CN106697919A - Silicon rod loading and unloading transferring equipment - Google Patents
Silicon rod loading and unloading transferring equipment Download PDFInfo
- Publication number
- CN106697919A CN106697919A CN201611251654.7A CN201611251654A CN106697919A CN 106697919 A CN106697919 A CN 106697919A CN 201611251654 A CN201611251654 A CN 201611251654A CN 106697919 A CN106697919 A CN 106697919A
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- Prior art keywords
- fixed
- cantilever
- silicon rod
- axis
- screw pair
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides silicon rod loading and unloading transferring equipment which comprises a base and a support, wherein the support is placed on and fixedly connected with the base; one side wall of the support is connected with a manipulator in a sliding way through a first sliding mechanism; the bottom of the manipulator is flexibly connected with a cantilever through a rotating mechanism; a gripping jaw is arranged at the bottom of the cantilever; and the gripping jaw is connected with the cantilever in a sliding way through a second sliding mechanism. According to the silicon rod loading and unloading transferring equipment, the sliding gripping jaw is adopted to grip or release a silicon rod to finish loading or unloading of the silicon rod, manual handling is not needed, quick and accurate positioning and automatic control are realized, the working efficiency is increased, and the cost is reduced.
Description
Technical field
The invention belongs to Photovoltaic new energy apparatus field, more particularly, to one kind handling silicon rod transloading equipment.
Background technology
The monocrystal of silicon is a kind of crystal with substantially complete lattice structure, is a kind of good semiconducting material, is used
In manufacture semiconductor devices, solar cell etc., with the progress of scientific and technological productive forces, it uses the usage amount of scope increasingly
Height, the proportion for accounting for various products gradually increases, and the monocrystalline silicon of the every field for being used at present, generally it is by larger silicon
Rod carries out cutting processing, cuts into different size to be applied to every field, and existing when being processed to silicon rod, is
Carried by manpower, be placed on corresponding storage rack or process equipment, because the weight of silicon rod is larger, and storage rack compared with
Height, shelf can be collided when carrying up and down unavoidably, cause the damage of silicon rod, produce waste, and on shelf high up and down
A dead lift silicon rod, wasting manpower and material resources, and it is less efficient, it is unfavorable for improving production cost.For this kind of situation, the present invention is carried
Go out a kind of handling silicon rod transloading equipment, the automatic loading and unloading of silicon rod can have been realized by the use of this equipment, without artificial operation,
Can efficiently realize accurately positioning carrying out silicon rod automatic loading and unloading, realize the automation of control, mitigate staff's
Workload, improves operating efficiency and reduces cost.
The content of the invention
In view of this, the present invention is directed to propose a kind of handling silicon rod transloading equipment, efficient accurately with the control for automating
Positioned to realize silicon rod automatic loading and unloading, improve operating efficiency.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
One kind handling silicon rod transloading equipment, including base and the support being fixedly connected placed on it, the rack side wall lead to
Cross the first slide mechanism to be slidably connected manipulator, the manipulator bottom is flexibly connected by rotating mechanism cantilever, it is described outstanding
Arm bottom is provided with clamping jaw, and the clamping jaw is slidably connected by the second slide mechanism on the cantilever.
Further, the base is provided with detent mechanism, and the detent mechanism is divided into first order detent mechanism and second
Level detent mechanism, the first order detent mechanism is the AGV control systems for being placed in the bottom, the second level detent mechanism bag
Fixed seat and locating piece placed on it are included, the locating piece is fixed on the cantilever upper surface by the fixed seat, described
Front end laser range sensor is additionally provided with fixed seat, the rotating mechanism is divided into the first rotating mechanism and the second rotating mechanism,
The cantilever is provided with level meter, and the level meter is placed between first rotating mechanism and second rotating mechanism, institute
Stating the first rotating mechanism includes the first bearing being fixed on the cantilever, and swivel becket is hinged with first bearing, described
Manipulator bottom is fixed with suspension ring, and the suspension ring are placed in the swivel becket, and second rotating mechanism is described including being fixed on
The second bearing on cantilever, is hinged with moving block on second bearing, the other end of the moving block passes through the 3rd skate machine
Structure is slidably connected with the manipulator, and the 3rd slide mechanism includes being fixed on the fixed plate of the cantilever bottom, described solid
Fixed board is provided with two articles of the 3rd guide rails being parallel to each other, and the 3rd guide rail is provided with the 3rd sliding block coordinated with it, two institutes
State and be additionally provided with the 3rd screw pair, the 3rd nut and the 3rd sliding block of the 3rd screw pair between the 3rd guide rail
On be fixed with support plate jointly, the moving block is fixed on the support plate, second slide mechanism include the second motor and
The second decelerator of heart cooperation is coaxial therewith, the output end of second decelerator rotates the second leading screw of connection by synchronous pulley
The claw, the leading screw of second screw pair are fixed in pair of nut, the second nut bottom of second screw pair
Synchronization encoders are provided with by the second fixed mount, the claw is provided with the two-way electricity of horizontal positioned near the side of the support
Cylinder, the cantilever both sides are additionally provided with symmetrical clamp system, and the clamp system includes being secured to connection through the cantilever
Magnet fixed seat, the center of the magnet fixed seat is provided with notch cuttype through hole, the through hole and is connected with by spring
Copper post, electromagnet is fixed in the magnet fixed seat, and traveller is combined with through the electromagnet gap, and the traveller is near institute
The one end for stating electromagnet is fixed with iron block.
