A robotic pre-static curing chamber

Abstract

This invention belongs to the field of photovoltaic automation technology and discloses a robotic pre-static curing warehouse. It includes several stationary positioning racks evenly distributed around the circumference, with a transport robot positioned at the center. The circular warehouse area formed by the stationary positioning racks has four directional channels for crystal tray / adhesive plate input rollers, crystal rod input rollers, cured material output rollers, and a maintenance channel. The transport robot has a multi-functional gripper at its end. The robotic pre-static curing warehouse solves the problems of long adhesive curing time, the need for material transfer after alignment, and low precision after bonding in existing technologies, while also improving space utilization and accelerating production cycle time.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic automation technology, and it relates to a robotic pre-static curing chamber. Background Technology

[0002] In the field of automation within the photovoltaic industry, square silicon rods need to be suspended upside down and placed into a slicing machine to be cut into thin silicon wafers. To prevent the square silicon rods from falling off after suspension and cutting into wafers, the crystal rods, adhesive plates, and crystal holders need to be bonded sequentially from top to bottom. There are two traditional bonding methods: one method involves first bonding the adhesive plate to the crystal holder, aligning it, and then curing it for 30 minutes during roller conveying. Then, the crystal rod is bonded, further aligned, and left to stand for another 30 minutes to allow the adhesive to partially solidify. Afterward, the materials are transferred and placed in a curing chamber for 2.5 hours. This method requires multiple alignments and periods of waiting for the adhesive to solidify, significantly increasing production time and impacting efficiency. Furthermore, before the adhesive has solidified, slippage can occur between the crystal holder and the adhesive plate, and between the adhesive plate and the crystal rod, due to the adhesive at the contact surfaces, affecting the positional accuracy of the bonding. The second method involves simultaneously bonding the crystal rod, adhesive plate, and crystal holder, aligning them uniformly, and then transferring them to a curing chamber for 3 hours to allow the adhesive to solidify. While this method saves curing time, it also presents a risk of slippage between the crystal holder and adhesive plate, and between the adhesive plate and the crystal holder itself, during transport before the adhesive has fully solidified. This slippage can affect the bonding accuracy. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a robotic pre-static curing library. The robotic pre-static curing library solves the problems of long adhesive curing time, need for material transfer after alignment, and low accuracy after material bonding in the prior art, while improving space utilization and speeding up production cycle.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a robot pre-static curing warehouse, including a number of static positioning racks evenly distributed around the circumference, and a handling robot is set at the center of the circle. The circular warehouse area formed by the number of static positioning racks has channels in four directions, which are respectively arranged as crystal tray / adhesive plate input roller line, crystal rod input roller line, cured material output roller line, and maintenance channel; the end of the handling robot is equipped with a multi-functional gripper.

[0005] A rod splicing device is arranged at the end of the crystal rod input roller conveyor.

[0006] Each stationary positioning rack includes a stationary fixing frame, on which three centering and curing mechanisms are installed. One centering and curing mechanism is located at the top center, and the other two centering and curing mechanisms are located at the shoulders on both sides of the stationary fixing frame. The two centering and curing mechanisms on the shoulders are not at the same height as the centering and curing mechanisms at the top. The stationary fixing frame is set on the ground.

[0007] The centering and curing mechanism includes a bottom mounting plate. From top to bottom, crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate are sequentially arranged on both sides of the bottom mounting plate. The crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate are slidably connected to the bottom mounting plate via sliders and linear guides, respectively. On one side of the bottom mounting plate, corresponding to the crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate, a crystal holder centering cylinder, an adhesive plate centering cylinder, and a crystal rod centering cylinder are respectively arranged.

[0008] The adhesive plate connecting plate has adhesive plate positioning and adjustment bolts at both ends of its inner side, and the crystal support connecting plate has crystal support positioning and adjustment bolts at both ends of its inner side.

[0009] Crystal rod guide rail supports are provided at the bottom of both ends of the crystal rod centering pressure plate, and the crystal rod centering pressure plate is connected to the slider through the crystal rod guide rail supports.

[0010] Adhesive plate guide rail supports are provided at the bottom of both ends of the adhesive plate connecting plate, and the adhesive plate connecting plate is connected to the slider through the adhesive plate guide rail supports.

