A heavy-duty single crystal rod gripper

Abstract

This application relates to a heavy-duty single crystal rod gripper. The heavy-duty single crystal rod gripper includes: a mounting bracket; a servo electric cylinder, the cylinder body of which is fixedly mounted on the mounting bracket; a threaded adapter, a bidirectional tension / compression sensor, and a push rod connected in sequence, one end of which is threadedly connected to the piston rod of the servo electric cylinder, and the other end is connected to the bidirectional tension / compression sensor, the other end of which is connected to the flange end of the push rod; a linear bearing, fixedly mounted on the mounting bracket, with the push rod nested within it, and a face-limiting flange coaxially mounted on the lower end of the push rod via a locking nut; a hinged clamping mechanism, located at the lower end of the mounting bracket and connected to the bottom of the push rod away from the flange end; and an ultrasonic sensor mounted on the hinged clamping mechanism. This application enables semi-automatic crystal picking, significantly improving work efficiency and greatly enhancing the clamping range and heavy-duty capacity.

Description

Technical Field

[0001] This application relates to the field of single crystal production equipment technology, and in particular to a heavy-duty single crystal rod gripper. Background Technology

[0002] In related technologies, the removal of single crystal rods from single crystal furnaces is done manually. With the commissioning of large-diameter single crystal furnaces, removing heavy single crystal rods from these furnaces has become increasingly difficult, resulting in high labor intensity, low efficiency, and potential safety hazards such as crushing and denting injuries. Standard pneumatic finger cylinders on the market have insufficient clamping force (20N-1200N) and stroke (2mm-80mm) to meet the gripping requirements of large-diameter (100mm-500mm) and heavy-weight (50KG-150KG) crystal rods, and lack features such as force feedback and visual guidance.

[0003] Therefore, there is a need to design a heavy-duty gripper that is automated, has a large gripping range, a large gripping force, and multiple protection functions. Utility Model Content

[0004] To address or partially address the problems existing in related technologies, this application provides a heavy-duty single crystal rod gripper that can achieve semi-automatic crystal picking, significantly improve work efficiency, and enhance the gripping range and heavy-duty capacity.

[0005] This application provides a heavy-duty single crystal rod gripper, comprising:

[0006] Mounting bracket 1;

[0007] Servo electric cylinder 2: Its cylinder body is fixedly mounted on the mounting bracket 1;

[0008] Force transmission assembly: includes a threaded adapter 3, a tension-compression bidirectional sensor 4 and a push rod 5 connected in sequence. One end of the threaded adapter 3 is threadedly connected to the piston rod of the servo electric cylinder 2, and the other end is connected to the tension-compression bidirectional sensor 4. The other end of the tension-compression bidirectional sensor 4 is connected to the flange end of the push rod 5.

[0009] Linear bearing 6: Fixedly installed on mounting bracket 1, push rod 5 is nested inside linear bearing 6, and the lower end of push rod 5 is coaxially mounted with end face limiting flange 18 through locking nut 17;

[0010] Hinged clamping mechanism: It is located at the lower end of the mounting bracket 1 and is connected to the bottom of the push rod 5 away from the flange end;

[0011] Ultrasonic sensor 16: mounted on a hinged clamping mechanism.

[0012] Optionally, in some embodiments, the hinged clamping mechanism includes:

[0013] Inner hinge fixing block 11: Fixedly installed at the bottom of push rod 5 away from the flange end;

[0014] External hinge fixing block 7: fixedly installed on the lower part of the mounting bracket 1;

[0015] Hinge assembly: Four sets are evenly arranged along the circumference of push rod 5, including outer hinge A8, outer hinge B10 and inner hinge 9. Outer hinge A8 and outer hinge B10 are arranged in parallel, and their upper ends are hinged to outer hinge fixing block 7 by hinge pin 12. Outer hinge B10 is located inside outer hinge A8. The other ends of outer hinge A8 and outer hinge B10 are hinged to movable hinge fixing block 13 by hinge pin 12. One end of inner hinge 9 is hinged to inner hinge fixing block 11 by hinge pin 12, and the other end is hinged to the middle of outer hinge B10 by hinge pin 12.

[0016] Clip 14: Adjustably mounted on the movable hinge fixing block 13, with an ultrasonic sensor 16 mounted on its outer side.

[0017] Optionally, in some embodiments, the top of the clip finger 14 is provided with a mounting plate arranged perpendicularly thereto. The mating surface of the mounting plate and the movable hinge fixing block 13 is designed with triangular teeth and adjustment scale. The mounting plate is provided with a waist-shaped hole, and the movable hinge fixing block 13 is provided with a threaded hole. The mounting plate is threadedly connected to the threaded hole by bolts passing through the waist-shaped hole and the threaded hole, and at least two sets of waist-shaped holes and threaded holes are provided.

