Crucible clamp

Abstract

The utility model relates to the technical field of quartz crucible surface quality automatic detection, and discloses a crucible clamp which comprises a clamp and a crucible, and the crucible can be arranged under the clamp. The clamp comprises a supporting clamping jaw assembly, a driving clamping jaw assembly, a vacuum suction cup, a linear guide rail, a servo electric cylinder and a connecting flange, a feeding station is arranged at the bottom of the crucible, a robot is connected to the top of the clamp, and a visual inspection device a and a visual inspection device b are arranged on the left side and the right side of the robot correspondingly; a discharging station is arranged on the outer side of the robot. According to the crucible clamp, the crucible is grabbed from the conveying line through the robot and the crucible clamp, the crucible is conveyed to a detection area of visual detection equipment, the robot and the crucible clamp are used for clamping a workpiece, and various complex motions such as rotation, horizontal movement, up-down movement and front-back movement of the crucible are controlled in cooperation with a track required by visual detection; and comprehensive visual inspection is carried out on the crucible, so that the detection quality and efficiency can be greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic detection of the surface quality of quartz crucibles, and particularly relates to a crucible fixture. Background Technique

[0002] The quartz crucible is a key component for preparing high-purity single crystal silicon rods. The quartz crucible is continuously developing towards high purity, large size, low cost, and long life, and the size specifications are also getting larger and larger, with the weight ranging from dozens of kilograms to more than 200 kilograms.

[0003] In some production sites, the crucible is detected by manual visual inspection and detected with the aid of strong light irradiation. Visual fatigue is easy to occur, often resulting in missed inspections. In addition, due to the large size and weight of the crucible, the crucible needs to be flipped for manual inspection, which results in a large manual labor intensity and low efficiency. In some semi-automatic production sites, manual assistance is required to use handling equipment to transport the crucible to a special inspection equipment. The crucible is easily bumped during the handling process, which may damage the crucible. The price of the crucible is expensive, and the economic loss is large after damage. In addition, due to the large variety of crucible specifications, the handling tooling and inspection tooling are suitable for fewer workpiece specifications, and it is necessary to stop the machine to replace the applicable fixture and tooling, which is time-consuming and laborious and has low efficiency. In view of the above shortcomings, a crucible fixture is proposed. Content of the Utility Model

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the utility model provides a crucible fixture, which has the advantages of high detection quality and efficiency, can adapt to crucibles of multiple specifications, does not require tooling replacement, and can realize unattended operation for 24 hours continuously, and solves the problems of large manual labor intensity, low detection efficiency, easy visual fatigue, missed inspections, and the outflow of unqualified products.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the utility model provides the following technical solution: a crucible fixture, including a fixture and a crucible, and the crucible can be arranged directly below the fixture;

[0008] The fixture includes a support jaw assembly, a driving jaw assembly, a vacuum chuck, a linear guide rail, a servo electric cylinder, and a connecting flange. A feeding station is arranged at the bottom of the crucible. A robot is connected to the top of the fixture. An a vision detection device and a b vision detection device are respectively arranged on the left and right sides of the robot. A blanking station is arranged outside the robot.

[0009] As a preferred technical solution of the present utility model, left and right sliders are respectively arranged on the left and right sides of the linear guide rail. The top of the left slider is connected to the support jaw assembly, and the bottom of the left slider is connected to a servo electric cylinder. The top of the right slider is connected to the driving jaw assembly, and the bottom of the right slider is also connected to a servo electric cylinder. Cross beams are respectively and fixedly connected to both sides of the linear guide rail. An electric cylinder mounting plate is arranged on the top of the cross beam, and a sensor is arranged on the bottom of the cross beam. A common connecting plate is arranged on the opposite sides of the two cross beams. A bearing is provided in the central inner hole of the connecting plate. A suction cup connecting rod passes through the inner hole of the bearing. One end of the suction cup connecting rod is connected to a vacuum suction cup, and the other end of the suction cup connecting rod is connected to a rotary air pipe joint. The rotary air pipe joint is connected to a vacuum pump through a pipeline. A connecting flange is connected to the bottom of the connecting plate. One end of the connecting flange away from the connecting plate is connected to a robot. A central inner hole is provided inside the connecting flange, and a rotary air pipe joint is arranged in the central inner hole. The servo electric cylinder on the left is fixedly connected to the cross beam, and its output shaft is connected to the driving jaw assembly.

