Sucker clamping assembly and cut-off machine

Abstract

The utility model discloses a sucking disc clamping assembly and a cutting machine, the sucking disc clamping assembly comprises a clamping jaw assembly and a sucking disc assembly arranged on the clamping jaw assembly, and the sucking disc assembly is rotatably connected to the clamping jaw assembly. The suction cup assembly is rotatably arranged on the clamping jaw assembly, the suction cup assembly is put down to be used for sucking thin and brittle pieces to be clamped when needed, the suction cup assembly is put away when not needed, and the suction cup assembly is prevented from influencing clamping of the clamping jaw assembly.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a suction cup clamping component and a cutting machine. Background Art

[0002] At present, crystalline silicon solar cells are widely used in the field of photovoltaic power generation due to their high conversion efficiency. Crystalline silicon solar cells are made on high-quality silicon wafers, which are made from pulled crystal rods through a series of processing procedures such as wire saw cutting. Among them, the pulled raw crystal rods need to be cut off at both ends, and then a sample piece is cut from the raw crystal rod for testing, and the longer columnar raw crystal rods are cut into shorter lengths of primary processed raw crystal rods, and then subsequent operations such as squaring, grinding and slicing are carried out.

[0003] Since the flow direction of the cut head and tail materials and samples is different from that of the initially processed raw crystal bars in the process of automated production, the existing cutter only realizes automatic loading and unloading for the raw crystal bars to be cut and the initially processed raw crystal bars after cutting. Usually, the raw crystal bars are transported to the processing station through a roller conveyor system, and after the cutting is completed, the initially processed crystal bars are transported to the next processing step through a roller conveyor system. However, the cut head and tail materials and samples cannot be automatically unloaded, which reduces the working efficiency of the cutter.

[0004] Therefore, in order to improve the efficiency of loading and unloading, it is necessary to design a clamping component that can meet the needs of clamping the materials to be processed and the samples at the same time. However, as for the clamping of the samples, since the thickness of the samples is very thin, the use of a transmission clamping component to clamp the samples is likely to cause damage to the samples. Utility Model Content

[0005] The utility model aims to provide a suction cup clamping assembly and a cutting machine, so as to solve the problem in the prior art that the clamping jaw assembly needs to simultaneously clamp the material to be processed and the thin and crisp sample.

[0006] The utility model provides a sucker clamping assembly, which comprises a clamping claw assembly and a sucker assembly arranged on the clamping claw assembly. The sucker assembly is rotatably connected to the clamping claw assembly.

[0007] Furthermore, the suction cup assembly includes a rotating cylinder, a suction cup arm and a suction cup. The rotating cylinder is respectively connected to the clamping jaw assembly and one end of the suction cup cantilever. The rotating cylinder is used to drive the suction cup arm to rotate, and the other end of the suction cup arm is connected to the suction cup.

[0008] Furthermore, the suction cup clamping assembly also includes a suction cup rod, which is movably connected to the suction cup spiral arm, one end of the suction cup rod is connected to the suction cup, and an elastic member is arranged between the suction cup spiral arm and the suction cup.

[0009] Furthermore, the suction cup spiral arm rotates between a direction parallel to the opening and closing direction of the clamping jaws and a direction perpendicular to the opening and closing direction of the clamping jaws.

[0010] Furthermore, the suction cup clamping assembly also includes a vacuum generator, which is connected to the suction cup.

[0011] Furthermore, the clamping jaw assembly includes a driving base and a clamping jaw connected to the driving base, the clamping jaw extends outward from the driving base, and a first clamping side wall and a second clamping side wall are arranged along the extension direction of the clamping jaw. The clamping jaws are arranged relative to each other on the driving base so that a first clamping space is formed between the first clamping side walls, and a second clamping space is formed between the second clamping side walls.

[0012] Furthermore, the first clamping side wall of the clamping jaw is connected in sequence by a plurality of clamping side plates at a preset angle, so that the first clamping side wall can provide a multi-angle clamping force to the object to be clamped.

[0013] Furthermore, the second clamping side wall of the clamping jaw is composed of two clamping side plates which are perpendicular to each other, so that the second clamping side wall can provide a vertical clamping force to the object to be clamped.

[0014] Furthermore, the driving base includes a jaw screw relatively arranged in the opening and closing direction of the jaw, and the jaw also includes a jaw connecting seat, on which a jaw screw nut is arranged, and the jaw screw nut is connected to the jaw screw. By driving the jaw screw to rotate, the jaw can be driven to slide on the jaw screw.

[0015] Furthermore, the driving base includes a jaw guide rail arranged parallel to the jaw lead screw, and a jaw slider is arranged on the jaw connecting seat, and the jaw connecting seat can be slidably connected to the jaw guide rail through the jaw slider.

[0016] Furthermore, the driving base includes a guide rail base plate and a screw base plate connected to the axial ends of the guide rail base plate, the screw base plate and the guide rail base plate are perpendicular to each other, the clamping rail is arranged on the guide rail base plate, and the clamping screw is connected to the screw base plate through a screw support seat.

[0017] Furthermore, a jaw lead screw driving assembly is arranged at the axial center position of the guide rail base plate, and two sides of the jaw lead screw driving assembly are respectively connected to the jaw lead screw.