Further, the fixed seat away from the locating piece one end and the manipulator away from the support one end
Fixed, the locating piece is U-shaped structure, and the side of the locating piece is mutually perpendicular to the cantilever upper surface, the front end
Laser range sensor is symmetrically placed in the locating piece both sides, and it is highly identical with the positioning tile height, the locating piece
U-shaped outer wall Glabrous thorn, and be provided with its outer wall gap coordinate U-shaped block, the cooperation of the U-shaped block and the locating piece
Precision is in ± 0.5mm.
4th, a kind of handling silicon rod transloading equipment according to claim 2, it is characterised in that：First bearing and institute
Swivel becket is stated by the first hinge, the axis of first bearing pin perpendicular to the cantilever, second bearing with it is described
By the second hinge, the axis of second bearing pin is mutually perpendicular to moving block with the axis of first bearing pin, and described the
The axis of three screw pairs is parallel with the glide direction of the 3rd sliding block, and the axis of second bearing pin is slided with the described 3rd
The glide direction of block is vertical, and the 3rd screw pair is driven by three-motor, the output shaft of the three-motor
The 3rd leading screw with the 3rd screw pair is connected by the 3rd pulley rotation, the output shaft of the three-motor
The diameter parallel of axis and the 3rd leading screw.
Further, the cantilever is the U-shaped frame of bottom opening, and the two side of the cantilever is arranged with multiple uniform points
First guide cam and the second guide cam of cloth, the axis of the axis of first guide cam and second guide cam
It is mutually perpendicular to, the axis horizontal of first guide cam and vertical with the glide direction of second nut is described two-way
Glide direction of the axis of electric cylinders perpendicular to second nut.
Further, the other end of the traveller is stretched into the centre bore of the copper post and coordinated with its sidewall spacers, described
Distance of the iron block to the distance between the electromagnet more than the traveller to the centre bore bottom, the maximum pressure of the spring
Contracting amount is more than the iron block to the distance of the electromagnet, the depth of the height less than the magnet fixed seat of the copper post.
Further, first slide mechanism includes the first motor and is coaxial therewith the first feed screw nut of heart connection
Pair, the first leading screw both sides of first screw pair are provided with the first symmetrical guide rail slide block, and the first fixed plate is fixed on institute
State in the first nut top of the first screw pair and the first sliding shoe top of first guide rail slide block, the manipulator
It is fixed in first fixed plate, the axis of first leading screw is parallel with the glide direction of first sliding block, described
The axis of one leading screw is vertical with the upper surface of the base.
Further, silt is detachably connected on the base and connects disk, the width that the silt connects disk is more than the silicon rod
Width and the 3rd sliding block sliding distance sum, the silt connects disk and is symmetrically arranged on two with handle.
Further, the support is provided with dual touch screen away from one end of the manipulator, and the cradle top is provided with police
Show lamp, 120AH lithium batteries are additionally provided with the base, universal wheel is evenly distributed with the base corner, set on the base
There are control unit, the AGV control systems, the universal wheel, first motor, second motor, the described 3rd
Motor, the dual touch screen, the electromagnet, the level meter, the warning lamp, the front end laser range sensor,
Electrically connected with described control unit respectively with the two-way electric cylinders.
Relative to prior art, a kind of handling silicon rod transloading equipment of the present invention has the advantage that：
(1) a kind of handling silicon rod transloading equipment of the present invention, the folder of the control clamping jaw of high-accuracy high-efficiency rate to silicon rod
It is tight or loosen, the automatic loading and unloading of silicon rod can be realized by the use of this equipment, without artificial operation, can efficiently realize essence
Accurate positioning realizes the automation of control to carry out automatic loading and unloading to silicon rod, mitigates the workload of staff, improves work effect
Rate and reduce cost.
(2) base of the present invention is provided with detent mechanism, and the detent mechanism is divided into first order detent mechanism and
Two-stage positioning mechanism, the first order detent mechanism is the AGV control systems for being placed in the bottom, the second level detent mechanism
Including fixed seat and locating piece placed on it, the fixed seat away from the locating piece one end with the manipulator away from institute
The one end for stating support is fixed, and the locating piece is fixed on the cantilever upper surface by the fixed seat, and the locating piece is U-shaped
Structure, and the side of the locating piece is mutually perpendicular to the cantilever upper surface, and front end Laser Measuring is additionally provided with the fixed seat
Away from sensor, the front end laser range sensor is symmetrically placed in the locating piece both sides, and it is highly high with the locating piece
Degree is identical, the U-shaped outer wall Glabrous thorn of the locating piece, and is provided with the U-shaped block coordinated with its outer wall gap, the U-shaped block
With the quality of fit of the locating piece in ± 0.5mm.The preliminary of fixed position in transport process is realized by AGV control systems
Positioning, stopping accuracy ± 5MM loads 500KG, counter to answer the time≤2MS, locating piece and further smart with the U-shaped block that it coordinates
The application of degree control positioning and front end laser range sensor, front end laser range sensor Adjustment precision ± 0.2MM, it is ensured that
Efficient stable and high-precision positioning, are easy to the handling of silicon rod in the equipment transport process, and positioning precision is higher.
