Crystal retrieval device and crystal retrieval method

Abstract

This application provides a crystal extraction device and method. The crystal extraction device includes a mounting bracket, a guiding mechanism, a supporting mechanism, and a clamping mechanism. The guiding mechanism is vertically and flexibly mounted on the mounting bracket. The supporting mechanism includes a supporting part and a first driving component. The supporting part is vertically and flexibly mounted on the guiding mechanism. The first driving component is mounted on the mounting bracket and drives the supporting part to move vertically and flexibly on the guiding mechanism, stopping the supporting part at any position on the guiding mechanism to adapt to crystal extraction of ingots of different lengths. The clamping mechanism is mounted on the mounting bracket and configured to clamp the crystal ingot supported by the supporting part and guided by the guiding mechanism. This application can perform crystal extraction operations on crystal ingots of different lengths, especially long crystal ingots, improving the compatibility of the crystal extraction device. In addition, through the cooperation of the supporting mechanism, the guiding mechanism, and the clamping mechanism, automated crystal extraction is achieved, improving crystal extraction efficiency compared to existing manual crystal extraction methods.

Description

Technical Field

[0001] The present application relates to the field of crystal growth, and more specifically to a crystal retrieval device and a crystal retrieval method. Background Art

[0002] After the crystal rod is grown in the single crystal furnace, it needs to be taken out from the single crystal furnace. At present, a manual crystal removal car is generally used to complete the entire crystal removal process manually. The specific crystal removal process is: push the manual crystal removal car to the side of the crystal rod to be removed, and then adjust the relative position of the crystal removal car and the crystal rod so that the crystal rod is supported on the bracket on the manual crystal removal car, and then manually fix the crystal rod to the bracket.

[0003] The existing manual crystal extraction method requires deep manual intervention, and its crystal extraction efficiency is low. In addition, the bracket size of the manual crystal extraction vehicle is fixed, and the support components of the bracket (such as the tray) can only be adjusted slightly in height by manually adjusting the installation position. Therefore, it is only suitable for extracting crystals from shorter crystal rods (generally less than 1 meter), and it is difficult to extract crystals from long crystal rods with a length of more than 1.5 meters. Summary of the invention

[0004] In view of the above technical problems existing in the existing artificial crystal extraction method, the present application provides a crystal extraction device, and its detailed technical solution is as follows:

[0005] A crystal retrieval device comprises a mounting bracket, a guide mechanism, a supporting mechanism and a clamping mechanism, wherein the guide mechanism is movably arranged on the mounting bracket and is configured to be able to move up and down on the mounting bracket in a vertical direction;

[0006] The supporting mechanism includes a supporting part and a first driving assembly. The supporting part can be lifted and lowered on the guide mechanism. The first driving assembly is arranged on the mounting bracket. The driving end of the first driving assembly is fixedly connected to the supporting part. The first driving assembly is configured to drive the supporting part to move up and down on the guide mechanism in a vertical direction and to make the supporting part stop at any position on the guide mechanism to adapt to the extraction of crystal rods of different lengths.

[0007] The clamping mechanism is arranged on the mounting bracket and is configured to clamp the crystal rod carried by the supporting part and supported and guided by the guiding mechanism.

[0008] The present application drives the supporting part to rise and fall along the guide mechanism through the first driving assembly, so that the present application can implement the crystal retrieval operation for crystal rods of different lengths, especially long crystal rods, and improve the compatibility of the crystal retrieval equipment. In addition, through the cooperation of the supporting mechanism, the guide mechanism and the clamping mechanism, automatic crystal retrieval is realized, which improves the crystal retrieval efficiency compared with the existing manual crystal retrieval method.

[0009] In some embodiments, the first drive assembly includes a first mounting shaft, a sleeve, a reel, a reel engagement assembly, a metal pull rope, a first worm gear reducer, and a first hydraulic motor, wherein:

[0010] Both ends of the first installation shaft are arranged on the installation bracket, and the first installation shaft is provided with a spline extending in the axial direction; the shaft sleeve is sleeved on the first installation shaft and can move axially along the spline, and the reel is fixedly sleeved on the shaft sleeve;

[0011] The reel is provided with a spiral wire groove, the fixed end of the metal pulling rope is fixed on the reel and wound in the wire groove along the direction of the wire groove, and the movable end of the metal pulling rope is fixedly connected to the supporting part; the reel engagement assembly is fixedly arranged on the mounting bracket and engaged with the wire groove;

[0012] The driving end of the first hydraulic motor is transmission-connected to the input end of the first worm gear reducer, and the output end of the first worm gear reducer is transmission-connected to the first mounting shaft. The first hydraulic motor drives the first mounting shaft to rotate forward or reversely through the first worm gear reducer, and the first mounting shaft drives the reel to rotate forward or reversely. When the reel rotates forward, the reel engagement assembly pushes the reel to move along the first axial direction of the spline, so that the reel releases the metal pulling rope, thereby realizing the descent of the supporting part on the guide mechanism. When the reel reverses, the reel engagement assembly pushes the reel to move along the second axial direction of the spline, so that the reel reels the metal pulling rope, thereby realizing the ascent of the supporting part on the guide mechanism.

[0013] Compared with traditional lifting drive mechanisms such as screw modules, the reel-type drive assembly composed of the reel, reel engagement assembly, and metal pulling rope in the above embodiment has at least the following advantages:

[0014] After selecting the appropriate length of the guide mechanism according to the needs, it is only necessary to install a metal pulling rope of the corresponding length on the reel to make the lifting stroke of the support part meet the predetermined requirements, thereby implementing the support of the long crystal rod. However, the lifting stroke of traditional lifting drive mechanisms such as screw modules is small and fixed, so it is difficult to implement the support of the long crystal rod.

[0015] Since the guide mechanism and the supporting part need to be independently adjusted in the vertical direction, that is, both need to be equipped with their own drive components. The reel-type drive component drives the supporting part to rise and fall through a metal pulling rope, which occupies less space, making the structure of the crystal retrieval device of the present application more compact.

[0016] The reel-type drive assembly drives the support part to rise and fall, and its key load-bearing component is the metal pull rope. The metal pull rope is easy to replace after aging or breaking, and the replacement cost is low.

[0017] The first hydraulic motor is connected to the first mounting shaft through the first worm gear reducer. The hydraulic motor has a large load and a strong driving ability, and the worm gear reducer can achieve self-locking, thereby ensuring that the support part can stably support the crystal rod.

[0018] In addition, the reel engagement assembly is fixedly mounted on the mounting bracket, driving the reel to move axially along the spline on the first mounting shaft. During the movement of the reel along the first mounting shaft, the reel engagement assembly is in a fixed position, so that the metal pulling rope released by the reel is always in the same vertical line, effectively improving the stability of the lifting and lowering of the supporting part.

[0019] In some embodiments, the reel engagement assembly includes a first pressure wheel and a second pressure wheel, the first pressure wheel and the second pressure wheel are spaced apart and arranged in a colinear manner, the space between the first pressure wheel and the second pressure wheel engages with the flange of the wire groove, and the first pressure wheel and the second pressure wheel respectively engage with the wire grooves on both sides of the flange.

[0020] In this way, when the reel rotates, the first pressure wheel and the second pressure wheel can, on the one hand, drive the reel to move along the spline axis so that the reel can smoothly release or reel in the metal pulling rope, and on the other hand, keep the metal pulling rope in a taut state.

[0021] In some embodiments, the guide mechanism includes a guide post, a second mounting shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a chain, a second worm gear reducer, and a second hydraulic motor, wherein:

[0022] Both ends of the second installation shaft are arranged on the installation bracket, and the driving sprocket fixing sleeve is arranged on the second installation shaft;

[0023] The first driven sprocket and the second driven sprocket are colinearly arranged between the driving sprocket and the guide column, and are respectively located at the upper and lower sides of the driving sprocket;

[0024] The chain is wound around the first driven sprocket, the driving sprocket, and the second driven sprocket in sequence, and the two ends of the chain are fixedly connected to the two ends of the guide column respectively; the guide column has a groove extending in the vertical direction, and the mounting bracket is provided with a first guide member rollingly connected to the groove of the guide column;

[0025] The driving end of the second hydraulic motor is transmission-connected to the input end of the second worm gear reducer, and the output end of the second worm gear reducer is transmission-connected to the second mounting shaft. The second hydraulic motor drives the second mounting shaft to rotate forward or reverse through the second worm gear reducer, and the second mounting shaft drives the driving sprocket to rotate forward or reverse, so as to drive the guide column to rise or fall relative to the mounting bracket through the chain.

[0026] A method for implementing a guide mechanism is provided, which realizes the lifting and lowering guidance of the supporting part through a guide column. Since the guide column is arranged on the mounting bracket in a liftable manner, the driving member composed of the second worm gear reducer and the second hydraulic motor can drive the guide column to be lifted and lowered along the mounting bracket through the sprocket transmission mechanism composed of the first driven sprocket, the driving sprocket, the second driven sprocket and the chain, thereby greatly improving the lifting and lowering stroke of the supporting part in the vertical direction, and finally enabling the supporting part to support the long crystal rod. In addition, the second hydraulic motor is connected to the second mounting shaft through the second worm gear reducer, and drives the second mounting shaft to rotate, thereby finally driving the guide column to lift and slide on the mounting bracket. The hydraulic motor has a large load and a strong driving ability, and the worm gear reducer can achieve self-locking, thereby implementing a stable drive for the guide column.

[0027] In some embodiments, the guide mechanism includes a guide column, a third mounting shaft, a gear, a rack, a third worm gear reducer and a third hydraulic motor, both ends of the third mounting shaft are arranged on the mounting bracket, and the gear fixing sleeve is arranged on the third mounting shaft.

