CN207705219U - A kind of truss arm-and-hand system - Google Patents

Abstract

The utility model provides a kind of truss arm-and-hand system, truss arm-and-hand system includes preceding truss arm-and-hand system, rear truss arm-and-hand system and truss PLC controller, it is arranged in parallel before and after preceding truss arm-and-hand system and rear truss arm-and-hand system, preceding truss arm-and-hand system is electrically connected with truss PLC controller respectively with rear truss arm-and-hand system.The utility model has the beneficial effects that completing self-feeding and the feeding of silicon rod using RFID identification system and workshop MES system, Unmanned operation is realized；Preceding truss arm-and-hand system carries out the transport of silicon single crystal rod, and rear truss arm-and-hand system carries out the transport of tooling material seat, and the two is carried out at the same time the transport of silicon single crystal rod and tooling material seat, and work efficiency is high, is not required to manually carry, cost of labor is low；Preceding truss arm-and-hand system is controlled with rear truss arm-and-hand system by truss PLC controller, can be run according to blas, high degree of automation, work efficiency is high.

Description

A kind of truss arm-and-hand system

Technical field

The utility model belongs to silicon chip production technical field, more particularly, to a kind of truss arm-and-hand system.

Background technology

The main production procedure of photovoltaic slice industry includes ingot inspection, viscose glue, slice, degumming, cleaning, sorts six processes, Wherein second process viscose glue can be broadly divided into two processes：First, glass or resin plate to be adhered to the workpiece of stainless steel On plate, second is that silicon rod is adhered on glass or resin plate, the silicon rod that sticky stick is completed reaches certain through solidification after a period of time Slicer can be packed into after intensity to start to cut.

The dicing method of present silicon chip is using diamond tool patterning method, by using the thin of the upper diamond particle of plating Wire reciprocating motion of high speed or unidirectional mobile on workpiece to be machined, the lathe diamond wire intersection group is pressed in by silicon rod At rectangular gauze on, so that the silicon rod to be cut into elongated silicon core.

With the fast development of domestic and international photovoltaic industry, monocrystalline/polycrystalline silicon chips demand surges, in silicon chip cutting process, The quality and production capacity of silicon rod bonding process directly affect the cost of monocrystalline silicon piece；Traditional artificial sticky stick has not caught up with industry Growth requirement；Before silicon rod suspension need that silicon rod and crystal cup link together by viscose glue, since silicon rod and crystal cup weight are very heavy, Therefore, it operates and is inconvenient during entire sticky stick, and the concentricity of silicon rod and crystal cup can not be effectively ensured, to influence most The quality and lumber recovery of finished product need to put into a large amount of people moreover, silicon single crystal rod when being bonded, needs manually to carry Work cost, and cannot be guaranteed the bonding quality of silicon single crystal rod, working time is long, and efficiency is low.

Utility model content

Problem to be solved in the utility model is to provide a kind of truss arm-and-hand system, is especially suitable for silicon rod technique for sticking, It can realize that the feeding for being automatically performed silicon single crystal rod and expecting seat, cooperation auxiliary clamp are realized automatic glue application and solidification, configured simultaneously Stereo garage and piler can be completed at the same time the storage of the gluing and silicon rod after solidification of multiple silicon rods, promote whole sticky stick efficiency, And preceding truss arm-and-hand system carries out the transport of silicon single crystal rod, rear truss arm-and-hand system carries out the transport of tooling material seat, whole Automation operates, and is not required to manual operation, work efficiency is high, and cost of labor is low.

In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of truss arm-and-hand system, truss Arm-and-hand system includes preceding truss arm-and-hand system, rear truss arm-and-hand system and truss PLC controllers, preceding truss manipulator Be arranged in parallel before and after system and rear truss arm-and-hand system, preceding truss arm-and-hand system and rear truss arm-and-hand system respectively with purlin Frame PLC controller is electrically connected.

Further, preceding truss arm-and-hand system include preceding truss, upper sliding rail, glidepath, upper rack, lower rack, gear, Top shoe, sliding block, left sliding rail, right sliding rail, left slider, right sliding block, left rack, right rack and central gear, upper sliding rail is under Before sliding rail is fixed on truss, upper sliding rail and glidepath are setting up and down, and upper rack is fixed at the lower part of sliding rail, lower rack It is fixed at the top of glidepath, gear is set between upper rack and lower rack, and top shoe sliding is set on upper sliding rail, sliding block Sliding is set on glidepath, and left sliding rail is fixed at top shoe on sliding block with right sliding rail by mounting plate, and left rack is fixed Set on left sliding rail side, right rack is fixed at right sliding rail side, and left rack is oppositely arranged with right rack, and central gear is set to a left side Between rack and right rack, left slider sliding is set on left sliding rail, and right sliding block sliding is set on right sliding rail, and gear passes through speed reducer It is connect with motor, central gear is connect by the first speed reducer with first motor, and motor is controlled with truss PLC respectively with first motor Device electrical connection processed.

Further, truss manipulator, preceding truss manipulator are fixed at installation before preceding truss arm-and-hand system further includes The lower part of plate.

Further, rear truss arm-and-hand system include rear truss, sliding rail, rear truss glidepath, rear truss on rear truss Upper rack, rear truss lower tooth item, rear truss gear, rear truss top shoe, rear truss sliding block, the left sliding rail of rear truss, rear truss Right sliding rail, rear truss left slider, the right sliding block of rear truss, the left rack of rear truss, the right rack of rear truss and rear truss central gear, after Sliding rail is fixed at rear truss glidepath on rear truss on truss, and sliding rail and rear truss glidepath are setting up and down on rear truss, Truss upper rack is fixed at the lower part of sliding rail on rear truss afterwards, and rear truss lower tooth item is fixed at the upper of rear truss glidepath Portion, rear truss gear are set between rear truss upper rack and rear truss lower tooth item, and rear truss top shoe sliding is set on rear truss On sliding rail, rear truss sliding block sliding is set on rear truss glidepath, and the rear left sliding rail of truss passes through rear spar with the right sliding rail of rear truss Frame mounting plate is fixed at rear truss top shoe on rear truss sliding block, and the rear left rack of truss is fixed at the left sliding rail of rear truss Side, the rear right rack of truss are fixed at the right sliding rail side of rear truss, and the rear left rack of truss is oppositely arranged with the right rack of rear truss, Truss central gear is set between the left rack of rear truss and the right rack of rear truss afterwards, and it is left that rear truss left slider sliding is set to rear truss On sliding rail, the rear right sliding block sliding of truss is set on the right sliding rail of rear truss, and rear truss gear is connected by speed reducer and rear truss motor It connects, rear truss central gear is connect by the first speed reducer of rear truss with rear truss first motor, rear truss motor and rear truss First motor is electrically connected with truss PLC controller respectively.

Further, rear truss arm-and-hand system further includes rear truss manipulator, and rear truss manipulator is fixed at rear spar The lower part of frame mounting plate.

Further, preceding truss manipulator is sucker, and sucker is connect by admission line with cylinder.

Further, rear truss manipulator includes front plate, rear plate, front stretching mechanism and rear telescoping mechanism, front stretching Mechanism is fixed at rear telescoping mechanism on rear truss mounting plate, and front plate is fixed at the end of front stretching mechanism, rear plate Be fixed at the end of rear telescoping mechanism, front stretching mechanism and rear telescoping mechanism by solenoid valve respectively with truss PLC controller Electrical connection.

The utility model has the advantages and positive effects of：

1. completing self-feeding and the feeding of silicon rod using RFID identification system and workshop MES system, realize unmanned Operation；

2. truss arm-and-hand system carries out the transport of silicon single crystal rod before, and rear truss arm-and-hand system carries out the fortune of tooling material seat Defeated, the two is carried out at the same time the transport of silicon single crystal rod and tooling material seat, and work efficiency is high, is not required to manually carry, cost of labor is low.

