Adjustable manipulator

Abstract

The utility model belongs to the technical field of silicon wafer conveying, and particularly relates to an adjustable manipulator which comprises a horizontal moving pair, a vertical moving pair is arranged at the moving end of the horizontal moving pair, and a cross beam body is arranged at the moving end of the vertical moving pair. The clamping assemblies are arranged on the cross beam body, each clamping assembly comprises a pair of clamping heads, and the clamping head on one side is arranged at the bottom of the cross beam body in a sliding mode; in short, through the vertical moving pair and the horizontal moving pair, plane movement of the clamping assembly can be completed, and the wafer box can be conveyed into the cleaning tank from the material table; furthermore, the clamping head on one side is arranged in a sliding mode, the clamping head can be matched with the piece boxes with different inclination angles on the material table, and water can be drained at different inclination angles when the piece boxes are taken out of the cleaning tank.

Description

Technical Field

[0001] The utility model belongs to the technical field of silicon wafer conveying, and specifically relates to an adjustable manipulator. Background Art

[0002] With the development of the solar photovoltaic industry, the development trend of crystalline silicon cells is low cost, high efficiency and large output. The preparation of crystalline silicon cells requires immersion in chemical reactions of various process tank liquids. The carriers loaded with materials need to be completely dried before leaving the equipment. The common solar cell cleaning equipment on the market is mainly tank-type machines. In the existing structure, the bottom rod of the film box is always parallel to the horizontal plane whether it is in the process of transmission by the robot arm, in the tank body or on the material table, which easily causes the accumulation of liquid at the bottom of the film box. Therefore, the film box is set at a certain tilt angle on the material table, and because there are many specifications of the material table, manual adjustment is required when the robot grabs different tilt angles;

[0003] Therefore, it is necessary to provide an adjustable manipulator that can grasp cassettes with various tilt angles. Utility Model Content

[0004] The utility model aims to provide an adjustable manipulator which can grasp film boxes with various inclination angles.

[0005] In order to solve the above technical problems, the utility model provides an adjustable manipulator, including: a horizontal moving pair, the moving end of the horizontal moving pair is provided with a vertical moving pair, and the moving end of the vertical moving pair is provided with a beam body; a plurality of clamping assemblies arranged on the beam body, the clamping assemblies include a pair of clamping heads, and the clamping head on one side is slidably arranged at the bottom of the beam body.

[0006] Preferably, the clamping assembly also includes a clamping cylinder and a connecting plate, the clamping cylinder and the connecting plate are respectively arranged on the side walls of the beam body, the clamping head is respectively arranged on the end of the piston rod of the clamping cylinder and the side wall of the connecting plate, and the stroke of the clamping cylinder is adjustable.

[0007] Preferably, the clamping assembly includes a pair of connecting plates, which are arranged on the side walls of the beam body, the side walls of the connecting plates are fixedly connected to the clamping head, and the lengths of the connecting plates are different, and the connecting plates in two adjacent clamping assemblies are arranged integrally.

[0008] Preferably, the clamping head comprises a hanging plate and a hook; the hanging plate is respectively connected to the piston rod of the clamping cylinder and the connecting plate, and the hooks are arranged facing each other.

[0009] Preferably, the side wall detection plate of the hanging plate has a detector at the bottom thereof, and the detector is suitable for detecting whether there is a film box on the hook.

[0010] Preferably, the cross section of the crossbeam body is "L"-shaped, and the vertical surface of the crossbeam body is connected to the side wall of the moving end of the vertical moving pair.

[0011] Preferably, the vertical moving pair includes a vertical guide rail, a vertical screw rod, a vertical slider and a vertical motor; the vertical slider is slidably arranged on the vertical guide rail, and the vertical slider is threadedly connected to the vertical screw rod, the output shaft of the vertical motor is connected to the vertical screw rod, and the beam body is connected to the side wall of the vertical slider.

[0012] The beneficial effects of the utility model are:

[0013] 1. Through the vertical moving pair and the horizontal moving pair, the plane movement of the clamping assembly can be completed, and the film box can be transported from the material table to the cleaning tank;

[0014] 2. The sliding setting of the clamping head on one side can adapt to the film boxes with different inclination angles on the material table, and can drain water at different inclination angles when the film boxes are taken out of the cleaning tank.

[0015] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by implementing the present invention.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a front view of a preferred embodiment of the adjustable manipulator of the utility model;

[0019] Figure 2 It is a front view of a preferred embodiment of the adjustable manipulator of the utility model;

[0020] Figure 3 It is a front view of a preferred embodiment of the adjustable manipulator of the utility model.

[0021] In the figure:

[0022] 000, film box;

[0023] 100, vertical moving pair; 101, vertical guide rail; 102, vertical lead screw; 103, vertical slider; 104, vertical motor; 105, crossbeam body;

[0024] 200, horizontal moving pair;

[0025] 300, clamping assembly; 301, clamping head; 3011, hanging plate; 3012, hook; 3013, detection plate; 3014, detector; 302, clamping cylinder; 303, connecting plate. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Example 1

[0028] like Figure 1-2 As shown, an adjustable manipulator of this embodiment includes: a horizontal moving pair 200, a vertical moving pair 100 is provided at the moving end of the horizontal moving pair 200, and a beam body 105 is provided on the moving end of the vertical moving pair 100; a plurality of clamping assemblies 300 arranged on the beam body 105, and the clamping assembly 300 includes a pair of clamping heads 301, and the clamping head 301 on one side is slidably arranged at the bottom of the beam body 105; in short, through the vertical moving pair 100 and the horizontal moving pair 200, the planar movement of the clamping assembly 300 can be completed, and the film box 000 can be transported from the material table to the cleaning tank; further, the clamping head 301 on one side is slidably arranged, which can adapt to the film boxes 000 with different inclination angles on the material table, and can drain water at different inclination angles when the film box 000 is taken out from the cleaning tank.

