AGV (Automatic Guided Vehicle) transfer equipment and wire cutting system

Abstract

The invention discloses AGV transfer equipment and a wire cutting system, and the AGV transfer equipment comprises an AGV which comprises a chassis and a plurality of automatic supporting legs arranged on the two sides of the Y axis of the chassis, and the automatic supporting legs are suitable for stretching out or retracting from the bottom of the chassis along the Z axis; the joining mechanism is used for joining the crystal bar assembly and is suitable for moving the crystal bar assembly into or out of the line cutting equipment along the Y axis; the adjusting mechanism is connected between the AGV and the connecting mechanism and is suitable for driving the connecting mechanism to translate at least along the X axis and the Z axis and rotate around the Z axis; the detection mechanism is used for detecting the alignment state of the connection mechanism and the wire cutting equipment; the automatic supporting foot and the adjusting mechanism respond to the detection result of the detection mechanism to adjust the connecting mechanism in a matched mode so that the crystal bar assembly can be located at the position opposite to the wire cutting device. By the adoption of the structure, reliable feeding and discharging of the crystal bar assembly at the line cutting equipment can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of wire cutting, and particularly relates to an AGV transfer device and a wire cutting system. Background Art

[0002] After the ingot is produced, it needs to be transferred to the wire cutting equipment by a transfer device for cutting operations. However, due to the heavy weight of the ingot, in the prior art, the transfer device generally uses an AGV vehicle to transport the ingot containing the ingot carrier, and an engaging mechanism for loading and unloading the ingot is provided on the AGV vehicle. The engaging mechanism cooperates with the ingot carrier, and the engaging mechanism is adapted to push the ingot carrier towards the cutting area of the wire cutting machine, so that the ingot carrier is embedded and fitted with the loading guide rail on the wire cutting equipment, and the ingot is suspended in the cutting area for subsequent cutting. After the silicon rod is cut, the engaging mechanism can also pull the ingot carrier out of the cutting area for unloading. For details, reference can be made to the slicing unitized production line disclosed in Chinese Utility Model CN202321720278.7.

[0003] However, when loading and unloading in the above manner, the alignment accuracy requirements for the ingot carrier and the loading guide rail are relatively high. When there is a position deviation in the ingot assembly on the transfer device, it is easy to cause damage to the transfer device and / or the wire cutting equipment.

[0004] Therefore, it is necessary to improve the prior art to overcome the above-mentioned defects in the prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide an AGV transfer device and a wire cutting system to ensure reliable loading and unloading of the ingot assembly at the wire cutting equipment.

[0006] The purpose of the present invention is achieved through the following technical solutions: An AGV transfer device includes:

[0007] An AGV vehicle, including a chassis and a plurality of automatic feet provided on the chassis, and the automatic feet are adapted to extend or retract from the bottom of the chassis along the Z-axis;

[0008] An engaging mechanism for engaging the ingot assembly and adapted to move the ingot assembly into or out of the wire cutting equipment along the Y-axis;

[0009] An adjustment mechanism is connected between the AGV vehicle and the engaging mechanism, and is adapted to drive the engaging mechanism to translate at least along the X-axis and the Z-axis and rotate around the Z-axis;

[0010] A detection mechanism for detecting the alignment state between the engaging mechanism and the wire cutting equipment;

[0011] Wherein, the automatic feet and the adjustment mechanism cooperate to adjust the engaging mechanism in response to the detection result of the detection mechanism, so that the ingot assembly is in a position aligned with the wire cutting equipment.

[0012] Further, the adjustment mechanism includes:

[0013] an X-axis movement module;

[0014] a Z-axis movement module, which is in transmission connection with the X-axis movement module;

[0015] a rotation module, which is respectively in transmission connection with the Z-axis movement module and the connection mechanism;

[0016] Wherein, the connection mechanism includes a connection tooling and a push-pull component. The connection tooling is adapted to clamp or release the ingot component, and the push-pull component is adapted to push the ingot component from the connection tooling into the wire cutting equipment along the Y-axis, or pull the ingot component from the wire cutting equipment into the connection tooling.

[0017] Further, the adjustment mechanism includes a Y-axis movement module. The AGV vehicle includes a vehicle body with an inlet and an outlet. The X-axis movement module is in transmission connection between the top of the chassis and the bottom of the vehicle body. The number of Z-axis movement modules is two, and they are respectively arranged on both sides of the vehicle body in the X-axis direction. The Y-axis movement module is in transmission connection with the Z-axis movement module and corresponds to the Z-axis movement module one by one. The rotation module is in transmission connection between the two Y-axis movement modules;

[0018] Wherein, the Z-axis movement module, the Y-axis movement module, the rotation module and the connection mechanism are all accommodated in the vehicle body, and the ingot component on the connection tooling is adapted to extend out of the inlet and outlet under the cooperation of the Y-axis movement module and the push-pull component.

[0019] Further, the detection mechanism includes:

[0020] a sensor group, which is arranged on the connection mechanism;

[0021] a calibration plate, which is arranged on the wire cutting equipment;

[0022] Wherein, the sensor group is adapted to emit a light beam to the plate surface of the calibration plate to obtain the alignment state of the connection mechanism and the wire cutting equipment.

