Auxiliary device for scanning and positioning silicon rod

Abstract

The utility model discloses an auxiliary device for scanning and positioning a silicon rod. A strip-shaped light source and a line scanning camera which are connected through a mounting structure are mounted on the manipulator, and the included angle between the strip-shaped light source and the line scanning camera is fixed at 60 degrees to form a visual component. The line scanning camera is connected with the upper computer through a data transmission line, and the upper computer is in communication connection with the manipulator control system. The system is further provided with a tray, and positioning grooves which are distributed in a linear array and matched with the silicon rods are formed in the tray. The manipulator is connected with the mounting structure through the height adjusting structure, and the mounting structure comprises a mounting body, a mounting plate and other components and is used for stably mounting the strip-shaped light source and the line scanning camera. The system solves the problem that a conventional area-array camera is interfered in image acquisition due to specular reflection on the surface of the silicon rod and cannot meet the positioning requirement, realizes accurate positioning of the silicon rod, has the advantages of optimized image acquisition, reasonable structure, high adaptability and the like, effectively improves the accuracy and reliability of grabbing the silicon rod by a manipulator, and improves the working efficiency of the manipulator. The method can be widely applied to related production fields of silicon rods.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic production technical field, concretely relates to a kind of auxiliary device of silicon rod scanning positioning. BACKGROUND

[0002] With the continuous progress of science and technology, mechanical hand type industrial robots have been widely used in many industries. With outstanding work capacity, it significantly improves production efficiency and effectively reduces production cost, and has become an indispensable key element in modern industrial production. In the actual operation process of the robot, accurate positioning of the grasped object is an extremely important prerequisite, and only after accurate positioning can the robot accurately run to the specified position to perform the grasping action. However, the objects to be grasped in real production show rich diversity in terms of type, shape, material and appearance, which brings great challenges to positioning work.

[0003] Taking the positioning of silicon rods as an example, silicon rods are important raw materials in the semiconductor industry and other fields, and the accuracy of their positioning is crucial to the smooth development of subsequent production processes.

[0004] However, the surface of the silicon rod has a unique mirror reflection characteristic, which greatly disturbs the image acquisition process during positioning. Traditional area array cameras are easily disturbed by the mirror reflection of the silicon rod surface when collecting images in a stationary state.

[0005] Because the silicon rod reflects unpredictable environmental information around it, the imaging of the silicon rod in the collected image is severely affected, and the edges of the silicon rod cannot be clearly highlighted. In this way, the quality of the collected image cannot meet the positioning requirements, which prevents the robot from accurately obtaining the position information of the silicon rod based on these images, and thus affects the efficient and accurate operation of the entire production process.

[0006] Current technical means for silicon rod positioning still have a lot of room for improvement in solving the core problem of mirror reflection interference on the surface of the silicon rod, and an innovative solution is needed to optimize the silicon rod scanning positioning system to meet the growing demand for high-precision production. INVENTION CONTENTS

[0007] To solve the above technical problems, the present application solves the problem that the conventional area array camera is disturbed when collecting images in a stationary state due to the mirror reflection characteristic of the surface of the silicon rod, and cannot clearly highlight the edges of the silicon rod, which cannot meet the positioning requirements.

[0008] To achieve the above purpose, the technical solution adopted by the present application is: an auxiliary device for silicon rod scanning positioning, comprising a robot and a linear light source and a line scanning camera mounted on the robot.

[0009] The bar light source and the line scan camera are connected through the mounting structure, so that the included angle between the two is fixed at 60 degrees, so that the bar light source and the line scan camera jointly constitute a vision assembly for collecting a silicon rod image.

[0010] In order to better realize the utility model, further, the line scan camera and the upper computer are connected through a data transmission line.

[0011] In order to better realize the utility model, further, the upper computer and the control system of the mechanical hand are connected in communication through a wired network or a wireless network.

