A photovoltaic silicon wafer production robot recognition device based on machine vision

Abstract

The utility model discloses a photovoltaic silicon wafer production robot identification device based on machine vision, and relates to the field of robot technology. The utility model includes a first robot arm, a camera is fixedly connected to the top of one end of the first robot arm, a photoelectric sensor is fixedly connected to the bottom of one end of the first robot arm, a tooth fork is fixedly connected to one side of the first robot arm, a mounting groove is provided at the bottom of the tooth fork, an elastic rod is fixedly connected to the inner wall of the mounting groove, a ring support is fixedly connected to one end of the elastic rod, and a shielding plate is fixedly connected to the bottom of the elastic rod. The utility model prevents chip damage caused by data errors through the additional confirmation step of the elastic rod by setting the tooth fork, the elastic rod, the ring support and the shielding plate, through precise mechanical structure and intelligent control, and effectively improves the efficiency and quality of photovoltaic silicon wafer production.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a photovoltaic silicon wafer production manipulator identification device based on machine vision. Background Art

[0002] A robot is a machine device that performs tasks automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology. The robot's task is to assist or replace humans in work, such as manufacturing, construction, or dangerous work. Intelligent robots have a variety of internal and external information sensors, such as vision, hearing, touch, and smell. In addition to receptors, they also have effectors as a means of acting on the surrounding environment. These are muscles, or self-paced motors, which make hands, feet, long noses, tentacles, etc. move. From this, we can see that intelligent robots must have at least three elements: sensory elements, reaction elements, and thinking elements.

[0003] The existing machine vision-based photovoltaic silicon wafer production robot recognition device can only rely on the computer to move according to its own recorded data after identifying the wafer position. When a data error occurs, it may cause the robot's movement trajectory to not match the actual wafer position, making it impossible to accurately grasp and place the wafer, thereby increasing the risk of the wafer being damaged due to operational errors. Utility Model Content

[0004] Based on this, the purpose of the utility model is to provide a photovoltaic silicon wafer production robot identification device based on machine vision to solve the technical problem of wafer damage caused by the inability to accurately grasp and place the wafer when data errors occur.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a photovoltaic silicon wafer production robot identification device based on machine vision, comprising a first robotic arm, a camera is fixedly connected to the top of one end of the first robotic arm, a photoelectric sensor is fixedly connected to the bottom of one end of the first robotic arm, a tooth fork is fixedly connected to one side of the first robotic arm, a mounting groove is provided at the bottom of the tooth fork, an elastic rod is fixedly connected to the inner wall of the mounting groove, a ring support is fixedly connected to one end of the elastic rod, and a baffle is fixedly connected to the bottom of the elastic rod.

[0006] By adopting the above technical solution, using machine vision technology, and coordinating the precise coordination of cameras and photoelectric sensors, it is possible to quickly identify and locate the precise position of photovoltaic silicon wafers, which not only improves the efficiency of wafer processing, but also reduces wafer damage caused by inaccurate positioning.

[0007] Furthermore, the top of the tooth fork is fixedly connected to a mounting frame, and the inner wall of the mounting frame is fixedly connected to a horizontal plate.

[0008] By adopting the above technical solution, the design of the mounting frame and the horizontal plate provides an additional reference standard for the tooth fork, so that the camera can accurately identify the curvature deformation that may occur in the tooth fork after long-term use by observing the position of the horizontal plate and comparing it with the preset standard, thereby allowing timely maintenance and adjustment, ensuring the accuracy and stability of the robot, thereby extending the service life of the equipment and improving production safety.

[0009] Furthermore, a plurality of the horizontal plates are provided, and the plurality of the horizontal plates are evenly arranged at equal intervals.

[0010] By adopting the above technical solution, these horizontal plates act as a set of scale lines, providing the camera with a clear and easily recognizable visual standard to assist in determining the degree of bending of the fork, allowing the camera to accurately measure the slight deformation that may occur in the fork during long-term use, thereby ensuring the operating accuracy and reliability of the manipulator.

[0011] Furthermore, a through slot is provided on the shielding plate, and the through slot and the photoelectric sensor are arranged correspondingly.

[0012] By adopting the above technical solution, when the shielding plate moves with the compression of the elastic rod, causing the through slot and the photoelectric sensor to be misaligned, a shielding effect will be produced. This shielding effect is a signal trigger mechanism, allowing the system to accurately determine whether the chip has been correctly captured and stably supported. This mechanism significantly improves the safety and accuracy of the chip handling process and avoids damage caused by inaccurate chip positioning.