[0023] Further, the sensor group includes a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor that emit light beams along the Y-axis, and a fourth photoelectric sensor and a fifth photoelectric sensor that emit light beams along the Z-axis. The first photoelectric sensor and the second photoelectric sensor are on the same straight line parallel to the X-axis. The first photoelectric sensor and the third photoelectric sensor are on the same straight line parallel to the Z-axis. The fourth photoelectric sensor and the fifth photoelectric sensor are on the same straight line parallel to the X-axis;

[0024] The first photoelectric sensor and the second photoelectric sensor are suitable for cooperating to obtain the angular deviation of the connection mechanism rotating around the Z axis, the first photoelectric sensor and the third photoelectric sensor are suitable for cooperating to obtain the angular deviation of the connection mechanism rotating around the X axis, and the fourth photoelectric sensor and the fifth photoelectric sensor are suitable for cooperating to obtain the angular deviation of the connection mechanism rotating around the Y axis.

[0025] Furthermore, the detection mechanism also includes a visual camera arranged on the connection mechanism, and a mark is provided on the calibration plate. The visual camera is suitable for cooperating with the mark to obtain the displacement deviation of the connection mechanism on the X-axis and the Z-axis.

[0026] Furthermore, the connection tooling comprises:

[0027] A base plate connected to the output end of the rotating module;

[0028] The clamping components are in two groups and are disposed on both sides of the substrate on the X-axis;

[0029] A clamping drive assembly, disposed on the substrate, to drive the two groups of clamping assemblies to move toward or away from each other along the X-axis direction;

[0030] Among them, the crystal rod assembly includes a crystal rod and a crystal tray fixed to the crystal rod, the crystal tray is recessed inward on both sides of the X-axis to form a first bracket, the first bracket extends along the Y-axis and passes through both sides of the crystal tray, the two clamping assemblies are suitable for moving toward each other to embed into different first brackets, and the push-pull assembly is suitable for pushing and pulling the crystal tray along the Y-axis direction.

[0031] Furthermore, the clamping assembly comprises:

[0032] A bracket, slidably connected to the base plate;

[0033] A clamping plate adapted to the first bracket;

[0034] A guide wheel is rotatably disposed on the clamping plate, and a plurality of guide wheels are arranged side by side along the Y-axis direction;

[0035] The guide wheel is suitable for being embedded in the first bracket and guiding the crystal holder to move along the Y-axis.

[0036] Furthermore, the push-pull assembly comprises:

[0037] The push-pull module is disposed on the substrate and arranged along the Y-axis direction;

[0038] A push-pull claw is transmission-connected to the push-pull module and arranged opposite to the crystal support on the clamping assembly along the Y axis;

[0039] Wherein, a handle is provided on one side of the crystal holder facing the push-pull claw, and the push-pull claw is adapted to be embedded in and push-pull the handle.

[0040] In addition, the present invention also provides a wire cutting system, comprising:

[0041] The aforementioned AGV transfer device for transferring the ingot assembly;

[0042] A wire cutting device, comprising a wire cutting chamber and a loading guide rail arranged in the wire cutting chamber;

[0043] Wherein, the ingot assembly includes an ingot and a crystal holder fixed on the ingot. The AGV transfer device is adapted to be connected with the crystal holder and push it into the loading guide rail along the Y-axis, or the AGV transfer device is adapted to pull the crystal holder out of the loading guide rail along the Y-axis and connect with it.

[0044] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a plurality of automatic feet are provided on the chassis of the AGV vehicle. The automatic feet are adapted to extend out of the bottom of the chassis along the Z-axis to support the chassis, ensuring the stability of the AGV vehicle, thereby improving the reliability during the loading and unloading process of the ingot assembly; By providing an adjustment mechanism connected between the AGV vehicle and the connection mechanism, when there is a displacement deviation in the connection mechanism, the adjustment mechanism is adapted to drive the connection mechanism to translate along the X-axis and the Z-axis to adjust the position of the connection mechanism, ensuring the precise alignment of the connection mechanism with the wire cutting device; In addition, there will be an angular deviation during the movement of the AGV vehicle, and it is difficult to make the ground on which the AGV vehicle is carried completely flat. In addition to the displacement deviation, the connection mechanism may also have an angular deviation. In the present invention, by providing a plurality of automatic feet on the chassis, when there is an angular deviation in the X-axis direction and / or the Y-axis direction of the connection mechanism, by adjusting the telescopic height of the automatic feet, the chassis can be rotated and adjusted around the X-axis and / or the Y-axis, thereby correcting the angular deviation of the connection mechanism in the X-axis direction and / or the Y-axis direction. When there is an angular deviation in the Z-axis direction of the connection mechanism, the adjustment mechanism can drive the connection mechanism to rotate around the Z-axis to correct the angular deviation of the connection mechanism in the Z-axis direction, ensuring the precise alignment of the connection mechanism with the wire cutting device. Moreover, using the automatic feet to indirectly adjust the angular deviation of the connection mechanism can avoid adding additional rotation structures, effectively simplifying the structure and reducing the cost. Description of the Drawings

[0045] Figure 1 is a schematic structural diagram of the wire cutting system of the present invention.

