipment, because the silicon rods have heavier weight and the storage racks are higher, the silicon rod conveying device has the advantages that the silicon rod conveying device can inevitably collide with the rack during up-and-down conveying, damage to the silicon rod is caused, waste is caused, manpower and material resources are wasted when the silicon rod is conveyed up and down on the high rack, the efficiency is low, and the improvement of production cost is not facilitated. Aiming at the situation, the invention provides the clamping mechanism for loading and unloading the silicon rod, the silicon rod can be further clamped and fixed by using the clamping mechanism, the structure is simple and convenient to realize, the safety factor in the silicon rod transferring process is improved, the field safety of workers is ensured, and the practicability is strong.
Disclosure of Invention
In view of this, the present invention is directed to provide a clamping mechanism for loading and unloading a silicon rod, which has a simple structure and further improves safety during transportation of the silicon rod.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides a loading and unloading clamping mechanism for silicon rod, includes the magnet fixing base, open at the center of magnet fixing base has the notch cuttype through-hole, there is the copper post through spring elastic connection in the through-hole, the electro-magnet is fixed on the magnet fixing base, pass electro-magnet clearance fit has the traveller, the traveller is close to the one end of electro-magnet is fixed with the iron plate.
Furthermore, the other end of the sliding column extends into the central hole of the copper column to be in clearance fit with the side wall of the copper column, and the distance between the iron block and the electromagnet is larger than the distance between the sliding column and the bottom of the central hole.
Further, the maximum compression amount of the spring is larger than the distance between the iron block and the electromagnet.
Furthermore, the height of the copper column is smaller than the depth of the magnet fixing seat.
Further, the electromagnet is electrically connected with the control unit.
Compared with the prior art, the clamping mechanism for loading and unloading the silicon rod has the following advantages:
(1) according to the clamping mechanism for loading and unloading the silicon rod, the silicon rod can be further clamped and fixed through the use of the clamping mechanism, the structure is simple and convenient to realize, the safety factor in the silicon rod transferring process is improved, the site safety of workers is ensured, and the practicability is high.
(2) The base is provided with a positioning mechanism which is divided into a first-stage positioning mechanism and a second-stage positioning mechanism, the first-stage positioning mechanism is an AGV control system arranged at the bottom, the second-stage positioning mechanism comprises a fixed seat and a positioning block arranged on the fixed seat, one end of the fixed seat far away from the positioning block is fixed with one end of the manipulator far away from the bracket, the positioning block is fixed on the upper surface of the cantilever through the fixed seat, the positioning block is of a U-shaped structure, the side surface of the positioning block is vertical to the upper surface of the cantilever, the fixed seat is also provided with a front-end laser ranging sensor, the front-end laser ranging sensors are symmetrically arranged on two sides of the positioning block, the height of the front-end laser ranging sensor is the same as that of the positioning block, the U-shaped outer wall of the positioning block is smooth and has no burr, and the positioning block is provided with a U-shaped block in clearance fit with the outer wall of the positioning block, the matching precision of the U-shaped block and the positioning block is +/-0.5 mm. Realize the preliminary location of the fixed position in the transportation through AGV control system, stop precision 5MM, load 500KG, reaction time ≦ 2MS, locating piece and rather than the application of the further accuracy control location of complex U-shaped piece and front end laser ranging sensor, front end laser ranging sensor adjustment precision 0.2MM, guaranteed the location of this equipment transportation high-efficient stability and high accuracy, the loading and unloading of the silicon rod of being convenient for, positioning accuracy is higher.
