Crystal taking vehicle and crystal bar carrying method

Abstract

The embodiment of the invention provides a crystal taking vehicle and a crystal bar carrying method. The crystal taking vehicle comprises a stacking vehicle body, a clamping mechanism, a rod protection mechanism, a seed crystal shearing mechanism, a first visual assembly and a second visual assembly. The seed crystal shearing mechanism is installed on the guard bar, the clamping mechanism does not need to be provided with a fixing plate, the seed crystal shearing mechanism does not need to be independently provided with a lifting supporting column, the number of parts is reduced, and the crystal taking vehicle is simple in structure and convenient to assemble. The first visual assembly is mounted on the seed crystal shearing mechanism and is used for detecting the seed crystal position of the crystal bar; the seed crystal shearing mechanism is used for shearing the seed crystal when moving to the position corresponding to the seed crystal; the second visual assembly is installed on the clamping mechanism and used for detecting the target goods shelf when the stacker body moves to the target goods placing position, and the clamping mechanism places the clamped crystal bars on the target goods shelf under the condition that the target goods shelf is idle, so that the accident of repeated goods placing is avoided. The first visual assembly and the second visual assembly are arranged, so that the automation degree of the crystal taking vehicle can be improved.

Description

Technical Field

[0001] This application relates to the field of crystal rod transportation technology, and in particular to a crystal picking vehicle and a method for handling crystal rods. Background Technology

[0002] In related technologies, after the crystal rod is grown in a single crystal furnace, a crystal removal cart is used to transport the crystal rod to its destination.

[0003] Currently, there are two main types of commonly used crystal extraction vehicles:

[0004] The first type of crystal-retrieving vehicle mainly includes a stacker vehicle and a crystal-retrieving device, with the device mounted on the stacker vehicle. The device includes clamps, which, through their rotation and lifting functions, enable the transport and retrieval of long crystal rods. This type of crystal-retrieving vehicle requires manual cutting of seed crystals first, resulting in low work efficiency.

[0005] The second type of crystal-retrieving cart adds a fixing plate to the fixture, and a seed crystal cutting mechanism is added to the fixing plate. Although this type of crystal-retrieving cart can cut seed crystals, its level of automation still needs to be improved. Summary of the Invention

[0006] The purpose of this application is to provide a crystal-retrieving cart and a crystal rod handling method, so as to simplify the structure of the crystal-retrieving cart with seed crystal shearing function and improve the automation level of the crystal-retrieving cart. The specific technical solution is as follows:

[0007] This application provides a crystal-retrieving vehicle, including: a stacker vehicle body, a clamping mechanism, a guard rod mechanism, a seed crystal cutting mechanism, a first vision component, and a second vision component. The clamping mechanism is installed on one side of the stacker vehicle body for clamping crystal rods and is capable of moving up and down relative to the stacker vehicle body. The guard rod mechanism includes a guard rod located within the clamping mechanism for guiding and supporting the clamped crystal rod; the guard rod is capable of moving up and down relative to the clamping mechanism. The seed crystal cutting mechanism is installed on the guard rod and is capable of moving up and down relative to the guard rod. The first vision component is installed on the seed crystal cutting mechanism for detecting the seed crystal position of the crystal rod. The seed crystal cutting mechanism is used to cut the seed crystal when it moves to a position corresponding to the seed crystal position. The second vision component is installed on the clamping mechanism for detecting a target shelf when the stacker vehicle body moves to a target placement position; if the target shelf is empty, the clamping mechanism places the clamped crystal rod on the target shelf.

[0008] This application also provides a crystal rod handling method applied to the aforementioned crystal picking vehicle. The method includes: controlling the stacker vehicle body to move to the picking point; controlling the guard rod of the guard rod mechanism to move up and down relative to the clamping mechanism to cooperate with the clamping mechanism to pick up the target crystal rod placed below the furnace platform; controlling the seed crystal cutting mechanism to move up and down relative to the guard rod, and cutting off the seed crystal at the top of the target crystal rod when the first vision component detects the seed crystal position of the target crystal rod; controlling the stacker vehicle body to move the target crystal rod clamped by the clamping mechanism to the target placement position; and controlling the clamping mechanism to place the target crystal rod on the target shelf when the second vision component detects that the target shelf is empty.

[0009] Beneficial effects of the embodiments in this application:

[0010] The crystal-retrieving cart and crystal rod handling method provided in this application embodiment directly mounts the seed crystal cutting mechanism on the guard rod. Compared with the prior art where the seed crystal cutting mechanism is mounted on the clamp via a fixing plate, the clamping mechanism of this application does not require a fixing plate, and the seed crystal cutting mechanism does not require a separate lifting support column, which reduces the number of parts and makes the crystal-retrieving cart structure simple and easy to assemble.

[0011] The seed cutting mechanism can move up and down along the entire guard rod. Compared with the existing technology where the seed cutting mechanism is set on the clamp, the lifting stroke of the seed cutting mechanism is larger, which can cut the seed crystals of longer crystal rods. Moreover, the seed cutting mechanism can be adjusted to correspond to the seed crystal position simply by moving the seed cutting mechanism up and down along the guard rod, which is easy to control.

[0012] The first vision component can follow the seed crystal cutting mechanism up and down along the guardrail to locate the seed crystal; the second vision component can detect the target shelf before loading to avoid duplicate loading accidents and improve the automation level of the crystal picking vehicle.

[0013] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0015] Figure 1 This is a three-dimensional structural view of the crystal-retrieving vehicle from a first angle according to an embodiment of this application;

[0016] Figure 2 This is a perspective view of the crystal-retrieving vehicle from a second angle, according to an embodiment of this application.

[0017] Figure 3 This is a three-dimensional structural view of the crystal-retrieving vehicle from a third angle according to an embodiment of this application;

[0018] Figure 4 for Figure 1 A three-dimensional structural diagram of the clamping mechanism shown;

[0019] Figure 5 for Figure 1 The diagram shows the three-dimensional structure of the guardrail mechanism.

[0020] Figure 6 for Figure 1 The diagram shows a three-dimensional structure of the connection between the guard rod mechanism and the clamping mechanism.

[0021] Figure 7 for Figure 6 The diagram shows the three-dimensional structure of the guard rod after it has been moved down relative to the clamping mechanism.

[0022] Figure 8 for Figure 7 A three-dimensional structural diagram of the connection between the guard rod mechanism and the clamping mechanism from another angle;

[0023] Figure 9 for Figure 8 The diagram shows the three-dimensional structure of the seed crystal shearing mechanism after it has been moved down relative to the guard rod.

[0024] Figure 10 for Figure 1 The three-dimensional structural diagram of the seed crystal shearing mechanism at the first angle is shown.

[0025] Figure 11 for Figure 1 The three-dimensional structural diagram of the seed crystal mechanism shown at the second angle;

[0026] Figure 12 for Figure 1 The three-dimensional structural diagram of the seed crystal shearing mechanism from the third angle is shown.

[0027] Figure 13 for Figure 1 The diagram shows the first state of the crystal-picking vehicle during the crystal-picking process;

[0028] Figure 14 for Figure 1 The diagram shows the second state of the crystal-retrieving vehicle during the crystal rod retrieval process.

[0029] Figure 15 for Figure 1 The diagram shows the third state of the crystal-picking vehicle during the crystal-picking process;

[0030] Figure 16 for Figure 1 The diagram shows the fourth state of the crystal-picking vehicle during the crystal rod picking process.

[0031] Figure 17 for Figure 1 The diagram shows the first state of the crystal-taking vehicle during the crystal rod placement process;

[0032] Figure 18a for Figure 1 The diagram shows the second state of the crystal-taking vehicle during the crystal rod placement process;

[0033] Figure 18b for Figure 18a The side view of the crystal-taking vehicle shown;

[0034] Figure 19 for Figure 1 The diagram shows the third state of the crystal-taking vehicle during the crystal rod placement process;

[0035] Figure 20 This is a schematic flowchart of a crystal rod handling method according to an embodiment of this application;

[0036] Figure 21 for Figure 1 The diagram shows the process of the crystal-picking vehicle picking short crystal rods.

