Manipulator and trough type cleaning machine

Abstract

The utility model relates to the technical field of photovoltaic production equipment, in particular to a mechanical arm and a groove type cleaning machine. The mechanical arm comprises a vertical beam, a driving assembly, a sliding frame, an adjusting plate, an adjusting piece and a suspension beam, and the driving assembly is installed on the vertical beam and is in transmission connection with the sliding frame so as to drive the sliding frame to ascend and descend relative to the vertical beam in the vertical direction. The adjusting plate is rotationally installed on the sliding frame, one end of the adjusting plate is connected with one end of the suspension beam, and the adjusting piece is movably installed on the sliding frame and is in transmission connection with the adjusting plate so as to drive the adjusting plate to rotate relative to the sliding frame. The trough type cleaning machine comprises the mechanical arm, when the cantilever beam inclines and droops, the adjusting piece drives the adjusting plate and the cantilever beam to rotate relative to the sliding frame so that the cantilever beam can be adjusted to be in a horizontal state, and the levelness of the cantilever beam is improved. And meanwhile, the levelness of the cantilever beam can be adjusted only through the adjusting piece, so that the adjusting operation is simple and easy to implement, and the adjusting efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic production equipment, in particular to a manipulator and a trough-type cleaning machine. Background Art

[0002] The tank cleaning machine is mainly used for photovoltaic production and processing. It is mainly composed of multiple process tanks and drying tanks. Multiple silicon wafers are placed in a basket, and the basket is grabbed by a robot to place the silicon wafers into different process tanks and drying tanks.

[0003] Existing robotic arms typically utilize a combination of a lifting column and a suspension beam. A flower basket is attached to the beam, and a motor drives the lifting column to extend and retract, raising and lowering the beam and basket. Because the suspension beam is a cantilever structure with a flower basket suspended below, it can easily tilt and sag after extended use. This means the beam no longer maintains a horizontal position, impacting the normal operation of the robotic arm. Utility Model Content

[0004] The purpose of the utility model is to provide a manipulator and a trough-type cleaning machine to solve the technical problem in the prior art that the suspension beam of the manipulator tilts and sags after long-term use, and to improve the levelness of the suspension beam.

[0005] To achieve this purpose, the technical solution adopted in this utility model is:

[0006] The manipulator includes a vertical beam, a drive assembly, a sliding frame, an adjustment plate, an adjustment member, and a suspension beam, wherein the drive assembly is mounted on the vertical beam and is in transmission connection with the sliding frame to drive the sliding frame to move up and down in a vertical direction relative to the vertical beam;

[0007] The adjustment plate is rotatably mounted on the sliding frame, and one end of the adjustment plate is connected to one end of the suspension beam. The adjustment member is movably mounted on the sliding frame and is transmission-connected to the adjustment plate to drive the adjustment plate to rotate relative to the sliding frame.

[0008] As a preferred solution, the adjustment plate is provided with an arc-shaped groove, and the arc-shaped groove takes the rotation center of the adjustment plate as the center of the circle;

[0009] The manipulator further includes a locking member, which is inserted into the arc-shaped slot to lock the adjustment plate to the sliding frame or unlock the adjustment plate.

[0010] As a preferred solution, the sliding frame is provided with a positioning hole communicating with the arc-shaped groove, and the locking member passes through the arc-shaped groove and is threadedly connected to the corresponding positioning hole.

[0011] As a preferred solution, the adjustment plate is provided with a plurality of concentric arc grooves spaced apart along the vertical direction.

[0012] As a preferred solution, the arc length of the arc-shaped groove is proportional to the diameter of the arc-shaped groove.

[0013] As a preferred solution, the adjustment plate includes a horizontal part and a vertical part, one end of the horizontal part is connected to the suspension beam, and the other end of the horizontal part is vertically connected to one end of the vertical part; the connection between the horizontal part and the vertical part is rotatably mounted on the sliding frame, and the adjustment member is transmission-connected to the vertical part.