[0010] As a preferred technical solution of the present utility model, the support jaw assembly includes two driven rubber-coated rollers, an upper support plate, a lower support plate, a floating plate, a vertical plate, at least two guide posts, a nitrogen spring, a mounting base plate, and a reinforcing rod. Mounting base plates are connected to both the left and right sliders of the linear guide rail. A vertical plate is vertically mounted on the top of the mounting base plate. Two reinforcing rods are mounted at the hypotenuse of the vertical plate and the mounting base plate. A nitrogen spring is arranged on the right side of the vertical plate. The output end of the nitrogen spring is provided with a floating plate on the left side of the vertical plate. Clearance C is provided inside both the floating plate and the vertical plate.

[0011] As a preferred technical solution of the present utility model, two or more guide posts are fixedly mounted on the left side of the vertical plate. Guide sleeves that are matched with the guide posts are slidably mounted on the outer surfaces of the guide posts. The guide posts and the guide sleeves are fixedly connected to the floating plate. The upper and lower ends of the floating plate are respectively connected to an upper support plate and a lower support plate. Two symmetrical driven rubber-coated rollers are arranged on the left side of the vertical plate. The two driven rubber-coated rollers are respectively connected to the upper support plate and the lower support plate.

[0012] As a preferred technical solution of the present utility model, a skeleton made of a metal material is arranged inside the driven rubber-coated roller. A second bearing is provided inside the skeleton. A rubber-coated layer made of a polyurethane material is arranged outside the skeleton. Retaining rings that are fixed to the second bearing are arranged at both ends of the inner hole of the skeleton. Shafts are connected to the outer sides of the two second bearings in a matching manner. The two ends of the shafts are assembled and connected to the corresponding holes of the upper support plate and the lower support plate. The driven rubber-coated roller can rotate flexibly around the shaft.

[0013] As a preferred technical solution of the present utility model, the driving jaw assembly includes a driven rubber-coated roller, a rubber-coated driving roller, a second upper support plate, a second lower support plate, a synchronous belt, a synchronous pulley a, a synchronous pulley b, a reduction motor, a jaw vertical plate, a second mounting base plate and a second reinforcing rod. The left and right end sliders of the linear guide rail are both connected with a second mounting base plate. A jaw vertical plate is arranged on the top of the second mounting base plate. Two second reinforcing rods are installed at the hypotenuse of the second mounting base plate and the jaw vertical plate. A reduction motor is arranged on the top of the jaw vertical plate. The output shaft of the reduction motor is fixedly connected with a synchronous pulley b. The outer surface of the jaw vertical plate is provided with a second upper support plate and a second lower support plate, and a driven rubber-coated roller and a rubber-coated driving roller are respectively installed between them. The upper end output shaft of the rubber-coated driving roller is fixedly connected with a synchronous pulley a, and a synchronous belt is installed inside the synchronous pulley a and the synchronous pulley b.

[0014] As a preferred technical solution of the present utility model, the servo cylinder at the left end drives the left end slider of the linear guide rail to move linearly back and forth, and the supporting jaw assembly fixedly connected with the left end slider of the linear guide rail also moves linearly back and forth accordingly. The servo cylinder at the right end drives the right end slider of the linear guide rail to move linearly back and forth, and the driving jaw assembly fixedly connected with the right end slider of the linear guide rail also moves linearly back and forth accordingly. The moving directions of the driving jaw assembly and the supporting jaw assembly always remain relative or opposite. The servo cylinder controls the distance between the two to adapt to crucibles of different specifications. When the driving jaw assembly and the supporting jaw assembly clamp the crucible, the axis of the crucible coincides with the connecting flange.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the present utility model provides a crucible fixture, which has the following beneficial effects:

[0017] For this crucible fixture, a robot and the crucible fixture are used to grab the crucible from the conveyor line and transport the crucible to the detection area of the vision detection device. The robot and the crucible fixture hold the workpiece and cooperate with the trajectory required by the vision detection to manipulate various complex movements of the crucible, such as rotation, horizontal movement, vertical movement, and front-back movement, to conduct a comprehensive vision detection on the crucible, which can greatly improve the detection quality and efficiency. After the detection, the robot and the fixture place the workpiece on the blanking conveyor line. According to the qualified and unqualified products determined by the vision detection device, the blanking conveyor line transports the workpiece to the corresponding workstations. Description of the drawings

