Rotating arm variable-pitch self-holding carrying device

Abstract

The utility model provides a rotating arm variable-pitch self-holding carrying device which comprises a driving mechanism, a rotating arm, suction cup assemblies, a variable-pitch assembly, a self-holding assembly and a mounting support, each suction cup assembly comprises at least two suction cups, the power output end of the driving mechanism is connected with one end of the rotating arm, and the suction cup assemblies are mounted on the variable-pitch assembly; the pitch changing assembly is rotationally connected with the end, away from the driving mechanism, of the rotating arm and fixedly connected with the end, away from the driving mechanism, of the self-holding assembly. The rotating arm rotates to drive the self-holding assembly to rotate synchronously so as to drive the self-holding assembly to rotate relative to the rotating arm, the pitch changing assembly can change the pitch while rotating relative to the rotating arm, and the rotating angle of the pitch changing assembly relative to the rotating arm and the rotating angle of the rotating arm are the same in size and opposite in direction. The center distance between the suction cups reaches a preset value, and the angle of each suction cup relative to the first direction is kept unchanged.

Description

Technical Field

[0001] The present application belongs to the technical field of photovoltaic cell production, and specifically relates to a rotating arm variable-distance self-retaining transport device. Background Art

[0002] During the laser grooving, doping and printing process of solar cells, two silicon wafers need to be transferred between the conveyor line and the processing platform at the same time, and the distance between the two silicon wafers needs to be changed during the transfer. With the continuous development of photovoltaic cell production technology, during the process of rotating variable distance transfer, it is necessary to ensure that the angle of the silicon wafer at the loading station and the processing station does not change.

[0003] However, the currently used rotating arm handling device usually fixes multiple suction cups at one end of the rotating arm, and the other end of the rotating arm is connected to the power output end of the driving mechanism, and the driving mechanism drives the rotating arm to rotate, so that the suction cup moves from the loading station to the processing station. Since the suction cup is fixedly connected to the rotating arm, the angle between the suction cup and the rotating arm remains unchanged during the rotation process, resulting in a 90° change in the angle of the suction cup relative to the angle before the rotation after the rotating arm rotates 90°.

[0004] In addition, the rotating arm handling device currently used usually needs to be equipped with an additional power source to drive the multiple suction cups on the rotating arm to move closer or farther away from each other, so as to achieve the purpose of changing the center distance between the silicon wafers. Utility Model Content

[0005] In view of this, the present application provides a self-retaining transport device with a rotating arm and variable pitch, which changes the pitch while the variable pitch component rotates relative to the rotating arm through a driving mechanism, thereby changing the center distance between the suction cups on the variable pitch component, and the angle of rotation of the variable pitch component relative to the rotating arm is the same as the angle of rotation of the rotating arm and is opposite in direction, so that the angle of the suction cup does not change after the rotating arm rotates 90°.

[0006] A rotating arm variable pitch self-holding transport device, comprising a driving mechanism, a rotating arm, a suction cup assembly, a variable pitch assembly, a self-holding assembly and a mounting bracket, wherein each of the rotating arm, the suction cup assembly, the variable pitch assembly and the self-holding assembly is provided with at least one and is arranged one-to-one, and each of the suction cup assemblies comprises at least two suction cups;

[0007] The driving mechanism is mounted on the mounting bracket, the power output end of the driving mechanism is connected to one end of the rotating arm, the suction cup assembly is mounted on the pitch-changing assembly, the pitch-changing assembly is rotatably connected to one end of the rotating arm away from the driving mechanism, and is fixedly connected to one end of the self-holding assembly away from the driving mechanism;

[0008] The rotation of the rotating arm drives the self-retaining component to rotate synchronously, so as to drive the self-retaining component to rotate relative to the rotating arm, so that the variable pitch component rotates relative to the rotating arm and changes pitch at the same time, thereby changing the center distance between the suction cups on the variable pitch component. The angle of rotation of the variable pitch component relative to the rotating arm is the same as the angle of rotation of the rotating arm and is in the opposite direction.