(3) The rotating mechanism is divided into a first rotating mechanism and a second rotating mechanism, a level meter is arranged on a cantilever and is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support fixed on the cantilever, a rotating ring is hinged on the first support, a hanging ring is fixed at the bottom of the manipulator, the hanging ring is arranged in the rotating ring, the first support and the rotating ring are hinged through a first pin shaft, the axis of the first pin shaft is vertical to the cantilever, the second rotating mechanism comprises a second support fixed on the cantilever, a rotating block is hinged on the second support, the other end of the rotating block is connected with the manipulator in a sliding mode through a third sliding mechanism, the second support is hinged with the rotating block through a second pin shaft, the axis of the second pin shaft is vertical to the axis of the first pin shaft, the third sliding mechanism comprises a fixed plate fixed at the bottom of the cantilever, two third guide rails which are parallel to each other are arranged on the fixed plate, a third slide block matched with the third guide rail is arranged on the third guide rail, a third screw-nut pair is also arranged between the two third guide rails, a support plate is jointly fixed on a third nut of the third screw-nut pair and the third slide block, the rotating block is fixed on the support plate, the axis of the third screw-nut pair is parallel to the sliding direction of the third sliding block, the axis of the second pin shaft is perpendicular to the sliding direction of the third sliding block, the third screw nut pair is driven by a third motor, an output shaft of the third motor is rotationally connected with a third screw of the third screw nut pair through a third belt pulley, and the axis of the output shaft of the third motor is parallel to the axis of the third screw. The flexible connection of manipulator and cantilever is realized through the cooperation of two slewing mechanism, makes it conveniently adjust the degree of freedom of difference at the location in-process, and the levelness of cantilever has been guaranteed in the setting of spirit level, can not make its skew set orbit at the location in-process, has effectively improved positioning accuracy.
(4) The second sliding mechanism comprises a second motor and a second speed reducer coaxially matched with the second motor, the output end of the second speed reducer is rotatably connected with a second lead screw nut pair through a synchronous belt wheel, the bottom of a second nut of the second lead screw nut pair is fixedly provided with a clamping jaw, a lead screw of the second lead screw nut pair is provided with a synchronous encoder through a second fixed frame, a cantilever is a U-shaped frame with an opening at the bottom, two side walls of the cantilever are symmetrically provided with a plurality of first guide cams and second guide cams which are uniformly distributed, the axial lines of the first guide cams are vertical to the axial lines of the second guide cams, the axial lines of the first guide cams are vertical to the sliding direction of the second nut, the axial lines of the first guide cams and the second guide cams are vertical to each other, one side of the clamping jaw, which is close to the support, is provided with a horizontally-arranged bidirectional electric cylinder, the axis of the bidirectional electric cylinder is perpendicular to the sliding direction of the second nut. The second screw nut pair is driven to move by the power output by the second motor, so that the clamping jaws move back and forth to load and unload the silicon rod, the working progress of the second screw nut pair is guaranteed by the arrangement of the synchronous encoder, the control efficiency is realized, the supporting force and the guiding force are guaranteed to be provided for the silicon rod in the loading and unloading process by the arrangement of the two mutually-vertical guide cams, the driving force is saved, and the loading and unloading efficiency is improved.
(5) The cantilever is characterized in that symmetrical clamping mechanisms are further arranged on two sides of the cantilever, each clamping mechanism comprises a magnet fixing seat which penetrates through the cantilever and is fixedly connected with the cantilever, a step-shaped through hole is formed in the center of each magnet fixing seat, a copper column is elastically connected into each through hole through a spring, an electromagnet is fixed on each magnet fixing seat, a sliding column penetrates through the electromagnet in a clearance fit mode, an iron block is fixed at one end, close to the electromagnet, of each sliding column, the other end of each sliding column extends into each central hole of the copper column to be in clearance fit with the side wall of the copper column, the distance between the iron block and the electromagnet is larger than the distance between the sliding column and the bottom of the central hole, the maximum compression amount of the spring is larger than the distance between the iron block and the electromagnet, and the height of the copper column is smaller than the depth of each magnet fixing seat. The silicon rod is further clamped by switching on and off the electromagnet, safety and stability in the transfer process are guaranteed, safety accidents are prevented, the clamping mechanism is simple in structure, the implementation effect is good, and the production cost is saved.
