Manipulator for clamping quartz crystal wafer and control system

Abstract

The invention discloses a manipulator for clamping quartz crystal wafers and a control system, and belongs to the technical field of manipulators. A manipulator for clamping quartz crystal wafers comprises a mechanical arm; the mechanical connecting seat is connected to the mechanical arm; the driving motor is fixedly connected to the mechanical connecting seat; the output end of the driving motor is fixedly connected with a rotating lead screw, and the rotating lead screw is rotationally connected to the mechanical connecting base. The sliding arms are symmetrically connected to the rotating lead screw in a threaded mode; a sliding piston shaft; a sliding piston spring; a sucker member; according to the mechanical arm, the clamping effect on a quartz crystal wafer can be improved through the arranged sliding arms capable of relatively sliding, meanwhile, the cleaning effect on the quartz crystal wafer can be achieved through the arranged cleaning cotton rod, the quartz crystal wafer can be conveniently adsorbed by a suction cup piece, the clamping stability of the quartz crystal wafer moved by the mechanical arm can be improved, and the mechanical arm is convenient to use. Meanwhile, the quartz crystal wafer can be prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator for clamping a quartz crystal sheet and a control system. Background Art

[0002] Quartz is a mineral resource with very stable physical and chemical properties. Its crystals are trigonal oxide minerals. Quartz blocks, also known as silica, are mainly used as raw materials for the production of quartz sand, as well as quartz refractory materials and the raw materials for firing ferrosilicon.

[0003] Quartz is a mineral composed of silicon dioxide. Pure quartz is colorless and transparent. It appears in various colors due to trace pigment ions or finely dispersed inclusions, or the presence of color centers, which reduces its transparency. It has a glassy luster and an oily fracture. It has a hardness of 7, no cleavage, and a conchoidal fracture.

[0004] During the processing of quartz crystal pieces, they are mostly clamped and transported by robotic arms. During the movement of the robotic arms, the quartz crystal pieces will be affected by movement and inertia and are prone to falling, which makes the fixation of the quartz crystal pieces unstable and easy to be damaged. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that in the process of processing quartz crystal pieces, they are mostly clamped and transported by a mechanical arm. During the movement of the mechanical arm, the quartz crystal piece will be affected by movement and inertia and easily fall, thereby causing the quartz crystal piece to be unstable and easily damaged. A mechanical arm and control system for clamping quartz crystal pieces are proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A manipulator for clamping quartz crystal pieces, comprising: a mechanical arm; a mechanical connection base connected to the mechanical arm; a driving motor fixedly connected to the mechanical connection base; wherein the output end of the driving motor is fixedly connected to a rotating screw, and the rotating screw is rotatably connected to the mechanical connection base; a sliding arm symmetrically threadedly connected to the rotating screw; wherein a sliding piston cavity is provided in the sliding arm; a sliding piston shaft slidably connected to the sliding piston cavity; wherein a cleaning cotton rod is fixedly connected to the sliding piston shaft; a sliding piston spring, with its two ends respectively fixedly connected to the sliding piston cavity and the sliding piston shaft; a suction cup member fixedly connected to the sliding arm.

[0008] In order to facilitate the clamping of the quartz crystal plate, preferably, the rotating screw is fixedly connected to a screw connecting seat, the screw connecting seat is fixedly connected to a screw piston cylinder, the screw piston rod is symmetrically slidably connected in the screw piston cylinder, the screw piston rod is fixedly connected to the sliding arm, and the two screw piston rods are connected by a screw connecting spring; a connecting inner cavity and a connecting outer cavity are provided in the screw piston cylinder.

[0009] In order to facilitate the rotation of the cleaning cotton rod, preferably, a driving chamber is provided in the sliding arm, and the driving chamber is communicated with the connecting inner chamber through an inner chamber air outlet pipe; a fan blade is rotatably connected in the driving chamber, a cross plate is fixedly connected to the sliding piston shaft, and a cross groove matching the cross plate is provided in the fan blade.

[0010] In order to facilitate the flow of gas in the driving chamber, preferably, a driving outlet is provided on the driving chamber, a driving plate is slidably connected to the sliding arm, a driving groove matching the driving outlet is provided on the driving plate, a driving spring and a driving shaft are fixedly connected to the driving plate, the other end of the driving spring is fixedly connected to the sliding arm, and an insertion rod is fixedly connected to the sliding piston shaft, and the insertion rod matches the driving shaft.