[0028] The rack is fixedly arranged on the guide rod along the extension direction of the guide rod, and the gear meshes with the rack for transmission;

[0029] The guide post has a groove extending in the vertical direction, and the mounting bracket is provided with a second guide member rollingly connected to the groove of the guide post;

[0030] The driving end of the third hydraulic motor is transmission-connected to the input end of the third worm gear reducer, and the output end of the third worm gear reducer is transmission-connected to the third mounting shaft. The third hydraulic motor drives the third mounting shaft to rotate forward or reverse through the third worm gear reducer, and the third mounting shaft drives the gear to rotate forward or reverse, so that the guide column rises or falls relative to the mounting bracket through the meshing of the gear rack.

[0031] A method for implementing a guide mechanism is provided, which realizes the lifting and lowering guidance of the supporting part through a guide column. Since the guide column is arranged on the mounting bracket in a liftable manner, the driving member composed of the third worm gear reducer and the third hydraulic motor can drive the guide column to be lifted and lowered along the mounting bracket through the gear and the rack, thereby greatly improving the lifting stroke of the supporting part in the vertical direction, and finally enabling the supporting part to support the long crystal rod. In addition, the third hydraulic motor is connected to the third mounting shaft through the third worm gear reducer, and drives the third mounting shaft to rotate, thereby finally driving the guide column to be lifted and lowered and slid on the mounting bracket. The hydraulic motor has a large load and a strong driving ability, and the worm gear reducer can achieve self-locking, thereby implementing a stable drive of the guide column.

[0032] In some embodiments, the crystal retrieval equipment of the present application further includes a traveling mechanism and a gantry assembly, the gantry assembly is disposed on the traveling mechanism, the mounting bracket is disposed on the gantry assembly, and the gantry assembly is used to drive the mounting bracket to rise and fall in a vertical direction.

[0033] By controlling the walking mechanism to move, the functional components of the crystal retrieval equipment can be moved as a whole to the crystal retrieval station of the single crystal furnace to be retrieval. The gantry assembly is controlled to drive the mounting bracket to rise and fall in the vertical direction, and the mounting bracket can be adjusted to a predetermined height.

[0034] In some embodiments, the supporting mechanism further includes a sensing component, which is used to detect whether the crystal rod to be taken is supported on the supporting part.

[0035] By setting up the sensing component, automatic detection of the crystal rod to be taken is achieved.

[0036] In some embodiments, the crystal retrieval device further includes a crystal shearing mechanism, which is disposed on a mounting bracket and is used to shear off a connection between an upper end of the crystal rod and the seed crystal.

[0037] By setting up a crystal shearing mechanism, the connection between the upper end of the crystal rod and the seed crystal can be automatically sheared, further improving the crystal extraction efficiency.

[0038] In some embodiments, the crystal retrieval device further includes a visual component, which is disposed on a mounting bracket to detect whether a crystal shearing component of the crystal shearing mechanism is facing a position to be sheared.

[0039] By setting up the visual component, automatic positioning of the position to be sheared is achieved, ensuring that the shearing parts of the shearing mechanism can accurately shear the connection parts.

[0040] The present application also provides a crystal retrieval method, which is implemented by the crystal retrieval device described in any one of the above items, comprising:

[0041] Control the guide mechanism to descend and pass through the through hole at the crystal taking station, so that the end of the guide mechanism descends to the first low position;

[0042] Control the supporting part to descend along the guide mechanism and pass through the through hole at the crystal taking station, so that the supporting part descends to the first low position;

[0043] When the crystal rod to be taken out is rotated out of the single crystal furnace and is located above the through hole, the clamping mechanism is controlled to clamp the crystal rod;

[0044] Control the supporting part to rise along the guide mechanism so that the supporting part supports the crystal rod;

[0045] After the portion of the crystal rod to be sheared is cut off, the supporting part and the guiding mechanism are controlled to rise above the through hole at the crystal taking station to complete the crystal taking.

[0046] The crystal retrieval method of the present application can implement crystal retrieval operations on crystal rods of different lengths, especially long crystal rods. In addition, the crystal retrieval method of the present application realizes automatic crystal retrieval, which improves the crystal retrieval efficiency compared with the existing manual crystal retrieval method.

[0047] In some embodiments, before the guide mechanism is controlled to descend and pass through the through hole at the crystal retrieval station so that the end of the guide mechanism descends to the first low position, the crystal retrieval method of the present application further includes:

[0048] Control the walking mechanism to walk to the crystal taking station of the single crystal furnace to be taken out;

[0049] The control gantry assembly drives the mounting bracket to descend to the second lowest position, and the second lowest position is higher than the height of the through hole.

[0050] By controlling the walking mechanism to move, the functional components of the crystal retrieval equipment can be moved as a whole to the crystal retrieval station of the single crystal furnace to be retrieval. The gantry assembly is controlled to drive the mounting bracket to rise and fall in the vertical direction, and the height of the mounting bracket can be adjusted.

[0051] In some embodiments, before controlling the supporting portion and the guiding mechanism to rise to above the through hole at the crystal retrieval station, the crystal retrieval method further includes: controlling the gantry assembly to drive the mounting bracket to rise from the second low position to the first high position.

[0052] The supporting part and the guiding mechanism have sufficient ascending stroke to ensure that the supporting part and the guiding mechanism can rise to the target height above the through hole at the crystal retrieval station.

[0053] In some embodiments, controlling the supporting part and the guiding mechanism to rise above the through hole at the crystal retrieval station includes: controlling the supporting part to rise and fall along the guiding mechanism, adjusting the position between the crystal rod and the clamping mechanism so that the clamping mechanism clamps at the center of the crystal rod; controlling the supporting part and the guiding mechanism to rise above the through hole at the crystal retrieval station.

[0054] Ensure that the crystal ingot can be more stably held on the clamping mechanism and the supporting part to prevent the crystal ingot from falling during subsequent transportation.

[0055] In some embodiments, before controlling the supporting portion and the guiding mechanism to rise above the through hole at the crystal retrieval station, the method further includes: controlling the crystal shearing mechanism to shear the crystal rod at the position of the crystal rod to be sheared.

[0056] Automatic cutting operation is realized, further improving the efficiency of crystal retrieval. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the structure of the crystal retrieval equipment in the embodiment of the present application;

[0058] Figure 2 It is a structural schematic diagram of a supporting mechanism and a clamping mechanism carrying a crystal rod in an embodiment of the present application;

[0059] Figure 3It is a schematic diagram of the structure of the supporting mechanism and the clamping mechanism in the embodiment of the present application;

[0060] Figure 4 This is a schematic diagram of the structure of the first driving component in the embodiment of the present application;

[0061] Figure 5 It is a structural schematic diagram of the supporting mechanism in the embodiment of the present application;

[0062] Figure 6 It is a structural schematic diagram of the reel engagement assembly in an embodiment of the present application;

[0063] Figure 7 This is a schematic diagram of the installation of the guide column on the mounting bracket in the embodiment of the present application;

[0064] Figure 8 It is a structural schematic diagram of the guide mechanism in the embodiment of the present application;

[0065] Fig. 9 It is a schematic diagram of the assembly structure of the sensing component and the first driving component in the embodiment of the present application;

[0066] Fig.10 is a cross-sectional view of the sensing component in the embodiment of the present application;

[0067] Fig.11 is a schematic structural diagram of a sensing component in another embodiment of the present application;

[0068] Fig.12 is a schematic structural diagram of a sensing component in another embodiment of the present application;

[0069] Fig.13 is a schematic diagram of a crystal rod located at the center of two clamping jaws;

[0070] Fig.14 It is a schematic structural diagram of the clamping mechanism in an embodiment of the present application at one viewing angle;

[0071] Fig.15 is a schematic structural diagram of the clamping mechanism in an embodiment of the present application from another viewing angle;

[0072] Fig.16 It is a structural schematic diagram of the translation adjustment mechanism in the clamping mechanism in the embodiment of the present application;

[0073] Fig.17 is a schematic diagram of a crystal rod deviating from a center position in a first horizontal direction;

[0074] Fig.18 is a schematic diagram of a crystal rod deviating from a center position in a second horizontal direction;

[0075] Fig.19Schematic diagram of the structure of the crystal shearing mechanism in the embodiment of the present application;

[0076] Fig. 20 It is a schematic diagram of the partial structure of the crystal shearing mechanism in the embodiment of the present application;

[0077] Fig.21 A schematic structural diagram of a translation portion of a crystal shearing mechanism in an embodiment of the present application;

[0078] Fig. 22 It is a schematic diagram of the structure of the crystal shearing part in the application embodiment;

[0079] Fig.23 It is a structural schematic diagram of the crystal shearing part after the installation frame is removed in the embodiment of the application;

[0080] Fig.24 Schematic diagram of the execution process of the crystal extraction method in the embodiment of the present application.

[0081] Figures 1 to 24 Included:

[0082] Mounting bracket 1;

[0083] Guide mechanism 2:

[0084] Guide column 21, second mounting shaft 22, driving sprocket 23, first driven sprocket 24, second driven sprocket 25, chain 26, second hydraulic motor 27, first guide member 28;

[0085] Supporting institution 3:

[0086] The first driving assembly 31 includes a first mounting shaft 311 , a shaft sleeve 312 , a reel 313 , a reel engagement assembly 314 , a metal pulling rope 315 , a first hydraulic motor 316 , a first pressure wheel 3141 , a second pressure wheel 3142 , a shifting rod 3143 , and a shifting block 3144 ;

[0087] Supporting portion 32;

[0088] Clamping mechanism 4:

[0089] A first clamping jaw 41, a second clamping jaw 42, a translation adjustment mechanism 43, a driving motor 431, a second screw rod 432, a guide block 433, a gear 434, a first rack 435, and a second rack 436;

[0090] Walking mechanism 5;

[0091] Door frame assembly 6;

[0092] Sensing component 7:

[0093] A third mounting shaft 71, a movable pulley mounting bracket 72, a fourth mounting shaft 73, a movable pulley 74, a return spring 75, a contact sensor 76, a tension sensor 77, a connecting bolt 78, a second return spring 79, a second contact sensor 710, a first support arm 721, a second support arm 722, a first accommodating portion 723, and a second accommodating portion 724;

[0094] Crystal shearing mechanism 8:

[0095] Pillar 81;

[0096] Lifting unit 82;

[0097] Sliding connecting plate 83;

[0098] Translation part 84: mounting block 841, third screw rod 842, nut assembly 843, support plate 844, transmission assembly 845, third drive motor 846, anti-rotation part 847, guide rod 848;

[0099] Crystal shearing part 85: driving member 851, mounting frame 852, pin shaft 853, first connecting rod 854, second connecting rod 855, first scissors 856, second scissors 857, anti-twist sheet 858;

[0100] Visual component 9;

[0101] Crystal rod 100. DETAILED DESCRIPTION

[0102] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0103] like Figures 1 to 3 As shown, the crystal retrieval device in the embodiment of the present application includes a mounting bracket 1, a guide mechanism 2, a supporting mechanism 3 and a clamping mechanism 4, wherein:

[0104] The guide mechanism 2 is movably disposed on the mounting bracket 1 and is configured to be able to move up and down on the mounting bracket 1 in a vertical direction.