(3) rotating mechanism of the present invention is divided into the first rotating mechanism and the second rotating mechanism, and the cantilever is provided with
Level meter, the level meter is placed between first rotating mechanism and second rotating mechanism, first rotating mechanism
Including the first bearing being fixed on the cantilever, swivel becket is hinged with first bearing, the manipulator bottom is fixed
There are suspension ring, the suspension ring are placed in the swivel becket, first bearing and the swivel becket are described by the first hinge
Perpendicular to the cantilever, second rotating mechanism includes the second bearing being fixed on the cantilever to the axis of the first bearing pin,
Moving block is hinged with second bearing, the other end of the moving block is slided by the 3rd slide mechanism with the manipulator
Connection, second bearing is with the moving block by the second hinge, the axis of second bearing pin and the described first pin
The axis of axle is mutually perpendicular to, and the 3rd slide mechanism includes being fixed on the fixed plate of the cantilever bottom, in the fixed plate
Two articles of the 3rd guide rails being parallel to each other are provided with, the 3rd guide rail is provided with the 3rd sliding block coordinated with it, two articles the described 3rd
The 3rd screw pair is additionally provided between guide rail, it is common on the 3rd nut and the 3rd sliding block of the 3rd screw pair
Support plate is fixed with, the moving block is fixed on the support plate, axis and the 3rd sliding block of the 3rd screw pair
Glide direction it is parallel, the axis of second bearing pin is vertical with the glide direction of the 3rd sliding block, the 3rd leading screw spiral shell
Female secondary three-motor drives, and the 3rd leading screw of the output shaft of the three-motor and the 3rd screw pair is by the
Three pulley rotations are connected, the diameter parallel of the axis of the output shaft of the three-motor and the 3rd leading screw.By two
The flexible connection of manipulator and cantilever is realized in the cooperation of individual rotating mechanism, makes it convenient to the different frees degree in position fixing process
It is adjusted, the setting of level meter ensure that the levelness of cantilever, both fixed tracks will not be caused a deviation from position fixing process, effectively
Improve positioning precision.
(4) the second slide mechanism of the present invention includes the second motor and is coaxial therewith the second deceleration of heart cooperation
Device, the output end of second decelerator rotates the second screw pair of connection, second feed screw nut by synchronous pulley
The claw is fixed in the second secondary nut bottom, and the leading screw of second screw pair is provided with synchronous volume by the second fixed mount
Code device, the cantilever is the U-shaped frame of bottom opening, and the two side of the cantilever is arranged with multiple equally distributed first and is oriented to
Cam and the second guide cam, the axis of first guide cam are mutually perpendicular to the axis of second guide cam, institute
The axis for stating the first guide cam is vertical with the glide direction of second nut, and the claw sets near the side of the support
There are a two-way electric cylinders of horizontal positioned, the glide direction of the axis of the two-way electric cylinders perpendicular to second nut.By second
Power drive the second feed screw nut secondary motion of motor output, and then make that claw is movable to be loaded and unloaded with to silicon rod, it is synchronous to compile
The setting of code device ensure that the job schedule of the second screw pair, the high efficiency of control be realized, by two perpendicular two
The setting of group guide cam be ensure that and provide support force and guiding force to silicon rod in cargo handling process, and save driving force, raising is loaded and unloaded
Efficiency.
(5) cantilever both sides of the present invention are additionally provided with symmetrical clamp system, and the clamp system is included through described
Cantilever is secured to the magnet fixed seat of connection, and the center of the magnet fixed seat is provided with notch cuttype through hole, leads in the through hole
Cross spring and be connected with copper post, electromagnet is fixed in the magnet fixed seat, and cunning is combined with through the electromagnet gap
Post, the traveller is fixed with iron block near one end of the electromagnet, and the other end of the traveller stretches into the center of the copper post
Coordinate with its sidewall spacers in hole, the distance between described iron block to the electromagnet is more than the traveller to the centre bore bottom
The distance in portion, the maximum compressibility of the spring more than the iron block to the electromagnet distance, the copper post it is highly small
In the depth of the magnet fixed seat.Further clamping to silicon rod is realized by the power on/off to electromagnet, it is ensured that transhipment
During safety and stability, prevent security incident, this kind of clamp system simple structure realizes effect preferably, and saving is produced into
This.
