CN206140533U - Manipulator has basket layering basket check out test set - Google Patents
Manipulator has basket layering basket check out test set Download PDFInfo
- Publication number
- CN206140533U CN206140533U CN201621178311.8U CN201621178311U CN206140533U CN 206140533 U CN206140533 U CN 206140533U CN 201621178311 U CN201621178311 U CN 201621178311U CN 206140533 U CN206140533 U CN 206140533U
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- China
- Prior art keywords
- basket
- hanger
- manipulator
- mechanical arm
- window
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Abstract
The utility model discloses a manipulator has basket layering basket check out test set, include control system and the manipulator of being connected with the control system electricity, the manipulator is equipped with the arm, and the arm is platelike structure, and the centre is equipped with the window, and the arm is equipped with the stores pylon on the lateral wall of window below, the stores pylon bilateral symmetry is equipped with rectangular form and perforates, the arm is equipped with the round pin axle, and in the perforation was worn to locate by the round pin axle, the stores pylon can be installed on the arm through perforation and round pin axle with sliding from top to bottom, the stores pylon up end is less than the lower surface of window, and the stores pylon upwards extends along last end face centre has a protruding portion, the protruding portion is higher than the lower surface of window, and install on the protruding portion and press the basket sensor, there are individual extension, each in the stores pylon both sides along each extension of lower extreme face down the couple that the area hung the basket sensor is installed to the lower extreme of extension, press the basket sensor and hang the basket sensor and be connected with the control system electricity respectively. The utility model discloses safe and reliable, work efficiency is high.
Description
Technical field
The utility model is related to solar cell preparing technical field, and in particular to a kind of manipulator has the detection of basket layering basket to set
It is standby.
Background technology
Silicon chip is the base material of crystal silicon solar batteries manufacture, and the cleaning of silicon chip is in whole silicon wafer fabrication process
Particularly important link, if substrate cleaning is not clean, other follow-up processing steps are difficult to obtain high-quality by control
Crystal silicon solar batteries silicon chip.In solar groove type cleaning equipment and slot type wet processing apparatus, needing will using manipulator
Loading the gaily decorated basket handling of silicon chip carries out chemical attack or water cleaning treatment in rinse bath.The manipulator design of prior art is excessively
Simply, due to being not provided with any protection device thereon, while affected by stabilization of equipment performance and gaily decorated basket deformation etc., in the course of the work
Pressure basket or the situation of non-Hanging Basket happen occasionally, and existing processing method is to dig-in equipment by operator, if finding pressure basket or not
Hanging Basket phenomenon, hard stop, this operator scheme causes equipment frequent shutdown, normal production is have impact on, while also resulting in flower
Silicon chip in basket is done over again or is scrapped, high labor intensive, inefficiency.It is therefore desirable to a kind of new robotic device of design comes
Improve the present situation.
Utility model content
In view of above-mentioned technological deficiency, the utility model provides a kind of manipulator that may be adapted to automation mechanized operation has basket layering basket to examine
Measurement equipment, reduces labour intensity, improves operating efficiency, it is ensured that product quality.
In order to reach above-mentioned technique effect, the technical solution adopted in the utility model is：
A kind of manipulator has a basket layering basket testing equipment, including control system and the manipulator that electrically connects with control system, institute
State manipulator and be provided with two and be arranged in parallel and structure identical mechanical arm, control system is used for the motion of control machinery arm, described
Mechanical arm is platy structure, and centre is provided with window, and mechanical arm is provided with hanger, the hanger both sides pair on the side wall of beneath window
Title is provided with strip perforation, and the mechanical arm is provided with bearing pin, and bearing pin is arranged in perforation, and hanger can be upper and lower by perforation and bearing pin
It is slidably mounted on mechanical arm；The hanger upper surface is less than the lower surface of window, and hanger is upwardly extended along upper surface center
There is a protuberance, the protuberance is provided with pressure basket sensor, hanger both sides edge higher than the lower surface of window on protuberance
Lower end facing down the extension of be respectively extended with, and the lower end of each extension is provided with the hook of Hanging Basket sensor, described
Pressure basket sensor and Hanging Basket sensor are electrically connected respectively with control system, and pressure basket sensor and Hanging Basket sensor are respectively used to monitoring
Put and whether have during basket and hand basket pressure basket and non-Hanging Basket situation, and in time by the information transmission for monitoring to control system, control
System processed judges whether to press basket and non-Hanging Basket according to the information for receiving, and instructs manipulator to make next step action.
