Boat support temporary storage position carrying manipulator with upper and lower arm folding structure

Abstract

The utility model provides a boat support buffer position carrying manipulator with an upper and lower arm folding structure, which comprises a carrying assembly, the carrying assembly comprises two support frames, two upper linear modules, an upper mounting seat, a guide frame, a lower linear module, a lower mounting block, two boat support clamping jaws, a support plate and a middle clamping jaw; the two upper linear modules are installed on the inner top walls of the two supporting frames correspondingly. The telescopic mechanical arm structure can be formed through combination of the upper linear module and the lower linear module, when the mechanical arm structure is located at the buffering position, the upper linear module corresponds to the lower linear module in position, namely, the mechanical arm structure is in a folded state, the size of the mechanical arm is reduced at the moment, space in the X-axis direction is saved, and when the mechanical arm structure works, the mechanical arm is not prone to falling off. The upper linear module drives the upper mounting base to move along the X axis, the lower linear module drives the lower mounting block to move along the X axis, at the moment, the mechanical arm is unfolded from the folded state, and the quartz boat can be carried.

Description

Technical Field

[0001] This utility model relates to a handling robot, specifically a boat-shaped buffer handling robot with a folding upper and lower arm structure, belonging to the technical field of handling robots. Background Technology

[0002] With the rapid development of the solar photovoltaic industry, manufacturers are increasingly focusing on the production efficiency of high- and low-pressure diffusion equipment, leading to a growing demand for equipment automation. Whether in the semiconductor or photovoltaic fields, reducing human intervention is one of the most effective ways to improve product yield and efficiency. Furthermore, minimizing handling time and reducing manual handling without altering process time is the most direct way to improve equipment efficiency. Currently, automated quartz boat handling mechanisms are widely used in the handling of quartz boats. These mechanisms typically use grippers to hold the quartz boat and a handling mechanism to move it.

[0003] Existing quartz boat handling robots generally rely on a combination of a gantry lifting module and a telescopic robotic arm to achieve precise handling of quartz boat carriers. While this design meets the handling needs of automated production lines to some extent, it still has some inherent limitations: the robotic arm used is relatively large. Such a large robotic arm not only requires a relatively spacious area during operation but also places high demands on the layout of the production environment. Therefore, in limited factory space, a large robotic arm often restricts the placement of other equipment and even affects the overall smoothness and efficiency of the production line. To address this, a boat carrier buffer handling robot with a folding upper and lower arm structure is proposed. Utility Model Content

[0004] In view of this, the present invention provides a boat-mounted buffer handling robot with an upper and lower arm folding structure to solve or alleviate the technical problems existing in the prior art, and at least provides a beneficial option.

[0005] The technical solution of this utility model embodiment is implemented as follows: a boat carrier buffer handling robot with an upper and lower arm folding structure includes a handling component, which includes two support frames, two upper linear modules, an upper mounting base, a guide frame, a lower linear module, a lower mounting block, two boat carrier grippers, a support plate, and an intermediate gripper.

[0006] The two upper linear modules are respectively installed on the inner top walls of the two support frames. The upper mounting base is fixedly connected to the lower surface of the mover of the upper linear module. The lower linear module is installed on the inner top wall of the guide frame. The lower mounting block is fixedly connected to the lower surface of the mover of the lower linear module. The boat support claw is installed on the lower surface of the lower mounting block. The two ends of the support plate are installed on the upper surfaces of the two boat support claws. The middle claw is installed in the middle of the lower surface of the support plate.

[0007] More preferably, the upper surface of the guide frame is fixedly connected to the lower surface of the upper mounting base, and the outer side wall of the guide frame is slidably connected to the inner side wall of the support frame.

[0008] More preferably, the size of the upper linear module is the same as the size of the lower linear module.

[0009] More preferably, a cable protection cover is fixedly connected to one side of the support frame located on the left side, and a cable chain is installed inside the cable protection cover.

[0010] More preferably, two quartz boats are disposed below the support plate, and the intermediate gripper is located between the two boat support grippers.

[0011] More preferably, the two quartz boats are symmetrically located on both sides of the central gripper, and the boat supports of the two quartz boats are held between the central gripper and the two boat support grippers.

[0012] More preferably, the support frame is provided with a main body component on its exterior, the main body component including a gantry lifting module and a top mounting frame;

[0013] The top mounting bracket is installed on the top of the gantry lifting module.