(6) the first slide mechanism of the present invention includes the first motor and is coaxial therewith the first leading screw spiral shell of heart connection
Female secondary, the first leading screw both sides of first screw pair are provided with the first symmetrical guide rail slide block, and the first fixed plate is fixed on
On the first sliding shoe top of the first nut top of first screw pair and first guide rail slide block, the machinery
Hand is fixed in first fixed plate, and the axis of first leading screw is parallel with the glide direction of first sliding block, described
The axis of the first leading screw is vertical with the upper surface of the base.Realize being slidably connected manipulator by simple structure, energy
Its is enough set freely to move up and down, displacement control is more accurate, it is ensured that the high accuracy of manipulator and efficient positioning.
(7) silt is detachably connected on base of the present invention and connects disk, the width that the silt connects disk is more than the silicon
The sliding distance sum of the width of rod and the 3rd sliding block, the silt connects disk and is symmetrically arranged on two with handle.Prevent from being moved through
The chip for comparing silicon rod when jolting in journey falls into base, influences the cleannes of its controlling system to require, reduces each several part mechanism
Service life, and maintenance is inconvenient, and production cost increases.
(8) support of the present invention is provided with dual touch screen away from one end of the manipulator, and the cradle top is provided with
Warning lamp, is additionally provided with 120AH lithium batteries on the base, universal wheel is evenly distributed with the bottom corner, on the base
It is provided with control unit, the AGV control systems, the universal wheel, first motor, second motor, described
Three-motor, the dual touch screen, the electromagnet, the level meter, the warning lamp, front end laser range sensor and institute
Two-way electric cylinders are stated to be electrically connected with described control unit respectively.The automation of control is realized, the fast of equipment is realized in the use of lithium battery
Speed charges, it is ensured that equipment continually and steadily efficiently works, and improves operating efficiency, reduces cost.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of handling silicon rod transloading equipment overall structure diagram described in the embodiment of the present invention；
Fig. 2 is that a kind of handling silicon rod the first slide mechanism of the transloading equipment part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 3 is a kind of handling silicon rod transloading equipment cantilever part-structure schematic diagram described in the embodiment of the present invention；
Fig. 4 is a kind of handling silicon rod transloading equipment rotating mechanism part-structure schematic diagram described in the embodiment of the present invention；
Fig. 5 is that a kind of handling silicon rod the second slide mechanism of the transloading equipment part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 6 is a kind of handling silicon rod transloading equipment clamp system part-structure schematic diagram described in the embodiment of the present invention；
Fig. 7 is a kind of handling silicon rod transloading equipment clamp system part-structure schematic diagram described in the embodiment of the present invention.
Description of reference numerals：
1- bases；2- silts connect disk；3- silicon rods；4- clamp systems；5- rotating mechanisms；6- cantilevers；7- second level localization machine
Structure；8- manipulators；9- supports；10- universal wheels；11-AGV control systems；12- lithium batteries；13- dual touch screens；14- first is electronic
Machine；The fixed plates of 15- first；The guide rail slide blocks of 16- first；The screw pairs of 17- first；18- warning lamps；The slide mechanisms of 19- second；
20- level meters；201- handles；401- magnet fixed seats；402- through holes；403- springs；404- copper posts；405- electromagnet；406-
Traveller；407- iron blocks；408- centre bores；The bearings of 501- first；502- swivel beckets；503- suspension ring；The bearing pins of 504- second；505- consolidates
Fixed board；506- support plates；507- moving blocks；The bearings of 508- second；The guide rails of 509- the 3rd；The screw pairs of 510- the 3rd；511-
Three sliding blocks；The belt pulleys of 512- the 3rd；513- three-motors；The bearing pins of 514- first；The guide cams of 601- first；602- second leads
To cam；701- front ends laser range sensor；702- locating pieces；703- fixed seats；704-U shape blocks；1901- second is electronic
Machine；The decelerators of 1902- second；The fixed mounts of 1903- second；1904- synchronization encoders；1905- synchronous pulleys；1906- second
Thick stick pair of nut；The nuts of 1907- second；The two-way electric cylinders of 1908-；1909- claws.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
One kind loads and unloads silicon rod transloading equipment, including base 1 and the support 9 being fixedly connected placed on it as shown in Figure 1, described
The side wall of support 9 is slidably connected manipulator 8 by the first slide mechanism, and the bottom of the manipulator 8 is flexibly connected by rotating mechanism 5
There is cantilever 6, the bottom of the cantilever 6 is provided with clamping jaw 1909, and the clamping jaw 1909 is by the second slide mechanism 19 on the cantilever 6
It is slidably connected.The control clamping jaw 1909 of high-accuracy high-efficiency rate is to the clamping of silicon rod 3 or loosens, can be real by the use of this equipment
The automatic loading and unloading of existing silicon rod 3, without artificial operation, can efficiently realize accurately positioning carries out automatic loading and unloading with to silicon rod 3,
The automation of control is realized, mitigates the workload of staff, improved operating efficiency and reduce cost.