[0018] Figure 1 It is a schematic diagram of the production layout structure of the present utility model;

[0019] Figure 2 It is a schematic diagram of the external structure of the present utility model;

[0020] Figure 3Schematic structural diagram of the crucible defect detection fixture of the present utility model;

[0021] Figure 4 Schematic structural diagram of the support jaw assembly of the present utility model;

[0022] Figure 5 Schematic structural diagram of the driving jaw assembly of the present utility model;

[0023] Figure 6 Schematic structural diagram of the driven rubber-coated roller of the present utility model.

[0024] In the figure: 01-1, a vision detection device; 01-2, b vision detection device; 01-3, incoming material station; 01-4, blanking station; 02, crucible; 03, fixture; 03-1, support jaw assembly; 031-1, driven rubber-coated roller; 031-1-1, rubber-coated layer; 031-1-2, skeleton; 031-1-3, second bearing; 031-1-4, retaining ring; 031-1-5, rotating shaft; 031-2, upper support plate; 031-3, lower support plate; 031-4, floating plate; 031-5, vertical plate; 031-6, guide post; 031-7, guide sleeve; 031-8, nitrogen spring; 031-9, mounting base plate; 031-10, strengthening rod; 03-2, driving jaw assembly; 032-1, rubber-coated driving roller; 032-2, second upper support plate; 032-3, second lower support plate; 032-4, synchronous belt; 032-51, a synchronous pulley; 032-52, b synchronous pulley; 032-6, reduction motor; 032-7, jaw vertical plate; 032-8, second mounting base plate; 032-9, second strengthening rod; 03-3, vacuum suction cup; 03-4, suction cup connecting rod; 03-5, connecting plate; 03-6, bearing; 03-7, connecting flange; 03-8, sensor; 03-9, cross beam; 03-10, electric cylinder mounting plate; 03-11, servo electric cylinder; 03-12, linear guide rail; 03-13, rotary air pipe joint; 04, robot. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present utility model.

[0026] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the 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 should not be construed as a limitation to the present utility model.

[0027] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside 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 according to specific circumstances.

[0028] Please refer to Figure 1-2 , a crucible fixture, which is used on an automatic production line of quartz crucibles to realize the automatic detection of the appearance defects of the crucible 02. The crucible 02 is transported to the incoming material station 01-3 through the incoming material conveyor line. The fixture 03 is fixedly connected to the multi-joint robot 04. The vision detection devices 01-1 and 01-2 are distributed on the left and right sides of the robot 04 respectively. The blanking station 01-4 is arranged at the lower end of the robot 04. The incoming material station 01-3, the vision detection device 01-1, the vision detection device 01-2, and the blanking station 01-4 are centered on the robot 04 as a whole and are distributed within the working radius of the robot 04, presenting a circumferential arrangement. The vision detection devices 01-1 and 01-2 are respectively provided with a plurality of light sources and cameras for detecting the defects on the inner surface, outer surface, and the end face of the pot mouth of the crucible 02.

[0029] Please refer to Figure 1-6 , a crucible fixture, which is installed on the wrist of the multi-joint robot 04. The fixture 03 is composed of a support jaw assembly 03-1, a driving jaw assembly 03-2, a vacuum chuck 03-3, a linear guide 03-12, a servo electric cylinder 03-11, a connecting flange 03-7, etc.