[0013] Furthermore, a contact surface is provided on the top of the ring support.

[0014] By adopting the above technical solution, the contact surface provides a smooth and uniform contact area, reducing the stress concentration that may be generated during the contact process of the wafer, thereby significantly reducing the risk of wafer breakage.

[0015] Furthermore, the shielding plate is in a rectangular structure, and a reflective sheet is fixedly connected to one side of the shielding plate.

[0016] By adopting the above technical solution, the rectangular structure of the shielding plate provides a stable and reliable platform for supporting the reflective sheet, ensuring the correct alignment between the reflective sheet and the photoelectric sensor, thereby ensuring that light can be effectively emitted from the photoelectric sensor and reflected back to the sensor.

[0017] Furthermore, the bottom of the other end of the first mechanical arm is rotatably connected to the second mechanical arm.

[0018] By adopting the above technical solution, by introducing a rotational connection between the first robotic arm and the second robotic arm, the system can perform more complex and delicate movements.

[0019] Furthermore, the bottom of the second robotic arm is rotatably connected to a lifting platform, and the lifting platform is electrically connected to an external power supply.

[0020] By adopting the above technical solution and through the vertical movement capability of the lifting platform, the robot can accurately grab and place chips at different heights, ensuring that the robot can easily adapt to the changing work requirements on the production line and improving the versatility and flexibility of the equipment.

[0021] Furthermore, the height of the contact surface is higher than the height of the upper surface of the tooth fork.

[0022] By adopting the above technical solution, by setting the contact surface higher than the upper surface of the tooth fork, the wafer first contacts the contact surface designed for smooth handling when lifted by the tooth fork, which can reduce the pressure and potential damage to the wafer.

[0023] Furthermore, the surface of the contact surface is coated with a wear-resistant coating.

[0024] By adopting the above technical solutions, the application of wear-resistant coating significantly improves the durability and damage resistance of the ring bracket, thereby reducing maintenance requirements and replacement frequency.

[0025] In summary, the utility model mainly has the following beneficial effects:

[0026] 1. The utility model provides tooth forks, elastic rods, ring supports and shielding plates, and uses a precise mechanical structure and intelligent control to prevent the wafer from being damaged due to data errors through an additional confirmation step of the elastic rod, thereby effectively improving the efficiency and quality of photovoltaic silicon wafer production and reducing the wafer loss rate during the production process;

[0027] 2. The utility model provides a mounting frame and a horizontal plate. By adding the mounting frame and the horizontal plate, the stability and reliability of the manipulator in operation are not only enhanced, but also the real-time monitoring of the equipment status is realized, thereby ensuring the stable handling of the wafer;

[0028] 3. The utility model significantly prolongs the service life of the ring support by providing a wear-resistant coating, thereby reducing maintenance time and improving the overall performance and reliability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0030] Figure 2This is a schematic diagram of the front three-dimensional structure of the utility model;

[0031] Figure 3 This is a schematic diagram of a half-section structure of a tooth fork of the utility model;

[0032] Figure 4 For this utility model Figure 3 Schematic diagram of the structure enlarged at point A in the middle.

[0033] In the figure: 1. first robotic arm; 2. camera; 3. photoelectric sensor; 4. tooth fork; 5. mounting frame; 6. horizontal plate; 7. mounting groove; 8. elastic rod; 9. ring bracket; 10. shielding plate; 11. through groove; 12. second robotic arm; 13. lifting platform; 14. contact surface; 15. reflective sheet. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. The embodiments described below with reference to the drawings are exemplary and are only used to explain the utility model, and cannot be understood as limiting the utility model.

[0035] The following describes an embodiment of the utility model based on its overall structure.

[0036] Embodiment 1:

[0037] A photovoltaic silicon wafer production robot recognition device based on machine vision, such as Figure 1-Figure 4 As shown, it includes a first robotic arm 1, a camera 2 is fixedly connected to the top of one end of the first robotic arm 1, a photoelectric sensor 3 is fixedly connected to the bottom of one end of the first robotic arm 1, a tooth fork 4 is fixedly connected to one side of the first robotic arm 1, a mounting groove 7 is opened at the bottom of the tooth fork 4, an elastic rod 8 is fixedly connected to the inner wall of the mounting groove 7, a ring support 9 is fixedly connected to one end of the elastic rod 8, and a shielding plate 10 is fixedly connected to the bottom of the elastic rod 8. By using machine vision technology and the precise coordination of the camera 2 and the photoelectric sensor 3, rapid identification and positioning of the precise position of the photovoltaic silicon wafer can be achieved, which not only improves the efficiency of wafer processing, but also reduces the damage to the wafer caused by inaccurate positioning. Through the design of the elastic rod 8 and the ring support 9 at the bottom of the tooth fork 4, when the wafer is stably held up, the deformation of the elastic rod 8 and the movement of the shielding plate 10 trigger the photoelectric sensor 3. This feedback mechanism further ensures the safety and stability of the wafer during the transfer process, and improves the automation and reliability of the entire production process.