[0037] Figure 22 for Figure 1 The diagram shows the process of the crystal-taking vehicle taking long crystal rods.

[0038] Figure label:

[0039] 1 crystal rod; 11 seed crystals;

[0040] Shelves 2; Underground pit 3; Stove platform 4;

[0041] Stacker body 100; mobile chassis 110; fork legs 111; lifting frame 120; inner mast 121; outer mast 122; lifting mechanism 130; chain 131;

[0042] Clamping mechanism 200; mounting plate 210; clamping arm assembly 220; clamping arm 221; clamping arm drive assembly 230; clamping arm drive motor 231; lead screw 232; nut 233; connecting plate 234; transmission chain 235; clamping detection module 240; guide rail 250; slider 260; guide rod 270;

[0043] Guard post mechanism 300; Guard post 310; Post body 311; Support plate 312; Second lifting assembly 320; Second lifting motor 321; Second lifting rack 322; Second lifting gear 323; Guide component 330;

[0044] Seed crystal shearing mechanism 400; mounting frame 410; first lifting assembly 420; first lifting motor 421; first lifting rack 422; first lifting gear 423; shear assembly 430; shearing arm 431; rotational power assembly 432; rotational motor 4321; rotational gear 4322;

[0045] First visual component 510; Second visual component 520; Third visual component 530;

[0046] 600 reel;

[0047] Rotary mechanism 800; Rotary base plate 810; Rotary motor 820; Rotary bearing 830;

[0048] Altitude detection sensor 900. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0050] As mentioned in the background section, in related technologies, after the crystal ingot is grown in a single crystal furnace, a crystal removal cart is used to transport the crystal ingot to its destination. Currently, there are two main types of commonly used crystal removal carts:

[0051] The first type of crystal-retrieving vehicle mainly includes a stacker vehicle and a crystal-retrieving device, with the device mounted on the stacker vehicle. The device includes clamps, which, through their rotation and lifting functions, enable the transport and retrieval of long crystal rods. This type of crystal-retrieving vehicle requires manual cutting of seed crystals first, resulting in low work efficiency.

[0052] The second type of crystal-retrieving cart adds a fixing plate to the fixture, and a seed crystal cutting mechanism is added to the fixing plate. Although this type of crystal-retrieving cart can cut seed crystals, its level of automation still needs to be improved.

[0053] In order to simplify the structure of the crystal picking vehicle with seed crystal shearing function and improve the automation level of the crystal picking vehicle, this application provides a crystal picking vehicle and a crystal rod transportation method. The structure of the crystal picking vehicle will be described below.

[0054] See Figures 1 to 3 , Figure 1 This is a three-dimensional structural view of the crystal-retrieving vehicle from a first angle according to an embodiment of this application; Figure 2 This is a perspective view of the crystal-retrieving vehicle from a second angle, according to an embodiment of this application. Figure 3 This is a three-dimensional structural diagram of the crystal-retrieving vehicle from a third angle, according to an embodiment of this application. Figures 1 to 3As shown, the crystal-retrieving vehicle includes: a stacker vehicle body 100, a clamping mechanism 200, a guard bar mechanism 300, a seed crystal cutting mechanism 400, a first vision component 510, and a second vision component 520.

[0055] A clamping mechanism 200 is mounted on one side of the forklift vehicle body 100 for clamping the crystal ingot 1 and is capable of moving up and down relative to the forklift vehicle body 100. A guard rod mechanism 300 includes a guard rod 310. The guard rod 310 is located within the clamping mechanism 200 and is used to guide and support the clamped crystal ingot 1; the guard rod 310 is also capable of moving up and down relative to the clamping mechanism 200. A seed crystal shearing mechanism 400 is mounted on the guard rod 310 and is capable of moving up and down relative to the guard rod 310.

[0056] The first vision component 510 is mounted on the seed crystal cutting mechanism 400 and is used to detect the position of the seed crystal 11 of the crystal rod 1. The seed crystal cutting mechanism 400 is used to cut the seed crystal when it moves to a position corresponding to the position of the seed crystal 11.

[0057] The second vision component 520 is installed on the clamping mechanism 200 and is used to detect the target shelf 2 when the stacker vehicle body 100 moves to the target loading position. When the target shelf 2 is idle, the clamping mechanism 200 places the clamped crystal rod 1 on the target shelf 2.

[0058] The crystal-retrieving cart provided in this application embodiment has the seed crystal cutting mechanism 400 directly mounted on the guard rod 310. Compared with the prior art where the seed crystal cutting mechanism is mounted on the fixture by a fixing plate, the clamping mechanism 200 of this application does not need to be mounted on a fixing plate, and the seed crystal cutting mechanism 400 does not need to be mounted on a separate lifting column. This reduces the number of parts, making the crystal-retrieving cart structure simple and easy to assemble.

[0059] The seed crystal cutting mechanism 400 can move up and down along the entire guard rod 310. Compared with the prior art where the seed crystal cutting mechanism is set on the fixture, the lifting stroke of the seed crystal cutting mechanism 400 is larger, which can cut the seed crystal of a long crystal rod. Moreover, the seed crystal cutting mechanism 400 can be adjusted to correspond to the position of the seed crystal 11 simply by moving the seed crystal cutting mechanism 400 up and down along the guard rod 310, which is easy to control.

[0060] The first vision component 510 can follow the seed crystal cutting mechanism 400 to patrol up and down along the guardrail 310 to locate the seed crystal 11; the second vision component 520 can detect the target shelf 2 before loading to avoid repeated loading accidents and improve the automation level of the crystal picking vehicle.

[0061] The specific structures of the clamping mechanism 200, the guard rod mechanism 300, and the seed crystal shearing mechanism 400 will be described in turn.

[0062] In some embodiments of this application, see Figure 4 , Figure 4 for Figure 1 The diagram shows a three-dimensional structure of the clamping mechanism. Figures 1 to 4 As shown, the clamping mechanism 200 includes a mounting plate 210, a clamping arm assembly 220, and a clamping arm drive assembly 230. The mounting plate 210 is longitudinally connected to the stacker vehicle body 100 and can move up and down relative to the stacker vehicle body 100 to enable the clamping mechanism 200 to drive the crystal rod 1 to rise and fall.

[0063] The clamping arm assembly 220 is located on the side of the mounting plate 210 away from the stacker vehicle body 100, and includes two clamping arms 221 horizontally spaced apart along a first direction. The first direction is... Figure 4 The x-direction shown is perpendicular to the extension direction of the clamping arm 221. The clamping arm drive assembly 230 is disposed on the mounting plate 210 and is drivenly connected to the two clamping arms 221, which can drive the two clamping arms 221 to move towards or away from each other to clamp or release the crystal rod 1.

[0064] Guide rods 270, arranged horizontally along a first direction, are fitted onto the two clamping arms 221 to restrict the movement direction of the two clamping arms 221. Driven by the clamping arm drive assembly 230, the two clamping arms 221 can only slide along the guide rods 270, preventing the clamping arms 221 from deviating during movement and thus ensuring the stability of the movement of the clamping arms 221. In addition, the mounting plate 210, the two clamping arms 221, and the guide rods 270 surround the crystal rod 1 from all four sides, which can play a protective role and prevent the crystal rod 1 from tipping over when the clamping arms 221 release the crystal rod 1.

[0065] In some embodiments of this application, such as Figure 1 , Figure 2 and Figure 4 As shown, the number of clamp arm assemblies 220 is one or more.

[0066] When there is only one set of clamping arm assemblies 220, the clamping arm assembly 220 can be positioned at any location on the mounting plate 210. Preferably, the clamping arm assembly 220 is positioned in the middle of the mounting plate 210 to improve the structural stability of the clamping mechanism 200.

[0067] When there are multiple sets of clamping arm assemblies 220, these multiple sets of clamping arm assemblies 220 are spaced apart along the height direction on the mounting plate 210 and are synchronously driven by the clamping arm drive assembly 230 to clamp or release the crystal rod 1. Figure 1 In the specific embodiment shown, there are two clamping arm assemblies 220, which are respectively disposed at the top and bottom of the mounting plate 210.

