Boat carrying mechanism

Abstract

The utility model relates to a boat carrying mechanism which comprises a lifting module, a telescopic module, a boat carrying module and a position detection module, the lifting module comprises a stand column, a lifting transmission part and a lifting driving part, and the lifting driving part drives synchronous transmission of the lifting transmission part; the telescopic module can ascend and descend in the vertical direction and comprises a main mounting plate, a first-stage mounting plate, a second-stage mounting plate and a telescopic driving part, and the telescopic driving part drives the first-stage mounting plate and the second-stage mounting plate to move at the same time; the boat carrying module comprises a connecting rod and a clamping jaw, and the connecting rod is connected between the secondary mounting plates on the two sides; the position detection module is connected with the lifting driving part and used for detecting the height position of the telescopic module and feeding back the height position to the lifting driving part. Closed-loop control can be achieved, accurate control over the position during lifting is guaranteed, the telescopic speed is higher, the length of a cantilever is reduced, the structural rigidity is better, shaking and errors during movement are avoided, the structure of the mechanism is simplified, one boat carrying mechanism carries all positions in a compatible mode, and carrying efficiency is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of the processing of solar cell wafers, and particularly relates to a boat transfer mechanism. Background Art

[0002] In the manufacturing process of semiconductors and solar photovoltaic cells, a boat transfer mechanism is required to transfer the carrier boats from the paddle upper station, the streamline station, and the boat buffer station. The boat transfer mechanism not only needs to lift and lower in the height direction but also needs to translate between each station.

[0003] The existing boat transfer mechanisms have the following problems:

[0004] 1. The existing boat transfer mechanisms can only extend and pick up / place in one direction, with too long cantilevers, slow speeds, and poor rigidity;

[0005] 2. The lifting and lowering in the height direction cannot achieve closed-loop control, and the lifting and lowering accuracy is relatively low;

[0006] 3. There are many driving components, and the structure and control are complex;

[0007] 4. Only one carrier boat can be transferred at a time, resulting in low efficiency. Summary of the Invention

[0008] The purpose of the utility model is to provide a boat transfer mechanism.

[0009] To achieve the above purpose, the technical scheme adopted by the utility model is:

[0010] A boat transfer mechanism, comprising:

[0011] A lifting module: The lifting module includes columns, a lifting transmission member, and a lifting driving member. The columns are respectively located on both sides and extend in the vertical direction. The lifting transmission members are respectively arranged on the columns, and the lifting transmission member can be transmitted in the vertical direction. The lifting driving member is simultaneously in transmission connection with the lifting transmission member for driving the synchronous transmission of the lifting transmission member;

[0012] A telescopic module: The telescopic module can lift and lower along the columns in the vertical direction. The telescopic module includes a main mounting plate, a first-stage mounting plate, a second-stage mounting plate, and a telescopic driving member. The main mounting plate is connected to the lifting transmission member. The first-stage mounting plate is connected to the main mounting plate and can move relative to the main mounting plate. The second-stage mounting plate is connected to the first-stage mounting plate and can move relative to the first-stage mounting plate. The telescopic driving member is simultaneously in transmission connection with the first-stage mounting plate and the second-stage mounting plate for driving the simultaneous movement of the first-stage mounting plate and the second-stage mounting plate;

[0013] Boat Transfer Module: The boat transfer module includes a connecting rod and clamping jaws. The connecting rod is connected between the two secondary mounting plates on both sides, and the clamping jaws are connected to the connecting rod. There are at least two clamping jaws, and a boat carrier clamping area is formed between the two clamping jaws;

[0014] Position Detection Module: The position detection module is connected to the lifting drive member, and is used to detect the height position of the telescopic module and feedback it to the lifting drive member.

[0015] Preferably in the above technical solution, the position detection module includes a magnetic scale and a magnetic scale reader head. The magnetic scale is arranged on the column and extends in the vertical direction. The magnetic scale reader head is connected to the telescopic module and is signal-connected to the lifting drive member, and is used to read the height degree on the magnetic scale and feedback the signal to the lifting drive member.

[0016] More preferably, the telescopic module includes a slider. The main mounting plate is connected to the lifting transmission member through the slider, and the magnetic scale reader head is connected to the slider.