(6) The first sliding mechanism comprises a first motor and a first lead screw nut pair coaxially connected with the first motor, symmetrical first guide rail sliding blocks are arranged on two sides of a first lead screw of the first lead screw nut pair, a first fixing plate is fixed on the top of the first nut of the first lead screw nut pair and the top of a first sliding block of the first guide rail sliding block, a manipulator is fixed on the first fixing plate, the axis of the first lead screw is parallel to the sliding direction of the first sliding block, and the axis of the first lead screw is perpendicular to the upper surface of the base. The sliding connection of the manipulator is realized through a simple structure, the manipulator can freely move up and down, the moving distance is controlled accurately, and the high precision and the high efficiency of the manipulator are ensured.
(7) The base is detachably connected with the sediment collecting disc, the width of the sediment collecting disc is larger than the sum of the width of the silicon rod and the sliding distance of the third sliding block, and handles are symmetrically arranged on two sides of the sediment collecting disc. The silicon rod cleaning device has the advantages that the silicon rod cleaning device can prevent silicon rod scraps from falling into the base when the silicon rod is bumpy in the movement process, the cleanliness requirement of a control system in the silicon rod cleaning device is influenced, the service life of each part of mechanism is shortened, the silicon rod cleaning device is inconvenient to maintain, and the production cost is increased.
(8) The AGV comprises a support, a base, a control unit, a first motor, a second motor, a third motor, a double touch screen, an electromagnet, a level meter, a warning lamp, a 120AH lithium battery, universal wheels, a control unit, an AGV control system, the universal wheels, the first motor, the second motor, the third motor, the double touch screen, the electromagnet, the level meter, the warning lamp, a front-end laser ranging sensor and a bidirectional electric cylinder, wherein the double touch screen is arranged at one end of the support, which is far away from a manipulator. The automation of control is realized, the quick charge of equipment is realized in the use of lithium cell, guarantees the continuous stable efficient work of equipment, improves work efficiency, reduce cost.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of an overall structure of an automatic silicon rod handling robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a first sliding mechanism part of an automatic silicon rod handling robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a cantilever part structure of an automatic silicon rod handling robot according to an embodiment of the present invention;
fig. 4 is a partial structural schematic view of a rotating mechanism of an automatic silicon rod loading and unloading robot according to an embodiment of the invention;
fig. 5 is a schematic structural view of a second sliding mechanism of an automatic silicon rod handling robot according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a part of a positioning mechanism of an automatic silicon rod loading and unloading robot according to an embodiment of the invention;
fig. 7 is a schematic structural view of a part of a clamping mechanism for loading and unloading a silicon rod according to an embodiment of the present invention.
Description of reference numerals:
1-a base; 2-a silt receiving disc; 3-silicon rod; 4-a clamping mechanism; 5-a rotating mechanism; 6-cantilever; 7-a second level positioning mechanism; 8, a mechanical arm; 9-a scaffold; 10-universal wheels; 11-an AGV control system; 12-a lithium battery; 13-double touch screen; 14-a first motor; 15-a first fixing plate; 16-a first rail slide; 17-a first lead screw nut pair; 18-warning light; 19-a second sliding mechanism; 20-a level gauge; 201-a handle; 401-magnet holder; 402-a via; 403-a spring; 404-copper pillars; 405-an electromagnet; 406-a spool; 407-iron block; 408-a central hole; 501-a first support; 502-a rotating ring; 503-hoisting ring; 504-a second pin; 505-a fixed plate; 506-a support plate; 507-a turning block; 508-a second support; 509-a third guide rail; 510-a third lead screw nut pair; 511-a third slider; 512-a third pulley; 513-a third motor; 514-first pin; 601-a first guide cam; 602-a second guide cam; 701-front laser ranging sensor; 702-a positioning block; 703-a fixed seat; 704-U-shaped block; 1901-a second motor; 1902-a second reducer; 1903-second mount; 1904-synchronous encoder; 1905-synchronous pulley; 1906-a second lead screw-nut pair; 1907-a second nut; 1908-bidirectional electric cylinder; 1909-jaws.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the automatic silicon rod loading and unloading robot comprises a base 1 and a support 9 fixedly connected to the base, wherein the side wall of the support 9 is slidably connected to a manipulator 8 through a first sliding mechanism, the bottom of the manipulator 8 is flexibly connected to a cantilever 6 through a rotating mechanism 5, a clamping jaw 1909 is arranged at the bottom of the cantilever 6, and the clamping jaw 1909 is slidably connected to the cantilever 6 through a second sliding mechanism 19. The efficient control clamping jaw 1909 of high accuracy is tight or is relaxed to the clamp of silicon rod 3, can realize the auto-control of silicon rod 3 through the use of this equipment, need not manual operation, can realize accurate location in order to carry out auto-control to silicon rod 3 by the efficient, realizes the automation of control, alleviates staff's work load, improves work efficiency and the cost is reduced.
