End execution device for demolding and transferring quartz crucible

Abstract

The utility model discloses an end executive device for demoulding and transferring a quartz crucible, which comprises a main body structure, a transmission component, a roller claw component and a pot clamping claw component, the quartz crucible centrifugally formed in an obliquely placed forming film is loosened through a flapping cylinder, and the edge of the quartz crucible is clamped through the roller claw component; the quartz crucible is pulled out of the forming film, the demolded quartz crucible falls on a pot falling net, the demolded quartz crucible is clamped through a pot clamping claw component, a multifunctional mechanical arm drives a tail end execution device to integrally transfer the quartz crucible to an AGV, and automatic demolding of the quartz crucible is completed; according to the utility model, the demoulding and transferring efficiency is improved, the maintenance cost is reduced, the production efficiency is improved, and the unique clamping jaw structure and the transmission device enable the operation to be more flexible and convenient, so that the mould has important application significance in quartz preparation and related industrial fields, and has wide market prospect and popularization value.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical engineering, which relates to the demoulding and transporting operation of a quartz crucible during the production and preparation process, and specifically is an end execution device for demoulding and transporting a quartz crucible. Background Art

[0002] Quartz crucibles have the advantages of high purity, strong temperature resistance, large size, high precision, good heat preservation, energy saving and stable quality. They are currently widely used in the production process of refining crystalline silicon in the fields of solar energy and semiconductors, and are consumables in the production process of crystalline silicon. In the production process of quartz crucibles, high-purity quartz sand is sprayed multiple times in a rotating molding mold that can be tilted at any angle, formed by centrifugal force, and then moved to the electrode rod to quickly melt it into fused quartz in the shape of a crucible, completing the production of a quartz crucible.

[0003] At present, after the quartz crucible is formed, it is necessary to manually use a hammer to knock the forming mold to demold it, and then transfer it to the next process after cooling. To this end, this application proposes an end-effector for demolding and transporting quartz crucibles, which significantly improves the existing problems in the production process of quartz crucibles, especially for the difficulties of manual demolding operations, safety hazards and possible pollution problems. An innovative solution is proposed. Utility Model Content

[0004] The technical problem solved by the utility model is to provide an end-effector for demoulding and transporting a quartz crucible, aiming to solve the problem that a traditional quartz crucible cannot be automatically demoulded and transported during the preparation process.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an end-effector for demolding and transporting a quartz crucible, comprising a main structure, a gripping roller claw component and a pot clamping claw component, wherein two groups of the gripping roller claw components and the pot clamping claw components are symmetrically located at both sides of the lower end of the main structure, respectively; the gripping roller claw component and the pot clamping claw component are driven by a transmission assembly provided on the main structure to approach each other to clamp the quartz crucible; the centrifugally formed quartz crucible in an inclined molding film is loosened by beating the cylinder, and the edge of the quartz crucible is clamped by the gripping roller claw component; the quartz crucible is pulled out of the molding film, and the demolded quartz crucible falls on a pot drop net, the demolded quartz crucible is clamped by the pot clamping claw component, and the multifunctional mechanical arm drives the end-effector as a whole to transfer the quartz crucible to the AGV automatic guided vehicle, thereby completing the automatic demolding of the quartz crucible;

[0006] The pot clamping claw component includes a pot clamping U plate, a rubber roller plate, a first cover plate, a silicone high temperature resistant rubber roller and a clamping center shaft; the pot clamping U plate is connected to the transmission assembly, the rubber roller plates are respectively located at both ends of the pot clamping U plate, and the middle position of the rubber roller plate is rotatably connected to both ends of the pot clamping U plate through the clamping center shafts at both ends, so that it automatically adapts to the angle when it contacts the quartz crucible, the rubber rollers are respectively located at both ends of the rubber roller plate and are rotatably connected between the rubber roller plates, the rubber rollers are silicone high temperature resistant rubber rollers, and the high temperature resistant rubber rollers are built-in with high temperature resistant bearings, so as to realize rolling friction between the rubber rollers and the quartz crucible, and the first cover plates are respectively provided on the outer walls of the rubber roller plates at both ends of the clamping center shaft, and the quartz crucible is clamped by the silicone high temperature resistant rubber rollers cooperating with each other;

[0007] The grabbing roller claw component includes a support plate, a cross frame, a roller frame, a second cover plate and a grabbing roller. One end of the support plate is connected to the side wall of the pot clamping U plate, and the other end is connected to the middle position of the cross frame. The roller frame is located at both ends of the cross frame. The grabbing roller is installed at the front end of the roller frame, and a high-temperature resistant bearing is provided inside the grabbing roller. The sliding friction between the grabbing roller and the quartz crucible is converted into rolling friction, and the quartz crucible is grabbed by the grabbing rollers approaching each other.