[0038] See also Figure 1 , Figure 2 and Figure 3The top of the tooth fork 4 is fixedly connected with a mounting frame 5, and the inner wall of the mounting frame 5 is fixedly connected with a horizontal plate 6. The design of the mounting frame 5 and the horizontal plate 6 provides an additional reference standard for the tooth fork 4, so that the camera 2 can accurately identify the curvature deformation that may occur in the tooth fork 4 after long-term use by observing the position of the horizontal plate 6 and comparing it with the preset standard, thereby allowing timely maintenance and adjustment, ensuring the accuracy and stability of the manipulator, thereby extending the service life of the equipment and improving production safety, and allowing the system to automatically monitor the physical state of the tooth fork 4 through machine vision, reducing the need for manual inspection, and further improving the automation level and intelligent management capabilities of the entire system.

[0039] See also Figure 1 , Figure 2 and Figure 3 There are multiple horizontal plates 6, which are evenly and equidistantly arranged. These horizontal plates 6 act as a set of scale lines, providing the camera 2 with a clear and easily recognizable visual standard for assisting in determining the degree of bending of the tooth fork 4, so that the camera 2 can accurately measure the slight deformation that may occur in the tooth fork 4 during long-term use, thereby ensuring the operating accuracy and reliability of the manipulator. At the same time, since these horizontal plates 6 are evenly distributed at equal intervals, they provide the system with a standardized measurement method, so that even when the tooth fork 4 is slightly deformed, the system can quickly detect and determine the specific circumstances of the deformation by comparing the relative position changes of each horizontal plate 6 and the designated calibration line.

[0040] See also Figure 2 and Figure 3 A through slot 11 is provided on the shielding plate 10, and the through slot 11 and the photoelectric sensor 3 are arranged correspondingly. When the shielding plate 10 moves with the compression of the elastic rod 8, the through slot 11 and the photoelectric sensor 3 are misaligned, a shielding effect will be generated. This shielding effect is a signal triggering mechanism, allowing the system to accurately determine whether the wafer has been correctly captured and stably supported. This mechanism significantly improves the safety and accuracy of the wafer handling process and avoids damage caused by inaccurate wafer positioning. At the same time, when the photoelectric sensor 3 detects the obstruction of the through slot 11, the system can automatically trigger subsequent operations to ensure that the wafer can be safely and accurately delivered to the destination.

[0041] See also Figure 3 and Figure 4 A contact surface 14 is provided on the top of the ring support 9, which provides a smooth and uniform contact area, reducing the stress concentration that may be generated during the contact process of the wafer, thereby significantly reducing the risk of wafer breakage, ensuring the safety of the wafer during the transfer process, and further improving the continuity of the production process and the output quality.

[0042] See also Figure 3The baffle plate 10 has a rectangular structure, and a reflective sheet 15 is fixedly connected to one side of the baffle plate 10. The rectangular structure of the baffle plate 10 provides a stable and reliable platform for supporting the reflective sheet 15, ensuring the correct alignment between the reflective sheet and the photoelectric sensor 3, thereby ensuring that light can be effectively emitted from the photoelectric sensor 3 and reflected back to the sensor. The introduction of the reflective sheet 15 significantly improves the feedback efficiency and reliability of the system, which not only enhances the detectability of the signal, but also improves the system's response speed to changes in the chip lifting state.

[0043] See also Figure 1 , Figure 2 and Figure 3 The other end of the first robot arm 1 is rotatably connected to the second robot arm 12 at the bottom. By introducing a rotational connection between the first robot arm 1 and the second robot arm 12, the system can perform more complex and delicate movements. The enhanced flexibility helps to adapt to different working environments and task requirements and improve the speed of transporting and placing chips.

[0044] See also Figure 1 , Figure 2 and Figure 3 The bottom of the second robot arm 12 is rotatably connected to a lifting platform 13, and the lifting platform 13 is electrically connected to an external power supply. Through the vertical movement ability of the lifting platform 13, the robot can accurately grab and place chips at different heights, ensuring that the robot can easily adapt to the changing work requirements on the production line, improving the versatility and flexibility of the equipment, and the electrical connection between the lifting platform 13 and the external power supply ensures the stability and continuous power supply of the lifting platform 13, ensuring production efficiency and product quality.