Wherein, the base 1 is provided with a positioning mechanism, the positioning mechanism is divided into a first-stage positioning mechanism and a second-stage positioning mechanism 7, the first-stage positioning mechanism is an AGV control system 11 arranged in the bottom, the second-stage positioning mechanism comprises a fixing seat 703 and a positioning block 702 arranged on the fixing seat 703, one end of the fixing seat 703 far away from the positioning block 702 is fixed with one end of the manipulator 8 far away from the bracket 9, the positioning block 702 is fixed on the upper surface of the cantilever 6 through the fixing seat 703, the positioning block 702 is of a U-shaped structure, the side surface of the positioning block 702 is perpendicular to the upper surface of the cantilever 6, the fixing seat 703 is further provided with a front-end laser ranging sensor 701, the front-end laser ranging sensor 701 is symmetrically arranged on two sides of the positioning block 702, the height of the front-end laser ranging sensor is the same as that of the positioning block 702, the U-shaped outer wall of the positioning block 702 is smooth and has no burr, and a U-shaped block 704 in clearance fit with the outer wall of the positioning block is arranged, and the fit precision of the U-shaped block 704 and the positioning block 702 is +/-0.5 mm. Realize the preliminary location of the fixed position in the transportation through AGV control system, stop precision 5MM, load 500KG, reaction time ≦ 2MS, locating piece 702 and rather than the application of the further precision control location of the U-shaped piece 704 of complex fixing on other shelves and front end laser ranging sensor 701, front end laser ranging sensor 701 adjustment precision 0.2MM, the location of high-efficient stability and high accuracy in this equipment transportation has been guaranteed, be convenient for silicon rod 3's loading and unloading, positioning accuracy is higher.
Wherein, the rotating mechanism 5 is divided into a first rotating mechanism and a second rotating mechanism, the cantilever 6 is provided with a level gauge 20, the level gauge 20 is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support 501 fixed on the cantilever 6, a rotating ring 502 is hinged on the first support 501, a hanging ring 503 is fixed at the bottom of the manipulator 8, the hanging ring 503 is arranged in the rotating ring 502, the first support 501 and the rotating ring 502 are hinged through a first pin shaft 514, the axis of the first pin shaft 514 is perpendicular to the cantilever 6, the second rotating mechanism comprises a second support 508 fixed on the cantilever 6, a rotating block 507 is hinged on the second support 508, the other end of the rotating block 507 is connected with the manipulator 8 through a third sliding mechanism in a sliding manner, the second support 508 is hinged with the rotating block 507 through a second pin shaft 504, the axis of the second pin 504 is perpendicular to the axis of the first pin 514, the third sliding mechanism includes a fixing plate 505 fixed at the bottom of the suspension arm 6, the fixing plate 505 is provided with two third guide rails 509 parallel to each other, the third guide rail 509 is provided with a third sliding block 511 matched with the third guide rail 509, a third screw-nut pair 510 is further provided between the two third guide rails 509, a support plate 506 is jointly fixed on a third nut of the third screw-nut pair 510 and the third sliding block, the rotating block 507 is fixed on the support plate 506, the axis of the third screw-nut pair 510 is parallel to the sliding direction of the third sliding block 511, the axis of the second pin 504 is perpendicular to the sliding direction of the third sliding block 511, the third screw-nut pair 510 is driven by a third motor 513, the output shaft of the third motor 513 is rotatably connected with a third screw of the third screw-nut pair 510 by a third belt pulley 512, the axis of the output shaft of the third motor 513 is parallel to the axis of the third lead screw. The flexible connection of the mechanical arm 8 and the cantilever 6 is realized through the matching of the two rotating mechanisms, so that the different degrees of freedom can be conveniently adjusted in the positioning process, the levelness of the cantilever 6 is ensured by the arrangement of the level gauge 20, the level gauge cannot deviate from a set track in the positioning process, and the positioning precision is effectively improved.