[0011] The bottom of both ends of the crystal tray connecting plate is provided with crystal tray guide rail supports, and the crystal tray connecting plate is connected to the slider through the crystal tray guide rail supports.

[0012] The crystal tray alignment cylinder, adhesive plate alignment cylinder, and crystal rod cylinder connecting plate are respectively connected to the bottom mounting plate via the crystal tray cylinder connecting plate, adhesive plate cylinder connecting plate, and crystal rod cylinder connecting plate.

[0013] The bottom mounting plate is fixed to the stationary mounting bracket with bolts.

[0014] The multifunctional gripper includes a gripper base plate, a robot connecting plate in the middle of the top surface of the gripper base plate, gripper cylinders at both ends of the top surface of the gripper base plate, gripper push plates on both sides of the gripper base plate, each gripper cylinder connected to the gripper push plate via a floating joint, each gripper push plate connected to the gripper at its bottom via a bracket, and the top of the gripper connected to the bottom surface of the gripper base plate via guide components to achieve movement; a sponge suction cup is provided in the middle of the bottom surface of the gripper base plate.

[0015] The multi-functional gripper connects to the end effector of the handling robot via a robot connection plate. There are two grippers: a left gripper and a right gripper; both the left and right grippers are connected to the gripper push plate via bolts.

[0016] The guiding assembly includes a gripper linear guide rail and a slider. The gripper linear guide rail is fixed to the bottom surface of the gripper base plate via a gripper guide rail support. The slider is connected to the gripper. The two grippers can slide towards each other along the gripper linear guide rail.

[0017] The sponge suction cup is connected to the gripper base plate via a suction cup bracket. The sponge suction cup is also externally connected to a vacuum generator.

[0018] A buffer bracket is installed adjacent to the linear guide rail of the gripper, and a buffer is mounted on the buffer bracket. The buffer bracket is connected to the buffer via threads. The length of the buffer extending beyond the buffer bracket can be adjusted via the threads, and its function is to adjust the clamping distance between the left and right grippers. The buffer is not limited in model or form, as long as it achieves its working function.

[0019] The buffer bracket is fixed to the gripper base plate.

[0020] The handling robot includes a robot and a robot base. The robot is mounted on the robot base, which is fixed to the ground. The robot model is not limited, as long as it performs its working functions. The preferred robot model is SRA210-01 (brand: Nachi). The handling robot can use a multi-functional gripper to pick up crystal ingots conveyed on the crystal ingot input roller conveyor. After picking up materials from the stationary positioning rack, the handling robot can place them on the solidified material output roller conveyor.

[0021] Furthermore, the circular track formed between the handling robot and several stationary positioning racks serves as a maintenance channel.

[0022] Furthermore, there is no limit to the specific number of stationary positioning racks; they can be set according to the working conditions, with 8 being the preferred setting.

[0023] Furthermore, the multi-functional gripper is fixed to the handling robot by bolts.

[0024] Furthermore, the centering curing mechanism is fixed to the stationary mounting frame with bolts.

[0025] The splicing device is the splicing device described in patent CN202211180596.9.

[0026] The crystal tray / adhesive plate input roller conveyor is used to transport stacked crystal trays and adhesive plates coated with adhesive into the circular storage area. Its structure is a common conveyor roller conveyor in existing technology, without specific limitations, as long as its working function is achieved.

[0027] The crystal rod input roller conveyor is used to transport crystal rods into the circular storage area. Its structure is based on existing general conveyor belt lines, without specific limitations, as long as its working function is achieved.

[0028] The cured material output roller conveyor is used to transport the cured crystal rods, adhesive plates, and crystal holders out of the circular storage area. Its structure is a common conveyor roller conveyor in existing technology, without specific limitations, as long as it achieves its working function.

[0029] Furthermore, the robot pre-static curing warehouse is also equipped with a PLC control system. The crystal tray / adhesive plate input roller line, crystal rod input roller line, cured material output roller line, multi-functional gripper, handling robot, rod splicing device, gripper cylinder, buffer, vacuum generator, crystal tray centering cylinder, adhesive plate centering cylinder, and crystal rod centering cylinder are all connected to the PLC control system, and none of them are limited to a specific model, as long as their working functions are realized.

