CN114803540A

CN114803540A - Unmanned workshop based on robot charging system workstation

Info

Publication number: CN114803540A
Application number: CN202210613161.2A
Authority: CN
Inventors: 詹亚鹏
Original assignee: Suzhou Shanchi Numerical Control System Integration Co ltd
Current assignee: Zhan Yapeng
Priority date: 2022-06-01
Filing date: 2022-06-01
Publication date: 2022-07-29
Anticipated expiration: 2042-06-01
Also published as: CN114803540B

Abstract

The invention relates to an unmanned workshop based on a robot furnace charging system workstation, which comprises a robot charging system workstation (100), a charging end silicon core beam speed-multiplying chain transmission system (200), a robot furnace charging system workstation A (300), a station roller chain transmission system (400), a station speed-multiplying chain transmission system (500), a station silicon core beam speed-multiplying chain transmission system (600), a robot furnace charging system workstation B (700), a station roller chain transmission system (800), a station B speed-multiplying chain transmission system (900) and a station B silicon core beam speed-multiplying chain transmission system (1000). According to the invention, the automatic installation of the silicon core and the components is carried out on the furnace plate of the whole workshop through three robot system workstations; the unmanned operation of the whole workshop is realized, the risk caused by explosion due to the fact that the concentration of combustible gas remaining in the workshop reaches a threshold value is avoided, and the safety guarantee is further improved due to the fact that occupational disease hazards caused by the fact that a human body inhales combustible toxic gas are avoided.

Description

Unmanned workshop based on robot charging system workstation

Technical Field

The invention relates to equipment of an unmanned workshop based on a robot charging system workstation in the field of polycrystalline silicon, in particular to the unmanned workshop based on the robot charging system workstation.

Background

At present, hydrogen, chlorine, hydrogen chloride and trichlorosilane are adopted for silicon cores in the polysilicon industry in the process of growing silicon rods in a reduction furnace through combustion, the fire hazard is high, the silicon cores and silicon core components are installed in the furnace through a manual method, 5 workers are needed for installing one furnace disc every time the furnace disc is installed, and the installation of one furnace disc is completed within 45 minutes AI visual collection, 3D detection, contrastive analysis, algorithm judgement, realize that whole workshop operation is unmanned, for improving the installation accuracy of silicon core and subassembly, reduction in production cost, improve production efficiency, avoid the residual combustible gas in workshop to arouse the risk that the explosion brought because of the concentration reaches the threshold value, increase the safety guarantee for the occupational disease harm of further avoiding the human body to bring because of inhaling combustible toxic gas.

The utility model provides an unmanned workshop based on robot charge system workstation is with advanced robot technology, AI vision technique, automatic system integration technique, data communication transmission technique, electronic sensing technique, electronic control technique, big data analysis technique is applied to whole unmanned workshop based on robot charge system workstation, realize the automatic installation to silicon core and subassembly, in the installation, the precision of stove dish unit mount can reach 0.15 millimeter, the user can realize installing a stove dish in 40 minutes, effectively improve the installation precision and the efficiency of stove dish subassembly, increase the safety guarantee for reducing the defective rate of silicon rod and improving production efficiency.

Disclosure of Invention

The invention provides an unmanned workshop based on a robot furnace charging system workstation, which aims to solve the problems that flammable and explosive toxic gas remained in the workshop seriously harms the health and life safety of workers at present and the quality of finished silicon rods is affected by flaws due to low manual furnace charging precision.

In order to realize the unmanned workshop using the workstation based on the robot furnace charging system, the AI vision detection system 1200, the A station AI vision detection system 3200 and the B station AI vision detection system 7200 apply the functions of defect identification, object classification and positioning of silicon cores and components, and the traditional algorithm is combined to realize the detection of high-precision appearance defects of product types.

The invention provides a robot feeding system workstation 100, a feeding end silicon core beam speed multiplication chain transmission system 200, a robot furnace charging system workstation A300, a station roller chain transmission system 400, a station speed multiplication chain transmission system 500, a station silicon core beam speed multiplication chain transmission system 600, a robot furnace charging system workstation B700, a station roller chain transmission system 800, a station speed multiplication chain transmission system 900 and a station silicon core beam speed multiplication chain transmission system 1000, wherein the robot feeding system workstation 100 is used for feeding materials, the robot furnace charging system workstation A300 and the robot furnace charging system workstation B700 are used for installing silicon cores and components on furnace plates at two sides of a whole workshop, the three system workstations are respectively connected with a PLC explosion-proof programmable logic controller through an IRC5 explosion-proof controller of a robot, and the IRC5 explosion-proof controller of the robot feeding system workstation 100 is used for controlling the robot of the workstation, the IRC5 explosion-proof controller of the robot feeding system workstation 100, the PLC explosion-proof programmable logic controller of the robot furnace charging system workstation A300 and the PLC explosion-proof programmable logic controller of the robot furnace charging system workstation B700 are respectively connected with the PLC explosion-proof programmable logic controller of the robot feeding system workstation 100, the PLC explosion-proof programmable logic controller of the robot feeding system workstation 100 is used for carrying out master control and dispatching operation on the stations A and B of the unmanned workshop system workstation and the station, the IRC5 explosion-proof controller of the robot is provided with a remote 485 communication interface, faults occurring in the working process of the robot can be cleared through in-situ display or remote display, and an AI visual detection system 1200, an AI visual detection system and a PLC control system are arranged inside the stations A and B and the robot feeding system workstation 100, wherein the AI visual detection system is connected with a big data analysis system, Station A AI visual inspection system 3200, station B AI visual inspection system 7200, AI visual inspection system 1200, station A AI visual inspection system 3200, station B AI visual inspection system 7200 are used for the defect recognition of product, object classification, location function application, combine traditional algorithm to realize carrying out the detection of high accuracy appearance defect to the product type.

The AI visual inspection system 1200 comprises a camera, a lens, a light source controller, an industrial personal computer, an intelligent auxiliary label, a distributed training, an intelligent sample evaluation and a multi-dimensional model evaluation, wherein the camera, the lens, the light source and the light source controller of the AI visual inspection system 1200 are arranged on a 7 th shaft flange of a mechanical arm, the intelligent auxiliary label is used for instantly training the model through a small amount of manually labeled samples, automatically labeling the samples in a model prediction mode, recommending the samples needing manual correction to a labeling person, and rapidly and accurately completing labeling work through iterative training, the distributed training is industrial visual intelligent algorithm model training based on deep learning, a large amount of sample data and a reference training set provided by a cloud platform are optimized, the intelligent sample evaluation is used for intelligently and automatically splitting the sample number of each label and the training set and a verification set through the sample intelligent evaluation, the method has the advantages that the value of the sample is maximized, the influence on the training result and the performance of the model caused by uneven distribution of the labels on the sample in a scene is changed, the multidimensional model evaluation provides rich indexes, so that a user can conveniently carry out quantitative evaluation on the overall performance of the model and the performance of a certain label, and meanwhile, the prediction result is compared with the original labeled sample to be presented.

The robotic loading system workstation 100 includes: the technical parameters of the ground rail robot body 1100 comprise a 7-axis explosion-proof robot, a robot ground guide rail 1500, a ground guide rail roller sliding table 1600 and a furnace disc assembly 1700, wherein the technical parameters of the ground rail robot body 1100 comprise a 3.8-meter arm spread, a load of 13kg, a repeated positioning precision RP0.15mm and the risk caused by explosion due to the fact that the concentration of combustible gas remained in a workshop reaches a threshold value, the robot feeding system workstation 100 is arranged at one end of an outlet channel of the workshop and is longitudinally distributed to facilitate the manual feeding and discharging of a silicon core of a small cart, the ground rail 7-axis explosion-proof robot is used for grabbing an insulating inner ring 1710, an insulating outer ring, a heat insulation ring 1730, a heat insulation cover 1760, a graphite seat 1750 and a bullet head graphite piece 1720 to feed on a double-speed chain conveying belt, and the ground rail 7-axis explosion-proof robot is used for grabbing 1770 to feed on a roller conveying belt, the ground rail 7-shaft explosion-proof robot is used for grabbing a silicon core beam 1780 to feed on a double-speed chain conveyor belt, is used for switching tools on a tool side quick-change support, is used for switching and replacing reserved standby tools, and is used for grabbing, moving and putting down an insulating inner ring 1710 tray, an insulating outer ring 1720 tray, an insulating ring 1730 tray, an insulating cover 1740 tray, a graphite seat 1750 tray, a bullet graphite part 1760 tray and a silicon core beam 1780 tray.

The AI visual inspection system 1200 is characterized in that a camera, a lens, a light source and a light source controller are mounted on a 7 th shaft flange plate of a mechanical arm, and are used for a ground rail robot body 1100 to create surface and edge targets by 3D modeling software according to an insulating inner ring 1710, an insulating outer ring 1720, a heat insulating ring 1730, a heat insulating cover 1740, a graphite seat 1750, a bullet graphite part 1760, a silicon core 1770 and a silicon core beam 1780 and a 3D model diagram of the assembly body, and then the robot performs AI visual inspection operation according to a program.