[0030] In this embodiment, the supporting jaw assembly 03-1 is connected to the left-end slider of the linear guide 03-12. The left-end slider is connected to the servo cylinder 03-11 arranged at the left end. The driving jaw assembly 03-2 is connected to the right-end slider of the linear guide 03-12. The right-end slider is connected to the servo cylinder 03-11 arranged at the right end. The two sets of linear guides 03-12 are respectively fixedly connected to the two cross beams 03-9. The connecting plate 03-5 fixedly connects the two cross beams 03-9 into one body. An electric cylinder mounting plate 03-10 is arranged at the top of the cross beam 03-9. A sensor 03-8 is arranged at the bottom of the cross beam 03-9. The two cross beams 03-9 are symmetrically distributed at both ends of the connecting plate 03-5. A bearing 03-6 is arranged in the central inner hole of the connecting plate 03-5. The suction cup connecting rod 03-4 passes through the inner hole of the bearing. One end of the suction cup connecting rod 03-4 is connected to the vacuum suction cup 03-3, and the other end is connected to the rotary air pipe joint 03-13. The rotary air pipe joint 03-13 is connected to the vacuum pump through a pipeline. The suction cup connecting rod 03-4 can rotate along the axis of the bearing 03-6 arranged in the central inner hole of the connecting plate 03-5. One end of the connecting flange 03-7 is fixedly connected to the connecting plate 03-5, and the other end is connected to the robot 04. The connecting flange 03-7 is provided with an inner hole penetrating through the center. The rotary air pipe joint 03-13 is arranged in the central inner hole of the connecting flange 03-7. A hole for the pipeline to pass through is opened on the outer cylindrical surface of the upper part of the connecting flange, so that the pipeline connecting the vacuum pump and the rotary air pipe joint 03-13 can pass through. The servo cylinder 03-11 at the left end is fixedly connected to the cross beam 03-9, and its output shaft is connected to the supporting jaw assembly. The servo cylinder 03-11 at the right end is fixedly connected to the cross beam 03-9, and its output shaft is connected to the driving jaw assembly 03-2.

[0031] The supporting jaw assembly 03-1 is composed of two driven rubber-coated rollers 031-1, an upper support plate 031-2, a lower support plate 031-3, a floating plate 031-4, a vertical plate 031-5, at least two guide posts 031-6, and guide sleeves 031-7 that are slidably matched with the guide posts, a nitrogen spring 031-8, a mounting bottom plate 031-9, a reinforcing rod 031-10, etc.

[0032] In this embodiment, the mounting base plate 031-9 is connected to the slider on the linear guide 03-12. The vertical plate 031-5 is vertically mounted on the mounting base plate 31-9. The two reinforcing rods 031-10 are respectively connected to the mounting base plate 031-9 and the vertical plate 031-5. The nitrogen spring 031-8 is mounted on the vertical plate 031-5. The output shaft end of the nitrogen spring 031-8 abuts against the floating plate 031-4. A gap C is provided between the floating plate 031-4 and the vertical plate 031-5. The value of this gap C is greater than the dimensional tolerance of the outer diameter of the crucible 02 and is used to compensate for the workpiece size error. After the support roller assembly 031 and the driving jaw assembly 03-2 clamp the crucible 02, it is ensured that the value of the gap C is greater than 0. The clamping force of the crucible 02 is ensured by the spring force of the nitrogen spring 031-8, avoiding damage to the workpiece or the fixture.

[0033] In this embodiment, two or more guide posts 031-6 are fixedly connected to the vertical plate 031-5. Two or more guide sleeves 031-7 that are slidably matched with the guide posts 031-6 are fixedly connected to the floating plate 031-4. The upper support plate 031-2 and the lower support plate 031-3 are respectively fixedly connected to the upper and lower ends of the floating plate 031-4. The two driven rubber-coated rollers 031-1 are symmetrically arranged on both sides of the vertical plate 031-5 and are respectively connected to the upper support plate 031-2 and the lower support plate 031-3. The skeleton 031-1-2 of the driven rubber-coated roller 031-1 is made of metal, with a bearing 031-1-3 inside. The outer rubber-coated layer 031-1-1 is made of polyurethane. Retaining rings 031-1-4 are provided at both ends of the inner hole of the skeleton 031-1-2 for fixing the bearing 031-1-3. The rotating shaft 031-1-5 is connected in cooperation with the two bearings 031-1-3. The two ends of the rotating shaft 031-1-5 are assembled and connected to the corresponding holes of the upper support plate 031-2 and the lower support plate 031-3. The driven rubber-coated roller 031-1 can rotate flexibly around the rotating shaft 031-1-5.

