Crystal bar taking robot and crystal bar taking method

Abstract

The invention relates to a crystal bar taking robot and a crystal bar taking method. The robot comprises a moving body, a first lifting mechanism, a clamping mechanism, a second lifting mechanism, a third lifting mechanism, a crystal supporting mechanism and a crystal shearing mechanism. Compared with the prior art, in the crystal bar taking process of the crystal bar taking robot, the butt joint difficulty of the crystal bar and the crystal support mechanism can be reduced, the suspension time of the crystal bar can be shortened, and the risk that the crystal bar is broken and broken is reduced. Moreover, based on the support of the crystal support mechanism, even if the crystal bar is fractured, the fractured crystal bar is not easy to directly fall off. And meanwhile, the taking-out requirements of crystal bars with different lengths can be met. While the automatic and intelligent level of taking and placing the crystal bar is improved, the operation cost and the production risk are reduced, and the efficiency and the safety of processing the crystal bar are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crystal rods, and in particular to a crystal rod taking robot and a crystal rod taking method. Background Art

[0002] Single crystal silicon is a crystal with a complete lattice structure and is a good semiconductor material. It is currently widely used in the manufacture of photovoltaics and semiconductors. With the booming photovoltaic and semiconductor industries, the demand for high-quality single crystal silicon materials is increasing day by day. As a key technology for manufacturing single crystal silicon, the importance of crystal pulling technology is self-evident. Among them, the Czochralski (CZ, direct-pulling single crystal manufacturing) method is the most commonly used crystal pulling method.

[0003] In the CZ method crystal pulling process, the polycrystalline silicon block undergoes a series of complex and delicate processes such as melting, seeding, shoulder release, shoulder rotation, equal diameter, tailing, cooling, etc. in the crystal pulling furnace, and finally grows into a single crystal silicon crystal rod of the required size. Then the crystal rod is separated from the main furnace chamber by lifting and rotating the upper furnace drum, and then the crystal rod is slowly lowered under the action of the pulling head, and finally suspended under the auxiliary chamber of the upper furnace drum. Due to the long length of the crystal rod, the crystal rod usually passes through the ground crystal extraction port to the negative first layer. This link requires a special crystal rod extraction robot to use the crystal tray to support the crystal rod on the negative first layer, and then take it out and transport it to the truncation workshop. However, the long size of the crystal rod (usually more than 7 meters) and the high temperature and brittle characteristics make it extremely difficult to dock the crystal rod with the crystal tray. A slight deviation may lead to docking failure or even cause the crystal rod to break. The space on the negative first layer is relatively narrow, and it is difficult to clean up the debris.

[0004] Therefore, developing a crystal rod removal robot that can effectively solve the difficulty of docking the crystal rod and the crystal tray, reduce the risk of crystal rod breakage, and have a higher level of automation and intelligence is of great significance to the development of the photovoltaic and semiconductor industries. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the technical problems in the prior art that the crystal rod and the crystal tray are difficult to connect and the crystal rod is prone to breakage.

[0006] In order to solve the above technical problems, the present invention provides a crystal rod taking robot, comprising: A mobile subject, including a mobile chassis capable of autonomous movement; The first lifting mechanism comprises a first lifting fixed bracket fixedly mounted on the mobile body, a first lifting movable bracket liftably connected to the first lifting fixed bracket along a first direction, and a second lifting movable bracket liftably connected to the first lifting movable bracket along the first direction; The clamping mechanism comprises a clamping support, a first clamping arm assembly and a second clamping arm assembly movably mounted on the clamping support, wherein the first clamping arm assembly and the second clamping arm assembly can move toward or away from each other along a second direction, wherein the clamping support is mounted on the second lifting and movable bracket, and the second direction is perpendicular to the first direction; The second lifting mechanism comprises a second lifting fixed bracket disposed between the first clamp arm assembly and the second clamp arm assembly and fixedly connected to the clamping support, and a third lifting movable bracket disposed between the second lifting fixed brackets and capable of being lifted and lowered along the first direction; A third lifting mechanism can be lifted and connected to the second lifting movable bracket along the first direction; A crystal support mechanism, connected to the third lifting mechanism and used to support the crystal rod; The crystal shearing mechanism is installed on the second lifting and fixing bracket and is used to shear the seed crystal at the top of the crystal rod.

[0007] In one embodiment of the present invention, the first lifting mechanism also includes a lifting side cylinder installed on the first lifting fixed bracket, a first lifting sprocket installed on the first lifting movable bracket, and a first lifting chain wound around the first lifting sprocket, the lifting piston rod of the lifting side cylinder is connected to the first lifting movable bracket, and the two ends of the first lifting chain are respectively connected to the first lifting fixed bracket and the second lifting movable bracket.

[0008] In one embodiment of the present invention, the first lifting and fixing bracket comprises a first fixed bottom bracket, a first fixed top bracket, and a first fixed side bracket connected to the first fixed bottom bracket and the first fixed top bracket, and a first lifting guide wheel is arranged inside the first fixed side bracket; The first lifting movable bracket includes a first lifting beam, a first lifting top plate, and a first lifting side bracket connecting the first lifting beam and the first lifting top plate. The outer side surface of the first lifting side bracket is provided with a guide side plate along the first direction, and the first lifting guide wheel is in rolling cooperation with the guide side plate.

[0009] In one embodiment of the present invention, the second lifting and movable bracket includes a second lifting side plate and a second lifting beam that are fixedly connected, a second lifting guide wheel is arranged on the outer side of the second lifting side plate, a first guide groove is arranged on the inner side of the first lifting and movable bracket, and the second lifting guide wheel is rollingly matched with the first guide groove.

[0010] In one embodiment of the present invention, the second lifting mechanism also includes a lifting drive assembly for driving the third lifting and moving bracket to lift and lower along the first direction, the lifting drive assembly including a first reducer mounting seat, a first lifting motor, a first lifting reducer, a lifting gear set and a first lifting rack; the first reducer mounting seat is mounted on the clamping support, the first lifting reducer is mounted on the first reducer mounting seat, the first lifting motor is connected to the first lifting reducer, and the output end of the first lifting reducer is connected to the lifting gear set, the lifting gear set is meshed with the first lifting rack, and the first lifting rack is mounted on the third lifting and moving bracket.

[0011] In one embodiment of the present invention, the second lifting mechanism further comprises a third lifting guide wheel arranged on the inner side of the second lifting fixed bracket, the inner side of the second lifting fixed bracket is provided with a second guide groove, and the outer side of the third lifting movable bracket is provided with a third guide groove; The groove edge of the second guide groove is staggered with the groove edge of the third guide groove, and the third lifting movable bracket is lifted and guided by the cooperation of the third guide groove, the third lifting guide wheel and the second guide groove.

[0012] In one embodiment of the present invention, the third lifting mechanism includes a second reducer mounting seat, a second lifting reducer, a second lifting motor, a second lifting gear and a second lifting rack. The second reducer mounting seat is fixedly mounted on the bottom of the crystal support mechanism, the second lifting reducer is mounted on the second reducer mounting seat, the second lifting reducer is connected to the second lifting motor, the second lifting reducer is connected to the second lifting gear, the second lifting rack is fixed on the third lifting movable bracket, and the second lifting gear is meshed with the second lifting rack.

[0013] In one embodiment of the present invention, the third lifting mechanism also includes a third lifting side plate and a fourth lifting guide wheel, the crystal support mechanism is installed on one side of the third lifting side plate, the fourth lifting guide wheel is rotatably set on the third lifting side plate, and a fourth guide groove is set on the inner side of the third lifting movable bracket, and the fourth lifting guide wheel is rollingly matched with the fourth guide groove.

[0014] In one embodiment of the present invention, the crystal support mechanism includes a crystal support bottom plate, a crystal support back plate, a crystal support side plate and a crystal support floating support ring; the crystal support bottom plate, the crystal support back plate and the crystal support side plates are fixedly connected in pairs and enclosed to form a accommodating cavity for accommodating the crystal rod; the crystal support floating support ring is located in the accommodating cavity and is arranged on the crystal support bottom plate through an elastic member.

[0015] In one embodiment of the present invention, the crystal rod extraction robot further comprises a rotating mechanism, and the clamping support is mounted on the second lifting and moving bracket via the rotating mechanism; Wherein, the rotating mechanism includes a slewing support, a hydraulic rotator installed on the slewing support and a rotating panel connected to the hydraulic rotator, the slewing support is fixedly connected to the second lifting and movable bracket, and the rotating panel is fixedly connected to the clamping support.

[0016] The present invention also provides a method for taking out a crystal rod, based on the above-mentioned crystal rod taking out robot, comprising the following steps: The crystal rod retrieval robot is driven by the mobile body to move to a preset position, the first lifting mechanism drives the clamping mechanism to descend to a set height along the first direction, and the bottom of the third lifting and moving bracket descends to the bottom of the underground negative layer; After the upper furnace drum of the crystal pulling furnace rotates to above the crystal support mechanism, the crystal rod slowly descends; The third lifting mechanism drives the crystal support mechanism to rise to dock and support the crystal ingot, and then the third lifting mechanism drives the crystal support mechanism to descend to drive the crystal ingot to slowly descend to the underground negative layer, so that the crystal ingot is completely separated from the upper furnace drum. During this process, the first clamping arm assembly and the second clamping arm assembly of the clamping mechanism virtually hold the descending crystal ingot to guide the crystal ingot to rise and fall; The crystal shearing mechanism shears off the seed crystal at the top of the crystal rod; After the upper furnace drum of the crystal pulling furnace is rotated and reset, the second lifting mechanism and / or the third lifting mechanism are operated to lift and lower the crystal support mechanism to adjust the height, so that the first clamping arm assembly and the second clamping arm assembly of the clamping mechanism tightly hold the middle position of the crystal rod; The first lifting mechanism drives the clamping mechanism to rise, so that the crystal rod rises and leaves the underground negative layer; The crystal rod taking robot is driven by the mobile body to carry the crystal rod away from the preset position.