[0011] In order to improve the cleaning effect of the cleaning cotton rod, preferably, a ventilation tube is fixedly connected to the cleaning cotton rod.

[0012] In order to facilitate the extraction of air from the suction cup, preferably, a buffer cavity is provided in the sliding arm, the buffer cavity is communicated with the suction cup, and the buffer cavity is communicated with the connecting outer cavity.

[0013] In order to facilitate the extraction of air from the suction cup, preferably, the buffer cavity is communicated with the suction cup through a buffer tube.

[0014] In order to facilitate the suction of the suction cup, preferably, the sliding arm is provided with an intermittently connected suction cup air outlet pipe and a suction cup air inlet pipe, the suction cup air inlet pipe is connected to the outer cavity connecting pipe on the outer cavity, the suction cup air outlet pipe is connected to the buffer cavity, and the cleaning cotton rod is provided with an annular groove for connecting the suction cup air outlet pipe and the suction cup air inlet pipe.

[0015] In order to facilitate the suction of the suction cup, preferably, a connecting ring is fixedly connected to the mechanical connecting seat, and the connecting ring is connected to the telescopic end of the mechanical arm.

[0016] A control system for a quartz crystal sheet clamping manipulator, mainly comprising:

[0017] A cleaning module, used for cleaning the surface of the quartz crystal piece;

[0018] Wherein, the cleaning cotton rod is arranged in the cleaning module;

[0019] Adsorption module, used for adsorbing and clamping quartz crystal pieces;

[0020] Wherein, the suction cup member is arranged in the adsorption module;

[0021] A clamping module, used for clamping the quartz crystal piece and driving the cleaning module and the adsorption module to work;

[0022] Wherein, the symmetrically sliding sliding arm is arranged in the clamping module

[0023] A driving module, used for driving the clamping module to work;

[0024] Wherein, the driving motor is arranged in the driving module

[0025] The control module is used to drive the robot arm and the drive module to work.

[0026] Compared with the prior art, the present invention provides a quartz crystal plate clamping manipulator and control system, which has the following beneficial effects:

[0027] 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 can improve the clamping effect of the quartz crystal piece by setting a sliding arm that can slide relatively. At the same time, the cleaning cotton rod is set, which can clean the quartz crystal piece, thereby facilitating the suction cup to adsorb the quartz crystal piece, which can improve the clamping stability of the quartz crystal piece when the mechanical arm moves the quartz crystal piece, and at the same time can prevent damage to the quartz crystal piece, thereby effectively protecting the quartz crystal piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of a quartz crystal plate clamping manipulator and control system proposed by the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a quartz crystal plate clamping manipulator and a rotating screw of a control system proposed by the present invention;

[0030] Figure 3 This is a schematic cross-sectional structure diagram of a quartz crystal plate clamping manipulator and a control system proposed by the present invention;

[0031] Figure 4 A quartz crystal plate clamping manipulator and control system proposed by the present invention Figure 3 Schematic diagram of the structure of part A;

[0032] Figure 5 A quartz crystal plate clamping manipulator and control system proposed by the present invention Figure 3 The structural diagram of part B;

[0033] Figure 6This is a schematic diagram of the structure of the annular groove of a quartz crystal plate clamping manipulator and a control system proposed by the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of a quartz crystal plate clamping manipulator and a sliding arm of a control system proposed by the present invention;

[0035] Figure 8 The present invention provides a schematic diagram of the system flow of a quartz crystal plate clamping robot and a control system.

[0036] In the figure: 1, mechanical arm; 2, mechanical connection seat; 201, connection ring; 3, driving motor; 301, rotating screw; 302, screw connection seat; 303, screw piston cylinder; 3031, connecting inner cavity; 3032, connecting outer cavity; 3033, outer cavity connecting pipe; 304, screw piston rod; 305, inner cavity outlet pipe; 4, sliding arm; 401, sliding piston cavity; 402, driving outlet; 403, Driving chamber; 404, driving plate; 405, driving spring; 406, driving groove; 407, driving shaft; 5, cleaning cotton rod; 501, sliding piston shaft; 502, cross plate; 503, sliding piston spring; 504, ventilation pipe; 505, annular groove; 506, insertion rod; 6, suction cup member; 601, buffer chamber; 602, buffer tube; 603, suction cup air inlet pipe; 604, suction cup air outlet pipe; 7, fan blade. DETAILED DESCRIPTION

[0037] 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.

