Material handling system and vertical processing equipment

Abstract

This invention provides a loading and unloading system and a vertical processing equipment. The loading and unloading system includes a frame, and a boat feeding device, a boat storage device, a boat clamping device, a loading and unloading robot, and a boat moving device, all mounted on the frame. The boat feeding device is configured to transport vertical boats from outside the frame to inside the frame. The boat storage device has multiple buffer platforms for temporarily storing vertical boats. The boat clamping device is configured to clamp vertical boats. The loading and unloading robot is configured to load or unload solar cells onto the vertical boats located on the boat clamping device. The boat moving device is configured to move vertical boats between the boat feeding device, the boat storage device, the boat clamping device, and the cleanroom platform inside the vertical processing equipment. This invention can significantly increase production capacity and meet the current demand for large-capacity production in the photovoltaic industry.

Description

Technical Field

[0001] This invention belongs to the field of solar energy technology, and more specifically, relates to a loading and unloading system and a vertical processing equipment. Background Technology

[0002] With the continuous development of the photovoltaic industry, current photovoltaic processes such as diffusion, oxidation, annealing, doping, PECVD (plasma-enhanced chemical vapor deposition), and LPCVD (low-pressure chemical vapor deposition) all require the reaction of solar cells in a furnace. The boats that load the solar cells need to be loaded and unloaded by a loading and unloading machine.

[0003] In related technologies, horizontal loading and unloading machines can perform loading and unloading operations on horizontal boats. However, due to limited space, horizontal loading and unloading machines cannot further increase the number of boats that can be loaded and unloaded, resulting in low production capacity.

[0004] Furthermore, although vertical wafer loading and unloading machines exist, existing vertical machines require a tilting device to transform the boat from a vertical to a horizontal position before a wafer-loading robot loads or unloads the cells from the horizontal boat. Even so, existing vertical wafer loading and unloading machines still occupy a large area on the horizontal plane, limiting their effectiveness in increasing production capacity. Summary of the Invention

[0005] The purpose of this invention is to provide a loading and unloading system and a vertical processing equipment to improve production capacity.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0007] In a first aspect, a loading and unloading system is provided for a vertical processing equipment, including a frame, and a boat feeding device, a boat temporary storage device, a boat clamping device, a loading and unloading robot and a boat moving device respectively installed on the frame.

[0008] The boat feeding device is configured to transport the vertical boat from the outside of the frame to the inside of the frame. The boat temporary storage device is equipped with multiple buffer platforms for temporarily storing the vertical boat. The boat clamping device is configured to clamp the vertical boat. The loading and unloading robot is configured to load or unload battery cells onto the vertical boat located on the boat clamping device. The boat moving device is configured to move the vertical boat between the boat feeding device, the boat temporary storage device, the boat clamping device, and the clean table inside the vertical processing equipment.

[0009] Furthermore, the boat loading device, boat temporary storage device, boat clamping device, and loading / unloading robot are arranged sequentially along the X-axis direction, and the boat moving device includes a first boat moving assembly, a second boat moving assembly, and a third boat moving assembly.

[0010] The first boat-moving assembly is configured to move the vertical boat between the boat temporary storage device and the boat clamping device; the second boat-moving assembly is configured to move the vertical boat between the boat feeding device, the boat temporary storage device and the third boat-moving assembly; and the third boat-moving assembly is configured to move the vertical boat between the second boat-moving assembly and the purification table.

[0011] Furthermore, the first boat-moving component includes:

[0012] The first lifting mechanism is configured to drive the vertical boat to move along the Z-axis.

[0013] The first Y-axis moving mechanism is slidably connected to the first lifting mechanism and is configured to drive the first lifting mechanism to move along the Y-axis direction;

[0014] The first X-axis moving mechanism is slidably connected to the first Y-axis moving mechanism and is configured to drive the first Y-axis moving mechanism to move along the X-axis direction.

[0015] Furthermore, the first lifting mechanism includes:

[0016] The first support is mounted on the first Y-axis moving mechanism;

[0017] The first boat support plate is located above the top of the first support base and is used to support the upright boat;

[0018] The first lifting drive component has its body installed on the first support base, its drive end connected to the first boat support plate, and is used to drive the first boat support plate to move up and down relative to the first support base.

[0019] Furthermore, the first boat support plate is provided with positioning elements and / or limiting elements, wherein the positioning elements are used to match the positioning holes on the bottom of the vertical boat, and the limiting elements are used to match the center hole on the bottom of the vertical boat.