[0105] The supporting mechanism 3 includes a supporting portion 32 and a first driving component 31. The supporting portion 32 can be raised and lowered on the guide mechanism 2. The first driving component 31 is arranged on the mounting bracket 1. The driving end of the first driving component 31 is fixedly connected to the supporting portion 32. The first driving component 31 is configured to drive the supporting portion 32 to move up and down on the guide mechanism 2 in a vertical direction and to make the supporting portion 32 stop at any position on the guide mechanism 2 to adapt to crystal rods of different lengths for crystal extraction.

[0106] The clamping mechanism 4 is disposed on the mounting bracket 1 , and is configured to clamp the crystal rod carried by the supporting portion 32 and supported and guided by the guiding mechanism 2 .

[0107] The optional crystal retrieval process of the crystal retrieval device in the embodiment of the present application is as follows:

[0108] The crystal taking device is controlled to move as a whole to the side of the crystal rod to be taken.

[0109] The guide mechanism 2 is controlled to be lifted and lowered in the vertical direction so that the lower end of the guide mechanism 2 is in a predetermined low position. In addition, the first driving assembly 31 is controlled to adjust the supporting portion 32 to a low position.

[0110] Next, the crystal ingot to be taken is controlled to move to a position so that the crystal ingot enters the clamping mechanism 4 and is located above the supporting portion 32 .

[0111] Next, the clamping mechanism 4 is controlled to clamp the crystal rod 100 to be taken, and the first driving assembly 31 is controlled to drive the supporting portion 32 to rise along the guide mechanism 2 until the supporting portion 32 is as shown in FIG. Figure 2 As shown, the lower end of the crystal rod 100 to be taken is supported from below. At this point, the crystal rod 100 to be taken is fixed to the crystal taking device, and the crystal rod 100 can be cut and taken out from the single crystal furnace.

[0112] It can be seen that in the crystal retrieval equipment in the embodiment of the present application, the guide mechanism 2 itself can be adjusted in the vertical direction, and the first drive component 31 can drive the supporting part 32 to rise and fall along the guide mechanism 2, so that the lifting stroke of the supporting part 32 in the vertical direction is large enough, and finally ensure that the supporting part 32 can support the crystal rod from below, so that the crystal retrieval equipment in the embodiment of the present application can implement crystal retrieval operations on crystal rods of different lengths, especially long crystal rods, thereby improving the compatibility of the crystal retrieval equipment.

[0113] In addition, through the cooperation of the supporting mechanism 3, the guiding mechanism 2 and the clamping mechanism 4, the crystal retrieval equipment of the present application realizes automated crystal retrieval, which improves the crystal retrieval efficiency compared with the existing manual crystal retrieval method.

[0114] like Figures 3 to 6 As shown, optionally, the first drive assembly 31 includes a first mounting shaft 311, a sleeve 312, a reel 313, a reel engagement assembly 314, a metal pulling rope 315, a first worm gear reducer (not shown) and a first hydraulic motor 316, wherein:

[0115] Both ends of the first mounting shaft 311 are arranged on the mounting bracket 1 , and a spline extending in the axial direction is arranged on the first mounting shaft 311 . A shaft sleeve 312 is sleeved on the first mounting shaft 311 and can move in the axial direction of the spline, and a reel 313 is fixedly sleeved on the shaft sleeve 312 .

[0116] The reel 313 is provided with a spiral wire groove. The fixed end of the metal pulling rope 315 is fixed on the reel 313 and wound in the wire groove along the direction of the wire groove. The movable end of the metal pulling rope 315 is fixedly connected to the supporting part 32 .

[0117] The reel engagement assembly 314 is fixedly disposed on the mounting bracket 1 and engages with the wire trough.

[0118] The driving end of the first hydraulic motor 316 is connected to the input end of the first worm gear reducer, and the output end of the first worm gear reducer is connected to the first installation shaft 311. The first hydraulic motor 316 drives the first installation shaft 311 to rotate forward or reverse through the first worm gear reducer, and the first installation shaft 311 drives the reel 313 to rotate forward or reverse. When the reel 313 rotates forward, the reel engagement assembly 314 pushes the reel 313 to move along the first axial direction of the spline, so that the reel releases the metal pulling rope 315, and the supporting part 32 is lowered on the guide mechanism. When the reel 313 is reversed, the reel engagement assembly 314 pushes the reel 313 to move along the second axial direction of the spline, so that the reel 313 reels the metal pulling rope 315, and the supporting part 32 is raised on the guide mechanism 2.

[0119] Compared with conventional lifting drive mechanisms such as lead screw modules, the reel-type drive assembly composed of the reel 313, the reel engagement assembly 314, and the metal pulling rope 315 in the above embodiment has at least the following advantages:

[0120] After selecting a guide mechanism of appropriate length according to the needs, it is only necessary to install a metal pulling rope 315 of corresponding length on the reel 313, so that the lifting stroke of the supporting part 32 can meet the predetermined requirements, thereby implementing the support of the long crystal rod. However, the lifting stroke of traditional lifting drive mechanisms such as lead screw modules is small and fixed, so it is difficult to implement the support of the long crystal rod.

[0121] Since the guide mechanism 2 and the supporting part 32 need to be independently adjusted in the vertical direction, that is, both need to be equipped with their own drive components. The reel-type drive component drives the supporting part 32 to rise and fall through the metal pulling rope 315, which occupies less space, making the structure of the crystal retrieval device of the present application more compact.

[0122] Considering the heavy weight of the crystal rod, especially the long crystal rod, the thread of the lead screw nut is very easy to wear during use. Once the thread fails, the supporting part will drop suddenly, which is very likely to cause an accident. However, the metal wire rope and the reel do not rely on threads for connection. The worm gear reducer can achieve self-locking and has a long service life.

[0123] The reel-type drive assembly drives the support portion 32 to rise and fall, and its key load-bearing component is the metal pull rope 315. The metal pull rope 315 is easy to replace and easy to maintain.

[0124] The first hydraulic motor 316 is connected to the first installation shaft 311 through the first worm gear reducer, and drives the first installation shaft 311 to rotate, thereby finally driving the supporting part 32 to rise and fall on the guide mechanism 2. The hydraulic motor has a large load and a strong driving ability, and the worm gear reducer can achieve self-locking, thereby ensuring that the supporting part 32 can implement stable support for the crystal ingot 100.

[0125] In addition, in the embodiment of the present application, the reel engagement assembly 314 is fixedly disposed on the mounting bracket 1, and drives the reel 313 to move axially along the spline on the first mounting shaft 311. During the movement of the reel 313 along the first mounting shaft 311, the reel engagement assembly 314 is in a fixed position, so that the metal pulling rope 315 released by the reel 313 is always in the same vertical line, thereby effectively improving the stability of the lifting and lowering of the supporting portion 32.

[0126] Optional, such as Figure 6 As shown, the reel engagement assembly 314 includes a first pressure wheel 3141 and a second pressure wheel 3142. The first pressure wheel 3141 and the second pressure wheel 3142 are spaced apart and arranged in a colinear manner. The space between the first pressure wheel 3141 and the second pressure wheel 3142 engages with the flange of the wire groove. The first pressure wheel 3141 and the second pressure wheel 3142 respectively engage with the wire grooves on both sides of the flange, thereby tightening the metal pulling rope 315 in the corresponding wire groove.

[0127] In this way, when the reel 313 rotates, the first pressure wheel 3141 and the second pressure wheel 3142 can, on the one hand, drive the reel 313 to move along the spline axis so that the reel 313 can smoothly release or reel in the metal pulling rope 315, and on the other hand, keep the metal pulling rope 315 in a taut state.

[0128] Optionally, the first pressing wheel 3141 and the second pressing wheel 3142 are made of polyetheretherketone (PEEK) plastic material. The PEEK plastic pressing wheel has high hardness and smoothness, which can reduce the wear of the first pressing wheel 3141, the second pressing wheel 3142 and the wire groove during relative movement.

[0129] like Figures 7 and 8 As shown, in some optional implementations, the guide mechanism 2 includes a guide column 21, a second mounting shaft 22, a driving sprocket 23, a first driven sprocket 24, a second driven sprocket 25, a chain 26, a second worm gear reducer (not shown in the figure) and a second hydraulic motor 27, wherein:

[0130] Both ends of the second installation shaft 22 are arranged on the installation bracket 1 , and the driving sprocket 23 is fixedly sleeved on the second installation shaft 22 .

[0131] The first driven sprocket 24 and the second driven sprocket 25 are colinearly disposed between the driving sprocket 23 and the guide pillar 21 , and are located at the upper and lower sides of the driving sprocket 23 , respectively.

[0132] The chain 26 is wound around the first driven sprocket 24 , the driving sprocket 23 , and the second driven sprocket 25 in sequence, and two ends of the chain 26 are fixedly connected to two ends of the guide pillar 21 .

