Automatic crystal bar clamping manipulator mechanism

Abstract

The utility model relates to the technical field of manipulators, in particular to an automatic crystal bar clamping manipulator mechanism which comprises a shell and a sleeve, the sleeve is fixedly connected to the surface of the shell, a clamping device is arranged in the shell, a connecting arm is fixedly connected to the surface of the shell, and a through hole is formed in the surface of the connecting arm. According to the automatic crystal bar clamping manipulator mechanism, through cooperation of the clamping device and the shell, the transverse plates on the two sides can press a plurality of sets of crystal bars to the surfaces of the trapezoidal blocks on the two sides, and after the supporting arms on the two sides abut against the trapezoidal blocks on the two sides, the transverse plates on the two sides can press the crystal bars on the surfaces of the trapezoidal blocks on the two sides. When the device is used, the first springs on the two sides can be compressed, the crystal bars are prevented from being damaged by too large extrusion force, meanwhile, the distance between the supporting arms on the two sides can be shortened, the clamping effect is more stable, and the device is more convenient to use by shoveling, pressing and fixing the multiple crystal bars.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a crystal rod automatic clamping manipulator mechanism. Background Art

[0002] In the existing technology, the traditional vertical pull hard axis single crystal silicon growth furnace is generally equipped with a set of furnace-mounted crystal rod grabbing robots, which are specifically used to take out the single crystal silicon rods in the furnace chamber, and then use a special crystal retrieval car to dock the robot to complete the final crystal rod unloading and transfer operations.

[0003] For example, an automatic crystal ingot clamping robot mechanism with the authorization announcement number "CN220074729U" solves the problem of automatic loading and automatic fixation of long crystal ingots during the directional measurement process by stably clamping the crystal ingot workpiece, solving the problem of clamping stability and realizing the clamping and holding of the crystal ingot and the automatic clamping process. However, when clamping the crystal ingot, the device is not convenient for clamping multiple groups of crystal ingots at the same time. The device can only clamp and fix one group of crystal ingots, making the device relatively inconvenient to use. At the same time, the device is not convenient for quick connection to other equipment. The clamping robot needs to be used in conjunction with other transportation equipment, but the device is not convenient for quick connection to the equipment, resulting in reduced working efficiency of the device. Utility Model Content

[0004] The purpose of the utility model is to solve the problems of inconvenience in use and low working efficiency of the device, and to propose an automatic crystal rod clamping manipulator mechanism.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A crystal rod automatic clamping robot mechanism is designed, including a shell and a sleeve, a sleeve fixedly connected to the surface of the shell, a clamping device is provided inside the shell, a connecting arm is fixedly connected to the surface of the shell, a through hole is provided on the surface of the connecting arm, a quick connection device is provided inside the connecting arm, a straight plate is provided inside the shell, the surface of the straight plate is fixedly connected to the motor through a bracket, the output shaft of the motor is fixedly connected to the first gear, the sleeve is slidably engaged with the surface of the slide rod through a slideway provided on the inner surface, and one end of the slide rod and the inner surface of the sleeve are respectively fixedly connected to the two ends of a third spring.

[0007] Preferably, the clamping device includes a second gear and a stud, the second gear is fixedly connected to the surface of the stud, both ends of the stud are rotatably connected to the inner surface of the shell through bearings, the surface of the stud is threadedly connected to two support arms, one end of the support arms on both sides passes through the slide opened on the shell surface and is fixedly connected to the surface of the slide block, the inner surface of the slide block is slidably engaged with the surface of the trapezoidal block, and the trapezoidal block surface and the inner surface of the slide block are respectively fixedly connected to the two ends of the first spring.

[0008] Preferably, rubber plates are fixedly connected to the surfaces of the trapezoidal blocks on both sides, sliders are fixedly connected to the surfaces of the support arms on both sides, and the sliders on both sides are slidably engaged with slideways provided on the inner surface of the shell.

[0009] Preferably, the first gear is meshed with the second gear, and one end of the slide rod is fixedly connected to the surface of the slide plate.

[0010] Preferably, the slide plate is slidably connected to the surfaces of the transverse plates on both sides via slides provided on the surface, and the transverse plate surfaces and the inner surface of the slide plate are fixedly connected to the two ends of the second spring respectively.

