A cover opening mechanism

Abstract

The present application discloses a cover-opening mechanism, which relates to the field of single crystal pulling. The cover-opening mechanism includes a bracket, and a cover-opening assembly arranged on the bracket, and the cover-opening assembly can be laterally moved and / or raised and lowered relative to the bracket; the cover-opening assembly includes a mounting frame, at least one adsorption unit, and a driving assembly with the same number as the adsorption units; each adsorption unit can be movably arranged on the mounting frame, and each adsorption unit is connected to the driving end of the corresponding driving assembly, the adsorption unit picks up or releases the cover plate located at the port of the feeding barrel, and the driving assembly drives the corresponding adsorption unit to move laterally on the mounting frame. The cover-opening mechanism proposed in the present application can complete the automatic cover-opening of the feeding barrel, save manpower, and improve the current cover-opening efficiency of the feeding barrel.

Description

Technical Field

[0001] The present application relates to the technical field of single crystal pulling, and in particular to a cover opening mechanism. Background Art

[0002] In the process of multiple feeding CZ single crystal pulling, after each silicon rod is produced, silicon material needs to be added to the crucible to pull the next silicon rod. In production, silicon material is generally added to the feeding cylinder first, and the feeding cylinder is used to add silicon material to the crucible.

[0003] At present, the cover of the feeding barrel is mostly opened manually to pour silicon materials into the feeding barrel. The height of the feeding barrel is generally 2 to 2.8 meters, and manual opening of the cover is inconvenient and the opening efficiency is also low. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a cover opening mechanism and a method of using the same to solve the problem of low cover opening efficiency of the charging barrel in the prior art.

[0005] The present application provides a cover opening mechanism, which includes a bracket and a cover opening component arranged on the bracket, wherein the cover opening component can move laterally and / or rise and fall relative to the bracket;

[0006] The cover opening assembly includes a mounting frame, at least one adsorption unit, and drive assemblies having the same number as the adsorption units;

[0007] Each adsorption unit is movably arranged on the mounting frame, and each adsorption unit is connected to the driving end of the corresponding driving component. The adsorption unit picks up or releases the cover plate located at the port of the feeding barrel, and the driving component drives the corresponding adsorption unit to move laterally on the mounting frame.

[0008] The present application sets the cover opening component on the bracket in a way that it can be moved horizontally and / or lifted, so that the cover opening component can move to the top of the cover plate of the feeding barrel to be opened, and uses the adsorption unit to adsorb the cover plate. Then, the adsorption unit with the cover plate adsorbed is driven by the driving component to move on the mounting frame, thereby pushing the cover plate away from the feeding barrel, thereby completing the automatic opening of the feeding barrel, and improving the current opening efficiency of the feeding barrel.

[0009] Optionally, the cover opening assembly further includes at least one support plate arranged corresponding to the adsorption unit, the support plate is connected to the mounting frame and is located below the corresponding adsorption unit;

[0010] The driving assembly drives the corresponding adsorption unit to move horizontally on the mounting frame and pass directly above the corresponding support plate.

[0011] By providing at least one support plate corresponding to the adsorption unit, on the one hand, when the adsorption unit fails, it can prevent the cover plate from falling and damaging the feeding barrel or the dust particles brought up after falling from contaminating the silicon material; on the other hand, when one adsorption unit is used to adsorb multiple cover plates, the support plate can buffer an appropriate amount of cover plates.

[0012] Optionally, the surface of the support plate is made of non-metallic material.

[0013] Selecting a non-metallic material as the surface material of the support plate can effectively prevent metal contamination on the cover plate after the cover plate contacts the surface of the support plate, thereby preventing the silicon material in the feeding barrel from being contaminated.

[0014] Optionally, the cover opening assembly further includes a protrusion disposed on the support plate, and the protrusion is made of a non-metallic material.

[0015] A protrusion is arranged on the pallet, which can support the cover plate placed on the pallet and also cushion the cover plate accidentally falling from the self-adsorption unit; the material of the protrusion is selected as a non-metallic material, which can effectively avoid metal contamination on the cover plate after the cover plate contacts the pallet, thereby contaminating the silicon material in the feeding barrel.

[0016] Optionally, the cover opening assembly further includes a protrusion disposed on the support plate, and the material of the protrusion is a non-metallic material; the material of the surface of the support plate is a non-metallic material.

[0017] A protrusion is arranged on the pallet, which can support the cover plate placed on the pallet, and can also cushion the cover plate accidentally falling on the self-adsorption unit; the material of the protrusion and the surface of the pallet are both selected as non-metallic materials, which can effectively avoid metal contamination on the cover plate after the cover plate contacts with the protrusion or the surface of the pallet, thereby preventing the silicon material in the feeding barrel from being contaminated.

[0018] Optionally, when the cover opening assembly includes a protrusion, the protrusion is an arc-shaped protrusion having a curvature consistent with the edge of the cover plate.

[0019] Designing the protrusion to be an arc-shaped protrusion that is consistent with the curvature of the edge of the cover plate can more evenly support the cover plate placed on the protrusion.

[0020] Optionally, each adsorption unit includes a suction cup and an adjusting driving member, and a driving end of the adjusting driving member is connected to the suction cup for driving the suction cup to rise and fall in the longitudinal direction.

[0021] By adjusting the driving member to drive the suction cup to rise and fall in the longitudinal direction, on the one hand, the vertical distance between the suction cup and the cover plate can be flexibly adjusted to facilitate the adsorption of the cover plate; on the other hand, the cover opening mechanism of the present application can be flexibly applied to some work scenarios that require picking up multiple cover plates.

