CN106625775B - Rotating mechanism for loading and unloading silicon rod - Google Patents

Abstract

The invention provides a rotating mechanism for loading and unloading a silicon rod, which comprises a first rotating mechanism and a second rotating mechanism, wherein a level gauge is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support, a rotating ring is hinged on the first support, a lifting ring is fixed at the bottom of a manipulator, the second rotating mechanism comprises a second support, a rotating block is hinged on the second support, a third sliding mechanism is arranged on the rotating block, the third sliding mechanism comprises a fixed plate, a third guide rail is arranged on the fixed plate, a third sliding block is arranged on the third guide rail, and a third lead screw nut pair is further arranged between the third guide rails. The rotating mechanism for loading and unloading the silicon rod can realize the adjustment of a plurality of degrees of freedom of the cantilever, has a simple structure, is convenient to adjust, can be freely adjusted in the alignment process, can quickly and accurately complete positioning, and improves the efficiency.

Description

Rotating mechanism for loading and unloading silicon rod

Technical Field

The invention belongs to the field of photovoltaic new energy equipment, and particularly relates to a rotating mechanism for loading and unloading a silicon rod.

Background

The single crystal of silicon is a crystal with a basically complete lattice structure, is a good semiconductor material, is used for manufacturing semiconductor devices, solar cells and the like, and along with the progress of technological productivity, the application range of the single crystal is increased gradually, the specific gravity of various products is gradually increased, currently used single crystal silicon in various fields is generally cut and processed by larger silicon rods, and the silicon rods are cut into different sizes to be applied to various fields. Aiming at the situation, the invention provides the rotating mechanism for loading and unloading the silicon rod, the flexible connection of the cantilever is realized through the structure, the adjustment of multiple degrees of freedom in the positioning process is realized, the fixation of the silicon rod can be realized efficiently and rapidly, and the structure is simple and convenient to adjust.

Disclosure of Invention

In view of the above, the present invention aims to provide a rotating mechanism for loading and unloading silicon rods, which realizes flexible connection with multiple degrees of freedom by using a simple rotating mechanism, and is convenient for controlling movements in different directions.

In order to achieve the above purpose, the technical scheme of the invention is realized as follows:

the utility model provides a tilting mechanism for loading and unloading silicon rod, includes first tilting mechanism and second tilting mechanism, the spirit level is arranged in first tilting mechanism with between the second tilting mechanism, first tilting mechanism includes first support, it has the swivel becket to articulate on the first support, and the manipulator bottom is fixed with rings, rings are arranged in the swivel becket, the second tilting mechanism includes the second support, it has the rotating block to articulate on the second support, the other end of rotating block through third slide mechanism with manipulator sliding connection, third slide mechanism is including fixing the fixed plate in the cantilever bottom, be equipped with two third guide rails that are parallel to each other on the fixed plate, be equipped with rather than complex third slider on the third guide rail, two still be equipped with the third lead screw nut pair between the third guide rail, the third nut of third lead screw nut pair with be fixed with the extension board on the third slider jointly, the rotating block is fixed on the extension board.

Further, the first support and the rotating ring are hinged through a first pin shaft, the axis of the first pin shaft is perpendicular to the cantilever, the second support and the rotating block are hinged through a second pin shaft, and the axis of the second pin shaft is perpendicular to the axis of the first pin shaft.

Further, the axis of the third screw nut pair is parallel to the sliding direction of the third sliding block, and the axis of the second pin shaft is perpendicular to the sliding direction of the third sliding block.

Further, the third screw nut pair is driven by a third motor, an output shaft of the third motor is rotatably connected with a third screw of the third screw nut pair through a third belt pulley, and the axis of the output shaft of the third motor is parallel to the axis of the third screw.

Further, the third motor and the level meter are respectively electrically connected with the control unit.

Compared with the prior art, the rotating mechanism for loading and unloading the silicon rod has the following advantages:

(1) According to the rotating mechanism for loading and unloading the silicon rod, the flexible connection of the cantilever is realized through the structure, the adjustment of multiple degrees of freedom in the positioning process is realized, the fixation of the silicon rod can be realized efficiently and rapidly, and the structure is simple and convenient to adjust.

