Manipulator clamp with breaking function

Abstract

The invention discloses a manipulator clamp with a breaking function, and belongs to the technical field of manipulators. One end of the clamp assembly is hinged to the rotary arm; the two ends of the clamp amplitude variation cylinder are hinged to the rotary arm and the clamp assembly respectively. The breaking airbag assembly is fixed on the rotary arm; the breaking air bag assembly comprises an air bag limited on the rotary arm, and the air bag is connected with the air path system; the collision block assembly is fixed on the clamp assembly; the collision block assembly comprises a collision block opposite to the air bag. And when the fixture variable-amplitude cylinder controls the fixture assembly to rotate towards the rotary arm, the collision block is in contact with the air bag and extrudes the air bag. The air bag structure is matched with the mechanical arm clamp to complete the silicon rod breaking operation, the air bag has certain flexibility and can generate certain buffering after being stressed, the protection plate at the front end of the air bag has the freedom degree in the three-dimensional direction, the protection plate can be better attached to a collision block, the stress part in the mechanical arm clamp is well attached, and the service life of a product is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator clamp with a breaking function. Background Art

[0002] As a special equipment for transferring U-shaped silicon rods in the reduction furnace workshop of the polysilicon industry, the pneumatic power manipulator has been widely used by polysilicon production enterprises at home and abroad. It mainly relies on the crane in the reduction workshop to move the equipment horizontally and arrange it in front of each reduction furnace to be removed for rod removal. During operation, the equipment legs need to be unfolded and fixed and leveled, and the clamp assembly at the front end of the equipment needs to be manually operated to clamp the polysilicon native U-shaped silicon rod on the reduction furnace plate, and then the U-shaped silicon rod is transferred from the furnace plate to the nearby silicon rod carriage by the lifting force of the equipment balance cylinder to complete the silicon rod transfer operation. In the past, the breaking device of the rod removal manipulator mainly used the method of directly lifting up vertically with the cylinder. With the development of technology in recent years, the radial breaking method of the silicon rod has been gradually adopted. The current breaking drive device uses a cylinder device. Due to the presence of certain corrosive gases in the silicon rod production workshop, the cylinder rod is easily corroded and damaged. In addition, during the lifting process, the cylinder rod is also easily damaged due to a certain impact force. This undoubtedly increases the user's product usage cost.

[0003] For example, a silicon rod handling tool with an auxiliary breaking device disclosed in a Chinese patent (CN213445014U) has a vertical arrangement of the breaking limit cylinder and the fixture assembly in the actual production process. During the flipping process of the fixture, the limit cylinder is easily subjected to a combined force in the vertical direction and the oblique direction, and the force directly acts on the cylinder. The piston rod of the limit cylinder is subjected to a lateral force, which easily squeezes the sealing ring and causes the limit cylinder to be easily damaged, resulting in high production and use costs of the product. Summary of the invention

[0004] In view of the above-mentioned technical deficiencies, the present invention provides a manipulator clamp with a breaking function; the present invention uses a controllable airbag structure to simultaneously achieve limiting and buffering of the clamp assembly, thereby increasing the service life of the product and reducing the cost of use.

[0005] The present invention adopts the following technical scheme: a manipulator clamp with a breaking function, comprising a swivel arm, a clamp assembly and a clamp amplitude cylinder; one end of the clamp assembly is hinged on the swivel arm; the two ends of the clamp amplitude cylinder are respectively hinged on the swivel arm and the clamp assembly, for controlling the angle of the clamp assembly relative to the swivel arm; Also includes: The breaking airbag assembly is fixed on the rotating arm; the breaking airbag assembly includes an airbag limited on the rotating arm, the air inlet and the air outlet of the airbag are connected to the air circuit system, and the air inlet and the air outlet of the airbag are controlled by the air circuit system; The impact block assembly is fixed on the clamp assembly; the impact block assembly includes a impact block opposite to the airbag; when the clamp amplitude cylinder controls the clamp assembly to rotate toward the swivel arm, the impact block contacts and squeezes the airbag, and the air circuit system controls the airbag to exhaust.