Wherein, the second sliding mechanism 19 includes a second motor 1901 and a second reducer 1902 coaxially matched with the second motor, an output end of the second reducer 1902 is rotatably connected with a second screw-nut pair 1906 through a synchronous pulley 1905, a claw 1909 is fixed at a bottom of a second nut 1907 of the second screw-nut pair 1906, a screw of the second screw-nut pair 1906 is provided with a synchronous encoder 1904 through a second fixing frame 1903, the cantilever 6 is a U-shaped frame with an opening at a bottom, two side walls of the cantilever 6 are symmetrically provided with a plurality of first guide cams 601 and second guide cams 602 which are uniformly distributed, an axis of the first guide cam 601 is mutually perpendicular to an axis of the second guide cam 602, the axis of the first guide cam 601 is horizontal and is perpendicular to a sliding direction of the second nut 1907, the axes of the first guide cam 601 and the second guide cam 602 are mutually perpendicular, a horizontally placed bidirectional electric cylinder 1908 is arranged on one side of the claw 1909 close to the bracket 9, and the axis of the bidirectional electric cylinder 1908 is perpendicular to the sliding direction of the second nut 1907. The power output by the second motor 1901 drives the second screw nut pair 1906 to move, so that the jaws 1909 move back and forth to load and unload the silicon rod 3, the synchronous encoder 1904 ensures the working progress of the second screw nut pair 1906, the control efficiency is realized, the supporting force and the guiding force for the silicon rod 3 in the loading and unloading process are ensured through the arrangement of the two groups of guide cams perpendicular to each other, the driving force is saved, and the loading and unloading efficiency is improved.
Wherein, two sides of the cantilever 6 are also provided with symmetrical clamping mechanisms 4, the clamping mechanisms 4 comprise magnet fixing seats 401 which penetrate through the cantilever 6 and are fixedly connected with the cantilever, a stepped through hole 402 is formed in the center of the magnet fixing seat 401, a copper column 404 is elastically connected in the through hole 402 through a spring 403, an electromagnet 405 is fixed on the magnet fixing seat 401, a sliding column 406 is in clearance fit with the electromagnet 405, an iron block 407 is fixed at one end of the sliding column 406 close to the electromagnet 405, the other end of the sliding column 406 extends into a central hole 408 of the copper column 404 to be in clearance fit with the side wall thereof, the distance from the iron block 407 to the electromagnet 405 is greater than the distance from the spool 406 to the bottom of the central bore 408, the maximum compression amount of the spring 403 is greater than the distance from the iron block 407 to the electromagnet 405, and the height of the copper column 404 is less than the depth of the magnet fixing seat 401. Realize the further clamp to silicon rod 3 through the break-make electricity to electro-magnet 405, guarantee safety and stability in the transportation, prevent to take place the incident, this kind of clamping mechanism 4 simple structure realizes that the effect is better, practices thrift manufacturing cost.
The first sliding mechanism comprises a first motor 14 and a first screw-nut pair 17 coaxially connected with the first motor, symmetrical first guide rail sliding blocks 16 are arranged on two sides of a first screw of the first screw-nut pair 17, a first fixing plate 15 is fixed to the top of the first nut of the first screw-nut pair 17 and the top of a first sliding block of the first guide rail sliding blocks 16, the manipulator 8 is fixed to the first fixing plate 15, the axis of the first screw is parallel to the sliding direction of the first sliding block, and the axis of the first screw is perpendicular to the upper surface of the base 1. The sliding connection of the mechanical arm 8 is realized through a simple structure, the mechanical arm can freely move up and down, the moving distance is controlled accurately, and the high precision and the high efficiency of the mechanical arm 8 are ensured.
