Replaceable manipulator capable of grabbing multiple graphite boats

Abstract

The utility model discloses a replaceable manipulator capable of grabbing a plurality of graphite boats, which comprises a cross beam, one side of the cross beam is movably connected with a groove-shaped guide wheel, a guide rail rack is movably connected below the groove-shaped guide wheel, a first main transmission gear is movably connected below the guide rail rack, and a second main transmission gear is movably connected below the first main transmission gear. First transmission shafts are fixedly connected to the inner surfaces of the two sides of the cross beam, a V-shaped guide wheel is installed on the outer surface of the other side of the cross beam, and a tooth-shaped strip is movably connected to the lower portion of the V-shaped guide wheel. Through the structure, the first transmission shaft, the first transmission chain wheel, the third main transmission gear, the first motor and the first speed reducer are arranged to achieve lifting of the manipulator; a first main transmission gear, a second transmission shaft, a second speed reducer and a second main transmission gear are arranged, and transverse movement of the mechanical arm is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of graphite boats and manipulators, in particular to a manipulator which can grab a plurality of graphite boats and is replaceable. Background Art

[0002] At present, the roller transmission method in the photovoltaic and semiconductor industries in corrosive media is mainly the plastic sleeve on the transmission shaft. The graphite boat is a special boat with graphite as the base material, which has the characteristics of high temperature resistance, good chemical stability, high strength and excellent conductivity.

[0003] In recent years, with the continuous development of new material technology, the application of graphite boats in many fields has gradually attracted attention, and there are more and more automatic graphite boat cleaning equipment. At present, in the automatic graphite boat cleaning equipment, most of them put the graphite boat in a carrying basket, and use a robot to grab the carrying basket where the graphite boat is placed to realize automatic cleaning of the graphite boat. After cleaning, the graphite boat is dried. There is a problem in the existing equipment that the robot cannot grab multiple graphite boats. Due to the high frequency of use of the robot, a replaceable robot is very important.

[0004] To this end, we propose a replaceable manipulator that can grab multiple graphite boats. Utility Model Content

[0005] The utility model provides a replaceable manipulator which can grab multiple graphite boats. The lifting and lowering of the manipulator is achieved by arranging a first transmission shaft, a first transmission sprocket, a third main transmission gear, a first motor and a first reducer. The lateral movement of the manipulator is achieved by arranging the first main transmission gear, a second transmission shaft, a second reducer and a second main transmission gear, thereby achieving the purpose of the graphite boat manipulator directly grabbing the graphite boat.

[0006] To achieve the above-mentioned purpose, a replaceable manipulator that can grab multiple graphite boats is provided, comprising a crossbeam, one side of the crossbeam is movably connected with a grooved guide wheel, the bottom of the grooved guide wheel is movably connected with a guide rail rack, the bottom of the guide rail rack is movably connected with a first main transmission gear, the inner surfaces of both sides of the crossbeam are fixedly connected with a first transmission shaft, the outer surface of the other side of the crossbeam is installed with a V-shaped guide wheel, the bottom of the V-shaped guide wheel is movably connected with a toothed bar, the bottom of the toothed bar is movably connected with a second main transmission gear, the lower surface of the crossbeam is fixedly connected with a lifting guide rail, and the inner wall of the lifting guide rail is fixedly connected with a support column. By setting the first transmission shaft to rely on the first transmission sprocket and the third main transmission gear on both sides, the first motor and the first reducer realize the lifting and lowering of the manipulator; by setting the first reducer and the first motor to drive the first transmission shaft and the first transmission sprocket, the cross arm is driven to move up and down, so that the manipulator descends to a certain position; by setting a plurality of mounting holes on the inner wall of the manipulator hanging plate, the operation of grabbing multiple graphite boats can be realized; by setting the number of the support plates to be multiple, the cylinder connecting block is located on the first mounting base plate, the third mounting base plate and the second mounting base plate, and is fixed with screws. When the basket detection reaches the specified position, the first The first cylinder, the second cylinder, the third cylinder and the fourth cylinder work simultaneously, and the robot arm is slowly pulled along the first linear guide rail to the initial positions of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder to grab the product; by setting the first cylinder fixing block, the second cylinder fixing block and the third cylinder fixing block, the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are firmly mounted on the first mounting base plate, the third mounting base plate and the second mounting base plate, which is conducive to firmly grabbing the product; by setting the first main drive gear and the second drive shaft to be connected to the second reducer until the second main drive gear at the other end, the lateral movement of the robot arm is realized.