[0008] Preferably, there are clamping rods on both sides of the clamping center axis, and both ends of the clamping rods are respectively connected to the rubber roller plates, pull rings are respectively provided on the outer walls of the clamping rods, and a reset spring frame is provided at the lower end of the clamping rods, and the two sides of the reset spring frame are respectively fixed to the inner walls on both sides of the clamping pot U-plate, and the pull rings on the clamping rods are respectively connected to the reset spring frames through the springs provided, and the reset effect can be achieved through the tension of the springs when the silicone high-temperature resistant rubber roller on the rubber roller plate releases the quartz crucible.

[0009] Preferably, a compression spring is provided at the rear end of the roller frame, and the other end of the compression spring is connected to the cross frame. The roller frame and the cross frame are fixed by the compression spring to adjust the longitudinal position of the grabbing roller, thereby adapting to the gap between the grabbing roller and the quartz crucible.

[0010] Preferably, a fixed bearing seat is provided in the middle position of the side wall of the cross frame, and a side plate is respectively provided at the upper and lower parts of the front end of the support plate, and a rotating shaft is provided between the side plates, and is rotatably connected to the fixed bearing seat through the rotating shaft, and a nitrogen support rod assembly is respectively provided on both sides of the support plate, and a top seat is respectively provided at the connection between the nitrogen support rod assembly and the cross frame and the support plate, and is rotatably connected to the top seat through a plug screw. The angle of the cross frame can be adjusted around the rotating shaft through the passive elastic telescopic cooperation of the nitrogen support rod assemblies on both sides to adapt to quartz crucibles with different inclination angles, and at the same time, the automatic angle reset of the cross frame can be completed, which is convenient for the next positioning.

[0011] Preferably, the grabbing roller claw component and the pot clamping claw component are driven by a transmission assembly provided inside the main structure, and the transmission assembly includes a translation cross plate, a sliding bottom plate, a clamping arm main board, a forward and reverse threaded screw, a screw nut seat and a second motor. The upper end of the translation cross plate is fixed to a multifunctional mechanical arm, and the mechanical arm drives the entire device to operate. Both ends of the forward and reverse threaded screw are mounted on the translation cross plate by means of a fixing block. A second motor is provided at one end of the forward and reverse threaded screw, and the second motor is fixedly mounted on one side of the translation cross plate by means of a motor bracket. The screw nut seat is symmetrically located between the forward and reverse threaded screws. On both sides of the lead screw, a slider support block is provided at the lower end of the clamping arm main board, and the lower end of the slider support block is slidably connected to the guide slider provided inside the translation cross plate, and the upper end of the slider support block is connected to the lower end surface of the clamping arm main board through a sliding base plate, and is connected to the lead screw nut seat through the front end protruding end of the sliding base plate. The two are linked, and the second motor drives the positive and negative lead screws to rotate through a coupling, thereby driving the lead screw nut seat to move, and driving the clamping arm main boards on both sides to realize clamping and loosening actions, thereby driving the clamping pot U plate connected to the other end of the clamping arm main board to move together.

[0012] Preferably, limit blocks are respectively provided at both ends of the interior of the translational transverse plate, and the limit blocks are fixed to the surface of the translational transverse plate to limit the moving range of the slider support block and play a limiting role.

[0013] Preferably, an accordion cover is provided on the translation transverse plate, and the accordion cover is fixed on the translation transverse plate to prevent quartz dust from entering the positive and negative threaded screws.

[0014] Preferably, drag chains are respectively provided on both sides of the translational transverse plate for storing the lines and protecting the safety of the lines, and drag chain fixing side frames are respectively provided on both sides of the middle position of the translational transverse plate for supporting the movement of the drag chains.