[0018] Optionally, in some embodiments, a finger-clamping pad 15 for protecting the crystal rod is installed on the clamping surface of the clamping finger 14.

[0019] Optionally, in some embodiments, a cross infrared marker 19 is installed in the center hole of the end face limiting flange 18.

[0020] Optionally, in some embodiments, the mounting bracket 1 is also equipped with four surveillance cameras 20, which are installed at a distance from the mounting position of the clip finger 14.

[0021] The technical solution provided in this application may include the following beneficial effects:

[0022] (1) This application has a super large clamping range and heavy load capacity: through the drive scheme of "servo electric cylinder + multi-link hinge mechanism" and the design of replaceable clamping fingers, it realizes stable gripping of crystal rods with diameters ranging from 100mm to 500mm and weights ranging from 50KG to 150KG, which solves the dual bottlenecks of standard pneumatic finger cylinders in the market in terms of stroke and clamping force, and perfectly adapts to the production needs of large-diameter single crystal furnaces.

[0023] (2) Intelligent force control, adaptive clamping and zero damage protection: The integrated tension and compression bidirectional sensor can monitor and feedback the clamping force in real time. The system can set upper and lower limits. When the clamping force reaches the preset upper limit, the servo electric cylinder will automatically stop applying force, effectively avoiding surface crushing or internal stress damage to the crystal rod caused by excessive clamping force. For crystal rods with slight diameter deviation or irregular surface, the clamping force can be automatically adjusted to ensure stable gripping.

[0024] (3) Multiple protection mechanisms: The ultrasonic sensor installed on the finger clip detects the distance to the furnace and other surrounding equipment in real time. It can provide early warning or emergency shutdown when there is a risk of collision; the monitoring camera transmits the operation image to the control terminal in real time, and the operator can remotely monitor and operate in a safe area, which fundamentally avoids potential harm to personnel from high temperature, heavy objects, etc.; a multi-layer safety defense line of "early warning-intervention-shutdown" is constructed, which significantly reduces the risk of equipment collision and personnel injury.

[0025] (4) Visualized and precise guidance: The cross infrared marker installed on the gripper axis can project a clear cross cursor, directly guiding the operator to quickly and accurately align the gripper with the center of the crystal rod, which greatly shortens the alignment time before crystal picking, improves the efficiency of a single operation, greatly reduces the dependence on the operator's experience, and enables novices to get started quickly, avoiding picking failure or crystal rod collision caused by inaccurate alignment.

[0026] (5) Compact structure and high rigidity: The multi-link hinge mechanism realizes the large stroke of the gripper opening and closing in a limited space. All hinge connections are clearance fit to ensure smooth and precise movement. The compact structure makes it easy to cope with narrow working spaces such as the furnace opening of a single crystal furnace. The mechanical structure is stable and does not easily deform when gripping a 150KG heavy load, ensuring the stability of the gripping posture. The mature mechanical structure combined with high-quality materials ensures the long-term reliable operation of the equipment and reduces maintenance costs.

[0027] (6) High flexibility and adaptability: When the crystal rod diameter does not change significantly, no parts need to be replaced; adaptation can be achieved simply by modifying parameters in the control system. When the diameter changes significantly, the clamping fingers can be flipped and installed (with the back of the clamping fingers as the working surface) to cover the entire design diameter range (100mm-500mm). The mating surfaces of the clamping fingers and the fixing block have triangular teeth and graduations for easy and precise adjustment and installation. This greatly enhances the versatility of the equipment, enabling it to flexibly meet the mixed-line production needs of different specifications of products, reducing changeover time and spare parts inventory.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0029] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0030] Figure 1 This is a schematic diagram of the structure of a heavy-duty single crystal rod gripper shown in an embodiment of this application;

[0031] Figure 2 This is another structural schematic diagram of the heavy-duty single-crystal rod gripper shown in the embodiments of this application.

[0032] Figure 3 This is a schematic diagram of the hinged clamping mechanism shown in the embodiments of this application.

[0033] Figure label:

[0034] 1-Mounting bracket, 2-Servo electric cylinder, 3-Threaded adapter, 4-Tension / compression bidirectional sensor, 5-Push rod, 6-Linear bearing, 7-Outer hinge fixing block, 8-Outer hinge A, 9-Inner hinge, 10-Outer hinge B, 11-Inner hinge fixing block, 12-Hinge pin, 13-Moving hinge fixing block, 14-Finger clamp, 15-Finger clamp pad, 16-Ultrasonic sensor, 17-Locking nut, 18-End face limiting flange, 19-Cross infrared marker, 20-Monitoring camera. Detailed Implementation

[0035] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0036] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0038] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] To address the aforementioned issues, this application provides a heavy-duty single crystal rod gripper that enables semi-automatic crystal picking, significantly improving operational efficiency and enhancing the gripping range and heavy-duty capacity.