[0133] The guide post 21 has a groove extending in the vertical direction, and the mounting bracket 1 is provided with a first guide member 28 that is rollingly connected to the groove of the guide post. Optionally, grooves are provided on both side walls of the guide post 21, and correspondingly, first guide members 28 are provided on both sides of the guide post 21, and the first guide members 28 include a plurality of rollers arranged in the vertical direction, and each roller rolls against the groove on the corresponding side.

[0134] The driving end of the second hydraulic motor 27 is transmission-connected to the input end of the second worm gear reducer, and the output end of the second worm gear reducer is transmission-connected to the second mounting shaft 22. The second hydraulic motor 27 drives the second mounting shaft 22 to rotate forward or reverse through the second worm gear reducer, and the second mounting shaft 22 drives the active chain 23 to rotate forward or reverse, so as to drive the guide column 21 to rise or fall relative to the mounting bracket 1 through the chain 26.

[0135] The supporting part 32 is slidably connected to the guide column 21, and is slid and lifted along the guide column 21 under the drive of the first driving component 31. Therefore, the length of the guide column 21 determines the stroke of the first driving component 31 driving the supporting part 32 to lift and lower. Therefore, in a specific embodiment, the length of the guide column 21 can be selected and set according to the length of the crystal rod to be taken. For example, in some embodiments, it is necessary to implement a crystal taking operation for a crystal rod with a length of 7 meters. In order to ensure the support of the crystal rod, the length of the guide column 21 is set to 6 meters.

[0136] In addition, since the guide column 21 is slidably connected to the mounting bracket 1 through the first guide member 28, the driving member composed of the second worm gear reducer and the second hydraulic motor 27 can drive the guide column 21 to rise and fall along the mounting bracket 1 through the sprocket transmission mechanism composed of the first driven sprocket 24, the driving sprocket 23, the second driven sprocket 25 and the chain 26, thereby further increasing the lifting stroke of the supporting part 32 in the vertical direction.

[0137] The second hydraulic motor 27 is connected to the second mounting shaft 22 through the second worm gear reducer, and drives the second mounting shaft 22 to rotate, thereby finally driving the guide column 21 to rise and fall and slide on the mounting bracket 1. The hydraulic motor has a large load and a strong driving ability, and the worm gear reducer can achieve self-locking, thereby implementing a stable drive for the guide column 21.

[0138] In some other optional implementations, the guide mechanism 2 includes a guide column, a third mounting shaft, a gear, a rack, a third worm gear reducer and a third hydraulic motor, both ends of the third mounting shaft are arranged on the mounting bracket, the gear is fixedly sleeved on the third mounting shaft, the rack is fixedly arranged on the guide rod 21 along the extension direction of the guide rod, and the gear is meshed with the rack for transmission.

[0139] The guide post 21 has a groove extending in the vertical direction, and a second guide member rollingly connected to the groove of the guide post is provided on the mounting bracket 1. Optionally, grooves are provided on both side walls of the guide post 21, and correspondingly, second guide members are provided on both sides of the guide post 21, and the second guide members include a plurality of rollers arranged in the vertical direction, and each roller rolls against the groove on the corresponding side.

[0140] The driving end of the third hydraulic motor is transmission-connected to the input end of the third worm gear reducer, and the output end of the third worm gear reducer is transmission-connected to the third mounting shaft. The third hydraulic motor drives the third mounting shaft to rotate forward or reverse through the third worm gear reducer, and the third mounting shaft drives the gear to rotate forward or reverse, so that the guide column 21 rises or falls relative to the mounting bracket 1 through the meshing of the gear rack.

[0141] Similarly, the supporting portion 32 is slidably connected to the guide post 21 and is driven by the first driving assembly 31 to slide and rise and fall along the guide post 21 . Therefore, the length of the guide post 21 determines the stroke of the supporting portion 32 driven by the first driving assembly 31 to rise and fall.

[0142] In addition, since the guide column 21 is slidably connected to the mounting bracket 1 through the second guide member, the driving member composed of the third worm gear reducer and the third hydraulic motor can drive the guide column to rise and fall along the mounting bracket 1 through gears and racks, thereby further increasing the lifting stroke of the supporting part 32 in the vertical direction.

[0143] The third hydraulic motor is connected to the third mounting shaft through the third worm gear reducer, and drives the third mounting shaft to rotate, thereby finally driving the guide column to rise and fall and slide on the mounting bracket. The hydraulic motor has a large load and strong driving ability, while the worm gear reducer can achieve self-locking, thereby implementing a stable drive for the guide column.

[0144] like Figure 4 As shown, optionally, the crystal picking device in the embodiment of the present application further includes a sensing component 7, which is used to detect whether the crystal rod 100 to be picked up is supported on the supporting portion 32. Finally, it is ensured that the subsequent crystal shearing operation can be performed only after the crystal rod 100 to be picked up is supported on the supporting portion 32.

[0145] like Fig. 9As shown, optionally, the induction component 7 is arranged on the mounting bracket 1 and is located between the reel 313 and the supporting portion 32. The metal pulling rope 315 is wound from the reel 313 and then wound through the induction component 7 and connected to the supporting portion 32. The part of the metal pulling rope 315 wound around the induction component 7 is parallel to the guide column. The metal pulling rope 315 is pressed against the induction component 7. The induction component 7 is used to detect whether the crystal rod to be taken is supported on the supporting portion 32. By setting the induction component to judge whether the supporting portion supports the crystal rod in real time, when controlling the crystal taking device to take the crystal, the next crystal taking action can be accurately controlled according to the induction signal.

[0146] The detection principle of the sensing component 7 in the embodiment of the present application is as follows:

[0147] When the crystal rod moves to the top of the supporting part 32 and the supporting part 32 has not yet risen and contacted the crystal rod, the pressure applied to the sensing component 7 by the metal pulling rope 315 comes only from the gravity of the supporting part 32, so the pressure is relatively small.

[0148] When the supporting part 32 rises and supports the crystal rod from below, the supporting part 32 needs to withstand the pressure from the crystal rod. Therefore, the pressure applied to the sensing component 7 by the metal pulling rope 315 increases significantly. The pressure change is detected by the sensing component 7, thereby determining that the crystal rod is supported on the supporting part 32.

[0149] Since the sensing component 7 is located between the reel 313 and the supporting portion 32 instead of being arranged on the supporting portion 32, this position setting can ensure that when the supporting portion 32 moves up and down along the guide column 21, the wires in the sensing component 7 are prevented from interfering with the movement of the supporting portion 32.

[0150] like Fig. 9 As shown, optionally, the sensing assembly 7 includes a fourth mounting shaft 71, a movable pulley mounting bracket 72, a fifth mounting shaft 73, a movable pulley 74, a return spring 75 and a contact sensor 76, wherein:

[0151] The fourth mounting shaft 71 is mounted on the mounting bracket 1 .

[0152] A first end of the movable pulley mounting bracket 72 is mounted on the fourth mounting shaft 71 .

[0153] The fifth mounting shaft 73 is movably mounted on the second end of the movable pulley mounting bracket 72 and can slide toward or away from the fourth mounting shaft 71 . Both ends of the return spring 75 abut against the fourth mounting shaft 71 and the fifth mounting shaft 73 , respectively.

[0154] The movable pulley 74 is sleeved on the fifth mounting shaft 73 , and the metal pulling rope 315 is pressed tightly on the movable pulley 74 .

[0155] The contact sensor 76 is disposed adjacent to the fifth mounting shaft 73 .

[0156] In the induction assembly, the setting of the movable pulley 74 changes the direction of the metal pulling rope 315, so that the metal pulling rope 315 passing through the movable pulley is parallel to the guide column, further improving the lifting stability of the supporting part 32.

[0157] The optional working process of the induction component 7 is as follows:

[0158] When the supporting portion 32 does not support a crystal rod, the pressure exerted by the metal pulling rope 315 on the movable pulley 74 is small and remains unchanged. At this time, the fifth mounting shaft 73 is in an initial position close to the contact sensor 76, the contact sensor 76 continues to generate a second sensing signal (such as a low level), and the reset spring 75 is in a reset and extended state.

[0159] When the crystal rod is supported on the supporting portion 32, the pressure applied by the metal pulling rope 315 to the movable pulley 74 increases, and the fifth installation shaft 73 slides toward the fourth installation shaft 71 and away from the contact sensor 76 under the push of the metal pulling rope 315, and the contact sensor 76 is triggered to generate a first sensing signal (such as a high level). In addition, the reset spring 75 is compressed and contracted.

[0160] When the crystal rod is moved away from the supporting portion 32, the reset spring 75 loses pressure and rebounds, thereby pushing the fifth installation axis 73 to slide away from the fourth installation axis 71 and reset, thereby returning to the initial position close to the contact sensor 76, and the contact sensor 76 is triggered again to resume generating the second sensing signal.

[0161] Optionally, the movable pulley mounting bracket 72 includes a first support arm 721 and a second support arm 722 arranged side by side, wherein: the first end of the first support arm 721 is mounted on the fourth mounting shaft 71, and the second end of the first support arm 721 is provided with a first slide groove opening toward the metal pulling rope 315. The first end of the second support arm 722 is mounted on the fourth mounting shaft 71, and the second end of the second support arm 722 is provided with a second slide groove opening toward the metal pulling rope 315.

[0162] One end of the fifth mounting shaft 73 is slidably inserted into the first slide groove and can slide along the first slide groove toward or away from the fourth mounting shaft 71. The other end of the fifth mounting shaft 73 is slidably inserted into the second slide groove and can slide along the second slide groove toward or away from the fourth mounting shaft 71. The movable pulley 74 is located between the first support arm 721 and the second support arm 722.

[0163] By configuring the movable pulley mounting bracket 72 to include a first support arm 721 and a second support arm 722 arranged side by side, and respectively configuring a first slide groove and a second slide groove on the first support arm 721 and the second support arm 722, on one hand, a sliding connection between the fifth mounting shaft 73 and the movable pulley mounting bracket 72 is achieved, and a sliding guide is provided for the fifth mounting shaft 73, so that the fifth mounting shaft 73 can slide along a straight path toward or away from the fourth mounting shaft 71. On the other hand, the movable pulley mounting bracket 72 is prevented from touching the movable pulley 74, thereby affecting the normal sliding of the movable pulley 74.