(2) The base is provided with a positioning mechanism, the positioning mechanism is divided into a first-stage positioning mechanism and a second-stage positioning mechanism, the first-stage positioning mechanism is an AGV control system arranged at the bottom, the second-stage positioning mechanism comprises a fixed seat and a positioning block arranged on the fixed seat, one end of the fixed seat, which is far away from the positioning block, is fixed with one end of the manipulator, which is far away from the support, the positioning block is fixed on the upper surface of the cantilever through the fixed seat, the positioning block is of a U-shaped structure, the side surface of the positioning block is perpendicular to the upper surface of the cantilever, front-end laser ranging sensors are arranged on the fixed seat, the front-end laser ranging sensors are symmetrically arranged on the two sides of the positioning block, the height of the front-end laser ranging sensors is the same as that of the positioning block, the U-shaped outer wall of the positioning block is smooth and burr-free, the U-shaped block is in clearance fit with the outer wall of the positioning block, and the fitting precision of the U-shaped block and the positioning block is +/-0.5 mm. The AGV control system is used for realizing preliminary positioning of a fixed position in the transferring process, stopping precision is +/-5 MM, load is 500KG, reaction time is less than or equal to 2MS, positioning blocks and U-shaped blocks matched with the positioning blocks are used for further precision control positioning and front-end laser ranging sensors, the front-end laser ranging sensors are adjusted to be precision +/-0.2 MM, efficient, stable and high-precision positioning in the transferring process of the equipment is guaranteed, loading and unloading of silicon rods are facilitated, and positioning precision is high.

(3) The invention discloses a rotating mechanism which is divided into a first rotating mechanism and a second rotating mechanism, wherein a level gauge is arranged on a cantilever, the level gauge is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support fixed on the cantilever, a rotating ring is hinged on the first support, a lifting ring is fixed at the bottom of a manipulator, the lifting ring is arranged in the rotating ring, the first support and the rotating ring are hinged through a first pin shaft, the axis of the first pin shaft is perpendicular to the cantilever, the second rotating mechanism comprises a second support fixed on the cantilever, a rotating block is hinged on the second support, the other end of the rotating block is connected with the manipulator in a sliding way through a third sliding mechanism, the second support is hinged with the rotating block through a second pin shaft, the axis of the second pin shaft is perpendicular to the axis of the first pin shaft, the third sliding mechanism comprises a fixed plate fixed at the bottom of the cantilever, two guide rails are arranged on the fixed plate, the first support is hinged with the rotating ring through a first pin shaft, the axis of the first pin shaft is perpendicular to the second guide rail, the third guide rail is arranged on the fixed with the fixed plate, the third guide rail is parallel to the third guide rail is matched with a third screw nut, the third guide screw nut is further arranged on the guide rail is perpendicular to the third guide screw nut, the guide screw nut is connected with a third guide screw nut is arranged on the guide screw nut, the guide screw nut is perpendicular to the guide screw nut is connected with the guide screw nut, and the guide screw nut is connected with the guide screw nut, the axis of the output shaft of the third motor is parallel to the axis of the third screw. The flexible connection of the manipulator and the cantilever is realized through the cooperation of the two rotating mechanisms, so that the manipulator and the cantilever can be conveniently adjusted to different degrees of freedom in the positioning process, the levelness of the cantilever is ensured by the arrangement of the level meter, the manipulator cannot deviate from a set track in the positioning process, and the positioning precision is effectively improved.

(4) The second sliding mechanism comprises a second motor and a second reducer which is coaxially matched with the second motor, the output end of the second reducer is rotationally connected with a second screw nut pair through a synchronous pulley, the bottom of a second nut of the second screw nut pair is fixed with a clamping jaw, a synchronous encoder is arranged on a screw rod of the second screw nut pair through a second fixing frame, the cantilever is a U-shaped frame with an opening at the bottom, a plurality of first guide cams and second guide cams which are uniformly distributed are symmetrically arranged on two side walls of the cantilever, the axis of the first guide cams is perpendicular to the axis of the second guide cams, the axis of the first guide cams is perpendicular to the sliding direction of the second nut, the axis of the first guide cams and the axis of the second guide cams are perpendicular to each other, one side of the clamping jaw, which is close to the bracket, is provided with a horizontally placed bidirectional electric cylinder, and the axis of the bidirectional electric cylinder is perpendicular to the sliding direction of the second nut. The power output by the second motor drives the second screw nut pair to move, so that the clamping jaw moves back and forth to assemble and disassemble the silicon rod, the synchronous encoder ensures the working progress of the second screw nut pair, the control efficiency is realized, the supporting force and the guiding force for the silicon rod in the assembling and disassembling process are ensured through the arrangement of two groups of perpendicular guiding cams, the driving force is saved, and the assembling and disassembling efficiency is improved.

