CN112518663A - Automatic graphite boat dismounting system and automatic dismounting method - Google Patents
Automatic graphite boat dismounting system and automatic dismounting method Download PDFInfo
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- CN112518663A CN112518663A CN202011439820.2A CN202011439820A CN112518663A CN 112518663 A CN112518663 A CN 112518663A CN 202011439820 A CN202011439820 A CN 202011439820A CN 112518663 A CN112518663 A CN 112518663A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/02—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same
- B25B27/026—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same fluid driven
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Abstract
The invention discloses an automatic disassembly and assembly system and an automatic disassembly and assembly method for a graphite boat, wherein the disassembly and assembly system comprises: the frame, be equipped with a delivery track in the frame, install in the frame: the graphite boat positioning mechanism locks and fixes the graphite boat pages and slides along the conveying track under the driving of the transmission mechanism; the clamping point dismounting mechanism is used for positioning and dismounting the old graphite clamping points on the graphite boat page conveyed by the graphite boat positioning mechanism; the clamping point loading mechanism is positioned at a downstream station of the clamping point dismounting mechanism and used for loading the new graphite clamping points into the hole sites of the graphite boat; the clamping point pressing mechanism is positioned at a downstream station of the clamping point loading mechanism and used for pressing the new graphite clamping points loaded in the graphite boat hole sites into the graphite boat pages; the transmission mechanism drives the graphite boat positioning mechanism to move along the conveying track; and the control mechanism is respectively in communication connection with the graphite boat positioning mechanism, the clamping point dismounting mechanism, the clamping point loading mechanism, the clamping point pressing mechanism and the transmission mechanism.
Description
Technical Field
The invention relates to the technical field of graphite boat disassembly and assembly, in particular to an automatic disassembly and assembly system and an automatic disassembly and assembly method for a graphite boat.
Background
With the continuous reduction of the photovoltaic power generation cost, the solar power generation has wider market space. The graphite boat is used as a carrier when the solar cell is plated with the antireflection film, and the structure and the size of the graphite boat directly influence the conversion efficiency and the production efficiency of the silicon wafer. The automatic loading and unloading machine of the graphite boat places the silicon chips which are not coated with films on the clamping points of the graphite boat pages through the robot sucker, and each boat page can be placed with a fixed number of silicon chips. After all the silicon wafers are placed, the graphite boat is driven by a belt line to enter a PECVD coating machine. The silicon wafers on the graphite boat are subjected to specific chemical reaction in a PECVD coating machine under a high-temperature condition, so that the coating process on the surfaces of the silicon wafers is realized. And the graphite boat after the silicon wafer is coated is withdrawn from the PECVD, and then is transported to an automatic wafer loading and unloading machine through a belt line, and a robot of the automatic wafer loading and unloading machine station unloads the finished silicon wafer after the coating is finished from the graphite boat.
As shown in fig. 1-2, it is a structure diagram of a graphite boat in the prior art, wherein 1 is a graphite boat page, 2 is a ceramic rod, 3 is a graphite clamping point, 4 is a graphite nut, and 5 is a graphite boat base. Graphite boat page or leaf 1 is a rectangle thin slice, and the centre has opened the several quad slit, can install graphite stuck point 3 on the graphite boat page or leaf 1, and graphite stuck point 3 mainly is used for holding the silicon chip to guarantee that the silicon chip hugs closely graphite boat page or leaf 1. Graphite boat page or leaf 1 is separated by the ceramic sheathing and is opened between, and last all graphite boat page or leaf 1 is fixed by ceramic rod 2 again, and graphite nut 4 is installed again at the both ends of ceramic rod 2, and the graphite boat after the assembly is accomplished is by a large number, vertically place, the graphite boat page or leaf that is parallel to each other is constituteed, and graphite boat upper and lower width is unanimous, and interval is fixed and equal between the graphite boat page or leaf, and graphite boat page or leaf is perpendicular to ground. After the graphite boat goes in and out of the PECVD repeatedly, the thickness and the size of the groove between the graphite boat surface, the graphite boat sheet, the graphite clamping point, the tail end protrusion of the graphite clamping point and the graphite boat sheet are changed due to repeated film coating on the graphite boat surface. The size that the recess leads to the recess between the terminal arch of graphite stuck point and the graphite boat page or leaf can diminish because of the coating film many times, and after the recess size diminishes to a certain degree, this recess just can't be put into again to the silicon chip that does not coat the film to lead to the silicon chip to fall out from the graphite boat. Meanwhile, as the diameter of the groove of the graphite clamping point is very small, after the silicon wafer is repeatedly put in and taken out for many times, the diameter of the groove can be abraded, and the situation that the graphite clamping point is broken from the groove can be seriously caused.