Further, the mechanical arm is in isosceles trapezoid shape structure, big top and small bottom, and lower end level.
Further, the window of the mechanical arm is provided with two, and two windows are symmetrical with regard to robot central line, Mei Yisuo
State beneath window and be equipped with a hanger, two hangers are also symmetrical with regard to the center line of mechanical arm.
Further, the hanger is located on the lateral wall of mechanical arm.
Further, also including warning device, the warning device is electrically connected with control system, and warning device is sounding unit
Part or light-emitting component.
Compared with prior art, the beneficial effects of the utility model are：By arranging slidable hanger on the robotic arm,
The pressure basket sensor and hook with Hanging Basket sensor is set on hanger, so as to being capable of automatic detection during utility model works
It is safe and reliable, save manually to pressure basket and non-Hanging Basket situation, operating efficiency is improve, by arranging two on each mechanical arm
Two gailys decorated basket can be carried out handling operation by individual hanger simultaneously, further increase operating efficiency.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, and in order to allow above and other purpose of the present utility model, feature
Can become apparent with advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model other direction.
Specific embodiment
As depicted in figs. 1 and 2, a kind of manipulator has basket layering basket testing equipment, including control system (not shown), pressure
Basket sensor 3, Hanging Basket sensor, warning device and manipulator.Pressure basket sensor 3, Hanging Basket sensor, warning device, manipulator
Electrically connect with control system respectively.Manipulator is provided with two and be arranged in parallel and structure identical mechanical arm 1, and control system is used to control
The motion of manipulator driving mechanical arm 1 processed.Mechanical arm 1 is isosceles trapezoid shape structure, and its is big top and small bottom, and lower end level.
The window 101 of two speculars each other is provided with the middle of mechanical arm 1, mechanical arm 1 is all provided with the side wall below each window 101
There is a hanger 2, two hangers 2 are also symmetrical with regard to the center line of mechanical arm 1.Each hanger 2 is symmetrically arranged on two with strip perforation
201, mechanical arm 1 is correspondingly provided with bearing pin 102, and in perforation 201, hanger 2 can be gone up bearing pin 102 by perforation 201 and bearing pin 102
Lower slider ground is arranged on mechanical arm 1.The upper surface of hanger 2 less than window 101 lower surface, hanger 2 along upper surface center upwards
A protuberance 202 is extended with, higher than the lower surface of window 101, pressure basket sensor 3 is on protuberance 202 for protuberance 202.
The both sides of hanger 2 facing down the extension 203 of be respectively extended with along lower end, and the lower end of each extension 20 is provided with hook 4, and Hanging Basket is passed
Sensor is arranged on hook 4.
When hand basket works, the mechanical hand-motion mechanical arm 1 of control system instruction is moved the utility model so that on hanger 2
Hook 4 hook up the gaily decorated basket 5, the Hanging Basket sensor on hook 2 is contacted with the induction point at the top of gaily decorated basket hook and slot 501, and signal is passed
Defeated control system receives and processes the information of Hanging Basket sensor transmissions to control system, judges to instruct manipulator to stop after non-Hanging Basket
Stop is made and instructs warning device to pass through luminous instruction or sounding alarm.When the utility model is when basket work is put, control system
The mechanical hand-motion mechanical arm 1 of instruction is moved so that the hook 4 on hanger departs from gaily decorated basket hook and slot 501, when the existing gaily decorated basket in rinse bath
5, during basket is put, the gaily decorated basket 5 on hanger 2 is stacked in rinse bath on original gaily decorated basket, due to the stroke now of mechanical arm 1 not
In place, continuing traveling downwardly causes the gaily decorated basket 5 upwardly to link up with 4 so that move on the relative mechanical arm 1 of hanger 2, positioned at hanger protuberance
Pressure basket sensor 3 on 202 monitors the relative displacement of hanger 2 and mechanical arm 1, and pressure basket sensor 3 sends out the information for monitoring
Control system is sent to, control system receives and process the information of the transmission of pressure basket sensor 3, judges to instruct manipulator to stop after pressure basket
Action instructs warning device to indicate or sounding alarm by luminous simultaneously.
