Crystal bar grabbing device

Abstract

The crystal bar grabbing device comprises a lifting mechanism and anti-falling mechanisms, the anti-falling mechanisms are arranged on the two sides of the lifting mechanism, the lifting mechanism comprises a first connecting plate and a multi-hole type suction cup box, and a plurality of suction holes are formed in a bottom plate of the multi-hole type suction cup box; a plurality of suction cup units are distributed in an inner cavity of the porous suction cup box in the length direction of the porous suction cup box in an array mode, vertically-through suction cup mounting holes are formed in the first connecting plate, the multiple suction cup mounting holes are distributed in the two sides of the first connecting plate in an array mode, and sliding grooves are formed in the two sides of an upper cover plate of the porous suction cup box. The sliding grooves and the suction cup installation holes are arranged correspondingly, the cross section of each sliding groove is in an inverted trapezoid shape, suction cup installation sliding blocks are connected into the sliding grooves in a sliding mode, the cross section of each suction cup installation sliding block is in an inverted trapezoid shape, and the suction cup installation sliding blocks are provided with vertically-through bolt holes. The crystal bar grabbing device solves the technical problems that in the technical field of crystal bar grabbing, safety is low, no anti-falling device exists, and a crystal bar is prone to being damaged during grabbing.

Description

Technical Field

[0001] The utility model relates to the technical field of crystal rod grasping, in particular to a crystal rod grasping device. Background Art

[0002] In semiconductor manufacturing, optical device production, and crystal material research, crystal ingots are an important building block, and their precise and safe handling and handling are crucial components of the production process. However, existing ingot handling devices have certain technical limitations. Traditional ingot handling devices often rely on mechanical clamps or manual operation, which presents numerous deficiencies in practical applications. Traditional ingot handling devices, due to their use of rigid clamps, are prone to scratching or damaging the ingot surface during handling, impacting the optical and electrical properties of the ingot.

[0003] Among them, some traditional crystal rod grasping devices are not equipped with an anti-fall mechanism, that is, when the equipment stops operating, the grasped crystal rod will fall due to power outage or gas failure of the equipment, resulting in waste of crystal rods and personnel safety.

[0004] Therefore, in order to solve the above problems, a crystal rod grasping device needs to be developed to ensure the quality of the crystal rod and prevent the crystal rod from falling in abnormal equipment conditions such as gas or power outages. Utility Model Content

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a crystal rod grasping device to solve the technical problems of low safety, lack of anti-falling device and grasping easily damaged crystal rods in the field of crystal rod grasping technology.

[0006] In order to achieve the above technical objectives, the technical solution of the utility model provides a crystal ingot grasping device, comprising:

[0007] 4. The repairing kit for automotive dents, according to claim 1, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut.

[0008] Compared with the prior art, the beneficial effects of the present invention include:

[0009] 1. High safety: The crystal rod grasping device provided by the utility model uses an anti-falling mechanism to limit the crystal rod, solving the problem of crystal rod falling and material damage caused by failure of the porous suction cup box.

[0010] 2. High surface quality of the crystal rod: The crystal rod grasping device provided by the utility model utilizes a porous suction cup to grasp the crystal rod, which reduces the contact area with the crystal rod and reduces damage to the surface of the crystal rod. Secondly, a pad is provided at the position where the anti-fall limit plate abuts the crystal rod. The pad is made of rubber or plastic to prevent scratches on the surface of the crystal rod, thereby improving the surface quality of the crystal rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the three-dimensional structure of the crystal rod grasping device provided by the utility model. Figure 1 ;

[0012] Figure 2 This is a front structural diagram of the crystal rod grabbing device provided by the utility model;

[0013] Figure 3 This is a left-side structural schematic diagram of the crystal rod grabbing device provided by the present invention;

[0014] Figure 4 This is a schematic diagram of the three-dimensional structure of the crystal rod grasping device provided by the utility model. Figure 2 ;

[0015] Figure 5 This is a schematic diagram of a partial three-dimensional structure of the crystal rod grasping device provided by the present invention;

[0016] Figure 6 It is a schematic diagram of the installation structure of the porous suction cup box and the first connecting plate in the crystal rod grasping device provided by the utility model. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 This embodiment provides a crystal rod grasping device, including: a lifting mechanism 1 and an anti-falling mechanism 2.

