CN106625775A - Rotating mechanism for loading and unloading silicon rods - Google Patents
Rotating mechanism for loading and unloading silicon rods Download PDFInfo
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- CN106625775A CN106625775A CN201611251651.3A CN201611251651A CN106625775A CN 106625775 A CN106625775 A CN 106625775A CN 201611251651 A CN201611251651 A CN 201611251651A CN 106625775 A CN106625775 A CN 106625775A
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- rotating mechanism
- fixed
- silicon rod
- bearing
- axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rotating mechanism for loading and unloading silicon rods. The rotating mechanism comprises a first rotating mechanism and a second rotating mechanism and is characterized in that a spirit level is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support, a rotary ring is hinged to the first support, a hanging ring is fixed at the bottom of a mechanical arm, the second rotating mechanism comprises a second support, a rotary block is hinged to the second support and provided with a third slide mechanism, the third slide mechanism comprises a fixing plate provided with third guide rails, the third guide rails are provided with third sliders, and a third screw-nut pair is further arranged between the third guide rails. The rotating mechanism has the advantages that multi-freedom-degree cantilever regulating can be achieved, the rotating mechanism is simple in structure and convenient in regulation, free regulation can be achieved during alignment, positioning can be completed fast and accurately, and efficiency is increased.
Description
Technical field
The invention belongs to Photovoltaic new energy apparatus field, more particularly, to a kind of handling silicon rod rotating mechanism.
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, the usage amount of its use range is increasingly
Height, accounting for the proportion of various products gradually increases, and the monocrystalline silicon of the every field for being used at present, generally individually 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, due to the weight of silicon rod it is larger, and storage rack compared with
Height, when carrying up and down shelf can be collided unavoidably, cause the damage of silicon rod, produce waste, and upper and lower on high shelf
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
A kind of handling silicon rod rotating mechanism is gone out, the flexible connection of cantilever has been realized by this kind of structure, realized during positioning
Multivariant adjustment, efficiently can quickly realize the fixation of silicon rod, and simple structure is conveniently adjusted.
The content of the invention
In view of this, it is contemplated that proposing a kind of handling silicon rod rotating mechanism, realized with simple rotating mechanism many
The flexible connection of the free degree, is easy to control the motion of different directions.
To reach above-mentioned purpose, the technical scheme is that what is be achieved in that：
One kind handling silicon rod rotating mechanism, including the first rotating mechanism and the second rotating mechanism, level meter is placed in described
Between first rotating mechanism and second rotating mechanism, first rotating mechanism includes the first bearing, first bearing
On be hinged with swivel becket, manipulator bottom is fixed with suspension ring, and the suspension ring are placed in the swivel becket, second rotating mechanism
Including the second bearing, be hinged with moving block on second bearing, the other end of the moving block by the 3rd slide mechanism with
The manipulator is slidably connected, and the 3rd slide mechanism includes being fixed on the fixed plate of cantilever bottom, sets in the fixed plate
There are two articles of the 3rd guide rails being parallel to each other, the 3rd guide rail is provided with the 3rd slide block coordinated with it, and two articles the described 3rd are led
The 3rd screw pair is additionally provided between rail, it is jointly solid on the 3rd nut and the 3rd slide block of the 3rd screw pair
Surely there is support plate, the moving block is fixed on the support plate.
Further, first bearing and the swivel becket are by the first hinge, the axis of first bearing pin
Perpendicular to the cantilever, second bearing and the moving block by the second hinge, the axis of second bearing pin with
The axis of first bearing pin is mutually perpendicular to.
Further, the axis of the 3rd screw pair is parallel with the glide direction of the 3rd slide block, and described
The axis of two bearing pins is vertical with the glide direction of the 3rd slide block.
Further, the 3rd screw pair is driven by three-motor, the output shaft of the three-motor
Connected by the 3rd pulley rotation with the 3rd leading screw of the 3rd screw pair, the output shaft of the three-motor
The diameter parallel of axis and the 3rd leading screw.
Further, the three-motor and the level meter are electrically connected respectively with control unit.
Relative to prior art, a kind of handling silicon rod of the present invention is had the advantage that with rotating mechanism：
(1) a kind of handling silicon rod rotating mechanism of the present invention, by this kind of structure the flexible connection of cantilever is realized,
The multivariant adjustment during positioning is realized, the fixation of silicon rod efficiently can be quickly realized, simple structure is easy to adjust
It is whole.