Wherein, the base 1 is provided with detent mechanism, and the detent mechanism is divided into first order detent mechanism and the second level is fixed
Position mechanism 7, the first order detent mechanism is the AGV control systems 11 for being placed in the bottom, the second level detent mechanism bag
Include fixed seat 703 and locating piece 702 placed on it, the one end and the machine of the fixed seat 703 away from the locating piece 702
Tool hand 8 is fixed away from one end of the support 9, and the locating piece 702 is fixed on the cantilever 6 by the fixed seat 703
Surface, the locating piece 702 is U-shaped structure, and the side of the locating piece 702 is mutually perpendicular to the upper surface of the cantilever 6, institute
State and front end laser range sensor 701 is additionally provided with fixed seat 703, the front end laser range sensor 701 is symmetrically placed in institute
The both sides of locating piece 702 are stated, and it is highly highly identical with the locating piece 702, the smooth nothing of U-shaped outer wall of the locating piece 702
Burr, and the U-shaped block 704 coordinated with its outer wall gap is provided with, the quality of fit of the U-shaped block 704 and the locating piece 702 exists
±0.5mm.The Primary Location of the fixed position in transport process, stopping accuracy ± 5MM, load are realized by AGV control systems
500KG, counter to answer the time≤2MS, locating piece 702 and the U-shaped block 704 being fixed on other shelfs coordinated with it are further smart
The application of degree control positioning and front end laser range sensor 701, front end laser range sensor 701 Adjustment precisions ± 0.2MM,
Efficient stable and high-precision positioning in the equipment transport process are ensure that, is easy to the handling of silicon rod 3, positioning precision is higher.
Wherein, 5 points of the rotating mechanism is the first rotating mechanism and the second rotating mechanism, and the cantilever 6 is provided with level
Instrument 20, the level meter 20 is placed between first rotating mechanism and second rotating mechanism, first rotating mechanism
Including the first bearing 501 being fixed on the cantilever 6, swivel becket 502, the machinery are hinged with first bearing 501
The bottom of hand 8 is fixed with suspension ring 503, and the suspension ring 503 are placed in the swivel becket 502, first bearing 501 and the rotation
Ring 502 is hinged by the first bearing pin 514, and the axis of first bearing pin 514 is perpendicular to the cantilever 6, second rotating machine
Structure includes the second bearing 508 being fixed on the cantilever 6, and moving block 507, described turn are hinged with second bearing 508
The other end of motion block 507 is slidably connected by the 3rd slide mechanism with the manipulator 8, second bearing 508 with described turn
Motion block 507 is hinged by the second bearing pin 504, and the axis of second bearing pin 504 mutually hangs down with the axis of first bearing pin 514
Directly, the 3rd slide mechanism includes being fixed on the fixed plate 505 of the bottom of the cantilever 6, and the fixed plate 505 is provided with two
The 3rd guide rail 509 being parallel to each other, the 3rd guide rail 509 is provided with the 3rd sliding block 511 coordinated with it, two articles the described 3rd
The 3rd screw pair 510, the 3rd nut and the described 3rd of the 3rd screw pair 510 are additionally provided between guide rail 509
Support plate 506 is fixed with sliding block jointly, the moving block 507 is fixed on the support plate 506, the 3rd screw pair
510 axis is parallel with the glide direction of the 3rd sliding block 511, the axis of second bearing pin 504 and the 3rd sliding block
511 glide direction is vertical, and the 3rd screw pair 510 is driven by three-motor 513, the three-motor
3rd leading screw of 513 output shaft and the 3rd screw pair 510 rotates connection, described the by the 3rd belt pulley 512
The diameter parallel of the axis of the output shaft of three-motor 513 and the 3rd leading screw.Realized by two cooperations of rotating mechanism
Manipulator 8 and the flexible connection of cantilever 6, make it be conveniently adjusted to the different frees degree in position fixing process, level meter 20
Setting ensure that the levelness of cantilever 6, both fixed tracks will not be caused a deviation from position fixing process, effectively increase positioning accurate
Degree.
Wherein, second slide mechanism 19 includes the second motor 1901 and is coaxial therewith the second decelerator of heart cooperation
1902, the output end of second decelerator 1902 rotates the second screw pair 1906 of connection, institute by synchronous pulley 1905
The claw 1909, second screw pair 1906 are fixed in the bottom of the second nut 1907 for stating the second screw pair 1906
Leading screw synchronization encoders 1904 are provided with by the second fixed mount 1903, the cantilever 6 is the U-shaped frame of bottom opening, described outstanding
The two side of arm 6 is arranged with multiple equally distributed guide cams 602 of first guide cam 601 and second, and described first leads
It is mutually perpendicular to the axis and the axis of second guide cam 602 of cam 601, the axis of first guide cam 601
Level and vertical with the glide direction of second nut 1907, the claw 1909 is provided near the side of the support 9
The two-way electric cylinders 1908 of horizontal positioned, the axis of the two-way electric cylinders 1908 is perpendicular to the slip side of second nut 1907
To.The second screw pair of power drive 1906 exported by the second motor 1901 is moved, and then before and after making claw 1909
Movement is loaded and unloaded with to silicon rod 3, and the setting of synchronization encoders 1904 ensure that the job schedule of the second screw pair 1906, is realized
The high efficiency of control, ensure that by the setting of two perpendicular two group guide cams and provides branch to silicon rod in cargo handling process 3
Support force and guiding force, save driving force, improve the efficiency of handling.
