End effector of lithium tantalate single crystal rod transplanting robot

Abstract

The utility model relates to an end effector of a lithium tantalate single crystal rod transplanting robot, which comprises a driving air cylinder, a first clamping piece, a second clamping piece, a first sliding block, a second sliding block and a sliding rail, the sliding rail is fixedly arranged on the driving air cylinder, the first sliding block and the second sliding block are connected to the sliding rail in a sliding mode, and the first clamping piece and the second clamping piece are fixedly arranged on the driving air cylinder. The driving air cylinder is connected with the first sliding block and the second sliding block, so that the driving air cylinder drives the first sliding block and the second sliding block to move on the sliding rail; the first clamping piece and the first sliding block are fixedly installed together, and the second clamping piece and the second sliding block are fixedly installed together, so that the driving air cylinder drives the first clamping piece and the second clamping piece to be close to each other or away from each other. When the first clamping piece and the second clamping piece are close to each other, the first clamping piece and the second clamping piece are used for clamping a lithium tantalate single crystal rod.

Description

Technical Field

[0001] This utility model relates to an end effector for robots, specifically an end effector for a lithium tantalate single crystal rod transfer robot. Background Technology

[0002] After production, processing, and cutting, lithium tantalate single crystal rods are made into rods of a predetermined length. In a certain production process, these rods need to be transferred to a predetermined location. Traditionally, this is done using conveyor belts or chains; however, the conveying speed of these belts or chains is too slow, limiting the transport of the lithium tantalate single crystal rods. Later, transfer robots were invented, using their end effectors to transfer the rods to the predetermined location. However, lithium tantalate single crystal rods are cylindrical with a certain degree of smoothness on their surface. Existing transfer robot end effectors often lack sufficient clamping force and stability during the transfer process. Even when the clamping force of some end effectors is sufficient, the brittleness of the lithium tantalate single crystal rods makes them prone to breakage or damage during handling. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing an end effector for a lithium tantalate single crystal rod transfer robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an end effector for a lithium tantalate single crystal rod transfer robot, comprising: a drive cylinder, a first clamping member, a second clamping member, a first slider, a second slider, and a sliding track. The sliding track is fixedly mounted on the drive cylinder. The first slider and the second slider are slidably connected to the sliding track, and the drive cylinder is connected to the first slider and the second slider, thereby causing the drive cylinder to drive the first slider and the second slider to move on the sliding track. The first clamping member and the first slider are fixedly mounted together, and the second clamping member and the second slider are fixedly mounted together, thereby causing the drive cylinder to drive the first clamping member and the second clamping member to move closer or further apart. When the first clamping member and the second clamping member move closer, they are used to clamp the lithium tantalate single crystal rod.

[0005] In some embodiments of this application, the first clamping member is provided with a first clamping groove, and the second clamping member is provided with a second clamping groove. The first clamping groove has a preset length and a semi-circular cross-section. The second clamping groove has a preset length and a semi-circular cross-section. When the first clamping member and the second clamping member are close together, the first clamping groove and the second clamping groove combine to form a cylindrical cavity with a circular cross-section. The cylindrical cavity is used to clamp the lithium tantalate single crystal rod.

[0006] In some embodiments of this application, the first clamping member includes a first connecting arm and a first clamping arm, the first connecting arm and the first clamping arm are fixedly connected together and are perpendicular to each other, the first clamping groove is disposed on the first clamping arm and is recessed inward along the radial direction of the first clamping arm to a predetermined depth, and the first connecting arm and the first slider are fixedly installed together; the second clamping member includes a second connecting arm and a second clamping arm, the second connecting arm and the second clamping arm are fixedly connected together and are perpendicular to each other, the second clamping groove is disposed on the second clamping arm and is recessed inward along the radial direction of the second clamping arm to a predetermined depth, and the second connecting arm and the second slider are fixedly installed together.

[0007] In some embodiments of this application, the first clamping groove extends through the first clamping arm along the length direction of the first clamping arm, and the second clamping groove extends through the second clamping arm along the length direction of the second clamping arm.

[0008] In some embodiments of this application, a fixed connection assembly, a connecting flange, a connecting rod, a connecting disc, a rotating shaft, a supporting disc, a connecting output component, and a rotating bearing are also included. The driving cylinder and the fixed connection assembly are fixedly installed together. The connecting flange is fixedly connected to the fixed connection assembly. One end of the connecting rod is fixedly connected to the connecting flange, and the other end of the connecting rod is fixedly connected to the connecting disc. The connecting disc and the supporting disc are fixedly connected. The rotating shaft is fixedly disposed on the supporting disc. The rotating bearing is fixedly embedded in the connecting output component on one hand, and fixedly mounted on the rotating shaft on the other hand. The connecting output component and the supporting disc abut against each other, thereby causing the connecting output component to rotate relative to the supporting disc. The connecting output component is connected to the transplanting robot, thereby causing the transplanting robot to drive the lithium tantalate single crystal rod held between the first clamp and the second clamp to rotate.