[0046] Figure 2 is a schematic structural diagram of the AGV transfer device of the present invention.

[0047] Figure 3 is Figure 2 a schematic structural diagram after removing the outer cover.

[0048] Figure 4 It is a schematic structural diagram of the chassis in the present invention.

[0049] Figure 5 It is a schematic installation diagram of each component on the chassis in the present invention.

[0050] Figure 6 It is a schematic exploded structural diagram of the adjustment mechanism and the connection mechanism in the present invention.

[0051] Figure 7 It is a schematic structural diagram of the connection mechanism in the present invention.

[0052] Figure 8 is Figure 7 a schematic structural diagram in another direction.

[0053] Figure 9 It is a schematic installation diagram of the detection mechanism in the present invention.

[0054] Figure 10 It is a schematic structural diagram of the wire cutting equipment in the present invention.

[0055] Explanation of reference numerals:

[0056] 1000, AGV transfer equipment; 2000, wire cutting equipment; 100, AGV vehicle; 110, chassis; 120, automatic support feet; 130, vehicle body; 131, bottom plate; 1311, avoidance hole; 132, outer cover; 1321, inlet and outlet; 140, conveyor line body; 200, adjustment mechanism; 210, X-axis moving module; 220, Z-axis moving module; 230, rotation module; 240, lifting frame; 241, fixing plate; 242, lifting plate; 250, Y-axis moving module; 260, mounting table; 300, connection mechanism; 310, connection tooling; 311, substrate; 312, clamping component; 3121, bracket; 3122, clamping plate; 3123, guide wheel; 313, clamping drive component; 320, push-pull component; 321, push-pull module; 322, push-pull claw; 400, detection mechanism; 410, sensor group; 411, first photoelectric sensor; 412, second photoelectric sensor; 413, third photoelectric sensor; 414, fourth photoelectric sensor; 415, fifth photoelectric sensor; 420, calibration plate; 421, marking; 422, first plate body; 423, second plate body; 430, mounting plate; 440, vision camera; 500, ingot component; 510, ingot; 520, ingot holder; 521, first trough; 522, handle; 530, connection block; 610, wire cutting chamber; 620, loading guide rail; 621, second trough. Detailed implementation manners

[0057] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. It can be understood that the specific embodiments described herein are only for explaining the present application and not for limiting the present application. Additionally, it should be noted that for the sake of description, only the parts related to the present application rather than all the structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0058] The terms "comprising" and "having" and any variations thereof in the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0059] Referring to the embodiments herein means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0060] Please refer to Figures 1 to 4 As shown, corresponding to an AGV transfer device 1000 of a preferred embodiment of the present invention, it includes: an AGV vehicle 100, which includes a chassis 110 and a plurality of automatic feet 120 respectively arranged on both sides of the chassis 110 along the Y-axis. The automatic feet 120 are adapted to extend or retract from the bottom of the chassis 110 along the Z-axis; a connection mechanism 300, which is used to connect the ingot component 500 and is adapted to move the ingot component 500 into or out of the wire cutting device 2000 along the Y-axis; an adjustment mechanism 200, which is connected between the AGV vehicle 100 and the connection mechanism 300 and is adapted to drive the connection mechanism 300 to translate at least along the X-axis and Z-axis and rotate around the Z-axis; a detection mechanism 400, which is used to detect the alignment state between the connection mechanism 300 and the wire cutting device 2000; wherein, the automatic feet 120 and the adjustment mechanism 200 cooperate to adjust the connection mechanism 300 in response to the detection result of the detection mechanism 400, so that the ingot component 500 is in a position aligned with the wire cutting device 2000.

[0061] In the present invention, a plurality of automatic feet 120 are provided on the chassis 110 of the AGV vehicle 100. The automatic feet 120 are adapted to extend out of the bottom of the chassis 110 along the Z-axis to support the chassis 110, ensuring that the AGV vehicle 100 is in a stable state, thereby improving the reliability during the loading and unloading process of the ingot component 500; by providing an adjustment mechanism 200 connected between the AGV vehicle 100 and the connection mechanism 300, when there is a displacement deviation in the connection mechanism 300, the adjustment mechanism 200 is adapted to drive the connection mechanism 300 to translate along the X-axis and the Z-axis to adjust the position of the connection mechanism 300, ensuring accurate alignment of the connection mechanism 300 with the wire cutting device 2000; in addition, there will be an angular deviation during the movement of the AGV vehicle 100, and it is difficult to make the ground on which the AGV vehicle 100 is carried completely flat. In addition to the displacement deviation, there may also be an angular deviation in the connection mechanism 300. In the present invention, a plurality of automatic feet 120 are provided on the chassis 110. When there is an angular deviation in the connection mechanism 300 in the X-axis direction and / or the Y-axis direction, by adjusting the telescopic height of the automatic feet 120, the chassis 110 can be rotated and adjusted around the X-axis and / or the Y-axis, thereby correcting the angular deviation of the connection mechanism 300 in the X-axis direction and / or the Y-axis direction. When there is an angular deviation in the connection mechanism 300 in the Z-axis direction, the adjustment mechanism 200 can drive the connection mechanism 300 to rotate around the Z-axis to correct the angular deviation of the connection mechanism 300 in the Z-axis direction, ensuring accurate alignment of the connection mechanism 300 with the wire cutting device 2000. Moreover, by using the automatic feet 120 to indirectly adjust the angular deviation of the connection mechanism 300, additional rotating structures can be avoided, effectively simplifying the structure and reducing the cost.

