Automatic feeding and discharging manipulator of slicing machine

Abstract

The automatic feeding and discharging mechanical arm of the slicing machine comprises a gripper body, a clamping jaw, a visual positioning system and a liquid receiving disc, the clamping jaw is installed at the front end of the gripper body, the visual positioning system is installed at the tail of the gripper body, and the liquid receiving disc is installed below the gripper body; the clamping jaw comprises a guide rail sliding block, a hook claw mounting plate, a hook claw and an air cylinder; the clamping jaw is connected with the gripper main body through the guide rail sliding block, the hook claw mounting plate is connected with the guide rail sliding block, the hook claw is arranged on the hook claw mounting plate, the air cylinder is connected with the hook claw mounting plate, and the air cylinder drives the hook claw to move to grab a crystal bar. By the adoption of the structural design of the clamping jaw, the crystal bar is grabbed mechanically, manual operation of feeding and discharging of the crystal bar is avoided, and the working efficiency of the wire cutting machine is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-wire cutting machine production, in particular to an automatic loading and unloading manipulator for a slicer. Background Art

[0002] Multi-wire saws, as cutting equipment for hard and brittle materials such as single crystal silicon, sapphire, and silicon carbide, are widely used in aerospace, intelligent manufacturing, and new energy fields. Currently, loading and unloading of multi-wire saws is primarily done manually, which is inefficient. Therefore, automated loading and unloading of multi-wire saws has become the mainstream trend in the industry. Currently, wire saws are primarily loaded and unloaded manually, which presents the following problems: 1. Human workers cannot work for long periods of time, which would affect the utilization rate of the multi-wire saws; 2. Due to the heavy materials, workers' workload is high and inefficient; 3. Labor costs are rising day by day, and economic costs are increasing; 4. Due to manual errors in the manufacturing process, product quality specifications may be compromised; 5. Due to the harsh production environment of multi-wire saws, workers are at risk of respiratory diseases such as inhalation of silicon dust. Utility Model Content

[0003] The utility model provides an automatic loading and unloading manipulator for a slicer, which aims to solve the technical problems of manual loading and unloading of linear slicers in the background art, which lead to low efficiency, low product quality, and impact on workers' health.

[0004] In order to achieve the above-mentioned purpose, the utility model provides an automatic loading and unloading robot for a slicer, which includes a gripper body, a clamping claw, a visual positioning system and a liquid receiving tray.

[0005] The clamping claw is installed at the front end of the gripper body, the visual positioning system is installed at the tail end of the gripper body, and the liquid receiving tray is installed below the clamping claw.

[0006] Preferably, the clamp includes a guide rail slider, a hook mounting plate, a hook and a cylinder; the clamp is connected to the gripper body through the guide rail slider, the hook mounting plate is connected to the guide rail slider, the hook is arranged on the hook mounting plate, the cylinder is connected to the hook mounting plate, and the cylinder drives the hook to move to achieve grasping of the crystal rod.

[0007] Preferably, the clamp further comprises a slider mounting plate and a connecting plate, the slider mounting plate being connected to the guide rail slider and the hook mounting plate, and the hook being connected to the guide rail slider and the cylinder through the slider mounting plate and the hook mounting plate;

[0008] The slider mounting plate, the connecting plate, the hook mounting plate, and the hook are connected in sequence, and the slider mounting plate, the connecting plate, and the hook mounting plate form a square bracket.

[0009] Preferably, the clamping jaw further comprises a clamping jaw correction sensor, and the clamping jaw correction sensor is arranged on the connecting plate.

[0010] Preferably, the gripper body includes a bracket and a liquid receiving tray rotating motor, the liquid receiving tray rotating motor is connected to the bracket, and the liquid receiving tray rotating motor is connected to the liquid receiving tray.

[0011] Preferably, the gripper body further includes a shield connected to the bracket.

[0012] Preferably, the gripper body further comprises a gripper body correction sensor, and the gripper body correction sensor is arranged on the shield.