[0038] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] Embodiment 1:

[0040] Reference Figure 1-8A manipulator for clamping a quartz crystal sheet, comprising: a manipulator arm 1; a mechanical connection seat 2 connected to the manipulator arm 1; a driving motor 3 fixedly connected to the mechanical connection seat 2; wherein the output end of the driving motor 3 is fixedly connected to a rotating screw 301, and the rotating screw 301 is rotatably connected to the mechanical connection seat 2; a sliding arm 4 symmetrically threadedly connected to the rotating screw 301; wherein a sliding piston cavity 401 is provided in the sliding arm 4; a sliding piston shaft 501 slidably connected to the sliding piston cavity 401; wherein a cleaning cotton rod 5 is fixedly connected to the sliding piston shaft 501; a sliding piston spring 503, both ends of which are respectively fixedly connected to the sliding piston cavity 401 and the sliding piston shaft 501; a suction cup member 6, fixedly connected to the sliding arm 4; a connecting ring 201 is fixedly connected to the mechanical connection seat 2, and the connecting ring 201 is connected to the telescopic end of the manipulator arm 1;

[0041] When the device is used, the position of the mechanical connection seat 2 can be adjusted by the mechanical arm 1, thereby facilitating the adjustment of the position of the quartz crystal piece after clamping;

[0042] When clamping the quartz crystal plate, the quartz crystal plate is placed between the two sliding arms 4, and the driving motor 3 is started. The driving motor 3 drives the rotating screw 301 to rotate, thereby driving the two sliding arms 4 to slide on the mechanical connection seat 2 and approach each other;

[0043] When the cleaning cotton rod 5 is in contact with the quartz crystal sheet, the dust on the surface of the quartz crystal sheet can be cleaned, thereby improving the adsorption effect of the subsequent suction cup member 6 on the quartz crystal sheet.

[0044] The rotating screw 301 is fixedly connected with a screw connection seat 302, the screw connection seat 302 is fixedly connected with a screw piston cylinder 303, the screw piston cylinder 303 is symmetrically slidably connected with a screw piston rod 304, the screw piston rod 304 is fixedly connected with the sliding arm 4, and the two screw piston rods 304 are connected through a screw connection spring; the screw piston cylinder 303 is provided with a connecting inner cavity 3031 and a connecting outer cavity 3032;

[0045] When the two sliding arms 4 approach each other, the two screw piston rods 304 will slide in the screw piston cylinder 303, and can guide the sliding direction of the sliding arms 4 to prevent the sliding arms 4 from rotating. When the sliding arms 4 slide, the space of the connecting inner cavity 3031 will be reduced and the space of the connecting outer cavity 3032 will be increased.

[0046] A driving chamber 403 is provided in the sliding arm 4, and the driving chamber 403 is communicated with the connecting inner chamber 3031 through the inner chamber air outlet pipe 305; a fan blade 7 is rotatably connected in the driving chamber 403, a cross plate 502 is fixedly connected to the sliding piston shaft 501, and a cross groove matching the cross plate 502 is provided in the fan blade 7;

[0047] When the space in the connecting inner cavity 3031 is reduced, the gas in the connecting inner cavity 3031 will enter the driving cavity 403 through the inner cavity air outlet pipe 305, so that the fan blades 7 in the driving cavity 403 are rotated by the gas, and then the fan blades 7 drive the cleaning cotton rod 5 to rotate through the set cross plate 502, so as to facilitate the cleaning of the quartz crystal surface by the cleaning cotton rod 5.

[0048] The driving cavity 403 is provided with a driving outlet 402, a driving plate 404 is slidably connected to the sliding arm 4, a driving groove 406 matching the driving outlet 402 is provided on the driving plate 404, a driving spring 405 and a driving shaft 407 are fixedly connected to the driving plate 404, the other end of the driving spring 405 is fixedly connected to the sliding arm 4, and an insertion rod 506 is fixedly connected to the sliding piston shaft 501, and the insertion rod 506 matches the driving shaft 407;

[0049] It should be noted that when the cleaning cotton rod 5 is in contact with the quartz crystal plate, the cleaning cotton rod 5 will slide in the sliding piston chamber 401, and under the action of the sliding piston spring 503, the cleaning cotton rod 5 has a good clamping effect on the quartz crystal plate;

[0050] When the cleaning cotton rod 5 slides, it will drive the insertion rod 506 to slide, so that the insertion rod 506 is inserted into the sliding arm 4 to push the driving shaft 407 and the driving plate 404 to slide, so that the driving groove 406 is in contact with the driving outlet 402, and the gas in the driving chamber 403 is first accumulated and then released, which has a good driving effect on the cleaning cotton rod 5.

