A collision improvement device based on diffusion host robot arm

Abstract

This utility model provides a collision improvement device for a diffusion machine main robot arm, relating to the technical field of auxiliary components for diffusion machine main robot arms. It includes a boat-moving robot arm connecting seat, with a buffer assembly seat movably connected to the bottom of the connecting seat. The lower left and right edges of the buffer assembly seat are respectively bent downwards to form guide plate flanges. Accurate positioning of the boat is achieved through anti-collision probes, eliminating collision risks and enabling automatic calibration of the quartz boat position. This eliminates production losses caused by robot arm collision alarms and extends the service life of the robot arm slider and wire rope, reducing the frequency of spare parts replacement and lowering spare parts costs. It solves the problem that the current process of the quartz boat inside the furnace tube may cause slight displacement of the boat position, and the currently widely used sensors for positioning the quartz boat on the paddle have large accuracy deviations, easily causing gripper collision alarms when the robot arm moves the boat after the process is completed.

Description

Technical Field

[0001] This utility model relates to the technical field of auxiliary components for the main robot arm of a diffusion machine, and in particular to a collision improvement device based on the main robot arm of a diffusion machine. Background Technology

[0002] In the manufacturing of photovoltaic TOPCon cells, the robotic arm in the diffusion host's cleanroom needs to frequently rotate the quartz boat between the temporary storage area, the paddle, and the slide. Currently, the industry commonly uses sensors to illuminate the quartz boat on the paddle for positioning. However, this traditional sensor-based positioning method has the following limitations: large deviations in sensor positioning accuracy can easily cause the robotic arm to collide with the gripper when moving the boat; frequent robotic arm collision alarms can cause downtime and lost production capacity; and frequent robotic arm collision alarms can accelerate the damage to the robotic arm's lead screw and slider, as well as the robotic arm's wire rope, increasing spare parts replacement costs and requiring longer downtime for slider replacement.

[0003] Because the current process of placing the quartz boat inside the furnace tube may cause a slight displacement of the boat's position, and the positioning accuracy of the commonly used sensors illuminating the quartz boat on the paddle has a large deviation, the robotic arm is prone to collision alarms when moving the boat after the process is completed. Traditional sensors are fixedly installed in the robotic arm, and the adjustment steps are cumbersome, which is not conducive to adjusting and testing the sensor's detection range. They also do not have an anti-collision structure, and accidental collisions during the movement of the robotic arm can damage the sensors. Utility Model Content

[0004] This invention provides a collision mitigation device for a diffusion-based robotic arm to address the following issues: the quartz boat may experience slight displacement during the process within the furnace tube; the commonly used sensors used for positioning the quartz boat on the paddle have significant accuracy deviations; and the robotic arm is prone to collision alarms when moving the boat after the process is complete. Furthermore, traditional sensors are fixedly mounted on the robotic arm, making adjustment cumbersome and hindering the adjustment and testing of the sensor's detection range. They also lack anti-collision structures, leading to sensor damage in case of accidental collisions during robotic arm movement.

[0005] This utility model provides a collision improvement device based on a diffusion host robot arm, specifically including: a boat-moving robot arm connecting seat, a buffer assembly seat movably connected to the bottom of the boat-moving robot arm connecting seat, the lower left and right edges of the buffer assembly seat are respectively bent downwards to form guide plate flanges, a positioning locking bar is fixedly connected to the lower surface of the buffer assembly seat, the lower surface of the positioning locking bar has a locking bar triangular slot, the locking bar triangular slot is a strip groove with a triangular cross-section, and an adjusting connecting seat is provided at the bottom of the buffer assembly seat, the two edges of the adjusting connecting seat are respectively The two guide plates are slidably connected. The upper surface of the adjusting connecting seat has a rectangular groove in the middle. The groove is slidably connected to the positioning lock bar. The adjusting connecting seat has a top plate slot through it longitudinally. A positioning lock frame is provided below the adjusting connecting seat. A locking top plate is fixedly connected to the upper surface of the positioning lock frame. The locking top plate is slidably connected to the top plate slot. The top of the locking top plate is located inside the locking bar triangular slot. An anti-collision probe is fixedly connected to the lower surface of the adjusting connecting seat. The right end of the anti-collision probe protrudes from the right end face of the boat-moving robot connecting seat.