[0022] Optionally, each adsorption unit also includes a connecting plate and a mounting plate; the connecting plate is movably set on the mounting frame, the mounting plate is located below the connecting plate, the suction cup is fixedly set below the mounting plate, the adjusting drive member is fixedly mounted on the connecting plate, and the driving end of the adjusting drive member is connected to the mounting plate, and the adjusting drive member drives the suction cup to rise and fall in the longitudinal direction.

[0023] The suction cup and the adjusting drive are compactly mounted on the mounting frame through the connecting plate and the mounting plate. The compact structure can be flexibly adjusted above the cover plate to prevent the large volume structure from colliding with the feeding barrel during movement.

[0024] Optionally, the cover opening assembly further includes a slide rail and a slider that cooperate with each other, the slide rail is fixedly arranged on the mounting frame, the connecting plate is slidably arranged on the mounting frame through the slider, and the driving end of the driving assembly is connected to the connecting plate.

[0025] The simple structure of the slide rail slider is used to realize the lateral movement of the connecting plate (i.e., the adsorption unit) on the mounting frame, which can improve the smoothness of the lateral movement of the adsorption unit while maintaining the compact structure of the cover opening component.

[0026] Optionally, the cover opening assembly includes two adsorption units, which are slidably arranged on the mounting frame, and the two adsorption units are connected to the driving ends of the corresponding driving assemblies, and the two driving assemblies are respectively configured to drive their respective corresponding adsorption units to move laterally on the mounting frame.

[0027] By setting two adsorption units and driving them to move transversely on the mounting frame by their corresponding driving components, it can be applied to a charging barrel with a cover plate of two semicircular plates or a charging barrel with a cover plate of a substantially circular plate, which can further increase the compatibility of the cover opening mechanism of the present application.

[0028] Optionally, the cover opening mechanism further includes a camera, and the camera's shooting field of view includes the cover plate and the feeding barrel.

[0029] The setting of the camera facilitates the acquisition of the position information of the feeding barrel to be opened, which helps the opening mechanism to accurately move above the feeding barrel to be opened based on the position information, further improving the automation level of the opening mechanism.

[0030] Optionally, the cover opening mechanism further comprises a sensor arranged on the mounting frame, with the sensing end of the sensor facing the feeding barrel.

[0031] By setting up a sensor, the longitudinal distance between the opening mechanism and the cover of the feeding barrel to be opened can be measured. Based on the vertical distance, the opening mechanism can be accurately lowered to a predetermined distance above the cover of the feeding barrel to be opened, further improving the degree of automation of the opening mechanism.

[0032] Optionally, the cover opening mechanism further includes a camera and a sensor, the camera's shooting field of view includes the cover plate and the feeding barrel; the sensor is arranged on the mounting frame, and the sensing end of the sensor faces the feeding barrel.

[0033] By setting up cameras and sensors, the position information and vertical distance of the feeding barrel to be opened can be obtained. Based on the above information, the three-dimensional coordinate information of the feeding barrel to be opened can be obtained, so that the opening mechanism can be accurately moved horizontally and descended to a predetermined distance above the cover plate of the feeding barrel to be opened, thereby further improving the automation level of the opening mechanism.

[0034] Optionally, the cover opening mechanism further includes a rotary drive member and at least two clamping parts, the driving end of the rotary drive member is connected to the mounting frame, the clamping parts are arranged on the periphery of the mounting frame, and each clamping part can move toward or away from the center of the feeding barrel.

[0035] At least two clamping parts are provided, and each clamping part is used to move toward the center of the feeding barrel to clamp the feeding barrel, and the mounting frame is driven to rotate by the rotating driving member, and then the feeding barrel is driven to rotate by the clamping part clamping the feeding barrel. Through the cooperation of the clamping part and the rotating driving member, the cover opening mechanism of the present application can realize the rotation of the feeding barrel on the basis of realizing the cover opening.

[0036] Optionally, the cover opening mechanism further includes support arms having the same number as the clamping parts, and each clamping part is fixedly connected to the mounting frame via a corresponding support arm.

[0037] The clamping part is installed by fixing the supporting arm on the mounting frame, so that the structure of the cover opening mechanism is more compact.

[0038] Optionally, a support plate is fixedly mounted on a support arm corresponding to at least one clamping portion, and the support plate is located above the corresponding clamping portion.

[0039] At least one support plate and the clamping portion share a support arm, which can further improve the structural compactness of the cover opening mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The disclosure of the present application will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. In addition, similar numbers in the drawings are used to represent similar components, among which:

[0041] Figure 1 is a schematic diagram of a cover opening mechanism provided in an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of a cover opening assembly provided in an embodiment of the present application;

[0043] Figure 3is an exploded view of the cover opening assembly provided in an embodiment of the present application;

[0044] Figure 4 is a schematic diagram of a charging barrel operable by the present application;

[0045] Figure 5 It is a flow chart of the method of using the cover opening mechanism provided in the embodiment of the present application.

[0046] Description of Reference Numerals

[0047] 1. Bracket; 11. Transverse movement module; 12. Lifting module;

[0048] 2. cover opening assembly; 21. support plate; 210. protrusion; 22. slide rail; 23. slide block;

[0049] 3. Adsorption unit; 31. Driving assembly; 32. Connecting plate; 33. Mounting plate; 34. Suction cup; 35. Adjusting driving member;

[0050] 4. Mounting frame; 41. Turntable; 42. Fixed frame;

[0051] 5. Camera; 6. Sensor; 7. Rotating drive member; 71. Clamping part; 710. Support arm;

[0052] 8. Feeding cylinder; 81. Cover plate; 810. First cover plate; 811. Second cover plate; 82. Outer cylinder; 83. Crossbeam; 84. Column; 85. Center rod; 86. Flange. DETAILED DESCRIPTION

[0053] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0054] As described in the background technology, in the multiple-feeding direct-pull single crystal process, silicon material generally needs to be added into a feeding barrel, and then the silicon material is re-fed into the crucible through the feeding barrel. Currently, the cover of the feeding barrel is mostly opened manually. However, the height of the feeding barrel is generally 2 to 2.8 meters, and it is inconvenient to open the cover manually, and the opening efficiency is also relatively low.