[0009] In some embodiments of this application, the fixed connection assembly includes a first connecting plate, a second connecting plate, a first reinforcing plate, and a second reinforcing plate. The first connecting plate is fixedly connected to the drive cylinder, and the second connecting plate is perpendicular to the first connecting plate and fixedly connected together. The first reinforcing plate is fixedly connected to both the first connecting plate and the second connecting plate, and the second reinforcing plate is fixedly connected to both the first connecting plate and the second connecting plate.

[0010] The beneficial effects of this application are as follows: The end effector structure of the lithium tantalate single crystal rod transfer robot provided by this application is simple. The drive cylinder drives the first clamping member and the second clamping member to move closer or further apart to clamp the lithium tantalate single crystal rod, and the clamping force is large. The first clamping member is provided with a first clamping groove, and the second clamping member is provided with a second clamping groove. The cross-section of the first clamping groove and the second clamping groove are both semi-circular, and the first clamping groove and the second clamping groove have a preset length. This makes a considerable part of the lithium tantalate single crystal rod clamped by the first clamping groove and the second clamping groove, thereby making the clamping stability of the lithium tantalate single crystal rod high. Attached Figure Description

[0011] Figure 1 A schematic diagram of the end effector of the lithium tantalate single crystal rod transfer robot provided by this utility model.

[0012] Figure 2 Another schematic diagram of the end effector of the lithium tantalate single crystal rod transfer robot provided by this utility model.

[0013] Figure 3 Another schematic diagram of the end effector of the lithium tantalate single crystal rod transfer robot provided by this utility model. Detailed Implementation

[0014] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0015] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0016] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0017] Please refer to Figure 1-3 This application provides an end effector (hereinafter referred to as "the end effector") for a lithium tantalate single crystal rod transfer robot. The end effector includes: a drive cylinder 1, a first clamping member 2, a second clamping member 3, a first slider 4, a second slider 5, and a sliding track 6. The sliding track 6 is fixedly disposed on the drive cylinder 1. The first slider 4 and the second slider 5 are slidably connected to the sliding track 6, and the drive cylinder 1 is connected to the first slider 4 and the second slider 5, thereby causing the drive cylinder 1 to drive the first slider 4 and the second slider 5 to move on the sliding track 6. The first clamping member 2 and the first slider 4 are fixedly installed together, and the second clamping member 3 and the second slider 5 are fixedly installed together, thereby causing the drive cylinder 1 to drive the first clamping member 2 and the second clamping member 3 to move closer or further away from each other. When the first clamping member 2 and the second clamping member 3 move closer, they are used to clamp the lithium tantalate single crystal rod.

[0018] Please refer to some embodiments of this application. Figure 2 The first clamping member 2 is provided with a first clamping groove 220, and the second clamping member 3 is provided with a second clamping groove 320. The first clamping groove 220 has a preset length and a semi-circular cross-section. The second clamping groove 320 has a preset length and a semi-circular cross-section. When the first clamping member 2 and the second clamping member 3 are close together, the first clamping groove 220 and the second clamping groove 320 combine to form a cylindrical cavity with a circular cross-section. This cylindrical cavity is used to clamp the lithium tantalate single crystal rod.

[0019] Please refer to some embodiments of this application. Figure 2The first clamping member 2 includes a first connecting arm 21 and a first clamping arm 22, which are fixedly connected together and perpendicular to each other. A first clamping groove 220 is provided on the first clamping arm 22, which is recessed inward along the radial direction of the first clamping arm 22 to a predetermined depth. The first connecting arm 21 and the first slider 4 are fixedly installed together. The second clamping member 3 includes a second connecting arm 31 and a second clamping arm 32, which are fixedly connected together and perpendicular to each other. A second clamping groove 320 is provided on the second clamping arm 32, which is recessed inward along the radial direction of the second clamping arm 32 to a predetermined depth. The second connecting arm 31 and the second slider 5 are fixedly installed together.

[0020] Please refer to some embodiments of this application. Figure 2 The first clamping groove 220 extends through the first clamping arm 22 along the length direction of the first clamping arm 22, and the second clamping groove 320 extends through the second clamping arm 32 along the length direction of the second clamping arm 32.

[0021] Please refer to some embodiments of this application. Figure 3 The end effector further includes a fixed connection assembly 7, a connecting flange 8, a connecting rod 9, a connecting disc 10, a rotating shaft 11, a supporting disc 12, a connecting output component 13, and a rotating bearing 14. The drive cylinder 1 and the fixed connection assembly 7 are fixedly installed together. The connecting flange 8 is fixedly connected to the fixed connection assembly 7. One end of the connecting rod 9 is fixedly connected to the connecting flange 8, and the other end of the connecting rod 9 is fixedly connected to the connecting disc 10. The connecting disc 10 and the supporting disc 12 are fixedly connected. The rotating shaft 11 is fixedly disposed on the supporting disc 12. The rotating bearing 14 is fixedly embedded in the connecting output component 13 on one hand, and fixedly mounted on the rotating shaft 11 on the other hand. The connecting output component 13 and the supporting disc 12 abut against each other, thereby causing the connecting output component 13 to rotate relative to the supporting disc 12. The connecting output component 12 is connected to the transplanting robot, thereby causing the transplanting robot to drive the lithium tantalate single crystal rod held between the first clamp 2 and the second clamp 3 to rotate.

