Graphite boat dismounting mechanism

Abstract

The utility model provides a graphite boat dismounting mechanism which comprises a displacement platform, a first robot and a second robot, the displacement platform is used for bearing a graphite boat and can drive the graphite boat to move in the length direction, and the first robot and the second robot are arranged on the two sides of the displacement platform respectively and used for dismounting the graphite boat. And the first robot and the second robot can replace different quick-change clamps for disassembling different parts of the graphite boat. The graphite boat dismounting device has the advantages that a traditional manual operation mode is replaced, automation of whole graphite boat dismounting is achieved, manpower is saved, and working efficiency and operation standardization are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic disassembly equipment, in particular to a graphite boat disassembly mechanism. Background Art

[0002] Graphite boat is a carrier for anti-reflection coating of solar cells. Graphite boat is composed of multiple vertically placed parallel boat pieces. Ceramic rods pass through both ends of the boat pieces and are fixed with nuts. Ceramic spacer rings are installed between the boat pieces. Boat feet are installed at both ends of the boat pieces, and graphite rods and ceramic rods are passed through the boat feet. The graphite boat that has been coated multiple times needs to be cleaned regularly in a special cleaning equipment. At the same time, the entire graphite boat needs to be disassembled and the card points on each boat piece need to be replaced. In the prior art, the entire graphite boat is usually disassembled manually, which has low disassembly efficiency and is prone to damage to the boat pieces if the operation is not standardized. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a graphite boat disassembly mechanism, which effectively solves the problems of low disassembly efficiency and irregular operation, and overcomes the shortcomings of the prior art.

[0004] The technical solution adopted by the utility model is: a graphite boat disassembly mechanism, comprising:

[0005] A displacement platform, used for carrying the graphite boat, and capable of driving the graphite boat to move along the length direction;

[0006] The first robot and the second robot are respectively arranged on both sides of the displacement platform to disassemble the graphite boat. The first robot and the second robot can replace different quick-change fixtures for disassembling different parts of the graphite boat.

[0007] Furthermore, the displacement platform includes a guide rail and a slide, the first robot and the second robot are respectively arranged on both sides of the guide rail, the slide can move along the guide rail, and a support frame is provided on the slide for placing the graphite boat.

[0008] Furthermore, a support positioning sheet is provided on the top of the support frame, and the support positioning sheet can be inserted between the boat sheets of the graphite boat.

[0009] Furthermore, a first collecting box is provided at the bottom of the support frame for collecting the removed fixing nuts and ceramic spacer rings.

[0010] Further, the quick-change fixture comprises:

[0011] A first quick-change fixture and a second quick-change fixture are respectively arranged on the first robot side and the second robot side, and can be detachably connected to the first robot and the second robot respectively, and are used to disassemble the fixing nut, the ceramic rod and the graphite rod of the graphite boat;

[0012] A third quick-change fixture is provided at the side of the first robot and can be detachably connected to the first robot and is used to disassemble the boat foot of the graphite boat;

[0013] The fourth quick-change fixture is arranged on the second robot side and can be detachably connected to the second robot for disassembling the boat piece of the graphite boat.

[0014] Furthermore, the first quick-change fixture, the second quick-change fixture, the third quick-change fixture and the fourth quick-change fixture are all provided with a quick-change docking module.

[0015] Furthermore, the first quick-change tool and the second quick-change tool both include a camera and a rotating jaw, the camera is used to position the rotating jaw, and the rotating jaw is used to rotate the fixing nut of the graphite boat or clamp the ceramic rod and graphite rod of the graphite boat.

[0016] Furthermore, the third quick-change tool comprises an upper clamping jaw and a lower clamping jaw, and the upper clamping jaw and the lower clamping jaw can respectively clamp the upper boat foot and the lower boat foot of the graphite boat simultaneously.

[0017] Furthermore, the fourth quick-change tool includes a plurality of suction nozzle modules, which are arranged side by side and are used to absorb the boat pieces of the graphite boat.

[0018] Furthermore, it also includes a second collecting box, a third collecting box and a boat sheet collecting device, the second collecting box is used to collect the ceramic rods and graphite rods of the graphite boat, and the third collecting box is used to collect the boat feet of the graphite boat.