[0006] Preferably, the folding airbag assembly further comprises: An installation support plate is fixed on the slewing arm; An airbag shield, the rear end of which is fixed to the mounting support plate and the front end is open; A guard plate, mounted inside the front end of the airbag guard; A closed space is formed between the mounting support plate, the airbag shield and the guard plate, and the airbag is mounted in the closed space; During the breaking operation, the clamp luffing cylinder controls the clamp assembly to rotate toward the slewing arm, the impact block contacts the guard plate and squeezes the airbag, and the air circuit system controls the airbag to exhaust.

[0007] Preferably: the airbag shield is in the shape of a cylinder with two open ends, the rear end of the airbag shield is fixed to the mounting support plate through a flange, and the front end of the airbag shield has a circle of annular sealing plate extending inwards; The guard plate is a circular plate, the outer diameter of the guard plate is smaller than the inner diameter of the airbag shield, and the outer diameter of the guard plate is larger than the inner diameter of the circular sealing plate; Before the breaking operation, the airbag is filled with working gas of a certain pressure, and the guard plate is pressed tightly against the inner side of the annular sealing plate.

[0008] Preferably, the outer diameter of the airbag is smaller than the diameter of the airbag shield, and the air inlet and the air outlet at the rear end of the airbag are connected to the air path system through the mounting support plate.

[0009] Preferably, the air circuit system includes an air source and a control valve, and the airbag is inflated and deflated by operating the control valve.

[0010] Preferably, two ends of the airbag are fixedly connected to the guard plate and the mounting support plate respectively by screws I.

[0011] Preferably: the impact block assembly also includes a mounting support fixed on the clamp assembly; one end of the impact block is fixed to the end of the mounting support by a washer and a screw II, and the other end of the impact block has a boss that cooperates with the guard plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The controllable airbag structure is used in conjunction with the manipulator clamp to complete the silicon rod breaking operation, which effectively reduces the workload of operators, improves production efficiency, and makes the operation safer and more reliable; The airbag has a certain degree of flexibility, and will produce a certain buffer after being stressed. The guard plate at the front end of the airbag has three-dimensional freedom, which can better fit with the collision block, and is good for the stressed parts in the manipulator fixture. The airbag is made of high molecular polymer, which has very good corrosion resistance, and the environmental tolerance and impact resistance are greatly improved, which prolongs the service life of the product. The production cost and use cost of the manipulator fixture are effectively controlled and do not require special maintenance; the production cost and use cost of the broken airbag assembly are greatly reduced compared to the cylinder form. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a three-dimensional diagram of a manipulator clamp with a breaking function according to the present invention.

[0015] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0016] Figure 3 This is a front view of a manipulator clamp with a breaking function according to the present invention.

[0017] Figure 4 This is a right side view of a manipulator clamp with a breaking function according to the present invention.

[0018] Figure 5 It is an exploded view of the broken airbag assembly in the present invention.

[0019] Figure 6 It is an exploded view of the collision block assembly in the present invention.

[0020] Description of reference numerals: 1. slewing arm; 2. clamp assembly; 3. clamp luffing cylinder; 4. Break off the airbag assembly; 401. Install the support plate; 402. Airbag shield; 4021. Circular sealing plate; 403. Airbag; 404. Guard plate; 405. Screw I; 5. Impact block assembly; 501. Mounting support; 502. Impact block; 503. Washer; 504. Screw II; 6. Silicon rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figures 1 to 4 As shown, the present invention provides a manipulator clamp with a breaking function, including a swivel arm 1, a clamp assembly 2 and a clamp amplitude changing cylinder 3. The upper end of the swivel arm 1 is connected to the mechanical arm, and the position of the swivel arm 1 is controlled by the mechanical arm. The swivel arm 1 is provided with two hinges for realizing the amplitude change of the clamp assembly 2, wherein the upper hinge is connected to the hinge at one end of the clamp amplitude changing cylinder 3, the lower hinge of the swivel arm 1 is connected to the rotating hinge of the clamp assembly 2, and the other hinge on the clamp assembly 2 is connected to the hinge at the other end of the clamp amplitude changing cylinder 3; the swivel arm 1, the clamp assembly 2 and the clamp amplitude changing cylinder 3 constitute a three-hinge amplitude changing mechanism commonly used in mechanical equipment. A plurality of pairs of clamping claws are provided on the clamp assembly 2, and the transportation of the object is completed by clamping the object with the clamping claws, and the amplitude change control of the angle of the clamp assembly 2 relative to the swivel arm 1 is completed by the telescopic action of the clamp amplitude changing cylinder 3.