[0164] like Fig.10 As shown, optionally, a first accommodating portion 723 is provided in the first support arm 721, and a second accommodating portion 724 is provided in the second support arm 722. Two return springs 75 are arranged side by side, one of which is arranged in the first accommodating portion 723, and one end of the return spring 75 is fixedly connected to the closed end of the first accommodating portion 723, and the other end of the return spring 75 passes through the through end of the first accommodating portion 723 and is fixedly connected to the fifth mounting shaft 73. Another return spring 75 is arranged in the second accommodating portion 724, and one end of the return spring 75 is fixedly connected to the closed end of the second accommodating portion 724, and the other end of the return spring 75 passes through the through end of the second accommodating portion 724 and is fixedly connected to the fifth mounting shaft 73.

[0165] By providing two return springs 75, the sliding stability of the fifth installation shaft 73 is improved, so that the fifth installation shaft 73 remains parallel to the fourth installation shaft 71 during the sliding process. By providing the first accommodation portion 723 and the second accommodation portion 734 in the first support arm 721 and the second support arm 722, the return spring 75 is limited in the telescopic direction to prevent the return spring 75 from arching when being compressed.

[0166] Optionally, when the return spring 75 is in a decompressed rebound state, a preset distance L is provided between the through end of the first accommodating portion 723 , the through end of the second accommodating portion 724 and the fifth mounting shaft 73 .

[0167] When the return spring 75 is in a compressed and contracted state, the fifth mounting shaft 73 slides toward the fourth mounting shaft 71 to the through end of the first accommodating portion 723 and the through end of the second accommodating portion 724 and stops. That is, the deformation of the return spring 75 is equal to the preset distance L.

[0168] Such an arrangement achieves limitation on the amount of compression deformation of the return spring 75, thereby preventing the spring 75 from being unable to return to its original position due to over-pressure.

[0169] Of course, the sensing component 7 may also be implemented in other ways, such as Fig.11As shown, the sensing assembly 7 includes a tension sensor 77 disposed at the connection between the metal pulling rope 315 and the supporting portion 32 .

[0170] When the crystal ingot is not supported on the tray 4, the tension on the tension sensor 77 comes only from the gravity of the supporting portion 32. When the crystal ingot is supported on the supporting portion 32, the tension sensor 77 needs to bear the weight of the crystal ingot. Therefore, the tension sensor 77 can determine when the crystal ingot is supported on the supporting portion 32 according to the tension value it bears.

[0171] In addition, since there is a clear correspondence between the length of the crystal ingot and the weight of the crystal ingot, the length of the crystal ingot can be further inferred based on the tension value detected by the tension sensor 77. In this way, when the subsequent crystal ingots of the same type are taken out, the lifting stroke of the guide mechanism 2 and the supporting part 32 can be controlled according to the inferred length of the crystal ingot, so that the supporting part 32 can accurately and quickly support the crystal ingot.

[0172] like Fig.12 As shown, in another optional embodiment, a through hole extending in the vertical direction is provided on the supporting portion 32. The sensing assembly 7 includes a connecting bolt 78, a second reset spring 79 and a second contact sensor 710, wherein the connecting bolt 78 is inserted into the through hole, the lower end of the connecting bolt 78 passes through the through hole downward, a supporting gasket 711 having a size larger than the through hole is provided at the lower end of the connecting bolt 78, the upper end of the connecting bolt 78 passes through the through hole upward, and the metal pulling rope 315 is connected to the upper end of the connecting bolt 78.

[0173] The second return spring 79 is sleeved on the connecting bolt 78 , wherein the lower end of the second return spring 79 abuts against the supporting gasket 711 , and the upper end of the second return spring 79 abuts against the top wall of the penetration hole.

[0174] The second contact sensor 710 is disposed on the receiving portion 32 .

[0175] When the crystal rod is supported on the supporting portion 32 , the supporting portion 32 is pressed down, and the supporting pad 711 moves away from the second trigger sensor 710 , thereby triggering the second contact sensor 710 to generate a third sensing signal.

[0176] When the crystal rod leaves the supporting part 32 , the second return spring 79 rebounds due to loss of pressure, pushing the supporting part 32 to rise and return to its original position, and the support pad 711 approaches the second contact sensor 710 , thereby triggering the second contact sensor 710 to generate a fourth sensing signal.

[0177] As described above, during the crystal extraction process, the crystal rod must first be controlled to enter the clamping mechanism 4 and be located above the supporting portion 32. Then, the clamping mechanism 4 is controlled to clamp the crystal rod, and the supporting portion 32 is controlled to hold the lower end of the crystal rod to be extracted from below.

[0178] like Fig.13 As shown, in order to prevent the crystal rod 100 from causing the seed crystal to break during the clamping process, it is necessary to ensure that the crystal rod 100 is in the center position between the two jaws before supporting the crystal rod and clamping the crystal rod. However, in the actual material removal process, after the crystal rod 100 enters between the two jaws, its initial position often deviates from the center position. In order to adjust the crystal rod to the center position between the two jaws, the existing practice is to manually move the crystal rod 100 to the center position between the two jaws. It is difficult to accurately move the crystal rod to the center position between the two jaws due to the weight of the crystal rod and the limited range of naked eye observation.

[0179] In order to solve this problem, the mounting bracket 1 and the clamping mechanism 4 are improved in the embodiment of the present application to realize automatic adjustment of the relative position between the clamping jaws and the crystal rod before the crystal rod is clamped.

[0180] like Figure 3 and Fig.14 As shown, optionally, the mounting bracket 1 includes a first back plate 11, a second back plate 12 and a mounting portion 13, wherein the first back plate 11 is further provided with a push adjustment structure 14, the second back plate 12 is connected to the movable part of the push adjustment structure 14 and is parallel to the first back plate 11, and the push adjustment structure 13 is used to drive the second back plate 12 in a first horizontal direction (such as Fig.14 The mounting portion 13 is fixedly connected to the second back plate 12, and the guide mechanism 2, the first driving assembly 31 of the supporting mechanism 3 and other components are all mounted on the mounting portion 13.

[0181] like Figures 14 to 16 As shown, the clamping mechanism 4 includes a first clamping jaw 41, a second clamping jaw 42, a translation adjustment mechanism 43 and a clamping drive mechanism, wherein the translation adjustment mechanism 43 is arranged on the second back plate 21, and the second back plate 12 is provided with a second horizontal direction (such as Fig.14 and Fig.15 The first clamp 41 and the second clamp 42 are slidably connected to the guide column and are transmission-connected to a translation adjustment mechanism 43, and the translation adjustment mechanism 43 is used to drive the first clamp 41 and the second clamp 42 to translate in the same direction along the guide column in the second horizontal direction.

[0182] The clamping drive mechanism is disposed on the second back plate 12 and is used to drive the first clamping jaw 41 and the second clamping jaw 42 to translate in opposite directions upward along the guide column at a second level, so that the first clamping jaw 41 and the second clamping jaw 42 clamp or release the crystal rod.

[0183] The mounting bracket 1 and the clamping mechanism 4 cooperate to clamp the crystal rod. The specific process is as follows:

[0184] In the initial state, a predetermined initial distance is maintained between the first back plate 11 and the second back plate 12 , and the first clamping jaw 41 and the second clamping jaw 42 are in an open state.

[0185] After the crystal rod enters between the first clamp 41 and the second clamp 42 , the push adjustment structure 14 , the translation adjustment mechanism 43 and the clamping drive mechanism are controlled to perform corresponding actions according to the relative positions of the crystal rod and the first clamp 41 and the second clamp 42 .

[0186] Situation 1: After the crystal rod 100 enters the first clamping jaw 41 and the second clamping jaw 42 along the first horizontal direction, the crystal rod 100 is located at the center of the first clamping jaw 41 and the second clamping jaw 42. For details, see Fig.13 As shown, at this time, there is no need to adjust the relative positions of the crystal rod 100 and the first clamping jaw 41 and the second clamping jaw 42. The clamping drive mechanism is controlled to drive the first clamping jaw 41 and the second clamping jaw 42 to move toward the middle to clamp the crystal rod 100. The supporting portion 32 is controlled to support the lower end of the crystal rod to be taken from below.

[0187] Scenario 2: Fig.17 As shown, the crystal rod 100 is arranged along the first horizontal direction ( Fig.17 After the crystal rod 100 enters the first clamping jaw 41 and the second clamping jaw 42, the distance between the crystal rod 100 and the first clamping jaw 41 and the second clamping jaw 42 is equal, that is, the crystal rod 100 is in the second horizontal direction ( Fig.17 There is no position deviation in the Y-axis direction in the first horizontal direction. However, because the movement stroke of the crystal rod 100 in the first horizontal direction is too small or too large, the crystal rod 100 deviates from the middle position in the first horizontal direction. In this case, if the crystal rod 100 is clamped directly, after the first clamping jaw 41 and the second clamping jaw 42 clamp the crystal rod 100, the crystal rod 100 will be squeezed by the first clamping jaw 41 and the second clamping jaw 42 to produce a displacement in the first horizontal direction.

[0188] Therefore, before clamping, the first clamping jaw 41 and the second clamping jaw 42 need to be driven by the push adjustment structure 14 to synchronously translate along the first horizontal direction until the crystal ingot 100 reaches the middle position.

[0189] After the position adjustment of the crystal rod 100 relative to the first clamp 41 and the second clamp 42 is completed, the clamping drive mechanism is controlled to drive the first clamp 41 and the second clamp 42 to move toward the middle to clamp the crystal rod 100, and the supporting part 32 is controlled to support the lower end of the crystal rod to be taken from below.