[0014] As a preferred solution, one end of the adjusting member is tightly pressed against an end of the vertical portion away from the horizontal portion.

[0015] As a preferred solution, one of the vertical beam and the sliding frame is provided with a slide rail extending along the vertical direction, and the other of the vertical beam and the sliding frame is provided with a slider slidably engaged with the slide rail.

[0016] As a preferred solution, the drive assembly includes:

[0017] a driving member installed in the vertical beam;

[0018] A screw rod, the screw rod extending along the vertical direction, one end of the screw rod being connected to the output end of the driving member, and the other end of the screw rod being rotatably disposed in the vertical beam;

[0019] A nut block is threadably connected to the screw rod and is connected to the sliding frame.

[0020] A tank cleaning machine comprises the above-mentioned robot.

[0021] The beneficial effects of the utility model are:

[0022] The robot arm proposed in this utility model includes a vertical beam, a drive assembly, a sliding frame, an adjustment plate, an adjustment member, and a suspension beam. The drive assembly drives the sliding frame, adjustment plate, and suspension beam to move vertically. When the suspension beam tilts or sags, the adjustment member drives the adjustment plate and suspension beam to rotate relative to the sliding frame to adjust the suspension beam to a horizontal position, thereby improving the beam's levelness. Furthermore, the adjustment member alone allows the suspension beam to be adjusted horizontally, making the adjustment operation simple and easy, thereby improving adjustment efficiency.

[0023] The tank-type cleaning machine proposed in this utility model includes the aforementioned manipulator. When the suspension beam tilts or sags, the adjusting member drives the adjusting plate and the suspension beam to rotate relative to the sliding frame to adjust the suspension beam to a horizontal state, thereby improving the levelness of the suspension beam. Furthermore, the levelness of the suspension beam can be adjusted simply by using the adjusting member, making the adjustment operation simple and easy, and improving the adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a manipulator provided by an embodiment of the present utility model;

[0025] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0026] Figure 3 It is a schematic diagram of the partial structure of the manipulator provided by an embodiment of the utility model.

[0027] The names and numbers of the components in the figure are as follows:

[0028] 10. Box; 20. Flower basket;

[0029] 1. Vertical beam; 2. Drive assembly; 21. Drive member; 22. Screw rod; 23. Nut block; 3. Sliding frame; 4. Adjustment plate; 41. Horizontal part; 42. Vertical part; 421. Arc groove; 43. Rotating shaft; 5. Adjustment member; 6. Cantilever beam; 7. Slider; 8. Adapter plate; 9. Locking member. DETAILED DESCRIPTION

[0030] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of it.

[0031] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0033] In the description of this embodiment, terms such as "upper," "lower," "right," and "left" are used to refer to positions or locations based on the positions or locations shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0035] This embodiment proposes a tank-type cleaning machine, which includes a robot, multiple process tanks and drying tanks. Multiple silicon wafers are placed in a flower basket, and the robot grabs the flower basket and puts it into different process tanks and drying tanks for immersion treatment.

[0036] Existing robotic arms typically utilize a combination of a lifting column and a suspension beam. A flower basket is attached to the beam, and a motor drives the lifting column to extend and retract, raising and lowering the beam and basket. Because the suspension beam is a cantilever structure with a flower basket suspended below, it can easily tilt and sag after extended use. This means the beam no longer maintains a horizontal position, impacting the normal operation of the robotic arm.