[0017] Preferably in the above technical solution, the position detection module includes detection members. A plurality of detection members are distributed along the height direction of the column. On the one hand, the detection members can determine the height position of the telescopic module, and on the other hand, they can be used for anti-fooling processing in the program to prevent handling failures caused by incorrect input of personnel parameters during handling.

[0018] More preferably, the detection member is a groove-shaped photoelectric sensor, and a light-shielding piece is arranged on the telescopic module for cooperating with the groove-shaped photoelectric sensor to trigger a photoelectric signal.

[0019] Even more preferably, the telescopic module includes a slider. The main mounting plate is connected to the lifting transmission member through the slider, and the light-shielding piece is connected to the slider.

[0020] More preferably, a plurality of the detection members on one side of the column are used to detect different heights of the telescopic module; two of the detection members on the other side of the column are respectively arranged at the upper and lower ends of the column to detect the limit positions of the telescopic module, and one of the detection members is arranged at the lower part of the column to detect the origin position of the telescopic module.

[0021] Preferably in the above technical solution, the lifting drive member is connected to one side of the lifting transmission member, and one side of the lifting transmission member is connected to the lifting transmission member on the other side through a rotating shaft, and the lifting drive member drives the lifting transmission members on both sides to lift synchronously at the same time.

[0022] Preferably, in the above technical solution, the lifting transmission member is a synchronous belt; and the lifting drive member is a servo motor.

[0023] Preferably, the above technical solution is that the telescopic module includes a primary synchronous belt, a secondary synchronous belt and a transmission plate, the primary synchronous belt is arranged on the main mounting plate, the telescopic drive member is connected to the primary synchronous belt, and the primary mounting plate is connected to the primary synchronous belt; the secondary synchronous belt is arranged on the primary mounting plate, and the secondary mounting plate is connected to the secondary synchronous belt; the transmission plate is connected to the main mounting plate and to the secondary synchronous belt.

[0024] Further preferably, a strip hole is opened on the primary mounting plate, the extension direction of the strip hole is consistent with the conveying direction of the secondary synchronous belt, and the transmission plate passes through the hole to be connected with the secondary synchronous belt.

[0025] In the above technical solution, preferably, the main mounting plate is provided with a guide rail, the primary mounting plate is provided with a roller, and the roller is rollably provided on the guide rail; and / or

[0026] The primary mounting plate is provided with a guide rail, and the secondary mounting plate is provided with a roller. The roller is rollably provided on the guide rail. The cooperation of the guide rail and the roller makes the movement of the primary mounting plate and the secondary mounting plate smoother.

[0027] Further preferably, the guide rail is a V-shaped guide rail, and the roller is a V-shaped roller, so that there are more contact positions between the guide rail and the roller, thereby achieving better structural rigidity.

[0028] Preferably, in the above technical solution, the middle portion of the main mounting plate is connected to the lifting transmission member, and the primary mounting plate and the secondary mounting plate enable the telescopic module to be telescoped on opposite sides of the column.

[0029] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0030] 1. The utility model realizes closed-loop control through the position detection module and the lifting drive member, ensuring accurate control of the position during lifting. At the same time, one drive member drives two lifting transmission members to lift synchronously, simplifying the structure of the mechanism;

[0031] 2. The utility model adopts a two-stage telescopic module, which has a faster telescopic speed, reduces the cantilever length, has better structural rigidity, and avoids shaking and error during operation; at the same time, one driving member drives two mounting plates to telescope at the same time, simplifying the structure of the mechanism;

[0032] 3. There are multiple workstations in space for the present utility model to pick and place, and a set of boat transfer mechanism is compatible with transferring all positions, with high transfer efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Attached Figure 1 is the front view schematic diagram of the present utility model;

[0034] Attached Figure 2a 、 Figure 2b 、 Figure 2c 、 Figure 2d 、 Figure 2e is the schematic diagram of the telescopic module in the present utility model;

[0035] Attached Figure 3a 、 Figure 3b is the schematic diagram of the telescopic module of the present utility model in the initial position;

[0036] Attached Figure 4a 、 Figure 4b is the schematic diagram of the telescopic module of the present utility model moved to the left;

[0037] Attached Figure 5a 、 Figure 5b is the schematic diagram of the telescopic module of the present utility model moved to the right;

[0038] Attached Figure 6 is the schematic diagram of the magnetic grating ruler and the magnetic grating ruler reader head in the present utility model;

[0039] Attached Figure 7 is the schematic diagram of the groove type photoelectric sensor and the light shielding sheet in the present utility model.

