Four-direction crystal bar taking robot

Abstract

The utility model relates to a four-direction crystal bar taking robot which comprises a robot body and a crystal bar taking accessory arranged on the robot body, the robot body serves as a power source for driving the crystal bar taking accessory, and the crystal bar taking accessory is used for taking and placing a crystal bar. Wherein the robot body comprises a vehicle head part, a supporting fork part, a fixing support, a lifting support, a first wheel set, a second wheel set and a lifting mechanism, and the first wheel set and the second wheel set cooperate to achieve movement and steering of the robot body. According to the four-direction crystal bar taking robot, omni-directional movement and pivot steering of the four-direction crystal bar taking robot can be achieved through the first wheel set and the second wheel set, so that the position adjusting difficulty of the crystal bar taking robot is lowered, the flexibility of the crystal bar taking robot is improved, and the position adjusting efficiency is low; therefore, transverse movement and steering can be achieved in a narrow channel, the requirement for space redundancy of a workshop is low, and extremely high applicability is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially is to point to a four -way crystal bar taking robot. BACKGROUND

[0002] In the single crystal silicon crystal pulling process, the crystal bar needs to be separated from the auxiliary furnace chamber and transferred after the growth is completed. At present, this process mainly relies on the crystal bar taking robot.

[0003] The traditional forklift type crystal bar taking robot is a relatively common choice, because it can meet the characteristics of long crystal bar and can realize the taking and placing of the crystal bar through the lifting of the tool. However, this forklift type robot has obvious defects in practical application. On the one hand, its position adjustment is extremely difficult, and in the limited equipment space, the steering, movement and other operations of the robot are not flexible enough, and a larger operation space is needed for position calibration and adjustment, which will be greatly limited in the production workshop with compact space layout. On the other hand, the higher requirement for space redundancy means that it needs a larger idle space to ensure its normal operation and operation, which is a serious obstacle to the improvement of space utilization, and its applicability is greatly discounted in some space-limited workshops.

[0004] With the continuous expansion of the production scale of single crystal silicon and the increasingly compact space planning of the production workshop, the existing crystal bar taking robot technology has been difficult to meet the production needs of high efficiency, precision and space saving. Because the existing crystal bar taking robot has many problems. Therefore, it is urgent to develop a new type of crystal bar taking robot to meet the production needs. UTILITY MODEL CONTENTS

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problems of the existing forklift type crystal bar taking robot, such as difficult position adjustment, low flexibility, low efficiency of position adjustment, high requirement for space redundancy of the traditional forklift type crystal bar taking robot, and the need to improve the applicability.

[0006] To solve the above technical problems, the utility model provides a four -way crystal bar taking robot, include: robot body and set up on the robot body crystal bar taking tool, the robot body is used for driving crystal bar taking tool position adjustment power source, crystal bar taking tool is used for taking and placing crystal bar, wherein, the robot body includes the head, support fork part, fixed support, lifting support, first wheel group, second wheel group and lifting mechanism, one end of support fork part is connected with the head, the fixed support is fixedly installed in one side of the head with support fork part, the lifting mechanism sets up on the fixed support, and lifting mechanism connects lifting support, the lifting mechanism is used for driving lifting support to lift, crystal bar taking tool sets up on the lifting support, the first wheel group sets up in the head, and first wheel group is used as the power source of movement, the second wheel group sets up in support fork part, and the second wheel group is set up and can be initiative steering, the first wheel group and second wheel group are used for realizing the movement and steering of robot body in cooperation.

[0007] The four -way crystal bar taking robot of the utility model can realize the omnidirectional movement and steering in place of the four -way crystal bar taking robot through the first wheel group and the second wheel group, thereby reducing the position adjustment difficulty of the crystal bar taking robot, improving the flexibility of the crystal bar taking robot and the efficiency of position adjustment, thereby being capable of realizing the lateral movement and steering in a relatively narrow channel, moving to a preset position close to the pit quickly, lowering the crystal bar taking tool into the pit quickly, further improving the efficiency of the crystal bar taking, requiring a lower space redundancy in the workshop and having extremely high applicability.

[0008] In an embodiment of the utility model, the second wheel group includes a second steering motor, a speed reducer, a drive sprocket, a steering chain, a steering sprocket, a bearing wheel mounting seat and a bearing wheel, the output end of the second steering motor is connected with the speed reducer, the speed reducer is installed on the support fork part, the output end of the speed reducer is connected with the drive sprocket, the drive sprocket is connected with the steering chain and the steering sprocket, the steering sprocket is connected with the bearing wheel, the bearing wheel is installed on the bearing wheel mounting seat, and the bearing wheel mounting seat is fixedly connected with the support fork part.

