CN222405749U

CN222405749U - A replaceable manipulator capable of grabbing multiple graphite boats

Info

Publication number: CN222405749U
Application number: CN202420981652.7U
Authority: CN
Inventors: 杨士伟; 陈磊
Original assignee: Wuxi Zhongsi Xinyang Intelligent Equipment Co ltd
Current assignee: Wuxi Zhongsi Xinyang Intelligent Equipment Co ltd
Priority date: 2024-05-08
Filing date: 2024-05-08
Publication date: 2025-01-28
Anticipated expiration: 2034-05-08

Abstract

The utility model discloses a replaceable manipulator capable of grabbing multiple graphite boats, comprising a crossbeam, one side of the crossbeam is movably connected with a grooved guide wheel, the lower part of the grooved guide wheel is movably connected with a guide rail rack, the lower part of the guide rail rack is movably connected with a first main transmission gear, the inner surfaces of both sides of the crossbeam are fixedly connected with a first transmission shaft, the outer surface of the other side of the crossbeam is installed with a V-shaped guide wheel, the lower part of the V-shaped guide wheel is movably connected with a toothed bar. Through the above structure, a first transmission shaft, a first transmission sprocket, a third main transmission gear, a first motor and a first reducer are set to realize the lifting and lowering of the manipulator; a first main transmission gear, a second transmission shaft, a second reducer and a second main transmission gear are set to realize the lateral movement of the manipulator.

Description

Can snatch a plurality of graphite boats and removable manipulator

Technical Field

The utility model relates to the technical field of graphite boats and manipulators, in particular to a replaceable manipulator capable of grabbing a plurality of graphite boats.

Background

At present, the roller transmission mode in the photovoltaic and semiconductor industries is mainly a plastic shaft sleeve on a transmission shaft, and a graphite boat is a special boat with graphite as a base material, and has the characteristics of high temperature resistance, good chemical stability, high strength, excellent conductivity and the like.

In recent years, with the continuous development of new material technology, graphite boats are increasingly focused on in application in a plurality of fields, automatic graphite boat cleaning equipment is also increasing, at present, in automatic graphite boat cleaning equipment, most of graphite boats are placed in bearing baskets, automatic cleaning of the graphite boats is realized by grabbing bearing basket for placing the graphite boats through a manipulator, after cleaning, drying treatment is carried out on the graphite boats, the problem that a plurality of graphite boats cannot be grabbed by using the manipulator exists in the existing equipment, and because the use frequency of the manipulator is high, a replaceable manipulator is very important.

To this end, we propose a robot that can grasp multiple graphite boats and can be replaced.

Disclosure of utility model

The utility model provides a replaceable manipulator capable of grabbing a plurality of graphite boats, which is characterized in that a first transmission shaft, a first transmission chain wheel, a third main transmission gear, a first motor and a first speed reducer are arranged to realize lifting of the manipulator, and the first main transmission gear, a second transmission shaft, a second speed reducer and a second main transmission gear are arranged to realize transverse movement of the manipulator, so that the purpose that the graphite boat manipulator directly grabs the graphite boats is realized.

In order to achieve the above-mentioned purpose, provide a can snatch a plurality of graphite boats and removable manipulator, including the crossbeam, one side swing joint of crossbeam has the groove type guide pulley, the below swing joint of groove type guide pulley has the guide rail rack, the below swing joint of guide rail rack has first main drive gear, crossbeam both sides internal surface fixedly connected with first transmission shaft, the opposite side surface mounting of crossbeam has the V type guide pulley, the below swing joint of V type guide pulley has the tooth profile, the below swing joint of tooth profile has second main drive gear, the lower surface fixedly connected with elevating rail of crossbeam, elevating rail's inner wall fixedly connected with support column. The first motor and the first speed reducer realize the lifting of the manipulator by arranging the first transmission sprocket and the third main transmission gear on two sides of the first transmission shaft; the first speed reducer and the first motor are arranged to drive the first transmission shaft and the first transmission sprocket, the cross arm is driven to move up and down, the manipulator descends to a certain position, the operation of grabbing a plurality of graphite boats can be achieved through a plurality of mounting holes formed in the inner wall of the manipulator hanging plate, the number of the support plates is multiple, the cylinder connecting blocks are arranged on the first mounting bottom plate, the third mounting bottom plate and the second mounting bottom plate, the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are fixed through screws, when the basket reaches a designated position through detection, the first cylinder, the second cylinder, the third cylinder and the fourth cylinder work simultaneously, the manipulator is pulled to the initial positions of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder along a first linear guide rail slowly, products are grabbed, the first cylinder, the second cylinder and the third cylinder are firmly mounted on the first mounting bottom plate, the third mounting bottom plate and the second mounting bottom plate through the first cylinder and the third cylinder fixing block, products are firmly grabbed, and the first transmission shaft and the second transmission shaft are connected to the other end of the second speed reducer through the first transmission gear and the second transmission shaft.