[0030] The crystal tray / adhesive plate input roller conveyor is used to transport stacked crystal trays and adhesive plates coated with adhesive into the circular storage area. The crystal rod input roller conveyor is used to transport crystal rods into the circular storage area. The cured material output roller conveyor is used to transport the cured crystal rods, adhesive plates, and crystal trays out of the circular storage area. The stationary positioning rack is used to center the crystal rods, adhesive plates, and crystal trays and maintain centering for 30 minutes to pre-cure the adhesive. The multi-functional gripper is equipped with sponge suction cups and handling grippers; the sponge suction cups can pick up crystal rods, and the handling grippers can move crystal trays. The handling robot, through its multi-functional gripper, can perform the following actions: moving crystal trays and adhesive plates into the stationary positioning rack; moving crystal rods and placing them on the crystal trays and adhesive plates on the stationary positioning rack; moving the cured crystal rods, adhesive plates, and crystal trays into the cured material output roller conveyor. The rod splicing device is used to splice two short crystal rods into one long crystal rod. The maintenance passage is for personnel to perform maintenance. After entering through this maintenance passage, maintenance can be carried out on the handling robot and the stationary positioning rack around the handling robot.

[0031] The beneficial effects of this invention compared to the prior art are:

[0032] 1. The robotic pre-curing chamber provided by this invention offers a novel bonding method for crystal rods, adhesive plates, and crystal holders. Instead of first centering the materials and then transporting them to the curing chamber for static curing, the method involves first feeding them into the pre-curing chamber, where alignment is achieved through continuous pressure during curing. This robotic pre-curing chamber significantly improves material centering accuracy and reduces slippage during transport and static curing.

[0033] 2. Because the robotic pre-static curing warehouse provided by this invention performs material handling and removal operations simultaneously through a handling robot, it has a high degree of intelligence and fast handling speed compared to traditional truss handling structures, greatly improving production efficiency.

[0034] 3. The robot pre-static curing warehouse provided by this invention adopts a multi-layered distribution structure for the static storage area. It is transported by a handling robot, which occupies less space and saves space costs compared to the previous single-layer layout of flat warehouses. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0036] Figure 1This is a schematic diagram of a robot pre-static curing chamber according to the present invention.

[0037] Figure 2 This is a three-dimensional view of a robot pre-static curing warehouse according to the present invention.

[0038] Figure 3 This is a diagram showing the adhesive positions of the silicon rod, adhesive plate, and crystal holder.

[0039] Figure 4 This is a schematic diagram of a crystal holder.

[0040] Figure 5 This is a schematic diagram of a stationary positioning material rack.

[0041] Figure 6 This is a schematic diagram of the centering and curing mechanism.

[0042] Figure 7 This is a schematic diagram of a multi-functional gripper.

[0043] Figure 8 This is a schematic diagram of a transport robot.

[0044] Figure 9 This is a schematic diagram showing the state of the adhesive plate and crystal tray upon arrival.

[0045] Figure 10 This is a diagram showing the positions of the multi-functional gripper when gripping the crystal tray and adhesive plate.

[0046] Figure 11 This is a diagram showing the placement of the multi-functional gripper on the crystal tray and adhesive plate.

[0047] Figure 12 This is a diagram showing the position of the multi-functional gripper that picks up the crystal rod.

[0048] Figure 13 This is a diagram showing the placement of crystal rods using a multi-functional gripper.

[0049] Figure 14 This is a diagram showing the positions of the multi-functional gripper when gripping crystal rods, adhesive plates, and crystal holders.