[0012] In order to better realize the utility model, further, the silicon rod scanning positioning system comprises a tray, and the silicon rod to be grabbed is placed in the tray, the tray is of a rectangular structure, a plurality of positioning grooves for placing silicon rods are arranged in the tray, the positioning grooves are arranged in a linear array, the size of each positioning groove is matched with the silicon rod, and the spacing between adjacent positioning grooves is 50mm.

[0013] In order to better realize the utility model, further, the mechanical hand is connected with the mounting structure through a height adjusting structure,

[0014] The height adjusting structure comprises a support frame, a motor, a lead screw, a guide rail and a sliding block, the lead screw is located in the support frame, the lead screw is vertically arranged, and the two ends of the lead screw are respectively rotatably arranged on the top and the bottom of the support frame, the motor is arranged on the top of the support frame, the output end of the motor is connected with the end of the lead screw extending out of the top of the support frame, the guide rail is vertically arranged in the support frame, one side of the sliding block is slidably sleeved in the guide rail, and the sliding block is threadedly connected with the lead screw.

[0015] The mounting structure comprises a mounting body, a mounting plate and a mounting table, one end of the mounting body close to the mechanical hand is fixedly connected with the sliding block;

[0016] The mounting table is arranged on the lower surface of the side of the mounting body close to the mechanical hand, a first inclined surface is arranged at the bottom of the mounting table, and a bar light source is detachably mounted on the first inclined surface;

[0017] The other end of the mounting body away from the mechanical hand is provided with a second inclined surface which is symmetrical with the first inclined surface and has an included angle of 60 degrees with the first inclined surface, the mounting plate is arranged on the second inclined surface, a mounting hole is formed in the mounting plate, and a line scan camera is detachably mounted in the mounting hole.

[0018] In order to better realize the utility model, further, the light emitting surface of the bar light source is in a strip shape and has a diffuse reflection coating.

[0019] The technical scheme provided by the utility model has the following beneficial effects compared with the prior art:

[0020] 1. The utility model discloses a bar light source and line sweep camera are connected through specific mounting structure, make the included angle of both fixed 60 degrees, jointly constitute visual assembly, effectively avoid the interference of the mirror surface reflection of the surface of the silicon rod to the image acquisition, can highlight the edge of the silicon rod stably and clearly, and the high-quality image that satisfies the positioning requirement is collected.

[0021] 2. The utility model discloses that the camera acquires image and uploads to the host computer, obtains the spatial coordinates of the silicon rod through the analysis and processing of the host computer and feeds back to the manipulator control system, realizes the accurate positioning of the silicon rod, improves the accuracy of the manipulator to grab the silicon rod, reduces the error of grabbing, and improves production efficiency.

[0022] 3. The utility model discloses the design of height adjusting structure and mounting structure not only realizes the flexible adjustment of the height of visual assembly, but also ensures the stability and accuracy of the installation of bar light source and line sweep camera, and the lightening hole and level gauge in the mounting structure are designed, which not only ensures the structural strength, but also facilitates the inspection of whether the mounting body is horizontal, and further improves the reliability of system operation.

[0023] 4. The utility model discloses that a plurality of positioning grooves that are linearly arrayed and are adapted in size to the silicon rod are arranged in the tray, the spacing between adjacent grooves is fixed, can adapt to the placement demand of different number of silicon rods, and improves the adaptation ability of the system to different working scenes. ACCURACY

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0025] Figure 1 It is the structural schematic diagram of the mounting body in the utility model;

[0026] Figure 2 It is the front view in the utility model;

[0027] Figure 3 It is the bottom view of the utility model Figure 1 ;

[0028] Figure 4 It is the structural schematic diagram of the tray in the utility model;

[0029] Figure 5 It is the cooperation schematic diagram of the mounting body, tray and silicon rod in the utility model;

[0030] Figure 6 For the utility model Figure 1 The enlarged view of A in the middle;

[0031] Figure 7 For the utility model Figure 4 The enlarged view of B in the middle;

[0032] Figure 8 It is the schematic diagram of principle for the utility model.