[0017] In one embodiment of the present invention, the following steps are further included: after the crystal rod taking robot is driven by the mobile body to carry the crystal rod to the unloading position, the clamping support is installed on the second lifting movable bracket through a rotating mechanism, and the clamping mechanism is rotated to make the crystal rod in a horizontal state; The first clamping arm assembly and the second clamping arm assembly of the clamping mechanism are relatively separated to release the crystal rod to unload the crystal rod, and the crystal support mechanism is driven by the third lifting mechanism and / or the second lifting mechanism to move away from the crystal rod.

[0018] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The crystal rod retrieval robot provided by the present application can guide the crystal rod during its descent, and make the crystal support mechanism rise to support the crystal rod, thereby reducing the difficulty of docking the crystal rod with the crystal support mechanism and the suspension time of the crystal rod, and maintaining the stability of its descent process, thereby effectively reducing the risk of the crystal rod breaking and shattering. Moreover, based on the support of the crystal support mechanism, even if it breaks, the broken crystal rod is not likely to fall directly into the pit / negative first floor, which is convenient for cleaning. While improving the automation and intelligence level of crystal rod placement, it reduces operating costs and production risks, and improves the efficiency and safety of crystal rod processing. Moreover, the crystal rod retrieval robot provided by the present application can adapt to the needs of taking out long and short crystal rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 This is a schematic diagram of the structure of a crystal rod taking robot in a preferred embodiment of the present invention; Figure 2 The structure diagram of the mobile body and the first lifting mechanism in the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 3 The structure diagram of the mobile body and the first lifting mechanism in the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Figure 4 In the preferred embodiment of the present invention Figure 3 A partial enlarged view of the middle A; Figure 5 It is a schematic diagram of the structure of the clamping mechanism and the rotating mechanism in the preferred embodiment of the present invention; Figure 6 The structure diagram of the second lifting mechanism, the third lifting mechanism and the crystal support mechanism in the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 7 The structure of the clamping mechanism in the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Figure 8 In the preferred embodiment of the present invention Figure 7 Cross-sectional view along direction BB; Fig. 9 It is a structural schematic diagram of the crystal support mechanism and the third lifting mechanism (excluding the second lifting rack) in the preferred embodiment of the present invention; Fig.10 It is a front view of the crystal support mechanism and the third lifting mechanism (excluding the second lifting rack) in the preferred embodiment of the present invention; Fig.11 The structure of the crystal shear lifting assembly in the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Fig.12 The structure of the crystal shear lifting assembly in the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Fig.13 It is a schematic structural diagram of a crystal shearing assembly in a preferred embodiment of the present invention; Fig.14 It is a front view of a crystal shearing assembly in a preferred embodiment of the present invention; Fig.15 A longitudinal cross-sectional view of a crystal shearing assembly in a preferred embodiment of the present invention; Fig.16 It is a schematic diagram of the local structure of the crystal shearing module in a preferred embodiment of the present invention.

[0020] Explanation of the reference numerals in the specification: 10. Mobile body; 20. First lifting mechanism; 21. First lifting fixed bracket; 211. First fixed bottom bracket; 212. First fixed top bracket; 213. First fixed side bracket; 215. First lifting guide wheel; 22. First lifting movable bracket; 221. First lifting beam; 222. First lifting top plate; 223. Lifting side bracket; 224. Guide side plate; 225. First guide groove; 226. Piston connecting seat; 23. Second lifting movable bracket; 231. Second lifting side plate; 232. Second lifting beam; 233. Second lifting guide wheel; 24. Lifting side cylinder; 25. First lifting sprocket; 26. First lifting chain; 30. Clamping mechanism; 31. Clamping Support; 32, first clamp arm assembly; 33, second clamp arm assembly; 34, clamping motor; 35, clamping reducer; 36, clamping screw; 321, clamping bracket; 322, clamping arm; 323, clamping claw; 324, clamping screw nut; 325, clamping linear bearing; 326, clamping surface; 37, clamping guide rod; 38, blocking assembly; 381, electric push rod; 382, ​​rotating stop rod; 383, hinged support; 384, stop rod limiter; 385, slot; 40, second lifting mechanism; 41, second lifting fixed bracket; 42, third lifting movable bracket; 41, second lifting fixed bracket; 411, second fixed side bracket; 412, second fixed beam; 413, fixed connecting bracket; 414, second guide guide groove; 42, third lifting movable bracket; 421, third lifting side bracket; 422, third lifting cross beam; 423, third guide groove; 424, fourth guide groove; 43, first reducer mounting seat; 44, first lifting motor; 45, first lifting reducer; 46, lifting gear set; 47, first lifting rack; 48, third lifting guide wheel; 50, third lifting mechanism; 51, second reducer mounting seat; 52, second lifting reducer; 53, second lifting motor; 54, second lifting gear; 55, second lifting rack; 56, third lifting side plate; 57, fourth lifting guide wheel; 58, motor protection rod; 59, crystal support heat insulation board; 60, crystal support mechanism; 61, crystal support bottom plate; 62, crystal support back plate; 63, crystal Support side plate; 64, crystal support floating support ring; 65, limit protection plate; 66, elastic member; 67, crystal support floating shaft; 68, crystal support linear bearing; 70, crystal shearing mechanism; 71, crystal shearing lifting assembly; 711, crystal shearing fixing frame; 712, crystal shearing lifting base plate; 713, crystal shearing lifting plate 1; 714, crystal shearing lifting plate 2; 715, crystal shearing lifting sprocket 1; 716, crystal shearing lifting chain 1; 717, crystal shearing lifting sprocket 2; 718, crystal shearing lifting chain 2; 7191, crystal shearing lifting slide rail 1; 7192, crystal shearing lifting slider 1; 7193, crystal shearing lifting slide rail 2; 7194, crystal shearing lifting slider 2; 7195, crystal shearing reducer mounting seat; 7196, crystal shearing lifting motor; 7197, crystal shearing lifting reducer;7198, shearing crystal lifting gear; 7199, shearing crystal lifting rack; 72, shearing crystal assembly; 721, shearing crystal mounting seat; 7211, fixed support; 7212, support top plate; 7213, support bottom plate; 7214, connecting bracket; 722, linear module; 7221, electric push rod; 7222, sliding push rod; 7223, sliding sleeve; 723, shearing crystal module; 7231, shearing crystal support; 72311, moving space; 7232, sliding seat; 7 233, moving arm; 7234, elastic member; 7235, first shearing member; 72351, shearing part; 72352, connecting part; 72353, waist-shaped through hole; 7236, second shearing member; 7237, shearing clamp; 7238, abutment member; 724, visual camera; 725, inspection module; 7251, photoelectric sensor; 7252, photoelectric contact sheet; 80, rotating mechanism; 81, slewing support; 82, hydraulic rotator; 83, rotating panel. ; DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0022] The Czochralski (CZ, direct-pulling single crystal manufacturing) method is the most commonly used method in the single crystal silicon pulling process. The main process is: first, the polycrystalline silicon block undergoes a series of complex and delicate processes such as melting, seeding, shoulder release, shoulder rotation, equal diameter, tailing, cooling, etc. in the crystal pulling furnace, and finally grows into a single crystal silicon crystal rod of the required size. Then, the crystal rod is separated from the main furnace chamber by lifting and rotating the upper furnace drum, and then the crystal rod is slowly lowered under the action of the lifting head, and finally suspended under the auxiliary chamber of the upper furnace drum. Because the length of the crystal rod is long and the space between the upper furnace drum and the ground is limited, it is necessary to open a pit on the ground and extend it to the negative first floor. At this time, the bottom end of the crystal rod has fallen into the pit on the negative first floor. In order to smoothly remove the crystal rod, the crystal rod removal robot came into being. The crystal tray is placed in the pit in advance through the lifting mechanism to support the descending crystal rod. After the seed crystal of the crystal rod is cut off and the upper furnace drum is rotated and reset, the crystal tray is lifted to remove the crystal rod.

[0023] However, the applicant has found in long-term design and application that the existing crystal rod retrieval robot has some problems that are difficult to reconcile when retrieval of crystal rods: 1. First, the crystal tray is located on the negative layer, and it is difficult for the crystal rod to dock with the crystal tray during the descent process. Considering the high temperature and fragile characteristics of the crystal rod, it not only affects the efficiency of taking the crystal rod, but also may cause the crystal rod to break due to inaccurate docking; 2. Secondly, the crystal rod is suspended for a long time. Once it breaks, it will fall to the negative layer, making it difficult to clean up the broken slag, further reducing the efficiency of single crystal silicon manufacturing. If the position of the crystal support is raised to shorten the suspension time of the crystal rod, the lifting mechanism will interfere with or collide with the upper furnace drum, which is difficult to achieve. 3. Secondly, the existing crystal rod removal robot is mainly suitable for longer crystal rods. For shorter crystal rods, when the crystal rod is placed on the crystal tray, the upper part of the crystal rod has no limit guide and is prone to tipping, which can also cause the crystal rod to break.