[0018] Another aspect of the utility model provides a cutting machine, comprising a cutting machine body and a manipulator assembly, wherein the manipulator assembly comprises the suction cup clamping assembly described in the above items.

[0019] Furthermore, the clamping jaw assembly includes a first clamping side wall and a second clamping side wall for clamping different pieces to be clamped, the first clamping side wall is used to clamp a cylindrical piece to be clamped, the second clamping side wall is used to clamp a square receiving box, and the suction cup assembly is used to suck up the sheet-like piece to be clamped.

[0020] The suction cup clamping assembly of the utility model has the following advantages:

[0021] 1. The suction cup assembly can be rotatably arranged on the clamping claw assembly. When needed, the suction cup assembly is put down to suck up the thin and crispy parts to be clamped. When not needed, the suction cup assembly is put away to avoid the suction cup assembly affecting the clamping of the clamping claw assembly.

[0022] 2. The first clamping side wall of the clamping jaws arranged opposite to each other constitutes a first clamping space, and the second clamping side wall constitutes a second clamping space, which can be adapted to clamping parts of different shapes or sizes;

[0023] 3. The screws on both sides are driven to rotate simultaneously by the jaw screw drive assembly, so that the synchronous opening and closing of the two jaws can be controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram of a cutting machine according to an embodiment of the utility model;

[0025] Figure 2 A top view of a cutting machine according to an embodiment of the utility model;

[0026] Figure 3 A top view of the overall structure of the manipulator assembly of an embodiment of the utility model;

[0027] Figure 4 A three-dimensional diagram of the overall structure of the manipulator assembly of an embodiment of the utility model;

[0028] Figure 5 It is a partial enlarged view of the connection structure between the longitudinal beam and the cross beam of the embodiment of the utility model;

[0029] Figure 6 This is a schematic diagram of the connection structure between the longitudinal beam and the vertical beam of an embodiment of the utility model;

[0030] Figure 7 It is a front view of the vertical beam and the clamping assembly of the embodiment of the utility model;

[0031] Figure 8 A three-dimensional diagram of a vertical beam and a clamping assembly according to an embodiment of the present utility model;

[0032] Fig. 9 It is a front view of the clamping jaw assembly of the embodiment of the utility model;

[0033] Fig.10 It is a three-dimensional diagram of the clamping jaw assembly of the embodiment of the utility model;

[0034] Fig.11 A three-dimensional diagram of a visual clamping assembly according to an embodiment of the utility model;

[0035] Fig.12It is a side view of the visual clamping assembly of the embodiment of the utility model;

[0036] Fig.13 A three-dimensional diagram of a suction cup clamping assembly according to an embodiment of the utility model;

[0037] Fig.14 It is a side view of the suction cup assembly of the embodiment of the utility model; DETAILED DESCRIPTION

[0038] In order to better understand the purpose, structure and function of the present invention, the robot assembly 1 of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0039] Figure 1 , Figure 2 It is an overall schematic diagram of the cutter of the embodiment of the utility model. The cutter provided by the embodiment of the utility model includes a cutter body 3 and a robot assembly 1, wherein the robot assembly 1 is mounted on the cutter body 3, and the cutter as a whole includes a raw crystal rod loading area A, a cutter cutting processing area B, a preliminary processed raw crystal rod unloading area C, and a head, tail, and sample unloading area D. After the raw crystal rod is placed in the loading area A, the robot assembly 1 clamps the raw crystal rod to the cutter processing area B, and the multiple cutting machines of the cutter body 3 are arranged at a preset interval. After the head material, tail material, sample and preliminary processed raw crystal rod are cut off, the robot assembly 1 transfers the head material, tail material and sample to the head, tail, and sample unloading area D, and the preliminary processed raw crystal rod unloading area C transfers the preliminary processed raw crystal rod to the next processing step. The manipulator assembly 1 provided in the embodiment of the utility model can simultaneously meet the requirements for loading raw crystal rods and unloading head materials, tail materials and samples, assist the cutting machine to complete fully automatic loading and unloading, and improve the overall working efficiency of the cutting machine.

[0040] Figure 3 , Figure 4 It is a schematic diagram of the overall structure of the manipulator assembly 1 of the embodiment of the utility model. It can be seen from the accompanying drawings that the manipulator assembly 1 provided in the embodiment of the utility model includes a driving assembly, and the driving assembly includes a first direction guide rail, a second direction guide rail and a third direction guide rail arranged in different directions. The clamping assembly 14 can move along the first direction guide rail, the second direction guide rail and the third direction guide rail. It can be understood that the first direction guide rail, the second direction guide rail and the third direction guide rail enable the clamping assembly 14 at the end of the manipulator assembly to have three degrees of freedom in three directions. In the specific embodiment of the utility model, the first direction can be the X-axis direction in the Cartesian coordinate system, the second direction can be the Y-axis direction in the Cartesian coordinate system, and the third direction can be the Z-axis direction in the Cartesian coordinate system. Of course, this embodiment is only a preferred embodiment of the utility model. In actual application, the first direction guide rail, the second direction guide rail and the third direction guide rail can also be set to other angles to meet the loading and unloading requirements of the cutting machine body 3.

