CN221364813U - Manipulator and carrying device for planar target and burning bearing plate - Google Patents

Abstract

The utility model belongs to the application field of sintering equipment of planar targets, and provides a manipulator which comprises a fixing unit, a first adsorption mechanism for adsorbing a sintering supporting plate and a vertical lifting mechanism for driving the first adsorption mechanism to ascend and descend, wherein the vertical lifting mechanism is connected to the fixing unit, and the fixing unit is provided with a plurality of second adsorption mechanisms for adsorbing the planar targets. According to the utility model, the first adsorption mechanism and the second adsorption mechanism with different suction force sizes can be switched according to the surface characteristics and the weight of the planar target and the burning plate to respectively adsorb and fix the burning plate and the planar target, so that the damage to the planar target or the burning plate during adsorption and fixation can be reduced, the working time can be saved, and the furnace charging efficiency can be improved. In addition, the utility model also provides a carrying device for the planar target and the setter plate.

Description

Manipulator and carrying device for planar target and burning bearing plate

Technical Field

The utility model belongs to the application field of sintering equipment of planar targets, and particularly relates to a manipulator and a carrying device of a planar target and a sintering plate.

Background

When the planar target is charged, the burning plate is required to be placed first and then the planar target is required to be placed, the loading and unloading modes of the original large planar target are always dependent on manual transportation until the loading and unloading modes are sequentially stacked to about 1.7 meters, the size of the loading and unloading modes is two meters at maximum, the weight of the loading and unloading modes exceeds 30kg, and because the planar target and the burning plate are in regular cuboid shapes, an operator is difficult to find an effective gripping point in the transportation process so as to exert force, and the operator is required to ascend and operate, so that potential safety hazards exist.

CN202211461521.8 discloses a but target vacuum suction crane of auto-lock, big target vacuum absorption handling device, laminate target body top surface through the sucking disc body of fixed casing bottom, the vacuum extractor utilizes the cooperation of fixed casing, fixed section of thick bamboo and movable tube to sucking disc body evacuation, thereby adsorb handling target body, the exhaust tube carries out the evacuation to the inflator of sucking disc body side simultaneously, negative pressure absorption piston head and movable rod move up in the inflator, the movable rod moves up and slides along the direction chute on the bearing frame inner wall, make the bearing frame follow the spacing intracavity in the inflator bottom mount pad and slide out and insert target body bottom, make the target body jack-up upwards, with the centre gripping of target body between bearing frame and sucking disc body.

In the technical scheme, the sucker body is evacuated through the vacuumizing machine, and the sucker body is adsorbed and fixed by negative pressure after contacting the target plate, but the sucking discs with different suction force cannot be adopted according to the surface characteristics and the weight of the planar target and the burning bearing plate to ensure the stability of adsorption and the safety of carrying.

Disclosure of utility model

The utility model aims to solve the problems, and provides a manipulator, a planar target and a carrying device of a burning plate, which can switch a first adsorption mechanism and a second adsorption mechanism with different suction force sizes according to the surface characteristics and the weight of the planar target and the burning plate to respectively adsorb and fix the burning plate and the planar target, thereby not only reducing the damage to the planar target or the burning plate during adsorption and fixation, but also saving labor hour and improving the furnace loading efficiency. In addition, the utility model also provides a carrying device for the planar target and the setter plate.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

The manipulator comprises a fixing unit, a first adsorption mechanism for adsorbing a burning plate, and a vertical lifting mechanism for driving the first adsorption mechanism to ascend and descend, wherein the vertical lifting mechanism is connected to the fixing unit, and the fixing unit is provided with a plurality of second adsorption mechanisms for adsorbing a planar target.

In the manipulator, the vertical lifting mechanism comprises a cylinder connected to the fixing unit, and the first adsorption mechanism is connected to the power output end of the cylinder.

In the manipulator, the first adsorption mechanism is a first sucker, and the first sucker is connected to the power output end of the air cylinder.

In the manipulator, the second adsorption mechanism comprises a buffer component connected to the bottom of the fixing unit, a second sucker connected to the bottom of the buffer component, and a vacuum check valve for controlling the second sucker.

In the manipulator, the buffer assembly comprises a telescopic rod and a spring sleeved on the telescopic rod, one end of the telescopic rod is in floating connection with the fixed unit, and the other end of the telescopic rod is connected with the second sucker; one end of the spring is connected with the bottom of the fixing unit, and the other end of the spring is connected with the second sucker.

In the above manipulator, the number of the first adsorption mechanisms is 2, and the plurality of second adsorption mechanisms are distributed on the periphery of the 2 first adsorption mechanisms, or the plurality of second adsorption mechanisms are distributed between and on the periphery of the 2 first adsorption mechanisms.

In the above-described robot arm, the adsorption area of the single first adsorption mechanism is larger than the adsorption area of the single second adsorption mechanism.

In the above manipulator, the fixing unit is a fixing frame or a fixing plate.