It, can be by 3. preceding truss arm-and-hand system is controlled with rear truss arm-and-hand system by truss PLC controller It is run according to blas, high degree of automation, work efficiency is high；

4. possessing solidification library and full-automatic tooling flow system so that silicon rod in transport and solidification without human intervention, It improves work efficiency；

5. reducing the distance of walking about of personnel, maximizes and simplify viscose glue operation, improve whole viscose glue efficiency.

Description of the drawings

Fig. 1 is the structural schematic diagram of automatic sticky stick system；

Fig. 2 is rod bonding machine structural schematic diagram；

Fig. 3 is to split manipulator structural schematic diagram；

Fig. 4 is to split manipulator to be set to the structural schematic diagram split in mechanical hand cradle；

Fig. 5 is the preceding truss arm-and-hand system structural schematic diagram of the utility model；

Fig. 6 is the preceding truss arm-and-hand system partial enlarged view of the utility model；

Fig. 7 is the structural schematic diagram of stereo garage.

In figure：

1, stereo garage system 2, precuring library transfer line system 3, fractionation arm-and-hand system

4, monocrystalline feeding system 5, automatic rod bonding machine system 6, truss arm-and-hand system

10, head cover 11, supporting rack 12, bottom plate

13, vertical clapboard 14, diaphragm plate 15, horizontal baffle

16, vertical clapboard 31, motor 32, shaft coupling

33, leading screw support base 34, motor guide post 35, upper mounting plate

36, leading screw 37, bushing 38, fractionation mounting plate

39, bearing 40, lower guiding axis 41, cylinder

42, leading screw support base 43, big plate 44, lower installation board

45, upper guiding axis 46, motor mount plate 47, holder

48, guide rail 49, limited block 60, sliding rail

61, rack 62, gear 63, motor

64, motor 65, left clamping jaw 66, right clamping jaw

610,611 guide rail 612 of supporting rack, crossbeam

613, drag chain 614, sucker 615, gear

616, rack 617, mounting plate 618, cylinder

619, rack

Specific implementation mode

The utility model is described further in the following with reference to the drawings and specific embodiments.

As it can be seen in figures 5 and 6, the utility model is related to a kind of truss arm-and-hand system 6, which fixes Between monocrystalline feeding system 4 and automatic rod bonding machine system 5, general frame is overlapped to form by truss, the truss arm-and-hand system 6 Including preceding truss and rear truss, preceding truss and rear truss are arranged in parallel, and manipulator is respectively set on preceding truss and rear truss, The manipulator moves after capable of going forward along preceding truss and rear truss.Here preceding truss is identical with the structure of rear truss, preceding truss On manipulator be used to capture monocrystalline at monocrystalline feeding, the manipulator on rear truss is used to capture the material seat at monocrystalline feeding. Preceding truss includes supporting rack 610 and crossbeam 612, and the quantity of supporting rack 610 is multiple, is sequentially arranged from left to right, crossbeam 612 Be fixed at the top of multiple supporting racks 610, by welding or other be fixedly connected with mode and connect, supporting rack 610 be square steel, Crossbeam 612 is steel frame construction.Sliding rail 611 is installed, the quantity of the sliding rail 611 is two, up and down in the longitudinal side of crossbeam 612 Setting is equipped with gear in the space and is meshed with gear between two sliding rails 611,621 there are certain space Upper and lower rack 619,620, upper tooth, 619 are fixedly mounted on the lower end of sliding rail 611, and lower rack 620 is fixedly mounted on glidepath 621 upper end, gear is equipped between upper and lower rack 619,620, which engages with upper and lower rack 619,620 so that gear energy It is enough to be rotated along rack 619,620；It is respectively equipped with top shoe and sliding block, top shoe on upper sliding rail 611 and glidepath 621 Can be free to slide in upper sliding rail 611, sliding block can be free to slide in glidepath 621, and peace is fixed in the side of top shoe Equipped with mounting blocks, the side of sliding block is installed with mounting blocks, and gear is fixedly connected by key with gear shaft, and gear shaft passes through Shaft coupling is sequentially connected with speed reducer and motor, and motor and speed reducer is fixedly connected by mounting blocks with upper sliding block respectively, is made Obtaining motor and speed reducer can move with the movement of top shoe and sliding block, it is, motor and speed reducer can follow The reciprocating movement that top shoe and sliding block are controlled on upper sliding rail 611 and glidepath 621；Motor and speed reducer successively with The gear axis connection of gear so that the rotation of motor rotation driven gear, the engagement of wheel and rack so that gear is on rack It is mobile, and then top shoe and sliding block is driven to be moved in upper sliding rail 611 and glidepath 621, and then drive motor in upper sliding rail 611 and glidepath 621 on move left and right.The top end face of crossbeam 612 is equipped with drag chain 613, drag chain 613 for it is fixed contain motor and The electric wire cable of speed reducer, be equally also used for the linear cable such as fixed air inlet pipe and an air outlet pipe for containing manipulator upper cylinder or Gas pipeline so that cable and gas pipeline in entire truss are positioned over after being bound by band in drag chain 613, entire truss Structure is more succinct.It is fixed with left limit block and right limit block respectively at the both ends of sliding rail 611,621, and on left limit block It is fixed with left limit switch, right limit switch is fixed on right limit block, and motor, left limit switch and right limit are opened Pass is electrically connected with PLC by conducting wire respectively, and when motor rotates forward, sliding block moves downward, when sliding block and left limit switch contact, Motor reversal so that gear changes direction of rotation, and moves right, and then entire preceding truss manipulator left and right on sliding rail is driven to move It is dynamic.

Meanwhile preceding truss manipulator includes left sliding rail 621, right sliding rail 622, left rack 616, right rack 623, centre tooth Wheel 615, sucker 614, cylinder 618, preceding truss manipulator motor and preceding truss manipulator speed reducer, left sliding rail 621 and right sliding rail 622 are fixedly mounted on by mounting plate on top shoe and sliding block respectively so that left sliding rail 621 and right sliding rail 622 are with upper cunning Block and sliding block move left and right on upper sliding rail 611 and glidepath 621, and the right side of left sliding rail 621 is fixed with left rack 616, The left side of right sliding rail 622 is fixed with right rack 623, that is, left rack 616 and right rack 623 are relatively fixed set on left sliding rail Between 621 and right sliding rail 622, and central gear 615, the central gear 615 are equipped between left rack 616 and right rack 623 It is engaged respectively with left rack 616 and right rack 623；It is respectively equipped with left slider and right cunning on left sliding rail 621 and right sliding rail 622 Block, left slider and right sliding block move freely on left sliding rail 621 and right sliding rail 622 respectively, fixed on left slider and right sliding block Equipped with mounting plate, central gear 615 is fixedly mounted on by bearing and bearing block on mounting plate 617, preceding truss manipulator motor Successively with the gear axis connection of preceding truss manipulator speed reducer and central gear 615 so that before preceding truss manipulator motor passes through The rotation of truss manipulator retarder control centre gear 615 so that central gear 615 by with left rack 616 and right rack 623 engagement and move, preceding truss manipulator motor and preceding truss manipulator speed reducer are fixedly mounted on mounting plate 617；Gas Cylinder 618 is fixedly mounted on truss crossbeam 612, and sucker 614 is fixedly mounted on the lower part of mounting plate 617, and sucker 614 passes through gas Body pipeline is connect with sucker 614, and solenoid valve is provided on gas pipeline, and solenoid valve is electrically connected by conducting wire with PLC, is led to Cross the air inlet and exhaust of the folding control sucker 614 of control solenoid valve so that sucker 614 can suck up silicon single crystal rod, Exactly silicon single crystal rod is captured, solenoid valve is fixedly mounted on by solenoid valve mounting blocks on mounting plate 617.Meanwhile on a left side The upper end of sliding rail 621 and right sliding rail 622 is fixed with upper limit position block respectively, distinguishes in the lower end of left sliding rail 621 and right sliding rail 622 It is fixed with lower position block, for being positioned to left slider and right sliding block, fixation is set respectively on upper limit position block and lower position block Have a upper limit position switch and lower position switch, and the upper limit position switch, lower position switch and preceding truss manipulator motor respectively with PLC It is electrically connected by conducting wire, motor here can rotate and reverse, when left slider and right sliding block are moved upwards and connect with upper limit position block When touching, that is, being contacted with upper limit position switch, motor reversal changes the direction of rotation of gear, so that left slider and right cunning Block moves down, and then sucker 614 is driven to move downward, and carries out the grasping movement of silicon single crystal rod.