[0034] The driving jaw assembly 03-2 consists of a driven rubber-coated roller 031-1, a rubber-coated driving roller 032-1, a second upper support plate 032-2, a second lower support plate 032-3, a synchronous belt 032-4, a synchronous pulley 032-51, a synchronous pulley 032-52, a reduction motor 032-6, a jaw vertical plate 032-7, a second mounting base plate 032-8, and a second reinforcing rod 032-9. The mounting base plate 032-8 is connected to the slider on the linear guide 03-12. The jaw vertical plate 032-7 is vertically mounted on the second mounting base plate 032-8. The two second reinforcing rods 032-9 are respectively connected to the second mounting base plate 032-8 and the jaw vertical plate 032-7. The reduction motor 032-6 is mounted on the upper part of the jaw vertical plate 032-7. The synchronous pulley 32-52 is fixedly connected to the output shaft of the reduction motor 032-6. The second upper support plate 032-2 and the second lower support plate 032-3 are connected to the jaw vertical plate 032-7. The driven rubber-coated roller 031-1 and the rubber-coated driving roller 032-1 are respectively mounted between them. The upper end output shaft of the rubber-coated driving roller 032-1 is fixedly connected to the synchronous pulley 032-51. The synchronous belt 032-4 is mounted between the synchronous pulley 032-51 and the synchronous pulley 032-52. When the reduction motor 032-6 rotates, it drives the synchronous pulley 032-52 to rotate, and drives the synchronous pulley 032-51 to rotate through the synchronous belt 032-4, and the rubber-coated driving roller 032-1 also rotates accordingly.

[0035] In this embodiment, the fixture 03 of the crucible 02 controls the opening degree and movement distance of the jaw assembly through the servo cylinder 03-11, and can adapt to the grasping and handling of crucibles 02 of multiple specifications.

[0036] In this embodiment, the vacuum suction cup 03-3 is concentric with the connecting flange 03-7. It is connected to the vacuum pump through the suction cup connecting rod 03-4, the rotating air pipe joint 03-13, and the connecting pipeline. During operation, the front end of the vacuum pump contacts the surface of the crucible 02. The vacuum pump extracts air to form negative pressure, so that the vacuum suction cup 03-3 adsorbs the crucible 02 and overcomes the weight of the crucible 02 to pick up the crucible 02.

[0037] In this embodiment, the driving jaw assembly 03-2 is provided with a rubber-coated driving roller 032-1 and a driven rubber-coated roller 031-1. The reduction motor 032-6 provided in the driving jaw assembly 03-2 drives the rubber-coated driving roller 032-1 to rotate through the synchronous belt 032-4.

[0038] In this embodiment, the support jaw assembly 03-1 has a floating structure. The two driven rubber-coated rollers 031-1 are connected to the floating plate 031-4. There is a gap C between the floating plate 031-4 and the jaw vertical plate 032-7. The value of the gap C is greater than the dimensional tolerance of the crucible 02. The floating plate 031-4 and the jaw vertical plate 032-7 are elastically and floatingly connected through a guide sleeve 031-7, a guide post 031-6, and a nitrogen spring 031-8. When the support jaw assembly 03-1 contacts the crucible 02 and provides a clamping force, the crucible 02 is clamped by the force of the nitrogen spring 031-8, and the value of the gap C is always greater than 0.

[0039] In this embodiment, the driving jaw assembly 03-2 and the support jaw assembly 03-1 can assist in clamping and supporting the crucible 02. Especially when the axis of the crucible 02 is in a horizontal state, the rubber-coated driving roller 032-1 of the driving jaw assembly 03-2 drives the crucible 02 to rotate around its own axis by friction. The other three driven rubber-coated rollers 031-1 also rotate with the crucible 02 and play a supporting role for the crucible 02.

[0040] In this embodiment, the servo cylinder 03-11 at the left end drives the slider of the left end of the linear guide 03-12 to move linearly back and forth. The support jaw assembly 03-1 fixedly connected to the slider of the left end of the linear guide 03-12 also moves linearly back and forth accordingly. The servo cylinder 03-11 at the right end drives the slider of the right end of the linear guide 03-12 to move linearly back and forth. The driving jaw assembly 03-2 fixedly connected to the slider of the right end of the linear guide 03-12 also moves linearly back and forth accordingly. The moving directions of the driving jaw assembly 03-2 and the support jaw assembly 03-1 always remain relative or opposite. The servo cylinder 03-11 controls the distance between the two to adapt to crucibles 02 of different specifications. After the driving jaw assembly 03-2 and the support jaw assembly 03-1 clamp the crucible 02, the axis of the crucible 02 coincides with the connecting flange 03-7.