[0011] Preferably, the rotating rod is rotatably connected to the inner surface of the connecting arm, one end of the rotating rod passes through the surface of the connecting arm and is fixedly connected to the knob, one end of the rotating rod is fixedly connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to one end of the threaded rod, one end of the threaded rod is rotatably connected to the surface of the square plate, the square plate is fixedly connected to the inner surface of the connecting arm, the surface of the threaded rod is rotatably connected to the protruding part of the inner surface of the connecting arm through a bearing, the surface of the threaded rod is threadedly connected to the threaded block, the threaded block is fixedly connected to the surface of the top plate, and the top plate is clamped in the groove opened on the surface of the connecting arm.

[0012] The present invention provides an automatic crystal rod clamping robot mechanism of the utility model, which has the beneficial effect that: through the cooperation of the clamping device and the shell, the output shaft of the motor drives the first gear to rotate, and the first gear can drive the second gear to rotate synchronously, so that the second gear can drive the double-headed stud to rotate synchronously, so that the double-headed stud can drive the supporting arms on both sides to move synchronously relative to each other, so that the supporting arms on both sides can drive the trapezoidal blocks to move synchronously through the slide blocks on both sides, so that the trapezoidal blocks on both sides can scoop up multiple crystal rods, so that multiple crystal rods can move to the surfaces of the trapezoidal blocks on both sides, and at the same time, the cross plates on both sides can press multiple groups of crystal rods to the surfaces of the trapezoidal blocks on both sides. After the trapezoidal blocks on both sides are pressed tightly, the supporting arms on both sides will compress the first springs on both sides to prevent the crystal rods from being damaged by excessive squeezing force. At the same time, the distance between the supporting arms on both sides can be reduced, so that the clamping effect is more stable, and the device is more convenient to use by scooping, pressing and fixing multiple crystal rods.

[0013] Through the cooperation of the quick connection device and the connecting arm, the protruding part of other equipment is inserted into the through hole on the surface of the connecting arm, and the operator turns the knob so that the knob can drive the rotating rod to rotate synchronously, so that the rotating rod can drive the first bevel gear to rotate synchronously, so that the first bevel gear can drive the second bevel gear to rotate synchronously, so that the second bevel gear can drive the threaded rod to rotate synchronously, so that the threaded rod can drive the threaded block to move synchronously, so that the threaded block can drive the top plate to move synchronously, so that the top plate can cooperate with the through hole on the surface of the connecting arm to clamp the transmission equipment, so that the device can be fixed to the surface of the transmission equipment, and the working efficiency of the device can be improved by being able to quickly connect with other equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the utility model;

[0015] Figure 2 for Figure 1 Front cross-sectional view of

[0016] Figure 3 for Figure 1 Front view of

[0017] Figure 4 for Figure 1 A partial top sectional view of

[0018] Figure 5 for Figure 1 A partial front cross-sectional view of

[0019] Figure 6 for Figure 2 Schematic diagram of part A.

[0020] In the figure: 1. housing, 2. clamping device, 201. second gear, 202. stud, 203. support arm, 204. slide block, 205. first spring, 206. trapezoidal block, 3. slider, 4. sleeve, 5. slide plate, 6. rubber plate, 7. connecting arm, 8. quick connecting device, 801. knob, 802. rotating rod, 803. first bevel gear, 804. second bevel gear, 805. threaded rod, 806. threaded block, 807, square plate, 808. top plate, 9. second spring, 10. slide rod, 11. third spring, 12. straight plate, 13. motor, 14. first gear, 15. horizontal plate. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Refer to the attached Figure 1-6: In this embodiment, a crystal rod automatic clamping manipulator mechanism includes a shell 1 and a sleeve 4. The surface of the shell 1 is fixedly connected to the sleeve 4. The inside of the shell 1 is provided with a clamping device 2. The surface of the shell 1 is fixedly connected to a connecting arm 7. The surface of the connecting arm 7 is provided with a through hole. The inside of the connecting arm 7 is provided with a quick connecting device 8. A straight plate 12 is provided inside the shell 1. The surface of the straight plate 12 is fixedly connected to the motor 13 through a bracket. The motor 13 can meet the working needs according to actual needs. The output shaft of the motor 13 is fixedly connected to the first gear 14. The motor 13 can drive the first gear 14 to rotate. The sleeve 4 is slidably engaged with the surface of the slide rod 10 through the slideway provided on the inner surface to fix the moving track of the slide rod 10. One end of the slide rod 10 and the inner surface of the sleeve 4 are respectively fixedly connected to the two ends of the third spring 11. The third spring 11 can meet the working needs according to actual needs. The third spring 11 can provide the slide rod 10 with movement space.