[0190] Scenario 3: Fig.18 As shown, the crystal rod 100 is arranged along the first horizontal direction ( Fig.18After the crystal ingot 100 enters the first clamping jaw 41 and the second clamping jaw 42, the movement stroke in the first horizontal direction is appropriate, so there is no position deviation in the first horizontal direction. However, the distance between the crystal ingot 100 and the second clamping jaw 42 is too small, that is, the crystal ingot 100 is in the second horizontal direction ( Fig.18 In this case, if the crystal ingot 100 is clamped directly, the second clamping jaw 42 close to the crystal ingot 100 will contact the crystal ingot 100 before the first clamping jaw 41 far from the crystal ingot 100, thereby causing the crystal ingot 100 to deviate in the second horizontal direction.

[0191] Therefore, before clamping, the first clamping jaw 41 and the second clamping jaw 42 need to be driven to translate synchronously along the second horizontal direction by the translation adjustment mechanism 43 until the crystal ingot 100 reaches the middle position.

[0192] After the position adjustment of the crystal rod 100 relative to the first clamp 41 and the second clamp 42 is completed, the clamping drive mechanism is controlled to drive the first clamp 41 and the second clamp 42 to move toward the middle to clamp the crystal rod 100, and the supporting part 32 is controlled to support the lower end of the crystal rod to be taken from below.

[0193] Of course, after the crystal rod 100 enters the first clamp 41 and the second clamp 42 along the first horizontal direction, it is also possible that the crystal rod 100 has position deviations in both the first horizontal direction and the second horizontal direction. At this time, the push adjustment structure 14 and the translation adjustment mechanism 43 need to respectively adjust the positions of the first clamp 41 and the second clamp 42 in the first horizontal direction and the second horizontal direction, and finally ensure that the crystal rod 100 is located in the middle position between the first clamp 41 and the second clamp 42.

[0194] It can be seen that before the crystal ingot is clamped, the first clamping jaw 41 and the second clamping jaw 42 are controlled to move synchronously in the first horizontal direction and the second horizontal direction respectively by the push adjustment structure 14 and the translation adjustment mechanism 43, so as to ensure that the crystal ingot is adjusted to the center position between the first clamping jaw 41 and the second clamping jaw 42. Thus, the relative position between the clamping jaw and the crystal ingot is automatically adjusted before the crystal ingot is clamped, thereby improving the adjustment efficiency.

[0195] In addition, the adjustment accuracy can be ensured more easily by choosing to adjust the position of the lighter clamping jaws instead of the heavier crystal rod.

[0196] Optionally, the push adjustment structure 14 includes a screw module, and the first screw module includes a first drive motor, a first screw and a first screw nut, wherein: the first drive motor is arranged on the first back plate 11, the first screw is connected to the driving end of the drive motor and extends along the first horizontal direction, the first screw nut is screwed on the first screw, and the second back plate 12 is connected to the first screw nut. When the first drive motor drives the first screw to rotate, the first screw nut drives the second back plate 12 to translate toward or away from the first back plate 11 in the first horizontal direction.

[0197] Continue to refer Figures 14 to 16 As shown, optionally, the translation adjustment mechanism 43 includes a second screw module, a guide block 433, a gear 434, a first rack 435 and a second rack 436, wherein:

[0198] The second screw module is arranged on the second back plate 12, and the second screw module includes a second drive motor 431, a second screw 432 and a second screw nut, wherein the second screw 432 is arranged parallel to the guide column 21, and the second screw nut is screwed on the second screw 432, and the second drive motor 431 is used to drive the second screw 432 to rotate, so as to drive the second screw nut to translate.

[0199] The guide block 433 is fixed on the second screw nut, a rotating shaft is fixedly mounted on the guide block 433, and the gear 434 is rotatably sleeved on the rotating shaft.

[0200] The first rack 435 is located above the second screw rod 432 and parallel to the second screw rod 432 . The first end of the first rack 435 is fixedly connected to the second clamping jaw 42 . The second end of the first rack 435 passes through the first clamping jaw 41 . The first rack 435 is meshed with the gear 434 .

[0201] The second rack 436 is located below the second screw rod 432 and parallel to the second screw rod 432 . The first end of the second rack 436 is fixedly connected to the first clamping jaw 41 . The second end of the second rack 436 passes through the second clamping jaw 42 . The second rack 436 is meshed with the gear 434 .

[0202] When the second drive motor 431 drives the guide block 433 to translate in the second horizontal direction via the second screw rod 432 and the second screw rod nut, the gear 434 drives the first rack 435 and the second rack 436 to translate synchronously with the gear 434, and finally makes the first clamp 41 and the second clamp 42 translate in the same direction in the second horizontal direction along the guide column 21.

[0203] Compared with other linear drive modules, the translation adjustment mechanism composed of the second screw module, the guide block 433, the gear 434, the first rack 435 and the second rack 436 can more smoothly drive the first clamp 41 and the second clamp 42 to translate in the same direction in the second horizontal direction, so as to accurately adjust the crystal rod to the middle position. In particular, since the gear 434 is rotatably mounted on the rotating shaft, and the rotating shaft is fixedly mounted on the guide block 433, when the clamping drive mechanism drives the first clamp 41 and the second clamp 42 to translate in the opposite direction in the second horizontal direction to clamp or release the crystal rod, the gear 434 rotates around the rotating shaft driven by the first rack 435 and the second rack 436, but does not transmit torque to the rotating shaft, and does not cause any obstruction to the reverse translation of the first clamp 41 and the second clamp 42.

[0204] like Figure 1 As shown, optionally, the crystal retrieval equipment in the embodiment of the present application further includes a walking mechanism 5 and a gantry assembly 6, wherein the gantry assembly 6 is arranged on the walking mechanism 5, the mounting bracket 1 is arranged on the gantry assembly 6, and the gantry assembly 6 is used to drive the mounting bracket to rise and fall in the vertical direction.

[0205] By controlling the walking mechanism 5 to move, the functional components of the crystal retrieval device in the embodiment of the present application can be moved as a whole to the crystal retrieval station of the single crystal furnace to be retrieval. By controlling the gantry assembly 6 to drive the mounting bracket 1 to rise and fall in the vertical direction, the height of the mounting bracket 1 can be adjusted. In this way, the lifting stroke of the supporting part 32, the clamping mechanism 4 and other components can be further increased.

[0206] like Figure 1 As shown, optionally, the crystal extraction device in the embodiment of the present application further includes a crystal shearing mechanism 8, which is disposed on the mounting bracket 1, and is used to shear the connection between the upper end of the crystal rod and the seed crystal.

[0207] By setting the crystal shearing mechanism 8, the connection between the upper end of the crystal rod and the seed crystal is automatically sheared, further improving the crystal extraction efficiency. Of course, the crystal shearing mechanism 8 may not be set, and the connection between the upper end of the crystal rod and the seed crystal may be manually sheared.

[0208] like Figures 19 to 21 As shown, optionally, the crystal shearing mechanism 8 in the embodiment of the present application includes a support 81, a lifting mechanism 82, a sliding connecting plate 83, a translation mechanism 84 and a crystal shearing assembly 85, wherein:

[0209] The support column 81 is arranged in a vertical direction, and the lifting mechanism 82 is arranged on the support column 81 .

[0210] The sliding connection plate 83 is slidably connected to the support column 81 and is connected to the movable part of the lifting mechanism 82 . The lifting mechanism 82 is used to drive the sliding connection plate 83 to move up and down along the support column 81 .

[0211] The translation mechanism 84 is connected to the sliding connecting plate 83, and the crystal shearing assembly 85 is installed on the translation mechanism 84. The translation mechanism 84 is used to drive the crystal shearing assembly 85 to move toward or away from the crystal rod to drive the crystal shearing assembly 85 to cut the connection between the upper end of the crystal rod and the seed crystal.

[0212] It can be seen that through the lifting and lowering drive of the lifting mechanism 82, the position adjustment of the crystal shearing assembly 85 in the vertical direction is realized, so that the crystal shearing assembly 85 can be aligned with the connection part to be cut at the upper end of the crystal rod, and through the translational drive of the translation mechanism 84, the crystal shearing assembly 85 can contact the connection part to be cut and cut it.

[0213] The crystal shearing mechanism 8 realizes automatic crystal shearing and can perform crystal shearing operations on crystal rods of different lengths, especially long crystal rods.

[0214] Optionally, the lifting mechanism 82 includes a synchronous belt driving mechanism 821 and a synchronous belt 822, wherein: the synchronous belt driving mechanism 821 is installed on the pillar 81, the synchronous belt 822 is mounted on the synchronous belt driving mechanism 821 in the vertical direction, and the sliding connecting plate 83 is connected to one side of the belt body of the synchronous belt 822. The synchronous belt driving mechanism 821 is used to drive the synchronous belt 822 to operate, so as to drive the sliding connecting plate 83 to rise and fall along the pillar 81.

[0215] Optionally, the translation mechanism 84 includes a mounting block 841, a third screw rod 842, a nut assembly 843, a support plate 844, a transmission assembly 845 and a third drive motor 846, wherein: the mounting block 841 is fixedly mounted on the sliding connection plate 83. The third screw rod 842 is arranged through the mounting block 841, and the first end of the third screw rod 842 is fixedly connected to the support plate 844. The nut assembly 843 is screwed on the third screw rod 842, and the nut assembly 843 is rotatably arranged in the mounting block 841. The transmission assembly 845 is transmission-connected to the nut assembly 843, and the driving end of the third drive motor 846 is transmission-connected to the transmission assembly 845, and the third drive motor 846 is configured to drive the nut assembly 843 to rotate in the mounting block 841 so that the third screw rod 842 drives the support plate 844 to translate toward or away from the crystal rod.

[0216] When the third driving motor 846 drives the nut assembly 843 to rotate via the transmission assembly 845, the nut assembly 843 drives the third screw rod 842 to translate toward or away from the crystal rod, and finally drives the support plate 844 fixed on the end of the third screw rod 842 and the shearing assembly 85 disposed on the support plate 844 to translate toward or away from the crystal rod. Since the third screw rod 842 has a large translation stroke, it is ensured that the shearing assembly 85 can contact the connection part to be sheared at the upper end of the crystal rod and shear it.