[0041] Furthermore, in the driving assembly, the first direction guide rail is two parallel and oppositely arranged beams 11, each beam 11 is supported by a plurality of beam columns 112 installed on the ground, and the plane space formed by the axial length of the two beams 11 and the spacing between the beams 11 covers the loading area, the processing area and the unloading area, wherein the unloading area can be the initial processing raw material crystal rod unloading area C and the head and tail material and sample unloading area D, or it can only include the head and tail material and sample unloading area D, thereby simultaneously meeting the clamping requirements of loading and unloading in different directions.

[0042] Furthermore, the second direction guide rail is a longitudinal beam 12 mounted between the cross beams 11, and the third direction guide rail is a vertical beam 13 arranged on the longitudinal beam 12. The longitudinal beam reciprocates along the cross beam, the vertical beam reciprocates along the axial direction of the longitudinal beam, and reciprocates along the vertical direction of the longitudinal beam. The end of the vertical beam is connected to the clamping assembly 14. There are at least two second direction guide rails, so that the end of the driving assembly is connected to at least two clamping assemblies 14, so that each clamping assembly 14 can independently or cooperate with each other to complete the loading and unloading of the cutting machine.

[0043] It should be noted that, as a preferred embodiment, the horizontal beam 11, the longitudinal beam 12 and the vertical beam 13 shown in the accompanying drawings are perpendicular to each other, and this specific embodiment is not used as a basis for limiting the protection scope of the utility model. In actual applications, the angles between the horizontal beam 11, the longitudinal beam 12 and the vertical beam 13 can be set separately according to the site environment and needs, and it is only necessary to satisfy that the end of the vertical beam 13 has three degrees of freedom.

[0044] Figure 3-Figure 5 The connection structure of the longitudinal beam 12 and the cross beam 11 in the embodiment of the utility model is shown. Referring to the attached drawings, it can be seen that a cross beam rack 111 is provided on the cross beam 11 along the axial direction of the cross beam 11, and a longitudinal beam rotating rod 121 is provided on the longitudinal beam 12 along the axial direction of the longitudinal beam 12. Longitudinal beam gears 122 are provided at both ends of the longitudinal beam rotating rod 121. The longitudinal beam gear 122 and the cross beam rack 111 are meshed with each other. The longitudinal beam gear 122 is driven to rotate by controlling the rotation of the longitudinal beam rotating rod 121, so as to drive the longitudinal beam 12 to reciprocate in the axial direction of the cross beam 11. In the utility model, the longitudinal beam 12 and the cross beam 11 are meshed with each other in the form of gear racks, and the longitudinal beam gears 122 at both ends of the longitudinal beam 12 are synchronously driven to rotate by a driving device, so as to ensure that the two ends of the longitudinal beam 12 are synchronized in the axial movement of the cross beam 11.

[0045] Further, the longitudinal beam rotation rod 121 driving assembly is arranged on the longitudinal beam 12, preferably arranged at the center of the longitudinal beam 12, and the longitudinal beam rotation rod 121 driving assembly includes a longitudinal beam rotation rod driving motor 123 and a longitudinal beam rotation rod reducer 124, and the longitudinal beam rotation rod driving motor 123 is connected to the longitudinal beam rotation rod 121 through the longitudinal beam rotation rod reducer 124 to drive the longitudinal beam rotation rod 121 to rotate. The utility model arranges the longitudinal beam rotation rod 121 driving assembly on the longitudinal beam 12, which can move synchronously with the movement of the longitudinal beam 12, does not occupy the space at both ends of the longitudinal beam 12, and does not hinder the movement in other directions.

[0046] Furthermore, a crossbeam 11 guide rail (not shown in the drawings) is provided on the crossbeam 11, and the longitudinal beam 12 is slidably connected to the crossbeam 11 guide rail via a longitudinal beam 12 slider (not shown in the drawings) to strengthen the supporting force of the crossbeam 11 on the longitudinal beam 12, avoid the simple engagement of the longitudinal beam gear 122 and the crossbeam rack 111 so that the longitudinal beam gear 122 and the crossbeam rack 111 are under excessive pressure, and can play a guiding role in the movement of the longitudinal beam 12.

[0047] It should be noted that, since the embodiment of the utility model includes two longitudinal beams 12, in order to avoid collision between the two longitudinal beams 12, the two longitudinal beams 12 are respectively provided with limit devices 128, and the two limit devices 128 are arranged opposite to each other to reserve space for the longitudinal beams 12 and the driving components on the longitudinal beams 12. The longitudinal beam rotating rod 121 driving component and the longitudinal beam rotating rod 121 are arranged on both sides of the longitudinal beam 12 to avoid interference between the vertical beam 13 and the longitudinal beam rotating rod 121 driving component and the longitudinal beam rotating rod 121.

[0048] Figure 6-Figure 8 The connecting structure of the longitudinal beam 12 and the vertical beam 13 of the utility model embodiment is shown. Figure 6-Figure 8 It can be seen that a longitudinal beam lead screw 125 is provided on the longitudinal beam 12 extending along the axial direction of the longitudinal beam 12, and a vertical beam lead screw nut 133 is provided on the vertical beam 13, and the vertical beam 13 is driven to reciprocate along the axial direction of the longitudinal beam 12 by controlling the rotation of the longitudinal beam lead screw 125. In the preferred embodiment of the utility model, the longitudinal beam lead screw 125 is provided at the top of the longitudinal beam 12, and the vertical beam lead screw nut 133 protrudes from the vertical beam 13, so that when the vertical beam 13 reciprocates along the axial direction of the longitudinal beam 12, it will not interfere with other components. In addition, a longitudinal beam guide rail 126 is also provided on the longitudinal beam 12, and a vertical beam 13 slider is provided on the vertical beam 13, and the vertical beam 13 slider is slidably connected with the longitudinal beam guide rail 126 to improve the supporting force and guiding effect of the longitudinal beam 12 on the vertical beam 13.