The utility model arranges pressure basket sensor and band Hanging Basket by arranging slidable hanger on the robotic arm, on hanger
The hook of sensor, can automatically detect pressure basket and non-Hanging Basket situation in the course of work, effectively reduce pressure basket and non-Hanging Basket
The risk brought, its safety reliability is high, can be applied to automated production, saves artificial, improves operating efficiency.
The utility model is not limited to above-mentioned specific embodiment, for the person of ordinary skill of the art from upper
State design to set out, without performing creative labour, done a variety of conversion, all fall within protection domain of the present utility model it
It is interior.
Claims (5)
1. a kind of manipulator has a basket layering basket testing equipment, including control system and the manipulator that electrically connects with control system, described
Manipulator is provided with two and be arranged in parallel and structure identical mechanical arm, and control system is used for the motion of control machinery arm, its feature
It is that the mechanical arm is platy structure, centre is provided with window, and mechanical arm is provided with hanger on the side wall of beneath window, described
Hanger is symmetrically arranged on two with strip perforation, and the mechanical arm is provided with bearing pin, and bearing pin is arranged in perforation, hanger by perforation and
Bearing pin can slide up and down to installation on the robotic arm；Less than the lower surface of window, hanger is along upper surface for the hanger upper surface
The heart has upwardly extended a protuberance, and the protuberance is provided with pressure basket sensor higher than the lower surface of window on protuberance, described
Hanger both sides facing down the extension of be respectively extended with along lower end, and the lower end of each extension is provided with Hanging Basket sensor
Hook, the pressure basket sensor and Hanging Basket sensor are electrically connected respectively with control system.
2. manipulator according to claim 1 has basket layering basket testing equipment, it is characterised in that the mechanical arm is in isosceles ladder
Shape and structure, it is big top and small bottom, and lower end level.
3. manipulator according to claim 2 has basket layering basket testing equipment, it is characterised in that the window of the mechanical arm sets
There are two, two windows are symmetrical with regard to the center line of mechanical arm, and each beneath window is equipped with a hanger, and two hangers are also closed
It is symmetrical in robot central line.
4. manipulator according to claim 3 has basket layering basket testing equipment, it is characterised in that the hanger is located at mechanical arm
Lateral wall on.
5. manipulator according to claim 1 has basket layering basket testing equipment, it is characterised in that also including warning device, institute
State warning device to electrically connect with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621178311.8U CN206140533U (en) | 2016-11-03 | 2016-11-03 | Manipulator has basket layering basket check out test set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621178311.8U CN206140533U (en) | 2016-11-03 | 2016-11-03 | Manipulator has basket layering basket check out test set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206140533U true CN206140533U (en) | 2017-05-03 |
Family
ID=58623859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621178311.8U Active CN206140533U (en) | 2016-11-03 | 2016-11-03 | Manipulator has basket layering basket check out test set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206140533U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015691A (en) * | 2018-09-04 | 2018-12-18 | 上海釜川自动化设备有限公司 | A kind of robot manipulator structure and its implementation method for detecting hand basket, pressing basket |
| CN114055509A (en) * | 2021-11-25 | 2022-02-18 | 上海提牛机电设备有限公司 | Clamping plate applied to clamp |
-
2016
- 2016-11-03 CN CN201621178311.8U patent/CN206140533U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015691A (en) * | 2018-09-04 | 2018-12-18 | 上海釜川自动化设备有限公司 | A kind of robot manipulator structure and its implementation method for detecting hand basket, pressing basket |
| CN109015691B (en) * | 2018-09-04 | 2024-04-12 | 无锡釜川科技股份有限公司 | Manipulator structure for detecting lifting basket and pressing basket and implementation method thereof |
| CN114055509A (en) * | 2021-11-25 | 2022-02-18 | 上海提牛机电设备有限公司 | Clamping plate applied to clamp |
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