[0055] Therefore, the present application creatively proposes a cover opening mechanism. The cover opening mechanism includes a bracket and a cover opening assembly arranged on the bracket, and the cover opening assembly can be laterally moved and / or lifted relative to the bracket. The cover opening assembly moves laterally and / or lifts relative to the bracket to the cover plate close to the feeding barrel, so that the cover opening assembly is opposite to the cover plate of the feeding barrel port. The cover opening assembly includes a mounting frame, at least one adsorption unit, and a driving assembly with the same number of adsorption units. Each adsorption unit can be movably arranged on the mounting frame, and each adsorption unit is connected to the driving end of the corresponding driving assembly. The cover opening assembly descends relative to the bracket, so that the adsorption unit can adsorb and pick up the cover plate located at the feeding barrel port, and then the adsorption unit with the cover plate adsorbed is driven by the driving assembly to move laterally on the mounting frame, thereby driving the cover plate to move laterally away from the feeding barrel, and then completing the automatic cover opening of the feeding barrel. Compared with the prior art, the difficulty of opening the cover is reduced and the efficiency of opening the cover is improved. In addition, the present application chooses to move the cover plate horizontally (by horizontal pushing or pulling) to detach from the feeding barrel. Compared with opening the cover plate by flipping or rotating it, it saves more space and is more suitable for the cover plate that covers the feeding barrel.

[0056] Similarly, when it is necessary to put the cover plate picked up by the adsorption unit back to the port of the feeding barrel, the adsorption unit with the cover plate adsorbed is driven by the driving component to move horizontally in the opposite direction on the mounting frame. After the cover plate moves to the port of the feeding barrel, the adsorption unit releases the adsorption and the cover plate is released to the port of the feeding barrel.

[0057] The present application will be described in detail below through specific embodiments.

[0058] Example 1

[0059] Figures 1 to 3 The specific composition of the cover opening mechanism for opening the cover plate 81 of the feeding barrel 8 is shown. The cover opening mechanism includes a bracket 1, and a cover opening assembly 2 arranged on the bracket 1, and the cover opening assembly 2 can be laterally moved and / or lifted relative to the bracket 1. The cover opening assembly 2 can be moved closer to or farther away from the feeding barrel 8 in the horizontal direction by moving laterally relative to the bracket 1, and can be moved closer to or farther away from the feeding barrel 8 in the vertical direction by lifting relative to the bracket 1. Through reasonable adjustment, the cover opening assembly 2 can be moved to the top of the cover plate 81 of the feeding barrel 8. Then, the cover opening assembly 2 picks up the cover plate 81 to complete the cover opening.

[0060] It is understandable that the present application can use a variety of structures or methods to move the cover opening assembly 2 relative to the bracket 1 so as to be located directly above the bracket 1. As an example and not a limitation, refer to Figure 1As shown, in the present application, a transverse movement module 11 and a lifting module 12 are provided for transverse movement and lifting of the cover opening assembly 2, respectively. Exemplarily, the transverse movement module 11 is provided on the bracket 1, and the lifting module 12 is fixedly connected to the sliding member of the transverse movement module 11, and the sliding member of the lifting module 12 is fixedly connected to the cover opening assembly 2. In the present embodiment, both the transverse movement module 11 and the lifting module 12 are guide rail slider modules with motors. The lifting module 12 and the cover opening assembly 2 are driven to move in the horizontal direction by the transverse movement module 11, and the cover opening assembly 2 is driven to move in the vertical direction by the lifting module 12, thereby finally realizing the transverse movement and lifting of the cover opening assembly 2.

[0061] In this embodiment, refer to Figure 1 As shown, the bracket 1 is a gantry bracket. When the cover opening mechanism is used, by setting up the bracket 1 at the corresponding equipment, the cover opening mechanism and the equipment can be effectively combined quickly, thereby improving the compatibility of the cover opening mechanism.

[0062] The equipment here refers to a mechanical device equipped with a feeding cylinder 8.

[0063] In an optional embodiment, a component that facilitates movement may be provided on the bracket 1, such as rollers provided at the bottom of the bracket 1, so as to conveniently move the bracket 1 to a desired position.

[0064] In another optional embodiment, considering the need to open the covers of different charging barrels 8, the bracket 1 can be set to have a longer horizontal length and span the positions of multiple charging barrels 8. By moving the cover opening assembly 2 horizontally on the bracket 1, the cover opening assembly 2 can correspond to the positions of different charging barrels 8, so that one cover opening mechanism can open the covers of multiple charging barrels 8, which improves the compatibility of the cover opening mechanism and effectively controls the cost.

[0065] Further, in order to determine the distance that the cover opening assembly 2 moves, it is used to identify the position of the charging barrel 8 and the cover plate 81. It is understandable that the present application can be implemented through a variety of possible components and combinations of components. As an example and not a limitation, refer to Figure 2 and Figure 3 As shown, the cover opening mechanism in the embodiment of the present application further includes a camera 5 , and the shooting field of the camera 5 includes the feeding barrel 8 and the cover plate 81 located on the feeding barrel 8 .

[0066] Specifically, in the present application, the coordinates of the feeding barrel 8 and the cover plate 81 in three-dimensional space can be determined by multiple cameras 5 .