[0009] Preferably, each of the suction cup assemblies comprises two suction cups.

[0010] Preferably, the variable pitch assembly comprises a mounting frame, a mounting rod and two connecting rods, one end of the mounting rod is fixedly mounted on the middle part of the mounting frame, the other end of the mounting rod is rotatably connected to the end of the rotating arm away from the driving mechanism, and is fixedly connected to the end of the self-holding assembly away from the driving mechanism;

[0011] Along the extension direction of the mounting frame, a slide rail is fixedly installed at both ends of the mounting frame, each of the slide rails is slidably connected to a slider, and each of the sliders is fixedly installed with a suction cup;

[0012] The sliders are arranged in one-to-one correspondence with the connecting rods, and the two ends of the connecting rods are rotatably connected to the sliders and one end of the rotating arm away from the driving mechanism respectively;

[0013] The rotation of the rotating arm drives the self-retaining component to rotate synchronously, so as to drive the self-retaining component to rotate relative to the rotating arm, so that the mounting rod rotates relative to the rotating arm and the slider slides on the slide rail, so that the two suction cups move closer to or farther away from each other.

[0014] Preferably, each of the connecting rods includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the slider, the other end is fixedly connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the rotating arm.

[0015] Preferably, the self-retaining assembly comprises a first connecting rod and a second connecting rod, the two ends of the first connecting rod are rotatably connected to the mounting bracket and one end of the second connecting rod respectively, and the other end of the second connecting rod is fixedly connected to the mounting rod;

[0016] When the rotating arm rotates, the first connecting rod is always parallel to the axial direction of the rotating arm, and the angle α between the first connecting rod and the second connecting rod and the angle β between the second connecting rod and the rotating arm change in opposite directions.

[0017] Preferably, a support block is fixedly mounted on one end of the rotating arm away from the driving mechanism, an end of the mounting rod away from the mounting frame passes through the rotating arm and is rotatably connected to the support block, and an end of the second connecting rod away from the first connecting rod is located between the rotating arm and the support block.

[0018] Preferably, the self-holding assembly comprises a synchronous belt, a first synchronous wheel and a second synchronous wheel, the first synchronous wheel is fixedly mounted on the mounting bracket, the second synchronous wheel is fixedly connected to the mounting rod, and the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel;

[0019] The rotation of the rotating arm drives the synchronous belt to rotate synchronously, so as to drive the second synchronous wheel to rotate in a direction opposite to the rotation direction of the rotating arm.

[0020] Preferably, a support block is fixedly mounted on one end of the rotating arm away from the driving mechanism, one end of the mounting rod away from the mounting frame passes through the rotating arm and is rotatably connected to the support block, and the second synchronous wheel is located between the support block and the rotating arm.

[0021] Preferably, a fixing block is installed on the mounting bracket, and the first synchronous wheel is fixedly installed on the fixing block.

[0022] Preferably, each of the rotating arms is provided with an air distribution component, and the air distribution component is communicated with the corresponding suction cup.

[0023] The beneficial effects of the present application are: the rotating arm rotates under the action of the driving mechanism, driving the self-holding component to rotate synchronously, so as to drive the self-holding component to rotate relative to the rotating arm, so that the pitch-changing component rotates relative to the rotating arm and changes pitch at the same time, so as to change the center distance between the suction cups on the pitch-changing component, and the angle of rotation of the pitch-changing component relative to the rotating arm is the same as the angle of rotation of the rotating arm and is opposite in direction, so that after the rotating arm rotates from the loading station to the processing station, the center distance between the suction cups reaches a preset value, and the angle of each suction cup relative to the first direction remains unchanged. The entire device is easy to operate and has good structural stability and pitch-changing stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0026] Figure 1 A schematic diagram of the structure of the first embodiment provided in this application;

[0027] Figure 2 A top view of the first embodiment provided in the present application in a first state;

[0028] Figure 3 A top view of the first embodiment provided in the present application in the second state;

[0029] Figure 4 A schematic diagram of the structure of the second embodiment provided in this application;

[0030] Figure 5 It is a structural schematic diagram of the pitch-changing component;

[0031] Figure 6 It is a structural diagram of the driving mechanism.