[0006] Furthermore, a limit guide seat is fixedly connected to the lower surface of the boat-moving robot arm connecting seat, and a buffer tension spring is fixedly installed on the right edge of the lower surface of the limit guide seat.

[0007] Furthermore, a buffer guide plate is vertically mounted on the left surface of the buffer assembly seat. The buffer guide plate is slidably connected inside the limiting guide seat, and the left end of the buffer guide plate is fixedly connected to the left end of the buffer tension spring.

[0008] Furthermore, two locking springs are fixedly connected to the upper surface of the positioning locking frame, and the upper ends of the locking springs are fixedly connected to the lower surface of the adjusting seat.

[0009] Furthermore, the top of the locking top plate is fixedly connected to an arc-shaped top plate plug, which fits into the arc-shaped groove inside the locking bar triangular slot.

[0010] This invention provides a collision improvement device based on a diffusion host robot arm, which has the following beneficial effects: In this invention, anti-collision probes are installed below the diffusion host robot arm via a buffer mounting base and an adjusting connecting seat. When the robot arm collides with the paddle while moving it onto the boat, the probes below the robot arm are squeezed in (the movement distance of one probe paddle can be defined via the industrial control computer interface, typically 5mm). At this point, the robot arm's X-axis returns to the channel position, and the paddle is repositioned according to the number of squeezed probes. After the paddle is repositioned, the robot arm resumes its carrying action. The anti-collision probes achieve precise positioning of the boat, eliminating the risk of collisions and enabling automatic calibration of the quartz boat position. No modifications to the original robot arm structure are required; only additional probes are needed below the robot arm. This low-cost and easily implemented modification eliminates the risk of burns from manual boat movement during alarm handling and reduces downtime caused by robot arm collision alarms. Reduced collision alarms extend the lifespan of the robot arm slider and wire rope, decrease the frequency of spare parts replacements, and lower spare parts costs.

[0011] In addition, the adjusting bracket and the anti-collision probe can move back and forth at the bottom of the buffer assembly to adjust the front and back position of the probe. This allows the anti-collision probe to adjust its position according to the actual working environment, enabling more flexible detection and testing. The top plate plug is tightly inserted into the triangular slot of the locking bar through the locking frame spring, thus positioning the adjusting bracket. If the anti-collision probe is impacted by an external force in the front and back direction, the top plate plug can slide through the triangular slot of the locking bar to move the adjusting bracket and the anti-collision probe to achieve buffering and reduce the damage to the anti-collision probe caused by the collision. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0013] The accompanying drawings described below are only related to some embodiments of the present invention and are not intended to limit the scope of the present invention.

[0014] In the attached diagram: Figure 1 A schematic diagram of the overall structure of this application is shown; Figure 2 This is a schematic diagram of the structure from the bottom view of this application; Figure 3 This invention provides a structural schematic diagram from a rear view. Figure 4 This paper shows a schematic diagram of the structure in its disassembled state. Figure 5 A schematic diagram of the structure of the limiting guide seat of this application is shown; Figure 6 A schematic diagram of the structure of the triangular slot for the locking bar in this application is shown.