[0049] Furthermore, the longitudinal beam screw 125 driving assembly is arranged at one axial end of the longitudinal beam 12, and specifically can be a longitudinal beam servo motor 127, and the longitudinal beam screw 125 driving assembly is used to drive the longitudinal beam screw 125 to rotate. Arranging the longitudinal beam screw 125 driving assembly at one end of the longitudinal beam 12 can avoid interference between the longitudinal beam screw 125 driving assembly and other components.

[0050] Furthermore, the vertical beam 13 includes a vertical beam connecting seat 131 and a vertical beam frame 132. The vertical beam screw nut 133 is fixedly connected to the vertical beam connecting seat 131, and the vertical beam frame 132 is connected to the vertical beam connecting seat 131. That is, when the longitudinal beam screw 125 is driven to rotate, the vertical beam connecting seat 131 reciprocates in the axial direction of the longitudinal beam 12, thereby driving the vertical beam frame 132 to reciprocate in the axial direction of the longitudinal beam 12.

[0051] Furthermore, a beam gear (not shown in the drawings) is provided on the beam connection seat 131, and a beam rack 134 is provided on the beam frame 132. By controlling the rotation of the beam gear, the beam frame 132 is driven to reciprocate along the axial direction of the beam 13. In addition, a beam gear driving assembly 136 is also provided on the beam connection seat 131, and the beam gear driving assembly 136 is used to drive the beam gear to rotate. The beam gear driving assembly 136 is driven by a motor.

[0052] Furthermore, a vertical beam guide rail 135 is also provided on the vertical beam frame 132, and a vertical beam connecting seat slider (not shown in the drawings) is also provided on the vertical beam connecting seat 131. The vertical beam connecting seat slider is slidably connected to the vertical beam guide rail 135 to increase the supporting force of the vertical beam connecting seat 131 on the vertical beam frame 132 and limit the movement direction of the vertical beam frame 132.

[0053] The driving assembly provided in the embodiment of the utility model makes the overall structure of the driving assembly compact by rationally arranging the cross beam 11 , the longitudinal beam 12 and the vertical beam 13 , which is beneficial to the movement control of the clamping assembly 14 .

[0054] Furthermore, in the embodiment of the utility model, the clamping assembly 14 connected to the end of the driving assembly, that is, the end of the vertical beam 13, includes a first clamping assembly and a second clamping assembly. The first clamping assembly can also be called a visual clamping assembly, on which a visual assembly is provided, which can perform visual scanning on the part to be clamped in the process of moving with the first clamping assembly. The second clamping assembly can also be called a suction cup clamping assembly, on which a suction cup assembly is provided, which can be used to suck the part to be clamped. The first clamping assembly and the second clamping assembly can cooperate with each other or operate separately. The first clamping assembly and the second clamping assembly are both provided with a clamping claw assembly 141, and the clamping claw assembly itself includes a first clamping space and a second clamping space. The first clamping space and the second clamping space are used to clamp parts to be clamped of different shapes. The embodiment of the utility model can simultaneously meet the clamping requirements of various shapes of parts to be clamped through two clamping assemblies 14, which can fully meet the clamping requirements of a plurality of parts to be clamped on a cutting machine, and improve the overall processing efficiency of the cutting machine. It should be noted that the clamped member described in the embodiment of the utility model is a substance to be clamped, and the clamped member can be the material described in the above embodiment or a material receiving box. The clamping assembly 14 provided in the embodiment of the utility model is described in detail below in conjunction with the accompanying drawings.

[0055] Figure 9-10 The structure of the clamping jaw assembly 141 of the utility model embodiment is shown. Figure 9-10 It can be known that the clamping jaw assembly 141 provided in the embodiment of the utility model includes relatively arranged clamping jaws 1411, the clamping jaws 1411 are connected to the driving base 1412, the driving base 1412 drives the clamping jaws 1411 to reciprocate in the opening and closing direction of the clamping jaws, the clamping jaws 1411 are extended outward from the driving base 1412, and a first clamping side wall 14111 and a second clamping side wall 14112 are arranged along the extension direction of the clamping jaw 1411, a first clamping space is formed between the first clamping side walls 14111 of the relatively arranged clamping jaws 1411, and a second clamping space is formed between the second clamping side walls 14112, wherein the clamping spacing of the second clamping space is greater than or equal to the clamping spacing of the first clamping space.

[0056] The first clamping space and the second clamping space of the clamping jaw assembly 141 provided in the embodiment of the utility model can be used to clamp parts to be clamped in different shapes. In a specific embodiment of the utility model, the first clamping space is used to clamp round crystal rods, and the second clamping space is used to clamp a receiving box, wherein the receiving box contains head or tail materials with a conical structure. Since the head or tail materials with a conical structure have an irregular shape, it is not stable to directly clamp them with the clamping jaw 1411. Usually, the receiving box is placed under the head or tail materials before the raw crystal rod is cut off, so that the head or tail materials can fall into the receiving box after being cut off. The receiving box is generally square.