[0009] In an embodiment of the utility model, a drive mounting seat is arranged on the support fork part, and the speed reducer is installed on the drive mounting seat.

[0010] In an embodiment of the utility model, the first wheel group includes a drive axle, a drive axle shaft, a first steering motor, a drive motor and a drive rudder wheel, the drive axle shaft is arranged on the head, the middle position of the drive axle is rotationally connected with the drive axle shaft, the two ends of the drive axle are both provided with the drive rudder wheel, the first steering motor is installed on the drive axle and is connected with the drive rudder wheel to realize the steering of the drive rudder wheel, and the drive motor is installed on the drive rudder wheel to realize the movement of the drive rudder wheel.

[0011] In one embodiment of the utility model, the support fork part is two symmetrically arranged, and the two support fork parts and the car head part are arranged in U type, the fixed support is located in the U type area between the two support fork parts.

[0012] In one embodiment of the utility model, the fixed support includes fixed side support and fixed top support, the lower end of fixed side support is fixedly connected with the car head part, and the fixed top support is arranged on the upper end of fixed side support.

[0013] In one embodiment of the utility model, the fixed top support and the car head part are provided with a cable-stayed rod, the cable-stayed rod is two symmetrically arranged, the upper end of cable-stayed rod is hingedly connected with the fixed top support, and the lower end of cable-stayed rod is hingedly connected with the car head part.

[0014] In one embodiment of the utility model, the lifting support includes lifting side support and lifting top support, and the upper end of lifting top support and lifting side support is fixedly connected.

[0015] In one embodiment of the utility model, the lifting mechanism includes lifting cylinder, lifting sprocket and lifting chain, the lifting cylinder is installed on the fixed support, and the output end of lifting cylinder is connected with the lifting top support, the lifting sprocket is arranged on the lifting top support, the lifting chain is wound on the lifting sprocket, one end of the lifting chain is connected with the fixed support, and the other end of the lifting chain is connected with the crystal bar tool.

[0016] In one embodiment of the utility model, the upper end of fixed side support is provided with lifting roller, and the side wall of lifting side support is rollingly connected with the lifting roller.

[0017] The above technical scheme of the utility model has the following beneficial effects compared with the prior art:

[0018] The four-way crystal bar taking robot can overcome the problems of difficult position adjustment and high space redundancy requirement of the existing forklift type robot, and has extremely important significance for improving the production efficiency and space utilization of the single crystal silicon pulling process. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the content of the utility model more easily understood, the utility model will be further described in detail below according to the specific embodiments of the utility model and in combination with the drawings, wherein

[0020] Figure 1 It is the overall structure schematic diagram of four-way crystal bar taking robot in the preferred embodiment of the utility model.

[0021] Figure 2 is a structure schematic view of the robot body in the preferred embodiment of the utility model.

[0022] Figure 3 is a structure schematic view of the robot body in the preferred embodiment of the utility model.

[0023] Figure 4 is a structure schematic view of the robot body in the preferred embodiment of the utility model. Figure 3 is a local enlarged view of A in the preferred embodiment of the utility model.

[0024] Figure 5 is a structure schematic view of the first wheel set in the preferred embodiment of the utility model.

[0025] Figure 6 is a structure schematic view of the robot body in the preferred embodiment of the utility model. Figure 3 is a local enlarged view of B in the preferred embodiment of the utility model.

[0026] Description of the drawings: robot body 100, vehicle head 11, support fork 12, fixed support 13, fixed side support 131, fixed top support 132, inclined pull rod 133, lifting roller 134, lifting support 14, lifting side support 141, lifting top support 142, first wheel set 15, drive axle 151, drive axle shaft 152, first steering motor 153, drive motor 154, drive rudder wheel 155, second wheel set 16, second steering motor 161, speed reducer 162, drive sprocket 163, steering chain 164, steering sprocket 165, bearing wheel mounting seat 166, bearing wheel 167, drive mounting seat 168, lifting mechanism 17, lifting cylinder 171, lifting sprocket 172, lifting chain 173, crystal bar tool 200. DETAILED DESCRIPTION

[0027] The utility model will be further described below in combination with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0028] In the single crystal silicon pulling process link, the crystal bar needs to be moved and carried by the crystal bar taking robot. The existing crystal bar taking robot is mainly transformed on the basis of the traditional forklift type robot. It generally includes a robot body part and a tool part. The position adjustment is realized through the robot body part, and the crystal bar is taken and placed through the tool. However, the position adjustment of such robot is extremely difficult, and a large operation space is needed for position calibration and adjustment, especially cannot adapt to the movement and steering of narrow channel. This situation leads to the difficulty in matching the use demand of the production workshop with compact space layout.