[0032] In the figure: 1-driving mechanism; 11-driving motor; 12-reducer; 2-rotating arm; 21-first rotating arm; 22-second rotating arm; 3-suction cup assembly; 31-suction cup; 4-variable pitch assembly; 41-mounting frame; 42-mounting rod; 43-connecting rod; 431-first connecting rod; 432-second connecting rod; 44-slide rail; 45-slider; 5-self-retaining assembly; 51-first connecting rod; 52-second connecting rod; 53-synchronous belt; 54-first synchronous wheel; 55-second synchronous wheel; 6-mounting bracket; 7-support block; 8-fixed block; 9-connecting piece. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the embodiments in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0034] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] The present application provides a rotating arm variable distance self-holding transport device, referring to Figure 1-6 , including a driving mechanism 1, a rotating arm 2, a suction cup assembly 3, a pitch-changing assembly 4, a self-holding assembly 5 and a mounting bracket 6, wherein each of the rotating arm 2, the suction cup assembly 3, the pitch-changing assembly 4 and the self-holding assembly 5 is provided with at least one and is arranged one by one, and each of the suction cup assemblies 3 includes at least two suction cups 31;

[0036] The driving mechanism 1 is mounted on the mounting bracket 6, the power output end of the driving mechanism 1 is connected to one end of the rotating arm 2, the suction cup assembly 3 is mounted on the pitch changing assembly 4, the pitch changing assembly 4 is rotatably connected to one end of the rotating arm 2 away from the driving mechanism 1, and is fixedly connected to one end of the self-holding assembly 5 away from the driving mechanism 1;

[0037] The rotation of the rotating arm 2 drives the self-retaining component 5 to rotate synchronously, so as to drive the self-retaining component 5 to rotate relative to the rotating arm 2, so that the variable pitch component 4 rotates relative to the rotating arm 2 and changes pitch at the same time, thereby changing the center distance between the suction cups 31 on the variable pitch component 4. The angle of rotation of the variable pitch component 4 relative to the rotating arm 2 is the same as the angle of rotation of the rotating arm 2 and is in the opposite direction.

[0038] Each rotating arm 2 will pass through the loading station, processing station and unloading station in sequence, transport the silicon wafers at the loading station to the processing station for processing, and then transport the processed silicon wafers from the processing station to the unloading station. Or one part of the rotating arm 2 reciprocates between the loading station and the processing station to continuously transport the silicon wafers at the loading station to the processing station, and the other part of the rotating arm 2 reciprocates between the processing station and the unloading station to transport the processed silicon wafers to the unloading station.

[0039] Among them, with the installation bracket 6 as the center, the loading station, processing station and unloading station are arranged around the installation bracket 6, and the loading station and the processing station, and the processing station and the unloading station are all set at 90°, so that the rotating arm 2 rotates 90° from the loading station to the processing station.

[0040] The present application can achieve the purpose of driving the rotating arm 2 to rotate, changing the center distance between the suction cups 31 on the pitch-changing assembly 4, and ensuring that the suction cups 31 of the rotating arm 2 are relative to the first direction ( Figure 2 The purpose is that the angle (in the x direction shown in FIG) will not change.