[0057] Furthermore, the first clamping side wall 14111 of the clamping jaw 1411 is connected in sequence by a plurality of clamping side plates at a preset angle, so that the first clamping side wall 14111 provides a multi-angle clamping force to the part to be clamped. In a specific embodiment of the utility model, the first clamping space of the clamping jaw assembly 141 is adapted to clamp a cylindrical part to be clamped, such as a cylindrical crystal rod. Since a circular crystal rod is not easy to clamp, the utility model embodiment sets the first clamping side wall 14111 as a plurality of clamping side plates in sequence at a preset angle, so that when clamping a circular crystal rod, it can provide a clamping force of different angles for the crystal rod, thereby stably clamping the circular crystal rod. In a specific embodiment of the utility model, three clamping side plates are connected in sequence at a preset angle, so that the first clamping space is an octagonal structure, wherein the first clamping side wall 14111 provides a three-point or two-point clamping force to the cylindrical part to be clamped, thereby stably clamping the cylindrical crystal rod. It should be noted here that when all three clamping side plates are in contact with the cylindrical crystal ingot, a three-point clamping force can be provided for the crystal ingot, and when only the upper and lower clamping side plates are in contact with the cylindrical crystal ingot, a two-point clamping force can be provided for the crystal ingot.

[0058] Furthermore, the second clamping side wall 14112 of the clamping jaw 1411 is composed of two clamping side plates perpendicular to each other, so that the second clamping side wall provides a vertical clamping force to the clamped part. Specifically, the clamping side plate of the second clamping side wall 14112 close to the driving base 1412 is parallel to the opening and closing direction of the clamping jaw 1411, and the clamping side plate close to the end of the clamping jaw 1411 is perpendicular to the opening and closing direction of the clamping jaw 1411, so as to form a second clamping space with an open end, which can be used to clamp square clamped parts of different heights.

[0059] In a specific embodiment of the utility model, the second clamping space is used to clamp the material receiving box. Since the outer diameter of the material receiving box is larger than the outer diameter of the crystal rod, the clamping spacing of the second clamping space is greater than or equal to the clamping spacing of the first clamping space due to the travel limit of the clamping jaws 1411 when opening and closing. In addition, since the height of the material receiving box is uncertain, the second clamping space is a clamping space with an open bottom, which can adapt to clamping material receiving boxes of different heights. In addition, the clamping jaws 1411 also include a clamping jaw connecting seat, which is connected to the driving base 1412. It can be understood that in a specific embodiment of the utility model, when the second clamping side wall 14112 of the clamping jaws 1411 clamps the material receiving box, the clamping side plate close to the driving base 1412 abuts against the top of the material receiving box, and the clamping side plate close to the end of the clamping jaws 1411 clamps the side wall of the material receiving box. The second clamping side wall 14112 of the clamping jaws 1411 can adapt to clamping material receiving boxes of different heights.

[0060] Furthermore, the driving base 1412 includes a guide rail base plate 14125 and a screw base plate 14126 connected to the axial ends of the guide rail base plate 14125. The screw base plate 14126 and the guide rail base plate 14125 are perpendicular to each other to form a relatively independent clamping driving space, and an accordion shield 14127 is connected between the clamping jaw connecting seat and the screw base plate 14126. The accordion shield 14127 can be opened and closed with the reciprocating motion of the clamping jaw connecting seat, which can protect the internal driving components of the clamping jaw assembly 141 from being polluted by the external environment, ensure the control accuracy of the driving base 1412, and can improve the service life of the driving base 1412.

[0061] Furthermore, a jaw lead screw 14121 is arranged opposite to the jaw 1411 in the opening and closing direction, a jaw lead screw nut 14113 is arranged on the jaw connecting seat, the jaw connecting seat is connected to the jaw lead screw 14121 through the jaw lead screw nut 14113, and the jaw connecting seat is driven to slide on the jaw lead screw 14121 by driving the two jaw lead screws 14121 to rotate. One end of the jaw lead screw 14121 is connected to the lead screw base plate 14126 through the lead screw support seat, and the other end is connected to the jaw lead screw driving assembly.

[0062] Furthermore, the driving base 1412 further includes a jaw guide rail 14122 arranged in parallel with the jaw lead screw 14121, the jaw guide rail 14122 is arranged on the guide rail bottom plate 14125, and a jaw slider 14114 is arranged on the jaw connecting seat, and the jaw connecting seat is slidably connected to the jaw guide rail 14122 through the jaw slider 14114. When the clamping connecting seat moves left and right with the jaw lead screw 14121, the jaw slider 14114 slides on the jaw guide rail 14122 to provide a stronger supporting force for the jaw 1411 and limit the movement direction of the jaw 1411.

[0063] Furthermore, the jaw lead screw drive assembly is arranged at the axial center position of the guide rail base plate 14125, and is connected to the jaw lead screw 14121 on both sides respectively, which can control the synchronous rotation of the jaw lead screw 14121 on the left and right sides, and then control the synchronous opening and closing of the two jaws 1411.