Therefore, the graphite boat after being coated with the films for many times is taken out from the PECVD or automatic wafer loading and unloading machine periodically, the graphite boat is put into special cleaning equipment to clean redundant films on the surface, and meanwhile, the graphite boat needs to be disassembled manually, and then all clamping points on each graphite boat page are replaced. Because there are numerous graphite stuck points (for example, there are 24 graphite stuck points on a graphite boat page or leaf) on every graphite boat page or leaf, the manual work needs to carry out artifical stuck point to all graphite boat pages or leaves on a graphite boat and dismantle, and the stuck point is pressed in to manual dress stuck point and with special pressure tool again. Therefore, a large amount of operators are required to specially deal with the work of changing the stuck point, and great labor cost is brought to production.
At present, the blocking points are manually disassembled, a factory needs seven or eight persons to specially engage in the industry, meanwhile, because graphite is fragile, the graphite boat page is damaged due to inaccurate assembly caused by manual operation, and in addition, graphite dust has extremely strong pollution characteristics, so that the lung of a worker is greatly damaged, and the recruitment of the worker in the industry is difficult.
Therefore, there is a need in the art to develop an efficient, fully automatic, and accurate dismounting system and assembling method for automatically dismounting and assembling the graphite boat instead of manual assembly, thereby improving the automation degree of production, reducing the damage of the graphite boat due to the process, saving the production cost, and avoiding the harm of the production process to the body of the worker.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic graphite boat dismounting system and an automatic graphite boat dismounting method.
In order to achieve the purpose, the invention is realized by the following technical scheme: the invention provides an automatic disassembly and assembly system of a graphite boat, which comprises: the frame, be equipped with a delivery track in the frame, install in the frame:
the graphite boat positioning mechanism locks and fixes the graphite boat pages and slides along the conveying track under the driving of the transmission mechanism;
the clamping point dismounting mechanism is used for positioning and dismounting the old graphite clamping points on the graphite boat page conveyed by the graphite boat positioning mechanism;
the clamping point loading mechanism is positioned at a downstream station of the clamping point dismounting mechanism and used for loading the new graphite clamping points into the hole sites of the graphite boat;
the clamping point pressing mechanism is positioned at a downstream station of the clamping point loading mechanism and used for pressing the new graphite clamping points loaded in the graphite boat hole sites into the graphite boat pages;
the transmission mechanism drives the graphite boat positioning mechanism to move along the conveying track;
and the control mechanism is in communication connection with the graphite boat positioning mechanism, the clamping point dismounting mechanism, the clamping point loading mechanism, the clamping point pressing-in mechanism and the transmission mechanism respectively.
Further, the graphite boat positioning mechanism includes: the positioning plate is connected to the power output end of the transmission mechanism, a plurality of sliding blocks are arranged at the bottom of the positioning plate, and the sliding blocks are matched with the conveying track to enable the positioning plate to slide along the conveying track; the positioning cylinders are arranged on two sides of the positioning plate and used for compressing and fixing the graphite boat pages placed on the positioning plate.
Furthermore, the graphite boat positioning mechanism further comprises a plurality of guide blocks, the guide blocks are installed on two sides of the positioning plate, a plurality of pairs of installation holes are formed in any side of the positioning plate in the width direction, and one guide block is fixed on the positioning plate through any pair of installation holes. Furthermore, the clamping point dismounting mechanism comprises a first vision module, a first downward pressing jig, a first support and a second support, the first support is provided with a first shaft in the Y-axis direction, and the first vision module is mounted on the first shaft; the second support comprises a second shaft in the X-axis direction and a third shaft in the Y-axis direction, a first sliding block is arranged on the second shaft, a first sliding rail is arranged on the third shaft, the sliding block of the second shaft slides along the sliding rail of the third shaft, and the first pressing jig is slidably mounted on the second shaft.
Further, the first pressing jig includes: the pressing rod is arranged at the piston end of the pressing cylinder, and the pressing cylinder is arranged on the second shaft in a sliding mode through a vertical plate.
Further, the click loading mechanism includes: the clamp point grabbing jig and the second vision module are mounted on the multi-joint mechanical arm and move along with the multi-joint mechanical arm in an X axis, a Y axis and a Z axis.
Further, the first vision module and the second vision module each include: CCD camera, camera lens, light source and light source support, light source support one end is fixed in on the external equipment, and the upper portion of the other end is fixed the CCD camera, the below installation of CCD camera the camera lens, the lower part of the other end of light source support is equipped with a horizontal plate, be equipped with a through-hole in the middle of the horizontal plate, the camera lens passes through the through-hole, the through-hole periphery of horizontal plate is equipped with the light source.
Further, the stuck point grabbing jig comprises: the gripper comprises a gripper cylinder and a clamping part, wherein the gripper cylinder is an air claw, the clamping part is two clamping plates, and the two clamping plates are arranged at two piston ends of the air claw.