Above-mentioned drag chain 613 is connect with the mounting plate 617 on preceding truss manipulator by shaft, gas pipeline and wire Cable is all mounted in drag chain 613 so that drag chain 613 being capable of moving left and right and move with preceding truss manipulator so that entire Preceding truss robot manipulator structure is simple.

Truss arm-and-hand system further includes rear truss, and the structure of rear truss is identical as the structure of preceding truss, and in rear truss On rear truss manipulator is installed, rear truss manipulator is identical as above-mentioned preceding truss robot manipulator structure, unlike before truss What manipulator was captured is sucker 614, and the structure of the manipulator that rear truss manipulator is captured, the manipulator includes fore-clamp Plate and rear plate, the cylinder of rear truss manipulator include front air cylinder and exhaust hood, the front end of the cylinder rod of front air cylinder and front plate It is fixedly connected, the front end of the cylinder rod of exhaust hood is fixedly connected with rear plate, and on the admission line of front air cylinder and exhaust hood Be fixed with preceding solenoid valve and rear solenoid valve respectively, preceding solenoid valve and rear solenoid valve control respectively front air cylinder and exhaust hood into Gas, and then the folding of front plate and rear plate is controlled, that is, crawl of the truss manipulator to tooling material seat after control, front plate It is closed with rear plate, tooling material seat is clamped, and then transported to automatic rod bonding machine, front plate is opened with rear plate, by tooling Material seat is placed on inside automatic rod bonding machine.Preceding solenoid valve and rear solenoid valve are electrically connected by conducting wire with PLC, and solenoid valve is controlled Folding, and then control the air inlet and exhaust of front air cylinder and exhaust hood.

Preceding truss manipulator is used to capture the silicon single crystal rod at transport monocrystalline feeding, and rear truss manipulator is transported for capturing Tooling material seat transports silicon single crystal rod and tooling material seat to the bonding of progress silicon single crystal rod and resin plate inside automatic rod bonding machine.

As shown in Figure 1, a kind of automatic sticky stick system of silicon rod, including it is monocrystalline feeding system 4, truss arm-and-hand system 6, automatic Rod bonding machine system 5, splits arm-and-hand system 3 and stereo garage system 1 at precuring library transfer line system 2, wherein monocrystalline feeding system System 4 is fixed at the charging of automatic rod bonding machine system 5, that is, in the side of automatic rod bonding machine system 5, is used for monocrystalline silicon Carry out silicon single crystal rod transport when stick feeding, truss arm-and-hand system 6 is fixed at monocrystalline feeding system 4 and automatic by supporting rack Between rod bonding machine system 5, through entire automatic rod bonding machine system 5, it is used for the silicon single crystal rod and material seat in monocrystalline feeding system Tooling is sent by manipulator to automatic rod bonding machine system 5, and automatic rod bonding machine system 5 is used to carry out viscose glue to silicon single crystal rod, will Silicon single crystal rod bonds together with resin plate, and precuring library transfer line system 2 is fixed at behind automatic rod bonding machine system 5, Precuring library transfer line system 2 is connected with automatic rod bonding machine system 5 by belt transmission line, and belt transmission line will complete resin plate The silicon single crystal rod of bonding is sent to precuring library transfer line system 2, completes the silicon single crystal rod of resin plate bonding work in precuring Cured in library, splits arm-and-hand system 3 and be fixed at the discharging of precuring library transfer line system 2, split manipulator system The silicon single crystal rod for completing adhering resin plate is placed on by system 3 for separating the silicon single crystal rod and the material seat that complete adhering resin plate On the pallet fork of piler, the silicon single crystal rod for completing adhering resin plate is transported in stereo garage system 1 using piler and is deposited Storage, stereo garage system 1 are fixed at behind precuring library transfer line system 2, and stereo garage is used to complete the list of adhering resin plate The storage of crystalline silicon rod.

Belt transmission line is through entire full-automatic sticky stick system, by automatic rod bonding machine system 5, precuring library transfer line system 2 are connected to arm-and-hand system 3 is split so that material seat tooling circulates in entire full-automatic sticky stick system, expects seat tooling from monocrystalline Silicon single crystal rod is transported to automatic rod bonding machine system 5 by silicon single crystal rod by belt transmission line at feeding system 4, in automatic sticky stick The bonding of resin plate is completed in machine system 5, the silicon single crystal rod after the completion of adhering resin plate is automatic to precuring library by belt-conveying Cured in linear system system 2, and transported by belt transmission line to arm-and-hand system 3 is split, splits arm-and-hand system 3 by monocrystalline silicon Finished product is separated with material seat tooling, and monocrystalline silicon cost enters stereo garage, and material seat fixture is flowed back again by belt transmission line to be transported to list At brilliant feeding system 4, the bonding transport of silicon single crystal rod next time is carried out.

Above system further includes full-automatic tooling flow system and RFID identification system, which is respectively set In monocrystalline feeding system 4, automatic rod bonding machine system 5 and precuring library transfer line system 2, silicon single crystal rod information for identification； Full-automatic tooling flow system setting is between precuring library transfer line system 2 and automatic rod bonding machine system 5, for work in system Dress realizes full-automatic circulation, realizes Unmanned operation.The RFID identification system is docked with the MES system in entire workshop, carries out pipe The information of silicon single crystal rod in whole system is controlled, the information of silicon single crystal rod in whole system is managed so that whole system even running, Be not in that silicon single crystal rod mistake is viscous and silicon single crystal rod has been bonded and has been accomplished without phenomena such as replenishing in time.

Silicon single crystal rod is sent by special train to the designated position in sticky stick workshop, and each monocrystalline before carrying out adhering resin plate Silicon rod carries RFID tag, and designated position mentioned herein is located in the front space of monocrystalline feeding system 4, for single Crystalline silicon rod be bonded before temporary storage.