[0050] In the diagram: 1. Crystal tray / adhesive plate input roller conveyor; 2. Crystal rod input roller conveyor; 3. Cured material output roller conveyor; 4. Stationary positioning rack; 5. Multifunctional gripper; 6. Handling robot; 7. Rod assembly device; 8. Crystal rod; 9. Adhesive plate; 10. Crystal tray; 401. Centering and curing mechanism; 402. Stationary fixing frame; 501. Robot connecting plate; 502. Gripper base plate; 503. Gripper cylinder; 504. Floating joint; 505. Gripper push plate; 506. Gripper guide rail support; 507. Gripper linear guide rail; 508. Left gripper; 509. Buffer; 510. Buffer bracket; 511. Sponge suction cup; 512. Suction cup bracket; 513. Right gripper; 601. Robot; 602. Robot base; 40101. 40102. Crystal ingot centering plate; 40103. Crystal ingot guide rail support; 40104. Linear guide rail; 40105. Bottom mounting plate; 40106. Adhesive plate positioning and adjusting bolt; 40107. Adhesive plate guide rail support; 40108. Crystal tray positioning and adjusting bolt; 40109. Crystal tray guide rail support; 40110. Crystal tray connecting plate; 40111. Crystal tray cylinder connecting plate; 40112. Crystal tray centering cylinder; 40113. Adhesive plate cylinder connecting plate; 40114. Adhesive plate centering cylinder; 40115. Crystal ingot centering cylinder; 40116. Crystal ingot cylinder connecting plate. Detailed Implementation

[0051] The present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to the following embodiments. Example

[0052] A robotic pre-static curing library, such as Figures 1-14 As shown, the storage area includes several stationary positioning racks 4 evenly distributed around the circumference, with a handling robot 6 positioned at the center. The circular storage area formed by the stationary positioning racks 4 has channels in four directions, which are respectively arranged as the crystal tray / adhesive plate input roller line 1, the crystal rod input roller line 2, the solidified material output roller line 3, and the maintenance channel. The end of the handling robot 6 is equipped with a multi-functional gripper 5.

[0053] A rod splicing device 7 is arranged at the end of the crystal rod input roller line 2.

[0054] Each stationary positioning rack 4 includes a stationary fixing frame 402, on which three centering and curing mechanisms 401 are provided. One centering and curing mechanism 401 is located at the top center, and the other two centering and curing mechanisms 401 are located at the shoulders on both sides of the stationary fixing frame 402. The two centering and curing mechanisms 401 on the shoulders are not at the same height as the centering and curing mechanism 401 at the top. The stationary fixing frame 402 is set on the ground.

[0055] The centering and curing mechanism 401 includes a bottom mounting plate 40104. From top to bottom, crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110 are sequentially arranged on both sides of the bottom mounting plate 40104. The crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110 are slidably connected to the bottom mounting plate 40104 via sliders and linear guide rails 40103, respectively. On one side of the bottom mounting plate 40104, corresponding to the crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110, a crystal holder centering cylinder 40112, an adhesive plate centering cylinder 40114, and a crystal rod centering cylinder 40115 are respectively arranged.

[0056] Adhesive plate connecting plate 40106 has adhesive plate positioning and adjusting bolts 40105 at both ends of its inner side, and crystal tray connecting plate 40110 has crystal tray positioning and adjusting bolts 40108 at both ends of its inner side.

[0057] Crystal rod centering pressure plate 40101 has crystal rod guide rail supports 40102 at both ends of its bottom. The crystal rod centering pressure plate 40101 is connected to the slider through the crystal rod guide rail supports 40102.

[0058] The adhesive plate connecting plate 40106 is provided with adhesive plate guide rail supports 40107 at both ends of the bottom, and the adhesive plate connecting plate 40106 is connected to the slider through the adhesive plate guide rail supports 40107.

[0059] The bottom of both ends of the crystal tray connecting plate 40110 is provided with crystal tray guide rail supports 40109, and the crystal tray connecting plate 40110 is connected to the slider through the crystal tray guide rail supports 40109.

[0060] The crystal tray alignment cylinder 40112, the adhesive plate alignment cylinder 40114, and the crystal rod alignment cylinder 40115 are respectively connected to the bottom mounting plate 40104 through the crystal tray cylinder connecting plate 40111, the adhesive plate cylinder connecting plate 40113, and the crystal rod cylinder connecting plate 40116.

[0061] The bottom mounting plate 40104 is fixed to the stationary mounting bracket 402 by bolts.