Wherein, the both sides of the cantilever 6 are additionally provided with symmetrical clamp system 4, and the clamp system 4 is included through the cantilever
The 6 magnet fixed seats 401 for being secured to connection, the center of the magnet fixed seat 401 is provided with notch cuttype through hole 402, described logical
Copper post 404 is elasticly connected with by spring 403 in hole 402, electromagnet 405 is fixed in the magnet fixed seat 401, through institute
State the gap of electromagnet 405 and be combined with traveller 406, the traveller 406 is fixed with iron block 407 near one end of the electromagnet 405,
The other end of the traveller 406 is stretched into the centre bore 408 of the copper post 404 and coordinated with its sidewall spacers, and the iron block 407 is arrived
The distance between described electromagnet 405 arrives the distance of the bottom of the centre bore 408 more than the traveller 406, the spring 403
, more than the distance of the iron block 407 to the electromagnet 405, the height of the copper post 404 is less than the magnet for maximum compressibility
The depth of fixed seat 401.Further clamping to silicon rod 3 is realized by the power on/off to electromagnet 405, it is ensured that transport process
Middle safety and stability, prevents security incident, and the simple structure of this kind of clamp system 4 realizes that effect preferably, saves production cost.
Wherein, first slide mechanism includes the first motor 14 and is coaxial therewith the first screw pair of heart connection
17, the first leading screw both sides of first screw pair 17 are provided with the first symmetrical guide rail slide block 16, and the first fixed plate 15 is consolidated
It is scheduled on the first sliding shoe top of the first nut top of first screw pair 17 and first guide rail slide block 16,
The manipulator 8 is fixed in first fixed plate 15, the slip side of the axis of first leading screw and first sliding block
To parallel, the axis of first leading screw is vertical with the upper surface of the base 1.Realized to manipulator 8 by simple structure
Be slidably connected, its can be made freely to move up and down, displacement control it is more accurate, it is ensured that the high accuracy of manipulator 8 and efficiently
The positioning of rate.
Wherein, silt is detachably connected on the base 1 and connects disk 2, the width that the silt connects disk 2 is more than the silicon rod 3
Width and the 3rd sliding block 511 sliding distance sum, the silt connects disk 2 and is symmetrically arranged on two with handle 201.Prevent fortune
The chip for comparing silicon rod 3 when jolting during dynamic falls into base 1, influences the cleannes of its controlling system to require, reduces each portion
The service life of sub-agencies, and maintenance is inconvenient, production cost increases.
Wherein, the support 9 is provided with dual touch screen 13 away from one end of the manipulator 8, and the top of the support 9 is provided with police
Show lamp 18,120AH lithium batteries 12 are additionally provided with the base 1, universal wheel 10 is evenly distributed with 1 four jiaos of the bottom, it is described
Base 1 is provided with control unit, the AGV control systems 11, the universal wheel 10, first motor 14, described second
Motor 1901, the three-motor 513, the dual touch screen 13, the electromagnet 405, the level meter 20, the police
Show that lamp 18, the front end laser range sensor 701 and the two-way electric cylinders 1908 are electrically connected with described control unit respectively.
The automation of control is realized, the quick charge of equipment is realized in the use of lithium battery 12, it is ensured that equipment continually and steadily efficiently works,
Improve operating efficiency, reduces cost.
Operation principle of the invention：A kind of handling silicon rod transloading equipment, in this equipment using preceding, needs first as shown in Figure 1
U-shaped block 704 is fixed on the storage rack side wall of storage silicon rod 3, is carried near it and determining for AGV is set on the vacant lot of U-shaped block 704
Position device, enables AGV control systems 11 to track into its orientation range, by lithium battery 12 it is fully charged after be fixed on base 1
On, staff is input into the control flow of AGV control systems 11 and manipulator 8 by dual touch screen 13 respectively, after finishing, starts
Control unit, the mechanism that control unit control each several part is connected electrically moves respectively, is driven by AGV control systems 11 first
Universal wheel 10 is moved on fixed position, universal wheel 10 move during, warning lamp 18 is lighted, now stopping accuracy ±
5MM, loads 500KG, counter to answer the time≤2MS, realizes the coarse localization of robot, while passing through the first slide mechanism control machinery
Hand 8 moves up and down, and makes U-shaped block 704 and the relative same straight line of holding of locating piece 702, then soft by the multiple degrees of freedom of rotating mechanism 5
Property adjustment cantilever position, while improving the locating piece 702 on cantilever by the collective effect of front end laser range sensor 701
With the quality of fit of U-shaped block 704 on storage rack, 2 laser rangings, apart from equal, it is meant that flatness is up to standard, make robot
Positioning precision is further improved between ± 0.2MM, and after completing positioning, control unit controls the second slide mechanism 19 to work, and leads to
Cross the second motor 1901 to drive synchronous pulley 1905 and then control the second screw pair 1906 to move, synchronization encoders 1904
Use control the operating accuracy of the second screw pair 1906, the claw 1909 on the second nut 1907 is transported forward therewith
Dynamic, claw 1909 is existing common structure, and rear portion controls its horizontal-clamping or loosens by two-way electric cylinders 1908, now two-way electricity