[0040] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0041] See Figure 1 The heavy-duty single crystal rod gripper includes:

[0042] Mounting bracket 1;

[0043] Servo electric cylinder 2: Its cylinder body is fixedly mounted on the mounting bracket 1;

[0044] Force transmission assembly: includes a threaded adapter 3, a tension-compression bidirectional sensor 4 and a push rod 5 connected in sequence. One end of the threaded adapter 3 is threadedly connected to the piston rod of the servo electric cylinder 2, and the other end is connected to the tension-compression bidirectional sensor 4. The other end of the tension-compression bidirectional sensor 4 is connected to the flange end of the push rod 5.

[0045] Linear bearing 6: Fixedly installed on mounting bracket 1, push rod 5 nested inside linear bearing 6, the lower end of push rod 5 is coaxially mounted with end face limiting flange 18 through locking nut 17, and a cross infrared marker 19 is installed in the center hole of end face limiting flange 18.

[0046] Hinged clamping mechanism: It is located at the lower end of the mounting bracket 1 and is connected to the bottom of the push rod 5 away from the flange end;

[0047] Ultrasonic sensor 16: mounted on a hinged clamping mechanism.

[0048] Specifically, the servo cylinder 2 drives the push rod 5 to move up and down, and the linear motion is converted into the opening and closing of the gripper finger 14 through the hinge mechanism to realize gripping and releasing. The tension and compression bidirectional sensor 4 monitors the gripping force, the cross infrared marker 19 assists in alignment, and the ultrasonic sensor 16 is responsible for collision prevention. The servo cylinder 2 drives the push rod 5, which in turn drives the hinge mechanism to move, realizing the opening and closing of the gripper finger 14; and the tension and compression bidirectional sensor 4 realizes force control protection.

[0049] See Figure 2-3 In some embodiments, the hinged clamping mechanism includes:

[0050] Inner hinge fixing block 11: Fixedly installed at the bottom of push rod 5 away from the flange end;

[0051] External hinge fixing block 7: fixedly installed on the lower part of the mounting bracket 1;

[0052] Hinge assembly: Four sets are evenly arranged along the circumference of push rod 5, including outer hinge A8, outer hinge B10 and inner hinge 9. Outer hinge A8 and outer hinge B10 are arranged in parallel, and their upper ends are hinged to outer hinge fixing block 7 by hinge pin 12. Outer hinge B10 is located inside outer hinge A8. The other ends of outer hinge A8 and outer hinge B10 are hinged to movable hinge fixing block 13 by hinge pin 12. One end of inner hinge 9 is hinged to inner hinge fixing block 11 by hinge pin 12, and the other end is hinged to the middle of outer hinge B10 by hinge pin 12.

[0053] Clip 14: Adjustably mounted on the movable hinge fixing block 13, with an ultrasonic sensor 16 mounted on its outer side.

[0054] Specifically, the piston rod of the servo cylinder 2 extends and pushes the push rod 5 downward through the force transmission assembly. The push rod 5 drives the inner hinge fixing block 11 at its bottom to move downward synchronously along the linear bearing 6. The inner end of the inner hinge 9 moves downward, pulling the outer hinge B10, causing the outer hinge B10 to drive the outer hinge A8, and then drive the movable hinge fixing block 13 to move towards the center. The movable hinge fixing block 13 drives the clamping fingers 14 on it to retract towards the center, finally contacting and clamping the crystal rod. When it needs to open, the piston rod of the servo cylinder 2 retracts and pulls the push rod 5 upward through the force transmission assembly, pushing the movable hinge fixing block 13 outward, causing the clamping fingers 14 on it to open to both sides and release the crystal rod.

[0055] In some embodiments, the top of the clip finger 14 is provided with a mounting plate arranged perpendicularly thereto. The mating surface of the mounting plate and the movable hinge fixing block 13 is designed with triangular teeth and adjustment scale. The mounting plate is provided with a waist-shaped hole, and the movable hinge fixing block 13 is provided with a threaded hole. The mounting plate is threadedly connected to the threaded hole by bolts passing through the waist-shaped hole and the threaded hole. At least two sets of waist-shaped holes and threaded holes are provided.