[0015] Preferably, the clamping arm main board is connected to the pot clamping U-plate via a transmission shaft, and is driven by a first motor provided on the outer wall of the connecting end of the clamping arm main board and the pot clamping U-plate, the first motor is connected to the transmission shaft, and the rotation of the pot clamping U-plate is controlled by the first motor, thereby improving the efficiency and flexibility of the equipment, so that one end execution component can realize two actions.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] 1. The utility model is provided with an adjustable grabbing roller claw component to ensure that during the demoulding process, the quartz crucibles of different sizes and different inclination angles can be adapted to each other. At the same time, a rotatable and adjustable pot clamping claw component is provided to move the demoulded quartz crucible to the AGV automatic guided vehicle, so that one end execution component can complete the two actions of demoulding and clamping.

[0018] 2. Aiming at the problems of high labor intensity, low efficiency and low product qualification rate in the production process of quartz crucible, the utility model provides an end-effector for demoulding and transporting quartz crucible by cooperating with a beating cylinder and a multifunctional mechanical arm. The end-effector is provided with a freely adjustable grabbing roller claw component and a pot clamping claw component, which can realize the demoulding and transporting of high-quality quartz crucibles. The unique clamping claw structure and transmission device make the operation more flexible and convenient, which greatly solves the problem of workers' difficulty in operating quartz crucibles under high temperature and large size.

[0019] 3. The utility model introduces an automated demoulding device to replace the traditional manual unloading operation, and combines a beating cylinder and a multi-functional robot to realize the automation of the production process; it not only reduces labor costs and improves production efficiency, but also increases the economic benefits of the enterprise and improves the management level of the enterprise; this application not only meets the needs of modern production, but also helps to improve the safety and environmental protection of the production process, and promotes the progress of crystalline silicon production technology; the utility model is of great significance to the development of the solar energy and semiconductor fields, and provides a more efficient, safe and environmentally friendly solution for the production and unloading of quartz crucibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a schematic diagram of the overall structure of the demoulding device of the end actuator of the quartz crucible of the utility model;

[0023] Figure 2 This is a demoulding diagram of a demoulding device of a quartz crucible end actuator of the utility model;

[0024] Figure 3 This is a schematic diagram of the pot clamping device of the demoulding device of the end actuator of the quartz crucible of the utility model;

[0025] Figure 4 It is a schematic diagram of the grabbing roller and the clamping pot structure of the utility model;

[0026] Figure 5 It is a schematic diagram of the main structure of the utility model;

[0027] Figure 6 It is a schematic diagram of the transmission assembly of the utility model;