According to the replaceable manipulator capable of grabbing the graphite boats, a first driving sprocket, a second driving sprocket and a third main driving gear are movably connected to the outer surface of one side of the first driving shaft, a second driving sprocket is fixedly connected to one side of the first driving sprocket, a first speed reducer and a first motor are mounted on the other side of the first driving shaft, and the first speed reducer and the first motor are fixedly connected. The first transmission shaft is arranged, and the first motor and the first speed reducer realize lifting of the manipulator by means of the first transmission chain wheels and the third main transmission gear on two sides.

According to the replaceable manipulator capable of grabbing a plurality of graphite boats, the mounting hole is formed in the inner wall of the lifting guide rail, the cross arm is movably connected to the inner wall of the mounting hole, the supporting plate is movably connected to the outer surface of the cross arm, the basket is installed on one side of the supporting plate for detection, the fourth cylinder is formed in the top of the third mounting bottom plate, and the first cylinder is movably connected to one side of the first linear guide rail. The first speed reducer and the first motor drive the first transmission shaft and the first transmission chain wheel to drive the cross arm to move up and down, so that the manipulator descends to a certain position.

According to the replaceable manipulator capable of grabbing a plurality of graphite boats, the outer surface of the supporting plate is movably connected with a manipulator hanging plate, the inner wall of the manipulator hanging plate is provided with a mounting hole, and the inner wall of the mounting hole is movably connected with the graphite boats. Through setting up a plurality of mounting holes of hanging plate inner wall is received to machinery, can realize grabbing the operation of a plurality of graphite boats.

According to the replaceable manipulator capable of grabbing a plurality of graphite boats, the inner wall of the supporting plate is fixedly connected with a lifting basket for detection, the top of the supporting plate is fixedly connected with a connecting top plate, the periphery of the connecting top plate is fixedly connected with a connecting plate, the lower surface of the connecting top plate is movably connected with a cylinder connecting block, a first mounting bottom plate, a third mounting bottom plate and a second mounting bottom plate are mounted at the bottom of the cylinder connecting block, a first linear guide rail is arranged on the inner surface of the third mounting bottom plate, a fourth cylinder is movably connected with the top of the first mounting bottom plate, a second linear guide rail is arranged on the inner surface of the second mounting bottom plate, one side of the second linear guide rail is movably connected with a second cylinder, and the other side of the second linear guide rail is movably connected with a third cylinder. Through setting up the quantity of backup pad is a plurality of, and the cylinder connecting block is located first mounting plate, third mounting plate and second mounting plate, uses the screw fixation, detects when the hand-basket and reaches the assigned position, and first cylinder, second cylinder, third cylinder, fourth cylinder simultaneous working slowly draws the manipulator whole along first linear guide to the initial position of first cylinder, second cylinder, third cylinder, fourth cylinder, snatchs the product.

According to the replaceable manipulator capable of grabbing the graphite boats, the outer surfaces of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are movably connected with a first cylinder fixing block, a second cylinder fixing block and a third cylinder fixing block. The first cylinder, the second cylinder, the third cylinder and the fourth cylinder are firmly arranged on the first mounting bottom plate, the third mounting bottom plate and the second mounting bottom plate by arranging the first cylinder fixing block, the second cylinder fixing block and the third cylinder fixing block, so that the products can be firmly grabbed.