[0056] Specifically, when installing or replacing the clamping finger 14, the operator can use the triangular tooth structure to precisely fix the clamping finger 14 in the required position according to the crystal rod diameter and the adjustment scale on the mating surface, ensuring that the clamping center is aligned with the crystal rod axis. When the crystal rod diameter does not change significantly, no parts need to be replaced; only parameters need to be modified in the control system to achieve adaptation, or the fit between the waist-shaped hole and the bolt can be adjusted. When the diameter changes significantly, the clamping finger 14 can be flipped for installation (with the back of the clamping finger 14 as the clamping surface) to cover the entire design diameter range (100mm-500mm). The mating surface of the clamping finger 14 and the movable hinge fixing block 13 has triangular teeth and scales for easy and precise adjustment and installation. This greatly enhances the versatility of the equipment, enabling flexible response to the mixed-line production needs of different specifications of products, reducing changeover time and spare parts inventory.

[0057] In some embodiments, a finger-clamping pad 15 for protecting the crystal rod is installed on the clamping surface of the finger 14.

[0058] Specifically, when the clamping fingers 14 close to hold the crystal rod, the clamping pad 15 first contacts the surface of the crystal rod. Its material (such as polyurethane) provides the necessary friction to prevent slippage, while its elastic properties can buffer the clamping force and avoid leaving indentations or causing damage to the surface of the crystal rod.

[0059] In some embodiments, the mounting bracket 1 is also equipped with four surveillance cameras 20, which are installed at a distance from the mounting position of the clip finger 14.

[0060] Specifically, throughout the entire crystal removal operation, the monitoring camera 20 continuously captures real-time images of the gripper, crystal rod, and furnace opening area, transmitting the video signals to a remote control terminal. The operator uses this information to observe the alignment, clamping status, and removal path, enabling precise remote control and timely intervention in case of abnormalities.

[0061] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0062] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0063] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A heavy duty single crystal ingot gripping hand, characterized by: The heavy-duty single crystal rod gripper includes: Mounting bracket (1); Servo electric cylinder (2): Its cylinder body is fixedly installed on the mounting bracket (1); Force transmission assembly: includes a threaded adapter (3), a tension-compression bidirectional sensor (4) and a push rod (5) connected in sequence. One end of the threaded adapter (3) is threadedly connected to the piston rod of the servo electric cylinder (2), and the other end is connected to the tension-compression bidirectional sensor (4). The other end of the tension-compression bidirectional sensor (4) is connected to the flange end of the push rod (5). Linear bearing (6): It is fixedly installed on the mounting bracket (1), and the push rod (5) is nested inside the linear bearing (6). The lower end of the push rod (5) is coaxially mounted with the end face limiting flange (18) through the locking nut (17). Hinged clamping mechanism: set at the lower end of the mounting bracket (1) and connected to the bottom of the push rod (5) away from the flange end; Ultrasonic sensor (16): mounted on a hinged clamping mechanism.

2. The heavy duty single crystal ingot gripping hand of claim 1, wherein: The hinged clamping mechanism includes: Inner hinge fixing block (11): Fixedly installed at the bottom of the push rod (5) away from the flange end; External hinge fixing block (7): fixedly installed on the lower part of the mounting bracket (1); Hinges: Four sets are evenly arranged along the circumference of the push rod (5), including outer hinge A (8), outer hinge B (10) and inner hinge (9). Outer hinge A (8) and outer hinge B (10) are arranged in parallel. Their upper ends are hinged to the outer hinge fixing block (7) by hinge pin (12). Outer hinge B (10) is located inside the outer hinge A (8). The other ends of outer hinge A (8) and outer hinge B (10) are hinged together to a movable hinge fixing block (13) by hinge pin (12). One end of the inner hinge (9) is hinged to the inner hinge fixing block (11) by hinge pin (12), and the other end is hinged to the middle of the outer hinge B (10) by hinge pin (12). Clip (14): Adjustably mounted on a movable hinge fixing block (13), with an ultrasonic sensor (16) mounted on its outer side.

3. The heavy duty single crystal ingot gripping hand of claim 2, wherein: The top of the clamping finger (14) is provided with a mounting plate arranged perpendicularly thereto. The mating surface of the mounting plate and the movable hinge fixing block (13) is designed with triangular teeth and adjustment scale. The mounting plate is provided with a waist-shaped hole, and the movable hinge fixing block (13) is provided with a threaded hole. The mounting plate is connected to the threaded hole by bolts passing through the waist-shaped hole and the threaded hole. There are at least two sets of waist-shaped holes and threaded holes.

4. The heavy-duty single crystal rod gripper according to claim 2 or 3, characterized in that: The clamping surface of the clamping finger (14) is equipped with a clamping pad (15) for protecting the crystal rod.

5. The heavy duty single crystal ingot gripping hand of claim 4, wherein: A cross infrared marker (19) is installed in the center hole of the end face limiting flange (18).

6. The heavy duty single crystal ingot gripping hand of claim 5, wherein: The mounting bracket (1) is also equipped with a monitoring camera (20). There are four monitoring cameras (20), which are installed separately from the mounting position of the clip (14).

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