Monocrystalline feeding system 4 includes monocrystalline transport establishment and Liao Zuo transport establishments, and monocrystalline transport establishment is fixed at material seat The side of transport establishment, the two move synchronously, and complementation influences.Liao Zuo transport establishments include elevator, and the elevator will be for that will expect The position that seat transport is captured to truss manipulator waits for truss manipulator that will expect that seat is transported to rod bonding machine system 5, for whole The turnover of a sticky stick system material seat；The elevator includes rack, elevating drive mechanism and workbench, and elevating drive mechanism is fixed In rack, workbench is set to the inside of rack, and workbench is fixedly connected with elevating drive mechanism so that work is flat Platform can follow the lifting of elevating drive mechanism and lift, and workbench is equipped with tooling.Here rack includes supporting rack, branch Support constitutes cuboid framework structure by four vertical bars and eight horizon bars；Elevating drive mechanism is divided into two groups, fixes respectively It is arranged in the left and right sides of supporting rack, lifting transmission mechanism here is Pneumatic Transmission, and two groups of atmospheric pressure pole is flat with work respectively The both ends of platform are fixedly connected, and two groups of pneumatic cylinders act simultaneously, stretch out simultaneously, and workbench is risen to top by the bottom end of supporting rack End；Workbench, is drop to the bottom end of supporting rack by two groups of atmospheric pressure pole simultaneous retractables；It is arranged simultaneously in the air inlet pipe of two groups of cylinders Solenoid valve, two solenoid valves are connect with PLC controller, and the switch of two solenoid valves is controlled by PLC, and then control two groups of gas simultaneously The action of cylinder ensures that workbench normally lifts, not will produce the phenomenon that not risen while rising.Tooling is mounted on There are the card slot that tooling is installed, tooling to be fastened on card slot on workbench, on workbench.Tooling is same as installation material seat and uses, material For seat by being manually placed in tooling, material seat is placed on the groove portion of tooling, is not required to be fixedly connected, due in Liao Zuo transport establishments expecting Seat only carries out upper and lower elevating movement, will not carry out side-to-side movement, so, material seat is only inserted into the mounting groove of tooling, It is lifted therewith the lifting of workbench, not will produce movement.

Empty material seat is placed in tooling by operating personnel, starts Liao Zuo transport establishments, and PLC controls two groups of solenoid valves and opens It opens, cylinder movement, cylinder rod stretches out, and the workbench with material seat and tooling is transported to position to be captured at the top of rack It sets, waits for the crawl of truss manipulator.

Here elevating drive mechanism can also be hydraulic gear, can also be chain-drive mechanism, according to practical need It asks and is selected.

Monocrystalline transport establishment is used for the transport of silicon single crystal rod, including rack and belt gear, rack are used to support skin Tape handler, belt transmission are fixedly mounted in the supporting beam of rack；Belt transmission includes resting barrel, transition roller, cross To roller and belt, the width of belt should be greater than the length of silicon single crystal rod so that silicon single crystal rod can be on belt with belt Movement and move, will not be fallen from belt.Belt transmission includes transport test section and monocrystalline correction unit, transports test section Pipe crosses resting barrel and transition roller to belt successively, constitutes belt transmission and transports test section, the belt of monocrystalline correction unit is worn successively Transverse rollers are crossed, the monocrystalline correction unit of belt transmission is constituted.Silicon single crystal rod is positioned at resting barrel by operating personnel, due to skin The movement of band, silicon single crystal rod is followed by belt movement to detection position, length detection is carried out to silicon single crystal rod in detection position, long After the completion of degree detection, silicon single crystal rod continues to move at transition roller, and continues to move at transverse rollers by transition roller, Then the aligning that monocrystalline correction unit carries out silicon single crystal rod is moved to.Here resting barrel and transverse rollers by motor or Motor drives, or resting barrel here and transverse rollers are motorized pulleys.

Silicon single crystal rod is placed on belt transmission line by operating personnel, transports silicon single crystal rod；It is examined in the transport of belt transmission The end in survey portion is equipped with silicon single crystal rod length detection station, which carries out silicon single crystal rod Length detection, laser sensor are set to the top of belt transmission line, and both sides are arranged symmetrically；It is equipped with only in the end of monocrystalline correction unit Blocking means, the stop device include baffle plate and longitudinal extension mechanism, and baffle plate includes rear baffle plate and side baffle plate, rear backstop Plate and side baffle plate are vertically arranged, and longitudinal extension mechanism is oppositely arranged with rear baffle plate；When silicon single crystal rod transports belt transmission fortune When the test position of defeated test section, it is, when silicon single crystal rod reaches length detection station, length detection is carried out, when length is examined After the completion of survey, silicon single crystal rod continues to move to belt transmission monocrystalline correction unit, at the stop device of the end of monocrystalline correction unit, The side wall of the silicon single crystal rod is contacted with side baffle plate, and the end of silicon single crystal rod is contacted with rear baffle plate, meanwhile, longitudinal extension mechanism Telescopic rod and silicon single crystal rod preceding end in contact, silicon single crystal rod is corrected；After the aligning of silicon single crystal rod, work as longitudinal extension After silicon single crystal rod is corrected in the telescopic rod stretching of mechanism, limit switch action, limit switch is electrically connected with PLC, PLC and truss machine Tool flashlight connects, and electric signal is sent to PLC by limit switch, and PLC is converted, and transmits a signal to truss manipulator, in turn Silicon single crystal rod is carried out capturing to be transported in automatic rod bonding machine system carrying out viscose glue by truss manipulator behavior.

As shown in Fig. 2, automatic rod bonding machine system 5 includes more automatic rod bonding machines, automatic rod bonding machine selects three here, from Left-to-right is sequentially arranged, and is arranged in parallel with truss arm-and-hand system 6, and the preceding truss of truss manipulator and rear truss are across certainly Dynamic rod bonding machine, meanwhile, preceding truss manipulator and rear truss manipulator are located in the upper space of automatic rod bonding machine so that preceding truss Silicon single crystal rod and tooling material seat can be put into inside automatic rod bonding machine by manipulator and rear truss manipulator.

Automatic rod bonding machine is used to complete the bonding work of silicon single crystal rod and resin plate cutting base.Automatically rod bonding machine includes RFID code readers, charging pipeline 54 and discharging transmission line 51, compressing glue mechanism 53 and rubber-coated mechanism 55, the fixation of RFID code readers are set It sets in the rack 52 of feed zone, tooling material seat and silicon single crystal rod is scanned, RFID code readers, which can automatically confirm that, to be waited gluing The RFID information of order crystalline substance, determining in tooling has material seat to be put into, and determines that on preceding truss manipulator be the monocrystalline for needing to be bonded Silicon rod, that is, determine on preceding truss manipulator and rear truss manipulator there is tooling material seat and silicon single crystal rod, into certainly There is charging that can be bonded inside dynamic rod bonding machine.

Above-mentioned charging pipeline 54 and discharging transmission line 51 is belt transmission, and charging pipeline 54 and discharging convey Line 51 is oppositely arranged in parallel, charging pipeline 54 for will after truss manipulator capture tooling material seat transport, feeding The end of pipeline 54 is equipped with pallet, and the lower part of pallet is equipped with elevating mechanism and left/right movement device so that pallet can carry out It moves up and down, elevating mechanism here is pneumatic drive mechanisms, by cylinder and solenoid valve control, the cylinder boom end of cylinder It is fixedly connected with the tray, solenoid valve is set on the admission line of cylinder, the air inlet of solenoid valve control air duct to cylinder, and then is made Cylinder rod is obtained to jack up pallet upwards；Pallet is platy structure, and the upper surface of pallet is fixed with location structure, the location structure Quantity for locating piece, locating piece is multiple, and preferably four here, four rectangular settings of locating piece are respectively arranged on rectangle Four apexes, four locating pieces constitute structure enable tooling be mounted on locating piece in, it is enterprising in pallet to tooling Row positioning is fixed；The length of the position length and tooling material seat of two be laterally arranged locating piece far from charging pipeline 54 It is identical, and the length between two locating pieces and two locating pieces before two locating pieces is less than or equal to tooling Expect the width of seat, but the lateral length of two locating pieces in front is more than the length of tooling material seat so that tooling material seat is defeated by feeding Line sending 54 transport Winter Solstice pallet on, since motional inertia moves forward so that four locating pieces respectively to tooling material seat before Face and left and right two sides are positioned so that tooling material seat does not continue to travel forward in locating piece so that tooling material seat is fixed It is fixed in the block of position, wait for the action of next step gluing.Left/right movement device is lead screw transmission, is equipped in the bottom of pallet and connects with leading screw The sliding sleeve connect, pallet are fixed on sliding sleeve, and leading screw is connect with motor, and motor can be rotated and reverse, and then are controlled Leading screw rotates and reverse, since sliding sleeve is engaged with leading screw so that pallet can move left and right.

