Rod hanging robot

Abstract

The utility model relates to a rod hanging robot, which comprises a movable chassis, a driving wheel set, a swing mechanism, a driving wheel set, a driving wheel set, a driving wheel set, a driving wheel set, a driving wheel set and a driving wheel set, the driving wheel set is used for driving the chassis frame to move; the carrying assembly comprises a supporting bottom plate arranged on the rotating assembly, a transverse moving mechanism arranged on the supporting bottom plate, a lifting mechanism arranged on the transverse moving mechanism and a supporting claw mechanism installed on the lifting mechanism. The two sets of supporting claw mechanisms are arranged at the two ends of the lifting mechanism correspondingly. According to the automatic silicon rod feeding and discharging device, automatic silicon rod feeding and discharging can be carried out between the slicing machine table and the storage device, the labor cost can be reduced, the labor intensity of operators can be reduced, in addition, feeding and discharging can be achieved through one-time butt joint of the two supporting claw mechanisms, and then the production efficiency can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a rod hanging robot. Background Art

[0002] In the process of photovoltaic product processing, slicing of photovoltaic silicon rods is an extremely important step. In this step, it is necessary to load and unload the silicon rods, that is, to take out the silicon rods from the storage device, put them into the slicing machine for slicing, and then take out the cut silicon wafers and put in new silicon rods for slicing. At present, this process needs to be completed by relying on manual labor and auxiliary lifting jigs. However, due to the large weight of the silicon rods and silicon wafers, manual operation is time-consuming and laborious, and there are certain safety risks.

[0003] Moreover, the existing technology relies on manual labor and auxiliary lifting jigs to realize the loading and unloading process of silicon rods between the slicing machine and the storage device. Only one action can be completed in one docking, such as taking out the cut silicon wafers or putting in new silicon rods, which cannot meet the requirements of high-efficiency production. Summary of the Utility Model

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a rod hanging robot that can automatically load and unload silicon rods between the slicing machine and the storage device, reduce labor costs and labor intensity. Moreover, the rod hanging robot of the utility model can realize loading and unloading in one docking, improving production efficiency.

[0005] To solve the above technical problems, the utility model provides a rod hanging robot for loading and unloading silicon rods, including

[0006] A mobile chassis, including a chassis frame, and a driving wheel set and a slewing mechanism arranged on the chassis frame; the driving wheel set is used to drive the movement of the chassis frame; the slewing mechanism includes a rotating component fixedly connected to the chassis frame and a first driving component installed on the rotating component, and the rotating component is arranged on the chassis frame;

[0007] A handling component, including a supporting bottom plate arranged on the rotating component, a transverse movement mechanism arranged on the supporting bottom plate, a lifting mechanism arranged on the transverse movement mechanism, and a pawl mechanism installed on the lifting mechanism; the transverse movement mechanism is configured to drive the lifting mechanism to move horizontally; the lifting mechanism can drive the pawl mechanism to move in the height direction; there are two groups of the pawl mechanisms, and the two groups of pawl mechanisms are arranged at both ends of the lifting mechanism along the driving direction of the transverse movement mechanism; the pawl mechanism is used for hanging the silicon rod; the first driving component is configured to drive the supporting bottom plate to rotate horizontally through the rotating component.

[0008] In an embodiment of the present utility model, the rotating assembly further includes a slewing bearing installed on the chassis frame, an inner ring of the bearing fixed to the slewing bearing, and a first gear coaxially sleeved on the inner ring of the bearing; the first gear is rotationally matched with the inner ring of the bearing, and the height of the first gear is higher than that of the inner ring of the bearing.

[0009] In an embodiment of the present utility model, the first driving assembly includes a driving support plate, a first motor, and a second gear; the driving support plate is connected to the slewing bearing, the first motor is fixedly arranged on the driving support plate, the second gear is connected to the movable output end of the first motor, and the second gear meshes with the first gear.

[0010] In an embodiment of the present utility model, a plurality of adjustment holes are formed in the driving support plate, the slewing bearing extends in the horizontal direction to form a support portion, an adjustment groove is formed in the support portion, the driving support plate is placed in the adjustment groove, and the distance between the second gear and the outer ring of the first gear is adjusted through the adjustment holes.