[0024] In order to solve the above problems, the applicant designed a crystal rod retrieval robot and proposed a crystal rod retrieval method based on the crystal rod retrieval robot.

[0025] See also Figures 1 to 4 As shown, an embodiment of the present invention provides a crystal rod retrieval robot, including a mobile body 10, a first lifting mechanism 20, a clamping mechanism 30, a second lifting mechanism 40, a third lifting mechanism 50, a crystal support mechanism 60, and a crystal shearing mechanism 70.

[0026] The mobile body 10 includes a mobile chassis that can move autonomously. The mobile chassis generally adopts a chassis structure that can move autonomously, and can also adopt a chassis structure that requires human participation in driving or remote control driving. Preferably, the mobile chassis is also provided with a visual and / or laser sensor to sense the surrounding environment information, realize positioning, navigation and obstacle avoidance.

[0027] The first lifting mechanism 20 includes a first lifting fixed bracket 21 fixedly mounted on the mobile body 10, a first lifting movable bracket 22 that can be lifted and connected to the first lifting fixed bracket 21 along a first direction, and a second lifting movable bracket 23 that can be lifted and connected to the first lifting movable bracket 22 along the first direction. The first direction is defined as a vertical direction. The first lifting movable bracket 22 has a power input to achieve a lifting movement in a vertical direction. The second lifting movable bracket 23 is linked to the first lifting movable bracket 22. When the first lifting movable bracket 22 is lifted and lowered, the second lifting movable bracket 23 is also lifted and lowered accordingly.

[0028] The clamping mechanism 30 includes a clamping support 31, a first clamping arm assembly 32 and a second clamping arm assembly 33 movably mounted on the clamping support 31. The first clamping arm assembly 32 and the second clamping arm assembly 33 have the same power input, and the first clamping arm assembly 32 and the second clamping arm assembly 33 can be moved closer to or farther from each other along the second direction. The clamping support 31 is mounted on the second lifting and moving bracket 23, and can be raised and lowered synchronously with the second lifting and moving bracket 23. The second direction is perpendicular to the first direction. The second direction is defined as a horizontal direction. For this embodiment, the second direction can also be understood as the length direction of the clamping support 31.

[0029] The second lifting mechanism 40 includes a second lifting fixed bracket 41 disposed between the first clamp arm assembly 32 and the second clamp arm assembly 33 and fixedly connected to the clamping support 31, and a third lifting movable bracket 42 disposed between the second lifting fixed brackets 41 and capable of being lifted and lowered along the first direction. Of course, the first direction here should not be understood as an absolute limitation to the vertical direction. If the second lifting mechanism 40 changes from a vertical state to a horizontal state, the third lifting movable bracket 42 can move horizontally relative to the second lifting fixed bracket 41.

[0030] The third lifting mechanism 50 can be connected to the second lifting movable bracket 23 in a first direction. The crystal support mechanism 60 is connected to the third lifting mechanism 50 and is used to support the crystal rod. The crystal support mechanism 60 can be driven to move in the first direction by the third lifting mechanism 50; in other words, the crystal support mechanism 60 can be driven to move in the length direction of the third lifting movable bracket 42 by the third lifting mechanism 50.

[0031] The crystal shearing mechanism 70 is installed on the clamping support 31. When the crystal rod of the upper furnace drum is completely separated from the upper furnace drum and stably supported by the crystal support mechanism 60, the seed crystal at the top of the crystal rod is sheared by the crystal shearing mechanism 70.

[0032] Based on the aforementioned crystal rod retrieval robot solution, an embodiment of the present invention provides a method for retrieval of a crystal rod, as follows: S1. The crystal rod retrieval robot moves to a preset position driven by the mobile body 10. The preset position is a predetermined stop position close to the underground first floor (pit), which can be marked with a marker so that the mobile body 10 can move accurately to the position. The first lifting mechanism 20 drives the clamping mechanism 30 to descend to a set height along the first direction, and makes the bottom of the third lifting and moving bracket 42 descend to the bottom of the underground underground first floor (pit).

[0033] S2. After the upper furnace drum of the crystal pulling furnace rotates to above the crystal support mechanism 60, the crystal rod slowly descends.

[0034] S3. The third lifting mechanism 50 drives the crystal support mechanism 60 to rise to dock and support the crystal rod, providing a solid support point for the crystal rod. Then the third lifting mechanism 50 drives the crystal support mechanism 60 to descend synchronously with the crystal rod to drive the crystal rod to slowly descend to the underground negative layer, so that the crystal rod is completely separated from the upper furnace. In this process, the first clamping arm assembly 32 and the second clamping arm assembly 33 of the clamping mechanism 30 hold the descending crystal rod virtually to guide the crystal rod to rise and fall, which can effectively reduce the impact force during docking and the risk of crystal rod breakage. The aforementioned virtual holding means that the first clamping arm assembly 32 and the second clamping arm assembly 33 gradually approach the crystal rod in a clamping manner, and maintain a small gap between the crystal rod and the crystal rod, so that the crystal rod has the freedom to move up and down, but does not completely leave the clamping range of the first clamping arm assembly 32 and the second clamping arm assembly 33, thereby effectively reducing the risk of the crystal rod being damaged by tilting and impact. For a long crystal rod, the crystal support mechanism 60 generally needs to be lowered to the bottom of the third lifting movable bracket 42; while for a short crystal rod, the crystal support mechanism 60 does not need to be lowered to the bottom of the third lifting movable bracket 42. This allows for a perfect adaptation to long and short ingots.

[0035] S4. The crystal shearing mechanism 70 shears off the seed crystal at the top of the crystal rod.

[0036] S5. After the upper furnace drum of the crystal pulling furnace is rotated and reset, the second lifting mechanism 40 and / or the third lifting mechanism 50 are operated to raise and lower the crystal support mechanism 60 to adjust the height, so that the first clamping arm assembly 32 and the second clamping arm assembly 33 of the clamping mechanism 30 are at the same height as the middle position of the crystal rod. Then the first clamping arm assembly 32 and the second clamping arm assembly 33 are close to each other and tightly hold the middle position of the crystal rod. The clamping mechanism 30 tightly holds the middle position of the crystal rod, which can provide the most stable and uniform support, prevent the crystal rod from tilting or bending during transportation, and reduce the risk of breakage due to uneven force.

[0037] S6. The first lifting mechanism 20 drives the clamping mechanism 30 to rise, so that the crystal rod rises and leaves the underground negative layer.

[0038] S7. The crystal rod taking robot, driven by the mobile body 10, carries the crystal rod away from the preset position.

[0039] It should be noted that after the crystal shearing mechanism 70 cuts off the seed crystal at the top of the crystal rod, the second lifting mechanism 40 and / or the third lifting mechanism 50 operate to raise and lower the crystal support mechanism 60 to adjust the height, and then the first clamping arm assembly 32 and the second clamping arm assembly 33 of the clamping mechanism 30 tightly hold the middle position of the crystal rod. This is because the crystal rod needs further processing or transportation after being removed from the pit, and the tight holding method provides a more stable and firm clamping force to ensure that the crystal rod will not slide, fall or fall off during movement or transportation. The tight holding method minimizes the risk of damage or breakage of the crystal rod due to vibration, impact or other external forces. In addition, the tight holding method can effectively resist the bending stress caused by the weight of the crystal rod or external load, and protect the crystal rod from damage, especially in the middle of the crystal rod, which is the most fragile part of its structure. Therefore, at this stage of operation, the tight holding method provides the necessary clamping safety and reliability.

[0040] In this embodiment, the travel range of the crystal support mechanism 60 can be greatly increased by the first lifting mechanism 20 and the second lifting mechanism 40, so that the crystal support mechanism 60 can be lowered to the pit to meet the needs of taking out the long-sized crystal rod without interfering with the upper furnace drum. Based on the cooperation of the third lifting mechanism 50 and the second lifting mechanism 40, the distance between the bottom of the crystal rod and the crystal support mechanism 60 can be reduced during the descent of the crystal rod, which is convenient for the rapid docking of the crystal rod and the crystal support mechanism 60. In addition, this docking is observable, and it is not like the prior art, because the crystal support mechanism 60 cannot be observed in the pit, which leads to docking difficulties. At the same time, it can also reduce the long-term suspended state of the crystal rod, so that the bottom end of the crystal rod can be supported by the crystal support mechanism 60 as soon as possible after it leaves the upper furnace drum, and avoid the lower half of the crystal rod falling directly to the negative layer after the crystal rod breaks. Similarly, this method will not interfere with the upper furnace drum. Finally, under the drive of the third lifting mechanism 50, the crystal support mechanism 60 can adjust the distance between it and the clamping mechanism 30 without interfering with the upper furnace drum. For short-sized crystal rods, the clamping mechanism 30 can also provide limiting guidance and clamping. Compared with the prior art, the crystal rod retrieval robot and crystal rod retrieval method provided in this embodiment can effectively reduce the risk of crystal rod breakage. Even if it breaks, the broken crystal rod is not easy to fall directly into the pit / negative first floor, which is convenient for cleaning. This can improve the automation and intelligence level of crystal rod placement, reduce operating costs and production risks, and improve the efficiency and safety of crystal rod processing. In addition, the above scheme can adapt to the needs of taking out long and short crystal rods.