[0217] like Fig.21 As shown, optionally, the translation mechanism 84 further includes an anti-rotation portion 847, and the first end of the third screw rod 842 is fixedly connected to the support plate 844 through the anti-rotation portion 847. The anti-rotation portion 847 can be a key parallel to the extension direction of the third screw rod 842, and the third screw rod 842 is limited in the circumferential rotation by the key. The anti-rotation portion 847 can also be a positioning pin or a screw, and the two ends of the positioning pin or the screw are respectively connected to the support plate 844.

[0218] The anti-rotation portion 847 is provided to prevent the third screw rod 842 from rotating under the drive of the nut assembly 843 , thereby preventing the support plate 844 from tilting.

[0219] like Fig.21 As shown, optionally, the translation mechanism 84 also includes at least one (such as Fig.21 The first end of the guide rod 848 passes through the mounting block 841 and is fixedly connected to the support plate 844. The guide rod 848 and the mounting block 841 are connected via a linear bearing. The guide rod 848 is used to guide the translation of the support plate 844 to improve the translation stability of the support plate 844.

[0220] like Figure 22 to Figure 23 As shown, optionally, the crystal shearing assembly 85 includes a driving member 851, a mounting frame 852, a pin 853, a first connecting rod 854, a second connecting rod 855, a first scissors 856 and a second scissors 857, wherein: the mounting frame 852 is movably connected to the support plate 844. The pin 853 is arranged in the mounting frame 852 and connected to the driving end of the driving member 851, and the driving member 851 is used to drive the pin 853 to translate toward or away from the crystal rod. The first end of the first connecting rod 854 and the first end of the second connecting rod 855 are both hinged on the pin 853. The first scissors 856 and the second scissors 857 are arranged crosswise, wherein the first scissors 856 and the second scissors 857 are hinged at the intersection position through the transfer shaft, the connection end of the first scissors 856 is hinged on the second end of the first connecting rod 854, and the connection end of the second scissors 857 is hinged on the second end of the second connecting rod 855.

[0221] like Fig.23 As shown by the arrow in , when the driving member 851 drives the pin 853 to translate away from the crystal rod, the shearing ends of the first scissors 856 and the shearing ends of the second scissors 857 are closed under the drive of the first connecting rod 854 and the second connecting rod 855 to cut the crystal rod. When the driving member 851 drives the pin 853 to translate toward the crystal rod, the shearing ends of the first scissors 856 and the shearing ends of the second scissors 857 are opened under the drive of the first connecting rod 854 and the second connecting rod 855.

[0222] Optionally, the crystal shearing mechanism 85 also includes an anti-twisting plate 858 arranged on the mounting frame 852 and located above the first scissors 856 and the second scissors 857. The anti-twisting plate 858 is provided with a limiting groove opening toward the crystal rod, and the limiting groove is used to limit the seed crystal, thereby preventing the seed crystal from twisting during the crystal shearing process.

[0223] As described above, before the crystal shearing assembly 85 is sheared, the lifting mechanism 82 needs to adjust the position of the crystal shearing assembly 85 in the vertical direction so that the crystal shearing assembly 85 is aligned with the connection part to be sheared at the upper end of the crystal rod, that is, the crystal shearing assembly 85 and the connection part to be sheared at the upper end of the crystal rod are at the same height.

[0224] In order to ensure that the lifting mechanism 82 can adjust the crystal shearing assembly 85 to the target height, optionally, the crystal retrieval equipment in the embodiment of the present application also includes a visual component, which is arranged on the mounting bracket 1, and is used to locate the connection part to be cut at the upper end of the crystal rod to obtain the position information of the connection part to be cut, and provide the position information of the connection part to be cut to the lifting mechanism 82.

[0225] The lifting mechanism 82 determines whether the connection to be cut and the shear assembly 85 are at the same height based on the position information of the connection and the current position of the shear assembly 85. If there is a height difference between the two, the lifting mechanism 82 adjusts the height of the shear assembly 85 so that the shear assembly 85 is aligned with the connection to be cut at the upper end of the crystal rod.

[0226] Optionally, the visual component is a binocular camera, which includes two cameras, which take pictures of the crystal rod from different perspectives, obtain three-dimensional information of the crystal rod based on the pictures taken, and finally locate the connection part to be cut on the crystal rod. The detailed technical principle of locating the target object by binocular camera is well known to those skilled in the art and will not be repeated here.

[0227] Of course, the visual component can also be two cameras, which take pictures of the crystal rod from different perspectives, obtain three-dimensional information of the crystal rod based on the pictures, and finally locate the connection part to be cut on the crystal rod.

[0228] As those skilled in the art know, in order to facilitate crystal retrieval, the bottom of the auxiliary furnace chamber of the single crystal furnace is generally about 3 meters above the ground. When taking a crystal rod less than 3 meters long, this height can meet the height requirement for crystal retrieval, but when the length of the crystal rod exceeds 3 meters, this height cannot meet the height requirement for crystal retrieval. In order to solve this problem, a common solution is to set the auxiliary furnace chamber of the single crystal furnace on the floor (such as the second floor of a building), and then open a through hole on the floor at the crystal retrieval station, so that the crystal retrieval height meets the predetermined requirements.

[0229] The present application also provides a crystal retrieval method, which is implemented by the crystal retrieval device provided by any of the above embodiments. Fig.24 , the crystal extraction method in the embodiment of the present application is described exemplarily:

[0230] like Fig.24 As shown, the crystal extraction method in the embodiment of the present application includes the following steps:

[0231] Step S1: Fig.24 As shown in (a), the guide mechanism 2 is controlled to descend and pass through the through hole A at the crystal taking station, so that the end of the guide mechanism 2 descends to the first low position L 1 .

[0232] When the crystal retrieval equipment includes a walking mechanism and a gantry assembly 6, before implementing step S11, the walking mechanism is first controlled to move to the crystal retrieval station of the single crystal furnace to be crystallized, so that the various functional components of the crystal retrieval equipment are moved to the crystal retrieval station of the single crystal furnace to be crystallized.

[0233] In addition, before implementing step S1, the gantry assembly 6 can be controlled to drive the mounting bracket 1 to first descend vertically to the second lowest position L 2 , the second lowest L 2 In this way, it can be further ensured that the end of the guide mechanism 2 can be lowered to the first low position L 1 .

[0234] In order to implement the crystal extraction operation of the 7m long crystal rod, the first low position L 1 It is about 4.5m lower than the second lowest point.

[0235] In this step, the gantry assembly can be directly controlled by issuing instructions from the crystal retrieval device, or the crystal retrieval device can be integrated into the host computer and controlled by the host computer.

[0236] Step S2, continue to refer to Fig.24 As shown in (a), the supporting part 32 is controlled to descend along the guide mechanism 2 and pass through the through hole at the crystal taking station, so that the supporting part 32 descends to the first low position L 1 .

[0237] In this step, the supporting part can be directly controlled by issuing instructions from the crystal retrieval device, or the crystal retrieval device can be integrated into the host computer and controlled by the host computer.

[0238] Step S3: Fig.24 As shown in (b) , when the crystal rod 100 to be taken out is rotated out of the single crystal furnace and is located above the through hole A, the clamping mechanism 4 is controlled to clamp the crystal rod 100 .

[0239] In this step, the single crystal furnace and the crystal retrieval equipment can be connected through the host computer, and the host computer issues a command to control the auxiliary furnace chamber of the single crystal furnace to rotate above the through hole, that is, the crystal rod 100 to be taken is located above the through hole. The host computer determines whether the crystal rod 100 to be taken is in place based on the image information obtained by the visual component. When the crystal rod 100 to be taken is rotated into place, the host computer issues a command to control the clamping mechanism 4 of the crystal retrieval equipment to clamp the crystal rod.

[0240] Of course, the single crystal furnace and the crystal retrieval device can also be controlled independently. First, the single crystal furnace controls its auxiliary furnace chamber to rotate above the through hole, and the crystal retrieval device determines whether the crystal rod to be taken is in place based on the image information obtained by the visual component, and controls the clamping mechanism 4 to clamp the crystal rod.

[0241] If the crystal retrieval equipment does not have a visual component, it is also possible to manually observe whether the crystal rod to be retrieved is in place.

[0242] Step S4: Fig.24 As shown in (c) in FIG. 1 , the supporting portion 32 is controlled to rise along the guide mechanism 2 so that the supporting portion 32 supports the crystal rod 100 .

[0243] At this time, the crystal rod 100 is fixed by the clamping mechanism 4 and the supporting portion 32, and the shearing of the to-be-sheared portion of the crystal rod 100 can be implemented. During shearing, the to-be-sheared portion can be manually sheared.

[0244] When a crystal shearing mechanism is provided on the mounting bracket 1 of the crystal retrieval device, the crystal shearing mechanism can be used to automatically shear the portion to be sheared.

[0245] Optionally, before the crystal shearing mechanism performs crystal shearing, the visual component 9 on the mounting bracket 1 first positions the connection portion to be sheared at the upper end of the crystal rod 100 to obtain position information of the connection portion to be sheared.

[0246] Next, the lifting mechanism of the shearing mechanism determines whether the part to be sheared and the shearing assembly are at the same height based on the position information of the connection part and the current position of the shearing assembly. If there is a height difference between the two, the lifting mechanism of the shearing mechanism adjusts the height of the shearing assembly so that the shearing assembly is aligned with the connection part to be sheared at the upper end of the crystal rod.

[0247] The crystal shearing mechanism can be directly controlled by issuing instructions from the crystal taking device, or the crystal taking device can be integrated into the host computer and controlled by the host computer.

[0248] Step S4: Fig.24 As shown in (d) in FIG. 1 , after the portion of the crystal rod 100 to be sheared is cut off, the supporting portion 32 and the guiding mechanism 2 are controlled to rise above the through hole at the crystal taking station to complete the crystal taking.