(5) The invention also discloses a symmetrical clamping mechanism which comprises a magnet fixing seat penetrating through the cantilever and fixedly connected with the cantilever, wherein a stepped through hole is formed in the center of the magnet fixing seat, a copper column is elastically connected in the through hole through a spring, an electromagnet is fixed on the magnet fixing seat, a sliding column is in clearance fit with the electromagnet in a penetrating way, one end, close to the electromagnet, of the sliding column is fixed with an iron block, the other end of the sliding column stretches into the center hole of the copper column and is in clearance fit with the side wall of the copper column, the distance between the iron block and the electromagnet is larger than the distance between the sliding column and the bottom of the center hole, the maximum compression amount of the spring is larger than the distance between the iron block and the electromagnet, and the height of the copper column is smaller than the depth of the magnet fixing seat. The silicon rod clamping mechanism has the advantages that the silicon rod is further clamped by switching on and off the electromagnet, safety and stability in the transferring process are guaranteed, safety accidents are prevented from happening, the clamping mechanism is simple in structure, good in effect and production cost is saved.

(6) The first sliding mechanism comprises a first motor and a first screw-nut pair coaxially connected with the first motor, symmetrical first guide rail sliding blocks are arranged on two sides of a first screw of the first screw-nut pair, a first fixing plate is fixed on the top of a first nut of the first screw-nut pair and the top of a first sliding block of the first guide rail sliding block, the manipulator is fixed on the first fixing plate, the axis of the first screw is parallel to the sliding direction of the first sliding block, and the axis of the first screw is perpendicular to the upper surface of the base. The sliding connection of the manipulator is realized through a simple structure, the manipulator can freely move up and down, the control of the moving distance is more accurate, and the high-precision and high-efficiency positioning of the manipulator is ensured.

(7) According to the invention, the sediment receiving disc is detachably connected to the base, the width of the sediment receiving disc is larger than the sum of the width of the silicon rod and the sliding distance of the third sliding block, and handles are symmetrically arranged on two sides of the sediment receiving disc. The silicon rod cleaning device has the advantages that scraps of the silicon rod are prevented from falling into the base when the scraps jolt in the movement process, the cleanliness requirement of a control system in the silicon rod cleaning device is affected, the service life of each part of mechanism is reduced, the maintenance is inconvenient, and the production cost is increased.

(8) The invention discloses a double-touch screen type automatic control device, which is characterized in that a double-touch screen is arranged at one end of a support far away from a manipulator, a warning lamp is arranged at the top of the support, a 120AH lithium battery is further arranged on a base, universal wheels are uniformly distributed at four corners of the bottom, a control unit is arranged on the base, and an AGV control system, the universal wheels, a first motor, a second motor, a third motor, the double-touch screen, an electromagnet, a level meter, the warning lamp, a front-end laser ranging sensor and a bidirectional electric cylinder are respectively and electrically connected with the control unit. The control automation is realized, the use of the lithium battery realizes the quick charge of the equipment, the continuous stable and efficient work of the equipment is ensured, the working efficiency is improved, and the cost is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of a robot for automatically loading and unloading silicon rods according to an embodiment of the invention;

FIG. 2 is a schematic view of a first sliding mechanism of a robot for automatically loading and unloading silicon rods according to an embodiment of the present invention;

FIG. 3 is a schematic view of a cantilever part of a robot for automatically loading and unloading silicon rods according to an embodiment of the present invention;

FIG. 4 is a schematic view of a part of a turning mechanism of an automatic loading and unloading robot for silicon rods according to an embodiment of the present invention;

FIG. 5 is a schematic view of a second sliding mechanism of a robot for automatically loading and unloading silicon rods according to an embodiment of the present invention;

FIG. 6 is a schematic view of a part of a clamping mechanism of an automatic silicon rod loading and unloading robot according to an embodiment of the invention;

fig. 7 is a schematic view of a part of a structure of a clamping mechanism for a robot for automatically loading and unloading silicon rods according to an embodiment of the invention.