Further, the click press-in mechanism includes: the third vision module structure is the same as the first vision module structure and the second vision module structure, the second pressing jig is the same as the first pressing jig structure, and the third support and the fourth support are respectively the same as the first support and the second support structure.
The invention also provides an automatic disassembly and assembly method of the graphite boat, which comprises the following steps:
step a, putting graphite boat pages into a graphite boat positioning mechanism, pressing and positioning the graphite boat pages by a plurality of positioning cylinders, and driving the graphite boat positioning mechanism to run on a conveying track by a transmission mechanism;
b, the graphite boat positioning mechanism drives the first groove of the graphite boat page to move to the position below the clamping point dismounting mechanism, the transmission mechanism stops, the first vision module positions the clamping point position of the first groove in the graphite boat page, the control mechanism controls the first downward pressing jig to move to the position above each graphite clamping point, and the old graphite clamping point is pressed down to realize the dismounting of the old graphite clamping point in the first groove;
c, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the clamping point loading mechanism, the transmission mechanism stops, the second vision module positions the position of each clamping point hole position on the first groove, and the control mechanism controls the clamping point grabbing jig to grab new graphite clamping points and sequentially places the new graphite clamping points into each clamping point hole position;
and d, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the clamping point press-in mechanism, the transmission mechanism stops, the third vision module positions the position of the new graphite clamping point in the first groove, the control mechanism controls the second press jig to move to the position above each new graphite clamping point, and the new graphite clamping point is pressed down to realize press-in of the new graphite clamping point.
By adopting the scheme, the invention provides an automatic disassembly and assembly system and an automatic disassembly and assembly method for a graphite boat, which have the following beneficial effects:
(1) the graphite clamping point is disassembled and pressed in the whole process to realize automation, manual operation is completely replaced, labor cost is reduced, and meanwhile harm to the body of a worker is avoided.
(2) Three vision module all carries out the accurate location of shooing before dismantling, pack into and impress the stuck point to utilize control mechanism control corresponding mechanism to operate to accurate position, make the assembly precision improve greatly, its precision can reach 0.01 mm.
(3) Thoroughly solve the trade pain point, the spoilage of graphite boat page or leaf has greatly reduced in automation mechanized operation, has practiced thrift production resource, has reduced the assemble duration, has improved work efficiency.
Drawings
FIG. 1 is a perspective view of a prior art graphite boat.
FIG. 2 is a top view of a prior art graphite boat.
FIG. 3 is a schematic front view of the automatic disassembling and assembling system for graphite boat of the present invention.
FIG. 4 is a perspective view of the automatic disassembly and assembly system for graphite boats of the present invention.
The labels in the figures are:
10-a frame, 11-a metal plate, 12-a conveying track, 20-a graphite boat positioning mechanism, 21-a positioning plate, 22-a positioning cylinder, 23-a sliding block, 24-a guide block, 25-a mounting hole, 30-a clamping point dismounting mechanism, 31-a first vision module, 32-a first press jig, 33-a first support, 34-a second support, 301-a first shaft, 302-a second shaft, 303-a third shaft, 311-a CCD camera, 312-a lens, 313-a light source and 314-a light source support, 315-a horizontal plate, 321-a press cylinder, 322-a press rod, 323-a vertical plate, 40-a clamping point loading mechanism, 41-a clamping point grabbing jig, 42-a second vision module and 43-a multi-joint mechanical arm, 411-a gripper cylinder, 412-a clamping part, 50-a pressing-in mechanism, 51-a third vision module, 52-a second pressing jig, 53-a third bracket, 54-a fourth bracket, 60-a graphite boat page and 341-an XY axis motor.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
The invention actively responds to the idea of intelligent manufacturing 2025 advocated by the state, adopts the idea of a digital factory, greatly upgrades the traditional equipment, realizes automatic operation of the disassembly and assembly of graphite card points, and really realizes a black light factory. The invention particularly provides an automatic graphite boat dismounting system, which conveys and positions graphite boat pages through a graphite boat positioning mechanism, a stuck point dismounting mechanism positions stuck points of the graphite boat pages and presses down and demounts the stuck points, a stuck point loading mechanism puts new stuck points into holes of a graphite boat, and a stuck point pressing mechanism presses down the stuck points in the holes of the graphite boat to complete mounting. The clamp point dismounting mechanism, the clamp point loading mechanism and the clamp point pressing-in mechanism are respectively provided with a vision module to position clamp points of the graphite boat and hole positions of the clamp points, so that the dismounting precision is greatly improved, and the problem of high damage rate of manually dismounted graphite boat pages is solved. Referring to fig. 3-4, the system for automatically disassembling and assembling graphite boat includes: frame 10, the frame 10 upper surface is a metal sheet 11, be equipped with a delivery track 12 on the metal sheet 11, install on the metal sheet 11: the system further comprises a transmission mechanism (not shown) and a control mechanism (not shown), wherein the transmission mechanism comprises a servo motor for providing power to drive the graphite boat positioning mechanism 20 to move on the conveying track 12, and the transmission mechanism comprises, but is not limited to, a belt and a lead screw module for transmission, so long as the transmission mechanism is used for converting the rotary motion of the servo motor into linear motion, and thus the graphite boat positioning mechanism 20 is driven to move along the conveying track, so that the requirements can be met. In addition, the control mechanism runs on an industrial personal computer and is used for communicating with the graphite boat positioning mechanism 20, the stuck point dismounting mechanism 30, the stuck point loading mechanism 40, the stuck point pressing-in mechanism 50 and the transmission mechanism so as to control the speed and the direction of the motors of the graphite boat positioning mechanism 20, the stuck point dismounting mechanism 30, the stuck point loading mechanism 40 and the stuck point pressing-in mechanism 50, the control mechanism receives the position information of the visual modules of the stuck point dismounting mechanism 30, the stuck point loading mechanism 40 and the stuck point pressing-in mechanism 50 on the graphite stuck points or the graphite hole positions, sends the position information to corresponding dismounting jigs after calculation, and controls the driving motors of the stuck point dismounting mechanism 30, the stuck point loading mechanism 40 and the stuck point pressing-in mechanism 50 to act simultaneously, thereby realizing the accurate dismounting and mounting of the graphite stuck points.