[0022] In one embodiment of this application, please refer to Figure 3The fixed connection assembly 7 includes a first connecting plate 71, a second connecting plate 72, a first reinforcing plate 73, and a second reinforcing plate 74. The first connecting plate 71 is fixedly connected to the driving cylinder 1. The second connecting plate 72 is perpendicular to the first connecting plate 71 and fixedly connected together. The first reinforcing plate 73 is fixedly connected to both the first connecting plate 71 and the second connecting plate 72. The second reinforcing plate 74 is fixedly connected to both the first connecting plate 71 and the second connecting plate 72.

[0023] The end effector structure of the lithium tantalate single crystal rod transfer robot provided in this application is simple. The drive cylinder drives the first clamping member and the second clamping member to move closer or further apart to clamp the lithium tantalate single crystal rod, and the clamping force is large. The first clamping member is provided with a first clamping groove, and the second clamping member is provided with a second clamping groove. The cross-section of the first clamping groove and the second clamping groove are both semi-circular, and the first clamping groove and the second clamping groove have a preset length. This allows a considerable part of the lithium tantalate single crystal rod to be clamped by the first clamping groove and the second clamping groove, thereby making the clamping stability of the lithium tantalate single crystal rod high.

[0024] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An end effector for a lithium tantalate single crystal rod transfer robot, characterized in that, include: The system comprises a driving cylinder, a first clamping member, a second clamping member, a first slider, a second slider, and a sliding track. The sliding track is fixedly mounted on the driving cylinder. The first slider and the second slider are slidably connected to the sliding track, and the driving cylinder is connected to the first slider and the second slider, thereby causing the driving cylinder to drive the first slider and the second slider to move on the sliding track. The first clamping member and the first slider are fixedly mounted together, and the second clamping member and the second slider are fixedly mounted together, thereby causing the driving cylinder to drive the first clamping member and the second clamping member to move closer or further apart. When the first clamping member and the second clamping member move closer, they are used to clamp a lithium tantalate single crystal rod. The first clamping member is provided with a first clamping groove, and the second clamping member is provided with a second clamping groove. The first clamping groove has a preset length and a semi-circular cross-section. The second clamping groove has a preset length and a semi-circular cross-section. When the first clamping member and the second clamping member are close together, the first clamping groove and the second clamping groove combine to form a cylindrical cavity with a circular cross-section. The cylindrical cavity is used to clamp the lithium tantalate single crystal rod.

2. The end effector of the lithium tantalate single crystal rod transfer robot according to claim 1, characterized in that, The first clamping member includes a first connecting arm and a first clamping arm, the first connecting arm and the first clamping arm are fixedly connected together and are perpendicular to each other, the first clamping groove is disposed on the first clamping arm and is recessed inward along the radial direction of the first clamping arm to a predetermined depth, and the first connecting arm and the first slider are fixedly installed together; the second clamping member includes a second connecting arm and a second clamping arm, the second connecting arm and the second clamping arm are fixedly connected together and are perpendicular to each other, the second clamping groove is disposed on the second clamping arm and is recessed inward along the radial direction of the second clamping arm to a predetermined depth, and the second connecting arm and the second slider are fixedly installed together.

3. The end effector of the lithium tantalate single crystal rod transfer robot according to claim 2, characterized in that, The first clamping groove extends through the first clamping arm along the length direction of the first clamping arm, and the second clamping groove extends through the second clamping arm along the length direction of the second clamping arm.

4. The end effector of the lithium tantalate single crystal rod transfer robot according to claim 1, characterized in that, It also includes a fixed connection assembly, a connecting flange, a connecting rod, a connecting disc, a rotating shaft, a supporting disc, a connecting output component, and a rotating bearing. The driving cylinder and the fixed connection assembly are fixedly installed together. The connecting flange is fixedly connected to the fixed connection assembly. One end of the connecting rod is fixedly connected to the connecting flange, and the other end of the connecting rod is fixedly connected to the connecting disc. The connecting disc and the supporting disc are fixedly connected. The rotating shaft is fixedly disposed on the supporting disc. The rotating bearing is fixedly embedded in the connecting output component on one side and fixedly installed on the rotating shaft on the other side. The connecting output component and the supporting disc abut against each other, thereby causing the connecting output component to rotate relative to the supporting disc. The connecting output component is connected to the transplanting robot, thereby causing the transplanting robot to drive the lithium tantalate single crystal rod held between the first clamp and the second clamp to rotate.

5. The end effector of the lithium tantalate single crystal rod transfer robot according to claim 4, characterized in that, The fixed connection assembly includes a first connecting plate, a second connecting plate, a first reinforcing plate, and a second reinforcing plate. The first connecting plate is fixedly connected to the drive cylinder. The second connecting plate is perpendicular to the first connecting plate and fixedly connected together. The first reinforcing plate is fixedly connected to both the first connecting plate and the second connecting plate. The second reinforcing plate is also fixedly connected to both the first connecting plate and the second connecting plate.

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