Above-mentioned rubber-coated mechanism 55 be set to pallet top so that rubber-coated mechanism can to the resin plate on tooling material seat into Row gluing.The rubber-coated mechanism includes applying sebific duct, gluing elevating mechanism, gluing to be moved forward and backward mechanism, gluing PLC controller and control Panel, painting sebific duct here is hollow pipeline, is bullet in the lower part for applying sebific duct, and be equipped in the distal tip of bullet Through-hole so that glue can flow out carry out degumming from through-hole, apply the material of sebific duct to can also be other materials, root just now It is selected according to actual needs, the top for applying sebific duct is fixedly connected by glue inlet tube road with the storage bin of glue, and in glue inlet tube road On be provided with circulating pump, for by the glue in glue storage bin be pumped into apply sebific duct in, carry out gluing.It applies sebific duct and is fixedly mounted on installation On block, and the mounting blocks are fixedly mounted on the end of gluing elevating mechanism, and gluing elevating mechanism here is cylinder, and mounting blocks are solid Dingan County is mounted in the end of the cylinder rod of cylinder so that mounting blocks can move up and down, and then painting sebific duct is driven to move up and down；The painting Cylinder in glue elevating mechanism is fixedly mounted on connecting plate, and the both ends of the connecting plate are fixedly mounted on the sliding block of closed slide On, which is two, is fixedly mounted in the rack of automatic rod bonding machine；It is installed on the front end face of the connecting plate The both sides of the face of the cylinder of gluing elevating mechanism, the connecting plate are fixedly mounted on the sliding block of closed slide, and the connecting plate The end of the cylinder rod for the cylinder that rear end face and gluing are moved forward and backward in mechanism is fixedly connected, and flexible by cylinder rod controls The back-and-forth motion of connecting plate, the cylinder that gluing is moved forward and backward mechanism are fixedly mounted in the rack of automatic rod bonding machine.Before gluing It is respectively equipped with solenoid valve on the admission line of mobile mechanism and the cylinder in gluing elevating mechanism afterwards, controls the intake and exhaust of cylinder, These solenoid valves are electrically connected with gluing PLC controller by conducting wire respectively, and program is previously provided in gluing PLC controller, control Gluing elevating mechanism and gluing are moved forward and backward the air inlet of cylinder in mechanism, that is, control the flexible of cylinder rod, and then control and apply The running orbit of sebific duct so that the running orbit for applying sebific duct is moved according to the preset track of gluing PLC controller. The junction in glue inlet tube road that the top of sebific duct is connected to glue storage bin is applied equipped with into glue valve, by control the folding into glue valve come Control enters the amount for applying the glue in sebific duct, should be solenoid valve into glue valve, and be electrically connected with gluing PLC control valves, controlled by gluing PLC Valve controls the folding of the solenoid valve.The movement locus for applying sebific duct can be round, can be rectangular, can also be other figures, It is selected according to actual demand.Photoelectric sensor is equipped on parallel orbit, which is used to limit before and after gluing The stroke of the cylinder rod of the cylinder of mobile mechanism, photoelectric sensor include two, are fixedly mounted on closed slide, and photoelectric transfer Sensor is electrically connected with gluing PLC controller by conducting wire, when gluing is moved forward and backward the cylinder rod of the cylinder in mechanism forward Movement, when by the first photoelectric sensor, optical signal is passed to gluing PLC controller, gluing PLC controls by the first photoelectric sensor Optical signal is converted to electric signal by device processed, and electric signal is passed to the electromagnetism in gluing back-and-forth motion mechanism on air duct to cylinder Valve, solenoid valve control cylinder rod to front stretching, when cylinder rod passes through the second photoelectric sensor, same second photoelectric sensor will Optical signal passes to gluing PLC controller, and gluing PLC controller converts optical signals into electric signal and passes to solenoid valve, electromagnetism Valve is closed, and cylinder rod is retracted, and controls the flexible of cylinder rod in this way, and then is controlled and applied sebific duct and be moved forward and backward, and is applied sebific duct and is existed When back-and-forth motion, pallet is moved left and right, and cooperation applies the movement of sebific duct, and then completes to run according to predetermined path of movement.

After gluing, silicon single crystal rod is positioned on the resin plate after gluing by preceding truss manipulator, is bonded.It is single after bonding Crystalline silicon rod is sent to compressing glue mechanism 53 by belt, carries out moulding.

Above-mentioned compressing glue mechanism 53 includes moulding rack, moulding Sheng Jia mechanisms and moulding block, which is fixed at The side of rubber-coated mechanism, moulding elevating mechanism are fixedly mounted the top with moulding rack, are fixedly connected by mounting plate, the moulding Elevating mechanism is hydraulic drive, and moulding block is installed in the end of hydraulic stem, and moulding block is controlled by hydraulicefficiency elevation structure Lifting, and then complete moulding action.When moulding, moulding block is placed on silicon single crystal rod, applies pressure to silicon single crystal rod so that Between silicon single crystal rod and resin plate it is be bonded more securely.The discharge port of compressing glue mechanism is provided with baffle, there is the control of air pressure mechanism System, is specifically cylinder, and the end of the cylinder rod of cylinder is fixed with baffle, when being bonded with the tooling material seat of silicon single crystal rod by applying In gluing mechanism out, the charging of compressing glue mechanism is moved to by belt transmission, into compressing glue mechanism, is blocked and is bonded with by baffle The tooling material seat of silicon single crystal rod carries out moulding action, and after completing moulding, baffle is shunk, and is bonded with the tooling material seat of silicon single crystal rod Precuring library transfer line system 2 is moved to by discharging transmission line 51.

It is equipped with frictioning station between automatic rod bonding machine system 5 and precuring library transfer line system 2, carries out artificial removing glue, The glue overflowed when carrying out be bonded between silicon single crystal rod and resin plate is removed.Frictioning station be located at automatic rod bonding machine system 5 with it is pre- On the pipeline for curing the connection between library transfer line system 2, the pipeline is using belt transmission.Above-mentioned frictioning station Including photoelectric sensor, frictioning PLC controller and positioning plate, photoelectric sensor and positioning plate are arranged on the belt transmission line, Photoelectric sensor is located at the front of positioning plate, and positioning plate and photoelectric sensor are fixedly mounted on the holder of belt transmission pipeline On, further include cylinder, positioning plate is fixedly mounted on the end of the cylinder rod of cylinder, and is provided with electricity on the admission line of cylinder Magnet valve, solenoid valve are electrically connected by conducting wire with frictioning PLC controller, and photoelectric sensor passes through conducting wire and frictioning PLC controller electricity Connection, after the tooling material seat for being bonded with silicon single crystal rod moves across photoelectric sensor, optical signal is converted to by photoelectric sensor Electric signal, and send this electric signal to frictioning PLC controllers, frictioning PLC controller sends electric signal conversion to electromagnetism Valve, solenoid valve are opened, and cylinder rod stretches out, that is, positioning plate stretches out, and will be bonded with the finished product gear of the tooling material seat of silicon single crystal rod Capable positioning is lived in, frictioning is manually carried out, the glue overflowed when by bonding removes, and presses start button, and positioning plate is retracted, silicon single crystal rod Finished product continues to move, and is cured into precuring library transfer line system 2.

