Sucker clamp structure for solar silicon wafer detection robot

Abstract

The invention discloses a safety protective fence for overhaul and maintenance of a transformer substation, and belongs to the field of clamps. A suction cup clamp structure for a solar silicon wafer detection robot comprises a mounting cylinder, the bottom of the mounting cylinder is fixedly connected with a conical disc, one side face of the mounting cylinder is provided with an extraction opening, a connecting cylinder is arranged in the mounting cylinder, and two gas storage structures are arranged in the connecting cylinder; two sealing rings; through the arrangement of the connecting cylinder, on one hand, a part of air can be conveyed to the sealing ring to fill and expand the sealing ring, the sealing ring is prevented from being greatly deformed after being used for a long time, so that the adsorption and taking stability of the clamp is improved, the fault phenomenon is reduced, and meanwhile, when a workpiece is taken next time, the work efficiency is improved. The other part of airflow extracted in the connecting cylinder in advance can be conveyed out to blow and clean the bottom surface of the sealing ring, the trouble of manual maintenance is omitted, operation is convenient and fast, and the sealing performance is good.

Description

Technical Field

[0001] The invention relates to the technical field of clamps, and in particular to a suction cup clamp structure used for a solar silicon wafer detection robot. Background Art

[0002] With the rapid development of the solar photovoltaic industry, the inspection process in silicon wafer production has become an important means to ensure product quality and production efficiency. In the production process of solar silicon wafers, surface defect detection is a key step, because even tiny surface defects can affect the performance and life of solar cells. In order to improve the efficiency and accuracy of detection, machine vision technology has been introduced into the field of silicon wafer inspection. By using high-resolution cameras and image processing algorithms, machine vision systems can automatically identify and classify defects on the surface of silicon wafers, such as cracks, stains, and edge defects;

[0003] When this type of robot inspects solar silicon wafers, it needs to pick up the solar silicon wafers to be inspected from the conveying platform to the inspection platform. However, the suction cup picking structure on the existing inspection robot is prone to deformation during the picking operation because the bottom of the suction cup is in contact with the workpiece for a long time, which leads to air leakage during the subsequent adsorption and picking operation, causing malfunctions and increasing maintenance costs. Therefore, we propose a suction cup clamp structure for a solar silicon wafer inspection robot to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the suction cup picking structure on the existing inspection robot in the prior art is prone to deformation due to the long-term contact between the bottom of the suction cup and the workpiece during the picking operation, resulting in air leakage during the subsequent adsorption and picking operation. A suction cup clamp structure for a solar silicon wafer inspection robot is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A suction cup clamp structure for a solar silicon wafer inspection robot comprises a mounting tube, the bottom of which is fixedly connected to a conical disk, a side surface of which is provided with an air suction port, a connecting tube, which is arranged inside the mounting tube, and the interior of the connecting tube is provided with two air storage structures; two sealing rings are fixed on the bottom surface of the conical disk; when the airflow in the connecting tube is transported out through one end at the top, the inside of the sealing ring is inflated, and when the airflow in the connecting tube is transported out through one end at the bottom, the bottom of the sealing ring is blown and cleaned.

[0007] Preferably, a piston is slidably connected to the inner wall of the connecting cylinder, a moving rod is fixedly connected to the top surface of the piston, one end of the moving rod is fixedly connected to the output end of the driving part, and the driving part is installed on the top surface of the mounting cylinder.

[0008] Preferably, a first air storage cavity is provided inside the connecting tube, an air pipe is fixedly connected to one side of the top of the connecting tube, a cavity is provided on the inner wall of the mounting tube and the conical disk, one end of the air pipe passes through the cavity, an air delivery channel is provided on the bottom surface of the conical disk, and the sealing ring is connected to the cavity through the air delivery channel.

[0009] Preferably, a notch is provided on the bottom surface of the conical disk between the two gas delivery channels, and an annular cover is fixedly connected to the bottom of the conical disk, and the annular cover is located between two sealing rings.

[0010] Preferably, a second air storage cavity is provided inside the connecting tube on one side of the first air storage cavity, an air intake pipe is fixedly connected to a side surface of the bottom of the connecting tube, one end of the air intake pipe passes through the mounting tube and extends to the outside, and a one-way valve is provided at the connection between the air intake pipe and the connecting tube.