[0041] Specifically, refer to Figure 2, taking the example that when the rotating arm 2 is located at the loading station, the length direction of the suction cup 31 is perpendicular to the length direction of the rotating arm 2, and the length direction of the rotating arm 2 is parallel to the first direction, when the rotating arm 2 rotates from the loading station to the processing station, the self-holding component 5 rotates relative to the rotating arm 2, and the distance-changing component 4 changes, so that the center distance between each suction cup 31 changes, and the suction cup 31 rotates relative to the rotating arm 2, so that when the rotating arm 2 reaches the processing station, the center distance between each suction cup 31 on the distance-changing component 4 reaches a preset value, and the suction cup 31 just rotates 90° relative to the rotating arm 2, so that the length direction of the suction cup 31 is parallel to the length direction of the rotating arm 2, so that the angle between the length direction of the suction cup 31 and the first direction at the processing station and the angle between the length direction of the suction cup 31 at the loading station and the first direction are the same.

[0042] Preferably, each suction cup assembly 3 of the present application includes two suction cups 31. The rotating arm 2 rotates and the self-holding assembly 5 rotates relative to the rotating arm 2, so that the distance-changing assembly 4 changes the distance, and the center distance between the two suction cups 31 is changed, thereby changing the center distance between the silicon wafers adsorbed on the two suction cups 31. It can be understood that one suction cup 31 adsorbs one silicon wafer at a time.

[0043] Specifically, refer to Figure 5 The variable pitch assembly 4 includes a mounting frame 41, a mounting rod 42 and two connecting rods 43, one end of the mounting rod 42 is fixedly mounted on the middle part of the mounting frame 41, and the other end of the mounting rod 42 is rotatably connected to the end of the rotating arm 2 away from the driving mechanism 1, and is fixedly connected to the end of the self-holding assembly 5 away from the driving mechanism 1;

[0044] Along the extension direction of the mounting frame 41, a slide rail 44 is fixedly installed at both ends of the mounting frame 41, each of the slide rails 44 is slidably connected to a slider 45, and each of the sliders 45 is fixedly installed with a suction cup 31;

[0045] The slider 45 is arranged in one-to-one correspondence with the connecting rod 43, and the two ends of the connecting rod 43 are rotatably connected to the slider 45 and the end of the rotating arm 2 away from the driving mechanism 1 respectively;

[0046] The rotation of the rotating arm 2 drives the self-retaining component 5 to rotate synchronously, so as to drive the self-retaining component 5 to rotate relative to the rotating arm 2, so that the mounting rod 42 rotates relative to the rotating arm 2 and the slider 45 slides on the slide rail 33, so that the two suction cups 31 move closer to or away from each other.

[0047] The mounting rod 42 is fixedly connected to one end of the self-retaining assembly 5 away from the driving mechanism 1, so that when the self-retaining assembly 5 rotates relative to the rotating arm 2, the entire variable pitch assembly 4 is driven to rotate relative to the rotating arm 2, thereby changing the angle between the suction cup 31 and the axial direction of the rotating arm 2.

[0048] The rotation of the rotating arm 2 and the rotation of the self-holding component 5 relative to the rotating arm 2 make the two sliders 45 slide on the corresponding slide rails 44, so that the center distance between the suction cups 31 fixedly mounted on the two sliders 45 becomes larger or smaller, so as to achieve the purpose of changing the center distance between the two silicon wafers. After arriving at the processing station from the loading station, whether the spacing between the two silicon wafers becomes larger or smaller can be designed according to actual needs. If the center distance between the two silicon wafers of the incoming material is too large, the center distance between the two silicon wafers becomes smaller to reach the preset value after the rotating arm 2 rotates from the loading station to the processing station. If the center distance between the two silicon wafers of the incoming material is too small, the center distance between the two silicon wafers becomes larger to reach the preset value after the rotating arm 2 rotates from the loading station to the processing station.

[0049] Continue to refer Figure 5 Each of the connecting rods 43 includes a first connecting rod 431 and a second connecting rod 432. One end of the first connecting rod 431 is rotatably connected to the slider 45, and the other end is fixedly connected to one end of the second connecting rod 432. The other end of the second connecting rod 432 is rotatably connected to the rotating arm 2. In this way, the variable distance assembly 4 can adapt to the adjustment of more center distances by changing the position of the connection point between the first connecting rod 431 and the second connecting rod 432.