[0007] According to the replaceable manipulator capable of grabbing multiple graphite boats, the outer surface of one side of the first transmission shaft is movably connected with the first transmission sprocket, the second transmission sprocket and the third main transmission gear, one side of the first transmission sprocket is fixedly connected with the second transmission sprocket, the other side of the first transmission shaft is equipped with the first reducer and the first motor, and the first reducer and the first motor are fixedly connected. The lifting and lowering of the manipulator is achieved by setting the first transmission shaft to rely on the first transmission sprocket and the third main transmission gear on both sides, the first motor and the first reducer.

[0008] According to the replaceable manipulator capable of grabbing multiple graphite boats, the inner wall of the lifting guide rail is provided with a mounting hole, the inner wall of the mounting hole is movably connected with a cross arm, the outer surface of the cross arm is movably connected with a support plate, a basket detection device is installed on one side of the support plate, a fourth cylinder is provided on the top of the third mounting base plate, and a first cylinder is movably connected to one side of the first linear guide rail. The first reducer and the first motor are provided to drive the first transmission shaft and the first transmission sprocket, and the cross arm is driven to move up and down, so that the manipulator is lowered to a certain position.

[0009] According to the replaceable manipulator capable of grabbing multiple graphite boats, the outer surface of the support plate is movably connected to a manipulator hanging plate, the inner wall of the manipulator hanging plate is provided with a mounting hole, and the inner wall of the mounting hole is movably connected to a graphite boat. The operation of grabbing multiple graphite boats can be realized by providing multiple mounting holes on the inner wall of the mechanical hanging plate.

[0010] According to the replaceable manipulator that can grab multiple graphite boats, the inner wall of the support plate is fixedly connected with a basket detection, the top of the support plate is fixedly connected with a connecting top plate, the four sides of the connecting top plate are fixedly connected with connecting plates, the lower surface of the connecting top plate is movably connected with a cylinder connecting block, the bottom of the cylinder connecting block is equipped with a first mounting base plate, a third mounting base plate and a second mounting base plate, the inner surface of the third mounting base plate is provided with a first linear guide rail, the top of the first mounting base plate is movably connected with a fourth cylinder, the inner surface of the second mounting base plate is provided with a second linear guide rail, one side of the second linear guide rail is movably connected with a second cylinder, and the other side of the second linear guide rail is movably connected with a third cylinder. By setting the number of the support plates to be multiple, the cylinder connecting blocks are located on the first mounting base plate, the third mounting base plate and the second mounting base plate, and fixed with screws. When the basket detection reaches the specified position, the first cylinder, the second cylinder, the third cylinder and the fourth cylinder work simultaneously, and the entire robot is slowly pulled along the first linear guide rail to the initial positions of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder to grab the product.

[0011] According to the replaceable manipulator capable of grasping multiple graphite boats, the outer surfaces of the first cylinder, the second cylinder, the third cylinder, and the fourth cylinder are all movably connected with the first cylinder fixing block, the second cylinder fixing block, and the third cylinder fixing block. By providing the first cylinder fixing block, the second cylinder fixing block, and the third cylinder fixing block, the first cylinder, the second cylinder, the third cylinder, and the fourth cylinder are stably mounted on the first mounting base plate, the third mounting base plate, and the second mounting base plate, which is conducive to stably grasping the product.