Specifically, as shown in fig. 3, the graphite boat positioning mechanism 20 includes: a positioning plate 21 and a plurality of positioning cylinders 22, wherein the positioning plate 21 can be customized according to the shape and the length of the graphite boat page 60. The positioning plate 21 is connected to the power output end of the transmission mechanism, the bottom of the positioning plate 21 is provided with a plurality of sliding blocks 23, and the plurality of sliding blocks 23 are matched with the conveying track 12, so that the positioning plate 21 slides along the conveying track 12 under the action of the transmission mechanism; the positioning cylinders 22 are arranged on two sides of the positioning plate 21 and used for compressing and fixing the graphite boat page 60 placed on the positioning plate 21, wherein the positioning cylinders 22 are rotary clamping cylinders, the piston ends of the rotary clamping cylinders are connected with a vertically installed fixing rod, and the bottom of the fixing rod is compressed on the graphite boat page 60 when the fixing rod moves downwards along with the piston, so that the graphite boat page 60 is fixed and preferably selected, the positioning cylinders 22 are uniformly distributed on two sides of the positioning plate 21, and the graphite boat page 60 is uniformly positioned. In addition, the graphite boat positioning mechanism 20 further comprises a plurality of guide blocks 24, the guide blocks 24 are also installed on two sides of the positioning plate 21, and when the graphite boat 60 is placed on the graphite boat positioning mechanism 20, the positioning plate 21 can be automatically aligned in the falling process of the graphite boat 60. A plurality of pairs of mounting holes 25 are formed in any one side of the positioning plate 21 in the width direction, a guide block 24 is fixed on the positioning plate 21 through any one pair of mounting holes 25, and the mounting position of the guide block 24 can be adjusted according to the width of the graphite boat page 60, so that the positioning plate 12 is suitable for graphite boat pages 60 with different widths, and the universality of the equipment is improved.
Further, the fastening point detaching mechanism 30 includes a first vision module 31, a first pressing fixture 32, a first bracket 33 and a second bracket 34, the first bracket 33 has a first shaft 301 in a Y-axis direction, and the first vision module 31 is mounted on the first shaft 301. The second bracket 34 includes a second shaft 302 in an X-axis direction and a third shaft 303 in a Y-axis direction, a sliding block (not marked) is disposed on the second shaft 302, a sliding rail (not marked) is disposed on the third shaft 303, and the sliding block of the second shaft 302 slides along the sliding rail of the third shaft 303. The first pressing jig 32 is slidably mounted on the second shaft 302, so that the first pressing jig 32 can move along the Y-axis and the X-axis to be detached corresponding to the position of each graphite clamping point. Preferably, the second support 34 is further provided with an XY axis motor 341, and the XY axis motor 341 receives the control information of the control mechanism and drives the first downward pressing fixture 32 to move along the X or Y axis of the second support 34 so as to reach the accurate position of each graphite clamping point. The first vision module 31 includes: the device comprises a CCD camera 311, a lens 312, a light source 313 and a light source support 314, wherein one end of the light source support 314 is movably connected to the first shaft 301, the CCD camera 311 is fixed at the upper part of the other end of the light source support 314, the lens 312 is installed below the CCD camera 311, a horizontal plate 315 is arranged at the lower part of the other end of the light source support 314, a through hole is formed in the middle of the horizontal plate 315, and the lens 312 takes pictures of the graphite boat page 60 below through the through hole and uploads the pictures to the control mechanism. An image analysis module is arranged in the control mechanism, and the position coordinates of each old graphite clamping point on the first groove of the graphite boat sheet 60 are obtained by calculating and analyzing the photos. And sending the position coordinate to the XY axis motor 341, and the XY axis motor 341 controlling the first pressing jig 32 to move to the position coordinate of each clamping point for pressing operation, so as to realize the detachment of the old graphite clamping point in the first groove of the graphite boat page. The light source 313 is arranged on the periphery of the through hole of the horizontal plate 315, and the light source 313 is used for illuminating the graphite boat page 60 below so as to ensure that the image of the graphite boat page is clear and visible. Specifically, the first pressing jig 32 includes: the pressing device comprises a pressing cylinder 321 and a pressing jig 322, wherein the pressing jig 322 is a pressing rod which is driven by the pressing cylinder 321 to press down to the graphite clamping point, so that the graphite clamping point is pressed out from the clamping point hole. Specifically, the pressing jig 322 is installed at a piston end of the pressing cylinder 321, and the pressing cylinder 321 is slidably installed on the second shaft 302 through a vertical plate 323. The lower air cylinder 321 and the second shaft 302 