Reference numerals illustrate:

1-a base; 2-a silt receiving disc; 3-silicon rod; 4-a clamping mechanism; 5-a rotating mechanism; 6-cantilever; 7-a second stage positioning mechanism; 8-a manipulator; 9-a bracket; 10-universal wheels; 11-AGV control system; a 12-lithium battery; 13-a dual touch screen; 14-a first motor; 15-a first fixing plate; 16-a first rail slide; 17-a first lead screw nut pair; 18-warning lights; 19-a second slide mechanism; 20-level gauge; 201-handle; 401-a magnet fixing seat; 402-vias; 403-spring; 404-copper pillars; 405-electromagnet; 406-a spool; 407-iron block; 408-a central hole; 501-a first support; 502-rotating a ring; 503-hanging rings; 504-a second pin; 505-a fixed plate; 506-supporting plate; 507-turning the block; 508-a second stand; 509-a third rail; 510-a third lead screw nut pair; 511-a third slider; 512-third pulley; 513-a third motor; 514-a first pin; 601-a first guide cam; 602-a second guide cam; 701-front-end laser ranging sensor; 702-positioning blocks; 703-fixing base; 704-U-shaped blocks; 1901-a second motor; 1902-a second decelerator; 1903-a second mount; 1904-synchronous encoder; 1905-synchronous pulleys; 1906-a second lead screw nut pair; 1907-a second nut; 1908-a bi-directional electric cylinder; 1909-jaws.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.

The invention will be described in detail below with reference to the drawings in connection with embodiments.

The automatic silicon rod loading and unloading robot comprises a base 1 and a bracket 9 fixedly connected with the base, wherein the side wall of the bracket 9 is in sliding connection with a manipulator 8 through a first sliding mechanism, the bottom of the manipulator 8 is flexibly connected with a cantilever 6 through a rotating mechanism 5, the bottom of the cantilever 6 is provided with a clamping jaw 1909, and the clamping jaw 1909 is in sliding connection with the cantilever 6 through a second sliding mechanism 19. The high accuracy efficient control clamping jaw 1909 is to the clamp of silicon rod 3 or loosen, can realize the automatic handling of silicon rod 3 through the use of this equipment, need not manual operation, can the accurate location of efficient realization with carry out automatic handling to silicon rod 3, realize the automation of control, alleviate staff's work load, improve work efficiency and reduce the cost.

The positioning mechanism is arranged on the base 1 and is divided into a first-stage positioning mechanism and a second-stage positioning mechanism 7, the first-stage positioning mechanism is arranged at the bottom of the AGV control system 11, the second-stage positioning mechanism comprises a fixed seat 703 and a positioning block 702 arranged on the fixed seat 703, one end of the fixed seat 703, which is far away from the positioning block 702, is fixed with one end of the manipulator 8, which is far away from the bracket 9, the positioning block 702 is fixed on the upper surface of the cantilever 6 through the fixed seat 703, the positioning block 702 is of a U-shaped structure, the side surfaces of the positioning block 702 are perpendicular to the upper surface of the cantilever 6, front-end laser ranging sensors 701 are further arranged on the fixed seat 703, the front-end laser ranging sensors 701 are symmetrically arranged at two sides of the positioning block 702, the height of the front-end laser ranging sensors is identical to that of the positioning block 702, the U-shaped outer wall of the positioning block 702 is smooth and burr-free, and the U-shaped block 704 is provided with a U-shaped block in clearance fit with the outer wall of the positioning block 702, and the fitting precision of the positioning block 702 is +/-0.5 mm. The AGV control system is used for realizing preliminary positioning of a fixed position in the transferring process, stopping precision is +/-5 MM, load is 500KG, reaction time is less than or equal to 2MS, positioning block 702 and U-shaped block 704 which is matched with the positioning block and fixed on other frames are used for further precision control positioning and front-end laser ranging sensor 701, front-end laser ranging sensor 701 is used for adjusting precision to +/-0.2 MM, efficient and stable positioning and high precision positioning in the transferring process of the equipment are guaranteed, loading and unloading of silicon rods 3 are facilitated, and positioning precision is high.