[0011] In an embodiment of the present utility model, the transverse movement mechanism includes a linear slide rail arranged on the support bottom plate, a linear slider slidably connected to the linear slide rail, a first support seat fixedly connected to the linear slider, a second motor arranged on the first support seat, a translation gear arranged on the movable output end of the second motor, and a horizontal rack arranged on the support bottom plate, wherein the translation gear meshes with the horizontal rack.

[0012] In an embodiment of the present utility model, a pair of limit baffles are further arranged on the support bottom plate, and the two limit baffles are respectively arranged at both ends of the linear slide rail.

[0013] In an embodiment of the present utility model, the lifting mechanism includes a lifting bracket installed on the first support seat, a lifting platform arranged between the lifting brackets and capable of moving up and down along the lifting brackets, a third motor arranged on the lifting platform, a lifting gear arranged on the movable output end of the third motor, and a lifting rack meshing with the lifting gear; the lifting rack extends in the height direction and is fixed to the lifting rack of the lifting bracket.

[0014] In an embodiment of the present utility model, the lifting mechanism further includes guiding rollers arranged on both sides of the platform, and linear guide grooves arranged on the inner sides of the lifting brackets, and the guiding rollers are in rolling cooperation with the linear guide grooves.

[0015] In an embodiment of the present utility model, the claw mechanism includes at least two claws arranged side by side, and the claws are connected to the lifting platform.

[0016] In an embodiment of the present utility model, the mobile chassis is further provided with a radar assembly, the radar assembly includes at least two radar sensors, and the radar sensors are arranged along the diagonal direction of the chassis frame.

[0017] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0018] A stick hanging robot of the present utility model is provided with a mobile chassis and a handling assembly. The handling assembly is installed on the mobile chassis and can move to a designated position under the drive of the mobile chassis. At the same time, the handling assembly can also achieve horizontal rotation through the rotation assembly of the mobile chassis. The handling assembly includes a transverse movement mechanism, a lifting mechanism, and a pawl mechanism. There are two groups of pawl mechanisms and they are respectively located at both ends of the lifting mechanism in the horizontal direction. The lifting mechanism is arranged on the movable part of the transverse movement mechanism. Thus, the pawl mechanism can achieve movement in the height direction and horizontal movement under the mutual cooperation and joint action of the transverse movement mechanism and the lifting mechanism. Therefore, the stick hanging robot of the present utility model can automatically load and unload silicon rods between the slicing machine platform and the storage device, can reduce labor costs, and reduce the labor intensity of operators. In addition, the present utility model can perform two working processes of loading and unloading through one docking of the two pawl mechanisms, and thus can effectively improve production efficiency. Description of the Drawings

[0019] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings, wherein.

[0020] Figure 1 is a schematic structural diagram of the stick hanging robot.

[0021] Figure 2 is a top view schematic diagram of the mobile chassis.

[0022] Figure 3 is a partial structural schematic diagram of the rotation assembly and the first drive assembly.

[0023] Figure 4 is Figure 3 a partially enlarged structural schematic diagram of A in

[0024] Figure 5 is a schematic structural diagram of the handling assembly.

[0025] Description of the reference numerals in the drawings: 1. silicon rod; 2. moving chassis; 20. chassis frame; 21. drive wheel set; 22. slewing mechanism; 201. slewing support; 202. inner ring of bearing; 203. first gear; 204. drive support plate; 2040. adjustment hole; 205. first motor; 206. second gear; 207. support part; 2070. adjustment groove; 30. handling assembly; 301. support bottom plate; 302. linear slide rail; 303. linear slider; 304. first support seat; 305. second motor; 306. horizontal rack; 307. limit baffle; 40. lifting bracket; 41. third motor; 410. lifting gear; 42. lifting rack; 43. lifting platform; 44. guiding roller; 45. linear guide groove; 50. supporting claw; 6. radar assembly; 60. radar sensor. Detailed implementation manners

[0026] The present utility model will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the specific embodiments cited are not intended to limit the present utility model.

[0027] Referring to Figures 1 to 5 As shown, the present utility model discloses a rod-hanging robot for loading and unloading the silicon rod 1.