[0051] A ventilation pipe 504 is fixedly connected to the cleaning cotton rod 5 . When the cleaning cotton rod 5 slides, the gas in the sliding piston cavity 401 is driven to be released through the ventilation pipe 504 , thereby improving the cleaning efficiency of the cleaning cotton rod 5 .

[0052] A buffer chamber 601 is provided in the sliding arm 4, the buffer chamber 601 is communicated with the suction cup member 6, and the buffer chamber 601 is communicated with the connecting outer chamber 3032; the buffer chamber 601 is communicated with the suction cup member 6 through the buffer tube 602; the sliding arm 4 is provided with an intermittently communicated suction cup air outlet pipe 604 and a suction cup air inlet pipe 603, the suction cup air inlet pipe 603 is communicated with the outer chamber connecting pipe 3033 on the connecting outer chamber 3032, the suction cup air outlet pipe 604 is communicated with the buffer chamber 601, and the cleaning cotton rod 5 is provided with an annular groove 505 for connecting the suction cup air outlet pipe 604 and the suction cup air inlet pipe 603;

[0053] When the space in the connected outer cavity 3032 increases, the gas decreases and becomes a negative pressure state, so that the gas in the buffer cavity 601 can be extracted through the outer cavity connecting tube 3033, the suction cup air inlet pipe 603, and the suction cup air outlet pipe 604, and then the gas in the suction cup member 6 can be extracted through the buffer tube 602, so as to improve the adsorption effect of the suction cup member 6 on the quartz crystal piece and improve the fixing effect on the quartz crystal piece;

[0054] It should be noted that the gas in the suction cup component 6 can only be extracted when the annular groove 505 is connected to the suction cup air inlet pipe 603 and the suction cup air outlet pipe 604, that is, after the cleaning cotton rod 5 slides and cleaning is completed, the suction cup component 6 is attached to the quartz crystal sheet, and the gas in the suction cup component 6 will be extracted, thereby improving the adsorption effect of the suction cup component 6.

[0055] Embodiment 2:

[0056] Reference Figure 1-8A quartz crystal plate clamping manipulator, comprising: a mechanical arm 1; a mechanical connection seat 2 connected to the mechanical arm 1; a driving motor 3 fixedly connected to the mechanical connection seat 2; wherein the output end of the driving motor 3 is fixedly connected to a rotating screw 301, and the rotating screw 301 is rotatably connected to the mechanical connection seat 2; a sliding arm 4 symmetrically threadedly connected to the rotating screw 301; wherein a sliding piston cavity 401 is provided in the sliding arm 4; a sliding piston shaft 501 slidably connected to the sliding piston cavity 401; wherein a cleaning cotton rod 5 is fixedly connected to the sliding piston shaft 501; a sliding piston spring 503, both ends of which are They are respectively fixedly connected to the sliding piston chamber 401 and the sliding piston shaft 501; the suction cup member 6 is fixedly connected to the sliding arm 4; the mechanical connection seat 2 is fixedly connected with a connecting ring 201, and the connecting ring 201 is connected to the telescopic end of the mechanical arm 1; when using the device, the position of the mechanical connection seat 2 can be adjusted by the set mechanical arm 1, so as to facilitate the adjustment of the position of the quartz crystal piece after clamping; when clamping the quartz crystal piece, the quartz crystal piece is placed between the two sliding arms 4, and the driving motor 3 is started, and the driving motor 3 drives the rotating screw 301 to rotate, thereby driving the two sliding arms 4 in the mechanical connection seat 2 slide on and approach each other; when the cleaning cotton rod 5 is in contact with the quartz crystal sheet, the dust on the surface of the quartz crystal sheet can be cleaned, thereby improving the adsorption effect of the subsequent suction cup member 6 on the quartz crystal sheet, the rotating screw 301 is fixedly connected with a screw connecting seat 302, the screw connecting seat 302 is fixedly connected with a screw piston cylinder 303, the screw piston cylinder 303 is symmetrically slidably connected with a screw piston rod 304, the screw piston rod 304 is fixedly connected to the sliding arm 4, and the two screw piston rods 304 are connected by a screw connecting spring; the screw piston cylinder 303 is provided with a connecting inner cavity 3031 and a connecting outer cavity 3032; When the two sliding arms 4 are close to each other, the two screw piston rods 304 will slide in the screw piston cylinder 303, and the sliding direction of the sliding arm 4 can be guided to prevent the sliding arm 4 from rotating. When the sliding arm 4 slides, the space of the connecting inner cavity 3031 will be reduced and the space of the connecting outer cavity 3032 will be increased. A driving cavity 403 is provided in the sliding arm 4, and the driving cavity 403 is connected to the connecting inner cavity 3031 through the inner cavity air outlet pipe 305; a fan blade 7 is rotatably connected in the driving cavity 403, a cross plate 502 is fixedly connected to the sliding piston shaft 501, and a cross groove matching the cross plate 502 is provided in the fan blade 7;When the space in the connecting inner cavity 3031 is reduced, the gas in the connecting inner cavity 3031 will enter the driving cavity 403 through the inner cavity air outlet pipe 305, so that the fan blades 7 in the driving cavity 403 are rotated by the gas, and then the fan blades 7 drive the cleaning cotton rod 5 to rotate through the cross plate 502, so that the cleaning cotton rod 5 can clean the surface of the quartz crystal piece. The driving cavity 403 is provided with a driving outlet 402, and the sliding arm 4 is slidably connected with a driving plate 404. The driving plate 404 is provided with a driving groove 406 matching the driving outlet 402. The driving plate 404 is fixedly connected with a driving spring 405 and a driving shaft 407. The driving spring The other end of 405 is fixedly connected to the sliding arm 4, and a plug rod 506 is fixedly connected to the sliding piston shaft 501, and the plug rod 506 matches the driving shaft 407; it should be noted that when the cleaning cotton rod 5 is in contact with the quartz crystal piece, the cleaning cotton rod 5 will slide in the sliding piston cavity 401, and under the action of the sliding piston spring 503, the cleaning cotton rod 5 has a good clamping effect on the quartz crystal piece; and when the cleaning cotton rod 5 slides, it will drive the plug rod 506 to slide, so that the plug rod 506 is inserted into the sliding arm 4 to push the driving shaft 407 and the driving plate 404 to slide, so that the driving groove 406 is in contact with the driving outlet 402, thereby making the driving cavity The gas in 403 is first accumulated and then released, which has a good driving effect on the cleaning cotton rod 5. A ventilation pipe 504 is fixedly connected to the cleaning cotton rod 5. When the cleaning cotton rod 5 slides, the gas in the sliding piston chamber 401 will be driven to be released through the ventilation pipe 504, thereby improving the cleaning efficiency of the cleaning cotton rod 5. A buffer chamber 601 is provided in the sliding arm 4, and the buffer chamber 601 is communicated with the suction cup member 6, and the buffer chamber 601 is communicated with the connecting outer chamber 3032; the buffer chamber 601 is communicated with the suction cup member 6 through the buffer pipe 602; the sliding arm 4 is provided with an intermittently communicated suction cup outlet pipe 604 and a suction cup inlet pipe 603, and the suction cup inlet pipe 603 is connected to the outer chamber 3032 on the connecting outer chamber 3032. The cavity connecting pipe 3033 is communicated with each other, the suction cup air outlet pipe 604 is communicated with the buffer cavity 601, and the cleaning cotton rod 5 is provided with an annular groove 505 for connecting the suction cup air outlet pipe 604 and the suction cup air inlet pipe 603; when the space in the connected outer cavity 3032 increases, the gas decreases and is in a negative pressure state, so that the gas in the buffer cavity 601 can be extracted through the outer cavity connecting pipe 3033, the suction cup air inlet pipe 603, and the suction cup air outlet pipe 604, and then the gas in the suction cup member 6 is extracted through the buffer pipe 602, so as to improve the adsorption effect of the suction cup member 6 on the quartz crystal piece and improve the fixing effect on the quartz crystal piece. The control system of the manipulator for clamping the quartz crystal piece includes:

[0057] A cleaning module is used to clean the surface of a quartz crystal piece; wherein a cleaning cotton rod 5 is arranged in the cleaning module; an adsorption module is used to adsorb and clamp the quartz crystal piece; wherein a suction cup 6 is arranged in the adsorption module; a clamping module is used to clamp the quartz crystal piece and drive the cleaning module and the adsorption module to work; wherein a symmetrically sliding sliding arm 4 is arranged in the clamping module; a driving module is used to drive the clamping module to work; wherein a driving motor 3 is arranged in the driving module; and a control module is used to drive the mechanical arm and the driving module to work.