The silicon single crystal rod finished product for scraping glue process is completed for storing in precuring library transfer line system 2, by first in first out Principle processing.Precuring library is set to behind automatic rod bonding machine system, is arranged in parallel with automatic rod bonding machine, convenient for silicon single crystal rod Transport.Transfer matic 2 system in precuring library includes three layer line bodies setting up and down, that is, upper layer wire body, middle level wire body and lower layer line Body is respectively arranged with front elevator and rear portion elevator at the both ends of the three layer lines body, and silicon single crystal rod finished product is transmitted from belt Enter upper layer wire body on line, on upper layer, wire body continues to move to the end of upper layer wire body, and diameter rear portion elevator enters middle level wire body, By the end movement of middle level wire body to the front end of middle level wire body, lower layer's wire body is dropped into front elevator, in lower layer's wire body In move to lower layer's wire body end enter split arm-and-hand system carry out silicon single crystal rod finished product and tooling fractionation.Precuring library Three layer line bodies in transfer line system 2 are chain drive, the length of the roller in the chain drive and the length phase of silicon single crystal rod Together so that silicon single crystal rod will not fall phenomenon when being transported in wire body.Here it is answered in elevator monocrystalline feed system Elevator structure is identical, and the lifting by being pneumatically or hydraulically driven control workbench.And it is arranged on workbench Limit switches, after limit switch detects that silicon single crystal rod finished product enters elevator, limit switch sends electric signal to gas Dynamic or hydraulicdriven solenoid valve, and then carry out the lifting of workbench.In addition, the mechanism of control workbench lifting here It can also be machine driving, controlled by motor, then limit switch is electrically connected with motor, is controlled by the signal of limit switch The positive and negative rotation of motor, and then the lifting of workbench is controlled, complete the transport of monocrystalline finished product.By the setting of three layer line bodies, make Obtaining silicon single crystal rod finished product can move in precuring library transfer line system 2 for a long time as far as possible, carry out the solidification of glue so that single It is bonding more secured between crystalline silicon rod and resin plate.

Silicon single crystal rod finished product circulates at a slow speed after a certain period of time in precuring library transfer line system 2, is entered by the bottom and is torn open Divide arm-and-hand system 3, the circulation time here is preferably two hours.

As shown in Figures 3 and 4, it splits arm-and-hand system 3 to be set at the discharging of precuring library transfer line system 2, the disassembling machine Tool hand system includes splitting manipulator, splitting elevator, positioning fixture and drag and hold fixture, splits elevator and exists with manipulator is split It is setting up and down on vertical direction, and position is corresponding in the vertical direction for the two, positioning fixture and drags and hold fixture and be fixed at The top of elevator is split, elevator is split and is moved up and down positioned at the workbench for splitting elevator by hydraulic cylinder control, it can also It is to be controlled using Pneumatic Transmission, can also be other mechanical structures, selected according to actual demand, for that will be bonded with The silicon single crystal rod finished product of resin plate is transported to top by bottom；Positioning fixture and dragging holds fixture and is controlled by cylinder positioning fixture and drags The flexible of fixture is held, the silicon single crystal rod for rising to top is dragged and handles and is accurately positioned, can also be that hydraulic pressure is controlled here, also Can be that other mechanical structures are controlled；Split silicon single crystal rod and tooling material seat point that manipulator is used to be bonded with resin plate It opens, and is transported on the pallet fork of piler, split manipulator and be controlled by cylinder its lifting, can also be hydraulic control, it can be with It is that other mechanical mechanisms are controlled.

It includes splitting manipulator and splitting mechanical hand cradle to split arm-and-hand system 3, splits manipulator and is set to fractionation manipulator On frame.

It includes motor 31, leading screw 36, guiding axis and clamping part to split mechanical hand, and motor 31 is fixedly mounted on motor board 46 On, motor board 46 is fixedly mounted on the top of guiding axis upper mounting plate 35 by motor guide post 34, and the main shaft of motor 31 passes through connection Axis device 32 is fixedly connected with leading screw 36, and the lower part of guiding axis upper mounting plate 35, which is disposed with, to be split under mounting plate 38 and guiding axis Mounting plate 42, the lower surface of guiding axis upper mounting plate 35 and the upper surface corresponding position of guiding axis lower installation board 42 are fixedly installed Fixed seat splits and is provided with through-hole on mounting plate 38, and the position of the through-hole is installed under guiding axis upper mounting plate 35 and guiding axis Fixed seat on plate 42 is corresponding, and is fixed with bushing 37 and bearing 39 in the through hole for splitting mounting plate 38, and bushing 37 is worn It crosses through-hole to be fixedly mounted on fractionation mounting plate 38, bearing 39 is preferably linear bearing, which is fixedly mounted on bushing In 37, guiding axis includes upper guiding axis 45 and lower guiding axis 44, and 45 top of upper guiding axis is fixed at guiding axis upper mounting plate 35 On fixed seat on, lower part be inserted into bearing 39 in, be fixedly connected with bearing 39, the lower part of lower guiding axis 44 is fixed at guiding axis Fixed seat on lower installation board 42, top are stretched into bushing 37 and are fixedly connected with bearing 39 so that lower guide post 44 can serve as a contrast It is moved up and down in set 37；It is installed with big plate 43 in the upper surface of guiding axis lower installation board 42, lower guiding axis 44 is played and is led To the effect of support；Distinguish in the center of guiding axis upper mounting plate 35, fractionation mounting plate 38 and guiding axis lower installation board 42 The position of through-hole equipped with through-hole, and on three is corresponding, and leading screw 36 sequentially passes through three through-holes, and in guiding axis lower installation board Leading screw support base 40 is installed at 42 central through hole so that the end of leading screw 36 is installed with leading screw support base 40, and silk Thick stick support base 40 is equipped with screw thread so that leading screw 36 is moved up and down by being engaged in leading screw support base 40 for screw thread；It is being oriented to Clamping part is equipped at the lower surface of axis lower installation board 42, which includes connecting plate, cylinder 41, left clamping jaw 65, right clamping jaw 66 And holder, the lower surface of guiding axis lower installation board 42, which is bolted, is equipped with connector, connector be bolted with Connecting plate connects, and is bolted respectively equipped with side plate at the both ends of the connecting plate, fixed respectively on two side plates to pacify It is fixed with sliding rail equipped with cylinder 41, while in the lower surface of connecting plate, is set on sliding rail there are two sliding block, sliding block can be in cunning It reciprocatingly slides along sliding rail in road, left clamping jaw 65 is fixedly mounted on the lower surface of one of sliding block, and right clamping jaw 66 is solid Dingan County is on the lower surface of another sliding block so that left clamping jaw 65 and right clamping jaw 66 with the sliding of sliding block and along sliding rail into Row sliding；Wherein, left clamping jaw 65 is fixedly connected with the end of the cylinder rod of left cylinder 66, the cylinder of right clamping jaw 65 and right cylinder 66 The end of bar is fixedly connected, and two cylinders act simultaneously so that left clamping jaw 65 and right clamping jaw 66 can simultaneously clamp on silicon single crystal rod Finished product.In addition, above-mentioned holder is fixedly mounted on the lower surface of connecting plate, play the role of support to entire manipulator.

The rotation of leading screw 36 is driven by the rotation of 31 main shaft of motor so that guide post can move down on bushing 37 is interior It is dynamic, meanwhile, the aid portion really of drive that moves up and down of guide post moves up and down, with this complete silicon single crystal rod clamping and to Upper movement enters stereo garage for silicon single crystal rod finished product and prepares.