[0011] Preferably, a bellows is fixedly connected to the bottom of the connecting tube, one end of the bellows is fixedly connected to a connecting pipe, the bottom of the connecting pipe is fixedly connected to an air jet disk, and an air jet head is provided on the side wall of the air jet disk.

[0012] Preferably, a limit plate is fixed on the surface of the connecting tube, a telescopic rod is fixed on the top surface of the limit plate, one end of the telescopic rod is fixedly connected to the connecting tube, a tension spring is sleeved on the surface of the connecting tube, and both ends of the tension spring are respectively fixedly connected to the connecting tube and the limit plate.

[0013] Preferably, an air outlet pipe is fixed to the bottom of the connecting tube, a one-way valve is provided at the connection between the air outlet pipe and the connecting tube, and a groove is provided on the top surface of the limiting plate, and the groove is adapted to the air outlet pipe.

[0014] Preferably, a gas detection sensor is embedded in one side of the mounting tube, and one end of the gas detection sensor extends into the cavity.

[0015] Preferably, a fixing ring is fixed to the outer wall of the mounting tube, a mounting plate is fixed to one end of the fixing ring, and a mounting hole is opened on the surface of the mounting plate.

[0016] Compared with the prior art, the present invention provides a suction cup fixture structure for a solar silicon wafer inspection robot, which has the following beneficial effects:

[0017] 1. The suction cup fixture structure for a solar silicon wafer inspection robot forms a multi-layer sealing protection structure by setting two sealing rings at the bottom of the conical disk, thereby effectively improving the sealing performance of the bottom of the conical disk, making the fixture more stable in the process of picking up the workpiece and reducing the occurrence of malfunctions.

[0018] 2. This suction cup clamp structure for a solar silicon wafer inspection robot can transport part of the air in the connecting cylinder to the inner wall of the mounting cylinder and the conical disk through the provided connecting cylinder, and then blow and fill the inside of the sealing ring to avoid the deformation and leakage of the bottom of the conical disk after long-term use.

[0019] 3. The suction cup clamp structure used for the solar silicon wafer inspection robot can transport another part of the air out from the bottom through the connecting tube when the next picking operation is performed after the workpiece is picked up, and the bottom of the sealing ring can be blown clean to prevent foreign matter on the workpiece from sticking to the sealing ring, which has a good automatic cleaning effect.

[0020] The parts not involved in the device are the same as the prior art or can be implemented by the prior art. The present invention provides a connecting tube, which can, on the one hand, transport a part of the air to the sealing ring to fill and expand it, thereby preventing the sealing ring from undergoing a large deformation after long-term use, thereby improving the stability of the clamp's adsorption and picking up, and reducing the occurrence of malfunctions. At the same time, when the workpiece is picked up next time, another part of the airflow pre-extracted in the connecting tube can be transported out to blow and clean the bottom surface of the sealing ring, eliminating the trouble of manual maintenance, and is convenient and quick to operate with good sealing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a suction cup fixture structure for a solar silicon wafer inspection robot proposed by the present invention;

[0022] Figure 2 This is a schematic diagram of a top view of a suction cup fixture structure for a solar silicon wafer inspection robot proposed by the present invention;

[0023] Figure 3 The present invention proposes Figure 2 Schematic diagram of the AA section structure;

[0024] Figure 4 This is a schematic diagram of a side view of a suction cup fixture structure for a solar silicon wafer inspection robot proposed by the present invention;

[0025] Figure 5 A schematic side view of a three-dimensional structure of a suction cup fixture structure for a solar silicon wafer inspection robot proposed by the present invention;

[0026] Figure 6 The present invention proposes Figure 3 A schematic diagram of the enlarged structure of the middle A area;

[0027] Figure 7 The present invention proposes Figure 3 Schematic diagram of the enlarged structure of the middle B area;

[0028] Figure 8 This is a schematic diagram of the partial cross-sectional structure of the jet disk proposed in the present invention.