[0041] During operation, the incoming material station 01-3 sends a workpiece in-place message. The fixture 03 automatically adjusts the opening degrees of the supporting jaw assembly 03-1 and the driving jaw assembly 03-2 according to the incoming material information to match the size of the crucible 02. The robot 04 drives the fixture 03 to move above the crucible 02 at the incoming material station 01-3. After the fixture 03 moves downward and approaches the crucible 02 to an appropriate position and stops (pre-set in the program according to the specification model of the crucible), at this time, the vacuum suction cup 03-3 contacts the outer arc surface at the bottom of the crucible 02. The vacuum suction cup 03-3 is connected to the rotary air pipe joint 03-13 through the suction cup connecting rod 03-4. The rotary air pipe joint 03-13 is connected to a vacuum pump through a pipeline. The vacuum pump starts to work, evacuating the air between the vacuum suction cup 03-3 and the crucible 02 to form a negative pressure. When the negative pressure value exceeds 0.04 MPa, usually when the negative pressure value is between 0.04 and 0.09 MPa, normal operation can be ensured. The suction force generated by the vacuum suction cup 03-3 can overcome the weight of the crucible 02 and adsorb the crucible 02. Then, the two servo cylinders 03-11 of the fixture 03 respectively drive the supporting jaw assembly 03-1 and the driving jaw assembly 03-2 to clamp the crucible 02. When the two driven rubber-coated rollers 031-1 on the supporting jaw assembly 03-1 and the driven rubber-coated rollers 031-1 and the rubber-coated driving roller 032-1 of the driving jaw assembly 03-2 all contact the crucible 02, as the servo cylinder 03-11 continues to work, the gap C on the supporting jaw assembly 031 becomes smaller, and the spring force of the nitrogen spring 031-8 comes into play. When the servo cylinder 03-11 stops working and the value of the gap C is greater than 0, the clamping force on the crucible 02 is provided by the nitrogen spring 031-8. Since the spring force of the nitrogen spring is nearly constant and the size of the gap C has little influence on the spring force, it can be considered that the spring clamping force received by the crucible 02 is basically constant. The advantages of this clamping method are as follows:

[0042] 1) The fluctuation of the outer diameter size tolerance of the crucible 02 will not affect the clamping force;

[0043] 2) The crucible 02 will not be damaged due to excessive clamping force;

[0044] 3) The fixture 03 will not be deformed or damaged due to excessive clamping force.

[0045] The robot 04 drives the fixture 03 and the crucible 02 to move to the a vision inspection station 01-1. During this period, the posture of the robot 04 is adjusted, and the axis of the crucible 02 changes from the vertical state to the horizontal state. The a vision inspection device 01-1 starts to work and takes pictures of the crucible 02 for inspection. At the same time, the deceleration motor 032-6 of the fixture 03 starts to rotate, drives the rubber-coated power roller 032-1 to rotate through the synchronous belt 032-4. The rubber-coated power roller 032-1 drives the crucible 02 to rotate around its own axis through friction. The vacuum suction cup 03-3 always adsorbs the crucible 02 and rotates with it. After rotating one circle, the robot 04 drives the crucible 02 to move horizontally a certain distance, and the camera of the a vision inspection device 01-1 inspects a new part of the crucible 02. In this way, the b vision inspection device can complete the inspection of the inner surface and the end face of the pot mouth of the crucible 02. If the crucible 02 is detected to have defects and is judged as a defective product, the robot 04 moves the crucible 02 to the blanking station 01-4, and the blanking conveyor line transports the crucible 02 to the defective product area. If it is judged that there are no defects, the robot 04 moves the crucible 02 to the b vision inspection device 01-2 station, repeats the above vision inspection actions, and conducts defect inspection on the outer surface of the crucible 02. After the inspection, the robot 04 moves the crucible 02 to the blanking station 01-4. According to the final inspection result, it is determined whether the crucible 02 is a good product or a defective product, and the blanking station 01-4 transports the crucible 02 to the corresponding area.