[0033] In the figure: 101 - installation main body;102 - installation platform;103 - first inclined surface;104 - strip light source;105 - second inclined surface;106 - installation plate;107 - line scanning camera;201 - tray;202 - positioning groove;301 - silicon rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantage of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0036] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0037] In the description of the present application, it should be noted that, if the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship when the product of the application is usually placed, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In addition, if the terms "first", "second" and the like appear in the description of the present application, they are only used for distinction, and cannot be understood as indicating or implying relative importance.

[0038] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0039] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] Example 1:

[0041] like Figures 1 to 8 As shown, an auxiliary device for scanning and positioning silicon rods includes a robotic arm and a strip light source 104 and a line scan camera 107 mounted on the robotic arm.

[0042] The bar light source 104 and the line scan camera 107 are connected by an installation structure, so that the included angle between them is fixed at 60 degrees, thereby making the bar light source 104 and the line scan camera 107 together constitute a vision component for acquiring images of silicon rod 301.

[0043] like Figures 1 to 8 As shown, in this embodiment, the line scan camera 107 is connected to the host computer via a data transmission line.

[0044] like Figures 1 to 8 As shown in this embodiment, the host computer and the control system of the robotic arm communicate with each other through a wired network or a wireless network.

[0045] like Figures 1 to 8 As shown, in this embodiment, the silicon rod 301 scanning and positioning system includes a tray 201. The silicon rod 301 to be grasped is placed in the tray 201. The tray 201 has a rectangular structure. The tray 201 has a plurality of positioning grooves 202 for placing the silicon rod 301 inside. The positioning grooves 202 are arranged in a linear array, and the size of each positioning groove 202 is adapted to the silicon rod 301. The distance between adjacent positioning grooves 202 is 50mm.

[0046] like Figures 1 to 8 As shown, in this embodiment, the robotic arm is connected to the mounting structure via a height adjustment structure.

[0047] The height adjusting structure comprises a support frame, a motor, a lead screw, a guide rail and a sliding block, the lead screw is located inside the support frame, the lead screw is vertically arranged, and the two ends of the lead screw are respectively arranged in rotation with the top and bottom of the support frame, the motor is arranged on the top of the support frame, the output end of the motor is connected with the end of the lead screw extending out of the top of the support frame, the guide rail is vertically arranged in the support frame, and one side of the sliding block is slidably sleeved in the guide rail, and the sliding block is threadedly connected with the lead screw.

[0048] The mounting structure comprises a mounting body 101, a mounting plate 106 and a mounting table 102, and the mounting body 101 is fixedly connected with the sliding block at one end close to the manipulator;

[0049] The mounting body 101 is provided with the mounting table 102 on the lower surface of the side close to the manipulator, the bottom of the mounting table 102 is provided with a first inclined surface 103, and a strip-shaped light source 104 is detachably mounted on the first inclined surface 103;

[0050] The other end of the mounting body 101 away from the manipulator is provided with a second inclined surface 105 which is symmetrical with the first inclined surface 103 and has an included angle of 60 degrees between each other (so that the included angle between the line-scan camera 107 and the normal line is 30 degrees, and the included angle between the strip-shaped light source 104 and the normal line is 30 degrees), the mounting plate 106 is arranged on the second inclined surface 105, the mounting hole is arranged on the mounting plate 106, and the line-scan camera 107 is detachably mounted in the mounting hole.

[0051] As shown in Figures 1 to 8 In the embodiment, the light emitting surface of the strip-shaped light source 104 is in a strip shape and has a diffuse reflection coating.

[0052] In addition, the mounting table 102 is provided with a weight-reducing hole, the inner top surface of the weight-reducing hole is parallel to the upper surface of the mounting body 101, and the inner top surface of the weight-reducing hole is provided with a level meter, so as to check whether the mounting body 101 is in a horizontal state when the strip-shaped light source 104 and the line-scan camera 107 work cooperatively.