Wherein, can dismantle on the base 1 and connect silt flange 2, the width of silt flange 2 is greater than the width of silicon rod 3 with the sliding distance sum of third slider 511, 2 bilateral symmetry of silt flange are equipped with handle 201. The problem that chips of the silicon rod 3 fall into the base 1 when bumpy in the movement process to influence the cleanliness requirement of the control system in the base is solved, the service life of each part of mechanism is shortened, the maintenance is inconvenient, and the production cost is increased.
Wherein, support 9 keeps away from manipulator 8's one end is equipped with two touch-sensitive screens 13, support 9 top is equipped with warning light 18, still be equipped with 120AH lithium cell 12 on the base 1, 1 four corners evenly distributed in bottom has universal wheel 10, be equipped with the control unit on the base 1, AGV control system 11 the universal wheel 10 first motor 14 second motor 1901 third motor 513 two touch-sensitive screens 13 electro-magnet 405 spirit level 20 the warning light 18 front end laser rangefinder sensor 701 with two-way electric jar 1908 respectively with the control unit electricity is connected. The automation of control is realized, the lithium battery 12 is used for realizing the quick charging of the equipment, the continuous, stable and efficient work of the equipment is ensured, the work efficiency is improved, and the cost is reduced.
The working principle of the invention is as follows: as shown in figure 1, before the automatic silicon rod loading and unloading robot is used, firstly, a U-shaped block 704 is fixed on the side wall of a storage rack for storing a silicon rod 3, a positioning device of an AGV is arranged on an open ground with the U-shaped block 704, so that an AGV control system 11 can enter a positioning range of the AGV, the lithium battery 12 is fixed on a base 1 after being fully charged, a worker inputs control flows of the AGV control system 11 and a manipulator 8 respectively through a double touch screen 13, after the control is finished, a control unit is started, the control unit controls mechanisms electrically connected with the parts to move respectively, firstly, a universal wheel 10 is driven to move to a fixed position through the AGV control system 11, a warning lamp 18 is lightened in the moving process of the universal wheel 10, the precision is stopped at the moment to +/-5 MM, the load is 500KG, the reaction time is less than or equal to 2MS, the rough positioning of the robot is realized, and meanwhile, the manipulator 8 is controlled to move up and down through a first sliding mechanism, the U-shaped block 704 and the positioning block 702 are kept in the same straight line relatively, the position of a cantilever is flexibly adjusted through multiple degrees of freedom of a rotating mechanism 5, the matching precision of the positioning block 702 on the cantilever and the U-shaped block 704 on a storage rack is improved through the combined action of a front-end laser ranging sensor 701, the positioning precision of a robot is further improved to be +/-0.2 MM, after the positioning is finished, a control unit controls a second sliding mechanism 19 to work, a synchronous belt pulley 1905 is driven through a second motor 1901 to further control a second lead screw nut pair 1906 to move, the working precision of the second lead screw nut pair 1906 is controlled through a synchronous encoder 1904, a clamping jaw 1909 on a second nut 1907 moves forwards along with the clamping jaw 1909, the clamping jaw 1909 is an existing common structure, the rear portion of the clamping jaw is controlled to be clamped or loosened horizontally through a bidirectional electric cylinder 1908, at the moment, a mandril of the bidirectional electric cylinder 1908 extends out, the opening of the clamping jaw 1909 is enlarged, the head of the clamping jaw 1909 and the clamping jaw and the head of the clamping jaw 1909 stops moving along with a through hole on a silicon rod 3, the recovery of the ejector rod of the bidirectional electric cylinder 1908 is controlled, the jaws 1909 clamp, the heads of the jaws 1909 extend into the through holes of the silicon rods 3 to clamp, after the clamping is completed, the second motor 1901 is controlled to run reversely, the silicon rods 3 enter the guide rails at the bottom of the cantilever 6, the first guide cam 601 drives the silicon rods 3 to slide inwards together with the second guide cam 602 while supporting the silicon rods 3, the friction force is reduced until the second nut 1907 of the second lead screw-nut pair 1906 resets, then the electromagnet 405 is electrified, the