[0062] Further, in this embodiment, the number of the automatic feet 120 is specifically four. Two automatic feet 120 are provided on each side of the chassis 110, and the two automatic feet 120 are respectively arranged at both ends of the side in the X-axis. With such a design, while reducing the number of the automatic feet 120 provided, the support stability and adjustment reliability can be ensured. In addition, by adjusting the telescopic amount of the automatic feet 120, it can not only adjust the angular deviation of the chassis 110 around the X-axis, but also adjust the angular deviation of the chassis 110 around the Y-axis. The automatic feet 120 are specifically electric feet driven by a motor, which is a well-known structure and will not be elaborated herein in the present invention.

[0063] Further, referring to Figure 2 、 Figure 3 、 Figure 5 and Figure 6As shown in the figure, the adjustment mechanism 200 includes an X-axis movement module 210, a Z-axis movement module 220, and a rotation module 230. The Z-axis movement module 220 is in transmission connection with the X-axis movement module 210, the rotation module 230 is in transmission connection with the Z-axis movement module 220, and the connection mechanism 300 is in transmission connection with the rotation module 230. The X-axis movement module 210 can adjust the position of the connection mechanism 300 along the X-axis, the Z-axis movement module 220 can adjust the position of the connection mechanism 300 along the Z-axis, and the rotation module 230 can adjust the angular deviation of the connection mechanism 300 around the Z-axis. The connection mechanism 300 includes a connection tooling 310 and a push-pull assembly 320. The connection tooling 310 is adapted to clamp or release the ingot assembly 500, and the push-pull assembly 320 is adapted to push the ingot assembly 500 from the connection tooling 310 into the wire cutting device 2000 along the Y-axis, or pull the ingot assembly 500 from the wire cutting device 2000 into the connection tooling 310.

[0064] Furthermore, the AGV vehicle 100 includes a vehicle body 130 disposed on the chassis 110. The connection mechanism 300, the adjustment mechanism 200, and the detection mechanism 400 can be received in the vehicle body 130, so that they can be effectively protected and the potential safety hazards can be reduced at the same time. An inlet / outlet 1321 is opened on one side of the vehicle body 130 in the Y-axis direction for the ingot assembly 500 on the connection mechanism 300 to move out of or retract into the vehicle body 130.

[0065] In this embodiment, the vehicle body 130 includes a bottom plate 131 and an outer cover 132 fixed to the bottom plate 131. The inlet / outlet 1321 is opened on the outer cover 132 and extends along the Z-axis to the bottom plate 131. A conveying line body 140 is disposed on the top of the chassis 110. The bottom plate 131 is provided with an avoidance hole 1311 penetrating along the Z-axis. The conveying line body 140 extends out of the top of the bottom plate 131 through the avoidance hole 1311 and is received in the outer cover 132. The conveying direction of the conveying line body 140 is parallel to the Y-axis direction, and one end is located at the inlet / outlet 1321 for receiving the ingot assembly 500 and conveying the ingot assembly 500 to a preset position for the connection mechanism 300 to pick up and place.

[0066] Preferably, the X-axis movement module 210 is located outside the vehicle body 130 and is in transmission connection between the top of the chassis 110 and the bottom of the vehicle body 130. It can drive the vehicle body 130 to move along the X-axis direction. Such a design can ensure that the connection mechanism 300 is adjusted along the X-axis while reducing the space required by the vehicle body 130 in the X-axis direction, thereby reducing the vehicle body 130. Specifically, the X-axis movement module 210 is a linear module, which is fixed to the top of the chassis 110, and the sliding end is fixed to the bottom plate 131. At least one set of slide rail structures arranged along the X-axis direction is provided between the bottom plate 131 and the chassis 110.

[0067] The Z-axis moving modules 220 are accommodated in the vehicle body 130, and there are two of them, which are respectively arranged on both sides of the vehicle body 130 in the X-axis direction. Specifically, the outer cover 132 is provided with a lifting frame 240 corresponding to the Z-axis moving modules 220, and the lifting frame 240 includes a fixed plate 241 and a lifting plate 242. The fixed plate 241 is fixed to the outer cover 132, and at least one set of slide rail structures arranged along the Z-axis direction is provided between the lifting plate 242 and the fixed plate 241, so that the lifting plate 242 can slide along the Z-axis relative to the fixed plate 241. The Z-axis moving module 220 is arranged on the fixed plate 241, and its sliding end is connected to the lifting plate 242. The two sets of Z-axis moving modules 220 can preferably be synchronously driven by the same motor and a transmission belt, which reduces the cost while ensuring the synchronization of the Z-axis movement.