[0050] Embodiment 1:

[0051] like Figure 1-3 As shown, the self-holding assembly 5 includes a first connecting rod 51 and a second connecting rod 52, the two ends of the first connecting rod 51 are rotatably connected to the base 6 and one end of the second connecting rod 52 respectively, and the other end of the second connecting rod 52 is fixedly connected to the mounting rod 42;

[0052] When the rotating arm 2 rotates, the first connecting rod 51 is always parallel to the axial direction of the rotating arm 2, the first connecting rod 51 moves parallel to the axial direction of the rotating arm 2, and the second connecting rod 52 rotates relative to the rotating arm 2, so that the angle α between the first connecting rod 51 and the second connecting rod 52 and the angle β between the second connecting rod 52 and the rotating arm 2 change in opposite directions.

[0053] The rotating arm 2 , the first connecting rod 51 , the second connecting rod 52 , and the connecting line between the rotation center of the rotating arm 2 and the rotation center of the first connecting rod 51 form a parallelogram connecting rod structure.

[0054] The rotation center of the rotating arm 2 refers to the connection point between the rotating arm 2 and the driving mechanism 1, and the rotation center of the first connecting rod 51 refers to the connection point between the first connecting rod 51 and the mounting bracket 6. Under the action of the driving mechanism 1, the rotating arm 2 and the first connecting rod 51 both rotate around their respective rotation centers.

[0055] The driving mechanism 1 of this embodiment includes a driving motor 11 and a reducer 12 . The power output end of the driving motor 11 is connected to the reducer 12 , and the power output end of the reducer 12 is fixedly connected to the rotating arm 2 .

[0056] The present embodiment has at least one rotating arm 2, and preferably, the present embodiment has two rotating arms 2, and one end of the two rotating arms 2 is fixedly connected to the power output end of the reducer 12, and the two rotating arms 2 are perpendicular to each other.

[0057] When two rotating arms 2 are provided, for the convenience of description, the two rotating arms 2 are respectively named as a first rotating arm 21 and a second rotating arm 22 .

[0058] like Figure 2 As shown, the first rotating arm 21 is located at the loading station, and the second rotating arm 22 is located at the processing station. When the silicon wafer at the processing station is processed, the second rotating arm 22 moves the silicon wafer at the processing station to the unloading station, and the first rotating arm 21 moves the silicon wafer at the loading station to the processing station for processing.

[0059] The present embodiment is preferably configured such that the first rotating arm 21 reciprocates between the loading station and the processing station, and the second rotating arm 22 reciprocates between the processing station and the unloading station. The silicon wafers at the loading station are continuously transported to the processing station by the first rotating arm 21, and the processed silicon wafers are transported to the unloading station by the second rotating arm 21.

[0060] The present embodiment is described in detail by taking the rotation of the first rotating arm 21 as an example. Specifically, when the first rotating arm 21 rotates clockwise from Figure 2 Rotate the position in Figure 3 When the first rotating arm 21 rotates from the loading station to the processing station, the first connecting rod 51 also rotates 90° around its rotation center, the angle α gradually increases, and the angle β gradually decreases, so that the variable pitch component 4 fixedly connected to the second connecting rod 52 rotates counterclockwise relative to the first rotating arm 21, and its rotation angle value is consistent with the rotation angle value of the first rotating arm 21, so that the angle between the suction cup 31 and the first direction remains unchanged when it moves from the loading station to the processing station. In this process, the rotating arm 2 and the mounting rod 42 rotate so that the two sliders 45 on the variable pitch component 4 slide along the corresponding slide rails 44 and approach each other, so that the center distance between the two silicon wafers decreases to a preset value.