[0029] The clamping assembly 300 also includes a clamping cylinder 302 and a connecting plate 303, and the clamping cylinder 302 and the connecting plate 303 are respectively arranged on the side walls of the beam body 105, and the clamping head 301 is respectively arranged at the end of the piston rod of the clamping cylinder 302 and the side wall of the connecting plate 303, and the stroke of the clamping cylinder 302 is adjustable; in short, through the clamping cylinder 302 at one end, the sliding setting of the clamping head 301 on one side can be realized, which can facilitate the adjustment of the height of the two clamping heads 301.

[0030] The clamping head 301 includes a hanging plate 3011 and a hook 3012; the hanging plate 3011 is connected to the piston rod of the clamping cylinder 302 and the connecting plate 303 respectively, and the hook 3012 is arranged facing each other; in short, the film box 000 can be hoisted through the hook 3012, and the structure is simple and reliable.

[0031] The side wall detection plate 3013 of the hanging plate 3011 has a detector 3014 at the bottom of the detection plate 3013, and the detector 3014 is suitable for detecting whether there is a film box 000 on the hook 3012; in short, the detector 3014 here can be a sonic sensor or a photoelectric sensor, which can detect whether there is a film box 000 on the hook 3012, firstly, it can detect whether the film box 000 is successfully hoisted, and can detect whether the film box 000 falls during the sliding of the movable hook 3012.

[0032] The cross section of the beam body 105 is “L” shaped, and the vertical surface of the beam body 105 is connected to the side wall of the moving end of the vertical moving pair 100 ; in short, the vertical end of the beam body 105 can be connected to the moving end of the vertical moving pair 100 .

[0033] The vertical movable pair 100 includes a vertical guide rail 101, a vertical screw rod 102, a vertical slider 103 and a vertical motor 104; the vertical slider 103 is slidably arranged on the vertical guide rail 101, and the vertical slider 103 is threadedly connected to the vertical screw rod 102, the output shaft of the vertical motor 104 is connected to the vertical screw rod 102, and the beam body 105 is connected to the side wall of the vertical slider 103; in short, the vertical motor 104 can rotate the vertical screw rod 102 to realize the up and down sliding of the vertical slider 103, complete the up and down sliding of the beam body 105, and the vertical guide rail 101 is connected to the moving end of the horizontal movable pair 200 so that the beam can slide horizontally.

[0034] Example 2

[0035] Figure 3 It is another optional (or preferred) implementation of the utility model;

[0036] The clamping assembly 300 of this embodiment includes a pair of connecting plates 303, and the connecting plates 303 are arranged on the side walls of the beam body 105. The side walls of the connecting plates 303 are fixedly connected to the clamping head 301, and the lengths of the connecting plates 303 are different, and the connecting plates 303 in two adjacent clamping assemblies 300 are arranged integrally; in short, when the bracket on the material table itself is tilted, in order to increase the taking speed of the film box 000, the clamping head 301 is connected to the beam body 105 through connecting plates 303 of different lengths.

[0037] All devices (parts without specific structure) selected in this application are universal standard parts or parts known to those skilled in the art, and their structures and principles can be known by those skilled in the art through technical manuals or conventional experimental methods. In addition, the software programs involved in this application are all prior art, and this application does not involve any improvement to the software programs.

[0038] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0040] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0041] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0042] In addition, each functional unit in each embodiment of the present utility model may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0043] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An adjustable manipulator, characterized in that: include: A horizontal moving pair, the moving end of which is provided with a vertical moving pair, and the moving end of which is provided with a crossbeam body; A plurality of clamping assemblies are arranged on the cross beam body, wherein the clamping assemblies include a pair of clamping heads, and the clamping head on one side is slidably arranged at the bottom of the cross beam body.

2. The adjustable manipulator according to claim 1, characterized in that: The clamping assembly further comprises a clamping cylinder and a connecting plate, wherein the clamping cylinder and the connecting plate are respectively arranged on the side wall of the crossbeam body, and the clamping head is respectively arranged on the end of the piston rod of the clamping cylinder and the side wall of the connecting plate, and The stroke of the clamping cylinder is adjustable.

3. The adjustable manipulator according to claim 1, characterized in that: The clamping assembly includes a pair of connecting plates, the connecting plates are arranged on the side walls of the beam body, the side walls of the connecting plates are fixedly connected to the clamping head, and the lengths of the connecting plates are different, and The connecting plates in two adjacent clamping assemblies are integrally arranged.

4. The adjustable manipulator according to claim 2, characterized in that: The clamping head includes a hanging plate and a hook; The hanging plates are respectively connected to the piston rod of the clamping cylinder and the connecting plate, and the hooks are arranged facing each other.

5. The adjustable manipulator according to claim 4, characterized in that: The side wall detection plate of the hanging plate has a detector at the bottom thereof, and the detector is suitable for detecting whether there is a film box on the hook.

6. The adjustable manipulator according to claim 5, characterized in that: The cross section of the cross beam body is "L" shaped, and the vertical surface of the cross beam body is connected to the side wall of the moving end of the vertical moving pair.

7. The adjustable manipulator according to claim 6, characterized in that: The vertical moving pair comprises a vertical guide rail, a vertical lead screw, a vertical slider and a vertical motor; The vertical slider is slidably disposed on the vertical guide rail, and the vertical slider is threadedly connected to the vertical lead screw, and the output shaft of the vertical motor is connected to the vertical lead screw, and The crossbeam body is connected to the side wall of the vertical sliding block.

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