[0068] By using the embodiments of this application, multiple sets of clamping arms 220 are set to clamp the crystal rod 1, which can improve the stability of clamping. The multiple sets of clamping arms 220 are synchronously driven by the clamping arm drive assembly 230, which ensures the stability of clamping and can avoid uneven force on the crystal rod 1 caused by asynchronous movement of the various sets of clamping arms 220.

[0069] In some embodiments of this application, such as Figure 4 As shown, the clamping arm drive assembly 230 includes: two sets of clamping arm drive motors 231, a lead screw 232, and a nut 233.

[0070] Both lead screws 232 are horizontally arranged and located on both sides of the mounting plate 210 along the first direction. The nut 233 on each lead screw 232 is fixedly connected to the clamping arm 221 on the same side of the multiple clamping arm assemblies 220 through the connecting plate 234.

[0071] Each clamping arm drive motor 231 is connected to a lead screw 232, enabling independent rotation of the two lead screws 232. This allows the nuts 233 on the two lead screws 232 to drive one side of the clamping arm 221 in the multiple clamping arm assemblies 220 to move towards or away from each other along a first direction. In this embodiment, the clamping arm drive assembly 230 employs servo electric control, achieving high adjustment precision and enabling the clamping arms 221 to obtain high positional accuracy and dynamic control.

[0072] like Figure 1 and Figure 2 As shown, when the clamping arms 221 on both sides are controlling the crystal rod 1, the first clamping arm 221 can move a fixed distance under the drive of the first clamping arm drive motor 231 to contact the crystal rod 1. This distance is a fixed value calculated based on the diameter of the crystal rod 1. This fixed value is different when the diameter of the crystal rod 1 is in different ranges. In order to ensure that the clamping is in place, the controller will control the second clamping arm drive motor 231 to obtain a preset current according to the diameter of the crystal rod 1, so as to drive the second clamping arm 221 to move a preset distance, thereby ensuring that the clamping force on the crystal rod 1 is appropriate, neither too large to cause the crystal rod to break, nor too small to cause the crystal rod to slide down.

[0073] exist Figure 1 and Figure 4 In the specific embodiment shown, two sets of clamping arm drive motors 231, lead screws 232, and nuts 233 are symmetrically distributed on the mounting plate 210. The clamping arm drive motors 231 and lead screws 232 can be configured as follows: Figure 4 The components are arranged in parallel as shown, and the output shaft of the clamping arm drive motor 231 and the lead screw 232 are connected by a transmission chain 235. This arrangement makes the clamping arm drive assembly 230 more compact, reduces the size of the mounting plate 210 along the height direction, and makes the clamping mechanism 200 more compact.

[0074] The clamping arms 221 on the same side of the two clamping arm assemblies 220 are connected by a connecting plate 234. Two rows of guide rails 250 are fixed on the mounting plate 210, spaced apart along the height direction and horizontally aligned in a first direction. Each connecting plate 234 is slidably mounted on the two rows of guide rails 250 via a slider 260. Driven by the clamping arm drive motor 231, the clamping arms 221 at both ends slide along the guide rails 250, guiding the movement of the clamping arms 221 and ensuring high movement accuracy. Furthermore, arranging the guide rails 250 on the mounting plate 210 also improves the load-bearing capacity of the mounting plate 210, ensuring the stability of the movement of the clamping arms 221.

[0075] In some embodiments of this application, such as Figures 1 to 3 As shown, the clamping mechanism 200 also includes a clamping detection module 240.

[0076] A clamping detection module 240 is disposed on the clamping arm 221. When the clamping arm assembly 220 clamps the crystal rod 1, the crystal rod 1 compresses the clamping detection module 240. The clamping detection module 240 is used to detect whether the clamping arm assembly 220 is clamping the crystal rod 1 by detecting whether it is compressed. The number of clamping detection modules 240 is not limited in this application, and there can be one or more. Figure 1 In the specific embodiment shown, there are two clamping detection modules 240, which are respectively disposed on the top of the two clamping arms 221 and protrude inward in the first direction. The protruding part of the clamping detection module 240 is an elastic element. When the elastic element is in a compressed state, it is detected that the clamping arm assembly 220 is clamping the crystal rod 1.

[0077] The clamping detection module 240 is electrically connected to the controller of the crystal picking vehicle and can transmit detection information to the controller. Based on the detection information, the controller commands the clamping mechanism 200 to clamp, so as to avoid the clamping mechanism 200 from accidentally opening the clamping arm 221 while clamping the crystal, which would cause the crystal rod 1 to fall, thereby improving the automation level of the crystal picking vehicle.

[0078] In some embodiments of this application, see Figures 5 to 7 , Figure 5 for Figure 1 The diagram shows the three-dimensional structure of the guardrail mechanism. Figure 6 for Figure 1 The diagram shows a three-dimensional structure of the connection between the guard rod mechanism and the clamping mechanism. Figure 7 for Figure 6 The diagram shows the three-dimensional structure of the guard rod after it has been lowered relative to the clamping mechanism. Figures 5 to 7As shown, the guard rod 310 is disposed between the two clamping arms 221 and is slidably connected to the mounting plate 210 longitudinally. The guard rod 310 includes a rod body 311 and a support plate 312 at the bottom of the rod body. The rod body 311 is used to guide the crystal rod 1 when it is lowered. The support plate 312 is fixedly connected to the rod body 311 and can support the bottom end of the clamped crystal rod 1.

[0079] A guide 330 is fixed on the mounting plate 210 of the clamping mechanism 200. The rod 311 of the guard rod 310 is slidably connected to the guide 330. Under the limit of the guide 330, the guard rod 310 moves up and down along the height direction.

[0080] The guard rod 310 is used to move up and down during crystal rod removal, adjusting the distance between the support plate 312 and the furnace platform 4 to be no less than the length of the crystal rod 1 to be removed, so that the crystal rod 1 can be fully lowered to expose the seed crystal 11. To enable the crystal removal cart to pick up longer crystal rods, a hole 3 can be set at the picking position, and the bottom of the guard rod 310 can be lowered into the hole 3 to increase the distance between the support plate 312 and the furnace platform 4, thereby picking up longer crystal rods 1.

[0081] After the seed crystal is cut, both the clamping mechanism 200 and the guard rod 310 move upwards so that the support plate 312 of the guard rod 310 moves out of the hole 3 and is higher than the ground for subsequent handling. In actual handling, the support plate 312 can be in contact with the crystal rod 1 or it can be spaced apart from the bottom of the crystal rod 1, serving a protective function only when the crystal rod slides abnormally.

[0082] In some embodiments of this application, such as Figures 5 to 7 As shown, the guard rod 310 moves up and down relative to the clamping mechanism 200 based on the second lifting assembly 320. The second lifting assembly 320 is connected to the clamping mechanism 200 and the guard rod 310, and is used to drive the guard rod 310 to move up and down relative to the clamping mechanism 200.

[0083] Specifically, the second lifting assembly 320 includes: a second lifting motor 321, a second lifting rack 322, and a second lifting gear 323.

[0084] The second lifting motor 321 is fixed to the clamping mechanism 200. The second lifting rack 322 is fixed longitudinally to the guard rod 310. The second lifting gear 323 is sleeved on the output end of the second lifting motor 321 and meshes with the second lifting rack 322.

[0085] The second lifting motor 321 is used to drive the second lifting gear 323 to rotate, so that the second lifting rack 322 drives the guard rod 310 to move up and down relative to the clamping mechanism 200.

[0086] In the embodiments of this application, the second lifting component 320 adopts servo electric control, which has high adjustment accuracy and can enable the guard rod 310 to obtain high position accuracy and dynamic control.

[0087] In some embodiments of this application, see Figures 8 to 12 , Figure 8 for Figure 7 A three-dimensional structural diagram of the connection between the guard rod mechanism and the clamping mechanism from another angle; Figure 9 for Figure 8 The diagram shows the three-dimensional structure of the seed crystal shearing mechanism after it has been moved down relative to the guard rod. Figure 10 for Figure 1 The three-dimensional structural diagram of the seed crystal shearing mechanism at the first angle is shown. Figure 11 for Figure 1 The three-dimensional structural diagram of the seed crystal mechanism shown at the second angle; Figure 12 for Figure 1 The diagram shows the three-dimensional structure of the seed crystal mechanism from the third angle. Figures 8 to 12 As shown, the seed crystal shearing mechanism 400 includes: a mounting frame 410, a first lifting assembly 420, and a shear assembly 430.