[0028] Specifically, the rod-hanging robot includes a moving chassis 2 and a handling assembly 30 provided on the moving chassis 2. The moving chassis 2 includes a chassis frame 20, and a drive wheel set 21 and a slewing mechanism 22 provided on the chassis frame 20. Among them, the drive wheel set 21 is used to drive the movement of the chassis frame 20. Generally, the drive wheel set 21 includes a drive wheel with power input and a driven wheel without power.

[0029] The slewing mechanism 22 includes a rotating assembly fixedly connected to the chassis frame 20 and a first driving assembly mounted on the rotating assembly. The rotating assembly is provided on the chassis frame 20. The first driving assembly is used to drive the operation of the rotating assembly.

[0030] As a preferred embodiment, the rotating assembly includes a slewing bearing 201 mounted on the chassis frame 20, an inner bearing ring 202 fixed to the slewing bearing 201, and a first gear 203 coaxially sleeved on the inner bearing ring 202. Among them, the first gear 203 is rotationally matched with the inner bearing ring 202. The first gear 203 cooperates with the first driving assembly. The outer peripheral surface of the first gear is provided with a plurality of teeth. The first driving assembly is used to drive the first gear 203 to rotate horizontally. Thus, the height of the first gear 203 is higher than the height of the inner bearing ring 202, so as to facilitate supporting the handling assembly 30 and make there be a certain gap between the handling assembly 30 and the top surface of the mobile chassis, avoiding interference between the handling assembly 30 and the top surface of the mobile chassis 2 during the horizontal rotation of the first gear.

[0031] The first driving assembly includes a driving support plate 204, a first motor 205, and a second gear 206. Specifically, the driving support plate 204 is connected to the slewing bearing 201. The first motor 205 is fixedly arranged on the driving support plate 204. The second gear 206 is connected to the movable output end of the first motor 205. The second gear 206 meshes with the first gear 203. With such a setting, when the first motor 205 works, it can drive the second gear 206 to rotate, and thus the second gear 206 drives the first gear 203 to rotate synchronously. In a further embodiment, the first motor 205 is fixed to the bottom of the driving support plate 204 through a speed reducer. The output end of the first motor 205 is connected to the input end of the speed reducer, and the output end of the speed reducer penetrates upward through the driving support plate 204 and is coaxially and fixedly connected to the second gear 206. Define the speed reducer connected to the first motor as the first speed reducer (not marked in the figure).

[0032] As a preferred embodiment, a plurality of adjustment holes 2040 are formed in the driving support plate 204, and the adjustment holes 2040 are waist-shaped holes. The slewing bearing 201 extends horizontally to form a support portion 207. An adjustment groove 2070 is formed in the support portion 207. The driving support plate 204 is placed in the adjustment groove 2070. The distance between the second gear 206 and the outer ring of the first gear 203 is adjusted through the adjustment holes 2040. Specifically, the adjustment holes 2040 are provided with fastening bolts penetrating the support portion 207. After the driving support plate 204 moves in place in the adjustment groove 2070 to keep the first gear 203 and the second gear 206 in a good meshing state, the fastening bolts can be tightened.

[0033] In this embodiment, the handling assembly 30 includes a support bottom plate 301 arranged on the rotating assembly, a transverse movement mechanism arranged on the support bottom plate 301, a lifting mechanism arranged on the transverse movement mechanism, and a pawl mechanism installed on the lifting mechanism.

[0034] In order to improve the operation efficiency of loading and unloading, loading and unloading are achieved through one-time docking. There are two groups of gripper mechanisms 306, which are respectively arranged at both ends of the lifting mechanism.

[0035] As a preferred embodiment, the transverse movement mechanism is arranged to drive the lifting mechanism to move in the horizontal direction. The lifting mechanism can drive the gripper mechanism to move in the height direction. The two groups of gripper mechanisms are arranged at both ends of the lifting mechanism along the driving direction of the transverse movement mechanism. The gripper mechanism is used to hold the silicon rod 1. The silicon rod here can refer to an unsliced silicon rod or a sliced silicon rod.

[0036] The first driving component is arranged to drive the support base plate 301 to rotate horizontally through the rotating component. With such an arrangement, the transverse movement mechanism, the lifting mechanism, and the two groups of gripper mechanisms located on the support base plate 301 can all rotate horizontally with the support base plate 301, thus facilitating the commutation of the two groups of gripper mechanisms. Furthermore, after the rod hanging robot docks with the workbench once, by commuting the two groups of gripper mechanisms, the loading and unloading of the silicon rod are realized, thereby avoiding the problem of reduced efficiency caused by multiple dockings of the rod hanging robot.