[0013] Preferably, the liquid receiving pan comprises a liquid receiving pan structure and a slewing support. The liquid receiving pan structure is installed below the slewing support. The slewing support is connected to the gripper body above and is meshed with the liquid receiving pan rotating motor through gears.

[0014] Preferably, the liquid receiving tray further comprises an automatic ball valve, and the automatic ball valve is connected to the liquid receiving tray structural component.

[0015] Preferably, it is movably mounted on a truss.

[0016] The utility model provides an automatic loading and unloading manipulator for a slicer, which has the following beneficial effects:

[0017] The claw structure design can place the crystal rod to be processed into the processing position, and take the processed crystal rod out from the processing position. The crystal rod is mechanically grasped to avoid manual operation of loading and unloading the crystal rod, thereby improving the working efficiency of the wire sawing machine.

[0018] When loading, the robot moves to the top of the crystal rod, the liquid receiving tray rotates to avoid it, and the robot uses the visual positioning system to take a picture of the crystal rod position. After the robot position is corrected according to the photo results, the robot descends, the clamp grasps the crystal tray and takes it away and puts it into the wire cutting machine; when unloading, the robot takes the crystal tray from the wire cutting machine, the liquid receiving tray rotates to the bottom of the crystal rod, the robot moves to the top of the unloading frame, and uses the visual positioning system to take a picture of the frame position. After the robot position is corrected according to the photo results, the liquid receiving tray rotates to avoid it, the robot descends, and the clamp releases the crystal tray to unload the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of a preferred embodiment of an automatic loading and unloading manipulator for a slicer according to the utility model;

[0020] Figure 2 for Figure 1 The structure diagram of the gripper body of the automatic loading and unloading robot of a slicer is shown;

[0021] Figure 3for Figure 1 The schematic diagram of the structure of the clamping claw of the automatic loading and unloading robot of a slicer is shown;

[0022] Figure 4 for Figure 1 The figure shows a schematic structural diagram of a liquid receiving tray of an automatic loading and unloading robot for a slicer. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0024] Aiming at the existing problems, the utility model provides an automatic loading and unloading manipulator for a slicer.

[0025] In one embodiment, a slicer automatic loading and unloading robot can be mounted on a truss and moved. Figures 1 to 4 As shown, it includes a gripper body 1, a clamping jaw 2, a visual positioning system 3 and a liquid receiving tray 4. The clamping jaw 2 is installed at the front end of the gripper body 1, the visual positioning system 3 is installed at the tail end of the gripper body 1, and the liquid receiving tray 4 is installed below the clamping jaw 2.

[0026] The gripper body 1 provides a frame structure for the manipulator; the clamping claw 2 grabs and releases the crystal rod; the visual positioning system 3 takes pictures through a camera and corrects the movement position and direction of the manipulator based on the camera results; after grabbing the processed crystal rod, the liquid receiving tray 4 rotates to catch the dripping liquid falling from the crystal rod.

[0027] The gripper body 1 includes a bracket 1-1, a protective cover 1-2, a gripper body calibration sensor 1-3, and a liquid receiving tray rotation motor 1-4. The protective cover 1-2 is connected to the bracket 1-1. The liquid receiving tray rotation motor 1-4 is connected to the bracket 1-1, and the liquid receiving tray rotation motor 1-4 is connected to the liquid receiving tray 4. The gripper body calibration sensor 1-3 is mounted on the protective cover 1-2.

[0028] In the gripper body 1, the bracket 1-1 provides a frame structure, and the protective cover 1-2 covers the main part of the clamp 2; the gripper body correction sensor 1-3 uses laser ranging to correct the position of the gripper body in the front according to the laser ranging result to prevent the gripper body 1 from touching the wire cutting machine; the liquid receiving plate rotating motor 1-4 provides power for the liquid receiving plate 4.