[0020] Furthermore, the first support base is provided with a first Z-axis guide rail and a first slide block, wherein the first Z-axis guide rail is slidably connected to the first slide block, and one end of the first Z-axis guide rail is connected to the first boat support plate.

[0021] Furthermore, the first Y-axis movement mechanism includes:

[0022] The first base is mounted on the first X-axis moving mechanism;

[0023] The first Y-axis guide assembly includes a first Y-axis guide rail and a first Y-axis slider. The first Y-axis guide rail is mounted on a first base, and the first Y-axis slider is mounted on a first support base and slidably connected to the first Y-axis guide rail.

[0024] The first Y-axis transmission assembly includes a first Y-axis rack and a first Y-axis gear. The first Y-axis rack is mounted on the first base and parallel to the first Y-axis guide rail. The first Y-axis gear meshes with the first Y-axis rack.

[0025] The first Y-axis drive component has its body mounted on the first support base and its drive end connected to the first Y-axis gear.

[0026] Furthermore, the first X-axis moving mechanism includes:

[0027] The first X-axis guide assembly includes a first X-axis guide rail and a first X-axis slider. The first X-axis guide rail is mounted on the frame, and the first X-axis slider is mounted on the first base and connected to the first X-axis guide rail slider.

[0028] The first X-axis transmission assembly includes a first X-axis rack and a first X-axis gear. The first X-axis rack is mounted on the frame and parallel to the first X-axis guide rail. The first X-axis gear meshes with the first X-axis rack.

[0029] The first X-axis drive component has its body mounted on the first base and its drive end connected to the first X-axis gear.

[0030] Furthermore, the first Y-axis drive unit is provided with a first tensioning component on its body, the first tensioning component being used to adjust the meshing tightness between the first Y-axis gear and the first Y-axis rack; and / or, the first X-axis drive unit is provided with a second tensioning component on its body, the second tensioning component being used to adjust the meshing tightness between the first X-axis gear and the first X-axis rack.

[0031] Furthermore, it also includes a cell warping detection device, which is configured to detect cell warping on a vertical boat located on a boat-moving device.

[0032] Secondly, a vertical processing equipment is provided, including a vertical furnace, a clean bench, and a loading and unloading machine. The clean bench is located between the loading and unloading machine and the vertical furnace, and the loading and unloading machine includes the loading and unloading system described above.

[0033] Compared with existing technologies, the advantages of the loading / unloading system and vertical processing equipment provided by this invention are as follows: Under the same site area conditions, compared with existing horizontal loading / unloading machines, this invention can temporarily store more boats and load / unload more boats; compared with existing vertical loading / unloading machines, this invention does not require changing the boats from a vertical to a horizontal state, reducing operation steps and the horizontal area occupied by the equipment, while still allowing for the loading / unloading of more boats. Therefore, the loading / unloading system of this invention can significantly improve production capacity and meet the current photovoltaic industry's demand for large-capacity production. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a perspective view of the loading and unloading system of the present invention;

[0036] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle;

[0037] Figure 3 This is a top view of the assembly of the first boat-moving component and the boat temporary storage device of the present invention.

[0038] Figure 4 This is a perspective view of the first boat-moving component of the present invention;

[0039] Figure 5 This is a perspective view of the first lifting mechanism of the present invention supporting a vertical boat;

[0040] Figure 6 This is a perspective view of the second boat-moving assembly of the present invention;

[0041] Figure 7 For the present invention Figure 6 Enlarged view at point B in the middle;

[0042] Figure 8 This is a side view of the second lifting mechanism of the present invention;

[0043] Figure 9 This is a perspective view of the warp detection device of the present invention;

[0044] Figure 10 This is a perspective view of the third boat-moving component of the present invention;

[0045] Figure 11 This is a side view of the third boat-moving assembly of the present invention;

[0046] Figure 12 For the present invention Figure 11 Enlarged view at point C;

[0047] Figure 13 This is a perspective view of the boat-feeding device of the present invention in the closed state;

[0048] Figure 14 This is a top view of the boat-launching device of the present invention in its unfolded state;

[0049] Figure 15 This is a perspective view of the boat clamping device of the present invention;

[0050] Figure 16 This is a partial structural diagram of the boat clamping device of the present invention;

[0051] Figure 17 This is a partial structural diagram of the boat clamping device of the present invention clamping a vertical boat;

[0052] The main markings in the attached figures are as follows:

[0053] 100. Standing boat;