[0088] The mounting bracket 410 and the guard rod 310 are slidably connected longitudinally. The first lifting assembly 420 is connected to the guard rod 310 and the mounting bracket 410, and is used to drive the mounting bracket 410 to move up and down relative to the guard rod 310.

[0089] The scissor assembly 430 is mounted on the mounting bracket 410 and can move with the mounting bracket 410 to the position corresponding to the seed crystal 11 to cut the seed crystal.

[0090] In existing technologies, the seed crystal cutting mechanism and the guard rod are installed independently. Due to the limited lifting height of the seed crystal cutting component, when cutting longer crystal rods, the guard rod needs to be moved downwards and the seed crystal cutting component needs to be moved upwards to match the height of the seed crystal cutting component with that of the seed crystal. However, in this application, the scissor component 430 of the seed crystal cutting mechanism 400 is movably mounted on the guard rod 310 via the first lifting component 420, and can move up and down along the guard rod 310, increasing the lifting stroke of the scissor component 430. The scissor component 430 can move along the guard rod 310 to the top of the crystal rod 1 and cut the seed crystal 11. The guard rod 310 does not need to move during the seed crystal cutting process, thereby improving the crystal taking efficiency.

[0091] In some embodiments of this application, such as Figures 10 to 12 As shown, the first lifting assembly 420 includes: a first lifting motor 421, a first lifting rack 422, and a first lifting gear 423.

[0092] The first lifting motor 421 is fixed to the mounting bracket 410. The first lifting rack 422 is fixed longitudinally to the guard rod 310. The first lifting gear 423 is sleeved on the output end of the first lifting motor 421 and meshes with the first lifting rack 422.

[0093] The first lifting motor 421 is used to drive the first lifting gear 423 to roll along the first lifting rack 422, thereby moving the mounting frame 410 and the scissor assembly 430 up and down along the guard rod 310. In this embodiment, the first lifting assembly 420 is servo-electrically controlled, providing high adjustment precision, which enables the mounting frame 410 and the scissor assembly 430 to achieve high positional accuracy and dynamic control.

[0094] In some embodiments of this application, such as Figures 10 to 12 As shown, the scissor assembly 430 includes two shearing arms 431 and a rotary power assembly 432. Both shearing arms 431 and the rotary power assembly 432 are mounted on a mounting bracket 410.

[0095] Two shearing arms 431 are horizontally arranged and driven by a rotary power assembly 432. They can rotate towards each other to the shearing state or in opposite directions to the open state under the drive of the rotary power assembly 432.

[0096] When the shear assembly 430 moves up and down relative to the crystal rod 1, the two shear arms 431 are in the open state to avoid the clamped crystal rod 1.

[0097] When the shear assembly 430 moves to the position corresponding to the seed crystal 11, the two shear arms 431 rotate towards each other to the shearing state to cut the seed crystal 11.

[0098] In existing technologies, a translation mechanism is used to retract the shearing assembly to avoid the crystal rod 1, which is complex in structure and assembly and occupies a lot of space. In contrast, the embodiment of this application uses a rotary power assembly 432 to drive two shearing arms 431 to open and avoid the crystal rod 1, making the shearing assembly 430 simple and compact in structure.

[0099] In some embodiments of this application, such as Figures 10 to 12 As shown, the rotary power assembly 432 includes a rotary motor 4321 and two rotary gears 4322.

[0100] Two rotating gears 4322 are rotatably mounted on top of the mounting bracket 410 and mesh with each other. A shearing arm 431 is fitted onto the shaft of each rotating gear 4322.

[0101] A rotary motor 4321 is fixed to a mounting bracket 410 and is driven by a rotary gear 4322. The rotary motor 4321 is used to drive the two rotary gears 4322 to mesh and transmit power, so that the two rotary gears 4322 drive the two shear arms 431 to rotate in opposite directions or in opposite directions.

[0102] In the embodiments of this application, the rotary power assembly 432 adopts servo electric control, which has high adjustment accuracy and can enable the shear arm 431 to obtain high position accuracy and dynamic control.

[0103] In some embodiments of this application, such as Figure 6 and Figure 7 As shown, the crystal-retrieving vehicle also includes a cable reel 600. The cable reel 600 is disposed on the clamping mechanism 200, located on one side of the guard bar 310. The axis of the cable reel 600 is perpendicular to the guard bar 310. The cable of the seed crystal cutting mechanism 400 extends along the guard bar 310, is wound around the cable reel 600, and its end is electrically connected to a device on the stacker vehicle body 100.

[0104] Specifically, the cables of the seed crystal cutting mechanism 400 are the cables of the first lifting motor 421, the rotary motor 4321, and the first vision component 510.

[0105] When the seed shearing mechanism 400 moves away from the winding reel 600, the winding reel 600 rotates in the forward direction to release the cable.

[0106] When the seed shearing mechanism 400 moves toward the direction of the cable reel 600, the cable reel 600 rotates in the opposite direction to retract the cable.

[0107] The height change of the seed crystal shearing mechanism 400 relative to the winding reel 600 can be caused by the raising and lowering of the guard rod 310, or by the raising and lowering of the seed crystal shearing mechanism 400 along the guard rod 310.

[0108] By employing the embodiments of this application and incorporating a cable reel 600, the problems of easy deformation and poor rigidity in long-stroke cable chains can be solved. The cable reel 600 is internally equipped with a spring mechanism that can tighten the cable of the shearing crystal mechanism 400, enabling the release and retrieval of the cable during the lifting and lowering of the guard rod 310.

[0109] In some embodiments of this application, such as Figure 3 As shown, the crystal-retrieving vehicle also includes a rotary mechanism 800.

[0110] The slewing mechanism 800 is disposed between the stacker vehicle body 100 and the mounting plate 210 of the clamping mechanism 200. The slewing mechanism 800 is longitudinally connected to the stacker vehicle body 100 and can move up and down relative to the stacker vehicle body 100.

[0111] When holding the crystal rod 1, the clamping mechanism 200 can rotate to a horizontal position based on the rotary mechanism 800 so that the clamped crystal rod 1 can be placed horizontally on the target shelf 2.

[0112] In the embodiments of this application, a rotating mechanism 800 is provided to place the crystal rod 1 horizontally, thereby increasing the contact area between the crystal rod 1 and the shelf 2, thus improving the stability of the loading and preventing the crystal rod 1 from falling.

[0113] For the task of picking up long crystal rods, before rotation, the crystal rod 1 can be raised or lowered relative to the clamping mechanism 200 by the guard rod 310 to adjust the centering of the crystal rod relative to the rotation center, reduce the eccentric torque in the rotation state, and improve the lateral stability of the whole vehicle.

[0114] In some embodiments of this application, such as Figure 3 As shown, the slewing mechanism 800 includes: a slewing base plate 810, a slewing motor 820, and a slewing bearing 830.

[0115] The slewing base plate 810 is longitudinally connected to the stacker vehicle body 100. The inner ring of the slewing bearing 830 is disposed on the slewing base plate 810, and the outer ring of the slewing bearing 830 is fixedly connected to the mounting plate 210 of the clamping mechanism 200.

[0116] The rotary motor 820 is driven to the outer ring of the slewing bearing 830, and can drive the outer ring of the slewing bearing 830 to rotate relative to the inner ring, thereby driving the clamping mechanism 200 to rotate.

[0117] In the embodiments of this application, the rotary mechanism 800 employs servo electric control, which provides high adjustment precision and enables the clamping mechanism 200 to achieve high rotary position accuracy and dynamic control. The slewing bearing 830 has a compact structure in the axial direction, which can prevent the clamping mechanism 200 from swaying during lifting and lowering, thereby improving the stability of the lifting and lowering of the clamping mechanism 200.

[0118] In some embodiments of this application, such as Figures 1 to 3 As shown, the stacker truck body 100 includes: a mobile chassis 110, a lifting frame 120, and a lifting mechanism 130. The mobile chassis 110 is used to move between a picking position and a placing position to transport the crystal rod 1 from the picking position to the placing position.