[0029] The clamping jaw 2 includes a guide rail slider 2-1, a slider mounting plate 2-2, a connecting plate 2-3, a hook mounting plate 2-4, a clamping jaw correction sensor 2-5, a hook 2-6, and a cylinder 2-7. The clamping jaw 2 is connected to the gripper body 1 via the guide rail slider 2-1. The hook mounting plate 2-4 is connected to the guide rail slider 2-1. The hook 2-6 is arranged on the hook mounting plate 2-4. The cylinder 2-7 is connected to the hook mounting plate 2-4. The cylinder 2-7 drives the hook 2-6 to move to grasp the crystal rod. The slider mounting plate 2-2 is connected to the guide rail slider 2-1 and to the hook mounting plate 2-4. The hook 2-6 is connected to the guide rail slider 2-1 and to the cylinder 2-7 through the slider mounting plate 2-2 and the hook mounting plate 2-4.

[0030] The slider mounting plate 2-2, the connecting plate 2-3, the hook mounting plate 2-4, and the hook 2-6 are connected in sequence, and the slider mounting plate 2-2, the connecting plate 2-3, and the hook mounting plate 2-4 form a square bracket.

[0031] The gripper correction sensor 2-5 is arranged on the connecting plate 2-3.

[0032] The operating principle of the clamping jaw 2 is as follows: the cylinder 2-7 slides the slider mounting plate 2-2, causing the slider mounting plates 2-2 at both ends of the cylinder 2-7 to expand or contract outward or inward. The slider mounting plates 2-2 drive the claw mounting plates 2-4 to expand or contract outward or inward. The claws 2-6 on the claw mounting plates 2-4 simultaneously expand or contract outward or inward, forming the actuator of the clamping jaw 2 to grasp or release the crystal ingot. The clamping jaw correction sensor 2-5 uses a fiber optic sensor to detect and perform a secondary verification of the visual trimming results based on the detection results, correcting the crystal ingot gripped by the lower part of the clamping jaw 2.

[0033] The liquid receiving pan 4 includes a liquid receiving pan structure 4-1, an automatic ball valve 4-2, and a slewing bearing 4-3. The liquid receiving pan structure 4-1 is mounted below the slewing bearing 4-3. The slewing bearing 4-3 is connected to the gripper body 1 above and is meshed with the liquid receiving pan rotating motor 1-4 via gears. The automatic ball valve 4-2 is connected to the liquid receiving pan structure 4-1.

[0034] The working principle of the liquid receiving tray 4 is as follows: the liquid receiving tray rotating motor 1-4 controls the rotation of the slewing support 4-3, so that when grabbing the crystal rod to be processed, the slewing support 4-3 is rotated to rotate the liquid receiving tray structure 4-1 out of the position below the clamping jaw 2, making it easier for the clamping jaw 2 to grab the crystal rod to be processed.

[0035] After the crystal ingot to be processed is grasped, the slewing support 4 - 3 is rotated to rotate the liquid receiving tray structure 4 - 1 into a position below the clamping jaws 2 , so as to facilitate the movement and grasping of the crystal ingot to be processed.

[0036] When approaching the buffering table, the slewing bearing 4-3 is rotated to rotate the liquid receiving tray structure 4-1 out of the position below the clamping jaw 2, so as to facilitate the placement of the crystal rod into the buffering table for wire sawing processing.

[0037] After the buffer table rises, the slewing bearing 4-3 is rotated to rotate the liquid receiving tray structure 4-1 into the position below the clamp 2 to grab the processed crystal rod on the lower buffer table. The liquid tray structure 4-1 catches the dripping liquid from the processed crystal rod.

[0038] When putting back the processed crystal ingot, the slewing bearing 4 - 3 is rotated to rotate the liquid receiving tray structure 4 - 1 out of the position below the clamping jaw 2 , and the processed crystal ingot is dropped into the material trolley.

[0039] The utility model provides an automatic loading and unloading manipulator for a slicer, which has the following beneficial effects:

[0040] The structural design of the clamp 2 allows the crystal rod to be placed in the processing position and the processed crystal rod to be taken out from the processing position. The crystal rod is mechanically grasped to avoid manual operation of loading and unloading the crystal rod, thereby improving the working efficiency of the wire sawing machine.