[0023] The surfaces of the trapezoidal blocks 206 on both sides are fixedly connected with rubber plates 6, and the surfaces of the support arms 203 on both sides are fixedly connected with sliders 3. The sliders 3 on both sides are slidably engaged with the slides opened on the inner surface of the shell 1, and the first gear 14 is meshed with the second gear 201. The first gear 14 can drive the second gear 201 to rotate synchronously. One end of the slide rod 10 is fixedly connected to the surface of the slide plate 5, and the slide plate 5 is slidably connected to the surfaces of the cross plates 15 on both sides through the slides opened on the surface, fixing the moving track of the cross plate 15. The elastic coefficient of the second spring 9 can meet the working needs according to actual needs. The second spring 9 can allow the cross plate 15 to have movement space, and the surface of the cross plate 15 and the inner surface of the slide plate 5 are respectively fixedly connected to the two ends of the second spring 9.

[0024] The clamping device 2 includes a second gear 201 and a stud 202. The second gear 201 is fixedly connected to the surface of the stud 202. The second gear 201 can drive the stud 202 to rotate synchronously. Both ends of the stud 202 are rotatably connected to the inner surface of the shell 1 through bearings, fixing the rotation of the stud 202. The surface of the stud 202 is threadedly connected to the two support arms 203. One end of the support arms 203 on both sides passes through the slideway opened on the surface of the shell 1 and is fixedly connected to the surface of the slide block 204. The inner surface of the slide block 204 is slidably engaged with the surface of the trapezoidal block 206, fixing the motion track of the trapezoidal block 206. The surface of the trapezoidal block 206 and the inner surface of the slide block 204 are respectively fixedly connected to the two ends of the first spring 205. The elastic coefficient of the first spring 205 can meet the working needs according to actual needs. The first spring 205 can provide the trapezoidal block 206 with movement space.

[0025] The rotating rod 802 is rotatably connected to the inner surface of the connecting arm 7. One end of the rotating rod 802 passes through the surface of the connecting arm 7 and is fixedly connected to the knob 801. The rotating rod 802 can be driven to rotate by the knob 801. One end of the rotating rod 802 is fixedly connected to the first bevel gear 803. The rotating rod 802 can drive the first bevel gear 803 to rotate synchronously. The first bevel gear 803 is meshed with the second bevel gear 804. The second bevel gear 804 is fixedly connected to one end of the threaded rod 805. The first bevel gear 803 can drive the second bevel gear 804 to rotate, so that the second bevel gear 804 can drive the threaded rod 805 to rotate synchronously. One end of the threaded rod 805 is rotatably connected to the surface of the square plate 807, and the square plate 807 can fix the rotation center of the threaded rod 805. The square plate 807 is fixedly connected to the inner surface of the connecting arm 7. The surface of the threaded rod 805 is rotatably connected to the protruding part of the inner surface of the connecting arm 7 through a bearing. The surface of the threaded rod 805 is threadedly connected to the threaded block 806. The threaded rod 805 can drive the threaded block 806 to rise and fall. The threaded block 806 is fixedly connected to the surface of the top plate 808. The threaded block 806 can drive the top plate 808 to move synchronously. The top plate 808 is engaged with the groove opened on the surface of the connecting arm 7.

[0026] Working principle:

[0027] When clamping the crystal ingot:

[0028] Connection process:

[0029] This device needs to be used in conjunction with other transmission equipment so that it can move after clamping the crystal rod. The protruding part of the other equipment is inserted into the through hole on the surface of the connecting arm 7. The operator turns the knob 801 so that the knob 801 can drive the rotating rod 802 to rotate synchronously, so that the rotating rod 802 can drive the first bevel gear 803 to rotate synchronously, so that the first bevel gear 803 can drive the second bevel gear 804 to rotate synchronously, so that the second bevel gear 804 can drive the threaded rod 805 to rotate synchronously, so that the threaded rod 805 can drive the threaded block 806 to move synchronously, so that the threaded block 806 can drive the top plate 808 to move synchronously, so that the top plate 808 can cooperate with the through hole on the surface of the connecting arm 7 to clamp the transmission device, so that this device can be fixed to the surface of the transmission device.