[0040] In the above drawings:

[0041] 10. Column; 11. Lifting driving member; 12. Rotating shaft;

[0042] 20. Main mounting plate; 21. First-level mounting plate; 210. Strip-shaped hole; 22. Second-level mounting plate; 23. Telescopic driving member; 24. Slide block; 25. First-level synchronous belt; 250. Driving wheel; 26. Second-level synchronous belt; 27. Transmission plate; 280. Guide rail; 281. Roller;

[0043] 30. Magnetic grating ruler; 31. Magnetic grating ruler reader head; 32. Groove type photoelectric sensor; 33. Light shielding sheet;

[0044] 40. Connecting rod; 41. Claw;

[0045] 5. Boat carrier. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] like Figure 1 The boat moving mechanism shown includes a lifting module, a telescopic module, a position detection module, and a boat moving module. Each module is described in detail below:

[0049] The lifting module includes a column 10, a lifting transmission member (not shown in the figure), and a lifting drive member 11. Among them: there are two columns 10, which are respectively located on both sides and extend in the vertical direction; each column 10 is respectively provided with a lifting transmission member, and the lifting transmission member can be transmitted in the vertical direction. In this embodiment: the lifting transmission member adopts a synchronous belt; the lifting drive member 11 is connected to the lifting transmission members on the two columns 10 at the same time, and is used to drive the synchronous transmission of the lifting transmission member. In this embodiment: the lifting drive member 11 adopts a servo motor, and the servo motor can be equipped with a PLC controller.

[0050] In one implementation of this embodiment: the lifting drive member 11 is connected to the lifting transmission member on one side, and the lifting transmission member on one side is connected to the lifting transmission member on the other side through the rotating shaft 12. Specifically: the output shaft of the servo motor is connected to the driving wheel of the synchronous belt, thereby driving the synchronous belt transmission on this side; at the same time, the driving wheel of the synchronous belt on this side is connected to the driving wheel (driven wheel) of the synchronous belt on the other side through the rotating shaft 12, thereby driving the synchronous belt transmission on the other side, and the synchronous belts on both sides are driven by a servo motor to perform synchronous transmission.

[0051] The telescopic module is connected between the lifting transmission members on both sides and can be lifted and lowered in the vertical direction along the column 10 .

[0052] like Figure 2a , Figure 2b , Figure 2c ,Figure 2d , Figure 2e As shown in Figure 2e , the telescopic module includes a main mounting plate 20, a primary mounting plate 21, a secondary mounting plate 22, and a telescopic driving member 23. Among them: the main mounting plate 20 is connected to the lifting transmission member, the primary mounting plate 21 is connected to the main mounting plate 20 and can move relative to the main mounting plate 20, the secondary mounting plate 22 is connected to the primary mounting plate 21 and can move relative to the primary mounting plate 21, and the telescopic driving member 23 is simultaneously connected to the primary mounting plate 21 and the secondary mounting plate 22 for driving the primary mounting plate 21 and the secondary mounting plate 22 to move simultaneously. In this embodiment: the telescopic driving member 23 uses a motor, and the entire telescopic module drives the primary mounting plate 21 and the secondary mounting plate 22 to move simultaneously through one motor to achieve secondary telescoping.

[0053] In an implementation manner of this embodiment: the telescopic module further includes a slider 24, and the main mounting plate 20 is connected to the lifting transmission member through the slider 24.

[0054] In another implementation manner of this embodiment: the telescopic module includes a primary synchronous belt 25, a secondary synchronous belt 26, and a transmission plate 27. Among them: the primary synchronous belt 25 is arranged on the main mounting plate 20, and the telescopic driving member 23 is connected to the primary synchronous belt 25. Specifically: the motor is connected to the driving wheel 250 of the primary synchronous belt 25, and the primary mounting plate 21 is connected to the primary synchronous belt 25; the secondary synchronous belt 26 is arranged on the primary mounting plate 21, and the secondary mounting plate 22 is connected to the secondary synchronous belt 26; the transmission plate 27 is connected to the main mounting plate 20 and is connected to the secondary synchronous belt 26.