[0041] See also Figures 2 to 4As shown, in this embodiment, the first lifting fixed bracket 21 includes a first fixed bottom bracket 211, a first fixed top bracket 212, and two first fixed side brackets 213 connecting the first fixed bottom bracket 211 and the first fixed top bracket 212. The first lifting fixed bracket 21 is arranged on one side of the mobile body. The first fixed top bracket 212 retreats to one side of the mobile body, so that a space for the first lifting movable bracket 22 to be lifted and moved is left between the two first fixed side brackets 213. Vertical guide grooves in relative vertical directions are formed on the inner sides of the two first fixed side brackets 213. And a plurality of first lifting guide wheels 215 are rotatably arranged in the vertical guide grooves on the inner sides of the two first fixed side brackets 213. The lifting and lowering movement of the first lifting movable bracket 22 can be guided by the first lifting guide wheels 215.

[0042] The first lifting and moving bracket 22 includes a first lifting beam 221, a first lifting top plate 222, and two first lifting side brackets 223 connecting the first lifting beam 221 and the first lifting top plate 222. A guide side plate 224 is provided along the first direction on the outer side of the first lifting side bracket 223. The first lifting guide wheel 215 is in rolling cooperation with the guide side plate 224, that is, the wheel circumference of the first lifting guide wheel 215 can be rolled and moved against the guide side plate 224. In addition, the guide side plate 224 is located in the vertical guide groove.

[0043] The second lifting and moving bracket 23 includes a second lifting side plate 231 and a second lifting beam 232 that are fixedly connected. A second lifting guide wheel 233 is rotatably provided on the outer side of the second lifting side plate 231. A first guide groove 225 is rotatably provided on the inner side of the first lifting side bracket 223 of the first lifting and moving bracket 22, and the second lifting guide wheel 233 is rollingly matched with the first guide groove 225. The aforementioned clamping mechanism 30 is installed on the second lifting side plate 231 of the second lifting and moving bracket 23.

[0044] The first lifting mechanism 20 also includes a lifting side cylinder 24 installed on the first lifting fixed bracket 21, a first lifting sprocket 25 installed on the first lifting movable bracket 22, and a first lifting chain 26 wound around the first lifting sprocket 25. Piston connecting seats 226 are provided at the bottom of both ends of the first lifting top plate 222 of the first lifting movable bracket 22. The top of the piston rod of the lifting side cylinder 24 is connected to the piston connecting seat 226. The two ends of the first lifting chain 26 are respectively connected to the first fixed top bracket 212 of the first lifting fixed bracket 21 and the second lifting side plate 231 of the second lifting movable bracket 23. Among them, the lifting side cylinder 24 can adopt a linear electric cylinder.

[0045] The piston rod of the lifting side cylinder 24 is extended and retracted to drive the first lifting movable bracket 22 to lift. At the same time, the first lifting chain 26 is wound around the first lifting sprocket 25, and its two ends are respectively fixed on the first lifting fixed bracket 21 and the second lifting movable bracket 23. Driven by the lifting side cylinder 24, it is ensured that the first lifting movable bracket 22 and the second lifting movable bracket 23 can be lifted and lowered at the same time. On the one hand, it can realize the rapid lifting and lowering of the clamping mechanism 30; on the other hand, it can increase the lifting stroke of the clamping mechanism 30. In addition, since the lifting side cylinder directly drives the first lifting top plate 222 of the first lifting movable bracket 22, the eccentricity of the force is small, and the lifting and lowering of the first lifting movable bracket 22 can be effectively realized through the rolling cooperation between the first lifting guide wheel 215 and the guide side plate 224 and the guiding cooperation between the guide side plate 224 and the vertical guide groove, so that the first lifting mechanism 20 can operate smoothly and efficiently. At the same time, the rolling cooperation between the second lifting guide wheel 233 and the first guide groove 225 can provide a stable lifting guide for the second lifting movable bracket 23 to meet the docking and clamping requirements of the crystal rod.

[0046] Reference Figure 5 As shown, in this embodiment, the clamping mechanism 30 also includes a clamping drive assembly for driving the first clamping arm assembly 32 and the second clamping arm assembly 33 to approach or move away along the length direction (second direction) of the clamping support 31. The clamping drive assembly includes a clamping motor 34, a clamping reducer 35, a clamping screw 36 and a clamping guide rod 37. The clamping screw 36 and the clamping guide rod 37 are arranged in parallel. The clamping screw 36 and the clamping guide rod 37 are arranged on the clamping support 31 along the length direction of the clamping support 31. Two clamping guide rods 37 are symmetrically arranged on both sides of the axial direction of the clamping screw 36. The clamping reducer 35 is installed at one end of the clamping support 31. The clamping motor 34 is connected to the clamping reducer 35. One end of the clamping screw 36 extends out of the clamping support 31 and is connected to the output end of the clamping reducer 35. The axial ends of the clamping screw 36 are respectively provided with a section of forward thread and a section of reverse thread toward the middle position of the clamping screw 36. The first clamp arm assembly 32 and the second clamp arm assembly 33 are threadedly connected with the forward thread and the reverse thread respectively, and the two first clamp arm assemblies 32 and the second clamp arm assemblies 33 are slidably connected with the clamping guide rod 37 .

[0047] In this embodiment, the first clamping arm assembly 32 and the second clamping arm assembly 33 have the same structure and are mirror images of each other. Specifically, any one of the clamping arm assemblies includes a clamping bracket 321, a clamping arm 322 and a clamping claw 323. The clamping bracket 321 is arranged perpendicular to the length direction of the clamping support 31. The clamping bracket 321 is fixedly connected to a clamping screw nut 324 that is threadedly matched with the clamping screw 36. The clamping bracket 321 is also fixedly connected to a clamping linear bearing 325 that is slidably matched with the clamping guide rod 37. A clamping arm 322 is connected to the upper and lower ends of the clamping bracket 321 respectively. The clamping arm 322 is arranged horizontally, and a clamping claw 323 is connected to the end of the clamping arm 322. The clamping claw 323 has a V-shaped clamping surface 326. The V-shaped surface can limit and guide the crystal rod during the lifting and lowering process, reducing the risk of the crystal rod tipping over or shaking drastically; and in the process of clamping the crystal rod, it ensures that the crystal rod will not roll or shift during the clamping process, because it limits the movement of the crystal rod in two directions, thereby providing better stability. The V-shaped clamping surface has more contact points with the crystal rod, which can make the clamping force more evenly distributed on the surface of the crystal rod, reducing the risk of damage to the crystal rod.

[0048] When the clamping motor 34 is started, it drives the clamping screw 36 to rotate through the deceleration effect of the clamping reducer 35. The two ends of the clamping screw 36 are provided with forward threads and reverse threads, so that the first clamping arm assembly 32 and the second clamping arm assembly 33 connected thereto can approach or move away from each other along the extension direction of the clamping guide rod 37, thereby achieving the clamping and release of the crystal rod. When the first clamping arm assembly 32 and the second clamping arm assembly 33 approach each other and contact the crystal rod, the two work together to guide or clamp the crystal rod so that it remains stable during the lifting process and the transportation process; on the contrary, when the crystal rod that has been transported to the place needs to be put down, the two first clamping arm assemblies 32 and the second clamping arm assemblies 33 move away from each other, providing convenience for the removal of the crystal rod.

[0049] See also Figure 5 As shown, in the above structure, a blocking assembly 38 is provided on the first clamp arm assembly 32 and the second clamp arm assembly 33. The blocking assembly 38 can open or close the gap between the first clamp arm assembly 32 and the second clamp arm assembly 33 away from the clamping support 31.

[0050] The blocking assembly 38 includes an electric push rod 381, a rotating blocking rod 382, ​​a hinged support 383 and a blocking rod stopper 384. The electric push rod 381 is arranged on the first clamp arm assembly 32 or the second clamp arm assembly 33. And the output end of the electric push rod 381 is hinged to one end of the rotating blocking rod 382. The first clamp arm assembly 32 or the second clamp arm assembly 33 where the electric push rod 381 is arranged is provided with a hinged support 383. The rotating blocking rod 382 is hinged to the hinged support 383. The first clamp arm assembly 32 or the second clamp arm assembly 33 is provided with a blocking rod stopper 384. The upper end of the blocking rod stopper 384 is provided with a slot 385, which is a rectangular slot, and the rotating blocking rod 382 is a rectangular rod. When the electric push rod 381 drives the rotating gear rod 382 to rotate and places the rotating gear rod in the slot 385 of the gear rod limiter 384, the gear rod limiter 384 supports and limits the rotating gear rod 382, ​​and the gap between the first clamping arm assembly 32 and the second clamping arm assembly 33 away from the clamping support 31 is closed.

[0051] The working principle of the blocking assembly 38 is as follows: The piston rod of the electric push rod 381 is extended or retracted, which can drive the rotating stopper 382 to rotate around the hinge support 383. When the electric push rod 381 is retracted, the rotating stopper 382 rotates away from the stopper stopper 384. Thus, a gap located between the first clamping arm assembly 32 and the second clamping arm assembly 33 and away from the clamping support 31 is opened. When the crystal rod is placed horizontally, it is convenient for the crystal rod to be separated from between the first clamping arm assembly 32 and the second clamping arm assembly 33; When the electric push rod 381 extends, it drives the rotating blocking rod 382 to rotate around the hinge support 383, so that the rotating blocking rod 382 is placed in the clamping groove 385. At this time, the rotating blocking rod 382 closes the gap between the first clamping arm assembly 32 and the second clamping arm assembly 33 and away from the clamping support 31, thereby limiting the crystal rod between the first clamping arm assembly 32 and the second clamping arm assembly 33. The blocking assembly 38 can block the crystal rod in the clamping process to prevent the crystal rod from tipping over without manual operation, thereby reducing labor costs and safety risks.