A carrying device for a planar target and a setter plate comprises a manipulator and a driving unit for driving the manipulator to swing horizontally and lift vertically.

In the carrying device, the driving unit comprises a connecting module, a connecting arm, a horizontal swing arm, a lifting booster arm and a rotary driving arm which are connected in sequence, wherein the connecting arm is provided with a handle; the connecting module is hinged with the fixing unit.

Compared with the prior art, the utility model has the beneficial effects that:

According to the utility model, the first adsorption mechanism and the second adsorption mechanism with different suction force sizes can be switched according to the surface characteristics and the weight of the planar target and the burning plate to adsorb and fix the burning plate and the planar target and the burning plate can be stacked by matching with the driving unit, so that the damage to the planar target or the burning plate during adsorption and fixation can be reduced, the working time can be saved, the burning efficiency can be improved, and the potential safety hazard can be reduced without the need of ascending height of operators.

Drawings

Fig. 1 is a front view of a robot arm of embodiment 1;

Fig. 2 is a front view of a second adsorption mechanism of the manipulator of embodiment 1;

fig. 3 is a perspective view of a planar target and setter plate handling apparatus of example 1.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

Referring to fig. 1 and 2, a manipulator includes a fixing unit, and further includes a first adsorption mechanism for adsorbing a setter plate, and a vertical lifting mechanism for driving the first adsorption mechanism to move up and down, where the vertical lifting mechanism is connected to the fixing unit, and the fixing unit is provided with a plurality of second adsorption mechanisms for adsorbing a planar target.

Patent document CN202210415504.4 discloses an ITO target sintering size control method, which discloses an ITO target blank sintering method, and the target blank is placed on a setter plate for sintering, so that the setter plate will not be described too much.

Under this design, when the operator in the art needs to adsorb and fix the setter plate, the vertical lifting mechanism is controlled to drive the first adsorption mechanism to move downwards to adsorb and fix the setter plate, and after the setter plate is placed, the vertical lifting mechanism drives the first adsorption mechanism to return to the initial position, and then the planar target is adsorbed and fixed by the second adsorption mechanism and placed on the setter plate.

More preferably, the vertical lift mechanism 5 includes a cylinder 51 connected to the fixed unit 3, and the first adsorption mechanism 4 is connected to a power output end of the cylinder 51; the first suction mechanism 4 is a first suction cup 41, and the first suction cup 41 is connected to the power output end of the air cylinder 51.

Specifically, the suction force of the first suction disc 41 is adopted according to the surface characteristics and the weight of the burning-rate board, the first suction disc 41 is driven to descend through the air cylinder 51 to adsorb and fix the burning-rate board, and when the burning-rate board is completely loaded into the furnace, the first suction disc 41 is driven to return to the initial position, so that interference with the second adsorption mechanism 6 is avoided, the burning-rate board can be firmly adsorbed and fixed, and the stability in carrying is improved.

In practical application, the second adsorption mechanism 6 comprises a buffer assembly 61 connected to the bottom of the fixed unit 3, a second sucker 62 connected to the bottom of the buffer assembly 61, and a vacuum check valve 63 for controlling the second sucker 62; the buffer assembly 61 comprises a telescopic rod 611 and a spring 612 sleeved on the telescopic rod 611, one end of the telescopic rod 611 is connected with the bottom of the fixed unit 3, and the other end of the telescopic rod 611 is connected with the second sucker 62; one end of the spring 612 is connected to the bottom of the fixing unit 3, and the other end is connected to the second suction cup 62.

Further, the suction force of the second sucking disc 62 is adapted to the surface characteristics and weight of the planar target, so that damage to the planar target can be reduced, and the vacuum check valve 63 controls the open and closed states of the second sucking disc 62; and the spring 612 is adopted for buffering, so that impact on the planar target can be further reduced when the planar target is adsorbed and fixed, the stability of the carrying process can be improved, and the impact on equipment can be reduced.

In the present embodiment, the number of the first adsorbing mechanisms 4 is 2, and the plurality of the second adsorbing mechanisms 6 is distributed on the periphery of the 2 first adsorbing mechanisms 4, or the plurality of the second adsorbing mechanisms 6 is distributed between and on the periphery of the 2 first adsorbing mechanisms 4.

Specifically, since the operator in the art needs to switch back and forth the first adsorbing mechanisms 4 and the second adsorbing mechanisms 6 to respectively hold the flat and planar target, and the planar target is relatively long in length and heavy in weight, the second adsorbing mechanisms 6 are distributed at the periphery of the 2 first adsorbing mechanisms 4 or between and at the periphery of the first adsorbing mechanisms 4 to ensure that the planar target can be adsorbed and fixed and kept stable.

The adsorption area of the single first adsorption mechanism 4 is larger than that of the single second adsorption mechanism 6. Because the planar target has a relatively long length and a relatively large area, a sufficient number of second adsorption mechanisms 6 need to be arranged to ensure stable adsorption during transportation, and interference between the first adsorption mechanism 4 and the second adsorption mechanism 6 can be avoided.