[0037] As a preferred embodiment, the transverse movement mechanism includes a linear slide rail 302 arranged on the support base plate 301, a linear slider 303 slidably connected to the linear slide rail 302, a first support seat 304 fixedly connected to the linear slider 303, a second motor 305 arranged on the first support seat 304, a translation gear (not shown in the figure) arranged on the movable output end of the second motor 305, and a horizontal rack 306 arranged on the support base plate 301. Among them, the translation gear meshes with the horizontal rack 306.

[0038] With such an arrangement, when the second motor 305 works, it can drive the translation gear to move along the horizontal rack 306, thereby driving the first support seat 304 to move along the extension direction of the linear slide rail 302. In a further embodiment, the second motor 305 is fixed to the top of the first support seat 304 through a reducer. The output end of the second motor 305 is connected to the input end of the reducer, and the output end of the reducer penetrates downward through the first support seat 304 and is coaxially fixedly connected to the translation gear. The reducer connected to the second motor is defined as the second reducer (not marked in the figure).

[0039] In terms of details, in order to limit the operation of the transverse movement mechanism, a pair of limit baffles 307 are also arranged on the support base plate 301, and the two limit baffles 307 are respectively arranged at both ends of the linear slide rail 302.

[0040] As a preferred embodiment, the lifting mechanism includes a lifting bracket 40 mounted on the first support base 304, a lifting platform 43 disposed between the lifting brackets 40 and capable of moving up and down along the lifting brackets 40, a third motor 41 disposed on the lifting platform 43, a lifting gear 410 disposed on the movable output end of the third motor 41, and a lifting rack 42 engaged with the lifting gear 410. Among them, the lifting rack 42 extends along the height direction and is fixed to the lifting rack 42 of the lifting bracket 40. Among them, the lifting bracket 40 is a portal bracket, and the lifting gear 42 is disposed on the side of one of the vertical brackets in the lifting bracket. In a further embodiment, the third motor 41 is fixed to the top of the lifting platform 43 through a speed reducer. The output end of the third motor 41 is connected to the input end of the speed reducer, and the output end of the speed reducer extends horizontally and is fixedly connected to the lifting rack 42 coaxially. The speed reducer connected to the third motor 41 is defined as the third speed reducer (not marked in the figure).

[0041] Specifically, the lifting mechanism further includes guiding rollers 44 disposed on both sides of the lifting platform 43, and linear guide grooves 45 disposed on the inner side of the lifting bracket 40. Among them, the guiding rollers 44 are in rolling cooperation with the linear guide grooves 45. The linear guide grooves 45 are disposed on the opposite inner sides of the two vertical brackets.

[0042] As a preferred embodiment, in order to ensure that the claw mechanism can stably hold the silicon rod 1 during the loading and unloading processes, the claw mechanism includes at least two claws 50 arranged side by side, and the two claws 50 are connected to the lifting platform 43. Specifically, the lifting platform 43 includes a support plate extending along the driving direction of the transverse movement mechanism, and a claw mechanism is disposed at each end of the support plate. The two claws 50 of each claw mechanism are arranged side by side at the end of the support plate.

[0043] In order to facilitate the hanging rod robot to monitor the surrounding environment in real time during movement, the mobile chassis is further provided with a radar assembly 6. Through the radar assembly 6, the environment around the mobile chassis can be detected, so as to avoid collisions with surrounding obstacles during the movement of the mobile chassis and the rotation of the handling assembly.

[0044] The radar assembly includes at least two radar sensors 60. The radar sensors 60 are oppositely arranged along the diagonal direction of the chassis frame 20. This setting can effectively increase the detection range of the radar sensors 60. In the extreme case, only two radar sensors 60 are needed to realize the obstacle detection around the mobile chassis.

[0045] It can be known from this that a hanging rod robot to be protected by the present utility model can automatically load and unload silicon rods between a slicing machine table and a storage device, can reduce labor costs, and can reduce the labor intensity of operators. In addition, the present utility model can realize the commutation of two pawl mechanisms through a slewing mechanism, so that the hanging rod robot can complete the loading and unloading tasks in one docking process, thereby effectively improving production efficiency.