[0068] In addition, the adjustment mechanism 200 further includes a Y-axis moving module 250 housed in the body 130, and there are two Y-axis moving modules 250, which correspond to the Z-axis moving modules 220 one by one, and the two Y-axis moving modules 250 are respectively connected to different Z-axis moving modules 220. The rotating module 230 is housed in the body 130 and connected between the two Y-axis moving modules 250.

[0069] By adopting the above structure, the crystal rod assembly 500 on the connecting tooling 310 can be extended or retracted in two stages along the Y-axis with the cooperation of the Y-axis moving module 250 and the push-pull assembly 320. While ensuring the moving stroke on the Y-axis, the structure of the Y-axis moving part is more compact, the space required for the vehicle body 130 on the Y-axis is smaller, the vehicle body 130 can be reduced, and the movement of the crystal rod assembly 500 on the Y-axis is more stable and reliable.

[0070] Specifically, two groups of Y-axis moving modules 250 are respectively installed on different lifting plates 242, and a mounting platform 260 is provided between the two groups of Y-axis moving modules 250. The mounting platform 260 is connected to the sliding end of the Y-axis moving module 250. A slide rail structure arranged along the Y-axis is provided between the mounting platform 260 and the lifting plate 242, and the Y-axis moving module 250 is suitable for driving the mounting platform 260 to move along the Y-axis. The two groups of Y-axis moving modules 250 are also synchronously driven by the same motor and the transmission belt to ensure the synchronization of the Y-axis movement. The rotating module 230 is fixed on the mounting platform 260, and its output end extends below the mounting platform 260. The connection tooling 310 is located below the mounting platform 260 and is connected to the output end of the rotating module 230.

[0071] Further, refer to Figures 6 to 8As shown, the connection mechanism 300 is located above the conveyor line body 140 and can be moved to a preset position under the drive of the adjustment mechanism 200 to clamp the ingot component 500. The connection tooling 310 includes a substrate 311, a clamping component 312, and a clamping drive component 313. The substrate 311 is located below the mounting table 260 and is connected to the output end of the rotation module 230. The number of the clamping components 312 is two groups, and they are respectively arranged on both sides of the substrate 311 along the X-axis. The clamping drive component 313 is installed on the substrate 311 to drive the two groups of clamping components 312 to move towards or away from each other along the X-axis direction. The clamping drive component 313 is a conventional drive structure, which will not be elaborated in the present invention.

[0072] The ingot component 500 includes an ingot 510 and an ingot carrier 520 fixed on the peripheral side of the ingot 510. The ingot carrier 520 is recessed inwardly on both sides along the X-axis to form a first trough 521. The first trough 521 extends along the Y-axis and penetrates to both sides of the ingot carrier 520. The two clamping components 312 are adapted to move towards each other to be embedded in different first troughs 521. After the Z-axis moving module 220 drives the connection mechanism 300 to rise, the ingot component 500 can be lifted upward, and the push-pull component 320 is adapted to push and pull the ingot carrier 520 along the Y-axis direction.

[0073] Preferably, in this embodiment, the clamping component 312 includes a bracket 3121, a clamping plate 3122, and a guide wheel 3123. A slide rail structure arranged along the X-axis is provided between the bracket 3121 and the substrate 311 to enable the bracket 3121 to be slidably connected to the substrate 311. The clamping plate 3122 is located below the substrate 311. The clamping plate 3122 is adapted to the first trough 521 and extends along the Y-axis towards the two open sides of the first trough 521. The guide wheel 3123 is rotatably arranged on the clamping plate 3122, and a plurality of guide wheels 3123 are arranged side by side along the Y-axis direction. The guide wheel 3123 is adapted to be embedded in the first trough 521 to support the ingot carrier 520 and guide the ingot carrier 520 to move along the Y-axis. By adopting the above structure, the rolling friction exists between the ingot carrier 520 and the connection tooling 310, which can improve the smoothness of the push and pull of the push-pull component 320 and reduce the probability of damage to the ingot component 500. In addition, since the ingot 510 and the ingot carrier 520 are usually fixed by gluing, preferably, the axial direction of the ingot 510 is parallel to the Y-axis, and the ingot carrier 520 extends along the Y-axis to both ends of the ingot 510, so that the contact surface between the ingot carrier 520 and the ingot 510 is larger, more stable after gluing, and the size of the first trough 521 in the Y-axis direction is increased, improving the reliability during the pushing and pulling of the ingot carrier 520.

[0074] Preferably, a connecting block 530 is glued between the crystal support 520 and the crystal rod 510. The connecting block 530 is specifically made of silicone, rubber or other materials. When the crystal rod 510 is cut, the wire cutting equipment 2000 can cut to the connecting block 530 to ensure that the cut wafers are completely separated while avoiding damage to the crystal support 520, so that the crystal support 520 can be reused to reduce costs.

[0075] Further, the push-pull assembly 320 includes a push-pull module 321 and a push-pull claw 322. The push-pull module 321 is arranged at the bottom of the substrate 311, and is a linear module arranged along the Y-axis direction. The push-pull claw 322 is transmission-connected to the push-pull module 321, and is arranged relative to the crystal support 520 on the clamping assembly 312 along the Y-axis. A handle 522 is provided on the side of the crystal support 520 facing the push-pull claw 322, and the handle 522 is a through structure on the Z-axis. The push-pull claw 322 is suitable for being embedded in the handle 522 under the drive of the adjustment mechanism 200, and then the handle 522 is pushed and pulled under the drive of the push-pull module 321 to drive the crystal rod assembly 500 to move along the Y-axis.