According to the replaceable manipulator capable of grabbing the graphite boats, the second transmission shaft is fixedly connected to the inner surface of the cross beam, a second motor is installed on one side of the second transmission shaft, a second speed reducer is installed on one side of the second motor, and the first transmission shaft is movably connected with the first speed reducer through a fourth main transmission gear. And the first main transmission gear and the second transmission shaft are connected to the second speed reducer until the second main transmission gear at the other end is arranged, so that the transverse movement of the manipulator is realized.

The automatic graphite boat cleaning machine has the beneficial effects that the graphite boat is directly grabbed by the graphite boat manipulator aiming at the problem that the graphite boat bearing basket of the automatic graphite boat cleaning machine cannot enter the graphite boat oven, so that the graphite boat bearing basket is eliminated, and the aim of automatically butting the automatic graphite boat cleaning machine and the graphite boat oven is fulfilled. According to the utility model, four graphite boat hanging plates are designed on the manipulator, the four graphite boat hanging plates are respectively connected with the four hanging plate connecting support plates, the hanging plate support plates are arranged on the linear guide rail, each hanging plate support plate is respectively provided with an air cylinder, and the left-right movement of the hanging plate support plates on the linear guide rail is realized by controlling the back-and-forth expansion of the air cylinders so as to drive the graphite boat hanging plates to move, so that the manipulator can directly grasp the graphite boat for cleaning. Graphite boat manipulator through automatic graphite boat cleaning machine directly snatchs graphite boat and washs in material loading department, washs and accomplishes to place graphite boat in automatic conveyer of unloading department of automatic graphite boat cleaning equipment and convey to the oven in. According to the utility model, the graphite boat bearing basket is omitted, the automatic butt joint of the automatic graphite boat cleaning machine and the graphite boat oven is realized, and the process of manually conveying the graphite boat from the automatic graphite boat cleaning equipment to the oven is reduced, so that the material cost and the labor cost are reduced.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described below with reference to the drawings and examples;

FIG. 1 is a top view of one side of a first cylinder of a robot having multiple graphite boats grasped and replaced in accordance with the present utility model;

FIG. 2 is a top view of a robot of the present utility model that may grasp a plurality of graphite boats and be replaceable;

FIG. 3 is a front view of a robot of the present utility model that may grasp a plurality of graphite boats and be replaceable;

FIG. 4 is an enlarged view of a robot arm A of the present utility model which may grasp a plurality of graphite boats and be replaceable;

FIG. 5 is an enlarged view of a robot B of the present utility model which may grasp a plurality of graphite boats and may be replaced;

FIG. 6 is an enlarged view of a robot C of the present utility model which may grasp a plurality of graphite boats and be replaceable;

Legend description:

3. The mechanical arm comprises a first main transmission gear, a 4, a groove-type guide wheel, a 5, a first transmission sprocket, a 6, a first transmission shaft, a 7, a cross beam, an 8, a first speed reducer, a 9, a first motor, a 10, a V-shaped guide wheel, an 11, a tooth-shaped bar, a 12, a second main transmission gear, a 13, a lifting guide rail, a 14, a first linear guide rail, a 15, a cylinder connecting block, a 16, a first cylinder, a 17, a cross arm, a 18, a second cylinder, a 19, a third cylinder, a 20, a fourth cylinder, a 21, a first mounting base plate, a 22, a third mounting base plate, a 23, a second mounting base plate, a 24, a basket detection, a 25, a supporting plate, a 26, a manipulator hanging plate, a 27, a graphite boat, a 28, a first cylinder fixing block, a 29, a second cylinder fixing block, a 30, a third cylinder fixing block, a 31, a second linear guide rail, a 32, a connecting plate, a 33, a connecting top plate, a 34, a supporting column, a 35, a guide rail rack, a 36, a second transmission sprocket, a 37, a third main transmission gear, a 38, a second transmission shaft, a 39, a second motor, a 40, a fourth speed reducer and a fourth main transmission gear.

Detailed Description

Reference will now be made in detail to the present embodiments of the present utility model, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present utility model, but not to limit the scope of the present utility model.