[0045] See also Figure 3 and Figure 4 The height of the contact surface 14 is higher than the height of the upper surface of the tooth fork 4. By setting the contact surface 14 higher than the upper surface of the tooth fork 4, the wafer first contacts the contact surface 14 designed for smooth transportation when lifted by the tooth fork. This can reduce the pressure and potential damage to the wafer, while improving the accuracy and controllability of the wafer transportation process.

[0046] The implementation principle of the utility model is as follows: first, the lifting platform 13 is raised, the second robot arm 12 and the first robot arm 1 are moved to the front side of the wafer box, and then the camera 2 determines the position of the wafers one by one through the gap between the horizontal plates 6 of the mounting frame 5, and then the second robot arm 12 and the first robot arm 1 send the tooth fork 4 to the bottom of the first wafer and gradually rise;

[0047] When the contact surface 14 of the ring support 9 at one end of the elastic rod 8 at the bottom of the tooth fork 4 contacts the wafer, the elastic rod 8 is compressed and deformed, driving the shielding plate 10 to move downward, the through slot 11 on the shielding plate 10 and the photoelectric sensor 3 are misaligned, and the light emitted by the photoelectric sensor 3 is reflected back to the inside of the photoelectric sensor 3 by the reflective sheet 15, confirming that the wafer is stably held up and sent to the designated position;

[0048] When the fork 4 is deformed by curvature due to repeated operation, the camera 2 can determine the bending amplitude according to different horizontal plates 6 and then perform maintenance work.

[0049] Embodiment 2:

[0050] See also Figure 3 and Figure 4 The surface of the contact surface 14 is coated with a wear-resistant coating. The application of the wear-resistant coating significantly improves the durability and damage resistance of the ring tray 9, thereby reducing the maintenance requirements and replacement frequency. By reducing the wear of the contact surface, the risk of scratches or other physical damage to the wafer during transportation can be reduced, protecting the wafer from potential wear damage.

[0051] The implementation principle of the utility model is that the wear-resistant coating can extend the service life of the ring bracket 9.

[0052] Parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art, and will not be described in detail here.

[0053] Although an embodiment of the utility model has been shown and described, this specific embodiment is only an explanation of the utility model and is not a limitation of the utility model. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contribution as needed without departing from the principles and purpose of the utility model. However, as long as they are within the scope of the claims of the utility model, they are protected by patent law.

Claims

1. A photovoltaic silicon wafer production robot recognition device based on machine vision, characterized in that: The invention comprises a first mechanical arm (1), wherein a camera (2) is fixedly connected to the top of one end of the first mechanical arm (1), a photoelectric sensor (3) is fixedly connected to the bottom of one end of the first mechanical arm (1), a tooth fork (4) is fixedly connected to one side of the first mechanical arm (1), a mounting groove (7) is provided at the bottom of the tooth fork (4), an elastic rod (8) is fixedly connected to the inner wall of the mounting groove (7), one end of the elastic rod (8) is fixedly connected to a ring bracket (9), and the bottom of the elastic rod (8) is fixedly connected to a shielding plate (10).

2. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 1 is characterized in that: The top of the tooth fork (4) is fixedly connected to a mounting frame (5), and the inner wall of the mounting frame (5) is fixedly connected to a horizontal plate (6).

3. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 2 is characterized in that: A plurality of the horizontal plates (6) are provided, and the plurality of the horizontal plates (6) are evenly arranged at equal distances.

4. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 1, characterized in that: The shielding plate (10) is provided with a through slot (11), and the through slot (11) and the photoelectric sensor (3) are arranged correspondingly.

5. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 1, characterized in that: The top of the ring support (9) is provided with a contact surface (14).

6. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 1, characterized in that: The shielding plate (10) has a rectangular structure, and a reflective sheet (15) is fixedly connected to one side of the shielding plate (10).

7. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 1, characterized in that: The bottom of the other end of the first mechanical arm (1) is rotatably connected to a second mechanical arm (12).

8. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 7, characterized in that: The bottom of the second mechanical arm (12) is rotatably connected to a lifting platform (13), and the lifting platform (13) is electrically connected to an external power supply.

9. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 5, characterized in that: The height of the contact surface (14) is higher than the height of the upper surface of the tooth fork (4).

10. The photovoltaic silicon wafer production robot recognition device based on machine vision according to claim 5, characterized in that: The surface of the contact surface (14) is coated with a wear-resistant coating.

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