[0061] The process of the second rotating arm 22 moving from the processing station to the unloading station is similar to the above, except that the angle α gradually decreases, the angle β gradually increases, and the center distance between the two silicon wafers increases.

[0062] Of course, it is understandable that if the first rotating arm 21 moves from the loading station to the processing station, the angle α gradually decreases and the angle β gradually increases. At this time, the two sliders 45 in the variable distance assembly 4 slide away from each other along the corresponding slide rails 44, so that the center distance between the two silicon wafers increases and reaches the preset value.

[0063] When the first rotating arm 21 moves from the loading station to the processing station, the center distance between the two silicon wafers increases or decreases, which can be designed according to actual conditions.

[0064] In this embodiment, reference Figure 1 A support block 7 is fixedly mounted on one end of the rotating arm 2 away from the driving mechanism 1, an end of the mounting rod 42 away from the mounting frame 41 passes through the rotating arm 2 and is rotatably connected to the support block 7, and an end of the second connecting rod 52 away from the first connecting rod 51 is located between the rotating arm 2 and the support block 7.

[0065] Specifically, the support block 7 is provided with a bearing at the connection with the mounting rod 42, and the mounting rod 42 is rotatably connected to the bearing, so that the mounting rod 42 is rotatably connected to the support block 7. This can avoid the mounting rod 42 from tilting during the rotational pitch change process, improve the stability of the rotational pitch change, and thus increase its service life.

[0066] Embodiment 2:

[0067] like Figure 4 As shown, the self-holding assembly 5 includes a synchronous belt 53, a first synchronous wheel 54 and a second synchronous wheel 55, the first synchronous wheel 54 is fixedly mounted on the mounting bracket 6, the second synchronous wheel 55 is fixedly connected to the mounting rod 42, and the synchronous belt 53 is sleeved on the first synchronous wheel 54 and the second synchronous wheel 55;

[0068] The rotation of the rotating arm 2 drives the synchronous belt 53 to rotate synchronously, so as to drive the second synchronous wheel 55 to rotate in a direction opposite to the rotation direction of the rotating arm 2 .

[0069] The driving mechanism 1 of this embodiment includes a driving motor 11 and a reducer 12 . The power output end of the driving motor 11 is connected to the reducer 12 , and the power output end of the reducer 12 is fixedly connected to the rotating arm 2 .

[0070] The present embodiment has at least one rotating arm 2, preferably, the present embodiment has two rotating arms 2, and one end of the two rotating arms 2 is fixedly connected to the power output end of the reducer 12, and preferably, the two rotating arms 2 are perpendicular to each other.

[0071] Similar to the first embodiment, this embodiment is preferably configured such that one of the rotating arms 2 reciprocates between the loading station and the processing station, and the other rotating arm 2 reciprocates between the processing station and the unloading station.

[0072] In the process of transporting the silicon wafer from the loading station to the processing station, the driving motor 11 is started to drive the rotating arm 2 fixedly connected to the power output end of the reducer 12 to rotate, thereby driving the synchronous belt 53 to rotate synchronously, and the rotation of the synchronous belt 53 drives the second synchronous wheel 55 to rotate in the direction opposite to the rotation direction of the synchronous belt 53, so that the pitch-changing component 4 rotates relative to the rotating arm 2 in the direction opposite to the rotation direction of the rotating arm 2. In this process, the first synchronous wheel 54 is always fixed, and the synchronous belt 53 rotates relative to the first synchronous wheel 54, so that the rotation of the synchronous belt 53 only drives the second synchronous wheel 54 to rotate, and the angle of rotation of the pitch-changing component 4 relative to the rotating arm 2 is the same as the angle of rotation of the rotating arm 2 and the opposite direction, so that the angle between the silicon wafer and the first direction remains unchanged after it arrives at the processing station. In addition, the rotation of the rotating arm 2 and the second synchronous wheel 54 drives the slider 45 to slide on the corresponding slide rail 44, so that the two silicon wafers are close to each other or away from each other, so that after the pitch-changing component 4 arrives at the processing station, the center distance between the two silicon wafers reaches a preset value.