are further respectively connected to a driver (not labeled), and the driver is configured to receive the position coordinates of each graphite stuck point, and control the lower air cylinder 321 to move along the second shaft 302 or the second shaft 302 to move along the third shaft 303, so as to reach the position of each graphite stuck point. When the pressing cylinder 321 reaches a graphite clamping point, the piston of the pressing cylinder 321 descends to drive the pressing jig 322 to descend, the pressing jig 322 contacts the graphite clamping point, the piston of the pressing cylinder 321 continues to descend until the graphite clamping point is pressed down from the clamping point hole, the graphite boat page 60 is separated, and then the piston of the pressing cylinder 321 ascends to drive the pressing jig 322 to ascend; and the pressing cylinder 321 moves to the next graphite clamping point position under the action of the XY axis motor 341, and the operations are repeated until the graphite clamping points in the first groove of the graphite boat page are completely disassembled.
Locate the assembly line below of stuck point disassembly body 30 is stuck point mechanism 40 of packing into, specifically, stuck point mechanism 40 of packing into includes: the device comprises a second vision module 42, a clamping point grabbing fixture 41 and a multi-joint mechanical arm 43, wherein the clamping point grabbing fixture 41 is installed on the multi-joint mechanical arm 43, the second vision module 42 has the same structure as the first vision module 31, the second vision module 42 is fixed on the multi-joint mechanical arm 43 through a light source support of the second vision module, and the clamping point grabbing fixture 41 and the second vision module 42 move along the X axis, the Y axis and the Z axis of the multi-joint mechanical arm 43. The second vision module 42 photographs the clamping point hole positions of the disassembled old graphite clamping points in the first groove of the graphite boat page and uploads the photographs to the control mechanism, the control mechanism calculates and analyzes the photographs to obtain the position coordinates of each clamping point hole position on the first groove and sends the position coordinates to the multi-joint mechanical arm 43, the multi-joint mechanical arm 43 grabs new graphite clamping points by using the clamping point grabbing jig 41 and then moves to the position coordinates of each clamping point hole position, and the new graphite clamping points are placed in each clamping point hole position, so that the new graphite clamping points in the first groove of the graphite boat page are loaded. Preferably, the clamping point grabbing jig 41 includes: the graphite clamping device comprises a gripper cylinder 411 and a clamping part 412, wherein the gripper cylinder 411 is an air claw, the clamping part 412 is two clamping plates, the two clamping plates are arranged at two piston ends of the air claw, the two clamping plates are opened and closed under the action of an air claw piston, and a new graphite clamping point is gripped and placed into a clamping point hole. And loading new graphite clamping points into all the clamping point hole sites in the first groove of the graphite boat page.
Arranged below the assembly line of the stuck point loading mechanism 40 is a stuck point pressing mechanism 50. Preferably, the stuck point pressing mechanism 50 has the same mechanical structure as the stuck point detaching mechanism 20 and the same operation principle as the stuck point detaching mechanism 20, the stuck point detaching mechanism 20 presses the old graphite stuck points out of the graphite boat pages, and the stuck point pressing mechanism 50 presses the new graphite stuck points into the graphite boat pages. The click press-in mechanism 50 includes: the third visual module 51 has the same structure as the first visual module 31 and the second visual module 42, the second pressing jig 52 has the same structure as the first pressing jig 32, and the third support 53 and the fourth support 54 have the same structure as the first support 33 and the second support 34, respectively. The third vision module 51 takes a picture of the loaded new graphite clamping point and uploads the picture to the control mechanism, and the control mechanism calculates and analyzes the picture to obtain the position coordinate of the new graphite clamping point on the first groove of the graphite boat page. And the position coordinates are sent to an XY-axis motor of a second pressing jig 52, the XY-axis motor of the second pressing jig 52 drives the second pressing jig 52 to move to the position above each new graphite clamping point, and the new graphite clamping points are pressed into the clamping point hole positions, so that the new graphite clamping points are pressed in until all the new graphite clamping points in the first groove of the graphite boat page are pressed into the graphite boat page. The press cylinders of the first press tool 32 and the second press tool 52 have different settings, for example, different piston lowering heights can be set, so that the press rod of the first press tool 32 can press down the old graphite clamping point to separate from the graphite boat page in the press operation, and the press rod of the second press tool 52 can properly press the new graphite clamping point into the clamping point hole, so as not to be pressed out.