The push rod of cylinder 1908 stretches out, and claw 1909 is open and becomes big, when the through hole on the head of claw 1909 and silicon rod 3 is proceeded to its
Stop motion, controls the push rod of two-way electric cylinders 1908 to reclaim, and claw 1909 is clamped, and its head of claw 1909 is stretched into silicon rod 3
It is clamped in through hole, after the completion of clamping, controls the antiport of the second motor 1901, makes the leading into the bottom of cantilever 6 of silicon rod 3
Rail, the first guide cam 601 drives the slid inward of silicon rod 3 while silicon rod 3 are supported together with the second guide cam 602, subtracts
Less friction, until the second nut 1907 of the second screw pair 1906 resets, is then powered to electromagnet 405, iron
Block 407 is adsorbed on the surface of electromagnet 405 therewith, and the traveller 406 being secured to is moved downward, so as to promote and magnet fixed seat
The copper post 404 of 401 elastic connections is compressed to the silicon rod 3 in cantilever 6, and then realizes the further clamping to silicon rod 3, is improve
Security in transport process, now the loading of silicon rod 3 complete, the setting that the silt of bottom connects disk 2 ensure that the powder of silicon rod 3 enters
Enter in the control system of base 1, then control system sends order, start to be transported through silicon rod 3, the another location of transhipment
It is required that being equally that there is AGV positioners and corresponding shelf to be provided with U-shaped block 704 for underground, repeat above-mentioned step and turned
Fortune, after positioning, electromagnet 405 is powered off, and claw 1909 drives silicon rod 3 to remove, and opens claw 1909, you can is completed silicon rod 3 and is unloaded,
Robot returns the automatical and efficient handling for completing silicon rod 3 by original position repeats to operate above.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (9)
- It is 1. a kind of to load and unload silicon rod transloading equipment, it is characterised in that：Including base (1) and the support (9) being fixedly connected placed on it, Support (9) the side wall is slidably connected manipulator (8) by the first slide mechanism, and manipulator (8) bottom passes through rotating machine Structure (5) flexible connection has cantilever (6), and cantilever (6) bottom is provided with clamping jaw (1909), and the clamping jaw (1909) slides by second Motivation structure (19) is slidably connected on the cantilever (6).
- 2. one kind according to claim 1 loads and unloads silicon rod transloading equipment, it is characterised in that：The base (1) is provided with fixed Position mechanism, the detent mechanism is divided into first order detent mechanism and second level detent mechanism (7), and the first order detent mechanism is It is placed in the AGV control systems (11) of the bottom, the second level detent mechanism includes fixed seat (703) and placed on it determines Position block (702), the locating piece (702) is fixed on the cantilever (6) upper surface, the fixation by the fixed seat (703) Front end laser range sensor (701) is additionally provided with seat (703), the rotating mechanism (5) is divided into the first rotating mechanism and second Rotating mechanism, the cantilever (6) is provided with level meter (20), and the level meter (20) is placed in first rotating mechanism and described Between second rotating mechanism, first rotating mechanism includes the first bearing (501) being fixed on the cantilever (6), described Swivel becket (502) is hinged with first bearing (501), manipulator (8) bottom is fixed with suspension ring (503), the suspension ring (503) it is placed in the swivel becket (502), second rotating mechanism includes the second bearing being fixed on the cantilever (6) (508) moving block (507), is hinged with second bearing (508), the other end of the moving block (507) is slided by the 3rd Motivation structure is slidably connected with the manipulator (8), and the 3rd slide mechanism includes being fixed on the fixation of the cantilever (6) bottom Plate (505), the fixed plate (505) is provided with two articles of the 3rd guide rails (509) being parallel to each other, on the 3rd guide rail (509) The 3rd sliding block (511) coordinated with it is provided with, the 3rd screw pair is additionally provided between two articles of the 3rd guide rails (509) (510) support plate (506), is fixed with jointly on the 3rd nut and the 3rd sliding block of the 3rd screw pair (510), institute Moving block (507) is stated to be fixed on the support plate (506), second slide mechanism (19) including the second motor (1901) and Second decelerator (1902) of heart cooperation is coaxial therewith, the output end of second decelerator (1902) passes through synchronous pulley (1905) the second screw pair of connection (1906), the second nut (1907) bottom of second screw pair (1906) are rotated The claw (1909) is fixed in portion, and the leading screw of second screw pair (1906) is provided with together by the second fixed mount (1903) Step encoder (1904), the claw (1909) is provided with the two-way electric cylinders of horizontal positioned near the side of the support (9) (1908), cantilever (6) both sides are additionally provided with symmetrical clamp system (4), and the clamp system (4) is including through the cantilever (6) the magnet fixed seat (401) of connection is secured to, the center of the magnet fixed seat (401) is provided with notch cuttype through hole (402) copper post (404), is elasticly connected with by spring (403) in the through hole (402), electromagnet (405) is fixed on the magnetic In ferropexy seat (401), traveller (406) is combined with through the electromagnet (405) gap, the traveller (406) is near described One end of electromagnet (405) is fixed with iron block (407).