[0249] Optionally, step S4 includes the following steps:

[0250] Step S41, control the supporting part 32 to rise and fall along the guide mechanism 2, adjust the position between the crystal rod 100 and the clamping mechanism 4, so that the clamping mechanism 4 is clamped at the center position of the crystal rod, thereby ensuring that the crystal rod 100 can be more stably maintained on the clamping mechanism 4 and the supporting part 32, and preventing the crystal rod 100 from falling during the subsequent transportation process.

[0251] Step S42 , controlling the supporting portion 32 and the guiding mechanism 2 to rise to above the through hole at the wafer taking station.

[0252] Optionally, before the supporting part 32 and the guide mechanism 2 are controlled to rise to above the through hole at the crystal taking station, Fig.24 As shown in (d) in the figure, the crystallization method in the embodiment of the present application further includes:

[0253] The control gantry assembly 6 drives the mounting bracket 1 from the second low position L 2 It rises to the first high position H. In this way, it can be ensured that the supporting portion 32 and the guide mechanism 2 have sufficient rising stroke.

[0254] The crystal retrieval method in the embodiment of the present application can be used to retrieve crystal rods of different lengths, especially long crystal rods. In addition, the crystal retrieval method in the embodiment of the present application realizes automatic crystal retrieval, which improves the efficiency of crystal retrieval compared with the existing manual crystal retrieval method.

[0255] The present application is described in sufficient detail above with certain particularity. It should be understood by those skilled in the art that the description in the embodiments is merely exemplary, and all changes made without departing from the true spirit and scope of the present application should fall within the scope of protection of the present application. The scope of protection claimed in the present application is defined by the claims, rather than by the above description in the embodiments.

Claims

1. A crystal retrieval device, characterized in that: The crystal retrieval device comprises a mounting bracket, a guide mechanism, a supporting mechanism and a clamping mechanism, wherein the guide mechanism is movably arranged on the mounting bracket and is configured to be able to move up and down on the mounting bracket in a vertical direction; The supporting mechanism comprises a supporting part and a first driving assembly, wherein the supporting part can be lifted and lowered on the guide mechanism, the first driving assembly is arranged on the mounting bracket, the driving end of the first driving assembly is fixedly connected to the supporting part, and the first driving assembly is configured to drive the supporting part to move up and down on the guide mechanism in a vertical direction and to make the supporting part stop at any position on the guide mechanism to adapt to the extraction of crystal rods of different lengths; The clamping mechanism is disposed on the mounting bracket and is configured to clamp the crystal rod carried by the supporting portion and supported and guided by the guiding mechanism; The first drive assembly includes a first mounting shaft, a shaft sleeve, a reel, a reel engagement assembly, a metal pulling rope, a first worm gear reducer and a first hydraulic motor, wherein: Both ends of the first mounting shaft are arranged on the mounting bracket, and the first mounting shaft is provided with a spline extending in the axial direction; the shaft sleeve is sleeved on the first mounting shaft and can move axially along the spline, and the reel is fixedly sleeved on the shaft sleeve; The reel is provided with a spiral wire groove, the fixed end of the metal pulling rope is fixed on the reel and wound in the wire groove along the direction of the wire groove, and the movable end of the metal pulling rope is fixedly connected to the supporting part; the reel engagement assembly is fixedly arranged on the mounting bracket and engaged with the wire groove; The driving end of the first hydraulic motor is transmission-connected with the input end of the first worm gear reducer, and the output end of the first worm gear reducer is transmission-connected with the first mounting shaft. The first hydraulic motor drives the first mounting shaft to rotate forward or reversely through the first worm gear reducer, and the first mounting shaft drives the reel to rotate forward or reversely. When the reel rotates forward, the reel engagement assembly pushes the reel to move along the first axial direction of the spline, so that the reel releases the metal pulling rope, so that the supporting part descends on the guide mechanism. When the reel reverses, the reel engagement assembly pushes the reel to move along the second axial direction of the spline, so that the reel reels the metal pulling rope, so that the supporting part rises on the guide mechanism. The supporting mechanism also includes a sensing component, which is arranged on the mounting bracket and located between the reel and the supporting part. The metal pulling rope is wound from the reel, passes through the sensing component and is connected to the supporting part. The metal pulling rope is pressed against the sensing component. The sensing component is used to detect whether the crystal rod to be taken is supported on the supporting part.

2. The crystal retrieval device according to claim 1, characterized in that: The reel engagement assembly includes a first pressure wheel and a second pressure wheel, the first pressure wheel and the second pressure wheel are spaced apart and arranged in a colinear manner, the space between the first pressure wheel and the second pressure wheel engages with the flange of the wire groove, and the first pressure wheel and the second pressure wheel respectively engage with the wire grooves on both sides of the flange.

3. The crystal retrieval device according to claim 1, characterized in that: The guide mechanism includes a guide column, a second mounting shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a chain, a second worm gear reducer, and a second hydraulic motor, wherein: Both ends of the second mounting shaft are arranged on the mounting bracket, and the driving sprocket is fixedly sleeved on the second mounting shaft; The first driven sprocket and the second driven sprocket are colinearly arranged between the driving sprocket and the guide column, and are respectively located at the upper and lower sides of the driving sprocket; The chain is wound around the first driven sprocket, the driving sprocket, and the second driven sprocket in sequence, and the two ends of the chain are fixedly connected to the two ends of the guide column respectively; The guide post has a groove extending in the vertical direction, and the mounting bracket is provided with a first guide member rollingly connected to the groove of the guide post; The driving end of the second hydraulic motor is transmission-connected to the input end of the second worm gear reducer, and the output end of the second worm gear reducer is transmission-connected to the second mounting shaft. The second hydraulic motor drives the second mounting shaft to rotate forward or reversely through the second worm gear reducer, and the second mounting shaft drives the driving sprocket to rotate forward or reversely, so as to drive the guide column to rise or fall relative to the mounting bracket through the chain.

4. The crystal retrieval device according to claim 1, characterized in that: The guide mechanism includes a guide column, a third mounting shaft, a gear, a rack, a third worm gear reducer and a third hydraulic motor. Both ends of the third mounting shaft are arranged on the mounting bracket. The gear fixing sleeve is arranged on the third mounting shaft. The rack is fixedly arranged on the guide post along the extension direction of the guide post, and the gear meshes with the rack for transmission; The guide post has a groove extending in the vertical direction, and the mounting bracket is provided with a second guide member rollingly connected to the groove of the guide post; The driving end of the third hydraulic motor is transmission-connected to the input end of the third worm gear reducer, and the output end of the third worm gear reducer is transmission-connected to the third mounting shaft. The third hydraulic motor drives the third mounting shaft to rotate forward or reversely through the third worm gear reducer, and the third mounting shaft drives the gear to rotate forward or reversely, so that the guide column rises or falls relative to the mounting bracket through the engagement of the gear rack.

5. The crystal retrieval device according to claim 1, characterized in that: The crystal retrieval equipment further includes a traveling mechanism and a gantry assembly, wherein the gantry assembly is arranged on the traveling mechanism, the mounting bracket is arranged on the gantry assembly, and the gantry assembly is used for driving the mounting bracket to rise and fall in a vertical direction.

6. The crystal retrieval device according to any one of claims 1 to 5, characterized in that: The crystal retrieval device further includes a crystal shearing mechanism, which is disposed on the mounting bracket and is used to shear off a connection portion between the upper end of the crystal rod and the seed crystal.

7. The crystal retrieval device according to claim 6, characterized in that: The crystal retrieval device further comprises a visual component, which is disposed on the mounting bracket and is used to detect whether a crystal shearing component of the crystal shearing mechanism is at a position to be sheared.

8. A crystal extraction method, characterized in that: The crystal retrieval method is implemented by the crystal retrieval device according to any one of claims 1 to 7, comprising: Controlling the guide mechanism to descend and pass through the through hole at the crystal taking station, so that the end of the guide mechanism descends to a first low position; Controlling the supporting part to descend along the guide mechanism and pass through the through hole at the crystal retrieval station, so that the supporting part descends to the first low position; When the crystal rod to be taken out is rotated out of the single crystal furnace and is located above the through hole, controlling the clamping mechanism to clamp the crystal rod; Controlling the supporting part to rise along the guiding mechanism so that the supporting part supports the crystal rod; After the portion of the crystal rod to be sheared is cut off, the supporting portion and the guiding mechanism are controlled to rise above the through hole at the crystal taking station to complete the crystal taking.

9. The crystal extraction method according to claim 8, characterized in that: The crystal retrieval method is implemented by the crystal retrieval device according to claim 5. Before controlling the guide mechanism to descend and pass through the through hole at the crystal retrieval station so that the end of the guide mechanism descends to the first low position, the crystal retrieval method further includes: Controlling the walking mechanism to walk to the crystal taking station of the single crystal furnace to be taken out; The gantry assembly is controlled to drive the mounting bracket to descend to a second low position, and the second low position is higher than the height of the through hole.

10. The crystal extraction method according to claim 9, characterized in that: Before controlling the supporting portion and the guiding mechanism to rise above the through hole at the crystal retrieval station, the crystal retrieval method further includes: The gantry assembly is controlled to drive the mounting bracket to rise from the second low position to the first high position.

11. The crystal extraction method according to claim 8, characterized in that: The step of controlling the supporting portion and the guiding mechanism to rise above the through hole at the crystal retrieval station comprises: Controlling the supporting portion to rise and fall along the guide mechanism, adjusting the position between the crystal rod and the clamping mechanism, so that the clamping mechanism clamps the crystal rod at the center position; The supporting part and the guiding mechanism are controlled to rise above the through hole at the crystal taking station.

12. The crystal extraction method according to claim 8, characterized in that: The method is implemented by the crystal retrieval device according to claim 6, and before controlling the supporting portion and the guiding mechanism to rise above the through hole at the crystal retrieval station, the method further includes: The crystal shearing mechanism is controlled to shear the crystal rod at the position to be sheared of the crystal rod.

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