[0062] The multifunctional gripper 5 includes a gripper base plate 502, a robot connecting plate 501 is set in the middle of the top surface of the gripper base plate 502, gripper cylinders 503 are respectively set at both ends of the top surface of the gripper base plate 502, gripper push plates 505 are set on both sides of the gripper base plate 502, each gripper cylinder 503 is connected to the gripper push plate 505 through a floating joint 504, the bottom of each gripper push plate 505 is connected to the gripper through a bracket, and the top of the gripper is connected to the bottom surface of the gripper base plate 502 through guide components to achieve movement; a sponge suction cup 511 is set in the middle of the bottom surface of the gripper base plate 502.

[0063] The multi-functional gripper 5 is connected to the end of the transport robot 6 via the robot connecting plate 501. There are two grippers: a left gripper 508 and a right gripper 513; the left gripper 508 and the right gripper 513 are respectively connected to the gripper push plate 505 by bolts.

[0064] The guiding assembly includes a gripper linear guide rail 507 and a slider. The gripper linear guide rail 507 is fixed to the bottom surface of the gripper base plate 502 via a gripper guide rail support 506. The slider is connected to the gripper. The two grippers can slide towards each other along the gripper linear guide rail 507.

[0065] The sponge suction cup 511 is connected to the gripper base plate 502 via the suction cup bracket 512. The sponge suction cup 511 is also externally connected to a vacuum generator.

[0066] A buffer bracket 510 is installed adjacent to the linear guide rail 507 of the gripper, and a buffer 509 is installed on the buffer bracket 510. The buffer bracket 510 is connected to the buffer 509 by threads. The buffer 509 can be adjusted by extending its length out of the buffer bracket 510 via the threads, and its function is to adjust the clamping distance between the left gripper 508 and the right gripper 513. The buffer 509 is not limited in model or form, as long as it achieves its working function.

[0067] The buffer bracket 510 is fixed on the gripper base plate 502.

[0068] The handling robot 6 includes a robot 601 and a robot base 602. The robot 601 is mounted on the robot base 602, which is fixed to the ground. The robot 601 is not limited to any particular model, as long as it performs its working function. The preferred model for robot 601 is SRA210-01 (brand: Nachi). The handling robot 6 can use its multi-functional gripper 5 to pick up the crystal rods 8 conveyed from the crystal rod input roller conveyor 2. After picking up the material from the stationary positioning rack 4, the handling robot 6 can place it on the solidified material output roller conveyor 3.

[0069] Furthermore, the circular track formed between the handling robot 6 and several stationary positioning racks 4 serves as a maintenance channel.

[0070] Furthermore, the number of stationary positioning racks 4 is not limited and can be set according to the working conditions, with 8 being the preferred setting.

[0071] Furthermore, the multi-functional gripper 5 and the handling robot 6 are fixed together by bolts.

[0072] Furthermore, the centering curing mechanism 401 is fixed to the stationary fixing frame 402 by bolts.

[0073] The splicing device 7 is the splicing device 7 in patent CN202211180596.9.

[0074] The crystal tray / adhesive plate input roller conveyor 1 is used to transport the stacked crystal trays 10 and adhesive plates 9, coated with adhesive, into the circular storage area. Its structure is a common conveyor roller conveyor in existing technology, without specific limitations, as long as its working function is achieved.

[0075] The crystal rod input roller conveyor 2 is used to transport the crystal rods 8 into the circular storage area. Its structure is a common conveyor belt line in existing technology, and there are no specific limitations; it is sufficient to achieve its working function.

[0076] The cured material output roller conveyor 3 is used to transport the cured crystal rods 8, adhesive plates 9, and crystal holders 10 out of the circular storage area. Its structure is a common conveyor roller conveyor in existing technology, and no specific limitations are made; it is sufficient to achieve its working function.

[0077] Furthermore, the robot pre-static curing warehouse is also equipped with a PLC control system. The crystal tray / adhesive plate input roller line 1, crystal rod input roller line 2, cured material output roller line 3, multi-functional gripper 5, handling robot 6, rod splicing device 7, gripper cylinder 503, buffer 509, vacuum generator, crystal tray centering cylinder 40112, adhesive plate centering cylinder 40114, and crystal rod centering cylinder 40115 are respectively connected to the PLC control system, and none of them are limited to a specific model, as long as their working functions are realized.