In addition, when the next process is carried out on the first groove of the graphite boat page, the previous process can be simultaneously carried out on the second groove of the graphite boat page, if the old graphite clamping points which are already dismounted from the first groove enter the clamping point loading mechanism, the second groove also enters the lower part of the clamping point dismounting mechanism along with the graphite boat positioning mechanism, and when the clamping point loading process is carried out on the first groove, the clamping point dismounting process is simultaneously carried out on the second groove, so that a plurality of processes are simultaneously carried out, and the working efficiency of the graphite clamping point dismounting is greatly improved.
Corresponding to the automatic graphite boat dismounting system, the invention also provides an automatic graphite boat dismounting method, which comprises the following steps:
step a, putting graphite boat pages into a graphite boat positioning mechanism 20, pressing down fixing rods of a plurality of positioning cylinders 22 to compress and position the graphite boat pages, and starting a transmission mechanism to drive the graphite boat positioning mechanism 20 to run on a conveying track 12;
b, when the graphite boat positioning mechanism 20 drives the first groove of the graphite boat page to run to the position below the clamping point dismounting mechanism 30, the transmission mechanism stops, the control mechanism controls the clamping point dismounting mechanism 30 to run, the first vision module 31 takes a picture and sends the picture to the control mechanism, an image analysis module in the control mechanism calculates and analyzes the picture to obtain the position coordinate of each old graphite clamping point on the first groove of the graphite boat page, the position coordinate is sent to the XY-axis motor 341 of the first pressing jig 32, the XY-axis motor 341 drives the first pressing jig 32 to move to the position above each old graphite clamping point, the old graphite clamping point is pressed down, and the old graphite clamping point in the first groove of the graphite boat page is dismounted;
and c, after the old graphite clamping points of the first groove are disassembled, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the clamping point loading mechanism 40, the transmission mechanism stops, the second vision module 42 photographs the clamping point hole positions of the old graphite clamping points in the first groove of the graphite boat page after the old graphite clamping points are disassembled and uploads the photographed image to the control mechanism, and the control mechanism calculates and analyzes the photograph to obtain the position coordinates of each clamping point hole position on the first groove. And sending the position coordinates to the multi-joint mechanical arm 43, the multi-joint mechanical arm 43 grabbing new graphite clamping points by using the clamping point grabbing jig 41 and then moving to the position coordinates of each clamping point hole position, and placing the new graphite clamping points into each clamping point hole position to realize the loading of the new graphite clamping points in the first groove of the graphite boat page. And in the process of the step, the second groove of the graphite boat page reaches the position below the clamping point dismounting mechanism 30, and the clamping point dismounting mechanism 30 repeats the step b to dismount the old graphite clamping point of the second boat groove.
And d, after the new graphite stuck point is loaded into the first groove, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the stuck point pressing-in mechanism 50, the transmission mechanism stops, the third vision module 51 photographs the loaded new graphite stuck point and uploads the photographed new graphite stuck point to the control mechanism, and the control mechanism calculates and analyzes the photograph to obtain the position coordinate of the new graphite stuck point on the first groove of the graphite boat page. And the position coordinates are sent to an XY-axis motor of the second pressing jig 52, the XY-axis motor of the second pressing jig 52 drives the second pressing jig 52 to move to the position above each new graphite stuck point, and the new graphite stuck points are pressed into the stuck point hole positions, so that each new graphite stuck point is pressed in until all the new graphite stuck points in the first groove of the graphite boat page are pressed into the graphite boat page. When the step is carried out, the third groove of the graphite boat page reaches the position below the clamping point dismounting mechanism 30, the clamping point dismounting mechanism 30 repeats the step b, and the old graphite clamping point of the third boat groove is dismounted; and meanwhile, the second groove of the graphite boat page reaches the position below the clamping point loading mechanism 40, and the clamping point loading mechanism 40 repeats the step c to load a new graphite clamping point into the second boat groove.
And the rest can be done in the same way until all the boat grooves on the graphite boat page 60 are completely disassembled and the new clamping points are loaded. And then taking out the assembled graphite boat page, and then carrying out dismounting operation on the other graphite boat page.