[0052] See also Figure 6 to Figure 7 As shown, in this embodiment, the second lifting fixed bracket 41 includes a second fixed side bracket 411, a second fixed beam 412 and a fixed connection bracket 413. The two second fixed side brackets 411 arranged opposite to each other are fixedly connected by the second fixed beam 412. The fixed connection bracket 413 is fixedly connected to the second fixed side bracket 411 and the clamping support 31 respectively. The third lifting movable bracket 42 includes a third lifting side bracket 421 and a third lifting beam 422. The two third lifting side brackets 421 arranged opposite to each other are fixedly connected by the third lifting beam 422.

[0053] See also Figure 7As shown, the second lifting mechanism 40 also includes a lifting drive assembly for driving the third lifting and moving bracket 42 to lift and lower along the first direction. The lifting drive assembly includes a first reducer mounting seat 43, a first lifting motor 44, a first lifting reducer 45, a lifting gear set 46 (a driving gear and a transmission gear meshing with each other), and a first lifting rack 47. Among them, the first reducer mounting seat 43 is fixed to the second fixed crossbeam 412. The first lifting reducer 45 is mounted on the first reducer mounting seat 43. The first lifting motor 44 is connected to the first lifting reducer 45, and the output end of the first lifting reducer 45 is connected to the lifting gear set 46. The lifting gear set 46 meshes with the first lifting rack 47. The first lifting rack 47 is mounted on the third lifting crossbeam 422 of the third lifting and moving bracket 42. For the lifting gear set 46, its driving gear is fixedly connected to the output end of the first lifting reducer 45, and its transmission gear is rotatably mounted on the first reducer mounting seat 43.

[0054] When the second lifting mechanism 40 is working, since the first lifting motor 44 is connected to the first lifting reducer 45, the rotational power of the motor is transmitted to the lifting gear set 46 through the reduction effect of the reducer; the lifting gear set 46 is meshed with the first lifting rack 47 installed on the third lifting beam 422. When the lifting gear set 46 rotates, the meshing transmission between the gear and the rack causes the first lifting rack 47 to move linearly along the vertical direction (first direction), thereby driving the third lifting movable bracket 42 and the crystal support mechanism 60 carried by it to rise or fall along the vertical direction.

[0055] In this embodiment, the rotational power of the motor 44 is effectively transmitted to the lifting gear set 46 after being decelerated by the reducer 45, thereby driving the first lifting rack 47 meshing with the gear set to perform linear motion in the vertical direction. This design not only ensures that the third lifting and moving bracket 42 and the crystal support mechanism 60 carried by it can be smoothly and accurately raised or lowered, but also realizes efficient power transmission and precise position control through the meshing transmission of the gear and the rack, enhances the stability and reliability of the entire lifting mechanism, and thus improves the efficiency and safety of the crystal rod processing process.

[0056] See also Figure 8As shown, in this embodiment, the second lifting mechanism 40 also includes a third lifting guide wheel 48 rotatably arranged on the inner side of the second lifting fixed bracket 41. In addition, a second guide groove 414 is arranged on the inner side of the second lifting fixed bracket 41. The third lifting guide wheel 48 is arranged with an offset relative to the second guide groove 414. That is, there is a distance deviation between the center of the rotating shaft of the third lifting guide wheel 48 and the center of the second guide groove 414 in the width direction of the second guide groove 414. In addition, a guide wheel notch is opened at the position of the lifting guide wheel 48 at the groove edge away from the lifting drive assembly, so that part of the wheel edge of the lifting guide wheel 48 is located outside the second guide groove 414. A third guide groove 423 is rotatably arranged on the outer side of the third lifting side bracket 421 of the third lifting movable bracket 42. The groove edge of the second guide groove 414 and the groove edge of the third guide groove 423 are arranged alternately. The third lifting movable bracket 42 is lifted and guided by the cooperation of the third guide groove 423, the third lifting guide wheel 48 and the second guide groove 414.

[0057] In this embodiment, unlike the vertical drive of the first lifting and moving bracket, the lifting and moving drive of the third lifting and moving bracket 42 depends on the meshing of the lifting gear set 46 and the first lifting rack 47. The transmission gear has not only a vertical force on the first lifting rack 47, but also a horizontal force. The second guide groove 414 and the third guide groove 423 are staggered, which can provide sufficient horizontal support for the third lifting and moving bracket 42, so that the third lifting and moving bracket 42 can achieve precise lifting and lowering movement under the guidance of the second guide groove 414 and the third guide groove 423 and the third guide groove 423 and the third lifting guide wheel 48. This structural design not only provides stable guidance, ensuring the stability and accuracy of the third lifting and moving bracket 42 during the lifting process, but also enhances the synchronization and reliability of the mechanism through the cooperation of the guide wheel and the guide groove, thereby improving the operating efficiency and safety of the entire crystal rod robot, ensuring the smooth docking and clamping of the crystal rod during the transportation process, and reducing the risk of crystal rod damage caused by inaccurate positioning.

[0058] See also Fig. 9 As shown, the third lifting mechanism 50 includes a second reducer mounting seat 51, a second lifting reducer 52, a second lifting motor 53, a second lifting gear 54 and a second lifting rack 55. The second reducer mounting seat 51 is fixedly mounted on the bottom of the crystal support mechanism 60. The second lifting reducer 52 is mounted on the second reducer mounting seat 51. The second lifting reducer 52 is connected to the second lifting motor 53. The second lifting reducer 52 is connected to the second lifting gear 54. The second lifting rack 55 is fixed on the third lifting movable bracket 42. The second lifting gear 54 is meshed with the second lifting rack 55.

[0059] Furthermore, the third lifting mechanism 50 further includes a motor protection rod 58 fixed to the second reducer mounting seat 51, and the bottom end height of the motor protection rod 58 is lower than the bottom end height of the second lifting motor 53. The motor protection rod 58 is provided and the bottom end of the motor protection rod 58 is lower than the bottom end of the motor 53, providing additional protection for the motor to prevent potential collision or damage, thereby enhancing the safety of the mechanism and the durability of the motor.

[0060] The working principle of the third lifting mechanism 50 is as follows: The second lifting motor 53 drives the second lifting gear 54 to rotate through the deceleration and torque enhancement of the second lifting reducer 52, and the rotational motion is transmitted to the second lifting rack 55 through the meshing mechanism, so that the second lifting gear 54 moves linearly in the vertical direction, thereby controlling the lifting of the crystal support mechanism 60. This design not only ensures the stability and precise control of the lifting motion, but also improves the reliability and service life of the entire lifting mechanism through protective measures.

[0061] Obviously, the lifting drive of the third lifting mechanism 50 must be restricted and guided. Figures 9 and 10 As shown, the third lifting mechanism 50 also includes two third lifting side plates 56 arranged opposite to each other and a plurality of fourth lifting guide wheels 57 arranged on the inner side of the third lifting side plates 56. The crystal support mechanism 60 is installed on one side of the third lifting side plate 56. Each third lifting side plate 56 is rotatably provided with at least two fourth lifting guide wheels 57. A fourth guide groove 424 is rotatably provided on the inner side of the third lifting side bracket 421 of the third lifting movable bracket 42. The fourth lifting guide wheel 57 is in rolling cooperation with the fourth guide groove 424. The fourth lifting guide wheel 57 is in rolling cooperation with the fourth guide groove 424 on the third lifting movable bracket 42. This design enables the crystal support mechanism 60 to stably move along the fourth guide groove 424 during the lifting process. The fourth lifting guide wheel 57 provides rolling guidance, reduces friction and ensures the smoothness and accuracy of movement, thereby achieving stable support and precise positioning of the crystal rod.

[0062] The crystal support mechanism 60 includes a crystal support bottom plate 61, a crystal support back plate 62, a crystal support side plate 63, and a crystal support floating support ring 64. Among them, the crystal support bottom plate 61, the crystal support back plate 62 and the crystal support side plate 63 are fixedly connected in pairs and enclosed to form a receiving cavity for accommodating the crystal rod. A limited protection plate 65 is arranged on the inner side of the crystal support back plate 62 and the crystal support side plate 63. The crystal support floating support ring 64 is located in the receiving cavity and is arranged on the crystal support bottom plate 61 through an elastic member 66. For this embodiment, the crystal support bottom plate 61 is fixedly mounted on the second reducer mounting seat 51 of the third lifting mechanism 50. At the same time, the crystal support back plate 62 is fixedly connected to the two third lifting side plates 56 of the crystal support mechanism 60.

[0063] The accommodating cavity formed by the fixed connection between the crystal support bottom plate 61, the crystal support back plate 62 and the crystal support side plate 63 effectively defines the storage space of the crystal rod. The limit protection plate 65 on the inner side of the crystal support back plate 62 and the crystal support side plate 63 can protect the crystal rod when the crystal rod is docked with the crystal support floating support ring. The crystal support floating support ring 64 is located in the accommodating cavity and is connected to the crystal support bottom plate 61 through an elastic member 66. This floating support enables the crystal support mechanism 60 to adapt to the slight position change and angle adjustment of the crystal rod, and cushions the bumps of the crystal rod when it descends and docks with the crystal support floating support ring and during transportation, providing more delicate and precise support to ensure the safety and integrity of the crystal rod during processing and transportation.