[0119] Both the lifting frame 120 and the lifting mechanism 130 are fixed on the mobile chassis 110. The lifting frame 120 is arranged longitudinally. The clamping mechanism 200 is installed on the lifting frame 120 and can move up and down along the lifting frame 120 under the drive of the lifting mechanism 130.

[0120] The connection relationship between the clamping mechanism 200, the lifting frame 120 and the lifting mechanism 130 is not limited in this application. Two of the connection relationships are described below.

[0121] The first configuration involves a clamping mechanism 200 that is slidably or rollingly connected to the lifting frame 120, and a lifting mechanism 130 that is directly connected to the clamping mechanism 200, enabling the clamping mechanism 200 to move up and down along the lifting frame 120. The lifting mechanism 130 can be a pulley mechanism, where a motor drives a transmission wheel to rotate, causing the conveyor belt to lift and lower the clamping mechanism 200; or it can be an electric cylinder, where a telescopic rod of the electric cylinder drives the clamping mechanism 200 to lift and lower.

[0122] The second type: such as Figure 1 As shown, the lifting frame 120 is specifically a gantry structure, including an inner gantry 121 and an outer gantry 122 nested together. The bottom end of the outer gantry 122 is fixedly connected to the movable chassis 110, and the inner gantry 121 is slidably or rollingly connected to the outer gantry 122. The lifting mechanism 130 includes a hydraulic cylinder, a sprocket, and a chain 131. The sprocket is mounted on the top of the inner gantry 121, and the chain 131 passes around the sprocket, with its first end fixedly connected to the outer gantry 122 and its second end connected to the clamping mechanism 200. The telescopic rod of the hydraulic cylinder is connected to the inner gantry 121, and the telescopic rod drives the inner gantry 121 to rise and fall relative to the outer gantry 122, causing the second end of the chain 131 to drive the clamping mechanism 200 to rise and fall relative to the inner gantry 121, thus achieving a double-stroke lifting of the clamping mechanism 200.

[0123] In some embodiments of this application, such as Figures 1 to 3 As shown, the first vision component 510 is electrically connected to the controller of the crystal picking vehicle, and is used to acquire image information of the crystal rod 1 and transmit the image information to the controller.

[0124] The controller determines the position of the seed crystal 11 of the crystal rod 1 based on the image information, and controls the seed crystal cutting mechanism 400 to move to the position corresponding to the seed crystal 11 to cut the seed crystal.

[0125] In the actual crystal rod removal process, the first vision component 510 is positioned facing the side where the crystal rod is located. As it moves up and down with the seed crystal cutting mechanism 400, when a seed crystal appears within the field of view of the first vision component 510, the controller will control the seed crystal cutting mechanism 400 to make a slight adjustment up and down, so that the shear component 430 of the seed crystal cutting mechanism 400 is aligned with the height of the seed crystal 11, so that the seed crystal 11 can be accurately cut, thereby improving the efficiency and accuracy of the seed crystal cutting process and thus improving the automation level of the crystal removal vehicle.

[0126] In some embodiments of this application, such as Figures 1 to 3 As shown, the second vision component 520 is electrically connected to the controller of the crystal-picking cart, and is used to acquire image information of the target shelf 2 and transmit the image information to the controller. The controller determines whether the target shelf 2 is idle based on the image information.

[0127] When the target shelf 2 is idle, the controller controls the clamping mechanism 200 to place the clamped crystal rod 1 on the target shelf 2.

[0128] When the target shelf 2 is not idle, the controller controls the stacker truck body 100 to move to another shelf 2.

[0129] Specifically, such as Figure 1 and Figure 13 As shown, when the guard rod 310 is in a vertical state, the second vision components 520 are arranged on both horizontal sides of the mounting plate 210, and each second vision component 520 is located between the upper and lower sets of clamping arm groups 220. When placing the crystal rod, the rotating mechanism 800 drives the clamping mechanism 200 to rotate, at which time... Figure 17 As shown, two second vision components 520 rotate with the clamping mechanism 200 and are distributed vertically. The lower second vision component 520 faces the shelf 2 to detect whether there are crystal bars on the shelf 2, thus avoiding the risk of repeated loading and unloading, thereby improving the automation level of the crystal picking vehicle.

[0130] In some embodiments of this application, such as Figures 1 to 3 ,as well as Figure 18b As shown, the crystal-taking vehicle also includes: a third vision component 530.

[0131] The third vision component 530 is mounted on the stacker truck body 100 and electrically connected to the controller of the crystal retrieval truck. It is used to identify the QR code on the target shelf 2 when the clamping mechanism 200 places the clamped crystal rod 1 in front of the target shelf 2, and transmit the identification information to the controller. Based on the identification information, the controller controls the movement of the stacker truck body 100 to adjust the position of the crystal rod 1 to correspond with the target shelf 2.

[0132] Specifically, the mobile chassis 110 has two opposing forks 111. A third vision component 530 is mounted on the forks 111 of the mobile chassis 110 and faces upward. When loading goods, when the third vision component 530 on the forks 111 recognizes the QR code at the bottom of the shelf 2, the controller controls the stacker vehicle 100 to adjust its position based on the recognition information, so that the crystal rod 1 and the shelf 2 have a better relative positional relationship, avoiding the crystal rod 1 from falling due to misalignment between the crystal rod 1 and the shelf 2, improving the accuracy and safety of loading crystal rods, and thus improving the automation level of the crystal retrieval vehicle.

[0133] In some embodiments of this application, such as Figures 13 to 16 As shown, the crystal-retrieving vehicle also includes a height detection sensor 900. The height detection sensor 900 is mounted on the movable chassis 110 and faces the guardrail 310. Specifically, the height detection sensor 900 is positioned on the movable chassis 110 near the ground.

[0134] The height detection sensor 900 is electrically connected to the controller of the crystal-retrieving vehicle. It is used to detect whether the bottom height of the guard rod 310 is lower than the height of the height detection sensor 900, and transmits the detection information to the controller. Based on the detection information, the controller controls the guard rod 310 to move upward when the bottom height of the guard rod 310 is lower than the height of the height detection sensor 900. This ensures that the guard rod 310 is above the ground when the stacker vehicle body 100 moves, preventing the bottom support plate 312 of the guard rod 310 from scraping the ground and causing damage, and preventing the guard rod 310 from dragging on the ground and causing instability of the entire vehicle during movement, thereby improving the automation level of the crystal-retrieving vehicle.

[0135] Specifically, the height detection sensor 900 can be a laser sensor. For example... Figure 14 As shown, when the bottom support plate 312 of the guard rod 310 is lowered into the hole 3, the rod body 311 of the guard rod 310 blocks the height detection sensor 900. At this time, the laser emitted by the height detection sensor 900 will be reflected by the rod body 311.

[0136] like Figure 16 As shown, when the stacker vehicle body 100 moves, the bottom support plate 312 of the guardrail 310 is higher than the height detection sensor 900, so the laser emitted by the height detection sensor 900 will not be blocked by the guardrail 310.

[0137] In the two states described above, the height detection sensor 900 receives the reflected laser at different times, resulting in different detection information transmitted to the controller. The controller can determine the state of the guardrail 310 based on the detection information transmitted by the height detection sensor 900, thereby verifying that the support plate 312 poses no risk of scraping the ground during walking.

[0138] Below, according to Figures 13 to 16 The process of taking crystal rods using the crystal taking vehicle is described in detail.

[0139] Step A1, the unloaded crystal-picking car moves along the stacker car body 100, so as to... Figure 13 The device moves to the pickup point in the indicated posture. Specifically, Figure 13 The posture shown indicates that the guardrail 310 is in a vertical position, and the support plate 312 at its bottom is higher than the ground.

[0140] Step B1: The stacker truck body 100 moves until the guardrail 310 aligns vertically with the pit 3 at the picking point, then stops. The guardrail 310 moves downward relative to the clamping mechanism 200. Specifically, the minimum descent distance of the guardrail 310 satisfies the condition that the top of the guardrail 310 is lower than the furnace platform 4, to free up top space and prevent the furnace platform 4 from colliding with the top of the guardrail 310 when it rotates above the pit 3. Figure 14The diagram shows the lowering state of the guard rod 310 when taking a longer crystal rod. The support plate 312 at the bottom of the guard rod 310 is lowered into the pit 3. The specific descent distance of the guard rod 310 is such that the distance between the support plate 312 and the furnace platform 4 is not less than the length of the crystal rod to be taken.