iron block 407 is adsorbed on the surface of the electromagnet 405 along with the electromagnet, and moves downwards along with the fixed sliding column 406, so that the copper column 404 elastically connected with the magnet fixing seat 401 is pushed to compress the silicon rods 3 in the cantilever 6, further clamping of the silicon rods 3 is realized, the safety in the transfer process is improved, at the moment, the loading of the silicon rods 3 is completed, and the arrangement of the silt receiving disc 2 at the bottom ensures that the silicon rod 3 powder enters the control system of the base 1, then the control system sends out a command to start transferring the silicon rod 3, the requirement of another position of transferring is that the underground is provided with an AGV positioning device and a U-shaped block 704 arranged on a corresponding frame, the steps are repeated to transfer, after the positioning, the electromagnet 405 is powered off, the clamping jaws 1909 drive the silicon rod 3 to move out, the clamping jaws 1909 are opened, the silicon rod 3 can be unloaded, and the robot returns to the original position to repeat the above operation, so that the silicon rod 3 can be automatically and efficiently loaded and unloaded.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. The utility model provides a loading and unloading clamping mechanism for silicon rod which characterized in that: the electromagnet comprises a magnet fixing seat (401), a stepped through hole (402) is formed in the center of the magnet fixing seat (401), a copper column (404) is elastically connected into the through hole (402) through a spring (403), an electromagnet (405) is fixed on the magnet fixing seat (401), a sliding column (406) penetrates through the electromagnet (405) in a clearance fit mode, and an iron block (407) is fixed at one end, close to the electromagnet (405), of the sliding column (406);
the other end of the sliding column (406) extends into a central hole (408) of the copper column (404) to be in clearance fit with the side wall of the copper column, and the distance between the iron block (407) and the electromagnet (405) is greater than the distance between the sliding column (406) and the bottom of the central hole (408);
the maximum compression amount of the spring (403) is larger than the distance between the iron block (407) and the electromagnet (405).
2. The clamping mechanism for loading and unloading a silicon rod as set forth in claim 1, wherein: the height of the copper column (404) is smaller than the depth of the magnet fixing seat (401).
3. The clamping mechanism for loading and unloading a silicon rod as set forth in claim 1, wherein: the electromagnet (405) is electrically connected with the control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251501.2A CN106743634B (en) | 2016-12-30 | 2016-12-30 | Clamping mechanism for loading and unloading silicon rods |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611251501.2A CN106743634B (en) | 2016-12-30 | 2016-12-30 | Clamping mechanism for loading and unloading silicon rods |
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| CN106743634A CN106743634A (en) | 2017-05-31 |
| CN106743634B true CN106743634B (en) | 2022-05-24 |
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| CN201611251501.2A Active CN106743634B (en) | 2016-12-30 | 2016-12-30 | Clamping mechanism for loading and unloading silicon rods |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111777071A (en) * | 2020-05-25 | 2020-10-16 | 新疆东方希望新能源有限公司 | Clamping tool for loading and unloading oversized polycrystalline silicon rods |
| CN114212481B (en) * | 2021-11-23 | 2022-09-23 | 江苏英创电力科技有限公司 | Pallet wheel part correcting assembly and comprehensive stacking system thereof |
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| WO2014139237A1 (en) * | 2013-03-15 | 2014-09-18 | 深圳市华星光电技术有限公司 | Clamping device of cutter of cutting machine |
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| CN206521051U (en) * | 2016-12-30 | 2017-09-26 | 天津朗誉科技发展有限公司 | A kind of silicon rod automatic loading and unloading machine people's clamp system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2128767Y (en) * | 1992-08-05 | 1993-03-24 | 佘秀月 | Feed gripping apparatus for electric element resistance value slotting machine |
| CN202225217U (en) * | 2011-09-22 | 2012-05-23 | 浙江工业大学 | Clamping manipulator driven by electromagnets |
| WO2014139237A1 (en) * | 2013-03-15 | 2014-09-18 | 深圳市华星光电技术有限公司 | Clamping device of cutter of cutting machine |
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| CN106743634A (en) | 2017-05-31 |
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