[0076] Further, refer to Figures 7 to 10 As shown, the detection mechanism 400 includes a sensor group 410 and a calibration plate 420. The sensor group 410 is arranged on the connection mechanism 300, and the calibration plate 420 is arranged on the wire cutting device 2000. The sensor group 410 faces the calibration plate 420. The sensor group 410 is suitable for emitting a light beam to the plate surface of the calibration plate 420 to obtain the alignment state of the connection mechanism 300 and the wire cutting device 2000. The detection mechanism 400 is respectively connected to the adjustment mechanism 200 and the AGV vehicle 100 by signal. The rotating module 230 and the automatic support leg 120 can adjust the angle of the connection mechanism 300 according to the alignment state to ensure accurate alignment.

[0077] Specifically, the detection mechanism 400 includes a mounting plate 430 fixed to the substrate 311, and the sensor group 410 is disposed on the mounting plate 430. The sensor group 410 includes a first optoelectronic sensor 411, a second optoelectronic sensor 412, and a third optoelectronic sensor 413 that emit light beams along the Y-axis. The first optoelectronic sensor 411 and the second optoelectronic sensor 412 are on the same straight line parallel to the X-axis. The first optoelectronic sensor 411 and the third optoelectronic sensor 413 are on the same straight line parallel to the Z-axis. The measurement surfaces of the first optoelectronic sensor 411, the second optoelectronic sensor 412, and the third optoelectronic sensor 413 are perpendicular to the Y-axis and are flush with each other on the Y-axis. The above-mentioned optoelectronic sensors are adapted to emit light beams from the measurement surface along the Y-axis. The calibration plate 420 includes a first plate body 422 for receiving the light beams emitted by the above-mentioned optoelectronic sensors. It is located on one side of the above-mentioned optoelectronic sensors on the Y-axis. When there is no angular deviation between the connection mechanism 300 and the wire cutting device 2000, the lengths of the light beams emitted by the above-mentioned optoelectronic sensors to the plate surface of the first plate body 421 are equal. Therefore, the first optoelectronic sensor 411 and the second optoelectronic sensor 412 are adapted to cooperate to obtain the angular deviation of the connection mechanism 300 rotating around the Z-axis, and the first optoelectronic sensor 411 and the third optoelectronic sensor 413 are adapted to cooperate to obtain the angular deviation of the connection mechanism 300 rotating around the X-axis.

[0078] The sensor group 410 further includes a fourth optoelectronic sensor 414 and a fifth optoelectronic sensor 415 that emit light beams along the Z-axis. The fourth optoelectronic sensor 414 and the fifth optoelectronic sensor 415 are on the same straight line parallel to the X-axis. The measurement surfaces of the above-mentioned optoelectronic sensors are perpendicular to the Z-axis and are flush with each other on the Z-axis. The above-mentioned optoelectronic sensors are adapted to emit light beams from the measurement surface along the Z-axis. The calibration plate 420 includes a second plate body 423 for receiving the light beams emitted by the above-mentioned optoelectronic sensors. It is located above the above-mentioned optoelectronic sensors to receive the light beams emitted upward by the optoelectronic sensors along the Z-axis. When there is no angular deviation between the connection mechanism 300 and the wire cutting device 2000, the lengths of the light beams emitted by the above-mentioned optoelectronic sensors to the plate surface of the second plate body 422 are equal. Therefore, the fourth optoelectronic sensor 414 and the fifth optoelectronic sensor 415 are adapted to cooperate to obtain the angular deviation of the connection mechanism 300 rotating around the Y-axis.

[0079] In addition, the detection mechanism 400 further includes a vision camera 440 disposed on the connection mechanism 300. There is a mark 421 on the calibration plate 420. The vision camera 440 is adapted to take pictures of the mark 421 to obtain the displacement deviation of the connection mechanism 300 on the X-axis and the Z-axis, and correct the connection mechanism 300 through the X-axis movement module 210 and the Z-axis movement module 220. In this embodiment, the mark 421 may specifically be a round hole recessed inward from the plate surface of the first plate body 422. When the axis of the vision camera 440 is coaxial with the round hole, it indicates that there is no displacement deviation. Using the above-mentioned mark 421, the structure is simple, and the determination is fast and accurate.