It includes splitting holder 47 to split mechanical hand cradle, and fractionation holder 47 is rectangular frame structure, on the fractionation holder 47 Two parallel orbits 48 are arranged in parallel, are respectively arranged with sliding block on the parallel orbit 48, and the quantity of sliding block be it is multiple, this In the quantity of preferably sliding block be three, that is, be respectively set on every track 48 there are three sliding block, it is fixed on three sliding blocks If there are one bottom plate, which is fixedly connected with three sliding blocks by bolt, and three sliding blocks are distributed on the lower surface of bottom plate, Wherein rack 61 is fixed on front side of a track；Two sliding rails 60 are fixed on two bottom plates, two sliding rails 60 both ends are fixedly connected with two bottom plates respectively, and two sliding rails 60 are fixed and connected by bottom plate and two parallel orbits 48 It connects, meanwhile, which is mutually perpendicular to two parallel orbits 48, and two sliding rails 60 are also mutually parallel, here two Sliding rail 60 be rolling ball linear slide rail, in splitting manipulator fractionation mounting plate 38 lower surface at be equipped with sliding sleeve, the sliding sleeve and 60 fitting of sliding rail so that sliding sleeve can be moved forward and backward on sliding rail 60, and then the entire manipulator that splits is driven to go forward in sliding rail 60 After move, and the outside of a sliding rail 60 is fixed with rack 67 wherein, and drag chain is equipped in the outside of another sliding rail 60, should Drag chain is fixedly mounted on the outside of another sliding rail by drag chain plate, and rack 67 is fixedly mounted on a cunning by rack mounting blocks The outside of rail.

In addition, being installed with motor 63 and retarder respectively on the top of two bottom plates, motor 63 and retarder pass through Shaft coupling connects, and is connected with gear 62 by shaft coupling on the main shaft of retarder, which engages with rack 63, passes through electricity Machine controls the rotation of gear 62, and gear 62 is engaged with rack 63 so that the entire manipulator that splits is in two 48 Hes of parallel orbit It is moved on two sliding rails 60, motor here can rotate and reverse so that the entire manipulator that splits can split manipulator It is all around moved on frame, the transport of silicon single crystal rod can be completed with this.

Enable to split manipulator in fractionation manipulator by two parallel sliding rail 60 tracks 48 parallel with two Movement all around is carried out on frame, and by splitting the leading screw 36 of machinery on hand, can make left clamping jaw 45 and right clamping jaw 66 Movement above and below completing, and then complete the movement of silicon single crystal rod finished product.

In addition, the both ends of two parallel orbits 48 on splitting robot gantry are respectively equipped with limited block 49, for limiting Surely the movement of manipulator is split, and is equipped with limit switch on limited block 49, which is electrically connected with motor, works as disassembling machine Tool hands movement is to one end of parallel orbit 48, and when being contacted with limit switch, motor changes direction of rotation so that split manipulator to Negative direction moves.

As shown in fig. 7, stereo garage system 1 is set to behind precuring library transfer line system 2, it is completed for storage pre- solid The cutting base for including silicon single crystal rod changed, the stereo garage system 1 include piler and stereo garage, which is by pallet fork Piler can move freely in stereo garage, and silicon single crystal rod finished product is transported and is stored into stereo garage.Stereo garage is used for The storage of silicon single crystal rod finished product, stereo garage use stack, including head cover 10, bottom plate 12, supporting rack 11, diaphragm plate 14 and it is perpendicular every Plate 13, head cover 10 are fixed at the top of supporting rack 11, and supporting rack 11 is fixed at the top of bottom plate 12, passes through bolt and bottom plate 12 are fixedly connected, and in the space that head cover 10, supporting rack 11 and bottom plate 12 are constituted, there are one vertical clapboards 16 for left side setting, should Space is separated into two spaces by vertical clapboard 16, and leftward space is smaller, and the intermediate position in the space is provided with a water Flat partition board 15, horizontal baffle 15 are fixedly connected with the side wall of 11 side of vertical clapboard 16 and supporting rack, which are divided into Lower two parts；Vertical clapboard 16 and the side wall of 11 other side of supporting rack constitute another space, the upper header in the space 10 lower surface is equipped with slot slot, and the upper surface of the bottom plate 12 in the space is provided with slot, and 10 lower surface of head cover is slotting Slot is corresponding with the slot position of 12 upper surface of bottom plate, and the arrangement mode of slot is that the distance between adjacent slots differ, the One slot is smaller at a distance from second slot, and second slot is greater than or equal to silicon single crystal rod at a distance from third slot Width so that silicon single crystal rod can be put into wherein, and the distance between the first slot and the second slot are smaller, convenient for entire three-dimensional The ventilation in library, meanwhile, between the distance between third slot and the 4th slot and first slot and second slot Apart from identical, the 4th slot is identical as the distance between third slot as second slot at a distance from the 5th slot； It is then configured in the longitudinal direction according to the arrangement mode in the slot of the lower surface of the space internal head cover 10, the slot on bottom plate 12 It arranges in the longitudinal direction and according to the arrangement mode；Vertical clapboard 13 is inserted into slot, has been evenly arranged on vertical clapboard 13 Supporting block, the supporting block are separately positioned on two sides of vertical clapboard 13, and the supporting block is in the position of 13 both sides of vertical clapboard Corresponding, diaphragm plate 14 is equipped with slot, and diaphragm plate 14 is inserted on vertical clapboard 13, and is in contact with supporting block so that diaphragm plate 14 are fixed on vertical clapboard 13, do not fall out, vertical clapboard 13 and diaphragm plate 14 it is this intersect intersect by way of form a lattice The space of one lattice, for storing silicon single crystal rod.

The memory space of these one lattice of lattice label in order, convenient for distinguishing.Two up and down be divided into horizontal baffle 15 Divide in space, liquid crystal display and controller are equipped in upper segment space, which is electrically connected with the controller, and at this RFID code readers are equipped in stereo garage, which is fixed on head cover, and RFID code readers are electrically connected with the controller, and uses In sending the information of the RFID tag on the silicon single crystal rod for passing through the scanning of RFID code readers to controller, controller is previously provided with Program is arranged, for judge whether to be stored in vertical clapboard and diaphragm plate are constituted in stereo garage memory space silicon single crystal rod at Product, if not having, liquid crystal display shows that the memory space is grey, and silicon single crystal rod can be put into the memory space by piler Interior, if so, then liquid crystal display shows that the memory space is red, silicon single crystal rod finished product cannot be put into storage sky by piler Between.Meanwhile be additionally provided with temperature sensor and humidity sensor in the stereo garage, for monitor in real time the stereo garage temperature and Humidity so that silicon single crystal rod finished product is chronically at suitable cured temperature and humidity.

Expect that seat before entering monocrystalline feeding system, carries out Albertol's plate bonding, it is, resin plate is passed through artificial Mode is bonded on material seat, and is bonded with paper self-adhesive tape in vertical plate and material seated connection synapsis, will after resin plate is bonded on material seat Material seat is positioned on the elevator of monocrystalline feeding system, has carried out subsequent sticky stick, curing process.