[0029] In the figure: 1. mounting cylinder; 2. conical disk; 3. air extraction port; 4. connecting cylinder; 41. sealing ring; 51. piston; 52. moving rod; 53. driving part; 61. first air storage cavity; 62. air delivery pipe; 63. cavity; 64. air delivery channel; 65. notch; 66. annular cover; 71. second air storage cavity; 72. air inlet pipe; 73. bellows; 74. connecting pipe; 75. jet disk; 76. jet head; 77. compression spring; 78. baffle; 81. air outlet pipe; 82. limit plate; 83. groove; 84. telescopic rod; 85. tension spring; 9. gas detection sensor; 10. fixing ring; 11. mounting plate; 12. mounting hole. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] In the description of the present invention, the term "multiple" refers to two or more. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0032] In the description of this specification, the description of the terms "one embodiment", "some implementations", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0033] Reference Figure 1-Figure 8 A suction cup fixture structure for a solar silicon wafer inspection robot includes a mounting tube 1, a conical disk 2 is fixedly connected to the bottom of the mounting tube 1, a suction port 3 is arranged on one side of the mounting tube 1, a connecting tube 4 is arranged inside the mounting tube 1, and two air storage structures are arranged inside the connecting tube 4; two sealing rings 41 are fixed on the bottom surface of the conical disk 2; when the airflow in the connecting tube 4 is transported out through one end of the top, the inside of the sealing ring 41 is inflated, and when the airflow in the connecting tube 4 is transported out through one end of the bottom, the bottom of the sealing ring 41 is blown and cleaned.

[0034] In the prior art, when the inspection robot picks up the solar silicon wafer for inspection, a gripping component is usually installed on the inspection robot. Since the solar silicon wafer is in the original sheet shape and is a compact component, the gripping component generally adopts a suction cup structure. However, when the inspection robot is working in a state of long-term reciprocating picking, although the bottom of the gripping suction cup is made of rubber material, it is still easy to deform due to frequent squeezing and contact, which leads to poor adsorption effect, causing the workpiece to fall or unable to be picked up. Therefore, in this solution, improvements are made to the original suction cup structure, wherein the mounting cylinder 1 is mounted on the mechanical arm of the inspection robot, and two sealing rings 41 are arranged at the bottom of the conical disk 2 to form a suction cup. Multiple sealing protections are formed on the inner and outer rings to improve the sealing performance of the clamp when adsorbing and picking up the workpiece, and to prevent air leakage. When picking up the workpiece, a part of the air inside the connecting tube 4 is transported to the inner walls of the mounting tube 1 and the conical disk 2, which eventually causes the sealing ring 41 to expand, thereby reducing the deformation of the sealing ring 41 after long-term use, and further improving the sealing effect of the sealing ring 41. Through the setting of the connecting tube 4, when the next picking operation is performed after the workpiece is picked up, another part of the air can be transported out from the bottom, and the bottom of the sealing ring 41 can be blown clean to prevent foreign matter on the workpiece from adhering to the sealing ring 41, which has a good automatic cleaning effect.

[0035] In a preferred embodiment, referring to Figure 5 , Figure 6 and Figure 7The inner wall of the connecting cylinder 4 is slidably connected with a piston 51, and a moving rod 52 is fixedly connected to the top surface of the piston 51. One end of the moving rod 52 is fixedly connected to the output end of the driving part 53, and the driving part 53 is installed on the top surface of the mounting cylinder 1. A first gas storage cavity 61 is arranged inside the connecting cylinder 4, and a gas delivery pipe 62 is fixedly connected to the top side of the connecting cylinder 4. A cavity 63 is provided on the inner walls of the mounting cylinder 1 and the conical disk 2, and one end of the gas delivery pipe 62 passes through the cavity 63. A gas delivery channel 64 is provided on the bottom surface of the conical disk 2, and the sealing ring 41 is connected to the cavity 63 through the gas delivery channel 64. A notch 65 is provided on the bottom surface of the conical disk 2 between the two gas delivery channels 64. An annular cover 66 is fixedly connected to the bottom of the conical disk 2, and the annular cover 66 is located between the two sealing rings 41. A gas detection sensor 9 is embedded and installed on one side of the mounting cylinder 1, and one end of the gas detection sensor 9 extends into the cavity 63.