[0067] In one embodiment, the cover opening mechanism includes two cameras 5, the shooting field of one camera 5 covers the feeding barrel 8 and the cover plate 81 under horizontal projection, and the shooting field of the other camera 5 covers the feeding barrel 8 and the cover plate 81 under vertical projection. The two cameras 5 cooperate to complete the analysis of the three-dimensional space coordinates of the feeding barrel 8 and the cover plate 81, so as to drive the cover opening assembly 2 to move horizontally and / or lift relative to the bracket 1. The camera 5 can be installed on the cover opening assembly 2 to move together with the cover opening assembly 2.

[0068] The present application can also determine the coordinates of the feeding barrel 8 and the cover plate 81 in three-dimensional space through a camera 5. Specifically, the camera 5 is first placed in the first position so that its shooting field of view covers the feeding barrel 8 and the cover plate under horizontal projection, and then the camera 5 is moved to the second position so that its shooting field of view covers the feeding barrel 8 and the cover plate 81 under vertical projection. Based on this, the analysis of the three-dimensional spatial coordinates of the feeding barrel 8 and the cover plate 81 is completed, so as to drive the opening cover assembly 2 to move horizontally and / or lift relative to the bracket 1. The movement of the camera 5 can be performed manually, or a mounting component similar to the bracket 1 can be set, and a driving component can be set, so that the camera 5 can be driven by the driving component to move to the first position and the second position on the mounting component to complete the shooting.

[0069] The method of moving the camera 5 will cause positioning errors due to the back and forth movement. In another embodiment of the present application, the cover opening mechanism includes a camera 5 and a sensor 6, and the shooting field of the camera 5 includes the feeding barrel 8 and the cover plate 81; the sensor 6 is arranged on the mounting frame, and the sensing end of the sensor faces the feeding barrel 8. The camera 5 is mainly used to determine the position information of the feeding barrel 8 and the cover plate 81 on the horizontal plane, and the sensor 6 obtains the vertical distance between the cover opening component 2 and the cover plate 81 of the feeding barrel 8, and then determines the lifting distance of the cover opening component 2.

[0070] The sensor 6 may be an ultrasonic ranging sensor, a resonance ranging sensor, a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, etc., which is not specifically limited in the present application.

[0071] It should be noted that the positions of the cover plate 81 and the feeding barrel 8 can be set in advance by other methods, and the camera 5 and the sensor 6 may not be installed, or only one of them may be installed, or replaced by other positioning structures. This application does not make specific restrictions on this, and other methods are not described in detail here.

[0072] It is understandable that the cover opening assembly 2 of the present application may have a variety of possible structures. As an example and not a limitation, refer to Figure 2 and Figure 3As shown, the cover opening component 2 in the present application includes a mounting frame 4, at least one adsorption unit 3, and the same number of drive components 31 as the adsorption units 3; each adsorption unit 3 can be movably arranged on the mounting frame 4, and each adsorption unit 3 is connected to the drive end of the corresponding drive component 31, the adsorption unit 3 picks up or releases the cover plate 81 located at the port of the feeding barrel 8, and the drive component 31 drives the corresponding adsorption unit 3 to move laterally on the mounting frame 4.

[0073] In one embodiment of the present application, the driving assembly 31 may include a cylinder.

[0074] It is understandable that the adsorption unit 3 may be one or more. For example, if there is only one cover plate 81 of the feeding barrel 8, only one adsorption unit 3 may be provided. If the cover plate 81 of the feeding barrel 8 is composed of multiple separate cover plates, multiple adsorption units may be provided to perform adsorption respectively.

[0075] As mentioned above, the positions of the feeding barrel 8 and the cover plate 81 are identified through positioning, and the opening cover assembly 2 is lifted and lowered relative to the bracket 1 and / or lifted and lowered based on this position information, so that the opening cover assembly 2 is close to the cover plate 81. At this time, the adsorption unit 3 is close to the cover plate 81. Specifically, the distance between the adsorption unit 3 and the cover plate 81 needs to be within the negative pressure range of the adsorption unit 3. At this time, the adsorption unit 3 can be controlled by the vacuum generator to generate negative pressure to absorb the cover plate 81, and then the adsorption unit 3 with the cover plate 81 adsorbed is driven by the driving component 31 to move horizontally on the mounting frame 4, thereby driving the cover plate 81 to move horizontally away from the feeding barrel 8, thereby completing the automatic opening of the cover.

[0076] As mentioned above, the adsorption unit 3 may be one or more. Figure 2 and Figure 3 The two adsorption units 3 shown are taken as an example for detailed description.

[0077] The cover opening assembly includes two adsorption units 3, which can be slidably arranged on the mounting frame 4. The two adsorption units 3 are connected to the driving ends of the corresponding driving assemblies 31, and the two driving assemblies 31 are respectively configured to drive their respective corresponding adsorption units 3 to move laterally on the mounting frame 4.

[0078] Specifically, Figure 2 As shown, if the cover plate 81 of the charging barrel to be opened is an integral plate. The opening assembly 2 moves to the top of the charging barrel 8, close to and opposite to the cover plate 81. At this time, the lifting module 12 drives the mounting frame 4 to continue to descend, thereby driving the two adsorption units 3 to descend and approach the cover plate 81. At this time, only one of the two adsorption units 3 needs to be controlled to adsorb the cover plate 81, and then the driving assembly 31 corresponding to the adsorption unit 3 is used to drive the adsorption unit 3 to move horizontally on the mounting frame 4, so as to drive the cover plate 81 to move horizontally away from the charging barrel.