[0046] In the description of the embodiments of the present utility model, it should also be noted that unless otherwise clearly specified and limited, if the terms "set" and "connected" are used, they 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 a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can 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 situations.

[0047] In the description of the present utility model, it should be understood that the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] In the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between 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 situations.

[0049] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A rod hanging robot, used for loading and unloading silicon rods, characterized in that: include, The mobile chassis comprises a chassis frame, and a driving wheel set and a slewing mechanism arranged on the chassis frame; The driving wheel group is used to drive the chassis frame to move; the slewing mechanism includes a rotating assembly fixedly connected to the chassis frame and a first driving assembly installed on the rotating assembly, and the rotating assembly is arranged on the chassis frame; The transport assembly includes a supporting base plate arranged on the rotating assembly, a transverse movement mechanism arranged on the supporting base plate, a lifting mechanism arranged on the transverse movement mechanism, and a claw mechanism installed on the lifting mechanism; the transverse movement mechanism is arranged to drive the lifting mechanism to move in the horizontal direction; the lifting mechanism can drive the claw mechanism to move in the height direction; the claw mechanism is provided with two groups, and the two groups of claw mechanisms are arranged at both ends of the lifting mechanism along the driving direction of the transverse movement mechanism; the claw mechanism is used to hang the silicon rod; the first driving assembly is arranged to drive the supporting base plate to rotate horizontally through the rotating assembly.

2. The rod-hanging robot according to claim 1, characterized in that: The rotating assembly also includes a slewing support installed on the chassis frame, a bearing inner ring fixed on the slewing support, and a first gear coaxially sleeved on the bearing inner ring; the first gear is rotatably matched with the bearing inner ring, and the height of the first gear is higher than the height of the bearing inner ring.

3. The rod-hanging robot according to claim 2, characterized in that: The first driving assembly includes a driving support plate, a first motor, and a second gear; the driving support plate is connected to the slewing support, the first motor is fixedly arranged on the driving support plate, the second gear is connected to the movable output end of the first motor, and the second gear is meshed with the first gear.

4. The rod-hanging robot according to claim 3, characterized in that: The driving support plate is provided with a plurality of adjustment holes, the slewing support extends in a horizontal direction to form a support portion, the support portion is provided with an adjustment groove, the driving support plate is placed in the adjustment groove, and the distance between the second gear and the outer ring of the first gear is adjusted through the adjustment holes.

5. The rod-hanging robot according to any one of claims 1 to 4, characterized in that: The transverse movement mechanism includes a linear slide rail arranged on the supporting base plate, a linear slider slidably connected to the linear slide rail, a first supporting seat fixedly connected to the linear slider, a second motor arranged on the first supporting seat, a translation gear arranged on the active output end of the second motor, and a horizontal rack arranged on the supporting base plate, wherein the translation gear is meshed with the horizontal rack.

6. The rod-hanging robot according to claim 5, characterized in that: The support bottom plate is also provided with a pair of limit baffles, and the two limit baffles are respectively arranged at two ends of the linear slide rail.

7. The rod-hanging robot according to claim 5, characterized in that: The lifting mechanism includes a lifting bracket installed on the first support seat, a lifting platform arranged between the lifting brackets and movable up and down along the lifting brackets, a third motor arranged on the lifting platform, a lifting gear arranged at the movable output end of the third motor, and a lifting rack meshing with the lifting gear; The lifting rack is extended along the height direction and fixed to the lifting rack of the lifting bracket.

8. The rod-hanging robot according to claim 7, characterized in that: The lifting mechanism further comprises guide rollers arranged on both sides of the platform and a linear guide groove arranged on the inner side of the lifting bracket, and the guide rollers are in rolling cooperation with the linear guide groove.

9. The rod-hanging robot according to claim 7, characterized in that: The claw mechanism comprises at least two claws arranged side by side, and the claws are connected to the lifting platform.

10. The rod-hanging robot according to claim 1, characterized in that: The mobile chassis is further provided with a radar assembly, which includes at least two radar sensors, and the radar sensors are arranged along the diagonal direction of the chassis frame.

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