[0064] Specifically, the jaw screw drive assembly includes a jaw drive motor 14124 and a jaw reducer 14123. The jaw reducer 14123 is a right-angle reducer, including an input shaft and two coaxial output shafts arranged in opposite directions. The input shaft is connected to the jaw drive motor 14124, and the output shafts are respectively connected to the jaw screws 14121. The jaw assembly 141 provided in the embodiment of the utility model drives two jaw connecting seats to move in translation at the same time through a jaw screw drive assembly, so that the opening and closing movements of the jaws 1411 are kept synchronous.

[0065] The clamping jaw assembly of the utility model has the following advantages:

[0066] 1. The first clamping side wall 14111 of the clamping jaw 1411 constitutes a first clamping space, and the second clamping side wall 14112 constitutes a second clamping space, which can be adapted to clamping parts of different shapes or sizes;

[0067] 2. The jaw lead screws 14121 on both sides are driven to rotate by the jaw lead screw 14121 driving assembly at the same time, so as to control the synchronous opening and closing of the two jaws 1411;

[0068] 3. An accordion shield 14127 is connected between the clamping jaw connecting seat and the screw base plate 14126 to protect the internal transmission mechanism of the clamping jaw assembly.

[0069] Figure 11-Figure 12 This is a schematic diagram of the structure of the first clamping assembly of the embodiment of the utility model. The first clamping assembly is also called a visual clamping assembly, which includes a driving assembly, a clamping jaw assembly 141 and a visual assembly 142. The driving assembly is connected to the clamping jaw assembly 141 and is used to drive the clamping jaw assembly to move as a whole. The visual assembly 142 is connected to the clamping jaw assembly 141 and performs visual scanning during the movement of the clamping jaw assembly. The clamping jaw assembly 141 includes a first clamping side wall 14111 and a second clamping side wall 14112 for clamping the part to be clamped. It should be noted that the driving assembly provided in the embodiment of the utility model can be a driving assembly composed of the first direction guide rail, the second direction guide rail and the third direction guide rail of the above-mentioned embodiment, or it can be a driving assembly in other forms, as long as it can drive the clamping jaw assembly 141 and the visual assembly 142 to move as a whole.

[0070] The clamping jaw assembly 141 provided in the embodiment of the utility model is provided with a visual assembly 142 , and the visual assembly 142 performs a visual scan on the clamped object when the clamping jaw assembly 141 moves.

[0071] In a specific embodiment of the utility model, since the length of the raw crystal ingot is long, it is necessary to visually scan the entire raw crystal ingot before loading it to identify the first cut line position, the center position of the crystal ingot (radial center), the position and shape of the head and tail materials, etc. The utility model sets the visual component 142 on the clamping jaw component 141, and can scan the raw crystal ingot as a whole as the clamping jaw component 141 moves, thereby improving the visual recognition accuracy.

[0072] Furthermore, the visual component 142 includes a visual bracket 1421, a camera 1422 and a light source 1423. One end of the visual bracket 1421 is connected to the clamping jaw component 141, and specifically can be fixedly connected to the guide rail bottom plate 14125 of the clamping jaw component 141, and the other end of the visual bracket 1421 is connected to the camera 1422 and the light source 1423. Among them, the visual bracket 1421 is composed of two bracket side arms perpendicular to each other, one bracket side arm is perpendicular to the clamping jaw component 141 and connected to the clamping jaw component 141, and the other bracket side arm is connected to the camera 1422, so that the camera lens is oriented toward the end direction of the clamping jaw component 141, so that the camera lens can be perpendicular to the object to be scanned, thereby improving the accuracy of visual recognition.

[0073] Furthermore, the light source 1423 is connected to the visual support 1421 through the light source support 1424, and a camera hole is provided in the middle position of the light source 1423. The lens of the camera 1422 passes through the light source 1423 through the camera hole to provide sufficient light source for the camera 1422 to shoot. In a specific embodiment of the utility model, the light source 1423 is a planar light source, and a camera hole is provided at the center position of the light source 1423 for the camera lens to pass through. Since the light source 1423 has a certain area in the plane, the visual support 1421 is composed of mutually perpendicular support side arms, and the end of the light source 1423 needs to be higher than the side wall 14111 of the first clamping jaw to avoid the visual component 142 affecting the opening, closing and clamping of the clamping jaw 1411.

[0074] Figure 13-14 This is a schematic diagram of the structure of the second clamping assembly of the embodiment of the utility model. The first clamping assembly is also called a suction cup clamping assembly. A suction cup assembly 143 is provided on the clamping jaw assembly 141 provided in the embodiment of the utility model. The suction cup assembly 143 can be used to absorb the sheet-like piece to be clamped.

[0075] In a specific embodiment of the present invention, while the head of the raw crystal rod is being cut off, a sample piece needs to be taken at the position of the head of the raw crystal rod for testing to determine whether the current raw crystal rod meets the requirements. Since the thickness of the sample piece is very thin, it is not easy for the general clamping assembly 14 to clamp the sample piece, so the embodiment of the present invention adopts a suction cup assembly 143 to suck the sample piece. The suction cup assembly 143 is set on the clamping claw assembly 141, and the same clamping assembly 14 can meet various clamping requirements.