[0046] The beneficial effects of the above embodiments are as follows:

[0047] By using the robot 04 and the crucible fixture 03 to grab the crucible 02 from the conveyor line and transport the crucible 02 to the inspection area of the vision inspection device, the robot 04 and the crucible fixture 03 clamp the workpiece, cooperate with the trajectory required by the vision inspection, and manipulate various complex movements of the crucible 02 such as rotation, horizontal movement, vertical movement, and front-back movement to conduct a comprehensive vision inspection on the crucible 02, which can greatly improve the inspection quality and efficiency. After the inspection, the robot 04 and the fixture 03 place the workpiece on the blanking station 01-4. According to the good products and defective products determined by the vision inspection device, the blanking station 01-4 transports the workpiece to the corresponding stations.

[0048] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A crucible fixture, comprising a fixture (03) and a crucible (02), wherein the crucible (02) can be arranged directly below the fixture (03); Features: The clamp (03) comprises a supporting jaw assembly (03-1), a driving jaw assembly (03-2), a vacuum suction cup (03-3), a linear guide rail (03-12), a servo electric cylinder (03-11) and a connecting flange (03-7); a material receiving station (01-3) is arranged at the bottom of the crucible (02); a robot (04) is connected to the top of the clamp (03); a visual inspection device (01-1) and a visual inspection device (01-2) are arranged on the left and right sides of the robot (04), respectively; and a material unloading station (01-4) is arranged on the outer side of the robot (04).

2. A crucible fixture according to claim 1, characterized in that: The left and right sides of the linear guide rail (03-12) are respectively provided with a left end slider and a right end slider, the top of the left end slider is connected to the supporting jaw assembly (03-1), the bottom of the left end slider is connected to the servo electric cylinder (03-11), the top of the right end slider is connected to the driving jaw assembly (03-2), and the bottom of the right end slider is also connected to the servo electric cylinder (03-11), the two sides of the linear guide rail (03-12) are respectively fixedly connected with a crossbeam (03-9), the top of the crossbeam (03-9) is provided with an electric cylinder mounting plate (03-10), the bottom of the crossbeam (03-9) is provided with a sensor (03-8), and the opposite sides of the two crossbeams (03-9) are provided with a common connecting plate (03-5), and the central inner hole of the connecting plate (03-5) is provided with a bearing (03-6) The inner hole of the bearing (03-6) is penetrated by a suction cup connecting rod (03-4), one end of the suction cup connecting rod (03-4) is connected to a vacuum suction cup (03-3), the other end of the suction cup connecting rod (03-4) is connected to a rotating air pipe joint (03-13), the rotating air pipe joint (03-13) is connected to a vacuum pump through a pipeline, the bottom of the connecting plate (03-5) is connected to a connecting flange (03-7), the end of the connecting flange (03-7) away from the connecting plate (03-5) is connected to the robot (04), a central inner hole is opened on the inner side of the connecting flange (03-7), and a rotating air pipe joint (03-13) is arranged in the central inner hole, the servo electric cylinder (03-11) on the left is fixedly connected to the crossbeam (03-9), and its output shaft is connected to the driving jaw assembly (03-2).

3. A crucible fixture according to claim 2, characterized in that: The supporting clamping jaw assembly (03-1) comprises two driven rubber-coated rollers (031-1), an upper supporting plate (031-2), a lower supporting plate (031-3), a floating plate (031-4), a vertical plate (031-5), at least two guide pillars (031-6), a nitrogen spring (031-8), a mounting base plate (031-9), and a reinforcing rod (031-10). The left end slider and the right end slider of the linear guide rail (03-12) are both connected to the mounting base plate (031-9). The mounting base plate ( A vertical plate (031-5) is vertically installed on the top of the vertical plate (031-9), two reinforcing rods (031-10) are installed at the oblique sides of the vertical plate (031-5) and the installation base plate (031-9), a nitrogen spring (031-8) is arranged on the right side of the vertical plate (031-5), and a floating plate (031-4) located on the left side of the vertical plate (031-5) is arranged at the output end of the nitrogen spring (031-8), and a gap C is opened on the inner sides of the floating plate (031-4) and the vertical plate (031-5).