[0012] According to the replaceable manipulator capable of grabbing multiple graphite boats, the inner surface of the crossbeam is fixedly connected with a second transmission shaft, a second motor is installed on one side of the second transmission shaft, a second reducer is installed on one side of the second motor, and the first transmission shaft and the first reducer are movably connected via a fourth main transmission gear. The manipulator is moved laterally by connecting the first main transmission gear and the second transmission shaft to the second reducer until the second main transmission gear at the other end.

[0013] The beneficial effects of the utility model: in view of the problem that the graphite boat carrying basket of the automatic graphite boat cleaning machine cannot enter the graphite boat drying oven, the utility model directly grabs the graphite boat through the graphite boat manipulator, thereby eliminating the graphite boat carrying basket and realizing the purpose of automatic docking between the automatic graphite boat cleaning machine and the graphite boat drying oven. The utility model designs four graphite boat hanging plates on the manipulator, and the four graphite boat hanging plates are respectively connected to four hanging plate connecting support plates, and the hanging plate support plates are installed on the linear guide rails. A cylinder is installed on each hanging plate support plate, and the left and right movement of the hanging plate support plates on the linear guide rails is achieved by controlling the back and forth extension and contraction of the cylinder, so as to drive the movement of the graphite boat hanging plates, so that the manipulator can directly grab the graphite boat for cleaning. The graphite boat is directly grabbed at the loading place for cleaning by the graphite boat manipulator of the automatic graphite boat cleaning machine. After cleaning, the graphite boat is placed on the automatic conveying device at the unloading place of the automatic graphite boat cleaning equipment and conveyed to the drying oven. The utility model eliminates the graphite boat carrier basket, realizes automatic docking between the automatic graphite boat cleaning machine and the graphite boat drying oven, reduces the process of manually carrying the graphite boat from the automatic graphite boat cleaning equipment to the drying oven, and thus reduces material costs and labor costs.

[0014] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0016] Figure 1 It is a top view of one side of the first cylinder in a replaceable manipulator capable of grabbing multiple graphite boats according to the utility model;

[0017] Figure 2 This is a top view of a replaceable manipulator that can grab multiple graphite boats according to the utility model;

[0018] Figure 3 This is a front view of a replaceable manipulator that can grab multiple graphite boats according to the utility model;

[0019] Figure 4 This is an enlarged view of a replaceable manipulator A that can grab multiple graphite boats according to the utility model;

[0020] Figure 5 This is an enlarged view of a replaceable manipulator B that can grab multiple graphite boats according to the utility model;

[0021] Figure 6 This is an enlarged view of a replaceable manipulator C that can grab multiple graphite boats according to the utility model;

[0022] Legend:

[0023] 3. First main transmission gear; 4. Grooved guide wheel; 5. First transmission sprocket; 6. First transmission shaft; 7. Crossbeam; 8. First reducer; 9. First motor; 10. V-shaped guide wheel; 11. Toothed bar; 12. Second main transmission gear; 13. Lifting guide rail; 14. First linear guide rail; 15. Cylinder connecting block; 16. First cylinder; 17. Cross arm; 18. Second cylinder; 19. Third cylinder; 20. Fourth cylinder; 21. First mounting base plate; 22. Third mounting base plate; 23. The second mounting base plate; 24, basket detection; 25, support plate; 26, manipulator hanging plate; 27, graphite boat; 28, first cylinder fixing block; 29, second cylinder fixing block; 30, third cylinder fixing block; 31, second linear guide rail; 32, connecting plate; 33, connecting top plate; 34, support column; 35, guide rail rack; 36, second transmission sprocket; 37, third main transmission gear; 38, second transmission shaft; 39, second motor; 40, second reducer; 41, fourth main transmission gear. DETAILED DESCRIPTION