[0054] 1. Boat-feeding device;

[0055] 11. Boat base; 110. First guide support;

[0056] 12. Tilting bracket; 121. Second guide support; 122. Tilting base plate; 123. Side baffle;

[0057] 13. First guiding mechanism; 130. First guide wheel;

[0058] 14. Second guide mechanism; 140. Second guide wheel;

[0059] 15. Movable platform; 151. Movable end plate; 152. Movable side plate; 153. Boat positioning block; 154. Angular handle;

[0060] 161. Flip shaft; 162. Bearing housing; 163. Flip limit assembly; 164. First positioning assembly; 165. Second positioning assembly;

[0061] 2. Boat temporary storage device; 20. Buffer platform;

[0062] 3. Boat clamping device;

[0063] 31. Support frame;

[0064] 32. Reference component; 321. Reference mounting component; 3211. Column; 3212. Mounting plate; 322. Reference positioning component; 323. Clamping point clearance groove; 324. Positioning rod clearance groove;

[0065] 33. Clamping assembly; 331. Supporting component; 332. Lateral elastic component; 333. Pushing component; 334. Guide shaft;

[0066] 34. First drive assembly; 341. Floating joint;

[0067] 35. Second drive assembly; 351. Boat pusher; 352. Movable push plate;

[0068] 36. Third drive component;

[0069] 37. Support plate; 371. Second roller; 372. Blocking strip; 373. Blocking block; 374. Clearance hole;

[0070] 38. Y-axis guide assembly; 381. Pad block; 382. Lateral slider; 383. Lateral guide rail;

[0071] 39. Limiting plate; 391. First roller;

[0072] 4. First boat-moving component;

[0073] 41. First lifting mechanism; 411. First support base; 412. First boat support plate; 413. First lifting drive component; 414. First Z-axis guide rail; 415. First slide block;

[0074] 42. First Y-axis moving mechanism; 421. First base; 422. First Y-axis guide assembly; 4221. First Y-axis guide rail; 4222. First Y-axis slider; 423. First Y-axis transmission assembly; 4231. First Y-axis rack; 4232. First Y-axis gear; 424. First Y-axis drive component;

[0075] 43. First X-axis moving mechanism; 431. First X-axis guide assembly; 4311. First X-axis guide rail; 4312. First X-axis slider; 432. First X-axis transmission assembly; 4321. First X-axis rack; 433. First X-axis drive component;

[0076] 5. Second boat-moving component;

[0077] 51. Second lifting mechanism; 511. Second support base; 512. Second boat support plate; 513. Second lifting drive component; 514. Clamping plate assembly; 5141. Clamping plate; 5142. Clamping drive component; 515. Second Z-axis guide rail; 5151. Oil receiving box; 516. Second slide; 517. Height detection sensor; 518. Support component; 519. Buffer component;

[0078] 52. Second Y-axis moving mechanism; 521. Second base; 522. Second Y-axis guide assembly; 5221. Second Y-axis guide rail; 523. Second Y-axis transmission assembly; 5231. Second Y-axis rack; 5232. Second Y-axis gear; 524. Second Y-axis drive component; 525. Lateral movement detection sensor; 526. Lateral movement stop component;

[0079] 53. Second X-axis moving mechanism; 531. Second X-axis guide assembly; 5311. Second X-axis guide rail; 5312. Second X-axis slider; 532. Second X-axis transmission assembly; 5321. Second X-axis rack; 5322. Second X-axis gear; 533. Second X-axis drive component;

[0080] 6. Third boat-moving component;

[0081] 61. Gripper mechanism; 611. Gripping side plate; 612. Gripping drive component; 613. Fixed base plate; 614. Slider base plate; 615. Gripping guide assembly; 6151. Gripping guide rail; 6152. Gripping slider; 616. Gripping limit assembly;

[0082] 62. Z-axis moving mechanism; 63. Third Y-axis moving mechanism; 64. Third X-axis moving mechanism;

[0083] 71. Positioning component; 72. Limiting component; 74. Second tensioning assembly; 75. Third tensioning assembly; 76. Fourth tensioning assembly; 77. Photoelectric aluminum profile; 78. Third micro switch device; 781. Motion sensing component; 782. Photoelectric sensor; 783. Lifting elastic component; 784. Fixing plate; 785. Protective cover; 786. Locking component;

[0084] 8. Warping detection device; 81. Lifting mechanism; 82. Detection body; 821. Handle; 822. Upper cover plate; 823. Sealing plate; 824. Camera; 825. Power supply; 826. Camera detection simulation surface. Detailed Implementation