[0079] like Figure 3 As shown, if the cover plate 81 of the charging barrel to be opened is two separate first cover plates 810 and second cover plates 811. The opening assembly 2 moves to the top of the charging barrel 8. At this time, the mounting frame 4 is driven to continue to descend by the lifting module 12, thereby driving the two adsorption units 3 to descend and approach the first cover plate 810 and the second cover plate 811 respectively, and adsorb the first cover plate 810 and the second cover plate 811 respectively. Then, the two driving assemblies 31 are used to drive the two adsorption units 3 to move away from each other on the mounting frame 4, so as to move the first cover plate 810 and the second cover plate 811 laterally away from the charging barrel 8, thereby completing the automatic opening of the cover.

[0080] It can be seen that when the cover opening mechanism includes two adsorption units 3, one adsorption unit 3 can be selected for use, or both can be used. When there are more than two adsorption units 3, different types of cover plates 81 can be more efficiently compatible. Of course, even if the cover opening mechanism includes only one adsorption unit 3, the separate cover plates of the same feeding barrel can be opened by multiple adsorptions, but the efficiency is relatively low.

[0081] Reference Figure 2 and Figure 3 As shown, the adsorption units 3 include a suction cup 34 and an adjustment drive member 35. The driving end of the adjustment drive member 35 is connected to the suction cup 34 for driving the suction cup 34 to rise and fall in the longitudinal direction.

[0082] The adsorption unit 3 also includes a connecting plate 32 and a mounting plate 33; the connecting plate 32 is slidably set on the mounting frame 4, the mounting plate 33 is located below the connecting plate 32, the suction cup 34 is fixedly set below the mounting plate 33, the adjusting drive member 35 is fixedly installed on the connecting plate 32, and the driving end of the adjusting drive member 35 is connected to the mounting plate 33, and the adjusting drive member 35 drives the suction cup 34 to rise and fall in the longitudinal direction.

[0083] In one embodiment of the present application, the adjusting driving member 35 is a cylinder.

[0084] For example, refer to Figure 2 As shown, one adsorption unit 3 includes two suction cups 34 arranged along a linear direction, so as to more evenly adsorb the cover plate 81 and improve the stability of the cover plate 81 during adsorption and movement.

[0085] In an alternative embodiment, one adsorption unit 3 may further include more suction cups 34, so that there is a larger contact area between the adsorption unit 3 and the cover plate 81, thereby improving the stability of the cover plate 81 during movement.

[0086] Specifically, when the adsorption unit 3 adsorbs the cover plate 81, the lifting module 12 is used to control the lid opening assembly 2 to descend, so that the distance between the suction cup 34 and the cover plate 81 is within the negative pressure range of the suction cup 34, so as to control the suction cup 34 to absorb the cover plate 81; the adjusting drive member 35 can drive the suction cup 34 to rise and fall relative to the mounting frame 4, thereby adjusting the distance between the suction cup 34 and the feeding barrel 8, so as to facilitate the adsorption of the cover plate 81.

[0087] Optionally, the cover opening assembly 2 further includes a slide rail 22 and a slider 23 that cooperate with each other, the slide rail 22 is fixedly arranged on the mounting frame 4, the connecting plate 32 is slidably arranged on the mounting frame 4 through the slider 23, and the driving end of the driving assembly 31 is connected to the connecting plate 32. Through the cooperation between the slide rail 22 and the slider 23, the adsorption unit 3 can move smoothly along the direction defined by the slide rail 22, thereby improving the smoothness of the lateral movement of the adsorption unit 3.

[0088] Reference Figure 2 and Figure 3 As shown, the cover opening assembly 2 includes at least one support plate 21 arranged corresponding to the adsorption unit 3. The support plate 21 is connected to the mounting frame 4 and is located below the corresponding adsorption unit for receiving the corresponding cover plate 81 picked up by the corresponding adsorption unit 3.

[0089] Furthermore, the lower limit position of the adsorption unit 3 in the longitudinal direction is located above the corresponding support plate 21 , and the adsorption unit 3 can be driven by the corresponding driving component 31 to move laterally along the mounting frame 4 to pass directly above the corresponding support plate 21 .

[0090] It can be understood that the cover opening mechanism can be used to open the cover plates 81 of multiple feeding barrels 8, and the mounting plate 33 is driven to rise and fall by adjusting the driving member 35, thereby adjusting the distance between the suction cup 34 and the support plate 21; when it is necessary to open the cover plates 81 of multiple feeding barrels 8, the cover plates 81 opened first can be placed on the support plate 21, and then the driving member 35 is adjusted to control the suction cup 34 to rise to a certain height, and then the other feeding barrels 8 that need to be opened can be adsorbed again.

[0091] Furthermore, the cover opening assembly 2 further includes a protrusion 210 disposed on the support plate 21. The protrusion 210 can support the cover plate 81 placed on the support plate 21, and can also cushion the cover plate accidentally falling from the self-adsorption unit, thereby reducing the risk of the cover plate 81 being bumped and falling.

[0092] Optionally, the protrusions 210 are a plurality of dot-shaped protrusions distributed on the support plate 21, and the dot-shaped protrusions are evenly and densely arranged on the support plate 21. The plurality of dot-shaped protrusions can increase the contact area between the cover plate 81 and the protrusions 210.

[0093] Optionally, the protrusion 210 is an arc-shaped protrusion 210 having a curvature consistent with the edge of the corresponding cover plate 81 , which can more evenly support the cover plate 81 placed on the protrusion 210 .

[0094] Optionally, the surface of the support plate 21 is made of non-metallic material.

[0095] Optionally, the protrusion 210 is made of non-metallic material.

[0096] Optionally, the surface of the support plate 21 and the protrusion 210 are both made of non-metallic materials.