[0078] Twelve linear guides 40103 are preferably provided; these twelve linear guides 40103 are arranged on the upper part of the bottom mounting plate 40104. Crystal rod guide supports 40102 are provided on the sliders of the four outermost linear guides 40103, allowing the crystal rod guide supports 40102 to slide along the linear guides 40103. A crystal rod centering pressure plate 40101 is provided on each of the two crystal rod guide supports 40102 on the same side. There are two crystal rod centering pressure plates 40101 on both the left and right sides.

[0079] The sliders of the four linear guides 40103 at the middle end are equipped with adhesive plate guide rail supports 40107.

[0080] The adhesive plate guide rail support 40107 can slide along the linear guide rail 40103. An adhesive plate connecting plate 40106 is provided on each of the two adhesive plate guide rail supports 40107 on the same side. There are two adhesive plate connecting plates 40106 on both the left and right sides. Threaded holes are provided at both ends of the adhesive plate connecting plate 40106, and adhesive plate positioning and adjusting bolts 40105 are threadedly engaged at both ends of the adhesive plate connecting plate 40106. The adhesive plate positioning and adjusting bolts 40105 can be adjusted by rotating them in both directions to adjust the distance extending beyond the adhesive plate connecting plate 40106.

[0081] The innermost four linear guide rails 40103 have crystal tray guide rail supports 40109 on their sliders.

[0082] The crystal tray guide rail support 40109 can slide along the linear guide rail 40103. A crystal tray connecting plate 40110 is provided on each of the two crystal tray guide rail supports 40109 on the same side. There are two crystal tray connecting plates 40110 on both the left and right sides. Threaded holes are provided at both ends of the crystal tray connecting plate 40110, and crystal tray positioning adjusting bolts 40108 are threadedly engaged at both ends of the crystal tray connecting plate 40110. The distance by which the crystal tray positioning adjusting bolts 40108 extend beyond the crystal tray connecting plate 40110 can be adjusted by rotating them in both directions.

[0083] A crystal tray alignment cylinder 40112 is installed at the bottom of the bottom mounting plate 40104. The crystal tray alignment cylinder 40112 is connected to the crystal tray cylinder connecting plate 40111 by bolts. The crystal tray cylinder connecting plate 40111 is connected to the crystal tray connecting plate 40110 by bolts. The crystal tray alignment cylinder 40112 can extend and retract to drive the crystal tray cylinder connecting plate 40111 and the crystal tray connecting plate 40110 to slide along the linear guide rail 40103, thereby causing the crystal tray positioning adjustment bolt 40108 to clamp or open.

[0084] The bottom mounting plate 40104 is equipped with an adhesive plate centering cylinder 40114. The adhesive plate centering cylinder 40114 is connected to the adhesive plate cylinder connecting plate 40113 by bolts. The adhesive plate cylinder connecting plate 40113 is connected to the adhesive plate connecting plate 40106 by bolts. The adhesive plate centering cylinder 40114 can extend and retract to drive the adhesive plate cylinder connecting plate 40113 and the adhesive plate connecting plate 40106 to slide along the linear guide rail 40103, thereby causing the adhesive plate positioning adjustment bolt 40105 to clamp or open.

[0085] A crystal rod alignment cylinder 40115 is installed at the bottom of the bottom mounting plate 40104. The crystal rod alignment cylinder 40115 is connected to the crystal rod cylinder connecting plate 40116 by bolts. The crystal rod cylinder connecting plate 40116 is connected to the crystal rod alignment pressure plate 40101 by bolts. The crystal rod alignment cylinder 40115 can slide along the linear guide rail 40103 by extending and retracting, thereby driving the crystal rod cylinder connecting plate 40116 and the crystal rod alignment pressure plate 40101.

[0086] In practical applications:

[0087] Adhesive plate 9 and crystal holder 10, such as Figure 9The crystal rods are stacked at the indicated positions and conveyed to the gripping range of the handling robot 6 via the crystal tray / adhesive plate input roller conveyor 1. The crystal rods 8 are conveyed to the gripping range of the handling robot 6 via the crystal rod input roller conveyor 2. When the conveyed crystal rod 8 is a long crystal rod, it is directly conveyed to the end of the crystal rod input roller conveyor 2. When the conveyed crystal rod 8 is a short crystal rod, it waits for the next short crystal rod to arrive and then uses the rod splicing device 7 to splice two short crystal rods into one long crystal rod. For details of the rod splicing process, please refer to patent number CN202211180596.9.