[0076] Further, the suction cup assembly 143 includes a suction cup 1431 and a suction cup rotary arm 1433 connected to the suction cup 1431, and the suction cup rotary arm 1433 is rotatably connected to the clamping jaw assembly 141, specifically, connected to the guide rail bottom plate 14125 of the clamping jaw assembly 141. The suction cup rotary arm 1433 rotates between a direction parallel to the opening and closing direction of the clamping jaw 1411 and a direction perpendicular to the opening and closing direction of the clamping jaw 1411. When the suction cup rotary arm 1433 is parallel to the opening and closing direction of the clamping jaw 1411, the suction cup 1431 is in a retracted state, and when the suction cup rotary arm 1433 is perpendicular to the opening and closing direction of the clamping jaw 1411, the suction cup 1431 is in a lowered state, and at this time, the suction cup 1431 is in a working state. When the suction cup 143 is needed, the suction cup 143 is lowered to suck the material. When the suction cup 143 is not needed, the suction cup 143 is folded up. The height of the suction cup 143 when folded up needs to be higher than the height of the first clamping side wall 14111 to avoid affecting the opening and closing and clamping of the clamping jaws 1411.

[0077] Furthermore, the suction cup assembly 143 further includes a rotary cylinder 1434, and the suction cup arm 1433 is connected to the clamping jaw assembly 141 through the rotary cylinder 1434, and the rotary cylinder 1434 is used to control the rotation of the suction cup arm 1433. In addition, the suction cup assembly 143 further includes a vacuum generator not shown in the drawings, and the vacuum generator is connected to the suction cup 1431. When sucking the sample, the vacuum generator generates negative pressure on the suction cup 1431 to suck the sample tightly.

[0078] Furthermore, the suction cup 1431 is connected to the suction cup arm 1433 through the suction cup rod 1432, and the suction cup rod 1431 is movably connected to the outside of the suction cup arm 1433. The suction cup 1431 can move forward and backward along the axial direction of the suction cup rod 1432. An elastic member (not shown in the drawings) is provided between the suction cup 1431 and the suction cup arm 1433, and the elastic member is used to provide elastic force for the suction cup 1431 to move away from the suction cup arm 1433. In a specific embodiment of the utility model, the elastic member is a spring, and the spring is sleeved on the suction cup rod 1431 between the suction cup 1431 and the suction cup arm 1433. When sucking the sample, the elastic member can generate pressure on the suction cup 1431 to ensure that the suction cup 1431 is completely fitted with the end face of the sample. After the sample is placed, the elastic member can reset the suction cup 1431 to the initial position.

[0079] The following structure cutter describes in detail the working process of the manipulator assembly 1 of the utility model embodiment:

[0080] 1. After the raw crystal ingot is placed in the loading area, the first clamping assembly is controlled by the driving assembly to move to the loading area of ​​area A, and the first clamping assembly is controlled to scan along the axial direction of the raw crystal ingot to determine and identify the first cut line position, the center position of the crystal ingot (radial center), the position and shape of the head and tail materials, etc.;

[0081] 2. The second clamping assembly is controlled by the driving assembly to move to the loading area of ​​zone A, and cooperates with the first clamping assembly to grab the center position of the raw crystal ingot from two axial positions, and transfer the raw crystal ingot to the cutting machine processing area of ​​zone B;

[0082] 3. After determining the shape and position of the head and tail materials, control the first clamping assembly and / or the second clamping assembly to move to the D zone unloading area to clamp the receiving box and place it under the head and / or tail materials, and control the first clamping assembly and / or the second clamping assembly to move to the standby position;

[0083] 4. After the cutting machine body 3 cuts off the head and tail materials, the first clamping assembly and the second clamping assembly are controlled to move to the head material position and the tail material position of the processing area of ​​area B respectively, clamp the receiving box or the cylindrical tail material, and move to the unloading area of ​​area D to place the head material and the tail material in the unloading area of ​​area D;

[0084] 5. Control the second clamping assembly to move to the head material position of the processing area of ​​area B, put down the suction cup 1431 and control the suction cup 1431 to suck the sample;

[0085] 6. Control the second clamping assembly to move to the unloading area in zone D and control the suction cup to put down the sample.

[0086] It should be noted that in step 3, since the tail of the raw crystal rod may be conical or cylindrical, it is necessary to determine the movement of the first clamping component according to the shape of the tail. When the tail is conical, it is necessary to control the first clamping component to first place the receiving box at the tail, and after the tail is cut off, transfer the receiving box as a whole to the unloading area of ​​zone D. If the tail is cylindrical, it is only necessary to control the first clamping component to transfer the cut tail to the unloading area of ​​zone D. The head material is generally conical, and the control process of the second clamping component 14 is the same as the control process of the first clamping component of the conical tail.

[0087] Furthermore, in step 4 and step 5, since the cutting head used to cut the head material can cut the head material and the sample piece at the same time, and the cutting sequence of the sample piece is later than the head material, the head material can be first transferred to the unloading area of ​​zone D, and then the sample piece can be transferred to the unloading area of ​​zone D.