[0097] In this embodiment, when the protrusions 210 are set on the support plate 21, at least all the protrusions 210 are made of non-metallic materials (that is, the material of the surface of the support plate 21 is not limited, but all the protrusions 210 are made of non-metallic materials), thereby preventing metal contamination of the cover plate 81 during the process of taking and placing the cover plate 81.

[0098] Exemplary non-metallic materials include polyurethane, POM, and nylon.

[0099] It should be noted that, in the foregoing, two adsorption units 3 are used as an example, and one adsorption unit 3 is used to adsorb a cover plate 81. In practice, there can be one, three, or more than three adsorption units 3. As long as the driving component 31 controls the movement of the corresponding adsorption unit 3 and places the cover plate 81 on the corresponding support plate 21, it can be done.

[0100] Example 2

[0101] Corresponding to the above-mentioned embodiment 1, the present application also provides a method of use based on the cover opening mechanism. Figure 5 As shown, the method of use includes:

[0102] S100, the cover opening assembly 2 is moved horizontally and / or raised and lowered relative to the support 1, so that the cover opening assembly 2 is moved to a predetermined distance above the cover plate 81 of the charging barrel to be opened;

[0103] Specifically, the transverse movement module 11 and the lifting module 12 are used to move the lid opening component 2 in the horizontal or vertical direction until the lid opening component 2 is initially located above the feeding barrel 8 and the cover plate 81, and at this time there is a preset distance between the lid opening component 2 and the cover plate 81 to facilitate the subsequent adsorption unit 3 to pick up the cover plate 81.

[0104] In one embodiment, before the cover opening assembly 2 is laterally moved and / or raised and lowered relative to the support 1, the method of use further includes:

[0105] The camera 5 is used to obtain images of the feeding barrel 8 and the cover plate 81, and the position information of the feeding barrel 8 and the cover plate 81 is obtained according to the images;

[0106] The distance of lateral movement and / or elevation of the cover opening assembly 2 is determined according to the position information.

[0107] Specifically, the feeding barrel 8 and the cover plate 81 are photographed by the camera 5, and the image information obtained by the photography is analyzed to obtain the position information of the feeding barrel 8 and the cover plate 81 in the three-dimensional space, and then the transverse movement module 11 and the lifting module 12 are started based on the position information to drive the opening cover component 2 to move laterally and / or lift a certain distance, so that the adsorption unit 3 is located above the cover plate 81.

[0108] In this embodiment, before the cover opening assembly 2 is laterally moved and / or raised and lowered relative to the bracket 1, the method of use further includes:

[0109] The sensor 6 measures the distance information between the cover opening component 2 and the cover plate 81;

[0110] The lifting distance of the cover opening component 2 is determined according to the distance information.

[0111] Specifically, through the cooperation between the sensor 6 and the camera 5, the coordinates of the feeding barrel 8 and the cover plate 81 in three-dimensional space can be quickly and accurately measured, so that the transverse movement module 11 and the lifting module 12 can quickly and accurately move the opening cover assembly 2 to a position at a preset distance above the feeding barrel 8.

[0112] S200, the adsorption unit 3 picks up the corresponding cover plate 81;

[0113] Specifically, if the distance between the cover plate 81 and the suction cup 34 is within the negative pressure range of the suction cup 34 , the suction cup 34 is directly controlled to suck the cover plate 81 .

[0114] In one embodiment, the adsorption unit 3 needs to open the covers of multiple feeding barrels 8; after the adsorption unit 3 picks up the cover plate 81, the use method further includes:

[0115] The adjustment drive member 35 drives the suction cup 34 that picks up the cover plate 81 to rise in the longitudinal direction relative to the support plate 21.

[0116] For example, when opening the covers of multiple feeding barrels 8, the cover plate 81 picked up first is placed on the protrusion 210 or the support plate 21 (when the protrusion 210 is not provided), and then the driving member 35 is adjusted to control the suction cup 34 to rise to a certain height so as to adsorb other feeding barrels 8 to be opened again.

[0117] S300 , using the driving assembly 31 to drive the adsorption unit 3 that has picked up the cover plate 81 to move on the mounting frame 4 , so that the cover plate 81 is separated from the feeding barrel 8 .

[0118] Further, after the driving assembly 31 drives the corresponding adsorption unit 3 that picks up the cover plate 81 to move on the mounting frame 4, the use method further includes:

[0119] The adsorption unit 3 releases the picked-up cover plate 81 onto the support plate 21;

[0120] The cover opening assembly 2 is moved horizontally and / or raised and lowered relative to the support 1, so that the cover opening assembly 2 moves to a predetermined distance above the cover plate of the next charging barrel 8 to be opened;

[0121] Pick up the cover plate 81 using the adsorption unit 3;

[0122] The driving assembly 31 is used to drive the adsorption unit 3 that has picked up the cover plate 81 to move on the mounting frame 4 , so that the cover plate 81 is separated from the feeding barrel 8 .

[0123] Specifically, when removing the caps from multiple feeding barrels 8, the bracket 1 can be placed across the multiple feeding barrels 8, and then the position of the lid opening assembly 2 can be adjusted using the transverse module 11 and the lifting module 12, so that the first adsorption unit 3 can pick up the cover plates 81 of the multiple feeding barrels 8, and at the same time, with the use of the pallet 21, the picked-up cover plates 81 can be placed on the pallet 21, so that the adsorption unit 3 can continuously pick up the cover plates 81 on the multiple feeding barrels 8.

[0124] Example 3

[0125] Corresponding to the above-mentioned embodiments 1-2, the present application also provides a cover opening mechanism.