[0019] The utility model has the advantages and positive effects of replacing the traditional manual operation mode by adopting the above technical scheme, realizing the automation of graphite boat assembly and disassembly, saving manpower, and improving work efficiency and operation standardization. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a graphite boat disassembly mechanism according to an embodiment of the utility model.

[0021] Figure 2 The utility model is a schematic diagram of a displacement platform structure of a graphite boat disassembly mechanism according to an embodiment of the utility model.

[0022] Figure 3 It is a schematic diagram of the structure of a first quick-change fixture of a graphite boat disassembly mechanism in an embodiment of the utility model.

[0023] Figure 4 It is a schematic diagram of the structure of the third quick-change fixture of a graphite boat disassembly mechanism in an embodiment of the utility model.

[0024] Figure 5 It is a schematic diagram of the structure of the fourth quick-change fixture of a graphite boat disassembly mechanism in an embodiment of the utility model.

[0025] Figure 6 It is a structural schematic diagram of a boat sheet collecting device of a graphite boat disassembly mechanism in an embodiment of the utility model.

[0026] In the figure:

[0027] 10. Displacement platform 11. Guide rail 12. Slide table

[0028] 13. Support frame 14. Rack 15. Driving motor

[0029] 16. Gear 17. First collection box 18. Supporting positioning piece

[0030] 20. First robot 21. Second collection box 22. Third collection box

[0031] 30. Second robot 31. Boat chip collecting device 311. Place bottom plate

[0032] 312, positioning rod 40, docking station 50, first quick-change fixture

[0033] 51, camera 52, rotating clamp 521, first clamping part

[0034] 522, second clamping portion 53, fixing plate 60, second quick-change fixture

[0035] 70. Third quick-change fixture 71. Upper clamp 72. Lower clamp

[0036] 73, fixed frame 74, cylinder 80, fourth quick-change fixture

[0037] 81. Mounting plate 82. Fixed beam 83. Suction nozzle

[0038] 90. Quick-change docking module DETAILED DESCRIPTION

[0039] The embodiment of the utility model provides a graphite boat disassembly mechanism, and the embodiment of the utility model is described below in conjunction with the accompanying drawings.

[0040] In the description of the embodiments of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "set" and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood by specific circumstances.

[0041] like Figure 1 As shown, a graphite boat disassembly mechanism according to an embodiment of the utility model comprises a displacement platform 10, a first robot 20 and a second robot 30. The displacement platform 10 is used to carry the graphite boat and can drive the graphite boat to move along the length direction. The first robot 20 and the second robot 30 are respectively arranged on both sides of the displacement platform 10 to disassemble the graphite boat. The first robot 20 and the second robot 30 can replace different quick-change fixtures for disassembling different parts of the graphite boat. The first robot 20 and the second robot 30 are both six-axis industrial robots, and the end of the robot arm can drive the quick-change fixture to realize six degrees of freedom, so as to realize the flexible disassembly of the entire graphite boat.

[0042] Specifically, Figure 2 As shown, the displacement platform 10 includes a guide rail 11 and a slide 12, the first robot 20 and the second robot 30 are respectively arranged on both sides of the guide rail 11, the slide 12 can move along the guide rail 11, and a support frame 13 is provided on the slide 12 for placing the graphite boat, and the slide 12 can drive the graphite boat to move along the length direction. The driving method of the slide 12 is not limited. In this embodiment, two guide rails 11 are arranged in parallel, and a slide 12 is provided on the guide rail 11. A rack 14 is installed along the side edge of the guide rail 11 on one side, and a drive motor 15 is vertically installed on the slide 12 of the side guide rail 11. A gear 16 is fixed on the output shaft of the drive motor 15, and the gear 16 is externally meshed with the rack 14. The drive motor 15 drives the gear 16 to mesh and roll along the rack 14, so that the slide 12 slides on the guide rail 11.

[0043] Preferably, Figure 1As shown, a docking platform 40 is provided at one end of the displacement platform 10. Since the first robot 20 and the second robot 30 are provided on both sides of the displacement platform 10, it is inconvenient to operate when placing a graphite boat on the displacement platform 10. Therefore, a docking platform 40 is provided at one end of the displacement platform 10, and a guide rail is provided on the docking platform 40, which is connected to the guide rail 11 on the displacement platform 10. When placing the graphite boat, the slide 12 can be driven to move the support frame 13 to the docking platform 40. At this time, there are no other devices on both sides of the docking platform 40, which is more conducive to the placement of the graphite boat. The graphite boat is placed on the support frame 13 moved to the docking platform 40, and then the slide 12 is driven so that the support frame 13 drives the graphite boat to move to the position of the first robot 20 and the second robot 30 for automatic disassembly.