The ground rail robot side quick-change system 1300 is arranged on a 7 th shaft flange plate of a mechanical arm and comprises a robot side quick-change mechanism, a vacuum generator, a visual system, a switching plate, a transition plate and a communication module, the ground rail robot side quick-change system 1300 is used for a large-caliber three-finger gripper, a small-caliber three-finger gripper, a two-finger gripper, a silicon core sucker clamp, a heat insulation cover sucker clamp and a vacuum sucker clamp of a tool side quick-change bracket 1400 of the mechanical arm quick-change, the ground rail robot side quick-change system 1300 is used for the robot to quickly switch the large-caliber three-finger gripper to grab an insulating inner ring on an insulating inner ring 1710 small cart, then the insulating inner ring is placed on an insulating inner ring tooling positioning plate of an A station speed-doubling chain transmission system 500 or a B station speed-doubling chain transmission system 900, 80 insulating inner rings are placed in sequence, then the ground rail robot is placed on an insulating outer ring small cart to grab an insulating outer ring 1720, then placing the graphite product on an insulated outer ring tooling positioning plate of the A station speed doubling chain transmission system 500 or the B station speed doubling chain transmission system 900, sequentially placing 80 insulated outer rings, then placing 80 heat insulation rings on a heat insulation ring 1730 small cart by a ground rail robot, picking up a heat insulation ring 1730, then placing the heat insulation ring 1730 tooling positioning plate of the A station speed doubling chain transmission system 500 or the B station speed doubling chain transmission system 900, sequentially placing the 80 heat insulation rings, then rapidly switching a heat insulation cover clamp by the ground rail robot side quick-change system 1300 to pick up a heat insulation cover on the heat insulation cover 1740 small cart, then placing the heat insulation cover on a heat insulation cover 1740 tooling positioning plate of the A station speed doubling chain transmission system 500 or the B station speed doubling chain transmission system 900, sequentially placing the 80 heat insulation covers, then rapidly switching a small-caliber three-finger gripper by the ground rail robot side quick-change system 1300 to pick up a graphite seat on the graphite seat 1750 small cart, and then placing the graphite seat tooling positioning plate on the A station speed doubling chain transmission system 500 or the B station speed doubling chain transmission system 900, placing 80 graphite seats in sequence, then moving the ground rail robot to the bullet graphite piece 1760 small cart to pick up the bullet graphite piece, then the graphite piece is put on a bullet graphite piece 1760 tooling positioning plate of the A station speed-multiplying chain conveying system 500 or the B station speed-multiplying chain conveying system 900, 80 bullet graphite pieces are put in sequence, then the ground rail robot side quick-change system 1300 quickly switches the silicon core clamp to grab the silicon core on a silicon core 1770 trolley, then the silicon core is put on the roller chain transmission system 400 at the station A or the roller chain transmission system 800 at the station B, 80 silicon cores are put in sequence, then the ground rail robot side quick-change system 1300 quickly switches the silicon core beam clamp to grab the silicon core beam on a silicon core beam 1780 trolley, then, the silicon core beam is placed on a silicon core beam 1780 tooling positioning plate of the silicon core beam speed-multiplying chain transmission system 600 of the station A or the silicon core beam speed-multiplying chain transmission system 1000 of the station B, and 80 silicon core beams are placed in sequence.

The tool side quick-change system 1400 comprises a large-caliber three-finger grip, a small-caliber three-finger grip, a two-finger grip, a quick-change support, a silicon core sucker clamp, a heat insulation cover sucker clamp, a tool side quick-change mechanism and a tool side communication module, the tool side quick-change system 1400 is arranged in a blank position between the heat insulation cover sucker clamp and the graphite seat sucker clamp, the tool side quick-change system 1400 is used for automatically switching tools required by the quick-change support from the ground rail robot side quick-change system 1300, and the tools on the quick-change support are matched tools of the ground rail robot side quick-change system 1300.

The robot floor rail 1500 includes: the ground guide rail 1500 of the robot is longitudinally arranged and used for longitudinal movement of the ground rail robot.

Ground guide rail gyro wheel slip table 1600 includes: IRC5 explosion-proof controller, the explosion-proof programmable logic controller of PLC, cable drum, ground rail robot, gyro wheel, slip table, servo motor, sensor, rack, gear, ground rail gyro wheel slip table 1600 is used for ground rail robot lateral shifting, then puts insulating inner ring 1710, insulating outer loop 1720, insulating ring 1730, thermal-insulated lid 1740, graphite seat 1750, bullet graphite spare 1760, silicon core 1770, silicon core crossbeam 1780 on 80 frock locating plates according to specification in order, the explosion-proof programmable logic controller of PLC is the master control in unmanned workshop, and the explosion-proof programmable logic controller of PLC of robot charge system workstation A station 300 and robot charge system workstation B station 700 all is connected with it.

The stove plate assembly 1700 comprises an insulating inner ring 1710, an insulating outer ring 1720, a heat insulation ring 1730, a heat insulation cover 1740, a graphite seat 1750, a bullet graphite part 1760, a silicon core 1770, a silicon core beam 1780, a trolley, a tray, a vacuum chuck clamp, a tray clamp support, a positioning pin and a positioning mechanism, wherein the tray is made of polyurethane non-metal materials, so that the surface metal content of the silicon core and the assembly is reduced within 200ppm, the stove plate assembly 1700 is manually stacked on the trolley, four layers are stacked on each trolley, then the positioning point of the stove plate assembly is manually pushed to be positioned, the stove plate assembly is divided into two plate areas, and the stove plate assembly 1700 is used for supplying ground rail robots of a left system workstation A and a right system workstation B to grab the assembly and installing the assembly in 80 electrode holes distributed on the stove plate, and the corresponding positions are numbered.

The feeding end silicon core beam speed multiplication chain transmission system 200 comprises: servo motor, operating system, silicon core crossbeam tray, doubly fast chain, sensor, support, silicon core crossbeam 1780 frock locating plate, the doubly fast chain transmission system 200 of material loading end silicon core crossbeam arranges in the both ends of robot ground guide rail 1500, and vertical overall arrangement makes things convenient for the material loading, the doubly fast chain transmission system 200 of material loading end silicon core crossbeam is vertical 5 meters long, 1.5 meters high, 0.45 meters wide, the doubly fast chain transmission system 200 of material loading end silicon core crossbeam is used for the doubly fast chain transmission system 600 conveying of station A silicon core crossbeam dress stove subassembly, the doubly fast chain transmission system 200 of material loading end silicon core crossbeam is used for the doubly fast chain transmission system 1000 conveying dress stove subassembly of station B silicon core crossbeam, the doubly fast chain transmission system 200 of material loading end silicon core crossbeam is used for the overhead rail robot conveying dress stove subassembly of system workstation A station and system workstation B station.

The robot furnace charging system workstation a station 300 comprises: the robot comprises a ground rail robot body 3100, an AI vision detection system 3200, a ground rail robot side quick-change system 3300, a tool side quick-change system 3400, a robot ground T-shaped guide rail 3500, a ground T-shaped guide rail roller sliding table 3600, a furnace disc 3700, a sky rail robot body 3800, a sky rail 3900 and a sky rail roller sliding table 31000 which are respectively connected with a PLC (programmable logic controller) through an IRC5 (anti-explosion controller) of the robot, wherein the IRC5 (anti-explosion controller) of a station A300 of the robot charging system is used for controlling the robot of the station, the PLC (anti-explosion controller) of the station A300 of the robot charging system carries out intelligent control and cooperative operation on the station A, the IRC5 (anti-explosion controller) of the robot is provided with a remote 485 communication interface, the fault of the robot can be eliminated in a local display or remote display mode in the working process, the station A300 of the robot charging system is arranged at a left side position of the workshop, 15 stove plates are transversely distributed on the left side of the workshop in a row, guide rails with the length of 120 meters are transversely arranged on the right side of the stove plates, a T-shaped guide rail with the length of 4 meters is longitudinally arranged between the stove plates and the stove plates, namely on the left side of the guide rails, and the technical parameters of the ground rail robot body 3100 comprise: the 7-axis explosion-proof robot, the arm spread of 3.8 meters, the load of 13kg, the repeated positioning precision RP0.15mm, the left and right 7-axis explosion-proof robots for preventing the risk caused by explosion when the concentration of the residual combustible gas in a workshop reaches a threshold value, the two 7-axis explosion-proof robots for the ground rail robot body 3100 synchronously carrying out furnace charging operation, the assembly for grabbing the insulating inner ring 1710, the insulating outer ring 1720, the heat insulating ring 1730, the heat insulating cover 1740, the graphite seat 1750, the bullet graphite part 1760, the silicon core 1770 and the silicon core crossbeam 1780 in the electrode hole of the furnace tray, the assembly for AI visual detection and correction of the installation quality of the silicon core and the assembly, the quick change of the residues in the electrode hole by blowing and sucking the air pipe, the tool switching on the quick change bracket on the tool side, the switching and the replacement of the reserved standby tools, the trays for the insulating inner ring tray, the insulating outer ring tray, the heat insulating cover tray, the graphite seat tray, the furnace tray, the furnace tray, the furnace tray, the furnace, the, The grabbing and moving of the bullet graphite piece tray and the silicon core beam tray are used for enabling a robot to create surface and edge targets through 3D modeling software according to a 3D model diagram of an insulating inner ring 1710, an insulating outer ring 1720, a heat insulating ring 1730, a heat insulating cover 1740, a graphite seat 1750, a bullet graphite piece 1760, a silicon core 1770 and a silicon core beam 1780 and a 3D model diagram of an assembly body, and then enabling the robot to perform AI visual detection operation according to a program.