Wherein the rotating mechanism 5 is divided into a first rotating mechanism and a second rotating mechanism, the cantilever 6 is provided with a level meter 20, the level meter 20 is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support 501 fixed on the cantilever 6, a rotating ring 502 is hinged on the first support 501, a lifting ring 503 is fixed at the bottom of the manipulator 8, the lifting ring 503 is arranged in the rotating ring 502, the first support 501 and the rotating ring 502 are hinged through a first pin shaft 514, the axis of the first pin shaft 514 is perpendicular to the cantilever 6, the second rotating mechanism comprises a second support 508 fixed on the cantilever 6, a rotating block 507 is hinged on the second support 508, the other end of the rotating block 507 is connected with the manipulator 8 in a sliding way through a third sliding mechanism, the second support 508 is hinged with the rotating block 507 through a second pin 504, the axis of the second pin 504 is perpendicular to the axis of the first pin 514, the third sliding mechanism comprises a fixed plate 505 fixed at the bottom of the cantilever 6, two third guide rails 509 parallel to each other are arranged on the fixed plate 505, a third sliding block 511 matched with the third guide rails 509 is arranged on the third guide rails 509, a third screw nut pair 510 is arranged between the two third guide rails 509, a supporting plate 506 is jointly fixed on a third nut of the third screw nut pair 510 and the third sliding block, the rotating block 507 is fixed on the supporting plate 506, the axis of the third screw nut pair 510 is parallel to the sliding direction of the third sliding block 511, the axis of the second pin 504 is perpendicular to the sliding direction of the third sliding block 511, the third screw nut pair 510 is driven by a third motor 513, the output shaft of the third motor 513 and the third screw of the third screw nut pair 510 are rotatably connected by a third pulley 512, and the axis of the output shaft of the third motor 513 is parallel to the axis of the third screw. The flexible connection of the manipulator 8 and the cantilever 6 is realized through the cooperation of the two rotating mechanisms, so that the manipulator is convenient to adjust different degrees of freedom in the positioning process, the levelness of the cantilever 6 is ensured by the arrangement of the level meter 20, the manipulator cannot deviate from a set track in the positioning process, and the positioning precision is effectively improved.

The second sliding mechanism 19 includes a second motor 1901 and a second reducer 1902 coaxially matched with the second motor 1901, an output end of the second reducer 1902 is rotatably connected with a second screw nut pair 1906 through a synchronous pulley 1905, a claw 1909 is fixed at the bottom of a second nut 1907 of the second screw nut pair 1906, a synchronous encoder 1904 is arranged on a screw rod of the second screw nut pair 1906 through a second fixing frame 1903, the cantilever 6 is a U-shaped frame with an opening at the bottom, a plurality of uniformly distributed first guide cams 601 and second guide cams 602 are symmetrically arranged on two side walls of the cantilever 6, the axis of the first guide cams 601 is perpendicular to the axis of the second guide cams 602, the axis of the first guide cams 601 is horizontal and perpendicular to the sliding direction of the second nuts 1907, a horizontally placed bidirectional electric cylinder 1908 is arranged on one side of the claw 1909 close to the bracket 9, and the axis of the electric cylinder 1908 is perpendicular to the sliding direction of the second guide cams 1907. The second lead screw nut pair 1906 is driven to move by the power output by the second motor 1901, so that the clamping jaw 1909 moves forwards and backwards to assemble and disassemble the silicon rod 3, the synchronous encoder 1904 ensures the working progress of the second lead screw nut pair 1906, the control efficiency is realized, the support force and the guide force for the silicon rod 3 in the assembling and disassembling process are ensured by the arrangement of two perpendicular guide cams, the driving force is saved, and the assembling and disassembling efficiency is improved.