[0044] Preferably, Figure 2 As shown, a support positioning piece 18 is provided on the top of the support frame 13, and the support positioning piece 18 can be inserted between the boat pieces of the graphite boat. During the disassembly of the entire boat, after the ceramic rods that fix the boat pieces are removed, the vertically placed boat pieces will tilt due to the lack of support, which is not conducive to subsequent disassembly. Therefore, a support positioning piece 18 is fixedly installed on the top of the support frame 13. When the graphite boat is placed, the support positioning piece 18 is inserted between the boat pieces, and the boat pieces are supported after the ceramic rods are removed. In this embodiment, three support frames 13 are installed on the slide 12, and a plurality of support positioning pieces 18 are placed at equal intervals on the top of each support frame 13.

[0045] Preferably, a first collecting box 17 is provided at the bottom of the supporting frame 13 for collecting the removed fixing nuts and ceramic spacer rings.

[0046] Specifically, Figure 1 As shown, the quick-change fixture includes a first quick-change fixture 50, a second quick-change fixture 60, a third quick-change fixture 70 and a fourth quick-change fixture 80. The first quick-change fixture 50 and the second quick-change fixture 60 are respectively arranged on the side of the first robot 20 and the side of the second robot 30, and can be detachably connected to the first robot 20 and the second robot 30, respectively, for disassembling the fixing nut, the ceramic rod and the graphite rod of the graphite boat. The third quick-change fixture 70 is arranged on the side of the first robot 20, and can be detachably connected to the first robot 20, for disassembling the boat foot of the graphite boat. The fourth quick-change fixture 80 is arranged on the side of the second robot 30, and can be detachably connected to the second robot 30, for disassembling the boat sheet of the graphite boat. By replacing the quick-change fixture, the robot can complete the disassembly of different parts of the graphite boat, realizing one machine for multiple uses and saving costs.

[0047] Preferably, Figure 3-5As shown, in order to be able to quickly replace the quick-change fixture, the first quick-change fixture 50, the second quick-change fixture 60, the third quick-change fixture 70 and the fourth quick-change fixture 80 are all provided with a quick-change docking module 90. The tool quick-change disc is a connection tool used in the end effector in the industrial robot industry, which is divided into a robot side and a tool side. The tool quick-change discs on the robot side and the tool side can be quickly matched and installed. The robot side is installed at the end of the robot's arm, and the tool side is installed on the execution tool. The tool quick-change disc can quickly realize electrical, gas and liquid communication between the robot side and the execution tool. One robot side can be used in conjunction with multiple tool sides according to the actual situation of the user. The quick-change docking module 90 in this embodiment specifically refers to a tool quick-change disc installed on the quick-change fixture, i.e., the tool side. The tool quick-change disc on the robot side is installed at the end of the mechanical arm of the first robot and the second robot. The tool quick-change disc is a prior art, and the specific structure is not repeated here.

[0048] Specifically, Figure 3 As shown, the first quick-change fixture 50 is the same as the second quick-change fixture 60, and both include a camera 51 and a rotating jaw 52. The camera 51 is used for taking pictures and positioning, and the rotating jaw 52 is used to rotate the fixed nut of the graphite boat or clamp the ceramic rod and graphite rod of the graphite boat. In this embodiment, the camera 51 is a CCD camera, and the rotating jaw 52 is an electric rotating jaw, which can clamp or rotate the parts. The camera 51 and the rotating jaw 52 are installed side by side on one side of the fixed plate 53, and a quick-change docking module 90 is installed on the other side of the fixed plate 53. During use, the camera 51 takes pictures of the nuts, graphite rods and ceramic rods that need to be disassembled to obtain relevant position information. The robot will position the rotating jaw 52 according to the position information, so as to perform precise disassembly. The CCD camera and the electric rotating jaw are both existing technologies, and the specific structure will not be repeated here.

[0049] Preferably, the clamping part of the rotating clamping jaw 52 includes a first clamping part 521 and a second clamping part 522 which are integrally arranged, the first clamping jaw part is used to clamp the graphite rod and the ceramic rod, and the second clamping jaw part is used to clamp the nut. Since the graphite rod, the ceramic rod and the nut have different shapes, when clamping, using the same clamping part, it is easy to cause loose clamping, so the first clamping part 521 and the second clamping part 522 with different shapes are provided to clamp components with different shapes.