[0028] Numbers in the figure: 1, main structure; 2, transmission assembly; 3, pot clamping claw component; 4, grabbing roller claw component; 5, rotational molding film; 6, quartz crucible; 1-1, translation horizontal plate; 1-2, accordion cover; 1-3, clamping arm main board; 1-4, first motor; 1-5, transfer shaft; 1-6, sliding bottom plate; 1-7, drag chain fixed side frame; 1-8, drag chain; 2-1, guide rail slider; 2-2, limit block; 2-3, slider support block; 2-4, fixed block; 2-5, positive and negative thread screw; 2-6, screw nut seat; 2-7, micro switch; 2-8, coupling; 2-9, motor bracket; 2-10, second motor; 3-1, pull ring; 3-2, spring; 3-3, reset spring frame; 3-4, clamp support rod; 3-5, clamp center axis; 3-6, rubber roller; 3-7, rubber roller plate; 3-8, first cover plate; 3-9, pot clamp U plate; 4-1, support plate; 4-2, cross frame; 4-3, compression spring; 4-4, roller frame; 4-5, grab roller; 4-6, second cover plate; 4-7, top seat; 4-8, nitrogen support rod assembly; 4-9, plug screw; 4-10, side plate; 4-11, fixed bearing seat; 4-12, rotating shaft. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] Example: Figure 1-Figure 6As shown, an end-effector device for demoulding and transporting a quartz crucible comprises a main structure (1), a gripping roller claw component (4) and a pot clamping claw component (3), wherein two groups of the gripping roller claw components (4) and the pot clamping claw components (3) are symmetrically located on both sides of the lower end of the main structure (1), and the gripping roller claw components (4) and the pot clamping claw components (3) are rigidly connected, and the gripping roller claw components (4) and the pot clamping claw components (3) are driven by a transmission component (2) provided on the main structure (1) to move the gripping roller claw components (4) and the pot clamping claw components (3) closer to each other to clamp the quartz crucible (6), and the gripping roller claw components (4) and the pot clamping claw components (3) are driven by a transmission component (2) provided inside the main structure (1), and the transmission component (2) comprises a translational transverse plate (1-1 ), a sliding base plate (1-6), a clamping arm main board (1-3), a positive and negative threaded screw (2-5), a screw nut seat (2-6) and a second motor (2-10), the upper end of the translational horizontal plate (1-1) is fixed on the multifunctional mechanical arm, and the mechanical arm drives the overall device to operate, the two ends of the positive and negative threaded screw (2-5) are installed on the translational horizontal plate (1-1) by means of a fixing block (2-4), one end of the positive and negative threaded screw (2-5) is provided with a second motor (2-10), and the second motor (2-10) is fixedly installed on one side of the translational horizontal plate (1-1) by means of a motor bracket (2-9), the screw nut seat (2-6) is symmetrically located on both sides of the positive and negative threaded screw (2-5), the clamping arm main board (1-3) is symmetrically located on both sides of the positive and negative threaded screw (2-5), the clamping arm main board (1-3) is symmetrically located on the two ... A slider support block (2-3) is provided at the lower end of the plate (1-3), and the lower end of the slider support block (2-3) is slidably connected to the guide slider (2-1) provided inside the translational cross plate (1-1), and the upper end of the slider support block (2-3) is connected to the lower end surface of the clamping arm main board (1-3) through the provided sliding base plate (1-6), and is connected to the lead screw nut seat (2-6) through the front end extension end of the sliding base plate (1-6), and the two are linked, and the second motor (2-10) drives the forward and reverse threaded screws (2-5) to rotate through the provided coupling (2-8), thereby driving the lead screw nut seat (2-6) to move, and drives the clamping arm main boards (1-3) on both sides to achieve clamping and loosening actions, thereby driving the clamping arm The other end of the main board (1-3) is connected to the pot clamping U plate (3-9) and moves together; the two ends of the interior of the translational transverse plate (1-1) are respectively provided with limit blocks (2-2), the limit blocks (2-2) and the surface of the translational transverse plate (1-1) are fixed to each other, and are used to limit the movement range of the slider support block (2-3), playing a limiting role, and a micro switch (2-7) is provided on the inner surface of the translational transverse plate (1-1), and automatic control and safety protection of frequent switching circuits are realized through the micro switch (2-7); the translational transverse plate (1-1) is provided with an accordion cover (1-2), and the accordion cover (1-2) is fixed on the translational transverse plate (1-1), and is used to prevent quartz dust from entering the positive and negative threaded screws (2-5) to reduce the service life;Drag chains (1-8) are respectively arranged on both sides of the translational transverse plate (1-1) for storing lines and protecting the safety of the lines, and drag chain fixing side frames (1-7) are respectively arranged on both sides of the middle position of the translational transverse plate (1-1) for supporting the movement of the drag chain (1-8). ;

[0031] The centrifugally formed quartz crucible (6) in the tilted rotary forming film (5) is loosened by tapping the cylinder, and the edge of the quartz crucible (6) is clamped by the gripping roller claw component (4); the quartz crucible (6) is pulled out of the forming film (5), and the demoulded quartz crucible (6) falls on the pot drop net, and the demoulded quartz crucible (6) is clamped by the pot clamping claw component (3), and the multifunctional mechanical arm drives the end effector to transfer the quartz crucible (6) to the AGV automatic guided vehicle as a whole, thereby completing the automatic demoulding of the quartz crucible (6);