The technical parameters of the ground rail robot body 3100 comprise: the explosion-proof robot comprises a 7-axis explosion-proof robot, an arm extension of 3.8 meters, a load of 13kg, a repeated positioning precision RP0.15mm, a ground rail 7-axis explosion-proof robot, a furnace loading operation and a standby scraper, wherein the ground rail 7-axis explosion-proof robot is used for preventing the risk caused by explosion when the concentration of residual combustible gas in a workshop reaches a threshold value, the ground rail 7-axis explosion-proof robot is used for avoiding occupational diseases caused by the fact that a human body sucks combustible gas in the workshop, the ground rail 7-axis explosion-proof robot is used for a ground rail robot body 3100 and a ceiling rail robot body 3800 to synchronously carry out furnace loading operation, is used for grabbing an insulating inner ring, an insulating outer ring, a heat insulating cover, a graphite seat, a bullet graphite piece, a silicon core and a silicon core beam assembly in the installation and loading and unloading of an electrode hole of a furnace tray, is used for carrying out AI visual detection and correction of the installation quality of the silicon core and is used for quick change of a quick change of residues in a quick change electrode hole of a quick change bracket on a tool side, and is used for changing the standby scraper reserved, the robot comprises a robot body, a robot inner ring tray, an insulating outer ring tray, a heat insulation cover tray, a graphite seat tray, a bullet graphite piece tray and a silicon core beam tray, and is used for grabbing and moving the insulating inner ring tray, the insulating outer ring tray, the heat insulation cover tray and the silicon core beam tray, creating surface and edge targets through 3D modeling software according to a 3D model diagram of the robot inner ring, the insulating outer ring, the heat insulation cover tray, the bullet graphite piece, the silicon core beam and the component body, and then carrying out AI visual detection operation through the robot according to a program.

The AI visual inspection system 3200 comprises a camera, a lens, a light source controller, an industrial personal computer, an intelligent auxiliary label, distributed training, intelligent sample evaluation and multi-dimensional model evaluation, wherein the camera, the lens, the light source and the light source controller of the AI visual inspection system 3200 are installed on a 7 th shaft flange of a mechanical arm, the intelligent auxiliary label is used for training a model immediately through a small amount of manually labeled samples, automatically labeling the samples in a model prediction mode, recommending the samples needing manual correction to a labeling person, and rapidly and accurately completing labeling work through iterative training, the distributed training is industrial visual intelligent algorithm model training based on deep learning, a large amount of sample data and a reference training set provided by a cloud platform are optimized, the intelligent sample evaluation is used for intelligently and automatically splitting the sample number of each label and the training set and a verification set through sample intelligent evaluation, the method has the advantages that the value of the sample is maximized, the influence on the training result and the performance of the model caused by uneven distribution of the labels on the sample in a scene is changed, the multidimensional model evaluation provides rich indexes, so that a user can conveniently carry out quantitative evaluation on the overall performance of the model and the performance of a certain label, and meanwhile, the prediction result is compared with the original labeled sample to be presented.

The ground rail robot side quick-change system 3300 includes: the quick-change system 3300 on the side of the ground rail robot is used for a large-caliber three-finger gripper, a small-caliber three-finger gripper, a two-finger gripper, a silicon core sucker clamp, a heat insulation cover sucker clamp and a vacuum sucker clamp of a tool on a quick-change tool side quick-change support 3400 of a ground rail robot body 3100, the quick-change system 3300 on the side of the ground rail robot is installed on a 7 th shaft flange of a mechanical arm and used for quickly switching a blowing suction pipe of the ground rail robot body 3100 to completely suck residues in 80 electrode holes of a furnace plate, then the quick-change large-caliber three-finger gripper of the ground rail robot body 3100 grabs an insulation inner ring on a station double-speed chain transmission system 500, the ground rail robot body shoots and positions according to the position number of the electrode holes of the furnace plate and then carries out the stacking operation of the insulation inner ring 3100, and the two ground rail robot bodies 3100 synchronously stack the operation of stacking the insulation inner rings in the 80 electrode holes of the furnace plate after the operation of the furnace plate is finished The ground-rail robot body 3100 then picks the insulating outer ring on the a-station speed-multiplying chain transmission system 500, the ground-rail robot body 3100 firstly photographs and positions according to the position numbers of the furnace disk electrode holes and then carries out the stacking operation of the insulating outer ring, after the two ground-rail robot bodies 3100 synchronously stack the insulating outer ring on the periphery of the 80 furnace disk electrode hole insulating inner ring, the ground-rail robot body 3100 then picks the heat insulating ring on the a-station speed-multiplying chain transmission system 500, the ground-rail robot body 3100 firstly photographs and positions according to the position numbers of the furnace disk electrode holes and then carries out the stacking operation of the heat insulating ring, after the two ground-rail robot bodies 3100 synchronously stack the heat insulating ring on the 80 furnace disk electrode hole insulating outer ring, the ground-rail robot side quick-change system 3300 quickly switches the heat insulating cover chuck clamp and then picks the heat insulating cover on the a-station speed-multiplying chain transmission system 500, the ground-rail robot body 3100 firstly positions according to the position numbers of the furnace disk electrode holes and then carries out the stacking operation of the heat insulating cover, after the two ground-rail robot bodies 3100 synchronously complete the operation of stacking heat insulation covers on 80 electrode hole heat insulation rings of the furnace plate, the side quick-change system 3300 of the ground-rail robot rapidly switches small-caliber three-finger grippers and then picks up graphite seats on the A-station double-speed chain transmission system 500, the ground-rail robot bodies 3100 firstly picks up pictures and positions according to the position numbers of the electrode holes of the furnace plate and then performs the stacking operation of the graphite seats, after the two ground-rail robot bodies 3100 synchronously complete the operation of stacking the graphite seats in the 80 electrode hole heat insulation covers of the furnace plate, the ground-rail robot bodies 3100 secondly picks up bullet graphite parts on the A-station double-speed chain transmission system 500, the ground-rail robot bodies 3100 firstly picks up pictures and positions according to the position numbers of the electrode holes of the furnace plate and then performs the stacking operation of the bullet graphite parts, and after the two ground-rail robot bodies 3100 synchronously complete the operation of stacking the bullet graphite parts on the graphite seats of the 80 electrode holes of the furnace plate, the ground rail robot side quick-change system 3300 quickly switches silicon core sucker clamps and then sends the silicon cores to the station A roller chain transmission system 400 to grab the silicon cores, two ground rail robot bodies 3100 are firstly photographed and positioned according to the position numbers of furnace plate electrode holes, then the silicon cores are vertically inserted into holes on a bullet head graphite piece and then screwed for 90 degrees and screwed, then the silicon cores 3.2 meters long are vertically corrected for 90 degrees, the two vertical silicon cores form a pair, after the two ground rail robot bodies 3100 are vertically corrected, the silicon cores are supported to be not loosened so as to avoid the top end swing of the silicon cores, the top rail robot body 3800 sends the silicon core cross beam 1780 0.25 meters long to a tray of the station A silicon core cross beam double-speed chain transmission system 600 to grab the silicon core cross beam 1780, then the top rail robot body 3100 is photographed and positioned again, then the silicon core cross beams are put on the top parts of the vertical silicon cores to be connected, and the top parts of the silicon cores are connected to form a pair of silicon core door, after the two ground rail robot bodies 3100 and the overhead rail robot body 3800 synchronously and gradually complete the operation of connecting the 80 electrode holes 40 of the furnace plate to the top of the silicon core, the assembly of the whole furnace plate is finished, and the three robots move to the next furnace plate station to automatically install the silicon core and the assembly.

The tool-side quick-change system 3400 includes: the tool side quick-change system 3400 is arranged at a position where a manipulator on the left side of the furnace plate grips without interference and is used for automatically switching a required tool from the ground rail robot side quick-change system 3300 to the quick-change support, and the tool on the quick-change support is a matched tool of the ground rail robot side quick-change system 3300.

The robot ground t-shaped guide 3500 includes: ground transverse guide, ground longitudinal rail, rail brackets, guide rail connecting plate, robot ground T-shaped guide 3500 arranges the left side position in the workshop, and the horizontal one row in workshop left side distributes has 15 stove plates, and the horizontal guide rail of 120 meters length of arranging in stove plate right side, in the middle of stove plate and the stove plate, also be exactly the guide rail left side longitudinal arrangement 4 meters long T-shaped guide rail, robot ground T-shaped guide 3500 is used for the horizontal and longitudinal removal of ground rail robot.