Preferably, the fixing unit 3 is a fixing frame or a fixing plate. The mount or plate may provide a support for the first and second suction mechanisms 4, 6.

Referring to fig. 3, a carrying device of a planar target and a setter plate includes a robot and a driving unit 2 for driving the robot to swing horizontally and to lift vertically; the driving unit 2 comprises a connecting module 21, a connecting arm 22, a horizontal swing arm 23, a lifting booster arm 24 and a rotary driving arm 25 which are sequentially connected, and a handle 221 is arranged on the connecting arm 22; the connecting module 21 is hinged with the fixing unit 3; the connection module 21 is hinged with the fixing unit 3.

Here, the connection module 21 is a floating joint based on the economical demands and the demands of the transportation work, but the present embodiment is not limited to the floating joint, and other functions similar to the floating joint can be achieved even if the first suction mechanism 4 and the second suction mechanism 6 are not in hard contact with the object.

Under this design, the manipulator is connected on drive unit 2 through link module 21 and link arm 22, when the sintering of charging needs to place the setter plate, need the operating personnel to rotate through holding handle 221 cooperation rotation actuating arm 25, first carry out a wide range of position change with the manipulator, move it to the setter plate, afterwards, need the operating personnel to exert down force on the handle and cooperate lift helping arm 24 to move the manipulator down, so that first adsorption equipment 4 is close to the setter plate, and when need carry out the angular adjustment of a small margin to the manipulator in order to conveniently aim at the setter plate, the operating personnel can swing the handle a small margin, so horizontal swing arm 23 just can follow operating movement of operating personnel in order to adjust and realize good angle, afterwards, through controlling vertical lift mechanism 5 and driving first adsorption equipment 4 to descend and adsorb fixedly with the setter plate, and when placing, first adsorption equipment 4 can loosen fixedly to the setter plate, after loosening, vertical lift mechanism 5 just can drive first adsorption equipment 4 and then drive the initial adsorption equipment 4 to the position and accomplish the transport of setter plate.

When the planar target is required to be placed on the burning plate, the rotary driving arm 25, the lifting booster arm 24, the horizontal swinging arm 23 and the working principle are the same as those of the carrying plate, the planar target is adsorbed and fixed by the second adsorption mechanism 6, the steps are repeated, and the planar target is stacked to about 1.7 m according to the sequence of placing the burning plate and then placing the planar target, so that the burning plate and the planar target are completed.

The connection module 21 is hinged to the fixing unit 3, so that the first adsorption mechanism 4 can be prevented from being in hard contact with the sintering plate when the first adsorption mechanism adsorbs the sintering plate, damage to the sintering plate is avoided, and the second adsorption mechanism 6 is also used for preventing the situation when the second adsorption mechanism adsorbs the planar target.

Claims (10)

1. The manipulator comprises a fixing unit and is characterized by further comprising a first adsorption mechanism for adsorbing a burning bearing plate and a vertical lifting mechanism for driving the first adsorption mechanism to ascend and descend, wherein the vertical lifting mechanism is connected to the fixing unit, and the fixing unit is provided with a plurality of second adsorption mechanisms for adsorbing a planar target.

2. The manipulator of claim 1, wherein the vertical lift mechanism comprises a cylinder coupled to a stationary unit, and the first suction mechanism is coupled to a power output of the cylinder.

3. The manipulator of claim 2, wherein the first suction mechanism is a first suction cup, and the first suction cup is connected to a power output end of the cylinder.

4. The robot of claim 1, wherein the second suction mechanism comprises a buffer assembly connected to the bottom of the fixing unit, a second suction cup connected to the bottom of the buffer assembly, and a vacuum check valve for controlling the second suction cup.

5. The manipulator according to claim 4, wherein the buffer assembly comprises a telescopic rod and a spring sleeved on the telescopic rod, one end of the telescopic rod is in floating connection with the fixed unit, and the other end of the telescopic rod is connected with the second sucker; one end of the spring is connected with the bottom of the fixing unit, and the other end of the spring is connected with the second sucker.

6. The manipulator of any of claims 1-5, wherein the first plurality of suction mechanisms is 2, the plurality of second suction mechanisms is disposed about the periphery of the 2 first suction mechanisms, or the plurality of second suction mechanisms is disposed between and about the periphery of the 2 first suction mechanisms.

7. The robot of claim 6, wherein the suction area of a single one of said first suction mechanisms is greater than the suction area of a single one of said second suction mechanisms.

8. The manipulator of claim 1, wherein the fixing unit is a fixing frame or a fixing plate.

9. A planar target and setter plate handling apparatus comprising a robot as claimed in any one of claims 1 to 8 and a drive unit for driving the robot to swing horizontally and to lift vertically.

10. The carrying device according to claim 9, wherein the driving unit comprises a connecting module, a connecting arm, a horizontal swing arm, a lifting booster arm and a rotary driving arm which are sequentially connected, and a handle is arranged on the connecting arm; the connecting module is hinged with the fixing unit.