[0058] Specifically, when the device is used, the position of the mechanical connection seat 2 can be adjusted by the mechanical arm 1, thereby facilitating the adjustment of the position of the quartz crystal piece after clamping;

[0059] When clamping the quartz crystal plate, the quartz crystal plate is placed between the two sliding arms 4, and the driving motor 3 is started. The driving motor 3 drives the rotating screw 301 to rotate, thereby driving the two sliding arms 4 to slide on the mechanical connection seat 2 and approach each other;

[0060] When the two sliding arms 4 are close to each other, the two screw piston rods 304 will slide in the screw piston cylinder 303, and the sliding direction of the sliding arms 4 can be guided to prevent the sliding arms 4 from rotating. When the sliding arms 4 slide, the space of the connecting inner cavity 3031 will be reduced and the space of the connecting outer cavity 3032 will be increased.

[0061] When the space in the connecting inner cavity 3031 is reduced, the gas in the connecting inner cavity 3031 will enter the driving cavity 403 through the inner cavity gas outlet pipe 305, so that the fan blades 7 in the driving cavity 403 are blown by the gas to rotate, and then the fan blades 7 drive the cleaning cotton rod 5 to rotate through the cross plate 502, so that the cleaning cotton rod 5 can clean the surface of the quartz crystal piece.

[0062] When the cleaning cotton rod 5 is in contact with the quartz crystal sheet, the cleaning cotton rod 5 will slide in the sliding piston chamber 401, and under the action of the sliding piston spring 503, the cleaning cotton rod 5 has a good clamping effect on the quartz crystal sheet;

[0063] When the cleaning cotton rod 5 slides, the insertion rod 506 will be driven to slide, so that the insertion rod 506 is inserted into the sliding arm 4 to push the driving shaft 407 and the driving plate 404 to slide, so that the driving groove 406 is attached to the driving outlet 402, and the gas in the driving chamber 403 is first accumulated and then released, which has a good driving effect on the cleaning cotton rod 5;

[0064] When the cleaning cotton rod 5 slides, the gas in the sliding piston chamber 401 is released through the vent pipe 504, thereby improving the cleaning efficiency of the cleaning cotton rod 5;

[0065] When the cleaning cotton rod 5 is in contact with the quartz crystal sheet, the dust on the surface of the quartz crystal sheet can be cleaned, thereby improving the adsorption effect of the subsequent suction cup member 6 on the quartz crystal sheet;

[0066] When the space in the connected outer cavity 3032 increases, the gas decreases and becomes a negative pressure state, so that the gas in the buffer cavity 601 can be extracted through the outer cavity connecting tube 3033, the suction cup air inlet pipe 603, and the suction cup air outlet pipe 604, and then the gas in the suction cup member 6 can be extracted through the buffer tube 602, so as to improve the adsorption effect of the suction cup member 6 on the quartz crystal piece and improve the fixing effect on the quartz crystal piece;

[0067] It should be noted that the gas in the suction cup member 6 can be extracted only when the annular groove 505 is connected with the suction cup air inlet pipe 603 and the suction cup air outlet pipe 604, that is, after the cleaning cotton rod 5 slides and the cleaning is completed, the suction cup member 6 and the quartz crystal sheet are attached to each other, and the gas in the suction cup member 6 can be extracted, thereby improving the adsorption effect of the suction cup member 6;

[0068] The present invention can improve the clamping effect of the quartz crystal piece by setting a sliding arm 4 that can slide relatively. At the same time, the cleaning cotton rod 5 can further clean the quartz crystal piece, thereby facilitating the suction cup part 6 to adsorb the quartz crystal piece, which can improve the clamping stability of the quartz crystal piece when the mechanical arm 1 moves it, and can prevent damage to the quartz crystal piece.