[0055] The motor drives the driving wheel 250 of the primary synchronous belt 25 to rotate, the driving wheel 250 drives the primary synchronous belt 25 to transmit, and the primary synchronous belt 25 drives the primary mounting plate 21 to move; when the primary mounting plate 21 moves, since the transmission plate 27 is fixed on the main mounting plate 20, it drives the secondary synchronous belt 26 to transmit, and the secondary synchronous belt 26 then drives the secondary mounting plate 22 to move.

[0056] In another implementation manner of this embodiment: a strip-shaped hole 210 is formed on the primary mounting plate 21, the extending direction of the strip-shaped hole 210 is consistent with the transmission direction of the secondary synchronous belt 22, and the transmission plate 27 passes through the strip-shaped hole 210 and is connected to the secondary synchronous belt 26.

[0057] In another implementation of this embodiment: A guide rail 280 is provided on the main mounting plate 20, and rollers 281 are provided on the first-level mounting plate 21. The rollers 281 are rollably arranged on the guide rail 280. In the illustrated figure, the guide rail 280 is located on both sides of the main mounting plate 20, and the rollers 281 are arranged at positions corresponding to the guide rail 280 on the first-level mounting plate 21. In this embodiment: The guide rail 280 is a V-shaped guide rail, and the rollers 281 are V-shaped rollers, so that there are more contact positions between the guide rail 280 and the rollers 281, achieving better mechanism rigidity.

[0058] Correspondingly, as needed, guide rails can also be provided on the first-level mounting plate 21, and rollers can also be provided on the second-level mounting plate 22. Through the cooperation of the guide rails and the rollers, the movement of the first-level mounting plate 21 and the second-level mounting plate 22 is made smoother.

[0059] The middle part of the main mounting plate 20 of the telescopic module is connected to the lifting transmission member through a slider 24. The movement of the first-level mounting plate 21 and the second-level mounting plate 22 causes the telescopic module to expand and contract on the opposite sides of the column 10, as Figure 3a 、 Figure 3b 、 Figure 4a 、 Figure 4b 、 Figure 5a 、 Figure 5b shown.

[0060] As Figure 6 shown: The position detection module includes a magnetic scale 30 and a magnetic scale reader head 31. Among them: The magnetic scale 30 is provided on the column 10 and extends in the vertical direction. The magnetic scale reader head 31 is connected to the slider 24 of the telescopic module and is signal-connected to the lifting drive member 11. The magnetic scale reader head 31 reads the height degree on the magnetic scale 30 as the telescopic module rises and falls, and feeds back the signal to the PLC controller of the servo motor. The PLC controller of the servo motor controls the drive of the servo motor according to the received height degree. Through the cooperation of the magnetic scale reader head 31 and the lifting drive member 11, closed-loop control is achieved to ensure accurate control of the position during lifting.

[0061] In one implementation of this embodiment: The position detection module further includes detection members. A plurality of detection members are distributed along the height direction of the column 10. On the one hand, the detection members can determine the height position of the telescopic module, and on the other hand, they can be used for anti-fooling processing in the program to prevent handling failures caused by incorrect input of personnel parameters during handling. In this embodiment: The detection members adopt groove-shaped photoelectric sensors 32, and a light-shielding sheet 33 is provided on the upper slider 24 of the telescopic module for cooperating with the groove-shaped photoelectric sensors 32 to trigger photoelectric signals.

[0062] As Figure 7As shown in the figure: Multiple detection components on the column 10 on one side (the left side in the figure) are used to detect different heights of the telescopic module; two detection components on the column 10 on the other side (the right side in the figure) are respectively arranged at the upper and lower ends of the column 10 to detect the limit positions of the telescopic module, and one detection component is arranged at the lower part of the column 10 to detect the origin position of the telescopic module.

[0063] As Figure 1 shown in the figure: The boat transfer module includes a connecting rod 40 and a jaw 41. The connecting rod 40 is connected between the secondary mounting plates 22 on both sides, and the jaw 41 is connected to the connecting rod 40. In this embodiment: There are at least two jaws 41, and a boat clamping area is formed between the two jaws 41. In the figure, three jaws 41 are provided, forming two boat clamping areas, so that two boats can be carried simultaneously. As the telescopic module moves up and down and expands and contracts, the boat transfer module can stay at any height and transfer between the workstations on both sides.

