Mechanical hand transmission device and cleaning apparatus

Abstract

The utility model belongs to the technical field of mechanical hand installation, specifically relates to the layout optimization of tank chain of mechanical hand, especially a kind of mechanical hand transmission device and cleaning equipment. Wherein, the mechanical hand transmission device includes: side plate, it is connected with external device;At least two mechanical hands, it is set on side plate;Driving mechanism is used to drive mechanical hand to move horizontally on side plate;Wherein, the tank chain component of each mechanical hand is layered along the height direction of side plate. By the tank chain component of each mechanical hand layered along the height direction of side plate, avoid the horizontal interference problem caused by the back-to-back layout of tank chain in the related art, significantly reduce the mechanical conflict risk when multiple mechanical hands cooperate. At the same time, layered layout makes the tank chain of each mechanical hand run independently, and the tank chain failure (such as jam, wear) of single mechanical hand cannot affect other mechanical hands, guarantee the stability and continuous operation ability of cleaning equipment as a whole.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm installation technology, specifically relating to the layout optimization of the tank chain of a robotic arm, and particularly to a robotic arm transmission device and cleaning equipment. Background Technology

[0002] In the process of manufacturing solar cells, silicon wafers need to undergo processes such as cleaning, diffusion, annealing, coating, and screen printing.

[0003] The cleaning equipment mainly consists of tank-type and chain-type equipment. Tank-type equipment uses baskets to carry silicon wafers, and robotic arms move these baskets through various cleaning tanks for cleaning. After cleaning, the wafers are dried. The cleaning process involves multiple chemical solutions; to avoid contamination from mixed solutions, multiple robotic arms are used to transport the baskets.

[0004] In related technologies, the tank chain layout scheme of robotic arms often adopts a back-to-back or wrap-around type. When the number of robotic arms increases, limit interference is easily caused during the transmission process of the robotic arms. If the tank chain of one robotic arm has a problem, it will affect the normal operation of the tank chains of other robotic arms, thereby affecting the overall production efficiency of the cleaning equipment.

[0005] Therefore, how to avoid limit interference of the tank chain during the transmission process of multiple robotic arms is a technical problem that urgently needs to be solved.

[0006] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content

[0007] This disclosure provides at least one robotic arm transmission device and a cleaning device.

[0008] In a first aspect, embodiments of this disclosure provide a robotic arm transmission device, comprising:

[0009] Side panels, which connect to external equipment;

[0010] At least two robotic arms are mounted on the side plate;

[0011] A drive mechanism is disposed on the side plate and is used to drive the robot arm to move horizontally on the side plate;

[0012] In this design, the tank chain assemblies of each robotic arm are arranged in layers along the height direction of the side plate, and a safe distance is maintained between each tank chain assembly.

[0013] In one alternative implementation, the tank track assembly includes:

[0014] The tank chain body has one end fixedly mounted on the side plate, and the other end fixedly connected to the column of the robot arm through a column fixing plate.

[0015] In one alternative embodiment, a connecting plate is provided at one end of the tank chain body near the connected upright;

[0016] The tank chain body is connected to the column fixing plate via a connecting plate;

[0017] The column fixing plate is disposed opposite to the side plate, and the connecting plate is disposed between the column fixing plate and the side plate and is connected to the column fixing plate.

[0018] In one alternative embodiment, the connecting plate is horizontally positioned;

[0019] Furthermore, the connecting plate is perpendicular to the column fixing plate.

[0020] In one alternative implementation, the tank chain assembly further includes anti-collision blocks;

[0021] The anti-collision block is located on one end of the side plate away from the tank chain body and is fixed on the side plate, and is positioned opposite to the connecting plate.

[0022] In one optional implementation, the drive mechanism includes:

[0023] A drive motor is mounted on the column of the robotic arm, and a drive gear is sleeved on the rotor of the drive motor.

[0024] A first slide rail is provided on the side plate, and a rack that meshes with the drive gear is provided above the first slide rail;

[0025] The column is slidably mounted on the first slide rail and is used to move horizontally along the first slide rail under the drive of the drive motor through the cooperation of the drive gear and rack.