[0021] Furthermore, the anti-fall mechanism 2 is provided on both sides of the lifting mechanism 1, and the lifting mechanism 1 includes a first connecting plate 11 and a porous suction cup box 12, the bottom plate of the porous suction cup box 12 is provided with a plurality of suction holes, the inner cavity of the porous suction cup box 12 is provided with a plurality of suction cup units arranged in an array along the length direction of the porous suction cup box 12, the first connecting plate 11 is provided with a suction cup mounting hole 11a running through the upper and lower parts, and the plurality of suction cup mounting holes 11a are arranged in an array on both sides of the first connecting plate 11, and the porous suction cup Slide grooves 12a are provided on both sides of the upper cover of the box 12, and the slide grooves 12a are arranged corresponding to the suction cup mounting holes 11a. The cross section of the slide groove 12a is an inverted trapezoid. A suction cup mounting slider 13 is slidably connected in the slide groove 12a. The cross section of the suction cup mounting slider 13 is an inverted trapezoid. The suction cup mounting slider 13 is provided with bolt holes passing through the upper and lower parts. The porous suction cup box 12 is detachably fixedly connected to the first connecting plate 11 by bolts passing through the suction cup mounting holes 11a and cooperating with the bolt holes.

[0022] Specifically, multiple suction cup units form a large suction cup. Because the crystal ingots to be grasped vary in length, the multiple suction cup units are independently switched on and off. To grasp a crystal ingot, the system only needs to activate some or all of the suction cup units, with the suction area of the activated suction cup units equal to the upper end surface area of the crystal ingot to be grasped.

[0023] Specifically, the slide groove 12a has no limit on the horizontal movement of the suction cup mounting slider 13, and limits the up and down directions of the suction cup mounting slider 13, that is, the suction cup mounting slider 13 is slidingly connected to the slide groove 12a, but when the installation position of the porous suction cup box 12 relative to the first connecting plate 11 is determined, a bolt is used to pass through the suction cup mounting hole 11a and be screwed into the suction cup mounting hole 11a of the first connecting plate 11, so that the porous suction cup box 12 is fixedly connected to the first connecting plate 11.

[0024] Furthermore, the first connecting plate 11 is connected to the second connecting plate 15 through a connecting rod 14, and the outer peripheral wall of the connecting rod 14 is sleeved with an elastic element, the upper end of the elastic element abuts the bottom end of the second connecting plate 15, and the lower end of the elastic element abuts the upper end of the first connecting plate 11, and the connecting rod 14 and the second connecting plate 15 are directly provided with the linear bearing 16, the four corners of the upper end of the first connecting plate 11 are fixedly connected to the lower end of the connecting rod 14, and the four corners of the lower end of the second connecting plate 15 are fixedly connected to the upper end of the connecting rod 14.

[0025] Specifically, under the action of the linear bearing 16 , the connecting rod 14 is slidably connected to the second connecting plate 15 .

[0026] Preferably, the elastic element is selected as a spring. The spring as an elastic element has the following advantages: 1. Buffering, floating and eliminating height errors: when the robotic arm drives the device to move downward, there is a height error due to the machine vision of the robotic arm when identifying the crystal rod to be grasped. The spring can be used to float, buffer and eliminate the height error; 2. Simple structure and low cost: The spring has a simple structure, is easy to manufacture, and has a relatively low cost; 3. High reliability: Under normal use conditions, the spring has high reliability and a long service life.

[0027] Specifically, when the robot arm drives the device to grab the crystal ingot, when the device contacts the crystal ingot, under the buffering effect of the elastic element and the sliding action of the linear bearing 16, the connecting rod moves upward relative to the second connecting plate 15.

[0028] Specifically, a connecting cylinder 4 is fixedly connected to the middle area of the second connecting plate 15 for connecting to the execution end of the robot arm, thereby driving the movement of the crystal rod grasping device.

[0029] Furthermore, the anti-fall mechanism 2 is slidably connected to the upper end of the second connecting plate 15 through a movable slider. The anti-fall mechanism 2 includes an anti-fall support plate 21 and an anti-fall limit plate 22. The four corners of the upper end of the second connecting plate 15 are fixedly connected with a movable guide rail 17. The movable slider is slidably connected to the movable guide rail 17. The side of the anti-fall support plate 21 close to the lifting mechanism 1 is fixedly connected to the upper end of the movable slider to realize the horizontal movement of the anti-fall support plate 21.

[0030] Specifically, the anti-fall support plate 21 can move horizontally along the movable guide rail 17 under the action of the movable slider.

[0031] Furthermore, guide sleeve mounting holes 21a are opened at both ends of the anti-fall support plate 21, and guide sleeves 23 are fixedly installed in the guide sleeve mounting holes 21a. A guide rod 24 is inserted into the guide sleeve 23, and the bottom end of the guide rod 24 is fixedly connected to the upper end of the anti-fall limit plate 22.