[0080] The feeding process of the AGV transfer device 1000 is as follows: The ingot component 500 to be cut is moved from the inlet / outlet 1321 of the vehicle body 130 to the conveying line body 140. The conveying line body 140 inputs the ingot component 500 to a preset position of the vehicle body 130. The connection mechanism 300 moves to the material taking station under the drive of the adjustment mechanism 200, so that the clamping components 312 correspond to the first slots 521 on the ingot carrier 520 one by one, and the pushing / pulling claws 322 of the pushing / pulling component 320 are embedded into the handle 522 of the ingot carrier 520. Then, the clamping drive component 313 drives the two clamping components 312 to move towards each other to be embedded into the first slots 521 and clamp the ingot component 500. The adjustment mechanism 200 drives the connection mechanism 300 to rise along the Z axis to lift the ingot component 500 and move it to a preset position for feeding. The AGV vehicle 100 moves to the loading / unloading station of the wire cutting device 2000 according to a preset route. At this time, the adjustment mechanism 200 moves the connection mechanism 300 out of the vehicle body 130 along the Y axis to dock the connection mechanism 300 with the wire cutting device 2000 and make the sensor group 410 cooperate with the calibration plate 420. If the detection mechanism 400 detects that the ingot component 500 is accurately aligned with the wire cutting device 2000, the pushing / pulling component 320 pushes the ingot component 500 from the connection tooling 310 into the wire cutting device 2000. If the detection mechanism 400 detects that the ingot component 500 is not accurately aligned with the wire cutting device 2000, the X-axis movement module 210, Z-axis movement module 220, rotation module 230 and automatic support feet 120 are selectively actuated according to the offset situation. The X-axis movement module 210 and Z-axis movement module 220 cooperate to correct the displacement deviation, and the rotation module 230 and automatic support feet 120 cooperate to correct the angle deviation. After the ingot component 500 is accurately aligned with the wire cutting device 2000, the pushing operation is carried out. After the feeding is completed, the AGV transfer device 1000 can leave the wire cutting device 2000 to continue to transfer new ingot components 500.

[0081] When it is necessary to take the ingot component 500 off the wire cutting device 2000, the AGV transfer device 1000 moves back to the loading / unloading station of the wire cutting device 2000, and the connection mechanism 300 is aligned with the ingot component 500 under the adjustment of the adjustment mechanism 200. At this time, the pushing / pulling claws 322 can pull the handle 522 under the drive of the Y-axis movement module 250 and the pushing / pulling module 321 to pull the ingot component 500 back to the connection tooling 310.

[0082] In addition, referring to Figure 1 and Figure 10As shown in the figure, the present invention further provides a wire cutting system, which includes a wire cutting device 2000 and the aforementioned AGV transfer device 1000. The wire cutting device 2000 includes a wire cutting chamber 610 and a loading guide rail 620 disposed in the wire cutting chamber 610. When the connection mechanism 300 is accurately aligned with the wire cutting device 2000, the pushing and pulling direction of the connection mechanism 300 is parallel to the length direction of the loading guide rail 620. The top of the loading guide rail 620 is fixed to the wire cutting chamber 610, and a second support groove 621 is formed by being recessed inward from the bottom. The second support groove 621 extends along the length direction of the loading guide rail 620 and penetrates to the side of the loading guide rail 620 facing the connection mechanism 300. The second support groove 621 is adapted to the crystal support 520, and the crystal support 520 is adapted to be inserted into the first support groove 521 from the open end of the second support groove 621, so that the crystal bar assembly 500 is in a suspended state. Preferably, the second support groove 621 is a wedge-shaped groove that gradually contracts from the groove bottom to the groove opening, so as to ensure that after the crystal support 520 is inserted into the second support groove 621, it is not easy to fall out from the groove opening of the second support groove 621.

[0083] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. An AGV transfer device, characterized in that: include: An AGV vehicle (100) comprises a chassis (110) and a plurality of automatic legs (120) arranged on the chassis (110), wherein the automatic legs (120) are adapted to be extended or retracted from the bottom of the chassis (110) along a Z axis; A connection mechanism (300) is used to connect the crystal rod assembly (500) and is suitable for moving the crystal rod assembly (500) into or out of the off-line cutting device (2000) along the Y axis; An adjustment mechanism (200) is connected between the AGV vehicle (100) and the connection mechanism (300), and is suitable for driving the connection mechanism (300) to translate at least along the X-axis and the Z-axis and to rotate around the Z-axis; A detection mechanism (400) for detecting the alignment state of the connection mechanism (300) and the wire cutting device (2000); The automatic support leg (120) and the adjustment mechanism (200) cooperate to adjust the connection mechanism (300) in response to the detection result of the detection mechanism (400), so that the crystal rod assembly (500) is in a position relative to the wire cutting device (2000).

2. The AGV transfer equipment according to claim 1, characterized in that: The adjustment mechanism (200) comprises: X-axis moving module (210); A Z-axis moving module (220) is drivingly connected to the X-axis moving module (210); The rotating module (230) is respectively connected in transmission with the Z-axis moving module (220) and the connecting mechanism (300); The connection mechanism (300) comprises a connection tool (310) and a push-pull assembly (320), wherein the connection tool (310) is suitable for clamping or releasing the crystal rod assembly (500), and the push-pull assembly (320) is suitable for pushing the crystal rod assembly (500) from the connection tool (310) into the wire cutting device (2000) along the Y axis, or pulling the crystal rod assembly (500) from the wire cutting device (2000) into the connection tool (310).