[0036] The driving part 53 uses a cylinder instead of a drive. When the workpiece needs to be picked up, the driving part 53 is started to make the piston 51 slide upward inside the connecting tube 4, so that the air inside the first air storage chamber 61 can be squeezed and transported to the inside of the cavity 63 through the air pipe 62. There is air inside the cavity 63 itself. The squeezed air is transported to the inside of the sealing ring 41 through the air delivery channel 64, which can fill and expand the sealing ring 41, reduce the deformation of the sealing ring 41 after long-term compression contact with the workpiece, and increase the sealing service life of the sealing ring 41. The sealing ring 41 is provided with two, and the design of inner and outer rings has a double sealing protection effect, which improves the stability of the clamp when adsorbing and picking up the workpiece;

[0037] On the other hand, due to the setting of the annular cover 66, when a part of the air in the cavity 63 is squeezed and transported to the annular cover 66 through the notch 65, the annular cover 66 expands and deforms. Therefore, after the annular cover 66 expands, it contacts the side surfaces of the sealing ring 41 on both sides, playing a role of supporting and correcting the sealing ring 41 in a deformed state.

[0038] The annular cover 66 is made of elastic film rubber material;

[0039] The gas detection sensor 9 may be a commonly used model in the market. The gas detection sensor 9 monitors the air pressure inside the cavity 63 in real time. When the air pressure changes significantly, it means that the sealing ring 41 is broken or damaged, thereby conveniently reminding the staff to replace the sealing ring 41.

[0040] In a preferred embodiment, referring to Figure 2 , Figure 6 and Figure 8The interior of the connecting tube 4 is provided with a second air storage cavity 71 on one side of the first air storage cavity 61, an air inlet pipe 72 is fixedly connected to one side of the bottom of the connecting tube 4, one end of the air inlet pipe 72 passes through the mounting tube 1 and extends to the outside, a one-way valve is provided at the connection between the air inlet pipe 72 and the connecting tube 4, a bellows 73 is fixedly connected to the bottom of the connecting tube 4, one end of the bellows 73 is fixedly connected to a connecting tube 74, a jet disk 75 is fixedly connected to the bottom of the connecting tube 74, a jet head 76 is provided on the side wall of the jet disk 75, a limiting plate 82 is fixedly provided on the surface of the connecting tube 74, and a top surface of the limiting plate 82 A telescopic rod 84 is fixed on the surface, one end of the telescopic rod 84 is fixedly connected to the connecting tube 4, a tension spring 85 is sleeved on the surface of the connecting tube 74, and the two ends of the tension spring 85 are respectively fixedly connected to the connecting tube 4 and the limit plate 82, an air outlet pipe 81 is fixed to the bottom of the connecting tube 4, a one-way valve is provided at the connection between the air outlet pipe 81 and the connecting tube 4, a groove 83 is provided on the top surface of the limit plate 82, and the groove 83 is adapted to the air outlet pipe 81, a fixing ring 10 is fixed to the outer wall of the mounting tube 1, a mounting plate 11 is fixed to one end of the fixing ring 10, and a mounting hole 12 is provided on the surface of the mounting plate 11.

[0041] After taking the workpiece, when the next taking operation is performed, the piston 51 slides downward inside the connecting tube 4, squeezing the air inside the second air storage chamber 71, and a part of the air is transported to the connecting pipe 74 through the bellows 73, and then enters the inside of the jet disc 75, and finally is sprayed out through a plurality of jet heads 76 arranged on the side wall surface of the jet disc 75, so that the foreign matter generated when the bottom surface of the sealing ring 41 contacts the workpiece can be blown and cleaned, eliminating the trouble of manual operation;

[0042] Another part of the air is ejected through the air outlet pipe 81, and the ejected air blows toward the groove 83. The force generated by the gas blowing drives the limit plate 82 and the connecting pipe 74 to move downward, thereby causing the nozzle 76 on the nozzle disc 75 to move downward. At this time, the nozzle opening of the nozzle head 76 is flush with the bottom surface of the sealing ring 41 at a certain moment of the downward movement. Due to the elastic rebound limit of the tension spring 85, after the air in the second air storage cavity 71 is completely discharged, the nozzle head 76 is reset under the elastic force to avoid the next clamp adsorption and picking operation.

[0043] It should be noted that the air outlet pipe 81 and the groove 83 are on the same axial line, and the diameter of the groove 83 is larger than the diameter of the air outlet of the air outlet pipe 81. Under the push of the gas, the nozzle 76 moves downward when ejecting the air flow, and will not continue to blow air on the surface of the sealing ring 41. The elastic force of the tension spring 85 is smaller than the force of the air jet at the air outlet pipe 81.