(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
It is provided with two articles of the 3rd guide rails being parallel to each other, the 3rd guide rail is provided with the 3rd slide 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 slide block of the 3rd screw pair
Support plate is fixed with, the moving block is fixed on the support plate, axis and the 3rd slide 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 slide 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 connect, 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 so as to 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 is 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 first guide cam and described second is led
It is mutually perpendicular to the axis of cam, the claw is provided with the two-way electric cylinders of horizontal positioned near the side of the support, described double
To electric cylinders axis perpendicular to second nut glide direction.The leading screw of power drive second exported by the second motor
Nut secondary motion, and then make claw movable to load and unload to silicon rod, the setting of synchronization encoders ensure that the second feed screw nut
Secondary job schedule, realizes the high efficiency of control, ensure that to handling by the setting of two perpendicular two group guide cams
During silicon rod support force and guiding force are provided, save driving force, improve the efficiency of handling.
(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 for connecting, 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 through the electromagnet gap cunning is combined with
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 little
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 slide 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 silt connects the width of disk and is more than the silicon
The sliding distance sum of the width of rod and the 3rd slide 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, and the cleannes for affecting its controlling system are required, reduces each several part mechanism
Service life, and keep in repair inconvenient, 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
Be 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
State two-way electric cylinders to electrically connect 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.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of silicon rod automatic loading and unloading machine people's overall structure diagram described in the embodiment of the present invention；
Fig. 2 is that the first slide mechanism of a kind of silicon rod automatic loading and unloading machine people part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 3 is a kind of silicon rod automatic loading and unloading machine people's cantilever part-structure schematic diagram described in the embodiment of the present invention；
Fig. 4 is a kind of silicon rod automatic loading and unloading machine people's rotating mechanism part-structure schematic diagram described in the embodiment of the present invention；
Fig. 5 is that the second slide mechanism of a kind of silicon rod automatic loading and unloading machine people part-structure described in the embodiment of the present invention is illustrated
Figure；
Fig. 6 is a kind of silicon rod automatic loading and unloading machine people's clamp system part-structure schematic diagram described in the embodiment of the present invention；
Fig. 7 is that a kind of silicon rod automatic loading and unloading machine people's clamp system part-structure described in the embodiment of the present invention is illustrated
Figure.
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 slide 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 and the feature in embodiment in the present invention can phase
Mutually combination.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " is
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicates or dark
Showing the device or element of indication must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
The restriction of the present 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 describing the invention, unless otherwise stated, " multiple "
It is meant that two or more.
In describing the invention, it should be noted that 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 be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
A kind of silicon rod automatic loading and unloading machine people as shown in Figure 1, including base 1 and the support 9 being fixedly connected placed on it, institute
State the side wall of support 9 to be slidably connected manipulator 8 by the first slide mechanism, the bottom of the manipulator 8 is flexible even by rotating mechanism 5
Cantilever 6 is connected to, the bottom of the cantilever 6 is provided with jaw 1909, and the jaw 1909 is by the second slide mechanism 19 in the cantilever 6
On be slidably connected.High-accuracy high-efficiency rate control jaw 1909 is to the clamping of silicon rod 3 or loosens, can by the use of this equipment
The automatic loading and unloading of silicon rod 3 is realized, without the need for artificial operation, can efficiently realize accurately positioning to fill silicon rod 3 automatically
Unload, realize the automation of control, mitigate the workload of staff, improve 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 be provided with the quality of fit of the U-shaped block 704 coordinated with its outer wall gap, the U-shaped block 704 and the locating piece 702 and exist
±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 701 Adjustment precisions of laser range sensor ± 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 being fixed on the second bearing 508 on the cantilever 6, is hinged with moving block 507 on second bearing 508, described turn
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 slide 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
It is fixed with support plate 506 on slide 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 slide block 511, the axis of second bearing pin 504 and the 3rd slide 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 by the 3rd belt pulley 512, and described the
The diameter parallel of the axis of the output shaft of three-motor 513 and the 3rd leading screw.Realized by the cooperation of two rotating mechanisms
The flexible connection of manipulator 8 and cantilever 6 so as to convenient in position fixing process that the different frees degree is adjusted, 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 for bottom opening U-shaped frame, it is described outstanding
The two side of arm 6 is arranged with multiple guide cams 602 of equally distributed first guide cam 601 and second, and described first leads
It is mutually perpendicular to the axis of second guide cam 602 to the axis of cam 601, the axis of first guide cam 601
Level and vertical with the glide direction of second nut 1907, first guide cam 601 and described second be oriented to it is convex
The axis of wheel 602 is mutually perpendicular to, and the claw 1909 is provided with the two-way electric cylinders of horizontal positioned near the side of the support 9
1908, the glide direction of the axis of the two-way electric cylinders 1908 perpendicular to second nut 1907.By the second motor
Second screw pair of power drive 1906 of 1901 outputs is moved, and then makes claw 1909 movable to load and unload to silicon rod 3,
The setting of synchronization encoders 1904 ensure that the job schedule of the second screw pair 1906, realize the high efficiency of control, pass through
The setting of two perpendicular two group guide cams ensure that and provide support force and guiding force to silicon rod in cargo handling process 3, saves
Driving force, improves 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 slide 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 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 silt connects the width of disk 2 and is more than the silicon rod 3
Width and the 3rd slide 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, and the cleannes for affecting its controlling system are required, reduces each portion
The service life of sub-agencies, and keep in repair 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 respectively with described control unit.