In summary, the invention provides an automatic graphite boat dismounting system and an automatic graphite boat dismounting method, wherein graphite boat pages are conveyed by a graphite boat positioning mechanism, a clamping point dismounting mechanism, a clamping point loading mechanism and a clamping point pressing mechanism are integrated on a production line, old graphite clamping points of each groove on the conveyed graphite boat pages are dismounted and new graphite clamping points are mounted in sequence, manual graphite clamping point dismounting is completely replaced, labor cost is reduced, and damage to the body of a worker is avoided. The invention thoroughly solves the industrial pain point, has high automation degree, greatly reduces the damage rate of the graphite boat page, saves the production resource, reduces the disassembly and assembly time and improves the working efficiency.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic dismouting system of graphite boat which characterized in that includes: the frame, be equipped with a delivery track in the frame, install in the frame:
the graphite boat positioning mechanism locks and fixes the graphite boat pages and slides along the conveying track under the driving of the transmission mechanism;
the clamping point dismounting mechanism is used for positioning and dismounting the old graphite clamping points on the graphite boat page conveyed by the graphite boat positioning mechanism;
the clamping point loading mechanism is positioned at a downstream station of the clamping point dismounting mechanism and used for loading the new graphite clamping points into the hole sites of the graphite boat;
the clamping point pressing mechanism is positioned at a downstream station of the clamping point loading mechanism and used for pressing the new graphite clamping points loaded in the graphite boat hole sites into the graphite boat pages;
the transmission mechanism drives the graphite boat positioning mechanism to move along the conveying track;
and the control mechanism is in communication connection with the graphite boat positioning mechanism, the clamping point dismounting mechanism, the clamping point loading mechanism, the clamping point pressing-in mechanism and the transmission mechanism respectively.
2. The automatic graphite boat handling system of claim 1, wherein the graphite boat positioning mechanism comprises: the positioning plate is connected to the power output end of the transmission mechanism, a plurality of sliding blocks are arranged at the bottom of the positioning plate, and the sliding blocks are matched with the conveying track to enable the positioning plate to slide along the conveying track; the positioning cylinders are arranged on two sides of the positioning plate and used for compressing and fixing the graphite boat page placed on the positioning plate.
3. The automatic graphite boat dismounting system according to claim 2, wherein the graphite boat positioning mechanism further comprises a plurality of guide blocks, the plurality of guide blocks are mounted on both sides of the positioning plate, wherein a plurality of pairs of mounting holes are formed on either side of the positioning plate in the width direction, and a guide block is fixed on the positioning plate through a pair of mounting holes according to the width of the graphite boat.
4. The automatic disassembly and assembly system of claim 1, wherein the clamping point disassembling mechanism comprises a first vision module, a first downward pressing fixture, a first bracket and a second bracket, the first bracket has a first shaft in the Y-axis direction, and the first vision module is mounted on the first shaft; the second support comprises a second shaft in the X-axis direction and a third shaft in the Y-axis direction, a sliding block is arranged on the second shaft, a sliding rail is arranged on the third shaft, the sliding block of the second shaft slides along the sliding rail of the third shaft, and the first pressing jig is slidably mounted on the second shaft.
5. The automatic disassembly and assembly system of claim 4, wherein the first pressing fixture comprises: the pressing rod is arranged at the piston end of the pressing cylinder, and the pressing cylinder is arranged on the second shaft in a sliding mode through a vertical plate.
6. The automatic graphite boat handling system of claim 4 or 5, wherein the checkpoint loading mechanism comprises: the clamp point grabbing jig and the second vision module are mounted on the multi-joint mechanical arm and move along with the multi-joint mechanical arm in an X axis, a Y axis and a Z axis.
7. The system of claim 6, wherein the first vision module and the second vision module each comprise: CCD camera, camera lens, light source and light source support, light source support one end is fixed in on the external equipment, and the upper portion of the other end is fixed the CCD camera, the below installation of CCD camera the camera lens, the lower part of the other end of light source support is equipped with a horizontal plate, be equipped with a through-hole in the middle of the horizontal plate, the camera lens passes through the through-hole, the through-hole periphery of horizontal plate is equipped with the light source.
8. The system of claim 7, wherein the clamping point grabbing jig comprises: the gripper comprises a gripper cylinder and a clamping part, wherein the gripper cylinder is an air claw, the clamping part is two clamping plates, and the two clamping plates are arranged at two piston ends of the air claw.
9. The system of claim 7, wherein the click press-in mechanism comprises: the third vision module structure is the same as the first vision module structure and the second vision module structure, the second pressing jig is the same as the first pressing jig structure, and the third support and the fourth support are respectively the same as the first support and the second support structure.