[0126] Further, refer to Figure 4 As shown, the feeding cylinder 8 includes an outer cylinder 82, a crossbeam 83, a column 84, a center rod 85 and a flange 86. The flange 86 is an annular edge located at the port of the outer cylinder 82 and protruding outward from the outer wall of the outer cylinder 82. The crossbeam 83 is fixedly mounted on the flange 86 through three columns 84. The crossbeam 83 is a T-shaped frame. The center rod 85 passes through the crossbeam 83 and is roughly located on the center line of the outer cylinder 82. The center rod 85 and the crossbeam 83 are in a rotatable connection relationship. The cover plate 81 can be slotted, and the slot is used to avoid the center rod 85. When feeding the feeding cylinder 8, if the orientation of the feeding cylinder 8 is wrong, the crossbeam 83 will interfere with the feeding. Since the crossbeam 83 and the outer cylinder 82 are in a fixed connection relationship, and the center rod 85 and the crossbeam 83 are in a rotatable connection relationship, the crossbeam 83 can be rotated by rotating the outer cylinder 82 to avoid the interference of the crossbeam 83. For the convenience of description, the rotating outer cylinder 82 is referred to as the rotating feeding cylinder 8 below. The rotating step may be performed before or after opening the cover.

[0127] For this purpose, refer to Figure 2 and Figure 3 As shown, the cover opening mechanism also includes a rotating drive member 7 and at least two clamping parts 71, the clamping parts 71 are used to clamp or release the feeding barrel 8, the driving end of the rotating drive member is connected to the mounting frame 4, the clamping parts 71 are arranged on the periphery of the mounting frame 4, and the clamping parts 71 can move toward or away from the center of the feeding barrel 8.

[0128] In this embodiment, the rotary drive member 7 includes a motor. The motor is preferably a hollow shaft rotary motor, in which case the camera 5 can be mounted above the hollow shaft, and the hollow shaft provides a shooting channel for the camera 5 to further improve the compactness of the cover opening assembly 2.

[0129] Specifically, the clamping part 71 is driven to approach the feeding barrel 8 until the clamping part 71 clamps the feeding barrel 8, and the feeding barrel 8 is clamped and fixed by each clamping part 71, that is, the outer barrel 82 of the feeding barrel 8 is clamped; then the rotating drive part 7 is started to drive the mounting frame 4 and the clamping part 71 to rotate, so that the feeding barrel 8 rotates a certain angle, thereby avoiding interference of the cross beam 83 on the feeding.

[0130] In this embodiment, the clamping portion 71 and the adsorption unit 3 are both mounted on the mounting frame 4 so that the lateral movement module 11 and the lifting module 12 can simultaneously control the movement of the clamping portion 71 and the adsorption unit 3, thereby improving the cover opening efficiency.

[0131] In a specific example, the mounting frame 4 includes a turntable 41 and fixed frames 42 distributed at both radial ends of the turntable 41. The turntable 41 is generally disc-shaped and connected to the rotating shaft of the rotating drive member 7. The fixed frame 42 is generally U-shaped, one end of which is fixedly connected to the turntable 41, and the U-shaped opening directions of the two fixed frames 42 are opposite to each other.

[0132] In an alternative embodiment, the adsorption unit 3 and the clamping portion 71 do not share the mounting frame 4, and the adsorption unit 3 and the clamping portion 71 are respectively controlled by different driving devices.

[0133] Optionally, the clamping parts 71 are evenly arranged on the outer circumference of the mounting frame 4 so as to clamp the feeding barrel 8 more stably.

[0134] Further, see Figure 2 and Figure 3 As shown, the cover opening mechanism includes support arms 710 having the same number as the clamping portions 71 , and each clamping portion 71 is fixedly connected to the mounting frame 4 via the corresponding support arm 710 .

[0135] Optionally, a support plate 21 is fixedly mounted on the support arm 710 corresponding to at least one clamping portion 71, and the support plate 21 is located above the corresponding clamping portion 71. By fixing the support plate 21 on the support arm 710, at least one support plate 21 and the clamping portion 71 share a support arm 710, the structure of the cover opening assembly 2 can be made more compact.

[0136] In this embodiment, refer to Figure 2 As shown, the cover opening mechanism includes three clamping parts 71 , and a support arm 710 corresponding to one clamping part 71 is fixedly mounted with a support plate 21 .

[0137] In this embodiment, the clamping portion 71 is in the shape of an elongated strip and is driven by a cylinder connected to the support arm 710 to move closer to or away from the feeding barrel 8; the cylinder can be used to drive the clamping portion 71 to move toward the center of the feeding barrel 8 until the feeding barrel 8 is clamped, and the rotating driving member 7 can drive each clamping portion 71 to rotate with the feeding barrel 8.

[0138] It should be noted that, in addition to clamping the outer tube 83 of the feeding tube 8, when the driving stroke of the cylinder driving the clamping part 71 is small, the clamping part 71 can also be preferably used to clamp the flange 86 of the feeding tube 8 to achieve clamping and fixing of the feeding tube 8.

[0139] Example 4

[0140] Corresponding to the above embodiments 1-3, the present application also provides a method of use based on the cover opening mechanism. The method of use includes:

[0141] Use camera 5 to obtain images of the feeding barrel 8 and the cover plate 81, and obtain position information of the feeding barrel 8 and the cover plate 81 based on the images; use sensor 6 to measure the distance information between the opening cover component 2 and the cover plate 81; determine the lateral movement and / or lifting distance of the opening cover component 2 based on the position information and distance information.