Ground T type guide rail gyro wheel slip table 3600 includes: the intelligent anti-explosion furnace comprises an IRC5 anti-explosion controller, a PLC (programmable logic controller) anti-explosion programmable logic controller, a cable drum, a ground rail robot, rollers, sliding tables, a servo motor, a sensor, a rack and a gear, wherein the ground T-shaped guide rail roller sliding table 3600 is divided into an upper sliding table and a lower sliding table, the upper sliding table is used for the robot to walk on a ground longitudinal guide rail, the lower sliding table is used for the robot to walk on a ground transverse guide rail, the ground T-shaped guide rail roller sliding table 3600 is arranged on the ground guide rail and used for the ground rail robot body to move left and right to grab silicon cores and components and shoot and locate the silicon cores and the components, then the silicon cores and the components are sequentially installed in 80 electrode holes of a furnace disc 3100, and a silicon core crossbeam is installed by matching with the sky rail robot body 3800.

The furnace plates 3700 are 80 electrode holes in total, the station A300 of the robot furnace charging system workstation is arranged at the left side of a workshop, 15 furnace plates are transversely distributed on the left side of the workshop in a row, a 120-meter-long guide rail is transversely arranged on the right side of the furnace plates, a 4-meter-long T-shaped guide rail is longitudinally arranged between the furnace plates and the furnace plates, the furnace plates 3700 are used for numbering 80 electrode holes by the ground rail robot body 3100 and used for installing and correcting silicon cores and components in the 80 holes by the ground rail robot body 3100, and after the installation of the 80 silicon cores is completed, the ground rail robot body 3800 is connected with the top of the silicon core by a silicon core beam to complete the installation of 40 silicon rods according to the distribution of the electrodes.

The technical parameters of the sky-rail robot body 3800 comprise: the robot comprises a 7-axis explosion-proof robot, an arm extension of 3.8 meters, a load of 13kg and a repeated positioning precision of RP0.15mm, wherein the 7-axis explosion-proof robot for the top rail is used for preventing the risk caused by explosion due to the fact that the concentration of residual combustible gas in a workshop reaches a threshold value, the 7-axis explosion-proof robot for the top rail is used for avoiding occupational disease hazards caused by the fact that a human body sucks combustible gas in the workshop, the 7-axis explosion-proof robot for the top rail is used for synchronously carrying out furnace loading operation on a top rail robot body 3800 and a ground rail robot body 3100, is used for grabbing installation and feeding and discharging operation of components such as silicon core cross beams in a furnace plate electrode hole, is used for connecting the silicon core cross beams on the top ends of silicon cores, is arranged on a top rail roller sliding table 31000 and used for matching with two ground rail robot bodies 3100 in a system workstation A to synchronously carry out installation operation on the silicon core cross beams, and is used for grabbing the silicon core cross beams and placing the silicon core cross beams on the top ends of the two silicon cores, and horizontally placing the holes, and carrying out AI visual inspection on the distance between the conical heads at the top ends of the two vertical silicon cores and the position accuracy of the conical heads in the holes and correcting the position accuracy.

The sky rail 3900 comprises: horizontal sky rail track, sky rail support, guide rail connecting plate, robot charge system workstation A station 300 arranges the left side position in the workshop, and the horizontal row in workshop left side distributes has 15 stove dishes, and the sky rail of system workstation A station arranges the left side of leaning on the wall position at the stove dish, highly lays the sky rail from ground overhead 4.7 meters, sky rail horizontal length 120 meters, sky rail 3900 is used for the sky rail side to hang robot and moves about transversely

The sky rail roller sliding table 31000 comprises an IRC5 explosion-proof controller, a cable, a side-hung robot, a roller, a sliding table, a servo motor, a sensor, a rack and a gear, and is used for moving left and right of a sky rail manipulator to grab a silicon core cross beam and shoot and position, and the silicon core cross beam is connected to the top of the silicon core, and the sky rail roller sliding table 31000 is arranged on the sky rail 3900.

The a-station roller chain conveyor system 400 includes: the station A roller chain transmission system 400 is arranged at the left side of a workshop, 15 furnace trays are transversely distributed on the left side of the workshop in a row, a guide rail with the length of 120 meters is transversely arranged on the right side of the furnace trays, a T-shaped guide rail with the length of 4 meters is longitudinally arranged on the left side of the guide rail, the station A speed-multiplying chain transmission system 500 with the length of 120 meters is arranged on the right side of the guide rail, the station A roller chain transmission system 400 with the length of 120 meters is arranged on the right side of the station A speed-multiplying chain transmission system 500, the station A roller chain transmission system 400 is used for receiving silicon cores transmitted by the feeding system workstation ground rail robot side quick-changing system 1300, and the station A roller chain transmission system 400 is used for transmitting 3100 to two station A ground rail robot bodies of the system workstation A.

The a-station double speed chain transmission system 500 includes: the system comprises a servo motor, a lifting system, a sensor, an insulating inner ring 1710 tooling positioning plate, an insulating outer ring 1720 tooling positioning plate, a heat insulation ring 1730 tooling positioning plate, a heat insulation cover 1740 tooling positioning plate, a graphite seat 1750 tooling positioning plate, a bullet graphite piece 1760 tooling positioning plate, a double-speed chain, a bracket, an A-station double-speed chain transmission system 500, a furnace plate 15, a guide rail 120 meters long in length, a T-shaped guide rail 4 meters long in length, a guide rail 120-station double-speed chain transmission system 500, an A-station double-speed chain transmission system 500, an insulating inner ring 1710, an insulating outer ring 1730, a heat insulation cover 1740, a graphite seat 1750 and a bullet graphite piece 0, wherein the A-station double-speed chain transmission system 500 is arranged on the left side of a workshop in a transverse row, the guide rail 120 meters long in length is transversely arranged on the right side of the furnace plate, the T-station double-speed chain transmission system 500 is used for receiving an insulating inner ring 1710, an insulating outer ring 1730, a heat insulation cover 1740, a graphite piece 1760, which is transmitted by a robot-side quick-changing system 1300 of a feeding system on a ground rail robot on a work station, the A station double-speed chain transmission system 500 is used for transmitting components for two ground rail robot bodies 3100 at a station A of a system workstation.

The station A silicon core beam speed multiplication chain transmission system 600 comprises: servo motor, operating system, sensor, silicon core crossbeam tray frock locating plate, doubly fast chain, support, the station A silicon core crossbeam doubly fast chain transfer system 600 arranges the right side of the systematic work station A station stove dish in the workshop, and the position below the sky rail, the horizontal one row in workshop right side distributes has 15 stove dishes, transversely arranges the silicon core crossbeam doubly fast chain transfer system 600 of 120 meters length below the sky rail of stove dish right side for receive the silicon core crossbeam that material loading end silicon core crossbeam doubly fast chain transfer system 200 conveyed and come, station A silicon core crossbeam doubly fast chain transfer system 600 is used for standing sky rail robot conveying silicon core crossbeam for A.

The robot furnace charging system workstation B station 700 includes: the robot comprises a ground rail robot body 7100, an AI vision detection system 7200, a ground rail robot side quick-change system 7300, a tool side quick-change system 7400, a robot ground T-shaped guide rail 7500, a ground T-shaped guide rail roller sliding table 7600, a furnace disc 7700, a ceiling rail robot body 7800, a ceiling rail 7900 and a ceiling rail roller sliding table 71000 which are respectively connected with a PLC explosion-proof programmable logic controller through an IRC5 explosion-proof controller of the robot, the IRC5 explosion-proof controller of a B station 700 of a robot charging system workstation is used for controlling the robot of the robot, the PLC explosion-proof programmable logic controller of the B station 700 of the robot charging system workstation carries out intelligent control and cooperative operation on the B station, the IRC5 explosion-proof controller of the robot is provided with a remote 485 communication interface, faults of the robot can be eliminated through a local display or remote display mode in the working process, the IRC5 explosion-proof controller and the PLC explosion-proof logic controller are arranged on the ground rail roller, the station B700 of the robot furnace charging system workstation is arranged at the right side of the workshop, 15 furnace plates are transversely distributed on the right side of the workshop in a row, guide rails with the length of 120 meters are transversely arranged on the left side of the furnace plates, and T-shaped guide rails with the length of 4 meters are longitudinally arranged between the furnace plates, namely on the right side of the guide rails.

The technical parameters of the ground rail robot body 7100 comprise: the explosion-proof robot with 7 shafts, an arm extension of 3.8 meters, a load of 13kg, a repeated positioning precision of RP0.15mm and two ground rails, the explosion-proof robot with 7 shafts, a left ground rail and a right ground rail, is used for preventing the risk caused by explosion when the concentration of residual combustible gas in a workshop reaches a threshold value, is used for synchronously carrying out furnace charging operation by the two ground rails and the two robots, is used for grabbing an insulating inner ring 1710, an insulating outer ring 1720, a heat insulating ring 1730, a heat insulating cover 1740, a graphite seat 1750, a bullet graphite part 1760, a silicon core 1770 and a silicon core crossbeam 1780, is used for mounting and loading and unloading the components in a furnace disc electrode hole, is used for AI visual detection and correction of the mounting quality of the silicon core and the components, is used for quick change of air pipes to blow and suck residues in the electrode hole, is used for tool switching on a quick change support on a tool side, is used for switching and changing a reserved standby tool, is used for switching and changing the insulating inner ring tray, the insulating outer ring tray, the heat insulating cover tray, the graphite seat tray, the bullet graphite part tray, the insulating ring tray, the heat insulating ring tray, the graphite part tray, the insulating cover tray, the graphite seat tray, the graphite part tray, and the insulating inner ring tray, the insulating cover tray, the insulating inner ring tray, the insulating cover tray, the insulating ring tray, the insulating cover tray, the insulating ring, the insulating cover tray, the insulating ring, the insulating cover tray, the insulating ring, the insulating cover tray, the insulating ring, the insulating cover tray, grabbing and moving the silicon core beam tray, wherein the grabbing and moving are used for enabling a robot to create surface and edge targets according to a 3D model diagram of an insulation inner ring 1710, an insulation outer ring 1720, a heat insulation ring 1730, a heat insulation cover 1740, a graphite seat 1750, a bullet graphite part 1760, a silicon core 1770, a silicon core beam 1780 and an assembly body through 3D modeling software, and then the robot carries out AI visual detection operation according to a program.