[0030] Clamping process:

[0031] The external power supply of the motor 13 is turned on, and the output shaft of the start-up motor 13 rotates to drive the first gear 14 to rotate. The first gear 14 can drive the second gear 201 to rotate synchronously, so that the second gear 201 can drive the stud 202 to rotate synchronously, so that the stud 202 can drive the support arms 203 on both sides to move synchronously relative to each other, so that the support arms 203 on both sides can drive the trapezoidal blocks 206 on both sides to move synchronously through the slide blocks 204 on both sides, so that the trapezoidal blocks 206 on both sides can scoop up multiple crystal rods, so that multiple crystal rods can move to the surfaces of the trapezoidal blocks 206 on both sides. At the same time, the cross plates 15 on both sides can press multiple groups of crystal rods to the surfaces of the trapezoidal blocks 206 on both sides. Under the action of the third spring 11, the cross plates 15 on both sides can have movement space. After the support arms 203 on both sides are pressed against the trapezoidal blocks 206 on both sides, the first springs 205 on both sides are compressed to prevent the crystal rods from being damaged by excessive squeezing force. At the same time, the distance between the support arms 203 on both sides can be reduced, making the clamping effect more stable.

[0032] While the present invention has been shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein within the scope of the claims.

Claims

1. A crystal rod automatic clamping manipulator mechanism, comprising a housing (1), a knob (801), a rotating rod (802) and a sleeve (4), wherein the sleeve (4) is fixedly connected to the surface of the housing (1), and characterized in that: A clamping device (2) is provided inside the shell (1); a connecting arm (7) is fixedly connected to the surface of the shell (1); a through hole is provided on the surface of the connecting arm (7); a quick connecting device (8) is provided inside the connecting arm (7); a straight plate (12) is provided inside the shell (1); the surface of the straight plate (12) is fixedly connected to the motor (13) through a bracket; the output shaft of the motor (13) is fixedly connected to a first gear (14); the sleeve (4) is slidably engaged with the surface of the slide rod (10) through a slideway provided on the inner surface; one end of the slide rod (10) and the inner surface of the sleeve (4) are respectively fixedly connected to two ends of a third spring (11).

2. The crystal rod automatic clamping manipulator mechanism according to claim 1, characterized in that: The clamping device (2) comprises a second gear (201) and a stud (202), wherein the second gear (201) is fixedly connected to the surface of the stud (202), both ends of the stud (202) are rotatably connected to the inner surface of the housing (1) via bearings, the surface of the stud (202) is threadedly connected to two support arms (203), one end of the support arms (203) on both sides passes through a slideway provided on the surface of the housing (1) and penetrates the surface of the housing (1) and is fixedly connected to the surface of a slide block (204), the inner surface of the slide block (204) is slidably engaged with the surface of a trapezoidal block (206), and the surface of the trapezoidal block (206) and the inner surface of the slide block (204) are respectively fixedly connected to the two ends of a first spring (205).

3. The crystal rod automatic clamping manipulator mechanism according to claim 2, characterized in that: The surfaces of the trapezoidal blocks (206) on both sides are fixedly connected with rubber plates (6), the surfaces of the support arms (203) on both sides are fixedly connected with sliders (3), and the sliders (3) on both sides are slidably engaged with slideways provided on the inner surface of the housing (1).

4. The crystal rod automatic clamping manipulator mechanism according to claim 1, characterized in that: The first gear (14) is meshed with the second gear (201), and one end of the slide rod (10) is fixedly connected to the surface of the slide plate (5).

5. The crystal rod automatic clamping manipulator mechanism according to claim 4, characterized in that: The slide plate (5) is slidably connected to the surfaces of the transverse plates (15) on both sides via slides provided on the surface, and the surfaces of the transverse plates (15) and the inner surface of the slide plate (5) are respectively fixedly connected to the two ends of the second spring (9).

6. The crystal rod automatic clamping manipulator mechanism according to claim 1, characterized in that: The rotating rod (802) is rotatably connected to the inner surface of the connecting arm (7); one end of the rotating rod (802) passes through the surface of the connecting arm (7) and is fixedly connected to the knob (801); one end of the rotating rod (802) is fixedly connected to the first bevel gear (803); the first bevel gear (803) is meshed with the second bevel gear (804); the second bevel gear (804) is fixedly connected to one end of a threaded rod (805); one end of the threaded rod (805) is rotatably connected to the surface of a square plate (807); the square plate (807) is fixedly connected to the inner surface of the connecting arm (7); the surface of the threaded rod (805) is rotatably connected to a protruding portion of the inner surface of the connecting arm (7) via a bearing; the surface of the threaded rod (805) is threadedly connected to a threaded block (806); the threaded block (806) is fixedly connected to the surface of a top plate (808); the top plate (808) is engaged with a groove provided on the surface of the connecting arm (7).

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