[0050] Specifically, Figure 4As shown, the third quick-change clamp 70 includes an upper clamp 71 and a lower clamp 72, and the upper clamp 71 and the lower clamp 72 can clamp the upper boat foot and the lower boat foot of the graphite boat at the same time. In this embodiment, the upper clamp 71 and the lower clamp 72 are installed on one side of the fixed frame 73, and the quick-change docking module 90 is installed on the other side of the fixed frame 73. The upper clamp 71 and the lower clamp 72 are driven by a cylinder 74. The specific shape of the clamp needs to be adapted to the shape of the boat foot to ensure that the upper clamp 71 and the lower clamp 72 can clamp the upper boat foot and the lower boat foot at the same time.

[0051] Specifically, Figure 5 As shown, the fourth quick-change fixture 80 includes a plurality of suction nozzle modules, which are arranged side by side for adsorbing the boat pieces of the graphite boat. In this embodiment, a plurality of suction nozzle modules are installed side by side on a fixed beam 82 and are arranged at equal intervals. The suction nozzle module includes a mounting plate 81, and one end of the mounting plate 81 is fixedly connected to the fixed beam 82. A plurality of suction nozzles 83 are installed on one side of the mounting plate 81, and the specific number is not limited. A quick-change docking module 90 is installed on the side of the mounting plate 81 of the middle suction nozzle module where the suction nozzle 83 is not provided.

[0052] Preferably, Figure 1 As shown, the second collection box 21, the third collection box 22 and the boat piece collection device 31 are also included. The second collection box 21 is used to collect the ceramic rods and graphite rods of the graphite boat, and the third collection box 22 is used to collect the boat feet of the graphite boat. The specific form of the boat piece collection device 31 is not limited. In this embodiment, a second collection box 21 is placed on the first robot 20 side and a third collection box 22 is placed on the first robot 20 side, and the boat piece collection device 31 is placed on the second robot 30 side. Figure 6 As shown, the boat collecting device 31 includes a placement bottom plate 311 , and positioning rods 312 are installed around the placement bottom plate 311 .

[0053] Specific disassembly process:

[0054] The driving motor 15 drives the gear 16 to mesh and roll along the rack 14, so that the slide 12 drives the support frame 13 to slide on the guide rail 11 and move to the docking station 40, and the graphite boat to be disassembled is placed on the support frame 13. Then the slide 12 drives the support frame 13 and the graphite boat to move to the displacement platform 10 to start disassembly. During the disassembly process, the slide 12 will drive the graphite boat to move along the length direction according to the disassembly position, which is convenient for the first robot 20 and the second robot 30 to disassemble.

[0055] The first robot 20 and the second robot 30 are respectively equipped with a first quick-change fixture 50 and a second quick-change fixture 60. When removing the nut on the side of the first robot 20, the first robot 20 drives the first quick-change fixture 50 to rotate the nut, and the second robot 30 drives the second quick-change fixture 60 to clamp the ceramic rod or graphite rod corresponding to the nut. When removing the nut on the side of the second robot 30, the second robot 30 drives the second quick-change fixture 60 to rotate the nut, and the first robot 20 drives the first quick-change fixture 50 to clamp the ceramic rod or graphite rod corresponding to the nut. The first robot 20 and the second robot 30 cooperate with each other to remove the nut, and the removed nut and spring washer fall directly into the first collection box 17 at the lower part of the support frame 13.

[0056] After all nuts are removed, the first robot 20 drives the first quick-change fixture 50 to clamp the ceramic rod on the boat, pull the ceramic rod off the boat, and place the ceramic rod in the second collection box 21 on the side of the first robot 20. In the process of pulling out the ceramic rod, the ceramic spacer ring sleeved on the ceramic rod falls into the first collection box 17.

[0057] When disassembling the boat foot, the first robot 20 replaces the third quick-change fixture 70, the second robot 30 installs the second quick-change fixture 60, the first robot 20 drives the third quick-change fixture 70, so that the upper clamping jaw 71 and the lower clamping jaw 72 clamp the upper boat foot and the lower boat foot at the same time, and then the second robot 30 drives the second quick-change fixture 60 to clamp the ceramic rod and the graphite rod on the boat foot, and pull the ceramic rod and the graphite rod on the boat foot away from the boat foot, and the first robot 20 drives the third quick-change fixture 70 to place the clamped boat foot in the third collection box 22. The second robot 30 drives the second quick-change fixture 60 to place the pulled-out ceramic rod and graphite rod in the second collection box 21 on the second robot 30 side.