[0029] Reference Figure 1As shown, this embodiment provides a four-way crystal rod picking robot, including: a robot body 100 and a crystal rod picking attachment 200 disposed on the robot body 100. The robot body 100 serves as the power source for driving the crystal rod picking attachment 200 to adjust its position. The robot body 100 can move the crystal rod picking attachment 200 freely, including forward and backward movement, as well as turning and lateral translation. Thus, within a certain range of the production area, the crystal rod picking attachment 200 can be moved to any position. The crystal rod picking attachment 200 is used to pick up and place crystal rods.

[0030] Reference Figure 2 , 3 As shown, the robot body 100 includes a head 11, a support fork 12, a fixed bracket 13, a lifting bracket 14, a first wheel set 15, a second wheel set 16, and a lifting mechanism 17.

[0031] One end of the support fork 12 is connected to the front of the vehicle 11. A fixed bracket 13 is fixedly installed on the side of the front of the vehicle 11 where the support fork 12 is located. In this embodiment, there are two symmetrically arranged support forks 12. These two support forks 12 are fixedly connected to the rigid frame of the front of the vehicle 11. Furthermore, the two support forks 12 and the front of the vehicle 11 are arranged in a U-shape. The fixed bracket 13 is located within the U-shaped area between the two support forks 12. The support fork 12 is a forward-extending fork structure, and the support fork 12 is positioned approximately parallel to the ground.

[0032] The fixed bracket 13 includes two oppositely arranged fixed side brackets 131 and a fixed top bracket 132 connecting the two fixed side brackets 131. The lower end of each fixed side bracket 131 is fixedly connected to the front of the vehicle 11. The fixed top bracket 132 is located at the upper end of each fixed side bracket 131. In practical applications, to improve the structural rigidity of the fixed bracket 13, a fixed bottom bracket is provided at the lower end of each fixed side bracket 131, which is fixedly connected to the front of the vehicle 11. Furthermore, a diagonal tie rod 133 is provided between the fixed top bracket 132 and the front of the vehicle 11. Two diagonal tie rods 133 are symmetrically arranged. The upper end of each diagonal tie rod 133 is hinged to the fixed top bracket 132, and the lower end is hinged to the front of the vehicle 11. The diagonal tie rod 133 between the fixed top bracket 132 and the front of the vehicle 11 increases the stability of the fixed top bracket 132.

[0033] The lifting mechanism 17 is arranged on the fixed support 13. The lifting mechanism 17 is connected with the lifting support 14 and is used to drive the lifting support 14 to lift. The lifting support 14 is arranged on the lifting mechanism 17. The lifting support 14 can move up and down along the fixed side support of the fixed support 13. Specifically, the lifting support 14 includes two opposite lifting side supports 141 and a lifting top support 142 connecting the two lifting side supports 141. The lifting top support 142 is fixedly connected with the upper ends of the lifting side supports 141. In actual application, in order to improve the structural rigidity of the lifting support 14, at least one cross beam is arranged on the back of each lifting side support 141 to fixedly connect the two lifting side supports 141. In a possible embodiment, in order to ensure the stability of the lifting support 14 during lifting, a plurality of lifting rollers 134 are arranged on the inner side of the upper end of the fixed side support 131 to guide the lifting side supports 141 to lift. Of course, the outer side of the lifting side supports 141 should be arranged in a rolling groove or a pressing edge structure matched with the lifting rollers 134 to realize the rolling connection between the side walls of the lifting side supports 141 and the lifting rollers 134.

[0034] Referring to FIGS. 1 and 2, Figure 3 , 6 As shown in FIGS. 1 and 2, the lifting mechanism 17 includes a lifting cylinder 171, a lifting sprocket 172 and a lifting chain 173. The lifting cylinder 171 is arranged on the fixed support 13, and the output end of the lifting cylinder 171 is connected with the lifting top support 142. For this embodiment, the lifting cylinder is arranged on the inner side of the fixed side support 131. The base of the lifting cylinder is arranged on the fixed bottom support of the fixed support 13. The top output end of the piston rod of the lifting cylinder 171 is provided with a top base, and the top base is fixedly connected with the lifting top support 142. In actual application, the lifting cylinder can be a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