[0088] The manipulator assembly 1 of the utility model has the following advantages:

[0089] 1. The driving assembly drives the clamping assembly 14 to move in three-dimensional space, which can simultaneously meet the clamping space requirements for loading and unloading materials in different directions;

[0090] 2. The clamping jaw assembly 141 has two clamping spaces, which can clamp parts of different shapes at the same time;

[0091] 3. A visual component 142 is provided on the first clamping component, which can perform an overall scan of the clamped object as the clamping component moves;

[0092] 4. A rotatable suction cup assembly 143 is provided on the second clamping assembly. When the object to be clamped needs to be sucked, the suction cup 1431 is put down, and when the object to be clamped does not need to be sucked, the suction cup 1431 is folded up, thereby meeting the requirements of suction and clamping at the same time;

[0093] 5. A reasonable driving connection method is selected between the cross beam 11 , the longitudinal beam 12 and the vertical beam 13 to make the overall structure of the driving component compact, which is conducive to the movement control of the clamping component 14 .

[0094] The utility model is further described above with the help of specific embodiments, but it should be understood that the specific description here should not be understood as limiting the essence and scope of the utility model. Various modifications made to the above embodiments by ordinary technicians in this field after reading this specification are all within the scope of protection of the utility model. The various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of the embodiments of the utility model will not be described separately.

[0095] If the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

Claims

1. A suction cup clamping assembly, characterized in that: The invention comprises a clamping jaw assembly and a suction cup assembly arranged on the clamping jaw assembly, wherein the suction cup assembly is rotatably connected to the clamping jaw assembly, and the clamping jaw assembly comprises clamping jaws arranged opposite to each other, wherein a first clamping side wall and a second clamping side wall are arranged along the extension direction of the clamping jaws, so that a first clamping space is formed between the first clamping side walls of the clamping jaws arranged opposite to each other, and a second clamping space is formed between the second clamping side walls.

2. The suction cup clamping assembly according to claim 1, characterized in that: The suction cup assembly comprises a rotating cylinder, a suction cup arm and a suction cup. The rotating cylinder is respectively connected to the clamping claw assembly and one end of the suction cup cantilever. The rotating cylinder is used to drive the suction cup arm to rotate. The other end of the suction cup arm is connected to the suction cup.

3. The suction cup clamping assembly according to claim 2, characterized in that: The suction cup clamping assembly also includes a suction cup rod, which is movably connected to the suction cup spiral arm, one end of the suction cup rod is connected to the suction cup, and an elastic member is arranged between the suction cup spiral arm and the suction cup.

4. The suction cup clamping assembly according to claim 2, characterized in that: The suction cup rotary arm rotates between a direction parallel to the opening and closing direction of the clamping jaws and a direction perpendicular to the opening and closing direction of the clamping jaws.

5. The suction cup clamping assembly according to claim 1, characterized in that: The suction cup clamping assembly also includes a vacuum generator, which is connected to the suction cup.

6. The suction cup clamping assembly according to any one of claims 1 to 5, characterized in that: The clamping jaw assembly comprises a driving base and a clamping jaw connected to the driving base, and the clamping jaw is extended outward from the driving base.

7. The suction cup clamping assembly according to claim 6, characterized in that: The first clamping side wall of the clamping jaw is connected in sequence by a plurality of clamping side plates at a preset angle, so that the first clamping side wall can provide a multi-angle clamping force to the clamped member.

8. The suction cup clamping assembly according to claim 7, characterized in that: The second clamping side wall of the clamping jaw is composed of two clamping side plates that are perpendicular to each other, so that the second clamping side wall can provide a vertical clamping force to the clamped object.

9. The suction cup clamping assembly according to claim 6, characterized in that: The driving base includes a jaw screw that is relatively arranged in the opening and closing direction of the jaw. The jaw also includes a jaw connecting seat, on which a jaw screw nut is arranged. The jaw screw nut is connected to the jaw screw. By driving the jaw screw to rotate, the jaw can be driven to slide on the jaw screw.

10. The suction cup clamping assembly according to claim 9, characterized in that: The driving base comprises a clamping jaw guide rail which is arranged in parallel with the clamping jaw lead screw. A clamping jaw slide block is arranged on the clamping jaw connecting seat, and the clamping jaw connecting seat can be slidably connected to the clamping jaw guide rail through the clamping jaw slide block.

11. The suction cup clamping assembly according to claim 10, characterized in that: The driving base includes a guide rail base plate and a screw base plate connected to both axial ends of the guide rail base plate. The screw base plate and the guide rail base plate are perpendicular to each other. The clamping jaw guide rail is arranged on the guide rail base plate. The clamping jaw screw and the screw base plate are connected through a screw support seat.

12. The suction cup clamping assembly according to claim 11, characterized in that: A clamping jaw lead screw driving assembly is arranged at the axial center position of the guide rail bottom plate, and two sides of the clamping jaw lead screw driving assembly are respectively connected to the clamping jaw lead screw.

13. A cutting machine, characterized in that: The invention comprises a cutting machine body and a manipulator assembly, wherein the manipulator assembly comprises a suction cup clamping assembly as claimed in any one of claims 1 to 12.

14. The cutting machine according to claim 13, characterized in that The clamping jaw assembly includes a first clamping side wall and a second clamping side wall for clamping different pieces to be clamped. The first clamping side wall is used to clamp a cylindrical piece to be clamped, and the second clamping side wall is used to clamp a square receiving box. The suction cup assembly is used to absorb the sheet-like piece to be clamped.

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