[0073] In this embodiment, a support block 7 is fixedly mounted on one end of the rotating arm 2 away from the driving mechanism 1, and an end of the mounting rod 42 away from the mounting frame 41 passes through the rotating arm 2 and is rotatably connected to the support block 7, and the second synchronous wheel 55 is located between the support block 7 and the rotating arm 2.

[0074] Specifically, the support block 7 is provided with a bearing at the connection with the mounting rod 42, and the mounting rod 42 is rotatably connected to the bearing, so that the mounting rod 42 is rotatably connected to the support block 7. This can avoid the mounting rod 42 from tilting during the rotational pitch change process, improve the stability of the rotational pitch change, and thus increase its service life.

[0075] Further, a fixing block 8 is installed on the base 6, and the first synchronous wheel 54 is fixedly installed on the fixing block 8. Specifically, the first synchronous wheel 54 is fixedly installed on the fixing block 8 through a shaft rod.

[0076] Furthermore, the synchronous belt 53 of this embodiment is an open synchronous belt, and both ends of the synchronous belt 53 are connected by a connecting piece 9.

[0077] In Embodiment 1-2, each rotating arm 2 is provided with a gas distribution component (not shown in the figure), and the gas distribution component is connected to the corresponding suction cup 31. The gas distribution component provides negative pressure to the corresponding suction cup 31, so that the silicon wafer is adsorbed on the corresponding suction cup 31.

[0078] The suction cup 31 and the air separation component used in the present application are both prior art, and the specific structures of the suction cup 31 and the air separation component are not described in detail here.

[0079] The rotating arm 2 of the present application may also be provided with only one or more than two, and the specific number of the provided arms may be designed according to actual conditions.

[0080] In this specification, each embodiment is described in a progressive, parallel, or progressive and parallel manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0081] It should be noted that in the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0082] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that an article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the article or device including the above elements.

[0083] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-retaining transport device with a rotating arm and variable pitch, characterized in that: The invention comprises a driving mechanism (1), a rotating arm (2), a suction cup assembly (3), a variable pitch assembly (4), a self-holding assembly (5) and a mounting bracket (6), wherein each of the rotating arm (2), the suction cup assembly (3), the variable pitch assembly (4) and the self-holding assembly (5) is provided with at least one and is arranged in a one-to-one correspondence, and each of the suction cup assemblies (3) comprises at least two suction cups (31); The driving mechanism (1) is mounted on the mounting bracket (6), the power output end of the driving mechanism (1) is connected to one end of the rotating arm (2), the suction cup assembly (3) is mounted on the variable pitch assembly (4), the variable pitch assembly (4) is rotatably connected to one end of the rotating arm (2) away from the driving mechanism (1), and is fixedly connected to one end of the self-retaining assembly (5) away from the driving mechanism (1); The rotation of the rotating arm (2) drives the self-retaining component (5) to rotate synchronously, thereby driving the self-retaining component (5) to rotate relative to the rotating arm (2), so that the variable pitch component (4) rotates relative to the rotating arm (2) and changes pitch at the same time, thereby changing the center distance between the suction cups (31) on the variable pitch component (4), and the angle of rotation of the variable pitch component (4) relative to the rotating arm (2) is the same as the angle of rotation of the rotating arm (2) and is opposite in direction.

2. The arm variable-length self-retaining transport device according to claim 1, characterized in that: Each of the suction cup assemblies (3) comprises two suction cups (31).