[0026] In one optional embodiment, the bottom of the column is provided with rollers;

[0027] A guide rail is provided at the fitting point between the side plate and the roller;

[0028] The column abuts against the guide rail via rollers.

[0029] In one optional embodiment, at least one work station is provided on the side plate;

[0030] When the number of robotic arms at each workstation is greater than 1, the corresponding robotic arm's tank chain assembly is stacked along the height direction.

[0031] Secondly, embodiments of this disclosure also provide a cleaning device, comprising:

[0032] Equipment body;

[0033] The aforementioned robotic arm transmission device is located on the side of the equipment body and is used to transfer the flower basket to the equipment body for cleaning.

[0034] In one alternative implementation, the tank track assembly includes:

[0035] The tank chain body has one end fixedly mounted on the side plate, and the other end fixedly connected to the column of the robot arm through a column fixing plate.

[0036] The beneficial effects of this invention are that by arranging the tank chain components of each robot arm in layers along the height direction of the side plate, the horizontal interference problem caused by the covering or back-to-back layout of the tank chains in related technologies is avoided, significantly reducing the risk of mechanical conflict when multiple robots work together. At the same time, the layered layout allows the tank chains of each robot arm to operate independently, ensuring that a tank chain failure in one robot arm (such as jamming or wear) will not affect other robots, thus guaranteeing the overall stability and continuous operation capability of the cleaning equipment.

[0037] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0038] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the robotic arm transmission device provided in the embodiments of this disclosure;

[0041] Figure 2 This is a partial structural schematic diagram of the robotic arm transmission device provided in an embodiment of the present disclosure;

[0042] Figure 3 A schematic diagram of the robotic arm transmission device after the robotic arm is hidden, provided in an embodiment of this disclosure;

[0043] Figure 4 This is a structural schematic diagram of the robotic arm transmission device with the robotic arm hidden, provided as an embodiment of the present disclosure.

[0044] In the diagram: 100, side plate; 200, robotic arm; 210, column; 220, roller; 230, guide rail; 300, drive mechanism; 310, drive motor; 311, drive gear; 320, first slide rail; 330, rack; 400, tank chain assembly; 410, tank chain body; 420, column fixing plate; 430, connecting plate; 440, anti-collision block. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0046] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0047] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0048] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0049] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of a feature, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof.

[0050] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0051] Research has found that when multiple robotic arms work together, back-to-back or wrap-around tank chain layouts are prone to interference issues during the robotic arm transmission process. Furthermore, if the tank chain of one robotic arm malfunctions, it will affect the normal operation of the tank chains of other robotic arms, thereby impacting the overall production efficiency of the cleaning equipment.

[0052] Based on the above research, this disclosure provides a robotic arm transmission device and a cleaning device. By arranging the tank chain assembly of each robotic arm in layers along the height direction of the side plate, the interference problem is solved. At the same time, each robotic arm is controlled by an independent tank chain, and a tank chain failure (such as jamming or wear) of a single robotic arm will not affect other robotic arms.

[0053] The shortcomings of the above solutions are the result of the utility model inventor's practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as contributions made by the utility model inventor to this disclosure.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] The following detailed description, with reference to the accompanying drawings, describes some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0056] Please see Figure 1 and Figure 2 At least one embodiment provides a transmission device for a robotic arm 200, comprising: a side plate 100 connected to an external device; at least two robotic arms 200 disposed on the side plate 100; and a drive mechanism 300 disposed on the side plate 100 and used to drive the robotic arms 200 to move horizontally on the side plate 100; wherein, the tank chain assemblies 400 of each robotic arm 200 are arranged in layers along the height direction of the side plate 100, and a safe distance is maintained between each tank chain assembly 400.

[0057] By layering the tank chain assemblies 400 of each robotic arm 200 along the height of the side plate 100, the horizontal interference problem caused by the enveloping or back-to-back layout of the tank chains in related technologies is avoided, significantly reducing the risk of mechanical conflict when multiple robotic arms 200 work together. At the same time, the layered layout allows the tank chains of each robotic arm 200 to operate independently, and a tank chain failure (such as jamming or wear) in a single robotic arm 200 will not affect other robotic arms 200, ensuring the overall stability and continuous operation capability of the cleaning equipment.