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.
The operation principle of the present invention：A kind of as shown in Figure 1 silicon rod automatic loading and unloading machine people, in this equipment using front, first
The storage rack side wall that U-shaped block 704 is fixed on storage silicon rod 3 is needed, is carried near it and arrange on vacant lot of U-shaped block 704 AGV's
Positioner, enables AGV control systems 11 to track into its orientation range, by lithium battery 12 it is fully charged after be fixed on base
On 1, staff is input into respectively the control flow of AGV control systems 11 and manipulator 8 by dual touch screen 13, after finishing, opens
Dynamic control unit, the mechanism that control unit control each several part is connected electrically moves respectively, is driven by AGV control systems 11 first
Dynamic universal wheel 10 is moved on fixed position, and during universal wheel 10 is moved, 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 machine
Tool hand 8 moves up and down, and U-shaped block 704 and the same straight line of the relative holding of locating piece 702 is made, then by the multiple degrees of freedom of rotating mechanism 5
The position of flexibility adjustment cantilever, while improving the locating piece on cantilever by the collective effect of front end laser range sensor 701
702 and storage rack on the quality of fit of U-shaped block 704, the positioning precision for making robot is further improved between ± 0.2MM, complete
Into after positioning, control unit controls the second slide mechanism 19 and works, and drives synchronous pulley 1905 to enter by the second motor 1901
And control the second screw pair 1906 and move, the use of synchronization encoders 1904 controls the work of the second screw pair 1906
Make precision, the claw 1909 on the second nut 1907 travels forward therewith, claw 1909 is existing common structure, and rear portion is by double
Its horizontal-clamping is controlled to electric cylinders 1908 or is loosened, now the push rod of two-way electric cylinders 1908 stretches out, make the opening of claw 1909 become big,
Stop motion when the through hole on the head of claw 1909 and silicon rod 3 is proceeded to its, the push rod for controlling two-way electric cylinders 1908 is reclaimed,
Claw 1909 is clamped so as to which the head of claw 1909 is stretched into and is clamped in the through hole of silicon rod 3, and after the completion of clamping, control second is electric
The antiport of motivation 1901, makes silicon rod 3 enter the guide rail of the bottom of cantilever 6, and the first guide cam 601 is while silicon rod 3 are supported
The slid inward of silicon rod 3 is driven together with the second guide cam 602, reduces frictional force, until the of the second screw pair 1906
Two nuts 1907 reset, and then electromagnet 405 is powered, and iron block 407 adsorbs therewith on the surface of electromagnet 405, solid with it
Fixed traveller 406 is moved downward, so as to promote with the copper post 404 of the elastic connection of magnet fixed seat 401 to the silicon rod 3 in cantilever 6
Compress, and then realize the further clamping to silicon rod 3, improve the security in transport process, now the loading of silicon rod 3 is complete
Silt into, bottom connects the setting of disk 2 and ensure that the powder of silicon rod 3 is entered in the control system of base 1, and then control system sends
Order, starts to be transported through silicon rod 3, and the requirement of the another location of transhipment is equally that underground has AGV positioners and corresponding
Shelf be provided with U-shaped block 704, the above-mentioned step of repetition is transported through, and after positioning, the power-off of electromagnet 405, claw 1909 drives
Silicon rod 3 is removed, and opens claw 1909, you can complete silicon rod 3 and unload, and robot is returned by original position repeats to operate above certainly
The dynamic handling for efficiently completing silicon rod 3.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (5)
- It is 1. a kind of to load and unload silicon rod rotating mechanism, it is characterised in that：Including the first rotating mechanism and the second rotating mechanism, level meter (20) it is placed between first rotating mechanism and second rotating mechanism, first rotating mechanism includes the first bearing (501), swivel becket (502) is hinged with first bearing (501), manipulator (8) bottom is fixed with suspension ring (503), described Suspension ring (503) are placed in the swivel becket (502), and second rotating mechanism includes the second bearing (508), second bearing (508) moving block (507) is hinged with, the other end of the moving block (507) is by the 3rd slide mechanism and the manipulator (8) it is slidably connected, the 3rd slide mechanism includes being fixed on the fixed plate (505) of cantilever (6) bottom, the fixed plate (505) two articles of the 3rd guide rails (509) being parallel to each other are provided with, the 3rd guide rail (509) is provided with the 3rd coordinated with it Slide block (511), is additionally provided with the 3rd screw pair (510), the 3rd feed screw nut between two articles of the 3rd guide rails (509) Support plate (506) is fixed with jointly on 3rd nut and the 3rd slide block of secondary (510), and the moving block (507) is fixed on institute State on support plate (506).