[0058] The second robot 30 replaces the fourth quick-change fixture 80 , and the second robot 30 drives the fourth quick-change fixture 80 to absorb the boats one by one, and places the boats in the boat collection device 31 .

[0059] The advantages and positive effects of the utility model are:

[0060] 1) It replaces the traditional manual operation mode and realizes the automation of the whole and disassembly of the graphite boat, which saves manpower and improves work efficiency and operation standardization.

[0061] 2) Combining robots with quick-change fixtures, one machine can be used for multiple purposes, saving costs.

[0062] 3) The graphite boat is placed in the length direction. When the ceramic rod is removed, the ceramic spacer ring in the middle of the boat piece automatically falls into the first collection box, which saves the time of removing the ceramic spacer ring and further improves the removal speed.

[0063] The above is a detailed description of the embodiments of the utility model, but the contents are only preferred embodiments of the utility model and cannot be considered to limit the scope of implementation of the utility model. All equivalent changes and improvements made within the scope of application of the utility model should still fall within the scope of the patent coverage of the utility model.

Claims

1. A graphite boat disassembly mechanism, characterized in that: include: A displacement platform, used for carrying the graphite boat, and capable of driving the graphite boat to move along the length direction; A first robot and a second robot are respectively arranged on both sides of the displacement platform to disassemble the graphite boat. The first robot and the second robot can replace different quick-change fixtures to disassemble different parts of the graphite boat. The quick-change fixture comprises: A first quick-change fixture and a second quick-change fixture are respectively arranged on the first robot side and the second robot side, and can be detachably connected to the first robot and the second robot respectively, and are used to disassemble the fixing nut, the ceramic rod and the graphite rod of the graphite boat; A third quick-change fixture is provided at the side of the first robot and can be detachably connected to the first robot and is used to disassemble the boat foot of the graphite boat; The fourth quick-change fixture is arranged on the second robot side and can be detachably connected to the second robot for disassembling the boat piece of the graphite boat.

2. The graphite boat disassembly mechanism according to claim 1, characterized in that: The displacement platform includes a guide rail and a slide, the first robot and the second robot are respectively arranged on both sides of the guide rail, the slide can move along the guide rail, and a support frame is provided on the slide for placing the graphite boat.

3. The graphite boat disassembly mechanism according to claim 2, characterized in that: A support positioning sheet is provided on the top of the support frame, and the support positioning sheet can be inserted between the boat sheets of the graphite boat.

4. The graphite boat disassembly mechanism according to claim 3, characterized in that: A first collecting box is provided at the bottom of the support frame for collecting the removed fixing nuts and ceramic spacer rings.

5. The graphite boat disassembly mechanism according to claim 1, characterized in that: The first quick-change fixture, the second quick-change fixture, the third quick-change fixture and the fourth quick-change fixture are all provided with a quick-change docking module.

6. The graphite boat disassembly mechanism according to claim 1, characterized in that: The first quick-change fixture and the second quick-change fixture both include a camera and a rotating jaw, the camera is used to position the rotating jaw, and the rotating jaw is used to rotate the fixing nut of the graphite boat or clamp the ceramic rod and graphite rod of the graphite boat.

7. A graphite boat disassembly mechanism according to claim 5 or 6, characterized in that: The third quick-change clamp comprises an upper clamp and a lower clamp, and the upper clamp and the lower clamp can respectively clamp the upper boat foot and the lower boat foot of the graphite boat at the same time.

8. The graphite boat disassembly mechanism according to claim 7, characterized in that: The fourth quick-change fixture includes a plurality of suction nozzle modules, which are arranged side by side and are used to absorb the boat pieces of the graphite boat.

9. A graphite boat disassembly mechanism according to any one of claims 1-6 and 8, characterized in that: It also includes a second collecting box, a third collecting box and a boat sheet collecting device, wherein the second collecting box is used to collect the ceramic rods and graphite rods of the graphite boat, and the third collecting box is used to collect the boat feet of the graphite boat.

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