[0032] Preferably, the guide sleeve is selected as a linear bearing, so that the guide rod is slidably connected to the anti-fall support plate.

[0033] Specifically, the guide rod 24 mainly plays a guiding and supporting role. The guide rod 24 can provide a guide for linear motion, ensuring that the anti-fall limit plate 22 moves accurately along a predetermined trajectory, reducing deviation and vibration. At the same time, the guide rod 24 can also bear a certain amount of pressure.

[0034] Furthermore, a first through hole 21b is opened in the middle area of the anti-fall support plate 21, and an up and down moving drive source 25 is provided at the upper end of the anti-fall support plate 21. The output shaft of the up and down moving drive source 25 passes through the first through hole 21b and is fixedly connected to the anti-fall limit plate 22.

[0035] Specifically, a pad 26 is provided on the upper end surface of the anti-falling limit plate 22 . The pad 26 is made of rubber or plastic to prevent the anti-falling limit plate 22 from damaging the surface quality of the crystal ingot 3 when it abuts against the crystal ingot 3 .

[0036] Specifically, when the up and down moving drive source 25 is working, the extension and shortening of the output shaft of the up and down moving drive source 25 can adjust the height of the anti-fall limit plate 22. When the height of the anti-fall limit plate 22 needs to be lowered, the output shaft of the up and down moving drive source 25 is extended; when the height of the anti-fall limit plate 22 needs to be lowered, the output shaft of the up and down moving drive source 25 is shortened.

[0037] Furthermore, a first support 27 is provided at the upper end of the anti-fall support plate 21, and a second support 18 is provided at the upper end of the second connecting plate 15. The second support 18 is provided with a second through hole. The second support 18 is arranged opposite to the first support 27. The second support 18 is fixedly connected to a left and right moving drive source 28. The output shaft of the left and right moving drive source 28 passes through the second through hole and is fixedly connected to the first support 27.

[0038] Specifically, when the left-right moving driving source 28 is working, the extension and contraction of the output shaft of the left-right moving driving source 28 can adjust the horizontal position of the anti-falling limiting plate 22 .

[0039] Preferably, the up and down movement drive source 25 and the left and right movement drive source 28 are both pneumatic drive sources. The pneumatic drive source has the following advantages in this embodiment: 1. Fast response speed: The pneumatic drive source has a short response time and can be started and stopped quickly, which is suitable for occasions requiring fast response; 2. High reliability: The pneumatic system is stable and reliable and can maintain good performance even in harsh working environments; 3. Long life: The service life of pneumatic components is usually long, which reduces replacement frequency and downtime.

[0040] Specifically, when the porous suction cup box 12 adsorbs the crystal rod 3, in order to prevent the sudden failure of the air pump and the inability of the porous suction cup box 12 to work, the anti-fall limit plate 22 is moved to the lower end of the crystal rod 3 through the up and down movement drive source 25 and the left and right movement drive source 28. The anti-fall limit plates 22 on both sides of the crystal rod 3 limit the crystal rod 3 in the left and right directions and the up and down directions.

[0041] Working principle: The utility model provides a crystal rod grasping device comprising a lifting mechanism 1 and an anti-falling mechanism 2, the anti-falling mechanism 2 is provided on both sides of the lifting mechanism 1, the lifting mechanism 1 comprises a first connecting plate 11 and a porous suction cup box 12, the bottom plate of the porous suction cup box 12 is provided with a plurality of suction holes; the inner cavity of the porous suction cup box 12 is provided with a plurality of suction cup units arranged in an array along the length direction of the porous suction cup box 12; the first connecting plate 11 is provided with a suction cup mounting hole 11a which passes through the upper and lower parts, and the plurality of suction cup mounting holes 11a are arranged in an array on the first connecting plate 11. On both sides of the connecting plate 11, there are slide grooves 12a on both sides of the upper cover plate of the porous suction cup box 12, and the slide grooves 12a are arranged corresponding to the suction cup mounting holes 11a. The cross section of the slide groove 12a is an inverted trapezoid, and a suction cup mounting slider 13 is slidably connected in the slide groove 12a. The cross section of the suction cup mounting slider 13 is an inverted trapezoid, and the suction cup mounting slider 13 is provided with bolt holes passing through the upper and lower parts. The porous suction cup box 12 is detachably fixedly connected to the first connecting plate 11 by bolts passing through the suction cup mounting holes 11a and cooperating with the bolt holes.