[0015] Figure label: 1. Boat handling robot arm connecting seat; 101. Limiting guide seat; 102. Buffer tension spring; 2. Buffer assembly seat; 201. Buffer guide plate; 202. Guide plate flange; 203. Positioning lock bar; 204. Lock bar triangular slot; 3. Adjusting connecting seat; 301. Connecting seat upper groove; 302. Top plate socket; 4. Anti-collision probe; 5. Positioning lock frame; 501. Lock frame tension spring; 502. Locking top plate; 503. Top plate plug. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the described embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0017] Example 1: Please refer to Figures 1 to 6 : This utility model proposes a collision improvement device based on a diffusion host robot arm, comprising: a boat-moving robot arm connecting seat 1, a buffer assembly seat 2 movably connected to the bottom of the boat-moving robot arm connecting seat 1, guide plate flanges 202 bent downwards on the lower left and right edges of the buffer assembly seat 2, a positioning locking bar 203 fixedly connected to the lower surface of the buffer assembly seat 2, a locking bar triangular slot 204 formed on the lower surface of the positioning locking bar 203, the locking bar triangular slot 204 being a strip groove with a triangular cross-section, an adjusting connecting seat 3 at the bottom of the buffer assembly seat 2, two guide plate flanges 202 slidably connected to the two edges of the adjusting connecting seat 3, an upper groove 301 with a rectangular cross-section formed in the middle of the upper surface of the adjusting connecting seat 3, the upper groove 301 being slidably connected to the positioning locking bar 203, a top plate insertion port 302 extending longitudinally through the adjusting connecting seat 3, a positioning lock frame 5 below the adjusting connecting seat 3, and a guide plate flange 202 fixedly connected to the upper surface of the positioning lock frame 5. The locking top plate 502 is slidably connected to the top plate socket 302. The top of the locking top plate 502 is located inside the locking bar triangular slot 204. The lower surface of the adjusting connecting seat 3 is fixedly connected to the anti-collision probe 4. The right end of the needle of the anti-collision probe 4 protrudes from the right end face of the boat-moving robot connecting seat 1. With the setting of the anti-collision probe 4, when the robot moves the paddle onto the boat and a collision occurs, the probe under the robot will be squeezed in. The movement distance of one probe paddle can be defined through the industrial control computer interface. Generally, the movement of one probe is defined as 5mm. At this time, the X-axis of the robot will return to the channel position. Then, the paddle is repositioned according to the number of squeezed probes. After the paddle is repositioned, the robot will perform the moving action again. The anti-collision probe achieves accurate positioning of the boat position, eliminates the risk of collision, and realizes automatic calibration of the quartz boat position. There is no need to modify the original robot structure. Only the probe needs to be added under the robot. The modification cost is low and it is easy to promote.

[0018] In this embodiment, a limiting guide seat 101 is fixedly connected to the lower surface of the boat-moving robot connecting seat 1, and a buffer spring 102 is fixedly installed on the right edge of the lower surface of the limiting guide seat 101; a buffer guide plate 201 is vertically installed on the left surface of the buffer assembly seat 2, and the buffer guide plate 201 is slidably connected inside the limiting guide seat 101, with the left end of the buffer guide plate 201 fixedly connected to the left end of the buffer spring 102; under normal conditions, the buffer guide plate 201 and the buffer assembly seat 2 are pushed to the right by the action of the buffer spring 102, so that the right end of the anti-collision probe 4 is kept on the right side of the right end face of the boat-moving robot connecting seat 1; when the anti-collision probe 4 is impacted by an external force, the buffer spring 102 contracts under the action of the external force, and the buffer guide plate 201 slides to the left inside the limiting guide seat 101, so that the anti-collision probe 4 moves to the left, playing a buffering role and protecting the main body of the anti-collision probe 4.

[0019] In Example 2, based on Example 1, two locking frame springs 501 are fixedly connected to the upper surface of the positioning locking frame 5. The upper end of the locking frame springs 501 is fixedly connected to the lower surface of the adjusting connecting seat 3. An arc-shaped top plate plug 503 is fixedly connected to the top of the locking top plate 502. The top plate plug 503 fits into the arc-shaped groove inside the locking bar triangular slot 204. The adjusting connecting seat 3 and the anti-collision probe 4 can move back and forth at the bottom of the buffer assembly seat 2 to adjust the front and back positions of the probe. This allows the anti-collision probe 4 to adjust its front and back positions according to the actual working environment, achieving more flexible detection and testing. The locking frame springs 501 make the top plate plug 503 tightly inserted into the triangular locking bar triangular slot 204, thus positioning the adjusting connecting seat 3. If the anti-collision probe 4 is impacted by an external force in the front and back direction, the top plate plug 503 can slide the locking bar triangular slot 204 to move the adjusting connecting seat 3 and the anti-collision probe 4 to achieve buffering and reduce the probability of the anti-collision probe 4 being damaged by a collision.