[0141] Step C1, as follows Figure 15 As shown, the furnace platform 4 rotates to align with the underground cavity 3 vertically and releases the crystal rod 1 downwards. After the seed crystal 11 is exposed, the clamping mechanism 200 clamps the crystal rod 1; the seed crystal cutting mechanism 400 moves along the guard rod 310 to the position corresponding to the seed crystal 11 and cuts the seed crystal.

[0142] Step D1, as follows Figure 16 As shown, the furnace platform 4 is rotated and removed, the clamping mechanism 200 moves upward relative to the stacker car body 100, and the guard rod 310 moves upward relative to the clamping mechanism 200, so that the bottom end of the crystal rod 1 and the support plate 312 of the guard rod 310 are both higher than the ground.

[0143] After that, the crystal extraction vehicle can maintain Figure 16 As shown, the stacker truck body 100 moves to the unloading point.

[0144] Below, according to Figures 17 to 19 The process of placing the crystal rod on the crystal removal vehicle is explained in detail.

[0145] Step A2, as follows Figure 17 As shown, the crystal-retrieving vehicle moves via the stacker vehicle body 100, in order to... Figure 16 The stacker moves to a shelf 2 at the loading point. The rotary mechanism 800 drives the clamping mechanism 200 to rotate, rotating the crystal rod 1 to a horizontal position and also turning the second vision component 520 toward the shelf 2. If there is goods on the shelf 2, the stacker truck body 100 moves to another shelf 2; if the shelf 2 is empty, step B2 is executed.

[0146] Step B2, as follows Figure 18a and Figure 18b As shown, the stacker truck body 100 continues to move toward the shelf 2 to extend the fork legs 111 to the bottom of the shelf 2. When the third vision component 530 on the fork legs 111 recognizes the QR code at the bottom of the shelf 2, the controller controls the stacker truck body 100 to adjust its position based on the recognition information so that the crystal rod 1 is vertically aligned with the shelf 2. Then the clamping mechanism 200 moves down and releases the crystal rod 1.

[0147] Step C2, as follows Figure 19 As shown, the stacker truck body 100 moves in the reverse direction and exits shelf 2. It can then return to the pickup point to continue picking up crystal rods 1, or proceed to the standby area to await instructions.

[0148] Through the above steps A1 to D1 and A2 to C2, during the crystal rod picking and placing process, the application of various vision components realizes position and posture adjustment, storage location detection and object position recognition, which improves the intelligence level of the crystal picking vehicle and the safety of the operation, and realizes the fully automatic picking and placing of crystal rods.

[0149] The crystal rod handling method provided in the embodiments of this application will now be described in detail.

[0150] The crystal rod handling method provided in this application embodiment can be applied to the crystal picking vehicle in any of the above embodiments. See also... Figure 20 , Figure 20 This is a schematic flowchart of a crystal rod handling method according to an embodiment of this application. Figure 20 As shown, the method includes:

[0151] Step S2010: Control the stacker truck body to move to the pickup point;

[0152] Step S2020: Control the guard rod of the guard rod mechanism to move up and down relative to the clamping mechanism, so as to cooperate with the clamping mechanism to receive the target crystal rod placed down from the furnace platform;

[0153] Step S2030: Control the seed crystal cutting mechanism to move up and down relative to the guard rod, and cut off the seed crystal at the top of the target crystal rod when the first vision component detects the seed crystal position of the target crystal rod;

[0154] Step S2040: Control the stacker vehicle body to move the target crystal bar held by the clamping mechanism to the target unloading position.

[0155] In step S2050, when the second vision component detects that the target shelf is empty, the clamping mechanism is controlled to place the target crystal rod on the target shelf.

[0156] The crystal rod handling method provided in this application embodiment features a seed crystal cutting mechanism directly mounted on a guardrail, capable of moving up and down along the entire guardrail. This results in a large lifting stroke for the seed crystal cutting mechanism, allowing for seed crystal cutting of longer crystal rods. Furthermore, the seed crystal cutting mechanism can be adjusted to correspond with the seed crystal position simply by moving up and down along the guardrail, simplifying control. A first vision component can follow the seed crystal cutting mechanism up and down along the guardrail to locate the seed crystal; a second vision component can detect the target shelf before placement, preventing duplicate placement accidents and improving the automation level of the crystal picking vehicle.

[0157] In some embodiments of this application, the crystal-taking vehicle further includes a third vision component.

[0158] In this case, when the second vision component detects that the target shelf is empty, controlling the clamping mechanism to place the target ingot on the target shelf includes:

[0159] When the second vision component detects that the target shelf is empty, the third vision component detects the relative position of the target crystal rod and the target shelf.

[0160] If the target crystal bar does not correspond to the target shelf position, the stacker truck is instructed to move the target crystal bar to adjust it to correspond to the target shelf position.

[0161] When the target crystal rod corresponds to the target shelf position, the clamping mechanism is instructed to place the target crystal rod on the target shelf.

[0162] In the embodiments of this application, the controller adjusts the position of the stacker truck based on the identification information, so that the crystal rods and the shelves have a better relative positional relationship, avoiding the crystal rods from falling due to misalignment between the crystal rods and the shelves, thus improving the accuracy and safety of placing the crystal rods, thereby improving the automation level of the crystal picking truck.

[0163] In some embodiments of this application, the crystal-retrieving vehicle further includes a rotation mechanism.

[0164] Before controlling the clamping mechanism to place the target ingot on the target shelf when the second vision component detects that the target shelf is empty, the method further includes:

[0165] After the stacker truck moves to the target loading position, the clamping mechanism is rotated to a horizontal position based on the slewing mechanism, which drives the clamped target crystal rod to rotate to a horizontal position so that the target crystal rod can be placed horizontally on the target shelf.

[0166] By applying the embodiments of this application, crystal rods can be placed horizontally, increasing the contact area between the crystal rods and the shelf, thereby improving the stability of the loading and preventing the crystal rods from falling.

[0167] In some embodiments of this application, a pit is provided at the pickup point.

[0168] The control of the stacker truck body to move to the pickup point includes:

[0169] Control the stacker truck to move to the position corresponding to the underground pickup point;

[0170] The control mechanism for moving the guard rod up and down relative to the clamping mechanism to cooperate with the clamping mechanism in receiving the target crystal rod placed down from the furnace platform includes:

[0171] Control the guard rod to move down a first preset distance relative to the clamping mechanism, so that the bottom of the guard rod is lowered into the hole and the top of the guard rod is lower than the height of the furnace platform;

[0172] After the furnace platform is rotated above the hole and the target crystal rod is lowered along the guard rod, the clamping mechanism is controlled to clamp the crystal rod.

[0173] Before controlling the stacker vehicle to move the target crystal bar held by the clamping mechanism to the target unloading position, the following steps are also included:

[0174] After the seed crystal at the top of the target crystal rod is cut off and the furnace platform is rotated away, the clamping mechanism and / or the guard rod are controlled to be raised so that the bottom of the guard rod and the target crystal rod is higher than the ground.

[0175] Specifically, the first preset distance L0 for the downward movement of the aforementioned guard rod is determined based on the length of the target crystal rod and the relative height between the furnace platform and the top of the guard rod.

[0176] When the crystal rod is short, for example Figure 21 As shown, when the length of the crystal rod is less than the height of the furnace platform from the ground, the first preset distance L0 is sufficient to ensure that the top of the guard rod is lower than the height of the furnace platform, thus preventing the furnace platform from colliding with the guard rod. In this case, the crystal rod will not be lowered into the ground hole, so after the seed crystal is cut and the furnace platform is rotated and removed, only the guard rod needs to be raised.