[0024] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0025] Reference Figures 1 to 6 The utility model embodiment is a replaceable manipulator that can grab multiple graphite boats, which includes a crossbeam 7, one side of the crossbeam 7 is movably connected with a grooved guide wheel 4, the bottom of the grooved guide wheel 4 is movably connected with a guide rack 35, the bottom of the guide rack 35 is movably connected with a first main transmission gear 3, the inner surfaces of both sides of the crossbeam 7 are fixedly connected with a first transmission shaft 6, the outer surface of the other side of the crossbeam 7 is installed with a V-shaped guide wheel 10, the bottom of the V-shaped guide wheel 10 is movably connected with a toothed bar 11, the bottom of the toothed bar 11 is movably connected with a second main transmission gear 12, the lower surface of the crossbeam 7 is fixedly connected with a lifting guide rail 13, and the inner wall of the lifting guide rail 13 is fixedly connected with a support column 34.

[0026] The first transmission sprocket 5, the second transmission sprocket 36 and the third main transmission gear 37 are movably connected to the outer surface of one side of the first transmission shaft 6, the second transmission sprocket 36 is fixedly connected to one side of the first transmission sprocket 5, the first reducer 8 and the first motor 9 are installed on the other side of the first transmission shaft 6, and the first reducer 8 and the first motor 9 are fixedly connected. The inner wall of the lifting guide rail 13 is provided with a mounting hole, the inner wall of the mounting hole is movably connected with a cross arm 17, the outer surface of the cross arm 17 is movably connected with a support plate 25, one side of the support plate 25 is installed with a basket detection 24, the top of the third mounting bottom plate 22 is provided with a fourth cylinder 20, and one side of the first linear guide rail 14 is movably connected with the first cylinder 16. The outer surface of the support plate 25 is movably connected with a manipulator hanging plate 26, the inner wall of the manipulator hanging plate 26 is provided with a mounting hole, and the inner wall of the mounting hole is movably connected with a graphite boat 27.

[0027] The inner wall of the support plate 25 is fixedly connected with the basket detection 24, the top of the support plate 25 is fixedly connected with the connecting top plate 33, the connecting top plate 33 is fixedly connected with the connecting plate 32 around, the lower surface of the connecting top plate 33 is movably connected with the cylinder connecting block 15, the bottom of the cylinder connecting block 15 is installed with the first mounting base plate 21, the third mounting base plate 22 and the second mounting base plate 23, the inner surface of the third mounting base plate 22 is provided with the first linear guide 14, the top of the first mounting base plate 21 is movably connected with the fourth cylinder 20, the inner surface of the second mounting base plate 23 is provided with the second linear guide 31, one side of the second linear guide 31 is movably connected with the second cylinder 18, and the other side of the second linear guide 31 is movably connected with the third cylinder 19. The outer surfaces of the first cylinder 16, the second cylinder 18, the third cylinder 19 and the fourth cylinder 20 are all movably connected with the first cylinder fixing block 28, the second cylinder fixing block 29 and the third cylinder fixing block 30. A second transmission shaft 38 is fixedly connected to the inner surface of the crossbeam 7 , a second motor 39 is installed on one side of the second transmission shaft 38 , a second reducer 40 is installed on one side of the second motor 39 , and the first transmission shaft 6 and the first reducer 8 are movably connected via a fourth main transmission gear 41 .

[0028] Working principle: the second motor 39 and the second reducer 40 drive the second transmission shaft 38 and the first main transmission gear 3 and the second main transmission gear 12, so that the manipulator moves horizontally to the top of the graphite boat 27; the first motor 8 and the first reducer 9 drive the first transmission shaft 6 and the first transmission sprocket 5, and drive the manipulator cross arm 17 to move up and down, so that the manipulator drops to a certain position. When the basket detection 24 reaches the specified position, the first cylinder 16, the second cylinder 18, the third cylinder 19, and the fourth cylinder 20 work at the same time, and the manipulator as a whole is slowly pulled along the first linear guide 14 and the second linear guide 31 to the initial position of the first cylinder 16, the second cylinder 18, the third cylinder 19, and the fourth cylinder 20. After grabbing the product, the first motor 8 and the first reducer 9 work to grab the graphite boat 27 along the lifting guide 13. After the second motor 39 and the second reducer 40 work to move horizontally, it is placed in the next process. Since the manipulator hanging plates 26 are fixed by screws, all the manipulator hanging plates 26 can be replaced, which greatly reduces the cost.