- 3. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：The fixed seat (703) away from The one end of one end of the locating piece (702) with the manipulator (8) away from the support (9) is fixed, the locating piece (702) Be U-shaped structure, and the locating piece (702 side is mutually perpendicular to the cantilever (6) upper surface, the front end laser ranging Sensor (701) is symmetrically placed in the locating piece (702) both sides, and it is highly highly identical with the locating piece (702), described The U-shaped outer wall Glabrous thorn of locating piece (702), and it is provided with the U-shaped block (704) coordinated with its outer wall gap, the U-shaped block (704) and the locating piece (702) quality of fit in ± 0.5mm.
- 4. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：First bearing (501) and The swivel becket (502) is hinged by the first bearing pin (514), and the axis of first bearing pin (514) is perpendicular to the cantilever (6), second bearing (508) is hinged with the moving block (507) by the second bearing pin (504), second bearing pin (504) Axis be mutually perpendicular to the axis of first bearing pin (514), the axis of the 3rd screw pair (510) and described The glide direction of three sliding blocks (511) is parallel, the axis of second bearing pin (504) and the slip side of the 3rd sliding block (511) To vertical, the 3rd screw pair (510) is driven by three-motor (513), the three-motor (513) it is defeated 3rd leading screw of shaft and the 3rd screw pair (510) rotates connection, the 3rd electricity by the 3rd belt pulley (512) The diameter parallel of the axis of the output shaft of motivation (513) and the 3rd leading screw.
- 5. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：The cantilever (6) is to open bottom The U-shaped frame of mouth, the two side of the cantilever (6) is arranged with multiple equally distributed first guide cams (601) and second and leads To cam (602), the axis of first guide cam (601) is mutually perpendicular to the axis of second guide cam (602), The axis horizontal of first guide cam (601) and vertical with the glide direction of second nut (1907), it is described double To electric cylinders (1908) axis perpendicular to second nut (1907) glide direction.
- 6. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：The traveller (406) it is another End is stretched into the centre bore (408) of the copper post (404) and is coordinated with its sidewall spacers, the iron block (407) to the electromagnet The distance between (405) more than the distance of the traveller (406) to the centre bore (408) bottom, the spring (403) is most , more than the distance of the iron block (407) to the electromagnet (405), the height of the copper post (404) is less than described for big decrement The depth of magnet fixed seat (401).
- 7. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：First slide mechanism includes First motor (14) and first screw pair (17) of heart connection is coaxial therewith, the of first screw pair (17) One leading screw both sides are provided with symmetrical the first guide rail slide block (16), and the first fixed plate (15) is fixed on first screw pair (17) in the first nut top and the first sliding shoe top of first guide rail slide block (16), the manipulator (8) is fixed On first fixed plate (15), the axis of first leading screw is parallel with the glide direction of first sliding block, and described The axis of one leading screw is vertical with the upper surface of the base (1).
- 8. one kind according to claim 2 loads and unloads silicon rod transloading equipment, it is characterised in that：It is detachable on the base (1) Connection silt connects disk (2), and the silt connects the width of the width more than the silicon rod (3) of disk (2) and the 3rd sliding block (511) Sliding distance sum, the silt connects disk (2) and is symmetrically arranged on two with handle (201).
- 9. the one kind according to claim 1-8 any claims loads and unloads silicon rod transloading equipment, it is characterised in that：The branch Frame (9) is provided with dual touch screen (13) away from one end of the manipulator (8), and support (9) top is provided with warning lamp (18), institute State and 120AH lithium batteries (12) are additionally provided with base (1), universal wheel (10), the bottom are evenly distributed with base (1) corner Seat (1) is provided with control unit, the AGV control systems (11), the universal wheel (10), first motor (14), institute State the second motor (1901), the three-motor (513), the dual touch screen (13), the electromagnet (405), described Level meter (20), the warning lamp (18), the front end laser range sensor (701) and the two-way electric cylinders (1908) point Do not electrically connected with described control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251654.7A CN106697919B (en) | 2016-12-30 | 2016-12-30 | Loading and unloading silicon rod transfer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251654.7A CN106697919B (en) | 2016-12-30 | 2016-12-30 | Loading and unloading silicon rod transfer equipment |
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| CN106697919A true CN106697919A (en) | 2017-05-24 |
| CN106697919B CN106697919B (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611251654.7A Active CN106697919B (en) | 2016-12-30 | 2016-12-30 | Loading and unloading silicon rod transfer equipment |
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| CN113037893A (en) * | 2019-12-24 | 2021-06-25 | Oppo广东移动通信有限公司 | Electronic device |
| CN113085041A (en) * | 2021-06-08 | 2021-07-09 | 四川上特科技有限公司 | End cutting device for wafer rod |
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|---|---|
| CN106697919B (en) | 2022-05-24 |
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