[0088] The handling robot 6 moves the multi-functional gripper 5 above the adhesive plate 9 and the crystal tray 10, and slowly lowers the multi-functional gripper 5 until the gripping portions of the left gripper 508 and right gripper 513 are below the crystal tray 10. The gripper cylinders 503 on both sides retract, driving the gripper push plate 505 through the floating joint 504, thereby pushing the left gripper 508 and right gripper 513 to clamp to a distance a1. Figure 10 As shown. The handling robot 6 lifts the multi-functional gripper 05, lifting the adhesive plate 9 and the crystal tray 10, and moves them above the centering and curing mechanism 401. The handling robot 6 lowers the multi-functional gripper 5, so that the bottom of the crystal tray 10 is placed on the upper surface of the middle part of the bottom mounting plate 40104. The gripper cylinders 503 on both sides extend, driving the left gripper 508 and the right gripper 513 to open to a distance a2, as shown. Figure 11 As shown, the handling robot 6 lifts the multi-functional gripper 5 and moves it to the top of the crystal rod 8 on the crystal rod input roller conveyor 2 to wait.

[0089] The crystal holder centering cylinder 40112 in the centering curing mechanism 401 retracts, causing the crystal holder cylinder connecting plate 40111 and the crystal holder connecting plate 40110 to slide along the linear guide rail 40103, thereby causing the crystal holder positioning adjustment bolt 40108 to clamp the crystal holder 10 on the bottom mounting plate 40104.

[0090] The centering cylinder 40114 of the centering curing mechanism 401 retracts, causing the adhesive plate cylinder connecting plate 40113 and the adhesive plate connecting plate 40106 to slide along the linear guide rail 40103, thereby causing the adhesive plate positioning adjustment bolt 40105 to clamp the adhesive plate 9 above the crystal support 10.

[0091] After the centering and curing mechanism 401 clamps the crystal holder 10 and the adhesive plate 09, the transport robot 6 lowers its multi-functional gripper 5 until the sponge suction cup 511 contacts the crystal rod 8. The sponge suction cup 511 creates a vacuum to pick up the crystal rod 8. The transport robot 6 lifts the multi-functional gripper 5 and moves the crystal rod 8 above the adhesive plate 9 and the crystal holder 10 above the bottom mounting plate 40104 in the centering and curing mechanism 401. The multi-functional gripper 5 is slowly lowered, placing the crystal rod 8 on the adhesive plate 9. The sponge suction cup 511 breaks the vacuum and stops picking up the crystal rod 8. The transport robot 6 lifts the multi-functional gripper 5 and returns to the waiting position.

[0092] The crystal rod centering cylinder 40115 in the centering and curing mechanism 401 retracts, causing the crystal rod cylinder connecting plate 40116 and the crystal rod centering pressure plate 40101 to slide along the linear guide rail 40103, thus clamping the crystal rod 8 with the crystal rod centering pressure plate 40101. At this point, the crystal rod 8, adhesive plate 9, and crystal holder 10 are all clamped and fixed by the centering and curing mechanism 401. According to the work requirements, the crystal rod 8, adhesive plate 9, and crystal holder 10 are then left to stand for 30 minutes.