[0177] When the crystal rod is long, for example Figure 22 As shown, when the length of the crystal rod is greater than the height of the furnace platform from the ground, the first preset distance L0 must satisfy the requirement that the distance between the bottom of the guard rod and the furnace platform is not less than the length of the crystal rod, so that the seed crystal is exposed from the furnace platform. In this case, the bottom of the crystal rod will be lowered into the ground hole. Therefore, after the seed crystal is cut and the furnace platform is rotated and removed, it is necessary to control the clamping mechanism and the guard rod to be raised separately so that the bottom of the guard rod and the target crystal rod are higher than the ground.

[0178] To simplify control, the first preset distance L0 can be configured as a fixed value. Regardless of the length of the target crystal rod, the guard rod will be lowered by the same distance, which can ensure that: when a short crystal rod is lowered, the crystal rod is completely removed from the furnace platform and the center position of the crystal rod coincides with the center position of the clamping mechanism; when a long crystal rod is lowered, the crystal rod is completely removed from the furnace platform and the bottom end of the crystal rod contacts the support plate at the bottom of the guard rod.

[0179] In some embodiments of this application, the guard post includes: a post body and a support plate at the bottom of the post body.

[0180] After the furnace platform is rotated above the underground cavity and the target crystal rod is lowered along the guard rod, the clamping mechanism is controlled to clamp the crystal rod, including:

[0181] like Figure 21 As shown, when the length of the target crystal rod is less than the distance between the furnace platform and the ground, the furnace platform lowers the target crystal rod along the rod of the guard to the first position, so that the center position of the target crystal rod corresponds to the height of the clamping mechanism, and then controls the clamping mechanism to clamp the crystal rod.

[0182] like Figure 22 As shown, when the length of the target crystal rod is greater than the distance between the furnace platform and the ground, the furnace platform lowers the target crystal rod to the second position along the rod of the guard rod, so that the bottom of the target crystal rod is lowered into the hole, and then the clamping mechanism is controlled to clamp the crystal rod.

[0183] Specifically, the lowering position of the crystal ingot is controlled by the furnace platform. The furnace platform adjusts the lowering height of the crystal ingot based on its length and the relative position of the guard rod. Figure 21 For shorter crystal rods, the first lowering position aligns the center of the target crystal rod with the height of the clamping mechanism. Clamping occurs at this point, followed by the guard rod moving upwards to a relatively centered position. This reduces the relative off-center load on the guard rod and eliminates the need to adjust the crystal rod's centering relative to the rotation center before the rotation mechanism operates, thus improving loading and unloading efficiency. For Figure 22 The longer crystal rod shown can be lowered completely so that the bottom of the crystal rod contacts the support plate at the bottom of the guard rod. After the seed crystal cutting action is completed, the support plate will lift and move the crystal rod to a relatively central position.

[0184] In some embodiments of this application, controlling the clamping mechanism and / or the lifting of the guard rod so that the bottom of the guard rod and the target crystal rod is higher than the ground includes:

[0185] like Figure 21 As shown, when the length of the target crystal rod is less than the distance between the furnace platform and the ground, the guard rod is raised so that the bottom of the guard rod is higher than the ground.

[0186] like Figure 22 As shown, when the length of the target crystal rod is greater than the distance between the furnace platform and the ground, the clamping mechanism is controlled to release the crystal rod, and the guard rod is controlled to lift. The guard rod supports the target crystal rod through the support plate and moves to the third position, so that the center position of the target crystal rod corresponds to the center position of the clamping mechanism. Then, the clamping mechanism is controlled to clamp the crystal rod and lift the clamping mechanism to raise the guard rod and the target crystal rod to the bottom above the ground.

[0187] Specifically, the aforementioned lifting of the guard rod and target crystal rod to a position above the ground is not limited in this application, as long as the support plate of the guard rod is a certain distance above the height detection sensor. Specifically, the height of the support plate of the guard rod after lifting is ≥ the height detected by the height detection sensor + a safety margin. All the above heights refer to the height relative to the ground.

[0188] The following is a detailed explanation of the lifting distance of the guardrail.

[0189] like Figure 22 As shown, the lifting distance L of the guardrail 总This includes the distance L1 of the guardrail being lifted individually, and the distance L2 of the guardrail being passively lifted by the clamping mechanism. Among these,

[0190]

[0191] in,

[0192] L0—The first preset distance at which the guardrail moves downward;

[0193] X0—Preset value for the ground clearance of the support plate of the raised guardrail;

[0194] X1—The height of the top of the support plate from the initial center line of the clamping mechanism when the guard rod is in the initial position;

[0195] X2—The height of the bottom of the support plate from the ground when the guardrail is in its initial position;

[0196] X3 — Total length of the crystal rod.

[0197] By applying the embodiments of this application and through the above steps, the crystal rod is first lifted separately by the guard rod to a height that corresponds to the center position of the clamping mechanism. Then, the clamping mechanism drives the crystal rod and the guard rod to be lifted and detached from the hole. The control is relatively simple, the eccentric torque in the rotation state is reduced, and the lateral stability of the whole vehicle is improved.

[0198] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0199] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A crystal extraction vehicle, characterized in that, include: The stacker vehicle body (100), clamping mechanism (200), guard bar mechanism (300), seed crystal shearing mechanism (400), first vision component (510), and second vision component (520); The clamping mechanism (200) is installed on one side of the stacker vehicle body (100) for clamping the crystal rod (1) and can move up and down relative to the stacker vehicle body (100); The guard rod mechanism (300) includes a guard rod (310); the guard rod (310) is located in the clamping mechanism (200) and is used to guide and support the clamped crystal rod (1); and the guard rod (310) can move up and down relative to the clamping mechanism (200); The seed crystal shearing mechanism (400) is mounted on the guard rod (310) and can move up and down relative to the guard rod (310); The first vision component (510) is mounted on the seed crystal cutting mechanism (400) and is used to detect the position of the seed crystal (11) of the crystal rod (1); the seed crystal cutting mechanism (400) is used to cut the seed crystal when it moves to a position corresponding to the position of the seed crystal (11); The second vision component (520) is mounted on the clamping mechanism (200) and is used to detect the target shelf (2) when the stacker vehicle body (100) moves to the target loading position. When the target shelf (2) is idle, the clamping mechanism (200) places the clamped crystal rod (1) on the target shelf (2).

2. The crystal extraction vehicle according to claim 1, characterized in that, The first vision component (510) is electrically connected to the controller of the crystal picking vehicle, and is used to acquire image information of the crystal rod (1) and transmit the image information to the controller; The controller determines the position of the seed crystal (11) of the crystal rod (1) based on image information, so as to control the seed crystal cutting mechanism (400) to move to the position corresponding to the seed crystal (11) to cut the seed crystal; The second vision component (520) is electrically connected to the controller of the crystal picking vehicle, and is used to acquire image information of the target shelf (2) and transmit the image information to the controller; The controller determines whether the target shelf (2) is in an idle state based on image information. When the target shelf (2) is in an idle state, the controller controls the clamping mechanism (200) to place the clamped crystal rod (1) on the target shelf (2). When the target shelf (2) is not idle, the controller controls the stacker vehicle (100) to move to another shelf (2).

3. The crystal extraction vehicle according to claim 1 or 2, characterized in that, Also includes: Third visual component (530); The third vision component (530) is mounted on the stacker vehicle body (100) and electrically connected to the controller of the crystal picking vehicle. It is used to identify the QR code of the target shelf (2) in front of the clamping mechanism (200) when the clamping bar (1) is placed on the target shelf (2) and to transmit the identification information to the controller. The controller controls the movement of the stacker vehicle (100) based on the identification information to adjust the position of the crystal rod (1) to correspond with the target shelf (2).

4. The crystal extraction vehicle according to claim 1, characterized in that, The seed crystal shearing mechanism (400) includes: a mounting frame (410), a first lifting assembly (420), and a shear assembly (430); The mounting bracket (410) is slidably connected to the guard rod (310) in the longitudinal direction; the first lifting assembly (420) is connected to the guard rod (310) and the mounting bracket (410) and is used to drive the mounting bracket (410) to move up and down relative to the guard rod (310); The shear assembly (430) is mounted on the mounting frame (410) and can move with the mounting frame (410) to a position corresponding to the seed crystal (11) to shear the seed crystal.