[0037] To solve the above problems, Figure 1 and Figure 2 As shown, this embodiment also provides a manipulator comprising a vertical beam 1, a drive assembly 2, a sliding frame 3, an adjustment plate 4, an adjustment member 5, and a suspension beam 6. The drive assembly 2 is mounted on the vertical beam 1 and is in transmission connection with the sliding frame 3 to drive the sliding frame 3 to move vertically relative to the vertical beam 1. The adjustment plate 4 is rotatably mounted on the sliding frame 3, with one end of the adjustment plate 4 connected to one end of the suspension beam 6. The adjustment member 5 is movably mounted on the sliding frame 3 and is in transmission connection with the adjustment plate 4 to drive the adjustment plate 4 to rotate relative to the sliding frame 3. When the suspension beam 6 tilts or sags, the adjustment member 5 drives the adjustment plate 4 and the suspension beam 6 to rotate relative to the sliding frame 3 to adjust the suspension beam 6 to a horizontal state, thereby improving the levelness of the suspension beam 6. Furthermore, the levelness of the suspension beam 6 can be adjusted solely by the adjustment member 5, making the adjustment operation simple and easy, and improving the adjustment efficiency.

[0038] like Figure 1 As shown, the manipulator also includes a housing 10. The upright beam 1 is constructed of U-shaped steel, offering high structural strength and stability. The upright beam 1 is vertically mounted within the housing 10 and features multiple weight-reducing holes to reduce its weight, contributing to the manipulator's lightweight design. The housing 10 protects the internal components, including the upright beam 1, drive assembly 2, carriage 3, and adjustment plate 4.

[0039] Specifically, the drive assembly 2 includes a driver 21, a screw 22, and a nut block 23. The driver 21 is mounted within the vertical beam 1. The screw 22 extends vertically, with one end connected to the output end of the driver 21 and the other end pivotably disposed within the vertical beam 1. The nut block 23 is threadedly connected to the screw 22, which is in turn connected to the slide 3. The threaded engagement between the screw 22 and the nut block 23 allows the slide 3, adjustment plate 4, and suspension beam 6 to rise and fall synchronously with the nut block 23, thereby achieving the lifting and lowering of the flower basket 20 and improving the precision and stability of the manipulator's lifting and lowering motion.

[0040] It should be noted that the driver 21 is a servo motor, which features high control precision and is easy to install and maintain. The servo motor is connected to one end of a screw rod 22 via a speed reducer. The other end of the screw rod 22 is mounted within the vertical beam 1 via a rotating bearing to ensure smooth rotation of the screw rod 22. An adapter plate 8 is mounted on the sliding frame 3. The adapter plate 8 is spaced apart and fitted onto the screw rod 22 and fixedly connected to the nut block 23, enabling the sliding frame 3 and the nut block 23 to move synchronously.

[0041] Furthermore, one of the vertical beam 1 and the sliding frame 3 is provided with a slide rail extending in the vertical direction, and the other of the vertical beam 1 and the sliding frame 3 is provided with a slider 7 that slides with the slide rail. The sliding cooperation between the slider 7 and the guide rail can guide and limit the lifting and lowering movement of the sliding frame 3 and the suspension beam 6, thereby improving the stability of the lifting and lowering movement of the sliding frame 3 and the suspension beam 6. Specifically, Figure 3 As shown, the vertical beam 1 is provided with slide rails on both sides along the width direction, and the sliding frame 3 is provided with sliders 7 on both sides along the width direction, and the sliders 7 are slidably provided on the corresponding slide rails. In other embodiments, the sliding frame 3 is provided with slide rails on both sides along the width direction, and the vertical beam 1 is provided with sliders 7 on both sides along the width direction.