[0023] The breaking airbag assembly 4 is fixed on the rotating arm 1, and the impact block assembly 5 is fixed on the clamp assembly 2; during the operation of the manipulator clamp breaking the silicon rod, the breaking airbag assembly 4 cooperates with the impact block assembly 5 to achieve the limiting and buffering of the clamp assembly 2.

[0024] Figures 1 to 5 As shown, the mounting support plate 401 is fixed to the swivel arm 1 by bolts; The airbag shield 402 is cylindrical with open ends. The rear end of the airbag shield 402 has a flange, which is fixed to the mounting support plate 401 by bolts. The mounting support plate 401 blocks the rear end of the airbag shield 402. The front end of the airbag shield 402 has a circle of annular sealing plate 4021 extending inwards. The guard plate 404 is a circular plate, and the guard plate 404 is sleeved on the inner side of the annular sealing plate 4021 at the front end of the airbag shield 402; the outer diameter of the guard plate 404 is smaller than the inner diameter of the airbag shield 402, and the outer diameter of the guard plate 404 is larger than the inner diameter of the annular sealing plate 4021; The airbag 403 is cylindrical in the inflated state and is installed in a closed space formed by the mounting support plate 401, the airbag shield 402 and the guard plate 404. The airbag 403 is made of a high molecular polymer and has excellent corrosion resistance. It can withstand millions of impacts, so the product has a long service life. The outer diameter of the airbag 403 is smaller than the diameter of the airbag shield 402, which facilitates the smooth expansion and contraction of the airbag 403 in the airbag shield 402. The two ends of the airbag 403 are fixedly connected to the guard plate 404 and the mounting support plate 401 by screws I 405, respectively, to improve the stability of the airbag 403. Under normal conditions, the airbag 403 is filled with a certain pressure of working gas, so that the guard plate 404 is tightly attached to the inner side of the annular sealing plate 4021.

[0025] The air inlet and the air outlet connected to the rear end of the airbag 403 pass through the mounting support plate 401 and are connected to the air circuit system, and the air inlet and the air exhaust of the airbag 403 are controlled by the air circuit system. The air circuit system includes at least an air source and a control valve, and the inflation and deflation of the airbag are realized by operating the control valve. During the breaking operation, the clamp assembly 2 clamps the silicon rod 6. When the clamp amplitude cylinder 3 controls the clamp assembly 2 to rotate toward the slewing arm 1, the collision block assembly 5 squeezes the guard plate 404, and the guard plate 404 squeezes the airbag 403; at this time, the air circuit system controls the airbag 403 to exhaust slowly, which can control the clamp assembly 2 to gradually change amplitude, so as to break the silicon rod 6.

[0026] Embodiment 2: Based on the above embodiment 1, combined with Figure 6 As shown, the collision block assembly 5 in this embodiment includes a mounting support 501, which is fixed to the clamp assembly 2 by bolts. The mounting support 501 has an extension shaft at one end, which is used to mount the collision block 502. One end of the collision block 502 is fixed to the end of the extension shaft by a washer 503 and a screw II 504, and the other end of the collision block 502 has a disc-shaped boss, which is used to cooperate with the guard plate 404.

[0027] Work process; When the manipulator clamp is in the on state, the airbag 403 is filled with working gas of a certain pressure, so that the guard plate 404 is closely attached to the inner side of the annular sealing plate 4021; When the clamp assembly 2 is controlled to be in a vertical state, the end of the collision block 502 is just pressed against the outer side of the guard plate 404, and the clamp assembly 2 clamps the silicon rod 6; Then, the clamp amplitude cylinder 3 is operated to control the clamp assembly 2 to change amplitude slightly, so that the silicon rod 6 is subjected to the bending moment applied by the clamp force at the root and breaks; In the process of operating the clamp amplitude cylinder 3 to control the clamp assembly 2 to change its amplitude slightly, the airbag 403 is slowly deflated through the control valve, and the gas in the airbag 403 is gradually reduced. The airbag 403 is gradually compressed under the pressure of the collision block 502, and the clamp assembly 2 gradually changes its amplitude, thereby achieving the breaking of the silicon rod.