[0032] Among them, Figure 4As shown, the pot clamping claw component (3) comprises a pot clamping U plate (3-9), a rubber roller plate (3-7), a first cover plate (3-8), a silicone high temperature resistant rubber roller (3-6) and a clamping center shaft (3-5); the pot clamping U plate (3-9) is connected to the transmission component (2), the clamping arm main board (1-3) is connected to the pot clamping U plate (3-9) through a transmission shaft (1-5), and is driven by a first motor (1-4) provided on the outer wall surface of the connection end between the clamping arm main board (1-3) and the pot clamping U plate (3-9), the first motor (1-4) is connected to the transmission shaft (1-5), and is driven by a first motor (1-4) provided on the outer wall surface of the connection end between the clamping arm main board (1-3) and the pot clamping U plate (3-9), and the first motor (1-4) is connected to the transmission shaft (1-5). The first motor (1-4) controls the pot clamping U plate (3-9) to rotate, thereby improving the efficiency and flexibility of the equipment, so that one end execution component can realize two actions. The rubber roller plate (3-7) is respectively located at the two ends of the pot clamping U plate (3-9), and the middle position of the rubber roller plate (3-7) is rotatably connected to the two ends of the pot clamping U plate (3-9) through the clamping center axis (3-5) at both ends, so that it automatically adapts to the angle when contacting the quartz crucible (6). The rubber roller (3-6) is a high-temperature resistant rubber roller of silica gel. The silica gel (3-6) is respectively located at the two ends of the rubber roller plate (3-7) and is connected to the The rubber roller plates (3-7) are rotatably connected to each other, and the rubber roller (3-6) has a built-in high-temperature resistant bearing, so as to achieve rolling friction between the rubber roller (3-6) and the quartz crucible (6), which helps to protect the surface of the quartz crucible (6) and ensures that it can still work effectively in a high-temperature environment. The two ends of the clamping axis (3-5) are located on the outer wall of the rubber roller plate (3-7) and are respectively provided with a first cover plate (3-8). The rubber roller (3-6) cooperates with each other to clamp the quartz crucible (6), wherein the two sides of the clamping axis (3-5) are respectively clamped with support rods (3-4), and the two ends of the clamping support rods (3-4) are respectively connected to the rubber roller. The clamping rod (3-4) is connected to the pot clamping U plate (3-7), the outer wall of the clamping rod (3-4) is respectively provided with a pull ring (3-1), the lower end of the clamping rod (3-4) is provided with a reset spring frame (3-3), the two sides of the reset spring frame (3-3) are respectively fixed to the inner walls of the two sides of the pot clamping U plate (3-9), and the spring pull ring (3-1) on the clamping rod (3-4) is respectively connected to the reset spring frame (3-3) through the spring (3-2) provided, and the silicone high temperature resistant rubber roller (3-6) on the rubber roller plate (3-7) can achieve a reset effect when the quartz crucible (6) is released by the pulling force of the spring (3-2);

[0033] Among them, Figure 4As shown, the grabbing roller claw component (4) includes a support plate (4-1), a cross frame (4-2), a roller frame (4-4), a second cover plate (4-6) and a grabbing roller (4-5), one end of the support plate (4-1) is connected to the side wall of the pot clamping U plate (3-9), the other end of the support plate (4-1) is connected to the middle position of the cross frame (4-2), a fixed bearing seat (4-11) is provided in the middle position of the side wall of the cross frame (4-2), and a side plate (4-10) is provided at the upper and lower parts of the front end of the support plate (4-1), and the side plates (4-10) are connected to each other. A rotating shaft (4-12) is provided between the support plate (4-1) and is rotatably connected to the fixed bearing seat (4-11) through the rotating shaft (4-12). A nitrogen support rod assembly (4-8) is provided on both sides of the support plate (4-1). Top seats (4-7) are provided at the connection between the nitrogen support rod assembly (4-8) and the cross frame (4-2) and the support plate (4-1). The top seats (4-7) are rotatably connected to the top seats (4-7) through the plug screws (4-9). The nitrogen support rod assemblies (4-8) on both sides cooperate with the cross frame through the passive elastic expansion and contraction. (4-2) The angle of the horizontal frame (4-2) is adjusted around the rotating shaft (4-12) to adapt to the quartz crucible (6) with different inclination angles, and the automatic angle reset of the horizontal frame (4-2) can be completed at the same time, which is convenient for the next positioning. The roller frame (4-4) is located at both ends of the horizontal frame (4-2), and the grabbing roller (4-5) is installed at the front end of the roller frame (4-4). The grabbing roller (4-5) is provided with a high-temperature resistant bearing inside to ensure that it maintains good working performance in a high-temperature environment, and the grabbing roller (4-5) is connected to the quartz crucible (6). The sliding friction between the two ends of the quartz crucible (6) is converted into rolling friction, which plays a role in protecting the quartz crucible (6). The quartz crucible (6) is grasped by the grabbing rollers (4-5) approaching each other, wherein a compression spring (4-3) is provided at the rear end of the roller frame (4-4), and the other end of the compression spring (4-3) is connected to the cross frame (4-2). The roller frame (4-4) and the cross frame (4-2) are fixed by the compression spring (4-3) to adjust the longitudinal position of the grabbing roller (4-5) and thereby adapt to the gap between the grabbing roller (4-5) and the quartz crucible (6).