[0042] In this embodiment, two adjustment plates 4 are respectively installed on both sides of the width direction of the suspension beam 6, and each adjustment plate 4 is rotatably installed on the sliding frame 3 through a rotating shaft 43. Figure 2 and Figure 3 As shown, the adjustment plate 4 is provided with an arcuate groove 421, and the arcuate groove 421 takes the rotation center of the adjustment plate 4 as the center. The manipulator also includes a locking member 9, which is inserted into the arcuate groove 421 to lock the adjustment plate 4 to the sliding frame 3 or unlock the adjustment plate 4. When the suspension beam 6 tilts and sags, the locking member 9 unlocks the adjustment plate 4, and the adjustment member 5 moves along the arcuate groove 421. Figure 2 Move in the direction indicated by the straight arrow to drive the adjustment plate 4 and the suspension beam 6 along Figure 2The cantilever beam 6 is rotated in the direction indicated by the middle curved arrow to a certain angle, so that the cantilever beam 6 is always in a horizontal state to ensure normal use of the manipulator. When the cantilever beam 6 is rotated to the horizontal state, the locking member 9 is inserted into the arc-shaped groove 421 and locks the adjustment plate 4 to the sliding frame 3, thereby fixing the adjustment plate 4 to the sliding frame 3.

[0043] Specifically, the sliding frame 3 is provided with a positioning hole that communicates with the arcuate slot 421. The locking member 9 passes through the arcuate slot 421 and is threadedly connected to the corresponding positioning hole. In this embodiment, the locking member 9 can be a screw. Simply turning the screw can tighten the screw into the positioning hole or loosen the screw from the positioning hole, thereby achieving rapid unlocking or locking of the adjustment plate 4 and improving the adjustment efficiency of the adjustment plate 4 and the suspension beam 6.

[0044] Furthermore, the adjustment plate 4 is provided with a plurality of concentric arcuate grooves 421 spaced apart in the vertical direction. By providing a plurality of concentric arcuate grooves 421, a plurality of locking members 9 are respectively disposed in corresponding arcuate grooves 421 to collectively lock the adjustment plate 4 to the sliding frame 3, thereby improving the strength and stability of the connection between the adjustment plate 4 and the sliding frame 3.

[0045] like Figure 2 and Figure 3 As shown, the present embodiment has three arc-shaped grooves 421. In other embodiments, the number of arc-shaped grooves 421 may also be two, four, or five or more, which is not specifically limited here. It should be noted that the arc length of the arc-shaped groove 421 is proportional to the diameter of the arc-shaped groove 421. Since each arc-shaped groove 421 is centered on the rotation axis 43, the larger the diameter of the arc-shaped groove 421 (i.e., the farther the arc-shaped groove 421 is from the rotation axis 43), the greater the rotation angle of the portion of the adjustment plate 4 where the arc-shaped groove 421 is located, i.e., the longer the arc length of the arc-shaped groove 421.

[0046] like Figure 2 and Figure 3 As shown, the adjustment plate 4 includes a horizontal portion 41 and a vertical portion 42. One end of the horizontal portion 41 is connected to the suspension beam 6, and the other end of the horizontal portion 41 is vertically connected to one end of the vertical portion 42. The connection between the horizontal portion 41 and the vertical portion 42 is rotatably mounted on the sliding frame 3, and the adjustment member 5 is transmission-connected to the vertical portion 42. The adjustment plate 4 is configured as an L-shaped plate to improve the structural strength of the adjustment plate 4. When the suspension beam 6 tilts and sags, the locking member 9 unlocks the adjustment plate 4, and the adjustment member 5 drives the vertical portion 42 to move along the vertical direction. Figure 2 The horizontal portion 41 moves in the direction indicated by the straight arrow, and the cantilever beam 6 moves along Figure 2 The direction indicated by the middle curved arrow is rotated to a horizontal state, so that the suspension beam 6 always remains in a horizontal state to ensure the normal use of the manipulator.

[0047] It should be noted that one end of the adjusting member 5 is pressed against the end of the vertical portion 42 away from the horizontal portion 41, which increases the distance between the adjusting member 5 and the rotating shaft 43, that is, increases the turning torque of the adjusting plate 4, so that the adjusting member 5 can apply a small driving force to the vertical portion 42 to make the adjusting plate 4 rotate at a large angle, reducing the difficulty of adjusting the suspension beam 6 and improving the adjustment efficiency of the suspension beam 6. The adjusting member 5 of this embodiment is a bolt, which is threadedly connected to the sliding frame 3, and the end of the bolt is pressed against the end side of the vertical portion 42 away from the horizontal portion 41. When adjusting the horizontality of the suspension beam 6, it is only necessary to screw the bolt so that the bolt moves along the vertical portion 42. Figure 2 Move in the direction indicated by the straight arrow in the middle, so that the adjustment plate 4 drives the suspension beam 6 along Figure 2 Just turn it in the direction indicated by the middle curved arrow until it is in a horizontal state. The entire adjustment operation is simple and easy, which improves the adjustment efficiency.