[0064] Furthermore, the crystal support mechanism 60 further includes a crystal support floating shaft 67. The crystal support floating shaft 67 is installed at the bottom of the crystal support floating support ring 64 and penetrates the crystal support linear bearing 68 installed in the crystal support bottom plate 61. The crystal support floating shaft 67 can slide up and down in the crystal support linear bearing 68. The crystal support floating shaft 67 works in conjunction with the crystal support floating support ring 64, and provides guidance for the crystal support floating support ring 64 when the crystal support floating support ring 64 floats, thereby ensuring the stability and accuracy of the crystal rod during the removal and placement process.

[0065] In addition, a crystal support heat insulation plate 59 is provided between the crystal support bottom plate 61 and the second lifting reducer 52. The crystal support heat insulation plate 59 is fixed on the second reducer mounting seat 51. The crystal support heat insulation plate 59 provided between the crystal support bottom plate 61 and the second lifting reducer 52 can reduce the influence of the heat radiation of the high-temperature crystal rod on the second lifting reducer 52 and the second lifting motor 53.

[0066] The crystal shearing mechanism 70 includes a crystal shearing lifting assembly 71 and a crystal shearing assembly 72. The crystal shearing lifting assembly 71 is installed on the second lifting and fixing bracket 41. The crystal shearing lifting assembly 71 is used to drive the crystal shearing assembly 72 to rise and fall. The crystal shearing assembly 72 is used to shear the seed crystal at the top of the crystal rod.

[0067] See also Figure 11 to Figure 12The shearing crystal lifting assembly 71 includes a shearing crystal fixing frame 711, a shearing crystal lifting base plate 712 fixedly connected to the shearing crystal fixing frame 711, a shearing crystal lifting plate 1 713 liftingly connected to the shearing crystal lifting base plate 712, a shearing crystal lifting plate 2 714 liftingly connected to the shearing crystal lifting base plate 712, a shearing crystal lifting sprocket 1 715 rotatably mounted at the top of the shearing crystal lifting plate 1 713, a shearing crystal lifting chain 1 716 wound around the shearing crystal lifting sprocket 1 715, a shearing crystal lifting sprocket 2 717 rotatably mounted at the bottom of the shearing crystal lifting plate 1 713, and a shearing crystal lifting chain 2 718 wound around the shearing crystal lifting sprocket 2 717. Among them, the shearing crystal lifting base plate 712, the shearing crystal lifting plate 1 713, and the shearing crystal lifting plate 2 714 are all vertically arranged and parallel to each other. One end of the shearing lifting chain 716 is connected to the shearing lifting base plate 712 near its top; the other end of the shearing lifting chain 716 is connected to the shearing lifting plate 714 near its bottom. One end of the shearing lifting chain 718 is connected to the shearing lifting base plate 712 near its top; the other end of the shearing lifting chain 718 is connected to the shearing lifting plate 714 near its bottom. The shearing fixing frame 711 is installed on the outside of the second lifting fixing bracket 41 of the second lifting mechanism 40, so as to realize the assembly of the shearing mechanism 70 and the second lifting mechanism 40.

[0068] The shearing crystal lifting assembly 71 also includes a shearing crystal lifting rail 1 7191 fixed to the shearing crystal lifting base plate 712, a shearing crystal lifting slider 1 7192 fixed to the shearing crystal lifting plate 1 713 near its bottom position, a shearing crystal lifting rail 2 7193 fixed to the shearing crystal lifting plate 1 713, and a shearing crystal lifting slider 2 7194 fixed to the shearing crystal lifting plate 2 714 near its bottom position. Among them, the shearing crystal lifting slider 1 7192 is slidably connected to the shearing crystal lifting rail 1 7191. The shearing crystal lifting slider 2 7194 is slidably connected to the shearing crystal lifting rail 2 7193. Through this setting, the lifting and lowering of the shearing crystal lifting plate 1 713 and the shearing crystal lifting plate 2 714 can be guided, and at the same time, both are guaranteed to have a large upward stroke.

[0069] The crystal shearing lifting assembly 71 also includes a driving module. The driving module includes a crystal shearing reducer mounting seat 7195, a crystal shearing lifting motor 7196, a crystal shearing lifting reducer 7197, a crystal shearing lifting gear 7198 and a crystal shearing lifting rack 7199. Among them, the crystal shearing reducer mounting seat 7195 is fixed to the crystal shearing lifting substrate 712. The crystal shearing lifting reducer 7197 is installed on the crystal shearing reducer mounting seat 7195. The crystal shearing lifting motor 7196 is connected to the crystal shearing lifting reducer 7197. In addition, the output end of the crystal shearing lifting reducer 7197 is connected to the crystal shearing lifting gear 7198. The crystal shearing lifting gear 7198 is meshed with the crystal shearing lifting rack 7199. The crystal shearing lifting rack 7199 is installed on the crystal shearing lifting plate 2 714.

[0070] When the shearing crystal lifting assembly 71 is working, the shearing crystal lifting motor 7196 is decelerated by the shearing crystal lifting reducer 7197, and the power is transmitted to the shearing crystal lifting gear 7198, and the shearing crystal lifting gear 7198 is meshed with the shearing crystal lifting rack 7199 fixed on the shearing crystal lifting plate 1 713, so as to realize the lifting and lowering of the shearing crystal lifting plate 1 713 in the vertical direction. At the same time, one end of the shearing crystal lifting chain 1 716 is connected to the top of the shearing crystal lifting base plate 712, and the other end is connected to the bottom of the shearing crystal lifting plate 2 714. One end of the shearing crystal lifting chain 2 718 is also connected to the top of the shearing crystal lifting base plate 712, and the other end is connected to the bottom of the shearing crystal lifting plate 2 714. When the shearing crystal lifting sprocket 1 715 rises with the shearing crystal lifting plate 1 713, the shearing crystal lifting plate 2 is pulled upward by the shearing crystal lifting chain 1 716, so that the shearing crystal lifting plate 1 713 and the shearing crystal lifting plate 2 714 rise at the same time. In addition, since there is a relative movement between the shearing lifting plate 2 714 and the shearing lifting plate 1 713, the rising stroke of the shearing lifting plate 2 714 is twice the rising stroke of the shearing lifting plate 1 713. In this process, the shearing lifting chain 2 718 has a downward traction limit on the shearing lifting plate 2 714, so that the shearing lifting plate 2 714 can be prevented from moving when it rises, thereby improving the stability of the movement process of the shearing assembly 72 and the accuracy of the position movement. Similarly, when the shearing lifting sprocket 2 717 descends with the shearing lifting plate 2 714, the shearing lifting line 2 718 pulls the shearing lifting plate 2 714 downward, so that the shearing lifting plate 1 713 and the shearing lifting plate 2 714 descend at the same time. At the same time, the descending stroke of the shearing lifting plate 2 714 is twice the descending stroke of the shearing lifting plate 1 713, which is convenient for rapid resetting. Moreover, in this process, the crystal shearing lifting chain 1 716 has an upward traction limit on the crystal shearing lifting plate 2 714, thereby ensuring the stability of the crystal shearing lifting plate 2 714 when it descends. Therefore, the technical solution of this embodiment can enable the crystal shearing assembly 72 to move quickly, smoothly and accurately to the top of the crystal rod for shearing operation, and the cooperation between the crystal shearing lifting slide rail 1 7191 and the crystal shearing lifting slider 1 7192 and the cooperation between the crystal shearing lifting slide rail 2 7193 and the crystal shearing lifting slider 2 7194 ensures the smooth sliding of the crystal shearing lifting plate during the lifting process, thereby improving the operating accuracy and reliability of the crystal shearing mechanism.

[0071] See also Figures 13 to 15 The crystal shearing assembly 72 includes a crystal shearing mounting seat 721, a linear module 722, and a crystal shearing module 723 for shearing the seed crystal at the top of the crystal rod.

[0072] Furthermore, the shearing mounting seat 721 includes a fixed support 7211, a support top plate 7212, a support bottom plate 7213 and a connecting bracket 7214. The support top plate 7212 and the support bottom plate 7213 are arranged in an upper and lower interval. The fixed support 7211 is located at one end of the support top plate 7212 and the support bottom plate 7213 and fixedly connects the support top plate 7212 and the support bottom plate 7213. The connecting bracket 7214 is located at the other end of the support top plate 7212 and the support bottom plate 7213 and fixedly connects the support top plate 7212 and the support bottom plate 7213. The support bottom plate 7213 is installed on one side of the shearing lifting plate 2 714 through the shearing mounting plate 7215. The shearing module 723 is located on the side of the fixed support 7211 away from the connecting bracket 7214. The linear module 722 is disposed on the shearing mounting seat 721 and connected to the shearing module 723. The linear module 722 is used to drive the shearing module 723 to perform an opening and closing movement to shear the seed crystal at the top of the crystal rod.