[0041] When loading, the robot moves to above the crystal rod, the liquid receiving tray 4 rotates to avoid it, and the robot uses the visual positioning system 3 to take a picture of the crystal rod position, and after the robot position is corrected according to the photo result, the robot descends, the clamp grasps the crystal tray and takes it away and puts it into the wire cutting machine; when unloading, the robot takes the crystal tray from the wire cutting machine, the liquid receiving tray 4 rotates to below the crystal rod, the robot moves to above the unloading frame, and uses the visual positioning system 3 to take a picture of the frame position, and after the robot position is corrected according to the photo result, the liquid receiving tray 4 rotates to avoid it, the robot descends, and the clamp releases the crystal tray to unload the material.

[0042] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A slicer automatic loading and unloading robot, characterized in that: The invention comprises a gripper body (1), a clamping jaw (2), a visual positioning system (3) and a liquid receiving tray (4), wherein the clamping jaw (2) is mounted at the front end of the gripper body (1), the visual positioning system (3) is mounted at the rear end of the gripper body (1), and the liquid receiving tray (4) is mounted below the clamping jaw (2).

2. The automatic loading and unloading robot for a slicer according to claim 1, characterized in that: The clamping claw (2) comprises a guide rail slider (2-1), a hook claw mounting plate (2-4), a hook claw (2-6) and a cylinder (2-7); the clamping claw (2) is connected to the gripper body (1) through the guide rail slider (2-1), the hook claw mounting plate (2-4) is connected to the guide rail slider (2-1), the hook claw (2-6) is arranged on the hook claw mounting plate (2-4), the cylinder (2-7) is connected to the hook claw mounting plate (2-4), and the cylinder (2-7) drives the hook claw (2-6) to move to grasp the crystal rod.

3. The automatic loading and unloading robot for a slicer according to claim 2, characterized in that: The clamping claw (2) further comprises a slider mounting plate (2-2) and a connecting plate (2-3); the slider mounting plate (2-2) is connected to the guide rail slider (2-1) and to the hook mounting plate (2-4); and the hook (2-6) is connected to the guide rail slider (2-1) and to the cylinder (2-7) through the slider mounting plate (2-2) and the hook mounting plate (2-4); The slider mounting plate (2-2), the connecting plate (2-3), the hook mounting plate (2-4), and the hook (2-6) are connected in sequence, and the slider mounting plate (2-2), the connecting plate (2-3), and the hook mounting plate (2-4) form a square bracket.

4. The automatic loading and unloading manipulator for a slicer according to claim 3, characterized in that: The clamping jaw (2) further comprises a clamping jaw correction sensor (2-5), and the clamping jaw correction sensor (2-5) is arranged on the connecting plate (2-3).

5. The automatic loading and unloading robot for a slicer according to claim 1, characterized in that: The gripper body (1) comprises a bracket (1-1) and a liquid receiving tray rotating motor (1-4); the liquid receiving tray rotating motor (1-4) is connected to the bracket (1-1), and the liquid receiving tray rotating motor (1-4) is connected to the liquid receiving tray (4).

6. The automatic loading and unloading robot for a slicer according to claim 5, characterized in that: The gripper body (1) further comprises a protective cover (1-2), and the protective cover (1-2) is connected to the bracket (1-1).

7. The automatic loading and unloading robot for a slicer according to claim 6, characterized in that: The gripper body (1) further comprises a gripper body correction sensor (1-3), and the gripper body correction sensor (1-3) is arranged on the protective cover (1-2).

8. The automatic loading and unloading robot for a slicer according to claim 1, characterized in that: The liquid receiving pan (4) comprises a liquid receiving pan structure (4-1) and a slewing bearing (4-3). The liquid receiving pan structure (4-1) is installed below the slewing bearing (4-3). The slewing bearing (4-3) is connected to the gripper body (1) above and is meshed with the liquid receiving pan rotating motor (1-4) via gears.

9. The automatic loading and unloading robot for a slicer according to claim 8, characterized in that: The liquid receiving tray (4) further comprises an automatic ball valve (4-2), and the automatic ball valve (4-2) is connected to the liquid receiving tray structural component (4-1).

10. The automatic loading and unloading robot for a slicer according to claim 1, characterized in that: Can be installed on a truss and moved.

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