[0028] It can be seen from the above embodiments that the present invention discloses a clamp breaking mechanism mainly composed of a breaking airbag assembly and a collision block assembly. The clamp breaking mechanism innovatively uses an airbag to limit and buffer the clamp assembly, which greatly improves the product life. In addition, the comprehensive production cost of the product is greatly reduced. For example, the production cost of the breaking assembly can save about 70% of the cost compared to the cylinder form, and the use cost can save about 80%.

[0029] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A manipulator clamp with a breaking function, comprising a swivel arm (1), a clamp assembly (2) and a clamp luffing cylinder (3); one end of the clamp assembly (2) is hinged on the swivel arm (1); two ends of the clamp luffing cylinder (3) are respectively hinged on the swivel arm (1) and the clamp assembly (2), and are used to control the angle of the clamp assembly (2) relative to the swivel arm (1); It is characterized in that Also includes: The folding airbag assembly (4) is fixed on the rotating arm (1); the folding airbag assembly (4) comprises an airbag (403) limited on the rotating arm (1), the air inlet and the air outlet of the airbag (403) are connected to the air circuit system, and the air inlet and the air outlet of the airbag (403) are controlled by the air circuit system; A collision block assembly (5) is fixed on the clamp assembly (2); the collision block assembly (5) includes a collision block (502) opposite to the air bag (403); when the clamp amplitude cylinder (3) controls the clamp assembly (2) to rotate toward the slewing arm (1), the collision block (502) contacts and squeezes the air bag (403), and at this time, the air circuit system controls the air bag (403) to exhaust.

2. A manipulator clamp with breaking function according to claim 1, characterized in that: The folding airbag assembly (4) further comprises: A mounting support plate (401) is fixed on the slewing arm (1); An airbag shield (402), the rear end of which is fixed to the mounting support plate (401) and the front end of which is open; A guard plate (404) is sleeved inside the front end of the airbag guard (402); A closed space is formed between the mounting support plate (401), the airbag shield (402) and the shield (404), and the airbag (403) is mounted in the closed space; During the breaking operation, the clamp luffing cylinder (3) controls the clamp assembly (2) to rotate toward the rotary arm (1), the collision block (502) contacts the guard plate (404) and squeezes the air bag (403), and at this time the air circuit system controls the air bag (403) to exhaust.

3. A manipulator clamp with breaking function according to claim 2, characterized in that: The airbag shield (402) is in the shape of a cylinder with open ends. The rear end of the airbag shield (402) is fixed to the mounting support plate (401) via a flange. The front end of the airbag shield (402) has a circular sealing plate (4021) extending inward. The guard plate (404) is a circular plate, the outer diameter of the guard plate (404) is smaller than the inner diameter of the airbag shield (402), and the outer diameter of the guard plate (404) is larger than the inner diameter of the annular sealing plate (4021); Before the breaking operation, the airbag (403) is filled with working gas of a certain pressure, and the guard plate (404) is pressed tightly against the inner side of the annular sealing plate (4021).

4. A manipulator clamp with breaking function according to claim 3, characterized in that: The outer diameter of the airbag (403) is smaller than the diameter of the airbag shield (402), and the air inlet and the air outlet at the rear end of the airbag (403) pass through the mounting support plate (401) to connect to the air path system.

5. The mechanical arm clamp with breaking function according to claim 4, characterized in that: The gas circuit system comprises an air source and a control valve, and the airbag (403) is inflated and deflated by operating the control valve.

6. The manipulator clamp with breaking function according to claim 3, characterized in that: The two ends of the airbag (403) are fixedly connected to the guard plate (404) and the mounting support plate (401) respectively by means of screws I (405).

7. The mechanical arm clamp with breaking function according to claim 2, characterized in that: The collision block assembly (5) further comprises a mounting support (501) fixed on the clamp assembly (2); one end of the collision block (502) is fixed to the end of the mounting support (501) via a washer (503) and a screw II (504), and the other end of the collision block (502) has a boss that cooperates with the guard plate (404).

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