[0044] When the inside of the jet disc 75 is filled with gas, since the inner diameter of the jet head 76 is smaller than the diameter of the gas output in the jet disc 75, and the elasticity of the compression spring 77 is smaller than the force of the gas output in the jet disc 75, a part of the gas encounters the baffle 78 and can squeeze the baffle 78, driving the jet head 76 to slide inside the jet disc 75, so that the jet head 76 is close to the sealing ring 41, thereby improving the cleaning effect and effectively removing tightly adhered foreign matter;

[0045] One end of the air extraction port 3 is connected to the vacuum pump pipeline when in use, and the arrangement of the mounting plate 11 and the mounting hole 12 facilitates installation on the mechanical arm of the detection robot.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A suction cup fixture structure for a solar silicon wafer inspection robot, comprising a mounting tube (1), a conical disk (2) being fixedly connected to the bottom of the mounting tube (1), and a suction port (3) being arranged on one side of the mounting tube (1), characterized in that: A connecting cylinder (4) is arranged inside the mounting cylinder (1), and two gas storage structures are arranged inside the connecting cylinder (4); Two sealing rings (41) fixed on the bottom surface of the conical disk (2); When the airflow in the connecting tube (4) is transported out through the top end, the inside of the sealing ring (41) is inflated, and when the airflow in the connecting tube (4) is transported out through the bottom end, the bottom of the sealing ring (41) is blown and cleaned.

2. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 1, characterized in that: The inner wall of the connecting cylinder (4) is slidably connected to a piston (51), the top surface of the piston (51) is fixedly connected to a moving rod (52), one end of the moving rod (52) is fixedly connected to the output end of a driving part (53), and the driving part (53) is mounted on the top surface of the mounting cylinder (1).

3. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 1, characterized in that: The connecting tube (4) is provided with a first air storage cavity (61) inside, and a gas delivery pipe (62) is fixedly connected to one side of the top of the connecting tube (4). The inner walls of the mounting tube (1) and the conical disk (2) are both provided with cavities (63), one end of the gas delivery pipe (62) passes through the cavity (63), and a gas delivery channel (64) is provided on the bottom surface of the conical disk (2), and the sealing ring (41) is connected to the cavity (63) through the gas delivery channel (64).

4. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 3, characterized in that: A notch (65) is provided on the bottom surface of the conical disk (2) between the two gas delivery channels (64), and an annular cover (66) is fixedly connected to the bottom of the conical disk (2), wherein the annular cover (66) is located between the two sealing rings (41).

5. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 1, characterized in that: A second air storage cavity (71) is provided inside the connecting tube (4) and is located on one side of the first air storage cavity (61). An air intake pipe (72) is fixedly connected to a side surface of the bottom of the connecting tube (4). One end of the air intake pipe (72) passes through the mounting tube (1) and extends to the outside. A one-way valve is provided at the connection between the air intake pipe (72) and the connecting tube (4).

6. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 5, characterized in that: The bottom of the connecting tube (4) is fixedly connected to a bellows (73), one end of the bellows (73) is fixedly connected to a connecting pipe (74), the bottom of the connecting pipe (74) is fixedly connected to an air jet disc (75), and the side wall of the air jet disc (75) is provided with an air jet head (76).

7. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 6, characterized in that: A limit plate (82) is fixed on the surface of the connecting tube (74), a telescopic rod (84) is fixed on the top surface of the limit plate (82), one end of the telescopic rod (84) is fixedly connected to the connecting tube (4), and a tension spring (85) is sleeved on the surface of the connecting tube (74), and two ends of the tension spring (85) are respectively fixedly connected to the connecting tube (4) and the limit plate (82).

8. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 7, characterized in that: An air outlet pipe (81) is fixed to the bottom of the connecting tube (4), a one-way valve is provided at the connection between the air outlet pipe (81) and the connecting tube (4), and a groove (83) is provided on the top surface of the limiting plate (82), and the groove (83) is adapted to fit the air outlet pipe (81).

9. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 3, characterized in that: A gas detection sensor (9) is embedded and installed on one side of the installation tube (1), and one end of the gas detection sensor (9) extends into the cavity (63).

10. The suction cup fixture structure for a solar silicon wafer inspection robot according to claim 1, characterized in that: A fixing ring (10) is fixed on the outer wall of the mounting tube (1), a mounting plate (11) is fixed to one end of the fixing ring (10), and a mounting hole (12) is provided on the surface of the mounting plate (11).

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