[0053] Working principle:

[0054] The auxiliary device for silicon rod scanning positioning focuses on the connection between the strip-shaped light source 104 and the line-scan camera 107 through the mounting structure before positioning, so that the included angle between the two is fixed to 60 degrees, and the mounting structure itself.

[0055] The specific steps when starting the whole positioning are as follows:

[0056] 1. The manipulator is lowered to a specified height (determined according to actual conditions), so as to ensure that the height difference between the camera and the silicon rod is a specified distance (determined according to actual conditions).

[0057] 2. The mechanical hand drives the camera and the light source to move at a constant speed (determined by the extension, rotation, etc. of the mechanical hand itself), and in the process of movement, the line-scan camera collects images of the corresponding positions by scanning.

[0058] 3. After the camera completes the collection, the image is uploaded to the host computer, the host computer analyzes and processes the image (the host computer uses existing mature technology, and the application only protects the connection with the host computer), obtains the spatial coordinates of the silicon rod, and feeds back to the mechanical hand control system.

[0059] 4. The mechanical hand control system realizes the grabbing of the silicon rod according to the received coordinate information.

[0060] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An auxiliary device for scanning and positioning a silicon rod, characterized in that: Includes a robotic arm and a strip light source (104) and a line scan camera (107) mounted on the robotic arm; The bar light source (104) and the line scan camera (107) are connected by an installation structure, so that the included angle between them is fixed at 60 degrees, thereby making the bar light source (104) and the line scan camera (107) together constitute a visual component for acquiring images of silicon rod (301).

2. The auxiliary device for silicon rod scanning and positioning according to claim 1, characterized in that: The line scan camera (107) is connected to the host computer via a data transmission line.

3. The auxiliary device for silicon rod scanning and positioning according to claim 2, characterized in that: The host computer and the control system of the robotic arm communicate with each other via a wired or wireless network.

4. The auxiliary device for silicon rod scanning and positioning according to claim 1, characterized in that: The silicon rod (301) scanning and positioning system includes a tray (201), in which the silicon rod (301) to be grasped is placed. The tray (201) has a rectangular structure and is provided with a plurality of positioning grooves (202) for placing the silicon rod (301) inside. The positioning grooves (202) are arranged in a linear array, and the size of each positioning groove (202) is adapted to the silicon rod (301). The distance between adjacent positioning grooves (202) is 50mm.

5. The auxiliary device for silicon rod scanning and positioning according to claim 1, characterized in that: The robotic arm is connected to the mounting structure via a height adjustment mechanism. The height adjustment structure includes a support frame, a motor, a lead screw, a guide rail, and a slider. The lead screw is located inside the support frame and is arranged vertically, with its two ends respectively rotatably configured to correspond to the top and bottom of the support frame. The motor is located at the top of the support frame, and the output end of the motor is connected to the end of the lead screw extending out of the top of the support frame. The guide rail is arranged vertically inside the support frame, and one side of the slider is slidably fitted inside the guide rail. The slider is threadedly connected to the lead screw. The mounting structure includes a mounting body (101), a mounting plate (106), and a mounting platform (102). The end of the mounting body (101) near the robot arm is fixedly connected to the slider. The mounting body (101) has a mounting platform (102) on the lower surface of the side near the robot arm. The bottom of the mounting platform (102) is provided with a first inclined surface (103), and a strip light source (104) is detachably mounted on the first inclined surface (103). The mounting body (101) has a second inclined surface (105) at the other end away from the robot arm. The second inclined surface (105) is symmetrical to the first inclined surface (103) and the angle between them is 60 degrees. A mounting plate (106) is provided on the second inclined surface (105). A mounting hole is provided on the mounting plate (106), and a line scanning camera (107) can be detachably installed in the mounting hole.

6. The auxiliary device for silicon rod scanning and positioning according to claim 1, characterized in that: The light-emitting surface of the strip light source (104) is elongated and has a diffuse reflection coating.

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