The AI visual inspection system 7200 includes: the AI vision detection system 7200, the camera, the lens, the light source controller, the industrial personal computer, intelligent auxiliary labeling, distributed training, intelligent sample evaluation and multi-dimensional model evaluation, wherein the camera, the lens, the light source and the light source controller are arranged on a 7 th shaft flange plate of the mechanical arm, the intelligent auxiliary labeling is to train the model instantly through a small amount of manually labeled samples, automatically label the samples in a model prediction mode, recommend the samples needing manual correction to a labeling person, and quickly and accurately finish labeling work through iterative training, the distributed training is industrial vision intelligent algorithm model training based on deep learning, a large amount of sample data and a reference training set provided by a cloud platform are optimized, and the intelligent sample evaluation is to intelligently and automatically split the sample number of each label and the training set and a verification set through the intelligent sample evaluation, the method has the advantages that the value of the sample is maximized, the influence on the training result and the performance of the model caused by uneven distribution of the labels on the sample in a scene is changed, the multidimensional model evaluation provides rich indexes, so that a user can conveniently carry out quantitative evaluation on the overall performance of the model and the performance of a certain label, and meanwhile, the prediction result is compared with the original labeled sample to be presented.

The ground rail robot side quick-change system 7300 includes: the ground rail robot side quick-change system 7300 is used for a large-caliber three-finger gripper, a small-caliber three-finger gripper, a two-finger gripper, a silicon core sucker clamp, a heat insulation cover sucker clamp and a vacuum sucker clamp of a tool on a manipulator quick-change tool side quick-change bracket 7400, the ground rail robot side quick-change system 7300 is installed on a 7 th shaft flange of a mechanical arm and used for quickly switching a blowing-suction pipe of the ground rail robot side quick-change system 7300 to completely suck residues in 80 electrode holes of a furnace disc, then the ground rail robot side quick-change system 7300 quickly switches the large-caliber three-finger gripper to grab an insulating inner ring on a B station double-speed chain transmission system 900, a ground rail robot body 7100 is firstly photographed and positioned according to the position number of the electrode holes of the furnace disc and then carries out the stacking operation of the insulating inner ring, after the two ground rail robot bodies 7100 synchronously complete the operation of stacking the insulating inner rings in the 80 electrode holes of the furnace disc, the ground rail robot body 7100 then picks the insulating outer rings on the B station speed-multiplying chain transmission system 900, the ground rail robot body 7100 firstly takes pictures and positions according to the position number of the electrode holes of the furnace disc and then performs the stacking operation of the insulating outer rings, after the operation of stacking the insulating outer rings on the periphery of the insulating inner rings of the 80 electrode holes of the furnace disc is completed synchronously by the two ground rail robot bodies 7100, the ground rail robot body 7100 then picks the heat insulation rings on the B station speed-multiplying chain transmission system 900, the ground rail robot body 7100 firstly takes pictures and positions according to the position number of the electrode holes of the furnace disc and then performs the stacking operation of the heat insulation rings, after the operation of stacking the heat insulation rings on the insulating outer rings of the 80 electrode holes of the furnace disc is completed synchronously by the two ground rail robot bodies 7100, the ground rail robot side system 7300 quickly switches the heat insulation cover chuck to the quick-changing chuck and then picks the heat insulation ring on the B station speed-multiplying chain transmission system 900, the ground-rail robot body 7100 firstly takes a picture and positions according to the position number of the furnace plate electrode hole and then carries out the stacking operation of the heat insulation cover, after the operation of stacking the heat insulation cover on the furnace plate 80 electrode hole heat insulation ring is synchronously completed by two ground-rail robot bodies 7100, the ground-rail robot side quick-change system 7300 quickly switches a small-caliber three-finger gripper and then picks a graphite seat on the B station double-speed chain transmission system 900, the ground-rail robot body 7100 firstly takes a picture and positions according to the position number of the furnace plate electrode hole and then carries out the stacking operation of the graphite seat, after the operation of stacking the graphite seat in the furnace plate 80 electrode hole heat insulation cover is synchronously completed by the two ground-rail robot bodies 7100, the ground-rail robot body 7100 then picks a sub-bullet graphite piece on the B station double-speed chain transmission system 900, the ground-rail robot body 7100 firstly takes a picture and positions according to the position number of the furnace plate electrode hole and then carries out the stacking operation of the sub-bullet graphite piece, after the operation of synchronously stacking the bullet graphite pieces on the graphite seats with 80 electrode holes on the furnace plate by the two ground rail robot bodies 7100 is completed, the 7300 quick-change system at the side of the ground rail robot quickly switches a silicon core sucker clamp and then picks up the silicon core on the B station roller chain transmission system 800, the two ground rail robot bodies 7100 firstly take pictures and position according to the position number of the electrode holes of the furnace plate, then vertically insert the silicon core into the hole on the bullet graphite piece, then screw up the silicon core for 90 degrees and then vertically correct the 3.2 meters of the silicon core for 90 degrees, the two vertical silicon cores form a pair, the two ground rail robot bodies 7100 hold the silicon core without loosening after vertically correcting the two silicon cores after finishing erecting the vertical correction, so as to avoid the top end swinging of the silicon core, the 7800 of the overhead rail robot body then picks up the 0.25 meters of the silicon core crossbeam 1780 on the pallet of the B station crossbeam speed chain transmission system 1000 and then positions the top of the overhead rail robot body 7800, and then the silicon core cross beam is lapped on the top of the erected silicon core to be connected to form a door, even if the connection operation of the top of the silicon core pair is completed, after the operation of synchronously connecting the top of the silicon core with the 80 electrode holes 40 of the furnace plate by the two ground rail robot bodies 7100 and the ceiling rail robot body 7800 is gradually completed, the assembly installation of the whole furnace plate is finished, and the three robots move to the next furnace plate to automatically install the silicon core and the assembly.

The tool-side quick-change system 7400 includes: the tool side quick-change system 7400 is arranged at a position where a right manipulator of the furnace plate grips without interference, and is used for automatically switching the ground rail robot side quick-change system 7300 to the quick-change support, and the tool on the quick-change support is a matched tool of the ground rail robot side quick-change system 7300.

The robot ground t-shaped guide 7500 includes: the ground transverse guide rail, the ground longitudinal guide rail, the guide rail bracket and the guide rail connecting plate are arranged on the ground T-shaped guide rail 7500 of the robot, 15 furnace plates are transversely distributed on the right side of a workshop in a row, the guide rail with the length of 120 meters is transversely arranged on the left side of the furnace plates, the T-shaped guide rail with the length of 4 meters is longitudinally arranged between the furnace plates and the furnace plates, and the ground T-shaped guide rail 7500 of the robot is used for transverse and longitudinal movement of the ground rail robot.

Ground T type guide rail gyro wheel slip table 7600 includes: IRC5 explosion-proof controller, PLC explosion-proof programmable logic controller, cable drum, ground rail robot, gyro wheel, slip table, servo motor, sensor, rack, gear, ground T-shaped guide rail gyro wheel slip table 7600 divide into two-layer slip table from top to bottom, and upper sliding table is used for the robot to walk on ground longitudinal rail, and lower sliding table is used for the robot to walk on ground transverse rail, ground T-shaped guide rail gyro wheel slip table 7600 arranges on ground guide rail for ground rail robot body 7100 removes about and snatchs silicon core and subassembly and shoot the location, then installs silicon core and subassembly in 80 electrode holes of stove dish according to the order, cooperates sky rail robot body 7800 to install the silicon core crossbeam.

The robot charging system comprises furnace trays 7700, a station B700 of a robot charging system workstation is arranged at the right side of a workshop, 15 furnace trays are transversely distributed in a row on the right side of the workshop, a guide rail with the length of 120 meters is transversely arranged on the left side of each furnace tray, a T-shaped guide rail with the length of 4 meters is longitudinally arranged between each furnace tray and each furnace tray, the furnace trays 7700 are used for numbering 80 electrode holes of a ground rail robot body 7100 and are used for installing and correcting silicon cores and components in the 80 holes of the ground rail robot body 7100, and after the 80 silicon cores are installed, the silicon rods are installed by connecting the top of the silicon cores through a beam of a sky rail robot body 7800 and the silicon cores according to the distribution of the electrodes.