The two sides of the cantilever 6 are also provided with symmetrical clamping mechanisms 4, each clamping mechanism 4 comprises a magnet fixing seat 401 penetrating through the cantilever 6 and fixedly connected with the cantilever, a stepped through hole 402 is formed in the center of each magnet fixing seat 401, a copper column 404 is elastically connected in each through hole 402 through a spring 403, an electromagnet 405 is fixed on each magnet fixing seat 401, a sliding column 406 penetrates through the electromagnet 405 in a clearance fit mode, an iron block 407 is fixed at one end, close to the electromagnet 405, of each sliding column 406, the other end of each sliding column 406 stretches into a central hole 408 of each copper column 404 to be in clearance fit with the side wall of the corresponding electromagnet, the distance between each iron block 407 and each electromagnet is larger than the distance between each sliding column 406 and the bottom of the corresponding central hole 408, the maximum compression amount of each spring 403 is larger than the distance between each iron block 407 and each electromagnet 405, and the height of each copper column 404 is smaller than the depth of each magnet fixing seat 401. Further clamping of the silicon rod 3 is achieved through on-off of the electromagnet 405, safety and stability in the transferring process are guaranteed, safety accidents are prevented from happening, the clamping mechanism 4 is simple in structure, good in achieving effect and production cost is saved.

The first sliding mechanism comprises a first motor 14 and a first screw nut pair 17 connected with the first motor in a coaxial manner, symmetrical first guide rail sliding blocks 16 are arranged on two sides of a first screw of the first screw nut pair 17, a first fixing plate 15 is fixed on the top of a first nut of the first screw nut pair 17 and the top of a first sliding block of the first guide rail sliding blocks 16, the manipulator 8 is fixed on the first fixing plate 15, the axis of the first screw is parallel to the sliding direction of the first sliding blocks, and the axis of the first screw is perpendicular to the upper surface of the base 1. The sliding connection of the manipulator 8 is realized through a simple structure, the manipulator can freely move up and down, the control of the moving distance is more accurate, and the high-precision and high-efficiency positioning of the manipulator 8 is ensured.

The base 1 is detachably connected with a silt receiving tray 2, the width of the silt receiving tray 2 is larger than the sum of the width of the silicon rod 3 and the sliding distance of the third sliding block 511, and handles 201 are symmetrically arranged on two sides of the silt receiving tray 2. The scraps of the silicon rod 3 are prevented from falling into the base 1 during jolting in the movement process, the cleanliness requirement of a control system in the silicon rod is influenced, the service life of each part of mechanism is reduced, the maintenance is inconvenient, and the production cost is increased.

The one end that support 9 kept away from manipulator 8 is equipped with two touch-sensitive screens 13, support 9 top is equipped with warning light 18, still be equipped with 120AH lithium cell 12 on the base 1, 1 four corners department evenly distributed in bottom has universal wheel 10, be equipped with the control unit on the base 1, AGV control system 11 universal wheel 10 first motor 14 second motor 1901 third motor 513 double touch-sensitive screen 13 electro-magnet 405, spirit level 20 warning light 18 front end laser rangefinder sensor 701 with two-way electric jar 1908 respectively with the control unit electricity is connected. The control automation is realized, the use of the lithium battery 12 realizes the quick charge of the equipment, the continuous stable and efficient work of the equipment is ensured, the working efficiency is improved, and the cost is reduced.