[0035] The lifting sprocket 172 is arranged on the lifting top bracket 142. The lifting chain 173 is arranged around the lifting sprocket 172. One end of the lifting chain 173 is connected with the fixed bracket 13, and the other end of the lifting chain 173 is connected with the crystal bar tool 200. Specifically, the lifting sprocket 172 is rotationally connected with the lifting top bracket 142. In one possible embodiment, the lifting sprocket 172 is rotationally arranged on the inner side of the top seat of the lifting cylinder 171. One end of the lifting chain 173 is connected with the fixed top bracket 132 of the fixed bracket 13. The other end of the lifting chain 173 extends upward, winds around the upper half of the lifting sprocket 172, and then extends downward to be connected with the crystal bar tool. During the extension or retraction of the piston rod of the lifting cylinder 171, the lifting top bracket 142 can be lifted, so that the lifting sprocket 172 is synchronously lifted. Since the lifting chain 173 winds around the lifting sprocket 172, a dynamic pulley structure is formed, so that the crystal bar tool 200 connected with the lifting chain 173 has a lifting distance twice that of the lifting sprocket 172. During the lifting of the lifting mechanism 17, the crystal bar tool can be quickly lifted, and the lifting speed is twice that of the lifting bracket. The crystal bar tool can support and clamp the crystal bar, so as to take and place the crystal bar. Since the specific structure of the crystal bar tool is irrelevant to the technical problems to be solved by the present application, the specific structure of the crystal bar tool will not be described here. Preferably, two groups of symmetrical lifting mechanisms 17 are used in the embodiment.

[0036] In the embodiment, the first wheel set 15 is arranged on the head part 11, and the first wheel set 15 serves as a power source for movement. The second wheel set 16 is arranged on the support fork part 12, and the second wheel set 16 is arranged to be able to actively steer. In actual application, the first wheel set 15 and the second wheel set 16 are cooperatively used to realize the movement and steering of the robot body 100.

[0037] Referring to Figure 5As shown, the first wheel set 15 in the embodiment includes a drive bridge frame 151, a drive axle 152, a first steering motor 153, a drive motor 154 and drive wheels 155. The drive axle 152 is arranged at the head part 11. The drive axle 152 is arranged horizontally and connected with the rigid frame of the head part 11. The connection can be detachable fixed connection or rotational connection. It can be understood that the axial direction of the drive axle 152 is parallel to the advancing direction of the robot body 100. Therefore, it can be said that the drive axle 152 is arranged along the front-rear direction of the robot body 100. The middle position of the drive bridge frame 151 is rotationally connected with the drive axle 152. The drive bridge frame 151 can be understood as arranged along the left-right direction or the width direction of the robot body 100. The two ends of the drive bridge frame 151 are provided with the drive wheels 155. The first steering motor 153 is mounted on the drive bridge frame 151 and connected with the drive wheels 155 to realize the steering of the drive wheels 155. Specifically, the output end of the first steering motor 153 is coaxially fixed with a drive gear, and the drive gear is meshed with the steering gear of the drive wheels 155 to realize transmission. The active steering of the drive wheels 155 can be realized by the first steering motor 153. The drive motor 154 is mounted on the drive wheels 155 to realize the movement of the drive wheels 155. Therefore, the omnidirectional movement of the drive wheels can be realized based on the first steering motor 153 and the drive motor 154. Moreover, when encountering uneven ground, the drive bridge frame 151 has certain horizontal adjustment capability to make the robot body 100 keep a substantially horizontal state and avoid the situation that a certain drive wheel 155 is suspended and slips as much as possible. It can be understood that the output end of the first steering motor is provided with a transition speed reducer / transmission, which should be understood as a conventional arrangement in the art to realize speed matching.

[0038] With reference to Figure 4As shown, in the embodiment, the second wheel set 16 comprises a second steering motor 161, a speed reducer 162, a driving sprocket 163, a steering chain 164, a steering sprocket 165, a bearing wheel mounting seat 166 and a bearing wheel 167. The speed reducer 162 is mounted on the support fork 12. Specifically, the support fork 12 is provided with a driving mounting seat 168. The speed reducer 162 is mounted on the driving mounting seat 168. The second steering motor 161 is fixedly mounted on the speed reducer 162, and the output end of the second steering motor 161 is connected with the input end of the speed reducer 162. The output end of the speed reducer 162 is coaxially connected with the driving sprocket 163. The rotation axis of the driving sprocket 163 is in the vertical direction. The driving sprocket 163 is connected through the steering chain 164 and the steering sprocket 165. The steering sprocket 165 is connected with the bearing wheel 167. The bearing wheel 167 is mounted on the bearing wheel mounting seat 166, which is fixedly connected with the support fork 12. The driving sprocket 163, the steering chain 164 and the steering sprocket 165 constitute a transmission structure. The driving source composed of the second steering motor 161 and the speed reducer 162 drives the bearing wheel 167 to steer through the transmission structure, so as to realize the steering function of the second wheel set 16.