- 2. one kind according to claim 1 loads and unloads silicon rod rotating mechanism, it is characterised in that：First bearing (501) It is hinged by the first bearing pin (514) with the swivel becket (502), 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).
- 3. one kind according to claim 2 loads and unloads silicon rod rotating mechanism, it is characterised in that：3rd screw pair (510) axis is parallel with the glide direction of the 3rd slide block (511), the axis of second bearing pin (504) and described The glide direction of three slide blocks (511) is vertical.
- 4. one kind according to claim 1 loads and unloads silicon rod rotating mechanism, it is characterised in that：3rd screw pair (510) driven by three-motor (513), the output shaft and the 3rd screw pair of the three-motor (513) (510) the 3rd leading screw rotates connection, the axis of the output shaft of the three-motor (513) by the 3rd belt pulley (512) With the diameter parallel of the 3rd leading screw.
- 5. one kind according to claim 4 loads and unloads silicon rod rotating mechanism, it is characterised in that：The three-motor (513) electrically connect with control unit respectively with the level meter (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251651.3A CN106625775B (en) | 2016-12-30 | 2016-12-30 | Rotating mechanism for loading and unloading silicon rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611251651.3A CN106625775B (en) | 2016-12-30 | 2016-12-30 | Rotating mechanism for loading and unloading silicon rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625775A true CN106625775A (en) | 2017-05-10 |
| CN106625775B CN106625775B (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611251651.3A Active CN106625775B (en) | 2016-12-30 | 2016-12-30 | Rotating mechanism for loading and unloading silicon rod |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116216324A (en) * | 2023-02-28 | 2023-06-06 | 珠海创智科技有限公司 | Transfer assembly and apparatus |
| CN116652978A (en) * | 2023-05-18 | 2023-08-29 | 珠海创智科技有限公司 | Long-stroke taking and feeding device and floating taking robot thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014024289A1 (en) * | 2012-08-09 | 2014-02-13 | 富士通株式会社 | Robot |
| CN205766113U (en) * | 2016-05-12 | 2016-12-07 | 天津航天机电设备研究所 | Six degree of freedom device for assembled large area air supporting support platform |
| CN206393670U (en) * | 2016-12-30 | 2017-08-11 | 天津朗誉科技发展有限公司 | A kind of silicon rod automatic loading and unloading machine people's rotating mechanism |
-
2016
- 2016-12-30 CN CN201611251651.3A patent/CN106625775B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014024289A1 (en) * | 2012-08-09 | 2014-02-13 | 富士通株式会社 | Robot |
| CN205766113U (en) * | 2016-05-12 | 2016-12-07 | 天津航天机电设备研究所 | Six degree of freedom device for assembled large area air supporting support platform |
| CN206393670U (en) * | 2016-12-30 | 2017-08-11 | 天津朗誉科技发展有限公司 | A kind of silicon rod automatic loading and unloading machine people's rotating mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116216324A (en) * | 2023-02-28 | 2023-06-06 | 珠海创智科技有限公司 | Transfer assembly and apparatus |
| CN116216324B (en) * | 2023-02-28 | 2024-03-22 | 珠海创智科技有限公司 | Transfer assembly and apparatus |
| CN116652978A (en) * | 2023-05-18 | 2023-08-29 | 珠海创智科技有限公司 | Long-stroke taking and feeding device and floating taking robot thereof |
| CN116652978B (en) * | 2023-05-18 | 2024-03-22 | 珠海创智科技有限公司 | Long-stroke taking and feeding device and floating taking robot thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625775B (en) | 2023-08-08 |
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