[0093] After a 30-minute settling period, the centering and curing mechanism 401 releases the clamping of the crystal rod 8, adhesive plate 9, and crystal holder 10 by sequentially extending the crystal rod centering cylinder 40115, the adhesive plate centering cylinder 40114, and the crystal holder centering cylinder 40112. The handling robot 6 moves the multi-functional gripper 5 above the crystal rod 8 and slowly lowers it until the gripping portions of the left gripper 508 and right gripper 513 are below the crystal holder 10. The gripper cylinders 503 on both sides retract, driving the gripper push plate 505 through the floating joint 504, thereby pushing the left gripper 508 and right gripper 513 to clamp to a distance a2. Figure 13 As shown. The handling robot 6 lifts the multi-functional gripper 5, lifting the crystal rod 8, adhesive plate 9, and crystal tray 10, and moves them above the solidified material output roller conveyor 3. The handling robot 6 lowers the multi-functional gripper 5, placing the bottom of the crystal tray 10 on the solidified material output roller conveyor 3. The gripper cylinders 503 on both sides extend, opening the left gripper 508 and the right gripper 513, and lowering the solidified crystal rod 8, adhesive plate 9, and crystal tray 10. The handling robot 6 lifts the multi-functional gripper 5 and moves it to the material pick-up position of the crystal tray and adhesive plate input roller conveyor 01. The solidified material output roller conveyor 3 delivers the solidified crystal rod 8, adhesive plate 9, and crystal tray 10 to the next process. The entire operation is now complete.

[0094] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A robotic pre-settling curing library, characterized by, The system includes several stationary positioning racks (4) evenly distributed around the circumference, and a handling robot (6) is set at the center of the circle. The circular storage area formed by the several stationary positioning racks (4) has channels in four directions, which are respectively arranged as the crystal tray / adhesive plate input roller line (1), the crystal rod input roller line (2), the solidified material output roller line (3), and the maintenance channel. The end of the handling robot (6) is equipped with a multi-functional gripper (5). The circular ring formed between the handling robot (6) and the several stationary positioning racks (4) serves as the maintenance channel. Each stationary positioning rack (4) includes a stationary fixing frame (402), on which three centering and curing mechanisms (401) are provided. One centering and curing mechanism (401) is located at the top center, and the other two centering and curing mechanisms (401) are located at the shoulders on both sides of the stationary fixing frame (402). The two centering and curing mechanisms (401) at the shoulders are not at the same height as the centering and curing mechanism (401) at the top. The stationary fixing frame (402) is located on the ground. The centering and curing mechanism (401) includes a bottom mounting plate (40104). From top to bottom, crystal rod centering pressure plate (40101), adhesive plate connecting plate (40106), and crystal holder connecting plate (40110) are sequentially arranged on both sides of the bottom mounting plate (40104). The crystal rod centering pressure plate (40101), adhesive plate connecting plate (40106), and crystal holder connecting plate (40110) are slidably connected to the bottom mounting plate (40104) via sliders and linear guide rails (40103). On one side of the bottom mounting plate (40104), corresponding to the crystal rod centering pressure plate (40101), adhesive plate connecting plate (40106), and crystal holder connecting plate (40110), a crystal holder centering cylinder (40112), an adhesive plate centering cylinder (40114), and a crystal rod centering cylinder (40115) are respectively arranged. The multifunctional gripper (5) includes a gripper base plate (502), a robot connecting plate (501) is set in the middle of the top surface of the gripper base plate (502), gripper cylinders (503) are set at both ends of the top surface of the gripper base plate (502), gripper push plates (505) are set on both sides of the gripper base plate (502), each gripper cylinder (503) is connected to the gripper push plate (505) through a floating joint (504), the bottom of each gripper push plate (505) is connected to the gripper through a bracket, and the top of the gripper is connected to the bottom surface of the gripper base plate (502) through a guide component to achieve movement; a sponge suction cup (511) is set in the middle of the bottom surface of the gripper base plate (502).

2. A robotic pre-positioning curing library as claimed in claim 1, wherein, A rod splicing device (7) is arranged at the end of the rod input roller line (2).

3. A robotic pre-positioning curing library as in claim 1, wherein, The guiding assembly includes a gripper linear guide rail (507) and a slider. The gripper linear guide rail (507) is fixed to the bottom surface of the gripper base plate (502) by a gripper guide rail support (506).

4. A robotic pre-positioning curing library as claimed in claim 3, wherein, The sponge suction cup (511) is connected to the gripper base plate (502) via the suction cup bracket (512); the sponge suction cup (511) is also externally connected to a vacuum generator.

5. The robotic pre-static curing chamber as described in claim 4, characterized in that, A buffer bracket (510) is provided adjacent to the gripper linear guide (507), and a buffer (509) is provided on the buffer bracket (510). The buffer bracket (510) is connected to the buffer (509) by a thread.

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