The technical parameters of the sky-rail robot body 7800 comprise: 7 explosion-proof robot, arm exhibition 3.8 meters, load 13kg, repeated positioning accuracy RP0.15mm, 7 explosion-proof robot are used for preventing in the workshop remaining combustible gas concentration from reaching the risk that the threshold value arouses the explosion and bring, it rail robot body 7800 arranges on it rail gyro wheel slip table 71000 for two rail robot bodies 7100 of system workstation B station carry out the installation operation of silicon core crossbeam in step, are used for snatching the silicon core crossbeam and put two silicon core top cone heads, keep flat to the hole, are used for the distance between the vertical two silicon core top cone heads of AI visual detection and the position accuracy and the correction of cone head to the hole.

The sky rail 7900 includes: the robot furnace charging system comprises transverse sky rail tracks, sky rail supports and guide rail connecting plates, wherein 700 stations of a robot furnace charging system workstation B are arranged at the right side of a workshop, 15 furnace plates are transversely distributed on the right side of the workshop in a row, the sky rail of the robot furnace charging system workstation B is arranged at the position close to the wall on the right side of the furnace plates, the sky rail is laid at the height of 4.7 meters above the ground, the transverse length of the sky rail is 120 meters, and the sky rail 7900 is used for the transverse left-right movement of a sky rail robot body 7800.

The head rail roller sliding table 71000 includes: the intelligent robot comprises an IRC5 explosion-proof controller, cables, a side-hung robot, rollers, sliding tables, a servo motor, a sensor, a rack and a gear, wherein the overhead rail roller sliding table 71000 is arranged on an overhead rail 7900 and used for enabling the overhead rail robot body 7800 to move left and right on the transverse overhead rail 7900 and grab a silicon core beam to photograph, position and install, and the silicon core beam is lapped on the top end of a silicon core to be connected.

The B station roller chain conveyor system 800 includes: the station B roller chain transmission system 800 is arranged at the right side of a workshop, 15 furnace trays are transversely distributed on the right side of the workshop in a row, a guide rail with the length of 120 meters is transversely arranged on the left side of each furnace tray, a T-shaped guide rail with the length of 4 meters is longitudinally arranged between each furnace tray and each furnace tray, a station B speed-multiplying chain transmission system 900 with the length of 120 meters is arranged on the left side of each guide rail, the station B roller chain transmission system 800 with the length of 120 meters is arranged on the left side of the station B speed-multiplying chain transmission system 900, the station B roller chain transmission system 800 is used for receiving silicon cores transmitted by the feeding system workstation ground rail robot side quick-change system 1300, and the station B roller chain transmission system 800 is used for transmitting the silicon cores for two station B ground rail robot bodies 7100 of the system workstation B.

The B-station double-speed chain transmission system 900 includes: servo motor, operating system, sensor, insulating inner ring 1710 frock locating plate, insulating outer ring 1720 frock locating plate, thermal-insulated ring 1730 frock locating plate, thermal-insulated lid 1740 frock locating plate, graphite seat 1750 frock locating plate, bullet graphite part 1760 frock locating plate, doubly fast chain, support, B station doubly fast chain transmission system 900 arranges the right side position in the workshop, and the horizontal one row in workshop right side distributes and has 15 stone plates, and the transverse arrangement 120 meters long guide rail in stone plate left side, in the middle of stone plate and stone plate, be exactly the guide rail right side vertically arranges 4 meters long T-shaped guide rail, and 120 meters long B station doubly fast chain transmission system 900 is arranged in the guide rail left side, B station doubly fast chain transmission system 900 is used for receiving insulating inner ring 1710, insulating outer ring 1720, thermal-insulated ring 1730, thermal-insulated lid 1740, graphite seat 1750 that feeding system workstation ground rail robot side quick change system 1300 conveyed comes, A bullet graphite piece 1760 assembly, and the B station double speed chain conveying system 900 is used for conveying the assemblies for a system workstation B station two ground rail robot bodies 7100.

The station B silicon core beam speed multiplication chain transmission system 1000 comprises: the station B silicon core cross beam speed doubling chain transmission system 1000 is arranged on the right side of a station B furnace plate of a system workstation in a workshop, 15 furnace plates are transversely distributed on the right side of the workshop at a position below a sky rail, the silicon core cross beam speed doubling chain transmission system 1000 with the length of 120 meters is transversely arranged below the sky rail on the right side of the furnace plates and used for receiving a silicon core cross beam transmitted by the feeding end silicon core cross beam speed doubling chain transmission system 200, and the station B silicon core cross beam speed doubling chain transmission system 1000 is used for transmitting the silicon core cross beam for a station B sky rail robot.

Furthermore, the tray is made of a polyurethane non-metal material so as to reduce the surface metal content of the silicon core and the component to be within 200 ppm.

Furthermore, the lifting system is used for pushing the silicon core cross beam trays on the upper layer and the lower layer of the speed chain conveying system.

Furthermore, rubber cushion blocks are embedded at the contact parts of the inner sides of the large-caliber three-finger hand grip and the small-caliber three-finger hand grip with the components, so that on one hand, the metal surface of the hand grip is prevented from being directly contacted with the silicon core and the components, the surface metal content of the silicon core and the components is prevented from being higher than 200ppm, and on the other hand, the silicon core and the components are prevented from being damaged by the excessive gripping force of the hand grip.

Further, the stacking trolley comprises an insulating inner ring 910 stacking trolley, an insulating outer ring 920 stacking trolley, a heat insulation ring 930 stacking trolley, a heat insulation cover 940 stacking trolley, a graphite seat 950 stacking trolley, a bullet graphite piece 960 stacking trolley, a silicon core 970 stacking trolley, a silicon core crossbeam 980 stacking trolley, a positioning pin and a positioning mechanism.

Furthermore, the vacuum chuck clamp comprises a vacuum chuck, a vacuum chuck connector, a vacuum chuck support, a vacuum generator, a vacuum tube, a tool side quick-change mechanism, a tool side communication module and a vacuum chuck clamp support.

Further, the large-caliber three-finger grip is used for gripping the insulating inner ring 1710, the insulating outer ring 1720 and the heat insulation ring 1730.

Further, the small-caliber three-finger gripper is used for gripping the graphite seat 1750 and the bullet graphite piece 1760, and the heat insulation cover sucker clamp is used for gripping the heat insulation cover 1740.

Further, the cable drum is used for providing a power supply for the ground rail robot and the IRC5 controller, and is used for automatically winding and unwinding a cable when the roller sliding table longitudinally or transversely moves on the T-shaped rail.

Drawings

FIG. 1 is a plan layout view of an unmanned workshop based on a robot furnace charging system workstation.

FIG. 2 is a plan layout view of station A of the robot furnace charging system workstation.

FIG. 3 is a plan layout view of a station B of the robot furnace charging system workstation.

FIG. 4 is a three-dimensional view of a B station of a robot furnace charging system workstation.

Fig. 5 is a schematic view of the robot body and the vision system installation.

Fig. 6 is a schematic view of the robot vision system and the robot side quick-change system.

FIG. 7 is a front view of the station A and the station B of the robot furnace charging system workstation.

Fig. 8 is a plan layout view of a robotic loading system workstation.

Fig. 9 is a three-dimensional view of a robotic loading system workstation.

Fig. 10 is a schematic view of a tool-side quick-change system.

Fig. 11 is a schematic view showing the completion of the installation of the hob assembly.

Fig. 12 is a schematic view showing the completion of the assembly.

Fig. 13 is a schematic diagram of a double speed chain transmission system for a station a and a station B.

FIG. 14 is a schematic view of an A and B station roller chain conveyor system.

FIG. 15 is a schematic view of a silicon core beam speed-multiplying chain conveying system for the station A and the station B.

Fig. 16 is a schematic view of a silicon core beam stacking trolley.

Fig. 17 is a schematic view of a silicon core stacking trolley.

Fig. 18 is a schematic view of a bullet graphite piece stacking cart.

Figure 19 is a schematic view of a graphite nest stacking trolley.

FIG. 20 is a schematic view of a lid stacking cart.

FIG. 21 is a schematic view of a heat shield ring pallet cart.

Fig. 22 is a schematic view of an insulated outer ring pallet cart.

Fig. 23 is a schematic view of an insulated inner ring pallet cart.

The system comprises 100 parts of a robot feeding system workstation, 200 parts of a feeding end silicon core beam speed doubling chain transmission system, 300 parts of a robot furnace charging system workstation A, 400 parts of a station roller chain transmission system, 500 parts of a station speed doubling chain transmission system, 600 parts of a station silicon core beam speed doubling chain transmission system, 700 parts of a robot furnace charging system workstation B, 800 parts of a station roller chain transmission system, 900 parts of a station B speed doubling chain transmission system and 1000 parts of a station silicon core beam speed doubling chain transmission system.

Detailed Description

Step1 robot feeding system workstation 100 pile up neatly the silicon core and subassembly on the small handcart tray by the manual work, and the tray pile up neatly is four layers, then sends the small handcart to system workstation location and location by the manual work again.