10. An automatic disassembly and assembly method of a graphite boat is characterized by comprising the following steps:
step a, putting graphite boat pages into a graphite boat positioning mechanism, pressing and positioning the graphite boat pages by a plurality of positioning cylinders, and driving the graphite boat positioning mechanism to run on a conveying track by a transmission mechanism;
b, the graphite boat positioning mechanism drives the first groove of the graphite boat page to move to the position below the clamping point dismounting mechanism, the transmission mechanism stops, the first vision module positions the clamping point position of the first groove in the graphite boat page, the control mechanism controls the first downward pressing jig to move to the position above each graphite clamping point, and the old graphite clamping point is pressed down to realize the dismounting of the old graphite clamping point in the first groove;
c, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the clamping point loading mechanism, the transmission mechanism stops, the second vision module positions the position of each clamping point hole position on the first groove, and the control mechanism controls the clamping point grabbing jig to grab new graphite clamping points and sequentially places the new graphite clamping points into each clamping point hole position;
and d, the transmission mechanism operates again, the first groove of the graphite boat page is conveyed to the position below the clamping point press-in mechanism, the transmission mechanism stops, the third vision module positions the position of the new graphite clamping point in the first groove, the control mechanism controls the second press jig to move to the position above each new graphite clamping point, and the new graphite clamping point is pressed down to realize press-in of the new graphite clamping point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439820.2A CN112518663A (en) | 2020-12-10 | 2020-12-10 | Automatic graphite boat dismounting system and automatic dismounting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439820.2A CN112518663A (en) | 2020-12-10 | 2020-12-10 | Automatic graphite boat dismounting system and automatic dismounting method |
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| CN112518663A true CN112518663A (en) | 2021-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011439820.2A Pending CN112518663A (en) | 2020-12-10 | 2020-12-10 | Automatic graphite boat dismounting system and automatic dismounting method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113118725A (en) * | 2021-04-07 | 2021-07-16 | 上海弘竣新能源材料有限公司 | Automatic assembling and disassembling equipment for clamping points of graphite boat pieces based on visual detection system |
| CN113500378A (en) * | 2021-07-26 | 2021-10-15 | 浙江爱旭太阳能科技有限公司 | Method for replacing graphite boat blade staple bolt |
| CN113510460A (en) * | 2021-07-26 | 2021-10-19 | 天津爱旭太阳能科技有限公司 | Method and device for replacing graphite boat blade staple bolt |
| CN114512429A (en) * | 2022-01-14 | 2022-05-17 | 西安隆基乐叶光伏科技有限公司 | Graphite boat stuck point mounting mechanism, automatic maintenance equipment and maintenance method |
| CN114582770A (en) * | 2022-02-22 | 2022-06-03 | 湖南华鑫晶造电气科技有限公司 | Graphite boat stuck point automatic feeding device |
| CN114604627A (en) * | 2022-02-21 | 2022-06-10 | 英沃德智能科技(苏州)有限公司 | Graphite boat piece stuck point replacing device |
| CN115233194A (en) * | 2022-07-27 | 2022-10-25 | 深圳市艾特自动化有限公司 | Automatic equipment for realizing full-automatic calibration, locking and detection of graphite boat |
| CN117020633A (en) * | 2023-08-16 | 2023-11-10 | 苏州莱德新能源科技有限公司 | Automatic assembling equipment for clamping points of graphite boat sheets |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118725A (en) * | 2021-04-07 | 2021-07-16 | 上海弘竣新能源材料有限公司 | Automatic assembling and disassembling equipment for clamping points of graphite boat pieces based on visual detection system |
| CN113500378A (en) * | 2021-07-26 | 2021-10-15 | 浙江爱旭太阳能科技有限公司 | Method for replacing graphite boat blade staple bolt |
| CN113510460A (en) * | 2021-07-26 | 2021-10-19 | 天津爱旭太阳能科技有限公司 | Method and device for replacing graphite boat blade staple bolt |
| CN114512429A (en) * | 2022-01-14 | 2022-05-17 | 西安隆基乐叶光伏科技有限公司 | Graphite boat stuck point mounting mechanism, automatic maintenance equipment and maintenance method |
| CN114604627A (en) * | 2022-02-21 | 2022-06-10 | 英沃德智能科技(苏州)有限公司 | Graphite boat piece stuck point replacing device |
| CN114604627B (en) * | 2022-02-21 | 2024-03-12 | 英沃德智能科技(苏州)有限公司 | Graphite boat piece stuck point replacement device |
| CN114582770A (en) * | 2022-02-22 | 2022-06-03 | 湖南华鑫晶造电气科技有限公司 | Graphite boat stuck point automatic feeding device |
| CN115233194A (en) * | 2022-07-27 | 2022-10-25 | 深圳市艾特自动化有限公司 | Automatic equipment for realizing full-automatic calibration, locking and detection of graphite boat |
| CN117020633A (en) * | 2023-08-16 | 2023-11-10 | 苏州莱德新能源科技有限公司 | Automatic assembling equipment for clamping points of graphite boat sheets |
| CN117020633B (en) * | 2023-08-16 | 2024-01-26 | 苏州莱德新能源科技有限公司 | Automatic assembling equipment for clamping points of graphite boat sheets |
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