[0034] Specific working principle:

[0035] First, after the quartz crucible is formed in the forming mold by centrifugal force, the rotatable forming mold (5) is tilted to maintain a certain angle with the ground; the formed quartz crucible (6) is loosened by tapping the cylinder, and the demoulding device is driven by the multifunctional mechanical arm to reach the outer edge of the quartz crucible, and the second motor (2-10) drives the forward and reverse screws (2-5) to rotate, driving the sliding bottom plate (1-6), the clamping arm mainboard (1-3), and the grabbing roller claw component (4) to move toward the quartz crucible (6) to achieve clamping; the multifunctional mechanical arm drives the end execution demoulding device to pull the quartz crucible (6) out of the forming mold (5) to achieve demoulding.

[0036] Then, the second motor (2-10) drives the forward and reverse screws (2-5) to rotate, driving the sliding bottom plate (1-6), the clamping arm main board (1-3), and the grab roller (4-5) to move away from the quartz crucible (6), so that the demoulded quartz crucible (6) falls on the pot receiving net; the motor (1-4) drives the transfer shaft (1-5) and the support plate (4-1) to rotate 180 degrees, so that the pot clamping claw component (3) reaches the outer edge contour of the quartz crucible, and the second motor (2-10) drives the forward and reverse screws (2-5) to rotate, driving the sliding bottom plate (1-6), the clamping arm main board (1-3), and the pot clamping claw component (3) to move toward the quartz crucible (6) to achieve pot clamping; the multifunctional robot drives the end execution device to move the quartz crucible (6) to the AGV (Automated Guided Vehicle) to achieve transportation.

[0037] Finally, it should be noted that the above description is only a preferred example of the present utility model and is not intended to limit the present utility model. Although the present utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An end effector for demoulding and transporting a quartz crucible, Features: It comprises a main structure, a grabbing roller claw component and a pot clamping claw component, wherein two groups of the grabbing roller claw components and the pot clamping claw components are symmetrically located at both sides of the lower end of the main structure, and the grabbing roller claw components and the pot clamping claw components are driven by a transmission assembly provided on the main structure to approach each other to clamp the quartz crucible, and the centrifugally formed quartz crucible in the inclined forming film is loosened by beating the cylinder, and the edge of the quartz crucible is clamped by the grabbing roller claw component; the quartz crucible is pulled out of the forming film, and the demolded quartz crucible falls on the pot dropping net, the demolded quartz crucible is clamped by the pot clamping claw component, and the multifunctional mechanical arm drives the end effector as a whole to transfer the quartz crucible to the AGV automatic guided vehicle, so as to complete the automatic demolding of the quartz crucible; The pot clamping claw component includes a pot clamping U plate, a rubber roller plate, a first cover plate, a rubber roller and a clamping center shaft; the pot clamping U plate is connected to the transmission assembly, the rubber roller plates are respectively located at both ends of the pot clamping U plate, and the middle position of the rubber roller plate is rotatably connected to both ends of the pot clamping U plate through the clamping center shafts at both ends, so that it automatically adapts to the angle when it contacts the quartz crucible, the rubber rollers are respectively located at both ends of the rubber roller plate and are rotatably connected between the rubber roller plates, the rubber rollers are built-in with high-temperature resistant bearings, so as to achieve rolling friction between the rubber rollers and the quartz crucible, and the first cover plates are respectively provided on the outer walls of the rubber roller plates at both ends of the clamping center shaft, and the quartz crucible is clamped by the rubber rollers cooperating with each other; The grabbing roller claw component includes a support plate, a cross frame, a roller frame, a second cover plate and a grabbing roller. One end of the support plate is connected to the side wall of the pot clamping U plate, and the other end is connected to the middle position of the cross frame. The roller frame is located at both ends of the cross frame. The grabbing roller is installed at the front end of the roller frame, and a high-temperature resistant bearing is provided inside the grabbing roller. The sliding friction between the grabbing roller and the quartz crucible is converted into rolling friction, and the quartz crucible is grabbed by the grabbing rollers approaching each other.