[0142] The cover opening assembly 2 is moved horizontally and / or lifted relative to the bracket 1, so that the cover opening assembly 2 moves to a predetermined distance above the cover plate 81; at least two clamping parts 71 of the cover opening assembly 2 are controlled to move toward the center of the feeding barrel 8 until each clamping part 71 clamps the feeding barrel 8; the rotating driving member 7 drives the mounting frame 4 to rotate, thereby adjusting the angle of the feeding barrel 8 to avoid interference from the crossbeam 83 on the feeding barrel 8 on the feeding side;

[0143] The adsorption unit 3 picks up the cover plate 81;

[0144] The driving assembly 31 drives the adsorption unit 3 that has picked up the cover plate 81 to move on the mounting frame 4 , so that the cover plate 81 is separated from the feeding barrel 8 .

[0145] Specifically, the crossbeam 83, the cover plate 81 and the feeding barrel 8 on the feeding barrel 8 are photographed by the camera 5 to obtain image information of the three, and the horizontal position information of the three is obtained based on the image information, and then the vertical distance information of the three is obtained in combination with the sensor 6. Then, based on all the position information and distance information, the cover opening assembly 2 and the clamping part 71 are driven to move synchronously for a certain distance through the transverse module 11 and the lifting module 12. Then, the clamping part 71 is driven by the cylinder to move toward the center of the feeding barrel 8 until the clamping part 71 clamps the feeding barrel 8; then the rotary drive member 7 is started, and the clamping part 71 is driven to rotate, so that the feeding barrel 8 rotates a certain angle to avoid interference of the crossbeam 83 on the feeding side. Subsequently, it can also be determined whether the distance between the suction cup 34 and the cover plate 81 is within the negative pressure range of the suction cup 34. If not, the adjustment method is determined based on the size of the gap. When the gap is too large, the suction cup 34 is driven down by the lifting module 12; when the gap is too small, fine-tuning can be performed by adjusting the driving member 35, so that the suction cup 34 adsorbs the cover plate 81, and then the driving component 31 drives the adsorption unit 3 with the cover plate 81 to move away, thereby completing the automatic opening of the cover.

[0146] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0147] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0148] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cover opening mechanism, characterized in that: The cover opening mechanism comprises a support and a cover opening assembly arranged on the support, and the cover opening assembly can move laterally and / or rise and fall relative to the support; The lid opening assembly includes a mounting frame, at least one adsorption unit, and drive assemblies having the same number as the adsorption units; Each of the adsorption units is movably arranged on the mounting frame, and each of the adsorption units is connected to the driving end of the corresponding driving component. The adsorption unit picks up or releases the cover plate located at the port of the feeding barrel, and the driving component drives the corresponding adsorption unit to move laterally on the mounting frame.

2. The cover opening mechanism according to claim 1, characterized in that: The cover opening assembly further comprises at least one support plate arranged corresponding to the adsorption unit, the support plate is connected to the mounting frame and is located below the corresponding adsorption unit; The driving assembly drives the corresponding adsorption unit to move laterally on the mounting frame and pass directly above the corresponding support plate.

3. The cover opening mechanism according to claim 2, characterized in that: The surface of the support plate is made of non-metallic material; and / or, The cover opening assembly further comprises a protrusion arranged on the supporting plate, and the protrusion is made of a non-metallic material.

4. The cover opening mechanism according to claim 3, characterized in that: When the cover opening assembly includes the protrusion, the protrusion is an arc-shaped protrusion with the same curvature as the edge of the cover plate.

5. The cover opening mechanism according to claim 1, characterized in that: Each of the adsorption units includes a suction cup and an adjustment drive member, wherein a driving end of the adjustment drive member is connected to the suction cup and is used to drive the suction cup to rise and fall in the longitudinal direction.

6. The cover opening mechanism according to claim 5, characterized in that: Each of the adsorption units also includes a connecting plate and a mounting plate; the connecting plate is movably arranged on the mounting frame, the mounting plate is located below the connecting plate, the suction cup is fixedly arranged below the mounting plate, the adjusting drive member is fixedly installed on the connecting plate, and the driving end of the adjusting drive member is connected to the mounting plate, and the adjusting drive member drives the suction cup to rise and fall in the longitudinal direction.

7. The cover opening mechanism according to claim 6, characterized in that: The cover opening assembly also includes a slide rail and a slider that cooperate with each other. The slide rail is fixedly arranged on the mounting frame, the connecting plate is slidably arranged on the mounting frame through the slider, and the driving end of the driving assembly is connected to the connecting plate.

8. The cover opening mechanism according to claim 1, characterized in that: The cover opening assembly includes two adsorption units, which are slidably arranged on the mounting frame. Both of the adsorption units are connected to the driving ends of the corresponding driving assemblies, and the two driving assemblies are respectively configured to drive their respective corresponding adsorption units to move laterally on the mounting frame.

9. The cover opening mechanism according to claim 1, characterized in that: The cover opening mechanism further comprises a camera, and the camera's shooting field of view includes the cover plate and the feeding cylinder; And / or, the cover opening mechanism further comprises a sensor arranged on the mounting frame, and the sensing end of the sensor faces the feeding barrel.

10. The cover opening mechanism according to any one of claims 1 to 9, characterized in that: The cover opening mechanism also includes a rotary drive member and at least two clamping parts, the driving end of the rotary drive member is connected to the mounting frame, the clamping parts are arranged on the periphery of the mounting frame, and each of the clamping parts can move toward or away from the center of the feeding barrel.

11. The cover opening mechanism according to claim 10, characterized in that: The cover opening mechanism further includes support arms having the same number as the clamping parts, and each of the clamping parts is fixedly connected to the mounting frame via a corresponding support arm.

12. The cover opening mechanism according to claim 11, characterized in that: A support plate is fixedly mounted on the support arm corresponding to at least one of the clamping parts, and the support plate is located above the corresponding clamping part.

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