3. The arm variable-length self-retaining transport device according to claim 2, characterized in that: The variable pitch assembly (4) comprises a mounting frame (41), a mounting rod (42) and two connecting rods (43); one end of the mounting rod (42) is fixedly mounted on the middle part of the mounting frame (41); the other end of the mounting rod (42) is rotatably connected to an end of the rotating arm (2) away from the driving mechanism (1), and is fixedly connected to an end of the self-retaining assembly (5) away from the driving mechanism (1); Along the extension direction of the mounting frame (41), a slide rail (44) is fixedly installed at both ends of the mounting frame (41), each of the slide rails (44) is slidably connected to a slider (45), and each of the sliders (45) is fixedly installed with a suction cup (31); The slider (45) and the connecting rod (43) are arranged in one-to-one correspondence, and the two ends of the connecting rod (43) are rotatably connected to the slider (45) and one end of the rotating arm (2) away from the driving mechanism (1) respectively; The rotation of the rotating arm (2) drives the self-retaining component (5) to rotate synchronously, thereby driving the self-retaining component (5) to rotate relative to the rotating arm (2), so that the mounting rod (42) rotates relative to the rotating arm (2) and the slider (45) slides on the slide rail (44), so that the two suction cups (31) move closer to or farther away from each other.

4. The arm-variable-distance self-retaining transport device according to claim 3, characterized in that: Each of the connecting rods (43) comprises a first connecting rod (431) and a second connecting rod (432), one end of the first connecting rod (431) is rotatably connected to the slider (45), the other end is fixedly connected to one end of the second connecting rod (432), and the other end of the second connecting rod (432) is rotatably connected to the rotating arm (2).

5. The arm-variable-distance self-retaining transport device according to claim 3, characterized in that: The self-retaining assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), wherein two ends of the first connecting rod (51) are rotatably connected to the mounting bracket (6) and one end of the second connecting rod (52) respectively, and the other end of the second connecting rod (52) is fixedly connected to the mounting rod (42); When the rotating arm (2) rotates, the first connecting rod (51) is always parallel to the axial direction of the rotating arm (2), and the angle α between the first connecting rod (51) and the second connecting rod (52) and the angle β between the second connecting rod (52) and the rotating arm (2) change in opposite directions.

6. A rotating arm variable distance self-retaining transport device according to claim 5, characterized in that: A support block (7) is fixedly mounted on one end of the rotating arm (2) away from the driving mechanism (1); an end of the mounting rod (42) away from the mounting frame (41) passes through the rotating arm (2) and is rotatably connected to the support block (7); and an end of the second connecting rod (52) away from the first connecting rod (51) is located between the rotating arm (2) and the support block (7).

7. The arm-variable-distance self-retaining transport device according to claim 3, characterized in that: The self-holding component (5) comprises a synchronous belt (53), a first synchronous wheel (54) and a second synchronous wheel (55), wherein the first synchronous wheel (54) is fixedly mounted on the mounting bracket (6), the second synchronous wheel (55) is fixedly connected to the mounting rod (42), and the synchronous belt (53) is sleeved on the first synchronous wheel (54) and the second synchronous wheel (55); The rotation of the rotating arm (2) drives the synchronous belt (53) to rotate synchronously, so as to drive the second synchronous wheel (55) to rotate in a direction opposite to the rotation direction of the rotating arm (2).

8. The arm-variable-distance self-retaining transport device according to claim 7, characterized in that: A support block (7) is fixedly mounted on one end of the rotating arm (2) away from the driving mechanism (1); an end of the mounting rod (42) away from the mounting frame (41) passes through the rotating arm (2) and is rotatably connected to the support block (7); and the second synchronous wheel (55) is located between the support block (7) and the rotating arm (2).

9. The arm-variable-distance self-retaining transport device according to claim 7, characterized in that: A fixing block (8) is mounted on the mounting bracket (6), and the first synchronous wheel (54) is fixedly mounted on the fixing block (8).

10. A rotating arm variable distance self-retaining transport device according to any one of claims 1 to 9, characterized in that: Each of the rotating arms (2) is provided with an air distribution component, and the air distribution component is connected to the corresponding suction cup (31).

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