[0029] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A replaceable manipulator capable of grasping a plurality of graphite boats, comprising a crossbeam (7), characterized in that: A grooved guide wheel (4) is movably connected to one side of the crossbeam (7), a guide rail rack (35) is movably connected below the grooved guide wheel (4), a first main transmission gear (3) is movably connected below the guide rail rack (35), a first transmission shaft (6) is fixedly connected to the inner surfaces of both sides of the crossbeam (7), a V-shaped guide wheel (10) is installed on the outer surface of the other side of the crossbeam (7), a toothed bar (11) is movably connected below the V-shaped guide wheel (10), a second main transmission gear (12) is movably connected below the toothed bar (11), a lifting guide rail (13) is fixedly connected to the lower surface of the crossbeam (7), and a support column (34) is fixedly connected to the inner wall of the lifting guide rail (13).

2. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 1, characterized in that: The outer surface of one side of the first transmission shaft (6) is movably connected to a first transmission sprocket (5), a second transmission sprocket (36) and a third main transmission gear (37); one side of the first transmission sprocket (5) is fixedly connected to the second transmission sprocket (36); the other side of the first transmission shaft (6) is equipped with a first reducer (8) and a first motor (9); the first reducer (8) and the first motor (9) are fixedly connected.

3. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 2, characterized in that: The inner wall of the lifting guide rail (13) is provided with a mounting hole, the inner wall of the mounting hole is movably connected to a cross arm (17), the outer surface of the cross arm (17) is movably connected to a support plate (25), one side of the support plate (25) is provided with a basket detection device (24), the top of the third mounting base plate (22) is provided with a fourth cylinder (20), and one side of the first linear guide rail (14) is movably connected to the first cylinder (16).

4. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 3, characterized in that: The outer surface of the support plate (25) is movably connected to a manipulator hanging plate (26), the inner wall of the manipulator hanging plate (26) is provided with a mounting hole, and the inner wall of the mounting hole is movably connected to a graphite boat (27).

5. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 4, characterized in that: The inner wall of the support plate (25) is fixedly connected with a basket detection device (24); the top of the support plate (25) is fixedly connected with a connecting top plate (33); the four sides of the connecting top plate (33) are fixedly connected with connecting plates (32); the lower surface of the connecting top plate (33) is movably connected with a cylinder connecting block (15); the bottom of the cylinder connecting block (15) is installed with a first mounting base plate (21), a third mounting base plate (22) and a second mounting base plate (23); the inner surface of the third mounting base plate (22) is provided with a first linear guide rail (14); the top of the first mounting base plate (21) is movably connected with a fourth cylinder (20); the inner surface of the second mounting base plate (23) is provided with a second linear guide rail (31); one side of the second linear guide rail (31) is movably connected with a second cylinder (18); and the other side of the second linear guide rail (31) is movably connected with a third cylinder (19).

6. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 3, characterized in that: The outer surfaces of the first cylinder (16), the second cylinder (18), the third cylinder (19) and the fourth cylinder (20) are all movably connected to a first cylinder fixing block (28), a second cylinder fixing block (29) and a third cylinder fixing block (30).

7. The replaceable manipulator capable of grabbing a plurality of graphite boats according to claim 1, characterized in that: A second transmission shaft (38) is fixedly connected to the inner surface of the crossbeam (7), a second motor (39) is installed on one side of the second transmission shaft (38), a second reducer (40) is installed on one side of the second motor (39), and the first transmission shaft (6) and the first reducer (8) are movably connected via a fourth main transmission gear (41).

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