The Step2 ground rail robot body 1100 sets the ABCDEFGH number for the stacking trolley, the ground rail robot side quick-change system 1300 quickly switches a large-caliber three-finger gripper to grab the insulating inner ring on the insulating inner ring 1710 trolley, then the insulating inner ring is placed on the insulating inner ring tooling positioning plate of the A station speed-multiplying chain conveying system 500 or the B station speed-multiplying chain conveying system 900, 80 insulating inner rings are placed in sequence, and the Step3 is carried out.

Step3, moving the ground rail robot body 1100 to a small trolley of the insulating outer ring 1720 to pick up the insulating outer ring, then placing the insulating outer ring on an insulating outer ring tooling positioning plate of the A station speed-multiplying chain transmission system 500 or the B station speed-multiplying chain transmission system 900, placing 80 insulating outer rings in sequence, and entering the Step 4.

Step4, moving the ground rail robot body 1100 to a small cart with heat insulation rings 1730 to pick up the heat insulation rings 1730, then placing the heat insulation rings on the tooling positioning plates of the heat insulation rings 1730 of the station A speed-multiplying chain conveying system 500 or the station B speed-multiplying chain conveying system 900, and placing 80 heat insulation rings in sequence to enter the Step 5.

Step5, then, the ground rail robot side quick-change system 1300 quickly switches the heat insulation cover sucker clamps to pick up the heat insulation covers on the heat insulation cover 1740 trolley, then, the heat insulation covers are placed on the heat insulation cover 1740 tooling positioning plates of the A station speed-multiplying chain conveying system 500 or the B station speed-multiplying chain conveying system 900, and 80 heat insulation covers are sequentially placed in the Step 6.

Step6, rapidly switching a small-caliber three-finger gripper by the ground-rail robot side quick-change system 1300 to pick up the graphite seat on a graphite seat 1750 small cart, then placing the graphite seat on a graphite seat 1750 tooling positioning plate of the A station speed-multiplying chain conveying system 500 or the B station speed-multiplying chain conveying system 900, sequentially placing 80 graphite seats, and entering the Step of Step 7.

Step7, then, the ground rail robot body 1100 moves to a bullet graphite piece 1760 small cart to pick up the bullet graphite piece, then, the bullet graphite piece is placed on a bullet graphite piece 1760 tooling positioning plate of the A-station speed-multiplying chain conveying system 500 or the B-station speed-multiplying chain conveying system 900, 80 bullet graphite pieces are sequentially placed, and the Step is carried out in Step 8.

Step8, then, quickly switching silicon core clamps by the ground rail robot side quick-change system 1300 to pick up the silicon cores on a silicon core 1770 trolley, then placing the silicon cores on the A station roller chain conveying system 400 or the B station roller chain conveying system 800, placing 80 silicon cores in sequence, and entering the Step of Step 9.

Step9, then, quickly switching a silicon core beam clamp by the ground rail robot side quick-change system 1300 to pick up the silicon core beam on a silicon core beam 1780 trolley, then, placing the silicon core beam onto a silicon core beam 1780 tooling positioning plate of the silicon core beam speed-multiplying chain transmission system 600 of the station A or the silicon core beam speed-multiplying chain transmission system 1000 of the station B, placing 80 silicon core beams in sequence, and entering the Step 10.

After the loading steps from Step1 to Step9 of the loading system workstation 100 of the Step10 robot are completed, the ground rail robot side quick-change system 1300 repeats the circulating operation from Step1 to Step 9.

The charging steps of the station A300 of the robot charging system or the station B700 of the robot charging system are as follows: step 1-Step 8.

The quick change system 3300 at the side of the Step1 ground rail robot switches the air blowing and sucking pipe quickly to suck and remove residues in 80 electrode holes of the furnace plate, then the quick change system 3300 at the side of the ground rail robot picks up the insulating inner ring on the double-speed chain transmission system 500 at the station A with a large caliber three-finger gripper, the ground rail robot body 3100 shoots and positions firstly according to the position number of the electrode holes of the furnace plate and then carries out the stacking operation of the insulating inner ring, and after the two ground rail robot bodies 3100 synchronously complete the operation of stacking the insulating inner ring in the 80 electrode holes of the furnace plate, the Step2 is carried out.

The Step2 ground rail robot body 3100 then picks the insulating outer ring on the A station double-speed chain transmission system 500, the ground rail robot body 3100 firstly takes pictures and positions according to the position numbers of the furnace disc electrode holes and then carries out the stacking operation of the insulating outer ring, and after the operation that the two ground rail robot bodies 3100 synchronously stack the insulating outer ring on the periphery of the insulating inner ring of the 80 furnace disc electrode holes is finished, the Step3 is carried out.

The Step3 ground rail robot body 3100 then picks up the heat insulation rings on the A station double-speed chain transmission system 500, the ground rail robot body 3100 firstly takes pictures and positions according to the position numbers of the electrode holes of the furnace plate and then carries out the stacking operation of the heat insulation rings, and after the two ground rail robot bodies 3100 synchronously complete the operation of stacking the heat insulation rings on the insulating outer rings of the 80 electrode holes of the furnace plate, the Step4 is carried out.

The fast switching system 3300 of the Step4 ground rail robot side fast switches the heat insulation cover sucker clamps and then the heat insulation cover is grabbed on the A station speed multiplying chain transmission system 500, the ground rail robot body 3100 shoots and positions according to the position number of the furnace plate electrode holes and then carries out the stacking operation of the heat insulation covers, and after the operation of stacking the heat insulation covers on the 80 electrode hole heat insulation rings of the furnace plate is completed synchronously by the two ground rail robot bodies 3100, the Step5 is carried out.

The Step5 ground rail robot side quick-change system 3300 fast switches over the three fingers tongs of small bore and then grabs the graphite seat on the A station speed-doubling chain transmission system 500, the ground rail robot body 3100 is according to the position number of the furnace plate electrode hole and is shot and positioned first then carry on the operation of putting things in good order of the graphite seat, two ground rail robot bodies 3100 will put the operation of putting things in good order the graphite seat in the heat-insulating cover of 80 electrode holes of furnace plate after synchronously, enter the Step6 Step.

The Step6 ground rail robot body 3100 then picks up the bullet graphite pieces on the A-station double-speed chain conveying system 500, the ground rail robot body 3100 firstly takes pictures and positions according to the position numbers of the furnace disc electrode holes and then carries out stacking operation of the bullet graphite pieces, and after the two ground rail robot bodies 3100 synchronously complete the operation of stacking the bullet graphite pieces on the furnace disc 80 electrode hole graphite seats, the Step7 is carried out.

Step7 ground rail robot side quick-change system 3300 switches silicon core sucker clamps quickly and then picks up the silicon core on the A station roller chain transmission system 400, two ground rail robot bodies 3100 take pictures and positions according to the position number of the furnace plate electrode hole, then vertically insert the silicon core into the hole on the bullet head graphite piece, then screw up the silicon core for 90 degrees and screw up the silicon core, then vertically correct the 3.2 meters long silicon core for 90 degrees, two vertical silicon cores are a pair, after finishing the vertical correction of two silicon cores, the two ground rail robot bodies 3100 hold the silicon core not to loosen after vertical correction, so as to avoid the top swing of the silicon core, the top rail side hanging robot picks up 0.25 meters long silicon core cross beam 1780 on the tray of the A station silicon core cross beam speed chain transmission system 600, then the top rail robot body 3800 takes pictures and then positions the top of the vertical silicon core cross beam, then the silicon core cross beam is put on the top of the vertical silicon core to connect, thus forming the top connection of a silicon core door, after the two ground rail robot bodies 3100 and the sky rail robot body 3800 synchronously and gradually complete the operation of connecting the 80 electrode holes 40 of the furnace plate to the top of the silicon core, the assembly installation of the whole furnace plate is finished, and the three robots move to the next furnace plate station to automatically install the silicon core and the assembly, and then the Step of Step8 is carried out.

Step8 repeats the loop of steps 1-Step 7.

The furnace loading steps of the robot furnace loading system workstation A300 and the robot furnace loading system workstation B700 are the same, after the steps from Step1 to Step8 are completed, the three robots move to the next furnace tray workstation to automatically install silicon cores and components, and the cyclic operation of the steps from Step1 to Step8 is repeated.

For the furnace loading steps Step 1-Step 8 of the robot furnace loading system workstation A300 or the robot furnace loading system workstation B700, the average time of three robots is 4 seconds per beat, and the average time is 40 minutes for installing one furnace plate.

The total number of the furnace plates in an unmanned workshop is 30, and the left side and the right side of the unmanned workshop are respectively 15.

The required time for meeting the current capacity requirement is as follows: 45 minutes per oven plate;

in summary, the above embodiments and the drawings are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed by the present invention should be covered within the scope of the present invention.