Referring to fig. 1 to 6, the replaceable manipulator capable of grabbing a plurality of graphite boats according to the embodiment of the utility model comprises a cross beam 7, wherein one side of the cross beam 7 is movably connected with a groove-shaped guide wheel 4, the lower part of the groove-shaped guide wheel 4 is movably connected with a guide rail rack 35, the lower part of the guide rail rack 35 is movably connected with a first main transmission gear 3, the inner surfaces of two sides of the cross beam 7 are fixedly connected with a first transmission shaft 6, the outer surface of the other side of the cross beam 7 is provided with a V-shaped guide wheel 10, the lower part of the V-shaped guide wheel 10 is movably connected with a tooth-shaped bar 11, the lower part of the tooth-shaped bar 11 is movably connected with a second main transmission gear 12, the lower surface of the cross beam 7 is fixedly connected with a lifting guide rail 13, and the inner wall of the lifting guide rail 13 is fixedly connected with a support column 34.

The outer surface of one side of the first transmission shaft 6 is movably connected with a first transmission sprocket 5, a wheel second transmission sprocket 36 and a third main transmission gear 37, one side of the first transmission sprocket 5 is fixedly connected with the wheel second transmission sprocket 36, the other side of the first transmission shaft 6 is provided with a first speed reducer 8 and a first motor 9, and the first speed reducer 8 and the first motor 9 are fixedly connected. The mounting hole has been seted up to the inner wall of lift guide 13, and mounting hole inner wall swing joint has xarm 17, and xarm 17 surface swing joint has backup pad 25, and basket detection 24 is installed to one side of backup pad 25, and fourth cylinder 20 has been seted up at the top of third mounting plate 22, and one side swing joint of first straight line guide 14 has first cylinder 16. The surface swing joint of backup pad 25 has manipulator link plate 26, and the mounting hole has been seted up to the inner wall of manipulator link plate 26, and mounting hole inner wall swing joint has graphite boat 27.

The inner wall fixedly connected with basket detects 24, the top fixedly connected with connection roof 33 of backup pad 25, the fixedly connected with connecting plate 32 all around of connection roof 33, the lower surface swing joint of connection roof 33 has cylinder connecting block 15, first mounting plate 21 is installed to the bottom of cylinder connecting block 15, third mounting plate 22 and second mounting plate 23, first linear guide 14 has been seted up to the internal surface of third mounting plate 22, the top swing joint of first mounting plate 21 has fourth cylinder 20, the second linear guide 31 has been seted up to the internal surface of second mounting plate 23, one side swing joint of second linear guide 31 has second cylinder 18, the opposite side swing joint of second linear guide 31 has third cylinder 19. The outer surfaces of the first cylinder 16, the second cylinder 18, the third cylinder 19 and the fourth cylinder 20 are movably connected with a first cylinder fixing block 28, a second cylinder fixing block 29 and a third cylinder fixing block 30. The inner surface of the cross beam 7 is fixedly connected with a second transmission shaft 38, a second motor 39 is arranged on one side of the second transmission shaft 38, a second speed reducer 40 is arranged on one side of the second motor 39, and the first transmission shaft 6 is movably connected with the first speed reducer 8 through a fourth main transmission gear 41.

The working principle is that a second motor 39 and a second speed reducer 40 drive a second transmission shaft 38, a first main transmission gear 3 and a second main transmission gear 12 to enable a manipulator to transversely move to the position right above a graphite boat 27, a first motor 8 and a first speed reducer 9 drive a first transmission shaft 6 and a first transmission chain wheel 5 to drive a manipulator cross arm 17 to vertically move to enable the manipulator to descend to a certain position, when a basket detection 24 reaches a designated position, a first cylinder 16, a second cylinder 18, a third cylinder 19 and a fourth cylinder 20 work simultaneously, the whole manipulator is slowly pulled to the initial positions of the first cylinder 16, the second cylinder 18, the third cylinder 19 and the fourth cylinder 20 along a first linear guide rail 14 and a second linear guide rail 31, after products are grabbed, the first motor 8 and the first speed reducer 9 work to grab the graphite boat 27 along a lifting guide rail 13, and the second motor 39 and the second speed reducer 40 work to transversely move, and then the manipulator is placed in the next working procedure. Because the manipulator hanging plate 26 is fixed by the screws, all manipulator hanging plates 26 can be replaced, and the cost is greatly reduced.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present utility model.