[0048] The above embodiments merely illustrate the basic principles and features of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications are possible without departing from the spirit and scope of the present invention. Such changes and modifications are within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot, characterized in that: The invention comprises a vertical beam (1), a driving assembly (2), a sliding frame (3), an adjusting plate (4), an adjusting member (5) and a suspension beam (6), wherein the driving assembly (2) is mounted on the vertical beam (1) and is in driving connection with the sliding frame (3) so as to drive the sliding frame (3) to move up and down relative to the vertical beam (1) in a vertical direction; The adjusting plate (4) is rotatably mounted on the sliding frame (3), and one end of the adjusting plate (4) is connected to one end of the suspension beam (6). The adjusting member (5) is movably mounted on the sliding frame (3) and is transmission-connected to the adjusting plate (4) so ​​as to drive the adjusting plate (4) to rotate relative to the sliding frame (3).

2. The robot according to claim 1, characterized in that: The adjustment plate (4) is provided with an arc-shaped groove (421), and the arc-shaped groove (421) takes the rotation center of the adjustment plate (4) as the center of the circle; The manipulator further comprises a locking member (9), wherein the locking member (9) is inserted into the arc-shaped groove (421) to lock the adjustment plate (4) to the sliding frame (3) or unlock the adjustment plate (4).

3. The robot according to claim 2, characterized in that: The sliding frame (3) is provided with a positioning hole communicating with the arc-shaped groove (421), and the locking member (9) passes through the arc-shaped groove (421) and is threadedly connected with the corresponding positioning hole.

4. The robot according to claim 2, characterized in that: The adjustment plate (4) is provided with a plurality of concentric arc-shaped grooves (421) at intervals along the vertical direction.

5. The robot according to claim 4, characterized in that: The arc length of the arc-shaped groove (421) is proportional to the diameter of the arc-shaped groove (421).

6. The robot according to claim 1, characterized in that: The adjustment plate (4) comprises a horizontal portion (41) and a vertical portion (42); one end of the horizontal portion (41) is connected to the suspension beam (6), and the other end of the horizontal portion (41) is vertically connected to one end of the vertical portion (42); the connection between the horizontal portion (41) and the vertical portion (42) is rotatably mounted on the sliding frame (3), and the adjustment member (5) is transmission-connected to the vertical portion (42).

7. The robot according to claim 6, characterized in that: One end of the adjusting member (5) is tightly abutted against an end of the vertical portion (42) away from the horizontal portion (41).

8. The robot according to any one of claims 1 to 7, characterized in that: One of the vertical beam (1) and the sliding frame (3) is provided with a slide rail extending along the vertical direction, and the other of the vertical beam (1) and the sliding frame (3) is provided with a sliding block (7) slidably matched with the slide rail.

9. The robot according to any one of claims 1 to 7, characterized in that: The driving assembly (2) comprises: A driving member (21), wherein the driving member (21) is installed in the vertical beam (1); A screw rod (22), the screw rod (22) extending along the vertical direction, one end of the screw rod (22) being connected to the output end of the driving member (21), and the other end of the screw rod (22) being rotatably disposed in the vertical beam (1); A nut block (23), wherein the nut block (23) is threadedly connected to the screw rod (22), and the nut block (23) is connected to the sliding frame (3).

10. A tank cleaning machine, characterized in that: A robot comprising the robot according to any one of claims 1 to 9.

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