Claims

1. The utility model provides an unmanned workshop based on robot charge system workstation which characterized in that: the automatic feeding system comprises a robot feeding system workstation (100), a feeding end silicon core beam speed doubling chain transmission system (200), a robot furnace charging system workstation A station (300), a station roller chain transmission system (400), a station speed doubling chain transmission system (500), a station silicon core beam speed doubling chain transmission system (600), a robot furnace charging system workstation B station (700), a station roller chain transmission system (800), a station speed doubling chain transmission system (900) and a station silicon core beam speed doubling chain transmission system (1000), wherein the robot furnace charging system workstation B station (700), the station roller chain transmission system B station (800), the station silicon core beam speed doubling chain transmission system (1000) are respectively connected with a PLC (programmable logic controller) through an IRC5 explosion-proof controller of a robot, the IRC5 explosion-proof controller of the robot feeding system workstation (100) is used for controlling a robot of the station, the IRC5 explosion-proof controller of the robot feeding system workstation (100), the PLC of the robot furnace charging system workstation A station (300) and the PLC of the robot furnace charging system workstation B station (700) The logic controller is respectively connected with a PLC (programmable logic controller) of the robot feeding system workstation (100), the PLC of the robot feeding system workstation (100) is used for carrying out total control and scheduling operation on a station A, a station B and a local station of the unmanned workshop system workstation, an AI visual detection system (1200), an A station AI visual detection system (3200) and a B station AI visual detection system (7200) which are connected with a big data analysis system are further arranged inside the A station, the B station and the robot feeding system workstation (100), and the AI visual detection system is used for defect identification, object classification and positioning function application of products and is combined with a traditional algorithm to realize high-precision appearance defect detection on product types.

2. The unmanned plant based on robot charging system workstation of claim 1, characterized in that:

the robot feeding system workstation (100) is arranged at one end of a workshop exit passage and is longitudinally arranged, and the robot feeding system workstation (100) comprises: the ground rail robot comprises a ground rail robot body (1100), an AI vision detection system (1200), a ground rail robot side quick-change system (1300), a tool side quick-change system (1400), a robot ground guide rail (1500), a ground guide rail roller sliding table (1600) and a furnace disc assembly (1700).

3. The unmanned plant based on robot charging system workstation of claim 2, characterized in that:

a camera, a lens, a light source and a light source controller of the AI visual detection system (1200) are arranged on a 7 th shaft flange of the mechanical arm;

the ground rail robot side quick-change system (1300) is installed on a 7 th shaft flange of a mechanical arm, and the ground rail robot side quick-change system (1300) is used for a mechanical arm to quickly switch tools on a tool side quick-change support (1400);

the tool side quick-change system (1400) is arranged in a blank between the heat insulation cover tray clamp and the graphite seat tray clamp, the tool side quick-change system (1400) is used for automatically switching a tool required by the ground rail robot side quick-change system (1300) to a quick-change bracket, and the tool on the quick-change bracket is a matched tool of the ground rail robot side quick-change system (1300);

the robot ground guide rail (1500) is longitudinally arranged and used for longitudinal movement of the ground rail robot;

ground guide rail roller slip table (1600) includes: an IRC5 explosion-proof controller and a PLC explosion-proof programmable logic controller;

the furnace plate assembly (1700) is used for supplying ground rail robot grabbing assemblies of a station A and a station B of a left system workstation and a right system workstation and is arranged at positions with corresponding numbers in 80 electrode holes distributed on the furnace plate.

4. The unmanned plant based on robot charging system workstation of claim 1, characterized in that:

the robotic furnace charging system workstation A (300) comprises: the intelligent control system comprises a ground rail robot body (3100), an AI vision detection system (3200), a ground rail robot side quick-change system (3300), a tool side quick-change system (3400), a robot ground T-shaped guide rail (3500), a ground T-shaped guide rail roller sliding table (3600), a furnace disc (3700), a sky rail robot body (3800), a sky rail (3900) and a sky rail roller sliding table (31000), which are respectively connected with a PLC (programmable logic controller) through an IRC5 explosion-proof controller of the robot, an IRC5 explosion-proof controller of a station A (300) of a robot furnace charging system workstation is used for controlling the robot of the station, and the PLC explosion-proof programmable logic controller of the station A (300) of the robot furnace charging system workstation carries out intelligent control and cooperative operation on the station A.

5. The unmanned workshop based on a robotic furnace charging system workstation of claim 4, wherein:

a camera, a lens, a light source and a light source controller of the AI visual detection system (3200) are arranged on a 7 th shaft flange plate of the mechanical arm;

the robot ground T-shaped guide rail (3500) is used for the transverse and longitudinal movement of the ground rail robot;

the ground T-shaped guide rail roller sliding table (3600) is arranged on the ground guide rail and used for a ground rail robot to move left and right to grab silicon cores and components and take pictures for positioning, and the IRC5 explosion-proof controller and the PLC explosion-proof programmable logic controller are arranged on the ground T-shaped guide rail roller sliding table (3600);

the furnace disc (3700) is used for numbering 80 electrode holes by the ground rail robot, and is used for installing and correcting silicon cores and components in the 80 holes by the ground rail robot;

the overhead rail robot body (3800) is arranged on the overhead rail roller sliding table (31000), is used for synchronously carrying out the installation operation of a silicon core cross beam by two overhead rail robots in a system workstation A, is used for grabbing the silicon core cross beam, placing the silicon core cross beam on the top end conical heads of two silicon cores, horizontally placing a hole, and is used for AI visual detection of the distance between the top end conical heads of the two vertical silicon cores and the position precision of the conical head to the hole and correction;

the sky rail (3900) is used for the sky rail side-hung robot to move left and right transversely;

the top rail roller sliding table (31000) is arranged on the top rail (3900) and used for enabling a top rail manipulator to move left and right on the transverse top rail, grabbing the silicon core cross beam to photograph, position and install, and putting the silicon core cross beam on the top of the silicon core to be connected.

6. The unmanned plant based on robot charging system workstation of claim 1, characterized in that: the robot furnace charging system workstation B (700) comprises: the intelligent control system comprises a ground rail robot body (7100), an AI vision detection system (7200), a ground rail robot side quick-change system (7300), a tool side quick-change system (7400), a robot ground T-shaped guide rail (7500), a ground T-shaped guide rail roller sliding table (7600), a furnace disc (7700), a sky rail robot body (7800), a sky rail (7900) and a sky rail roller sliding table (71000), which are respectively connected with a PLC (programmable logic controller) through an IRC5 explosion-proof controller of the robot, an IRC5 explosion-proof controller of a B station (700) of a robot charging system workstation is used for controlling the robot of the workstation, an IRC5 explosion-proof controller and the PLC explosion-proof programmable logic controller are arranged on the ground rail roller sliding table, and the PLC explosion-proof programmable logic controller of the B station (700) of the robot charging system workstation carries out intelligent control and cooperative operation on the B station.

7. The unmanned workshop based on the robotic furnace charging system workstation of claim 6, wherein: a camera, a lens, a light source and a light source controller of the AI visual detection system (7200) are arranged on a 7 th shaft flange plate of the mechanical arm;

the ground rail robot side quick-change system (7300) is used for the manipulator to quickly switch tools on the tool side quick-change bracket (7400); the ground rail robot side quick-change system (7300) is installed on a 7 th shaft flange of a mechanical arm;

the tool side quick-change system (7400) is arranged at a position where a right manipulator of the furnace plate is not interfered for grabbing, and is used for automatically switching the tool required by the ground rail robot side quick-change system (7300) to the quick-change bracket, and the tool on the quick-change bracket is a matched tool of the ground rail robot side quick-change system (7300);

the robot ground T-shaped guide rail (7500) is used for the transverse and longitudinal movement of the ground rail robot;

the ground T-shaped guide rail roller sliding table (7600) is arranged on the ground guide rail and used for a ground rail robot to move left and right to grab the silicon core and the components and take pictures for positioning;

the overhead rail robot body (7800) is arranged on the overhead rail roller sliding table (71000), is used for synchronously installing silicon core cross beams by two overhead rail robots in a station B of a system workstation, is used for grabbing the silicon core cross beams, placing the silicon core cross beams on the top conical heads of the two silicon cores, horizontally placing holes, and is used for AI visual detection of the distance between the top conical heads of the two vertical silicon cores and the position accuracy of the conical heads in the holes and correction;

the sky rail (7900) is used for the sky rail side-hung robot to move left and right transversely;

the top rail roller sliding table (71000) is arranged on the top rail (7900) and used for enabling the top rail manipulator to move left and right on the transverse top rail, grabbing the silicon core beam for photographing, positioning and installing, and lapping the silicon core beam on the top end of the silicon core for connection.

8. The unmanned plant based on robot charging system workstation of claim 1, characterized in that: the feeding end silicon core cross beam speed multiplication chain transmission system (200) is used for transmitting furnace charging components for overhead rail robots of a system workstation A and a system workstation B;

the A station double-speed chain transmission system (500) is used for transmitting components for two ground rail robots in the A station of the system workstation;

the A station silicon core cross beam speed multiplication chain transmission system (600) is used for transmitting a silicon core cross beam for the A station overhead rail robot;

the station B roller chain transmission system (800) is used for receiving silicon cores transmitted by the ground rail robot side quick-change system (1300) of the feeding system workstation, and the station B roller chain transmission system (800) is used for transmitting the silicon cores for two ground rail robots of the station B of the system workstation;

the station B double-speed chain transmission system (900) is used for transmitting components for two ground rail robots in a system workstation B;

and the B station silicon core cross beam speed multiplication chain transmission system (1000) is used for transmitting a silicon core cross beam for the B station overhead rail robot.