[0039] Compared with the prior art, the four-way crystal bar taking robot provided by the embodiment can realize the basic requirement of taking crystal bars. Meanwhile, when traveling in a narrow channel, the first wheel set and the second wheel set can both realize active steering. Therefore, the four-way crystal bar taking robot can not only realize forward and backward travel, but also realize lateral movement in the left and right directions. Thus, the problems of difficult position adjustment and high space redundancy requirement of the existing forklift type robot are overcome. Moreover, this way can greatly improve the alignment and docking efficiency of the crystal bar taking robot, which has extremely important significance for improving the production efficiency and space utilization rate of the single crystal silicon crystal pulling process

[0040] Obviously, the above embodiment is only an example for clear illustration, and is not a limitation on the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present utility model.

Claims

1. A four-way crystal pulling rod robot, characterized by, The robot body and the crystal bar taking tool arranged on the robot body; the robot body serves as a power source for driving the position adjustment of the crystal bar taking tool; and the crystal bar taking tool is used for taking and placing the crystal bar. The first wheel set is arranged on the vehicle head part and serves as a power source for moving; the second wheel set is arranged on the support fork part and is arranged to be able to actively steer; and the first wheel set and the second wheel set are cooperatively used to realize the movement and steering of the robot body. The second wheel set comprises a second steering motor, a speed reducer, a driving chain wheel, a steering chain, a steering sprocket, a bearing wheel mounting seat and a bearing wheel; the output end of the second steering motor is connected with the speed reducer; the speed reducer is mounted on the support fork part, and the output end of the speed reducer is connected with the driving chain wheel; the driving chain wheel is connected with the steering chain and the steering sprocket; The steering sprocket is connected with the bearing wheel; the bearing wheel is mounted on the bearing wheel mounting seat; and the bearing wheel mounting seat is fixedly connected with the support fork part.

2. The four-way crystal pulling rod robot of claim 1, wherein: The support fork part is provided with a driving mounting seat, and the speed reducer is mounted on the driving mounting seat. The first wheel set comprises a driving bridge frame, a driving bridge shaft, a first steering motor, a driving motor and a driving rudder wheel; the driving bridge shaft is arranged on the vehicle head part; the middle position of the driving bridge frame is rotationally connected with the driving bridge shaft; both ends of the driving bridge frame are provided with the driving rudder wheels; the first steering motor is mounted on the driving bridge frame and is connected with the driving rudder wheels to realize the steering of the driving rudder wheels; and the driving motor is mounted on the driving rudder wheels to realize the movement of the driving rudder wheels.

3. The four-way crystal pulling rod robot of claim 2, wherein: The support fork part is symmetrically arranged in two, and the two support fork parts and the vehicle head part are arranged in a U shape; and the fixed support is located in the U-shaped area between the two support fork parts.

4. The four-way crystal pulling rod robot of claim 1, wherein: The fixed support comprises a fixed side support and a fixed top support; the lower end of the fixed side support is fixedly connected with the vehicle head part; and the fixed top support is arranged on the upper end of the fixed side support.

5. The four-way crystal pulling rod robot of claim 1, wherein: The fixed top support and the vehicle head part are provided with a diagonal pull rod; the diagonal pull rod is symmetrically arranged in two; the upper end of the diagonal pull rod is hingedly connected with the fixed top support, and the lower end of the diagonal pull rod is hingedly connected with the vehicle head part.

6. The four-way crystal pulling rod robot of claim 1, wherein: The lifting support comprises a lifting side support and a lifting top support, and the upper ends of the lifting top support and the lifting side support are fixedly connected.

7. The four-way crystal pulling rod robot of claim 6, wherein: The lifting mechanism comprises a lifting cylinder, a lifting sprocket and a lifting chain; the lifting cylinder is mounted on the fixed support, and the output end of the lifting cylinder is connected with the lifting top support; the lifting sprocket is arranged on the lifting top support; the lifting chain is wound on the lifting sprocket, one end of the lifting chain is connected with the fixed support, and the other end of the lifting chain is connected with the crystal bar taking tool.

8. The four-way crystal pulling rod robot of claim 6, wherein: ​ 9. The four-way crystal pulling rod robot of claim 8, wherein: ​ 10. The four-way crystal pulling rod robot of claim 8, wherein: The upper end of the fixed side support is provided with a lifting roller; the side wall of the lifting side support is in rolling connection with the lifting roller.

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