[0058] Please see Figure 2 and Figure 3 The tank chain assembly 400 includes: a tank chain body 410, one end of which is fixedly mounted on the side plate 100, and the other end is fixedly connected to the column 210 of the robot arm 200 through a column fixing plate 420.

[0059] The tank chain body 410 is connected to the column 210 of the robot arm 200 by the column fixing plate 420, ensuring the stability of the connection between the tank chain body 410 and the column 210.

[0060] Specifically, a connecting plate 430 is provided at one end of the tank chain body 410 near the connected column 210; the tank chain body 410 is connected to the column fixing plate 420 through the connecting plate 430; wherein, the column fixing plate 420 is disposed opposite to the side plate 100, and the connecting plate 430 is disposed between the column fixing plate 420 and the side plate 100 and is connected to the column fixing plate 420.

[0061] The cooperation between the connecting plate 430 and the column fixing plate 420 disperses the shear force generated by the movement of the tank chain, thereby improving the service life of the tank chain body 410.

[0062] Please see Figure 2 and Figure 3 The connecting plate 430 is horizontally positioned and perpendicular to the column fixing plate 420. The horizontally positioned and perpendicular connecting plate 430 to the column fixing plate 420 creates a stable mechanical transmission structure, ensuring the stability and strength of the connection between the tank chain body 410 and the column 210.

[0063] Please see Figure 3 and Figure 4 The tank chain assembly 400 also includes a crash block 440; the crash block 440 is disposed on the side plate 100 at one end away from the tank chain body 410 and fixed on the side plate 100, and is disposed opposite to the connecting plate 430.

[0064] By adding anti-collision blocks 440 to the side plate 100, when the robot arm 200 undergoes abnormal displacement, the anti-collision blocks 440 buffer the tank chain body 410, preventing the tank chain body 410 from being directly impacted and damaged. This absorbs impact energy and reduces the equipment failure rate.

[0065] Please see Figure 3 and Figure 4 The driving mechanism 300 includes: a driving motor 310, which is mounted on the column 210 of the robot arm 200, and a driving gear 311 is sleeved on the rotor of the driving motor 310; a first slide rail 320, which is mounted on the side plate 100, and a rack 330 that cooperates with the driving gear 311 is provided above the first slide rail 320; the column 210 is slidably mounted on the first slide rail 320 and is used to move horizontally along the first slide rail 320 under the drive of the driving motor 310 through the cooperation of the driving gear 311 and the rack 330.

[0066] By using the combination of drive gear 311 and rack 330, the driving accuracy of robot 200 is improved, avoiding accidental collision between tank chain body 410 and anti-collision block 440 due to the movement accuracy of robot 200, reducing the impact frequency of tank chain body 410, and thus improving the service life of tank chain body 410.

[0067] Please continue reading. Figure 1 and Figure 2 The bottom of the column 210 is provided with a roller 220; the side plate 100 is provided with a guide rail 230 at the fitting point with the roller 220; the column 210 abuts against the guide rail 230 through the roller 220.

[0068] The combination of roller 220 and guide rail 230 converts sliding friction into rolling friction, reducing the coefficient of friction by more than 80% and significantly reducing the energy consumption of the robot arm 200 during movement.

[0069] Please see Figure 1 and Figure 2 The side plate 100 is provided with at least one working station; when the number of manipulators 200 in each working station is greater than 1, the tank chain assembly 400 of the corresponding manipulator 200 is stacked along the height direction.

[0070] At least one embodiment also provides a cleaning device, including: a device body; and a robotic arm transmission device as described above, disposed on the side of the device body and used to transfer a flower basket to the device body for cleaning.

[0071] The side plate 100 of the robotic arm transmission device is fixedly installed on the side wall of the equipment body.