The course of work of this example：Material seat bonds together with resin plate by artificial viscose glue, after the completion of bonding, operator The material seat for being bonded with resin plate is positioned in the tooling of the elevator at monocrystalline feeding by member, and passes through elevator by tooling Material seat is transported to position to be captured at the top of elevator；Meanwhile silicon single crystal rod is placed in monocrystalline feeding system 4 by operating personnel Belt conveyor line on, move to length detection station application laser sensor and carry out length detection, it is single after the completion of length detection The crystalline silicon rod gear till death that moves forward is set, after the telescopic rod in overcorrection station telescoping mechanism corrects silicon single crystal rod, Limit switch acts, and preceding truss manipulator behavior moves on preceding truss, is moved to the surface of the silicon single crystal rod after correction, And declined by the rack pinion in elevating mechanism, cylinder movement, sucker 614 picks up silicon single crystal rod, on elevating mechanism It rises, preceding truss manipulator is moved to automatic rod bonding machine direction, and moves to stopping action in top at charging in automatic rod bonding machine；Together When, rear truss manipulator behavior is transported to through tooling material seat on the charging belt conveyor of automatic rod bonding machine, and tooling material seat is by belt It being sent on pallet, pallet rises, and rubber-coated mechanism 55 carries out gluing according to preset track, after the completion of gluing, preceding truss machinery The hand-held surface with silicon single crystal rod, preceding truss manipulator decline, and sucker 614 acts, and silicon single crystal rod is placed on material seat, is made It obtains silicon single crystal rod and expects that resin plate carries out be bonded on seat；After the completion of bonding, silicon single crystal rod finished product is formed, silicon single crystal rod finished product is by skin V belt translation moves to moulding station by pallet and carries out moulding, after the completion of briquetting moulding, is discharged and is conveyed by automatic rod bonding machine Line 51 is transported to precuring library transfer matic 2 and is cured, and silicon single crystal rod finished product enters precuring library certainly by belt conveyor line first 2 upper layer wire body of moving-wire, moves to upper layer wire body end, lowers into middle level wire body movement by elevator, moves to middle level wire body End is declined by lifting so that silicon single crystal rod finished product enters lower layer's wire body movement, moves to the end of lower layer's wire body；Into lifting Machine is transported to fractionation manipulator by elevator and is split, silicon single crystal rod finished product and tooling material seat are separated, manipulator is split Silicon single crystal rod finished product is transported on the pallet fork of the piler in stereo garage, silicon single crystal rod finished product is transported to solid by piler Storage solidification is carried out in library, and tooling material seat lowers into tooling flow system by the elevator of fractionation manipulator, moves to At monocrystalline feeding, prepare for subsequent cycle.

The utility model has the advantages and positive effects of：It is completed using RFID identification system and workshop MES systems The self-feeding of silicon rod and feeding realize Unmanned operation；Preceding truss arm-and-hand system carries out the transport of silicon single crystal rod, rear truss Arm-and-hand system carries out the transport of tooling material seat, and the two is carried out at the same time the transport of silicon single crystal rod and tooling material seat, and work efficiency is high, It is not required to manually carry, cost of labor is low；Preceding truss arm-and-hand system and rear truss arm-and-hand system by truss PLC controller into Row control, can run, high degree of automation, work efficiency is high according to blas；Possess solidification library and full-automatic tooling stream Transfer from one department to another to unite so that silicon rod without human intervention, is improved work efficiency in transport and solidification；Reduce personnel walk about away from From maximization simplifies viscose glue operation, improves whole viscose glue efficiency.

One embodiment of the utility model is described in detail above, but the content is only the utility model Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model All the changes and improvements etc., should all still belong within the patent covering scope of the utility model.

Claims (7)

1. a kind of truss arm-and-hand system, it is characterised in that：The truss arm-and-hand system include preceding truss arm-and-hand system, after Truss arm-and-hand system and truss PLC controller, the preceding truss arm-and-hand system are parallel with the rear truss arm-and-hand system Setting, the preceding truss arm-and-hand system are electrically connected with the truss PLC controller respectively with the rear truss arm-and-hand system.

2. truss arm-and-hand system according to claim 1, it is characterised in that：The preceding truss arm-and-hand system includes Preceding truss, upper sliding rail, glidepath, upper rack, lower rack, gear, top shoe, sliding block, left sliding rail, right sliding rail, left slider, the right side Sliding block, left rack, right rack and central gear, the upper sliding rail is fixed at the glidepath on the preceding truss, described Upper sliding rail and the glidepath are setting up and down, and the upper rack is fixed at the lower part of the upper sliding rail, and the lower rack is fixed Set on the top of the glidepath, the gear is set between the upper rack and the lower rack, and the top shoe sliding is set In on the upper sliding rail, the sliding block sliding is set on the glidepath, and the left sliding rail passes through installation with the right sliding rail Plate is fixed at the top shoe on the sliding block, and the left rack is fixed at the left sliding rail side, the right tooth Item is fixed at the right sliding rail side, and the left rack is oppositely arranged with the right rack, and the central gear is set to described Between left rack and the right rack, the left slider sliding is set on the left sliding rail, and the right sliding block sliding is set to described On right sliding rail, the gear is connect by speed reducer with motor, and the central gear is connected by the first speed reducer and first motor It connects, the motor is electrically connected with the truss PLC controller respectively with the first motor.

3. truss arm-and-hand system according to claim 2, it is characterised in that：The preceding truss arm-and-hand system further includes Preceding truss manipulator, the preceding truss manipulator are fixed at the lower part of the mounting plate.

4. according to claim 1-3 any one of them truss arm-and-hand systems, it is characterised in that：The rear truss manipulator System includes rear truss, sliding rail, rear truss glidepath, rear truss upper rack, rear truss lower tooth item, rear truss tooth on rear truss Wheel, rear truss top shoe, rear truss sliding block, the left sliding rail of rear truss, the right sliding rail of rear truss, rear truss left slider, rear truss are right Sliding block, the left rack of rear truss, the right rack of rear truss and rear truss central gear, it is described after on truss sliding rail with it is described after under truss Sliding rail is fixed on the rear truss, and sliding rail and the rear truss glidepath are setting up and down on the rear truss, the rear spar Frame upper rack is fixed at the lower part of sliding rail on the rear truss, and the rear truss lower tooth item is fixed at the rear truss and glides The top of rail, the rear truss gear are set between the rear truss upper rack and the rear truss lower tooth item, the rear truss On sliding rail on the rear truss, the rear truss sliding block sliding is set on the rear truss glidepath for top shoe sliding, It is described after the left sliding rail of truss with it is described after the right sliding rail of truss by rear truss mounting plate be fixed at it is described after truss top shoe with After described on truss sliding block, the rear left rack of truss is fixed at the rear left sliding rail side of truss, and the rear truss is right Rack is fixed at the rear right sliding rail side of truss, and the rear left rack of truss is oppositely arranged with the rear right rack of truss, Truss central gear is set between the rear left rack of truss and the right rack of the rear truss after described, the rear truss left slider Sliding is on the left sliding rail of the rear truss, and the rear right sliding block sliding of truss is set on the right sliding rail of the rear truss, after described Truss gear is connect by speed reducer with rear truss motor, and the rear truss central gear is by the first speed reducer of rear truss with after Truss first motor connects, and the rear truss motor and the rear truss first motor are electric with the truss PLC controller respectively Connection.

5. truss arm-and-hand system according to claim 4, it is characterised in that：Truss arm-and-hand system further includes after described Truss manipulator afterwards, the rear truss manipulator are fixed at the lower part of the rear truss mounting plate.

6. truss arm-and-hand system according to claim 3, it is characterised in that：The preceding truss manipulator is sucker, The sucker is connect by admission line with cylinder.

7. truss arm-and-hand system according to claim 4, it is characterised in that：The rear truss manipulator includes fore-clamp Plate, rear plate, front stretching mechanism and rear telescoping mechanism, the front stretching mechanism with it is described after telescoping mechanism be fixed at it is described after On truss installa-tion plate, the front plate is fixed at the end of the front stretching mechanism, the rear plate be fixed at it is described after The end of telescoping mechanism, the front stretching mechanism are controlled with the truss PLC with the rear telescoping mechanism by solenoid valve respectively Device is electrically connected.