[0069] 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 quartz crystal plate clamping robot, characterized in that: include: Robotic arm (1); A mechanical connection base (2) connected to the mechanical arm (1); A driving motor (3) fixedly connected to the mechanical connection seat (2); Wherein, the output end of the driving motor (3) is fixedly connected to a rotating screw rod (301), and the rotating screw rod (301) is rotatably connected to the mechanical connection seat (2); A sliding arm (4) symmetrically threadedly connected to the rotating screw (301); Wherein, a sliding piston chamber (401) is provided in the sliding arm (4); A sliding piston shaft (501) slidably connected in the sliding piston chamber (401); Wherein, a cleaning cotton rod (5) is fixedly connected to the sliding piston shaft (501); The sliding piston spring (503) has two ends fixedly connected to the sliding piston chamber (401) and the sliding piston shaft (501) respectively; A suction cup member (6) is fixedly connected to the sliding arm (4).

2. The quartz crystal plate clamping robot according to claim 1, characterized in that: The rotating screw (301) is fixedly connected to a screw connection seat (302), the screw connection seat (302) is fixedly connected to a screw piston cylinder (303), a screw piston rod (304) is symmetrically slidably connected inside the screw piston cylinder (303), the screw piston rod (304) is fixedly connected to the sliding arm (4), and the two screw piston rods (304) are connected via a screw connection spring; The screw rod piston cylinder (303) is provided with a connecting inner cavity (3031) and a connecting outer cavity (3032).

3. The quartz crystal plate clamping robot according to claim 2, characterized in that: A driving cavity (403) is provided in the sliding arm (4), and the driving cavity (403) is communicated with the connecting inner cavity (3031) through an inner cavity air outlet pipe (305); A fan blade (7) is rotatably connected in the driving chamber (403), a cross plate (502) is fixedly connected to the sliding piston shaft (501), and a cross groove matching the cross plate (502) is provided in the fan blade (7).

4. The quartz crystal plate clamping robot according to claim 3, characterized in that: The driving chamber (403) is provided with a driving outlet (402), the sliding arm (4) is slidably connected with a driving plate (404), the driving plate (404) is provided with a driving groove (406) matching the driving outlet (402), the driving plate (404) is fixedly connected with a driving spring (405) and a driving shaft (407), the other end of the driving spring (405) is fixedly connected to the sliding arm (4), and the sliding piston shaft (501) is fixedly connected with an insertion rod (506), and the insertion rod (506) matches the driving shaft (407).

5. The quartz crystal plate clamping robot according to claim 3, characterized in that: A ventilation pipe (504) is fixedly connected to the cleaning cotton rod (5).

6. The quartz crystal plate clamping robot according to claim 1, characterized in that: A buffer cavity (601) is provided in the sliding arm (4), the buffer cavity (601) is communicated with the suction cup member (6), and the buffer cavity (601) is communicated with the connecting outer cavity (3032).

7. The quartz crystal plate clamping robot according to claim 6, characterized in that: The buffer cavity (601) is in communication with the suction cup member (6) via a buffer tube (602).

8. The quartz crystal plate clamping robot according to claim 6, characterized in that: The sliding arm (4) is provided with a suction cup air outlet pipe (604) and a suction cup air inlet pipe (603) which are intermittently connected. The suction cup air inlet pipe (603) is connected to an outer cavity connecting pipe (3033) connected to the outer cavity (3032). The suction cup air outlet pipe (604) is connected to the buffer cavity (601). The cleaning cotton rod (5) is provided with an annular groove (505) for connecting the suction cup air outlet pipe (604) and the suction cup air inlet pipe (603).

9. The quartz crystal plate clamping robot according to claim 1, characterized in that: A connecting ring (201) is fixedly connected to the mechanical connecting seat (2), and the connecting ring (201) is connected to the telescopic end of the mechanical arm (1).

10. A control system for a quartz crystal plate clamping manipulator according to any one of claims 1 to 9, characterized in that: Mainly include: A cleaning module, used for cleaning the surface of the quartz crystal piece; Wherein, the cleaning cotton rod (5) is arranged in the cleaning module; Adsorption module, used for adsorbing and clamping quartz crystal pieces; Wherein, the suction cup member (6) is arranged in the adsorption module; A clamping module, used for clamping the quartz crystal piece and driving the cleaning module and the adsorption module to work; Wherein, the sliding arm (4) that slides symmetrically is arranged in the clamping module; A driving module, used for driving the clamping module to work; Wherein, the driving motor (3) is arranged in the driving module; The control module is used to drive the robot arm and the drive module to work.

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