[0073] Furthermore, the linear module 722 includes an electric push rod 7221, a sliding push rod 7222 and a sliding sleeve 7223. The electric push rod 7221 is arranged between the support top plate 7212 and the support bottom plate 7213 and is arranged along the length direction of the support top plate 7212 or the support bottom plate 7213. The tail of the cylinder body of the electric push rod 7221 is fixedly connected to the connecting bracket 7214. The push rod of the electric push rod 7221 passes through the fixed support 7211 and is connected to the crystal shearing module 723. Two sliding push rods 7222 are symmetrically arranged on both sides of the axial direction of the electric push rod 7221. A sliding sleeve 7223 that slides with the sliding push rod 7222 is installed in the fixed support 7211, and the sliding push rod 7222 passes through the sliding sleeve 7223 and is fixedly connected to the crystal shearing module 723.

[0074] Furthermore, the crystal shearing module 723 includes a crystal shearing support 7231, a sliding seat 7232, a movable arm 7233, an elastic member 7234, a first shearing member 7235 and a second shearing member 7236. The crystal shearing support 7231 is laterally provided with a moving space 72311, and the sliding seat 7232 is movably arranged in the moving space 72311 of the crystal shearing support 7231. The movable end of the electric push rod 7221 passes through the crystal shearing support 7231 and is fixedly connected to the sliding seat 7232. The elastic member 7234 is arranged in the moving space 72311, one end of the elastic member 7234 abuts against the sliding seat 7232, and the other end of the elastic member 7234 abuts against the crystal shearing support 7231. The other end of the sliding push rod 7222 passes through the sliding shaft sleeve 7223 and is fixedly connected to the crystal shearing support 7231 of the crystal shearing module 723. Two movable arms 7233 are provided, which are fixedly connected (detachably fixedly connected) to both sides of the sliding seat 7232. The first shearing piece 7235 and the second shearing piece 7236 have the same structure and are symmetrically arranged. The two are hingedly installed on the shearing support 7231, and the first shearing piece 7235 and the second shearing piece 7236 are hingedly connected to the two movable arms 7233. The first shearing piece 7235 and the second shearing piece 7236 respectively include shearing blades. The elastic piece 7234 can be a spring.

[0075] The operating principle of the crystal shearing assembly 72 is that the linear module 722 drives the crystal shearing module 723 to perform the shearing of the seed crystal at the top of the crystal rod. In this process, the electric push rod 7221 in the linear module 722 pushes the crystal shearing module 723 toward the crystal rod to achieve the shearing action. Specifically, during crystal shearing, the crystal shearing module 723 is pushed to move as a whole by the electric push rod 7221. When the first shearing piece 7235 and the second shearing piece 7236 collide with the seed crystal at the top of the crystal rod, the movement of the crystal shearing support 7231 is blocked. The electric push rod 7221 continues to push the sliding seat 7232 to move in the moving space 72311 of the crystal shearing support 7231, so that the two moving arms 7233 drive the first shearing piece 7235 and the second shearing piece 7236 to close, thereby shearing the seed crystal at the top of the crystal rod. In addition, the sliding fit between the sliding push rod 7222 and the sliding sleeve 7223 not only ensures the stability during the movement, but also plays a role of precise guidance, so that the shearing assembly can stably align the crystal rod seed crystal and perform precise shearing.

[0076] See also Fig.15As shown, in a further embodiment, the crystal shearing module 723 also includes a crystal shearing clamp 7237 and an abutment 7238. Two crystal shearing clamps 7237 distributed up and down are provided at one end of the crystal shearing support 7231 away from the fixed support 7211, and an abutment 7238 is sandwiched between the two crystal shearing clamps 7237. One end of the abutment 7238 and the two crystal shearing clamps 7237 are fixedly connected to the extension plate extending from the end surface of the crystal shearing support 7231 by bolts. The other end of the abutment 7238 extends into the moving space 72311 of the crystal shearing support 7231 and abuts against the elastic member 7234. A first shearing member 7235 and a second shearing member 7236 are also sandwiched between the two crystal shearing clamps 7237, and the first shearing member 7235, the second shearing member 7236 and the two crystal shearing clamps 7237 are hinged by a hinge shaft.

[0077] Two upper and lower shearing clamps 7237 are arranged at one end of the shearing support 7231 to clamp and fix the abutment 7238, making the structure more solid. One end of the abutment 7238 is connected to the extension plate of the shearing support 7231 by bolts, and the other end is abutted against the elastic member 7234. At the same time, the first shearing piece 7235 and the second shearing piece 7236 are hinged together with the shearing clamp 7237, so that the shearing pieces can be opened and closed smoothly during the shearing process, ensuring the accurate transmission of the shearing force and the precise shearing of the seed crystal. The provision of the shearing clamp 7237 can avoid the frequent opening and closing of the first shearing piece 7235 and the second shearing piece 7236, which leads to direct wear between them and the shearing support 7231, and then leads to high costs for replacing the shearing support 7231. The setting of the abutment member 7238 can provide a stable abutment point for the elastic member on the one hand, and on the other hand reduce the axial force at the hinge of the first shear member 7235 and the second shear member 7236, thereby reducing the wear and damping of the opening and closing of the two.

[0078] See also Fig.16 As shown, in a further embodiment, the first shearing piece 7235 and the second shearing piece 7236 each include a shearing portion 72351 and a connecting portion 72352. A waist-shaped through hole 72353 is provided on the connecting portion 72352. The moving arm 7233 and the first shearing piece 7235 or the second shearing piece 7236 are hinged at the waist-shaped through hole 72353.

[0079] In this embodiment, the design of the first shearing piece 7235 and the second shearing piece 7236 includes a shearing crystal portion 72351 and a connecting portion 72352, and a waist-shaped through hole 72353 is provided on the connecting portion 72352, thereby realizing the hinged connection between the movable arm 7233 and the first shearing piece 7235 and the second shearing piece 7236. The waist-shaped through hole 72353 serves as a hinge position, and provides a movement space for the hinge bolt at the hinge position, thereby preventing the first shearing piece 7235 and the second shearing piece 7236 from getting stuck when opening and closing.

[0080] See also Fig.14 As shown, in a further embodiment, the crystal shearing assembly 72 further includes a visual camera 724, which is mounted on a fixed support 7211. The crystal rod is identified by the visual camera 724, so that crystal shearing can be performed at a precise position, further realizing a standardized and automated crystal shearing process, and improving efficiency and quality.

[0081] See also Fig.14 As shown, in a further embodiment, the crystal shearing assembly 72 further includes a detection module 725. The detection module includes two photoelectric sensors 7251 installed on the support top plate 7212 and a photoelectric contact sheet 7252 provided at the end of the sliding push rod 7222. In this way, the stroke control of the crystal shearing module 723 is realized. The end of the sliding push rod 7222 is the end of the sliding push rod 7222 away from the crystal shearing support 7231.

[0082] In this embodiment, when the photoelectric contact piece 7252 moves to a position corresponding to the photoelectric sensor 7251, the photoelectric sensor can detect the presence of the contact piece, thereby sending a signal to indicate that the crystal shearing component has reached the predetermined travel limit position. This signal can be received by the control system, and then the electric push rod 7221 is stopped from further movement, ensuring that the crystal shearing component does not exceed the working range, thereby achieving precise control of the shearing position and preventing mechanical overload or damage, and ensuring the safety and accuracy of the crystal shearing process.

[0083] See also Figure 5 As shown, the crystal rod retrieval robot of the present invention, in some embodiments, the crystal rod retrieval robot also includes a rotating mechanism 80. The clamping support 31 of the clamping mechanism 30 is installed on the second lifting and moving bracket 23 of the second lifting mechanism 2 through the rotating mechanism 80. Among them, the rotating mechanism 80 includes a slewing support 81, a hydraulic rotator 82 installed on the slewing support 81, and a rotating panel 83 connected to the hydraulic rotator 82. The slewing support 81 is fixedly connected to the second lifting and moving bracket 23. The rotating panel 83 is fixedly connected to the clamping support 31. When the rotating mechanism 80 is working, the hydraulic rotator 82 provides rotational power to drive the rotating panel 83 to rotate, and then drive the clamping support 31 of the clamping mechanism 3 to rotate, so that the clamping mechanism 3 can enter the horizontal state from the vertical state, so that the placement posture of the crystal rod can be adjusted to facilitate placement.