4. A crucible fixture according to claim 3, characterized in that: Two or more guide posts (031-6) are fixedly installed on the left side of the vertical plate (031-5), and a guide sleeve (031-7) matching with the guide post (031-6) is slidably installed on the outer surface of the guide post (031-6), and the guide post (031-6) and the guide sleeve (031-7) are fixedly connected to the floating plate (031-4), and the upper and lower ends of the floating plate (031-4) are respectively connected to the upper support plate (031-2) and the lower support plate (031-3), and two symmetrical driven rubber-coated rollers (031-1) are arranged on the left side of the vertical plate (031-5), and the two driven rubber-coated rollers (031-1) are respectively connected to the upper support plate (031-2) and the lower support plate (031-3).

5. A crucible fixture according to claim 4, characterized in that: A skeleton (031-1-2) made of metal material is arranged on the inner side of the driven rubber-coated roller (031-1), a second bearing (031-1-3) is provided inside the skeleton (031-1-2), a rubber-coated layer (031-1-1) made of polyurethane material is arranged on the outside of the skeleton (031-1-2), retaining rings (031-1-4) fixed to the second bearing (031-1-3) are arranged at both ends of the inner hole of the skeleton (031-1-2), and the outer sides of the two second bearings (031-1-3) are matched and connected with a rotating shaft (031-1-5), and the two ends of the rotating shaft (031-1-5) are assembled and connected with the corresponding holes of the upper support plate (031-2) and the lower support plate (031-3), and the driven rubber-coated roller (031-1) can flexibly rotate around the rotating shaft (031-1-5).

6. A crucible fixture according to claim 2, characterized in that: The driving clamping jaw assembly (03-2) comprises a driven rubber-coated roller (031-1), a rubber-coated power roller (032-1), a second upper support plate (032-2), a second lower support plate (032-3), a synchronous belt (032-4), a synchronous pulley (032-51), a synchronous pulley (032-52), a reduction motor (032-6), a clamping jaw vertical plate (032-7), a second mounting base plate (032-8) and a second reinforcing rod (032-9), the left end slider and the right end slider of the linear guide rail (03-12) are both connected to the second mounting base plate (032-8), the top of the second mounting base plate (032-8) is provided with a clamping jaw vertical plate (032-7), the second mounting base plate (032-8) and the clamping jaw vertical plate (032-9) are connected to the second mounting base plate (032-8), and the second mounting base plate (032-8) and the clamping jaw vertical plate (032-9) are connected to the second mounting base plate (032-8). -7) are provided with two second reinforcing rods (032-9) at the hypotenuse of the clamping jaw vertical plate (032-7), a reduction motor (032-6) is provided at the top of the clamping jaw vertical plate (032-7), the output shaft of the reduction motor (032-6) is fixedly connected with a synchronous pulley b (032-52), a second upper support plate (032-2) and a second lower support plate (032-3) are provided on the outer surface of the clamping jaw vertical plate (032-7), a driven rubber-coated roller (031-1) and a rubber-coated power roller (032-1) are respectively provided therebetween, the upper end output shaft of the rubber-coated power roller (032-1) is fixedly connected with a synchronous pulley a (032-51), and a synchronous belt (032-4) is installed on the inner side of the synchronous pulley a (032-51) and the synchronous pulley b (032-52).

7. The crucible fixture according to claim 2, characterized in that: The servo electric cylinder (03-11) at the left end drives the left end slider of the linear guide (03-12) to reciprocate linearly, and the supporting clamping jaw assembly (03-1) fixedly connected to the left end slider of the linear guide (03-12) also reciprocates linearly accordingly. The servo electric cylinder (03-11) at the right end drives the right end slider of the linear guide (03-12) to reciprocate linearly, and the driving clamping jaw assembly (03-2) fixedly connected to the right end slider of the linear guide (03-12) also reciprocates linearly accordingly. The movement directions of the driving clamping jaw assembly (03-2) and the supporting clamping jaw assembly (03-1) are always kept relative or opposite. The servo electric cylinder (03-11) controls the distance between the two to adapt to crucibles (02) of different specifications. When the driving clamping jaw assembly (03-2) and the supporting clamping jaw assembly (03-1) clamp the crucible (02), the axis of the crucible (02) coincides with the axis of the connecting flange (03-7).

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