[0072] In summary, this utility model provides a robotic arm transmission device and a cleaning equipment. The robotic arm transmission device includes: a side plate 100 connected to an external device; at least two robotic arms 200 mounted on the side plate 100; and a drive mechanism 300 mounted on the side plate 100 for driving the robotic arms 200 to move horizontally on the side plate 100. The tank chain assembly 400 of each robotic arm 200 is arranged in layers along the height direction of the side plate 100. By arranging the tank chain assembly 400 of each robotic arm 200 in layers along the height direction of the side plate 100, the horizontal interference problem caused by the overlapping or back-to-back layout of the tank chains in related technologies is avoided, significantly reducing the risk of mechanical conflict when multiple robotic arms 200 work together. Simultaneously, the layered layout allows the tank chains of each robotic arm 200 to operate independently, ensuring that a tank chain failure (such as jamming or wear) in a single robotic arm 200 will not affect other robotic arms 200, thus guaranteeing the overall stability and continuous operation capability of the cleaning equipment.

[0073] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0074] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model 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 utility model. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as the second element, component, region, layer, or segment.

[0075] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0076] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0077] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A robotic arm transmission device, characterized in that, include: Side panel (100), which connects to external equipment; At least two robotic arms (200) are mounted on the side plate (100); A drive mechanism (300) is disposed on the side plate (100) and is used to drive the robot arm to move horizontally on the side plate (100); In this configuration, the tank chain assembly (400) of each robotic arm (200) is arranged in layers along the height direction of the side plate (100), and a safe distance is maintained between each tank chain assembly (400).

2. The robotic arm transmission device as described in claim 1, characterized in that, Tank chain assembly (400) includes: The tank chain body (410) has one end fixedly mounted on the side plate (100), and the other end is fixedly connected to the column (210) of the robot (200) through the column fixing plate (420).

3. The robotic arm transmission device as described in claim 2, characterized in that, A connecting plate (430) is provided at one end of the tank chain body (410) near the connected column (210). The tank chain body (410) is connected to the column fixing plate (420) via a connecting plate (430); The column fixing plate (420) is arranged opposite to the side plate (100), and the connecting plate (430) is arranged between the column fixing plate (420) and the side plate (100) and is connected to the column fixing plate (420).

4. The robotic arm transmission device as described in claim 3, characterized in that, The connecting plate (430) is set horizontally; Furthermore, the connecting plate (430) is perpendicular to the column fixing plate (420).

5. The robotic arm transmission device as described in claim 3, characterized in that, The tank chain assembly (400) also includes a bumper block (440). The anti-collision block (440) is located on the side plate (100) at one end away from the tank chain body (410) and is fixed on the side plate (100), and is positioned opposite to the connecting plate (430).

6. The robotic arm transmission device as described in claim 1, characterized in that, The drive mechanism (300) includes: A drive motor (310) is mounted on the column (210) of the robotic arm (200), and a drive gear (311) is sleeved on the rotor of the drive motor (310). A first slide rail (320) is disposed on the side plate (100), and a rack (330) that cooperates with the drive gear (311) is disposed above the first slide rail (320). The column (210) is slidably mounted on the first slide rail (320) and is used to move horizontally along the first slide rail (320) under the drive of the drive motor (310) through the cooperation of the drive gear (311) and the rack (330).

7. The robotic arm transmission device as described in claim 6, characterized in that, The bottom of the column (210) is provided with rollers (220); A guide rail (230) is provided at the mating point between the side plate (100) and the roller (220). The column (210) abuts against the guide rail (230) via rollers (220).

8. The robotic arm transmission device as described in claim 1, characterized in that, At least one work station is provided on the side plate (100); When the number of robotic arms at each work station is greater than 1, the tank chain assembly (400) of the corresponding robotic arm (200) is stacked along the height direction.

9. A cleaning device, characterized in that, include: Equipment body; The robotic arm transmission device as described in any one of claims 1 or 3-8 is disposed on the side of the equipment body and is used to transfer the flower basket to the equipment body for cleaning.

10. The cleaning equipment as described in claim 9, characterized in that, The tank chain assembly (400) includes: The tank chain body (410) has one end fixedly mounted on the side plate (100), and the other end is fixedly connected to the column (210) of the robot arm through the column fixing plate (420).

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