[0020] The working principle of this embodiment is as follows: First, the boat-moving robot arm connector 1 is fixedly installed in front of the robot arm using screws. When the robot arm moves to move the paddle onto the boat, a collision occurs, and the probes below the robot arm are squeezed in. The movement distance of one probe paddle can be defined through the industrial control computer interface, generally 5mm per probe. At this time, the X-axis of the robot arm will return to the channel position. Then, the paddle is repositioned according to the number of squeezed probes. After the paddle is repositioned, the robot arm will resume the moving motion. For example, when the robot arm is moving the tube paddle onto the boat, the robot arm... When the three probes are squeezed in, the robotic arm retracts to the channel position, the paddle moves forward 15mm, and the robotic arm moves the boat again. When adjusting the front and rear positions of the anti-collision probe 4 according to the operating conditions, the positioning lock frame 5 is pulled down, so that the top plate plug 503 is pulled out of the locking bar triangular slot 204. The adjusting connecting seat 3 is pushed back and forth to adjust the position of the anti-collision probe 4, so that the positioning lock frame 5 moves up and resets under the pull of the lock frame tension spring 501, so that the top plate plug 503 is inserted back into the locking bar triangular slot 204, thereby locking the adjusting connecting seat 3 and the anti-collision probe 4.

[0021] The following points should be noted in this article: 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in general design.

[0022] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0023] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A diffusion host robot collision improvement device based on a host robot, comprising: A boat-moving robot arm connecting seat (1) is characterized in that a buffer assembly seat (2) is movably connected to the bottom of the boat-moving robot arm connecting seat (1). The left and right edges of the buffer assembly seat (2) are respectively bent downward to form guide plate flanges (202). A positioning lock bar (203) is fixedly connected to the lower surface of the buffer assembly seat (2). A locking bar triangular slot (204) is opened on the lower surface of the positioning lock bar (203). The locking bar triangular slot (204) is a strip groove with a triangular cross-section. An adjusting connecting seat (3) is provided at the bottom of the buffer assembly seat (2). The two edges of the adjusting connecting seat (3) are respectively slidably connected to two guide plate flanges (202). The upper surface of the adjusting connecting seat (3) is... A rectangular cross-section groove (301) is provided in the middle of the face of the connecting seat. The groove (301) is slidably connected to the positioning lock bar (203). The adjusting connecting seat (3) is longitudinally provided with a top plate socket (302). A positioning lock frame (5) is provided below the adjusting connecting seat (3). A locking top plate (502) is fixedly connected to the upper surface of the positioning lock frame (5). The locking top plate (502) is slidably connected to the top plate socket (302). The top of the locking top plate (502) is located inside the locking bar triangular slot (204). An anti-collision probe (4) is fixedly connected to the lower surface of the adjusting connecting seat (3). The right end of the needle body of the anti-collision probe (4) protrudes from the right end face of the boat-moving robot connecting seat (1).

2. A collision improvement device for a manipulator based on diffusion host computer according to claim 1, characterized in that, The lower surface of the boat-moving robot connecting seat (1) is fixedly connected to a limit guide seat (101), and a buffer tension spring (102) is fixedly installed on the right edge of the lower surface of the limit guide seat (101).

3. A collision improvement device for a manipulator based on diffusion host computer according to claim 2, characterized in that, A buffer guide plate (201) is vertically mounted on the left surface of the buffer assembly seat (2). The buffer guide plate (201) is slidably connected inside the limiting guide seat (101). The left end of the buffer guide plate (201) is fixedly connected to the left end of the buffer tension spring (102).

4. The collision improvement device for a diffusion host robot manipulator according to claim 1, wherein The upper surface of the positioning lock frame (5) is fixedly connected to two lock frame tension springs (501), and the upper end of the lock frame tension springs (501) is fixedly connected to the lower surface of the adjusting connecting seat (3).

5. The collision improvement device for a diffusion host robot manipulator according to claim 1, wherein The top of the locking top plate (502) is fixedly connected to a top plate plug (503) with an arc structure, and the top plate plug (503) fits into the arc groove surface inside the locking bar triangular slot (204).

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