5. The crystal extraction vehicle according to claim 4, characterized in that, The first lifting assembly (420) includes: a first lifting motor (421), a first lifting rack (422), and a first lifting gear (423); The first lifting motor (421) is fixed to the mounting bracket (410); The first lifting rack (422) is fixed longitudinally to the guard rod (310); The first lifting gear (423) is sleeved on the output end of the first lifting motor (421) and meshes with the first lifting rack (422); The first lifting motor (421) is used to drive the first lifting gear (423) to roll along the first lifting rack (422) so as to drive the mounting bracket (410) and the scissor assembly (430) to move up and down along the guard rod (310).

6. The crystal extraction vehicle according to claim 4, characterized in that, The scissor assembly (430) includes two shearing arms (431) and a rotary power assembly (432); both the two shearing arms (431) and the rotary power assembly (432) are mounted on the mounting bracket (410); The two shearing arms (431) are horizontally arranged and driven by the rotary power assembly (432), and can rotate towards each other to the shearing state or in opposite directions to the open state under the drive of the rotary power assembly (432). When the shear assembly (430) moves up and down relative to the crystal rod (1), the two shear arms (431) are in the open state to avoid the clamped crystal rod (1); When the shear assembly (430) moves to the position corresponding to the seed crystal (11), the two shear arms (431) rotate toward each other to the shearing state to cut the seed crystal (11).

7. The crystal extraction vehicle according to claim 6, characterized in that, The rotary power assembly (432) includes: a rotary motor (4321) and two rotary gears (4322); The two rotating gears (4322) are rotatably mounted on the top of the mounting bracket (410) and mesh with each other; a shear arm (431) is sleeved on the shaft of each rotating gear (4322); The rotary motor (4321) is fixed to the mounting bracket (410) and is driven by one of the rotary gears (4322); The rotary motor (4321) is used to drive the two rotary gears (4322) to mesh and transmit power, so that the two rotary gears (4322) drive the two shear arms (431) to rotate in opposite directions or in opposite directions.

8. The crystal extraction vehicle according to claim 1, characterized in that, The crystal extraction vehicle also includes: a wire reel (600); The cable reel (600) is disposed on the clamping mechanism (200) and located on one side of the guard rod (310); the axis of the cable reel (600) is perpendicular to the guard rod (310); The cable of the seed shearing mechanism (400) extends along the guard rod (310), is wound around the reel (600), and its end is electrically connected to a device on the stacker vehicle body (100). When the seed shearing mechanism (400) moves away from the winding reel (600), the winding reel (600) rotates in the forward direction to release the cable; When the seed shearing mechanism (400) moves toward the reel (600), the reel (600) rotates in the opposite direction to retract the cable.

9. The crystal extraction vehicle according to claim 1, characterized in that, The clamping mechanism (200) includes: a mounting plate (210), a clamping arm assembly (220), and a clamping arm drive assembly (230); The mounting plate (210) is longitudinally connected to the stacker vehicle body (100) and can move up and down relative to the stacker vehicle body (100); The clamping arm assembly (220) is disposed on the side of the mounting plate (210) away from the stacker vehicle body (100), and includes two clamping arms (221) arranged horizontally at intervals along a first direction; the first direction is perpendicular to the extension direction of the clamping arms (221); The clamping arm drive assembly (230) is disposed on the mounting plate (210) and is drivenly connected to the two clamping arms (221), which can drive the two clamping arms (221) to move towards or away from each other to clamp or release the crystal rod (1). The guard rod (310) is disposed between the two clamping arms (221) and is slidably connected to the mounting plate (210) in the longitudinal direction.

10. The crystal extraction vehicle according to claim 1, characterized in that, Also includes: Altitude detection sensor (900); The height detection sensor (900) is mounted on the stacker vehicle body (100) and faces the guardrail (310); The height detection sensor (900) is electrically connected to the controller of the crystal extraction vehicle, and is used to detect whether the bottom height of the guard rod (310) is lower than the height of the height detection sensor (900), and transmit the detection information to the controller; The controller, based on the detection information, controls the guard rod (310) to move upward when the bottom height of the guard rod (310) is lower than the height of the height detection sensor (900), so that the guard rod (310) is higher than the ground when the stacker vehicle body (100) moves.

11. A method for transporting crystal rods, characterized in that, The method, applied to the crystal extraction vehicle according to any one of claims 1 to 10, comprises: Control the stacker truck to move to the pickup point; The guard rod of the guard rod mechanism is controlled to move up and down relative to the clamping mechanism so as to cooperate with the clamping mechanism to receive the target crystal rod placed down from the furnace platform; The seed crystal cutting mechanism is controlled to move up and down relative to the guard rod, and when the first vision component detects the seed crystal position of the target crystal rod, the seed crystal at the top of the target crystal rod is cut off. The stacker vehicle body is controlled to move the target crystal bar held by the clamping mechanism to the target unloading position; When the second vision component detects that the target shelf is empty, it controls the clamping mechanism to place the target crystal rod on the target shelf.

12. The method for transporting crystal rods according to claim 11, characterized in that, The crystal extraction vehicle also includes: a third vision component; When the second vision component detects that the target shelf is empty, controlling the clamping mechanism to place the target crystal rod on the target shelf includes: When the second vision component detects that the target shelf is empty, the third vision component detects the relative position of the target crystal rod and the target shelf. If the target crystal bar does not correspond to the target shelf position, the stacker truck is instructed to move the target crystal bar to adjust it to correspond to the target shelf position. When the target crystal rod corresponds to the target shelf position, the clamping mechanism is instructed to place the target crystal rod on the target shelf.

13. The method for transporting crystal rods according to claim 11, characterized in that, A pit was set up at the pickup point; The control of the stacker truck body to move to the pickup point includes: Control the stacker truck to move to the position corresponding to the underground pickup point; The control mechanism for moving the guard rod up and down relative to the clamping mechanism to cooperate with the clamping mechanism in receiving the target crystal rod placed down from the furnace platform includes: Control the guard rod to move down a first preset distance relative to the clamping mechanism, so that the bottom of the guard rod is lowered into the hole and the top of the guard rod is lower than the height of the furnace platform; After the furnace platform is rotated above the underground hole and the target crystal rod is lowered along the guard rod, the clamping mechanism is controlled to clamp the crystal rod. Before controlling the stacker vehicle to move the target crystal bar held by the clamping mechanism to the target unloading position, the following steps are also included: After the seed crystal at the top of the target crystal rod is cut off and the furnace platform is rotated away, the clamping mechanism and / or the guard rod are controlled to be raised so that the bottom of the guard rod and the target crystal rod is higher than the ground.

14. The method for transporting crystal rods according to claim 13, characterized in that, The guard post includes: a pole body and a support plate at the bottom of the pole body; After the furnace platform is rotated above the underground cavity and the target crystal rod is lowered along the guard rod, the clamping mechanism is controlled to clamp the crystal rod, including: When the length of the target crystal rod is less than the distance between the furnace platform and the ground, the furnace platform lowers the target crystal rod along the rod of the guard to the first position, so that the center position of the target crystal rod corresponds to the height of the clamping mechanism, and then controls the clamping mechanism to clamp the crystal rod. When the length of the target crystal rod is greater than the distance between the furnace platform and the ground, the furnace platform lowers the target crystal rod to the second position along the rod of the guard rod, so that the bottom of the target crystal rod is lowered into the hole, and then the clamping mechanism is controlled to clamp the crystal rod.

15. The method for transporting crystal rods according to claim 14, characterized in that, The control of the clamping mechanism and / or the lifting of the guard rod, such that the bottom of the guard rod and the target crystal rod is higher than the ground, includes: When the length of the target crystal rod is less than the distance between the furnace platform and the ground, the guard rod is raised so that the bottom of the guard rod is higher than the ground. When the length of the target crystal rod is greater than the distance between the furnace platform and the ground, the clamping mechanism is controlled to release the crystal rod, and the guard rod is controlled to lift. The guard rod supports the target crystal rod through the support plate and moves to the third position, so that the center position of the target crystal rod corresponds to the center position of the clamping mechanism. Then, the clamping mechanism is controlled to clamp the crystal rod and lift the clamping mechanism to raise the guard rod and the target crystal rod to the bottom above the ground.

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