2. The end effector for demoulding and transporting a quartz crucible according to claim 1, Features: Clamping rods are respectively provided on both sides of the clamping center axis, and both ends of the clamping rods are respectively connected to the rubber roller plates, pull rings are respectively provided on the outer walls of the clamping rods, and a reset spring frame is provided at the lower end of the clamping rods, and the two sides of the reset spring frame are respectively fixed to the inner walls of both sides of the clamping pot U plate, and the pull rings on the clamping rods are respectively connected to the reset spring frames through the springs provided, and the reset effect can be achieved through the tension of the springs when the silicone high-temperature resistant rubber roller on the rubber roller plate releases the quartz crucible.

3. The end effector for demoulding and transporting a quartz crucible according to claim 1, Features: A compression spring is provided at the rear end of the roller frame, and the other end of the compression spring is connected to the cross frame. The roller frame and the cross frame are fixed by the compression spring to adjust the longitudinal position of the grab roller, thereby adapting to the gap between the grab roller and the quartz crucible.

4. The end effector for demoulding and transporting a quartz crucible according to claim 1, Features: A fixed bearing seat is provided in the middle position of the side wall of the cross frame, and a side plate is respectively provided at the upper and lower parts of the front end of the support plate, and a rotating shaft is provided between the side plates, and is rotatably connected to the fixed bearing seat through the rotating shaft. A nitrogen support rod assembly is respectively provided on both sides of the support plate, and a top seat is respectively provided at the connection between the nitrogen support rod assembly and the cross frame and the support plate, and is rotatably connected to the top seat through a plug screw. The angle of the cross frame is adjusted around the rotating shaft through the passive elastic telescopic cooperation of the nitrogen support rod assemblies on both sides to adapt to quartz crucibles with different inclination angles, and at the same time, the automatic angle reset of the cross frame can be completed, which is convenient for the next positioning.

5. The end effector for demoulding and transporting a quartz crucible according to claim 1, Features: The grabbing roller claw component and the pot clamping claw component are driven by a transmission assembly provided inside the main structure, and the transmission assembly includes a translation cross plate, a sliding bottom plate, a clamping arm main board, a positive and negative threaded screw, a screw nut seat and a second motor. The upper end of the translation cross plate is fixed to a multifunctional mechanical arm, and the mechanical arm drives the entire device to operate. Both ends of the positive and negative threaded screws are mounted on the translation cross plate by means of a fixing block. One end of the positive and negative threaded screws is provided with a second motor, and the second motor is fixedly mounted on one side of the translation cross plate through a motor bracket provided. The screw nut seat is symmetrically located on the positive and negative threaded screws. On both sides of the lever, a slider support block is provided at the lower end of the clamping arm main board, and the lower end of the slider support block is slidably connected to the guide rail slider provided inside the translation cross plate, and the upper end of the slider support block is connected to the lower end surface of the clamping arm main board through a sliding base plate, and is connected to the lead screw nut seat through the front end protruding end of the sliding base plate. The two are linked, and the second motor drives the forward and reverse lead screws to rotate through a coupling, thereby driving the lead screw nut seat to move, and driving the clamping arm main boards on both sides to realize clamping and loosening actions, thereby driving the clamping pot U plate connected to the other end of the clamping arm main board to move together.

6. The end effector for demoulding and transporting a quartz crucible according to claim 5, Features: Limit blocks are respectively arranged at both ends of the interior of the translational transverse plate. The limit blocks are fixed to the surface of the translational transverse plate and are used to limit the moving range of the slider support block, thereby playing a limiting role.

7. The end effector for demoulding and transporting a quartz crucible according to claim 5, Features: The translational transverse plate is provided with an accordion cover, which is fixed on the translational transverse plate and is used to prevent quartz dust from entering the positive and negative threaded screws.

8. The end effector for demoulding and transporting a quartz crucible according to claim 5, Features: Drag chains are respectively arranged on both sides of the translational transverse plate for storing lines and protecting the safety of the lines. Drag chain fixing side frames are respectively arranged on both sides of the middle position of the translational transverse plate for supporting the movement of the drag chains.

9. The end effector for demoulding and transporting a quartz crucible according to claim 5, Features: The clamping arm main board is connected to the pot clamping U-plate through a transmission shaft, and is driven by a first motor provided on the outer wall of the connecting end of the clamping arm main board and the pot clamping U-plate. The first motor is connected to the transmission shaft, and the rotation of the pot clamping U-plate is controlled by the first motor, so that one end execution component can realize two actions.

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