3. The AGV transfer equipment according to claim 2, characterized in that: The adjustment mechanism (200) comprises a Y-axis moving module (250), the AGV vehicle (100) comprises a body (130) having an inlet and outlet (1321), the X-axis moving module (210) is transmission-connected between the top of the chassis (110) and the bottom of the body (130), the Z-axis moving modules (220) are two in number and are arranged on both sides of the body (130) in the X-axis direction, the Y-axis moving module (250) is transmission-connected to the Z-axis moving module (220) and corresponds to the Z-axis moving module (220) one by one, and the rotating module (230) is transmission-connected between the two Y-axis moving modules (250); The Z-axis moving module (220), the Y-axis moving module (250), the rotating module (230) and the connecting mechanism (300) are all housed in the vehicle body (130), and the crystal rod assembly (500) on the connecting tool (310) is suitable for extending out of the inlet and outlet (1321) under the cooperation of the Y-axis moving module (250) and the push-pull assembly (320).

4. The AGV transfer equipment according to claim 1, characterized in that: The detection mechanism (400) comprises: A sensor group (410) is arranged on the connection mechanism (300); A calibration plate (420) is arranged on the wire cutting device (2000); The sensor group (410) is suitable for emitting a light beam to the surface of the calibration plate (420) to obtain the alignment status of the connection mechanism (300) and the wire cutting device (2000).

5. The AGV transfer equipment according to claim 4, characterized in that: The sensor group (410) comprises a first photoelectric sensor (411), a second photoelectric sensor (412), a third photoelectric sensor (413) for emitting a light beam along the Y axis, and a fourth photoelectric sensor (414) and a fifth photoelectric sensor (415) for emitting a light beam along the Z axis, wherein the first photoelectric sensor (411) and the second photoelectric sensor (412) are located on the same straight line parallel to the X axis, the first photoelectric sensor (411) and the third photoelectric sensor (413) are located on the same straight line parallel to the Z axis, and the fourth photoelectric sensor (414) and the fifth photoelectric sensor (415) are located on the same straight line parallel to the X axis; The first photoelectric sensor (411) and the second photoelectric sensor (412) are suitable for cooperating to obtain the angular deviation of the connection mechanism (300) rotating around the Z axis, the first photoelectric sensor (411) and the third photoelectric sensor (413) are suitable for cooperating to obtain the angular deviation of the connection mechanism (300) rotating around the X axis, and the fourth photoelectric sensor (414) and the fifth photoelectric sensor (415) are suitable for cooperating to obtain the angular deviation of the connection mechanism (300) rotating around the Y axis.

6. The AGV transfer equipment according to claim 4, characterized in that: The detection mechanism (400) further comprises a visual camera (440) arranged on the connection mechanism (300); a mark (421) is provided on the calibration plate (420); and the visual camera (440) is suitable for cooperating with the mark (421) to obtain the displacement deviation of the connection mechanism (300) on the X-axis and the Z-axis.

7. The AGV transfer equipment according to claim 2, characterized in that: The connection tool (310) comprises: A base plate (311) connected to an output end of the rotating module (230); The clamping components (312) are in two groups and are disposed on both sides of the substrate (311) on the X-axis; A clamping drive component (313) is arranged on the base plate (311) to drive the two groups of clamping components (312) to move toward or away from each other along the X-axis direction; The crystal rod assembly (500) comprises a crystal rod (510) and a crystal tray (520) fixed to the crystal rod (510); the crystal tray (520) is recessed inwards on both sides of the X-axis to form a first bracket (521); the first bracket (521) extends along the Y-axis and passes through both sides of the crystal tray (520); the two clamping assemblies (312) are suitable for moving towards each other to embed into different first brackets (521); and the push-pull assembly (320) is suitable for pushing and pulling the crystal tray (520) along the Y-axis direction.

8. The AGV transfer equipment according to claim 7, characterized in that: The clamping assembly (312) comprises: A bracket (3121) is slidably connected to the base plate (311); A clamping plate (3122) adapted to fit the first bracket (521); A guide wheel (3123) is rotatably disposed on the clamping plate (3122), and a plurality of guide wheels are arranged side by side along the Y-axis direction; Wherein, the guide wheel (3123) is suitable for being embedded in the first bracket (521) and guiding the crystal holder (520) to move along the Y axis.

9. The AGV transfer equipment according to claim 7, characterized in that: The push-pull assembly (320) comprises: A push-pull module (321) is disposed on the substrate (311) and arranged along the Y-axis direction; A push-pull claw (322) is transmission-connected to the push-pull module (321) and arranged relative to the crystal support (520) on the clamping assembly (312) along the Y axis; Wherein, a handle (522) is provided on the side of the crystal holder (520) facing the push-pull claw (322), and the push-pull claw (322) is suitable for being embedded in and pushing and pulling the handle (522).

10. A wire cutting system, characterized in that: include: The AGV transfer device (1000) according to any one of claims 1 to 9, used for transferring a crystal ingot assembly (500); A wire cutting device (2000) comprises a wire cutting chamber (610) and a loading guide rail (620) arranged in the wire cutting chamber (610); Wherein, the crystal rod assembly (500) includes a crystal rod (510) and a crystal tray (520) fixed on the crystal rod (510), and the AGV transfer equipment (1000) is suitable for connecting with the crystal tray (520) and pushing it into the loading guide rail (620) along the Y axis, or the AGV transfer equipment (1000) is suitable for pulling the crystal tray (520) out of the loading guide rail (620) along the Y axis and connecting with it.

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