[0084] Based on the crystal rod taking robot in the above embodiment, a corresponding crystal rod taking method is proposed, including: The crystal rod retrieval robot is driven by the mobile body 10 to move to a preset position close to the underground first floor, the first lifting mechanism 20 drives the clamping mechanism 30 to descend to a set height along the first direction, and the lifting drive assembly of the second lifting mechanism 40 drives the third lifting movable bracket 42 to descend, and the bottom of the third lifting movable bracket 42 is moved down to the bottom of the underground first floor; The upper furnace drum of the crystal pulling furnace drives the crystal rod inside to rotate toward the position of the negative layer. After the upper furnace drum of the crystal pulling furnace rotates to the top of the crystal support mechanism 60, the crystal rod is slowly lowered; The third lifting mechanism 50 drives the crystal support mechanism 60 to rise to dock and support the crystal rod, and then the third lifting mechanism 50 drives the crystal support mechanism 60 to descend to drive the crystal rod to slowly descend to the underground negative layer, so that the crystal rod is completely separated from the upper furnace, and the top height of the crystal rod is at least higher than the height of the lowest position clamping jaw 323 of the clamping mechanism 30. In this process, the first clamping arm assembly 32 and the second clamping arm assembly 33 of the clamping mechanism 30 approach each other, and finally the descending crystal rod is virtually embraced in the form of a certain gap between them, and the crystal rod is roughly limited and guided by the clamping jaws 323 of the first clamping arm assembly 32 and the second clamping arm assembly 33; The visual camera 724 of the crystal shearing mechanism 70 identifies and detects the crystal ingot to determine the position of the top of the crystal ingot, and then the crystal shearing lifting assembly 71 of the crystal shearing mechanism 70 drives the crystal shearing assembly 72 to rise and fall to a position roughly flush with the top of the crystal ingot, and then the linear module 722 of the crystal shearing assembly 72 drives the crystal shearing module 723 to move horizontally to shear the seed crystal at the top of the crystal ingot; The upper furnace drum rotates and resets. After the upper furnace drum of the crystal pulling furnace rotates and resets, the second lifting mechanism 40 and / or the third lifting mechanism 50 operate to lift and lower the crystal support mechanism 60 to adjust the height, so that the first clamping arm assembly 32 and the second clamping arm assembly 33 of the clamping mechanism 30 tightly hold the middle position of the crystal rod; The first lifting mechanism 20 drives the clamping mechanism 30 to rise, so that the crystal rod rises and leaves the underground negative layer; The crystal rod taking robot is driven by the mobile body 10 to carry the crystal rod away from the preset position; After the crystal rod taking robot moves the crystal rod from the preset position to the unloading position driven by the mobile body 10, the rotating mechanism 80 drives the clamping mechanism 30 to rotate 90 degrees so that the crystal rod is in a horizontal state; the first lifting mechanism drives the clamping mechanism to descend, and places the crystal rod in a horizontal state on the bracket for placing the crystal rod; The first clamping arm assembly 32 and the second clamping arm assembly 33 of the holding mechanism 30 move away from each other to release the crystal rod and unload the crystal rod. Then, the crystal support mechanism 60 moves away from the crystal rod under the drive of the third lifting mechanism 50 and / or the second lifting mechanism 40.

[0085] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A crystal rod taking robot, characterized in that: include: A mobile subject, including a mobile chassis capable of autonomous movement; The first lifting mechanism comprises a first lifting fixed bracket fixedly mounted on the mobile body, a first lifting movable bracket liftably connected to the first lifting fixed bracket along a first direction, and a second lifting movable bracket liftably connected to the first lifting movable bracket along the first direction; The clamping mechanism comprises a clamping support, a first clamping arm assembly and a second clamping arm assembly movably mounted on the clamping support, wherein the first clamping arm assembly and the second clamping arm assembly can move toward or away from each other along a second direction, wherein the clamping support is mounted on the second lifting and movable bracket, and the second direction is perpendicular to the first direction; The second lifting mechanism comprises a second lifting fixed bracket disposed between the first clamp arm assembly and the second clamp arm assembly and fixedly connected to the clamping support, and a third lifting movable bracket disposed between the second lifting fixed brackets and capable of being lifted and lowered along the first direction; A third lifting mechanism can be lifted and connected to the second lifting movable bracket along the first direction; A crystal support mechanism, connected to the third lifting mechanism and used to support the crystal rod; The crystal shearing mechanism is installed on the second lifting and fixing bracket and is used to shear the seed crystal at the top of the crystal rod.

2. The crystal rod extraction robot according to claim 1, characterized in that: The first lifting mechanism further comprises a lifting side cylinder mounted on the first lifting fixed bracket, a first lifting sprocket mounted on the first lifting movable bracket, and a first lifting chain wound around the first lifting sprocket, the lifting piston rod of the lifting side cylinder is connected to the first lifting movable bracket, and the two ends of the first lifting chain are respectively connected to the first lifting fixed bracket and the second lifting movable bracket; and / or, The first lifting and fixing bracket comprises a first fixed bottom bracket, a first fixed top bracket and a first fixed side bracket connected to the first fixed bottom bracket and the first fixed top bracket, and a first lifting guide wheel is arranged inside the first fixed side bracket; The first lifting movable bracket includes a first lifting beam, a first lifting top plate, and a first lifting side bracket connecting the first lifting beam and the first lifting top plate. The outer side surface of the first lifting side bracket is provided with a guide side plate along the first direction, and the first lifting guide wheel is in rolling cooperation with the guide side plate.

3. The crystal rod extraction robot according to claim 1, characterized in that: The second lifting and movable bracket includes a second lifting side plate and a second lifting beam that are fixedly connected, a second lifting guide wheel is arranged on the outer side of the second lifting side plate, a first guide groove is arranged on the inner side of the first lifting and movable bracket, and the second lifting guide wheel is rollingly matched with the first guide groove.

4. The crystal rod extraction robot according to claim 1, characterized in that: The second lifting mechanism also includes a lifting drive assembly for driving the third lifting and moving bracket to lift and lower along the first direction, the lifting drive assembly including a first reducer mounting seat, a first lifting motor, a first lifting reducer, a lifting gear set and a first lifting rack; the first reducer mounting seat is mounted on the clamping support, the first lifting reducer is mounted on the first reducer mounting seat, the first lifting motor is connected to the first lifting reducer, and the output end of the first lifting reducer is connected to the lifting gear set, the lifting gear set is meshed with the first lifting rack, and the first lifting rack is mounted on the third lifting and moving bracket; and / or, The second lifting mechanism further includes a third lifting guide wheel disposed on the inner side of the second lifting fixed bracket, a second guide groove is disposed on the inner side of the second lifting fixed bracket, and a third guide groove is disposed on the outer side of the third lifting movable bracket; The groove edge of the second guide groove is staggered with the groove edge of the third guide groove, and the third lifting movable bracket is lifted and guided by the cooperation of the third guide groove, the third lifting guide wheel and the second guide groove.

5. The crystal rod extraction robot according to claim 1, characterized in that: The third lifting mechanism includes a second reducer mounting seat, a second lifting reducer, a second lifting motor, a second lifting gear and a second lifting rack. The second reducer mounting seat is fixedly mounted on the bottom of the crystal support mechanism, the second lifting reducer is mounted on the second reducer mounting seat, the second lifting reducer is connected to the second lifting motor, the second lifting reducer is connected to the second lifting gear, the second lifting rack is fixed on the third lifting movable bracket, and the second lifting gear is meshed with the second lifting rack.

6. The crystal rod extraction robot according to claim 5, characterized in that: The third lifting mechanism also includes a third lifting side plate and a fourth lifting guide wheel. The crystal support mechanism is installed on one side of the third lifting side plate. The fourth lifting guide wheel is rotatably arranged on the third lifting side plate. A fourth guide groove is arranged on the inner side of the third lifting movable bracket. The fourth lifting guide wheel is rollingly matched with the fourth guide groove.

7. The crystal rod extraction robot according to claim 1, characterized in that: The crystal support mechanism includes a crystal support bottom plate, a crystal support back plate, a crystal support side plate and a crystal support floating support ring; the crystal support bottom plate, the crystal support back plate and the crystal support side plates are fixedly connected in pairs and enclosed to form a accommodating cavity for accommodating the crystal rod; the crystal support floating support ring is located in the accommodating cavity and is arranged on the crystal support bottom plate through an elastic member.

8. The crystal rod extraction robot according to claim 1, characterized in that: The crystal rod extraction robot further comprises a rotating mechanism, and the clamping support is mounted on the second lifting and moving bracket via the rotating mechanism; Wherein, the rotating mechanism includes a slewing support, a hydraulic rotator installed on the slewing support and a rotating panel connected to the hydraulic rotator, the slewing support is fixedly connected to the second lifting and movable bracket, and the rotating panel is fixedly connected to the clamping support.

9. A method for extracting a crystal rod, based on the crystal rod extracting robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: The crystal rod retrieval robot is driven by the mobile body to move to a preset position, the first lifting mechanism drives the clamping mechanism to descend to a set height along the first direction, and the bottom of the third lifting and moving bracket descends to the bottom of the underground negative layer; After the upper furnace drum of the crystal pulling furnace rotates to above the crystal support mechanism, the crystal rod slowly descends; The third lifting mechanism drives the crystal support mechanism to rise to dock and support the crystal ingot, and then the third lifting mechanism drives the crystal support mechanism to descend to drive the crystal ingot to slowly descend to the underground negative layer, so that the crystal ingot is completely separated from the upper furnace drum. During this process, the first clamping arm assembly and the second clamping arm assembly of the clamping mechanism virtually hold the descending crystal ingot to guide the crystal ingot to rise and fall; The crystal shearing mechanism shears off the seed crystal at the top of the crystal rod; After the upper furnace drum of the crystal pulling furnace is rotated and reset, the second lifting mechanism and / or the third lifting mechanism are operated to lift and lower the crystal support mechanism to adjust the height, so that the first clamping arm assembly and the second clamping arm assembly of the clamping mechanism tightly hold the middle position of the crystal rod; The first lifting mechanism drives the clamping mechanism to rise, so that the crystal rod rises and leaves the underground negative layer; The crystal rod taking robot is driven by the mobile body to carry the crystal rod away from the preset position.

10. The method for obtaining a crystal rod according to claim 9, characterized in that: The following steps are also included: After the crystal rod taking robot carries the crystal rod to the unloading position driven by the mobile body, the clamping support is installed on the second lifting movable bracket through the rotating mechanism, and the clamping mechanism is rotated to make the crystal rod in a horizontal state; The first clamping arm assembly and the second clamping arm assembly of the clamping mechanism are relatively separated to release the crystal rod to unload the crystal rod, and the crystal support mechanism is driven by the third lifting mechanism and / or the second lifting mechanism to move away from the crystal rod.

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