The working principle of the invention is as follows: before the device is used, the U-shaped block 704 is firstly fixed on the side wall of a storage rack for storing the silicon rods 3, a positioning device of an AGV is arranged on the space close to the storage rack with the U-shaped block 704, so that the AGV control system 11 can track and enter the positioning range of the AGV control system, the lithium battery 12 is fully charged and then fixed on the base 1, a worker respectively inputs the control flows of the AGV control system 11 and the manipulator 8 through the double touch screen 13, after the completion, the control unit is started, the control unit controls the mechanisms of each part and the manipulator to respectively move, firstly, the universal wheel 10 is driven to move to a fixed position through the AGV control system 11, the warning lamp 18 is lightened in the moving process of the universal wheel 10, the precision is stopped + -5 MM, the load is 500KG, the reaction time is less than or equal to 2MS, the rough positioning of the robot is realized, meanwhile, the manipulator 8 is controlled to move up and down through the first sliding mechanism, the U-shaped block 704 and the positioning block 702 are kept in the same straight line relatively, the position of the cantilever is flexibly adjusted through the multiple degrees of freedom of the rotating mechanism 5, meanwhile, the matching precision of the positioning block 702 on the cantilever and the U-shaped block 704 on the storage rack is improved through the combined action of the front-end laser ranging sensor 701, the positioning precision of a robot is further improved to be within +/-0.2 MM, after the positioning is finished, the control unit controls the second sliding mechanism 19 to work, the synchronous pulley 1905 is driven by the second motor 1901 to further control the second lead screw nut pair 1906 to move, the synchronous encoder 1904 controls the working precision of the second lead screw nut pair 1906, the claw 1909 on the second nut 1907 moves forwards along with the movement, the claw 1909 is of the conventional common structure, the rear part of the claw 1908 is controlled to be horizontally clamped or loosened through the bidirectional electric cylinder 1908, and the ejector rod of the bidirectional electric cylinder 1908 extends out, the opening of the claw 1909 is enlarged, the movement is stopped when the claw 1909 is advanced to the head of the claw 1909 and the through hole on the silicon rod 3, the ejector rod of the bidirectional electric cylinder 1908 is controlled to be recovered, the claw 1909 is clamped, the head of the claw 1909 stretches into the through hole of the silicon rod 3 to be clamped, after the clamping is completed, the second motor 1901 is controlled to run reversely, the silicon rod 3 enters the guide rail at the bottom of the cantilever 6, the first guide cam 601 drives the silicon rod 3 to slide inwards together with the second guide cam 602 while supporting the silicon rod 3, the friction force is reduced until the second nut 1907 of the second lead screw nut pair 1906 is reset, then the electromagnet 405 is electrified, the iron block 407 is adsorbed on the surface of the electromagnet 405, the sliding column 406 fixed on the electromagnet is downwards, so that the copper column 404 elastically connected with the magnet fixing seat 401 is pushed to be tightly pressed to the silicon rod 3, further clamping of the silicon rod 3 is realized, the safety in the transferring process is improved, the setting of the bottom of the tray 2 ensures that the silicon rod 3 enters the control system of the base 1, then the silicon rod 3 is controlled to slide inwards, the silicon rod 3 is repeatedly moved out of the silicon rod 3, the corresponding positioning device 1909 is repeatedly arranged on the position of the silicon rod 3, and the automatic loading and unloading device is repeatedly moved down, and the position of the silicon rod is required to be moved down, and the silicon rod is positioned on the lifting device 1909 is repeatedly, and the silicon rod is positioned.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (1)

1. A rotating mechanism for loading and unloading silicon rods, which is characterized in that: the device comprises a first rotating mechanism and a second rotating mechanism, wherein a level meter (20) is arranged between the first rotating mechanism and the second rotating mechanism, the first rotating mechanism comprises a first support (501), a rotating ring (502) is hinged to the first support (501), a lifting ring (503) is fixed to the bottom of a manipulator (8), the lifting ring (503) is arranged in the rotating ring (502), the second rotating mechanism comprises a second support (508), a rotating block (507) is hinged to the second support (508), the other end of the rotating block (507) is in sliding connection with the manipulator (8) through a third sliding mechanism, the third sliding mechanism comprises a fixed plate (505) fixed to the bottom of a cantilever (6), two mutually parallel third guide rails (509) are arranged on the fixed plate (505), a third sliding block (511) matched with the third guide rails (509) are arranged on the third guide rails, a third screw pair (510) is further arranged between the two third guide rails (509), the third screw pair (510) and the third screw pair (506) are fixedly connected with the third screw pair (506) on the fixed plate (506);

the first support (501) is hinged with the rotating ring (502) through a first pin shaft (514), the axis of the first pin shaft (514) is perpendicular to the cantilever (6), the second support (508) is hinged with the rotating block (507) through a second pin shaft (504), and the axis of the second pin shaft (504) is perpendicular to the axis of the first pin shaft (514);

the axis of the third screw nut pair (510) is parallel to the sliding direction of the third sliding block (511), and the axis of the second pin shaft (504) is perpendicular to the sliding direction of the third sliding block (511);

the third screw nut pair (510) is driven by a third motor (513), an output shaft of the third motor (513) is rotationally connected with a third screw of the third screw nut pair (510) by a third belt pulley (512), and an axis of the output shaft of the third motor (513) is parallel to an axis of the third screw;

the third motor (513) and the level meter (20) are electrically connected to a control unit, respectively.