[0064] The above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A boat moving mechanism, characterized in that: include: Lifting module: The lifting module includes a column, a lifting transmission member, and a lifting drive member. The columns are respectively located on both sides and extend in the vertical direction. The columns are respectively provided with the lifting transmission members, and the lifting transmission members can be transmitted in the vertical direction. The lifting drive member is also connected to the lifting transmission member for driving the synchronous transmission of the lifting transmission member. Telescopic module: the telescopic module can be lifted and lowered in the vertical direction along the column, the telescopic module includes a main mounting plate, a primary mounting plate, a secondary mounting plate, and a telescopic driving member, the main mounting plate is connected to the lifting transmission member, the primary mounting plate is connected to the main mounting plate and can move relative to the main mounting plate, the secondary mounting plate is connected to the primary mounting plate and can move relative to the primary mounting plate, the telescopic driving member is simultaneously connected to the primary mounting plate and the secondary mounting plate, and is used to drive the primary mounting plate and the secondary mounting plate to move simultaneously; Boat moving module: The boat moving module comprises a connecting rod and a clamping claw. The connecting rod is connected between the secondary mounting plates on both sides. The clamping claw is connected to the connecting rod. There are at least two clamping claws, and a boat holding area is formed between the two clamping claws. Position detection module: The position detection module is connected to the lifting drive component, and is used to detect the height position of the telescopic module and feed back to the lifting drive component.

2. The boat moving mechanism according to claim 1, characterized in that: The position detection module includes a magnetic scale and a magnetic scale reader. The magnetic scale is arranged on the column and extends in the vertical direction. The magnetic scale reader is connected to the telescopic module and is connected to the lifting drive component signal to read the height degree on the magnetic scale and feed the signal back to the lifting drive component. The telescopic module comprises a slider, the main mounting plate is connected to the lifting transmission member via the slider, and the magnetic scale reader is connected to the slider.

3. The boat moving mechanism according to claim 1, characterized in that: The position detection module includes a detection member, and a plurality of the detection members are distributed along the height direction of the column. The detection element is a slot-type photoelectric sensor, and a light shielding sheet is provided on the telescopic module for cooperating with the slot-type photoelectric sensor to trigger a photoelectric signal. The telescopic module comprises a slider, the main mounting plate is connected to the lifting transmission member via the slider, and the shading sheet is connected to the slider.

4. The boat moving mechanism according to claim 3, characterized in that: The multiple detection members on the column on one side are used to detect the different heights of the telescopic module; the two detection members on the column on the other side are respectively arranged at the upper and lower ends of the column to detect the extreme positions of the telescopic module, and one detection member is arranged at the lower part of the column to detect the origin position of the telescopic module.

5. The boat moving mechanism according to claim 1, characterized in that: The lifting drive member is connected to the lifting transmission member on one side, and the lifting transmission member on one side is connected to the lifting transmission member on the other side through a rotating shaft.

6. The boat moving mechanism according to claim 1, 2 or 5, characterized in that: The lifting transmission component is a synchronous belt; the lifting drive component is a servo motor.

7. The boat moving mechanism according to claim 1, characterized in that: The telescopic module includes a primary synchronous belt, a secondary synchronous belt, and a transmission plate. The primary synchronous belt is arranged on the main mounting plate, the telescopic drive member is connected to the primary synchronous belt, and the primary mounting plate is connected to the primary synchronous belt; the secondary synchronous belt is arranged on the primary mounting plate, and the secondary mounting plate is connected to the secondary synchronous belt; the transmission plate is connected to the main mounting plate and to the secondary synchronous belt.

8. The boat moving mechanism according to claim 7, characterized in that: The primary mounting plate is provided with a strip hole, the extension direction of the strip hole is consistent with the transmission direction of the secondary synchronous belt, and the transmission plate passes through the strip hole and is connected with the secondary synchronous belt.

9. The boat moving mechanism according to claim 1, characterized in that: The main mounting plate is provided with a guide rail, the primary mounting plate is provided with a roller, and the roller is rotatably provided on the guide rail; and / or The first-level mounting plate is provided with a guide rail, and the second-level mounting plate is provided with a roller, and the roller is rotatably provided on the guide rail; The guide rail is a V-shaped guide rail, and the roller is a V-shaped roller.

10. The boat moving mechanism according to claim 1, characterized in that: The middle part of the main mounting plate is connected to the lifting transmission member, and the primary mounting plate and the secondary mounting plate enable the telescopic module to be telescopic on opposite sides of the column.

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