[0042] Specifically, when the crystal rod grasping device moves to the top of the crystal rod 3, the porous suction cup box 12 is close to the upper end surface of the crystal rod 3. At this time, the air pump works, visually detects the length of the crystal rod to be grasped, determines the number of the suction cup units that need to be opened, and uses air pressure to adsorb the crystal rod 3. In order to prevent the air pump and the porous suction cup box 12 from failing, when the porous suction cup box 12 sucks up the crystal rod 3, the anti-falling mechanism 2 is used to limit the crystal rod 3, that is, the left and right moving drive source 28 is used to drive the anti-falling limit plate 22 to move outward until the anti-falling limit plate 22 is close to the side of the crystal rod 3 and a certain gap is generated with the crystal rod 3. At this time, the upper end surface of the anti-falling limit plate 22 is moved to The lower end of the bottom end surface of the crystal rod 3 is again driven by the left and right movement driving source 28 to drive the anti-falling limit plate 22 to move toward the direction of the crystal rod 3, and the upper end surface of the anti-falling limit plate 22 is driven by the up and down movement driving source 25 to abut the lower end surface of the crystal rod 3. The anti-falling mechanism 2 arranged on both sides of the crystal rod 3 limits the upper and lower and horizontal directions of the crystal rod 3 to prevent the crystal rod 3 from falling when the porous suction cup box 12 fails, causing damage to the material and safety accidents.

[0043] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A crystal rod grasping device, characterized in that: include: Lifting mechanism and anti-falling mechanism; the anti-falling mechanism is provided on both sides of the lifting mechanism; the lifting mechanism includes a first connecting plate and a porous suction cup box; The bottom plate of the porous suction cup box is provided with multiple suction holes; the inner cavity of the porous suction cup box is provided with multiple suction cup units distributed in an array along the length direction of the porous suction cup box; the first connecting plate is provided with suction cup mounting holes passing through the upper and lower parts; the multiple suction cup mounting holes are arrayed on both sides of the first connecting plate; the upper cover plate of the porous suction cup box is provided with sliding grooves; the sliding grooves are arranged corresponding to the suction cup mounting holes; the cross-section of the sliding groove is an inverted trapezoid; a suction cup mounting slider is slidably connected in the sliding groove; the cross-section of the suction cup mounting slider is an inverted trapezoid; the suction cup mounting slider is provided with bolt holes passing through the upper and lower parts; the porous suction cup box is detachably fixed to the first connecting plate by bolts passing through the suction cup mounting holes and cooperating with the bolt holes.

2. The crystal rod grasping device according to claim 1, characterized in that: The first connecting plate is connected to the second connecting plate through a connecting rod; an elastic element is sleeved on the outer peripheral wall of the connecting rod; the upper end of the elastic element abuts the bottom end of the second connecting plate; the lower end of the elastic element abuts the upper end of the first connecting plate; linear bearings are directly provided on the connecting rod and the second connecting plate; the four corners of the upper end of the first connecting plate are fixedly connected to the lower end of the connecting rod; the four corners of the lower end of the second connecting plate are fixedly connected to the upper end of the connecting rod.

3. The crystal rod grasping device according to claim 2, characterized in that: The anti-fall mechanism is slidably connected to the upper end of the second connecting plate through a movable slider; the anti-fall mechanism includes an anti-fall support plate and an anti-fall limit plate; the four corners of the upper end of the second connecting plate are fixedly connected to movable guide rails; the movable slider is slidably connected to the movable guide rails; the side of the anti-fall support plate close to the lifting mechanism is fixedly connected to the upper end of the movable slider to realize horizontal movement of the anti-fall support plate.

4. The crystal rod grasping device according to claim 3, characterized in that: Guide sleeve mounting holes are provided at both ends of the anti-fall support plate; guide sleeves are fixedly installed in the guide sleeve mounting holes; a guide rod is inserted into the guide sleeve; the bottom end of the guide rod is fixedly connected to the upper end of the anti-fall limit plate.

5. The crystal rod grasping device according to claim 4, characterized in that: A first through hole is provided in the middle area of the anti-fall support plate; an up and down moving drive source is provided at the upper end of the anti-fall support plate; an output shaft of the up and down moving drive source passes through the first through hole and is fixedly connected to the anti-fall limiting plate.

6. The crystal ingot grasping device according to claim 5, characterized in that: A first support is also provided at the upper end of the anti-fall support plate; a second support is also provided at the upper end of the second connecting plate; a second through hole is opened in the second support; the second support is arranged opposite to the first support; the second support is fixedly connected to a left and right moving drive source; the output shaft of the left and right moving drive source passes through the second through hole and is fixedly connected to the first support.

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