Claims

1. Can snatch a plurality of graphite boats and removable manipulator, including crossbeam (7), its characterized in that, one side swing joint of crossbeam (7) has groove type guide pulley (4), the below swing joint of groove type guide pulley (4) has guide rail rack (35), the below swing joint of guide rail rack (35) has first main drive gear (3), crossbeam (7) both sides internal surface fixedly connected with first transmission shaft (6), the opposite side surface mounting of crossbeam (7) has V type guide pulley (10), the below swing joint of V type guide pulley (10) has tooth type strip (11), the below swing joint of tooth type strip (11) has second main drive gear (12), the lower surface fixedly connected with lift rail (13) of crossbeam (7), the inner wall fixedly connected with support column (34) of lift rail (13).

2. The manipulator capable of grabbing a plurality of graphite boats and being replaced according to claim 1, wherein a first transmission sprocket (5), a second transmission sprocket (36) and a third main transmission gear (37) are movably connected to the outer surface of one side of the first transmission shaft (6), a second transmission sprocket (36) is fixedly connected to one side of the first transmission sprocket (5), a first speed reducer (8) and a first motor (9) are mounted on the other side of the first transmission shaft (6), and the first speed reducer (8) and the first motor (9) are fixedly connected.

3. The manipulator capable of grabbing a plurality of graphite boats and being replaced according to claim 2, wherein a mounting hole is formed in the inner wall of the lifting guide rail (13), a cross arm (17) is movably connected to the inner wall of the mounting hole, a supporting plate (25) is movably connected to the outer surface of the cross arm (17), a basket detection (24) is mounted on one side of the supporting plate (25), a fourth air cylinder (20) is formed in the top of the third mounting bottom plate (22), and a first air cylinder (16) is movably connected to one side of the first linear guide rail (14).

4. A robot arm capable of gripping a plurality of graphite boats and being replaced according to claim 3, wherein the outer surface of the supporting plate (25) is movably connected with a robot arm hanging plate (26), the inner wall of the robot arm hanging plate (26) is provided with a mounting hole, and the inner wall of the mounting hole is movably connected with a graphite boat (27).

5. The manipulator capable of grabbing a plurality of graphite boats and being replaced according to claim 4, wherein the inner wall of the supporting plate (25) is fixedly connected with a lifting basket detection (24), the top of the supporting plate (25) is fixedly connected with a connecting top plate (33), the periphery of the connecting top plate (33) is fixedly connected with a connecting plate (32), the lower surface of the connecting top plate (33) is movably connected with an air cylinder connecting block (15), a first mounting bottom plate (21), a third mounting bottom plate (22) and a second mounting bottom plate (23) are mounted at the bottom of the air cylinder connecting block (15), a first linear guide rail (14) is arranged on the inner surface of the third mounting bottom plate (22), a fourth air cylinder (20) is movably connected to the top of the first mounting bottom plate (21), a second linear guide rail (31) is arranged on the inner surface of the second mounting bottom plate (23), a second air cylinder (18) is movably connected to one side of the second linear guide rail (31), and a third air cylinder (19) is movably connected to the other side of the second linear guide rail (31).

6. A robot arm capable of gripping a plurality of graphite boats and being replaced according to claim 3, wherein the outer surfaces of the first cylinder (16), the second cylinder (18), the third cylinder (19) and the fourth cylinder (20) are movably connected with a first cylinder fixing block (28), a second cylinder fixing block (29) and a third cylinder fixing block (30).

7. The manipulator capable of grabbing a plurality of graphite boats and being replaced according to claim 1, wherein a second transmission shaft (38) is fixedly connected to the inner surface of the cross beam (7), a second motor (39) is installed on one side of the second transmission shaft (38), a second speed reducer (40) is installed on one side of the second motor (39), and the first transmission shaft (6) and the first speed reducer (8) are movably connected through a fourth main transmission gear (41).