[0014] More preferably, the rear ends of the two support frames are symmetrically fixedly connected to the front surface of the moving part of the gantry lifting module, and the support frames are L-shaped.

[0015] The present invention has the following advantages due to the adoption of the above technical solution:

[0016] This invention combines an upper linear module and a lower linear module to form a telescopic robotic arm structure. When the robotic arm is in the buffer position, the upper and lower linear modules correspond to each other, i.e., it is in a folded state. This reduces the size of the robotic arm and saves space in the X-axis direction. During operation, the quartz boat can be gripped by the cooperation of the boat-supporting gripper and the intermediate gripper. When transporting the quartz boat, the upper linear module drives the upper mounting base to move along the X-axis, and the lower linear module drives the lower mounting block to move along the X-axis. At this time, the robotic arm unfolds from the folded state, and the lower mounting block drives the boat-supporting gripper and the intermediate gripper. The boat-supporting gripper and the intermediate gripper then drive the quartz boat, thus realizing the transport action of the quartz boat.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of a boat-mounted buffer handling robot with an upper and lower arm folding structure according to the present invention;

[0020] Figure 2 This is a structural diagram of the handling component of this utility model;

[0021] Figure 3 This is a diagram showing the working state of the present invention when transporting a quartz boat;

[0022] Figure 4 This diagram shows the working state of the handling component of this utility model when handling a quartz boat.

[0023] Reference numerals: 101, conveying assembly; 11, support frame; 12, upper linear module; 122, upper mounting base; 13, guide frame; 14, lower linear module; 15, lower mounting block; 16, boat support gripper; 17, quartz boat; 18, cable chain; 19, cable protection cover; 20, support plate; 21, intermediate gripper; 301, main assembly; 31, gantry lifting module; 32, top mounting frame. Detailed Implementation

[0024] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0025] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0026] like Figures 1-4As shown, this utility model embodiment provides a boat carrier buffer handling robot with an upper and lower arm folding structure, including a handling component 101. The handling component 101 is used to perform gripping and handling actions on the quartz boat 17. The handling component 101 includes two support frames 11, two upper linear modules 12, an upper mounting base 122, a guide frame 13, a lower linear module 14, a lower mounting block 15, two boat carrier grippers 16, a support plate 20, and a middle gripper 21.

[0027] Two upper linear modules 12 are respectively installed on the inner top walls of two support frames 11. The upper mounting base 122 is fixedly connected to the lower surface of the mover of the upper linear module 12. The lower linear module 14 is installed on the inner top wall of the guide frame 13. The lower mounting block 15 is fixedly connected to the lower surface of the mover of the lower linear module 14. The dimensions of the upper linear module 12 and the lower linear module 14 are the same. By combining the upper linear module 12 and the lower linear module 14, a telescopic robotic arm structure can be formed.

[0028] When the robotic arm structure is in the buffer position, the upper linear module 12 and the lower linear module 14 are in the same position, that is, in a folded state. When the robotic arm structure is loading or unloading materials, the robotic arm unfolds from the folded state.

[0029] The boat-support gripper 16 is installed on the lower surface of the lower mounting block 15. The two ends of the support plate 20 are installed on the upper surfaces of the two boat-support grippers 16. The middle gripper 21 is installed in the middle of the lower surface of the support plate 20. Two quartz boats 17 are arranged below the support plate 20. The middle gripper 21 is located between the two boat-support grippers 16. The two quartz boats 17 are symmetrically located on both sides of the middle gripper 21. The boat supports of the two quartz boats 17 are clamped between the middle gripper 21 and the two boat-support grippers 16. The shape of the boat-support gripper 16 is adapted to the shape of the middle gripper 21. Thus, two robotic arm structures can be formed by the two boat-support grippers 16 and one middle gripper 21 to simultaneously grasp the two quartz boats 17.

[0030] In one embodiment, the upper surface of the guide frame 13 is fixedly connected to the lower surface of the upper mounting base 122, and the outer side wall of the guide frame 13 is slidably connected to the inner side wall of the support frame 11. Thus, during the handling operation, the upper mounting base 122 is driven by the upper linear module 12, the upper mounting base 122 drives the guide frame 13, the guide frame 13 drives the lower linear module 14, the lower linear module 14 drives the boat support gripper 16 and the intermediate gripper 21 through the lower mounting block 15, and the boat support gripper 16 and the intermediate gripper 21 drive the quartz boat 17, thereby realizing the handling action of the quartz boat 17.

[0031] Since the lower linear module 14 is installed inside the guide frame 13, and the guide frame 13 slides inside the support frame 11, the guide frame 13 can play a guiding and supporting role to enhance the rigidity of the robotic arm.

[0032] In one embodiment, a cable protection cover 19 is fixedly connected to one side of the support frame 11 on the left side. A cable chain 18 is installed inside the cable protection cover 19, through which cables can be stored.

[0033] In one embodiment, a main body component 301 is provided on the outside of the support frame 11, and the main body component 301 includes a gantry lifting module 31 and a top mounting frame 32.

[0034] The top mounting bracket 32 ​​is installed on the top of the gantry lifting module 31. The rear ends of the two support brackets 11 are symmetrically fixed to the front surface of the moving part of the gantry lifting module 31. The support brackets 11 are L-shaped, and the L-shaped support brackets 11 can ensure the stability of the transport component 101.

[0035] By driving the support frame 11 to move along the Z-axis direction through the gantry lifting module 31, the boat carrier gripper 16 and the intermediate gripper 21 can move upward or downward, thereby realizing the gripping or unloading action.

[0036] In operation, this invention uses the gantry lifting module 31 to move the support frame 11 along the Z-axis. The quartz boat 17 can be gripped by the cooperation of the boat-supporting gripper 16 and the intermediate gripper 21. When transporting the quartz boat 17, the upper linear module 12 moves the upper mounting base 122 along the X-axis. The upper mounting base 122 moves the guide frame 13, which in turn moves the lower linear module 14. The lower linear module 14 then moves the lower mounting block 15 along the X-axis. At this time, the robotic arm unfolds from its folded state. The lower mounting block 15 moves the boat-supporting gripper 16 and the intermediate gripper 21, which in turn move the quartz boat 17, thus enabling the transport of the quartz boat 17.

[0037] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A boat support buffer position handling robot with up and down arm folding structure, comprising a handling assembly (101), characterized in that: The carrying assembly (101) comprises two support frames (11), two upper linear modules (12), an upper mounting seat (122), a guide frame (13), a lower linear module (14), a lower mounting block (15), two boat clamping jaws (16), a support plate (20) and a middle clamping jaw (21). The upper linear modules (12) are respectively arranged on the inner top walls of the support frames (11), the lower surfaces of the movers of the upper linear modules (12) are fixedly connected with the upper mounting seat (122), the lower linear module (14) is arranged on the inner top wall of the guide frame (13), the lower surface of the mover of the lower linear module (14) is fixedly connected with the lower mounting block (15), the boat clamping jaws (16) are arranged on the lower surfaces of the lower mounting block (15), the two ends of the support plate (20) are arranged on the upper surfaces of the two boat clamping jaws (16), and the middle clamping jaw (21) is arranged on the middle portion of the lower surface of the support plate (20).

2. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 1, characterized in that: The upper surface of the guide frame (13) is fixedly connected with the lower surface of the upper mounting seat (122), and the outer side wall of the guide frame (13) is slidably connected with the inner side wall of the support frame (11).

3. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 1, characterized in that: The upper linear module (12) has the same size as the lower linear module (14).

4. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 2, characterized in that: The side of the left support frame (11) is fixedly connected with a cable protection cover (19), and the inside of the cable protection cover (19) is arranged with a drag chain (18).

5. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 1, characterized in that: The lower portion of the support plate (20) is provided with two quartz boats (17), and the middle clamping jaw (21) is located between the two boat clamping jaws (16).

6. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 5, characterized in that: The two quartz boats (17) are symmetrically arranged on the two sides of the middle clamping jaw (21), and the boat clamping jaws of the two quartz boats (17) are clamped between the middle clamping jaw (21) and the two boat clamping jaws (16).

7. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 4, characterized in that: The outer portion of the support frame (11) is provided with a main body assembly (301), and the main body assembly (301) comprises a gantry lifting module (31) and a top mounting frame (32). The top mounting frame (32) is arranged on the top of the gantry lifting module (31).

8. The boat carrier buffer position handling robot with upper and lower arm folding structure according to claim 7, characterized in that: The rear ends of the two support frames (11) are symmetrically fixedly connected with the front surface of the mover of the gantry lifting module (31), and the support frame (11) is in L shape.

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