[0085] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0086] In related technologies, horizontal wafer loading and unloading machines can perform loading and unloading operations on horizontal boats. However, due to limited space, horizontal wafer loading and unloading machines cannot further increase the number of boats they can load and unload, resulting in low production capacity. Furthermore, although vertical wafer loading and unloading machines exist, existing vertical machines require a boat-turning device to transform the boat from a vertical to a horizontal position before a wafer-loading robot loads or unloads the cells from the horizontal boat. Even so, existing vertical wafer loading and unloading machines still occupy a large area on the horizontal plane, limiting their effect on increasing production capacity.

[0087] Based on this, the loading and unloading system and vertical processing equipment provided by the present invention effectively improve production capacity.

[0088] Please refer to the following: Figure 1 and Figure 3 The loading and unloading system provided by the present invention includes a frame, and a boat feeding device 1, a boat temporary storage device 2, a boat clamping device 3, a loading and unloading robot and a boat moving device respectively installed on the frame.

[0089] The boat feeding device 1 is configured to transport the vertical boat 100 from the outside of the frame to the inside of the frame. The boat temporary storage device 2 is provided with multiple buffer platforms 20 for temporarily storing the vertical boat 100. The boat clamping device 3 is configured to clamp the vertical boat 100. The loading and unloading robot is configured to load or unload battery cells onto the vertical boat 100 located on the boat clamping device 3. The boat moving device is configured to move the vertical boat 100 between the boat feeding device 1, the boat temporary storage device 2, the boat clamping device 3 and the clean table inside the vertical processing equipment.

[0090] In practical applications, the number of components in the loading and unloading system, such as the boat feeding device 1, boat temporary storage device 2, boat clamping device 3, loading and unloading robot, and boat moving device, is not limited. The number of buffer platforms 20 in the boat temporary storage device 2 is also not limited and can be flexibly adjusted according to different production needs.

[0091] With this structural design, the loading and unloading system of the present invention can carry out loading and unloading operations on the vertical boat 100.

[0092] Because this invention provides a vertical boat 100, it makes full use of space in the vertical direction (i.e., the Z-axis direction), significantly reducing the area occupied on the horizontal plane compared to a horizontal boat. More boats can be arranged within a limited space, thereby increasing the number of boats that can be loaded and unloaded and improving production capacity.

[0093] At the same time, the loading or unloading of battery cells can be performed directly on the boat in a vertical position, without having to change the boat from vertical to horizontal as with existing vertical loading and unloading machines. This saves operation time and reduces the area occupied on the horizontal surface.

[0094] In this way, under the same site area conditions, compared with existing horizontal loading and unloading machines, the present invention can temporarily store more boats and load and unload more boats. Compared with existing vertical loading and unloading machines, the present invention does not require changing the boats from a vertical to a horizontal position, reducing operation steps and the horizontal area occupied by the equipment, while still being able to load and unload more boats.

[0095] Therefore, the loading and unloading system of the present invention can significantly increase production capacity and meet the current demand of the photovoltaic industry for large production capacity.

[0096] like Figure 1 and Figure 3 As shown, in the preferred loading and unloading system of this invention, two boat storage devices 2 are provided, which are arranged at intervals along the Y-axis. Simultaneously, each boat storage device 2 is equipped with a boat feeding device 1 and a boat clamping device 3 on both sides along the X-axis. A loading / unloading robot is provided on the side of the boat clamping device 3 facing away from the boat storage device 2. This loading / unloading robot adopts a conventional structure, which will not be described in detail in this invention.

[0097] To facilitate understanding and explanation, the following will describe in detail the structure of the boat feeding device 1, the boat temporary storage device 2, the boat clamping device 3, the boat moving device, and other components, with reference to the accompanying drawings.

[0098] exist Figure 1 In the middle, the boat loading device 1, the boat temporary storage device 2, the boat clamping device 3, and the loading and unloading robot are arranged in sequence along the X-axis.

[0099] like Figure 1 , Figure 4 , Figure 6 and Figure 10 As shown, the boat-moving device includes a first boat-moving assembly 4, a second boat-moving assembly 5, and a third boat-moving assembly 6.

[0100] The first boat-moving assembly 4 is configured to move the vertical boat 100 between the boat temporary storage device 2 and the boat clamping device 3; the second boat-moving assembly 5 is configured to move the vertical boat 100 between the boat-entry device 1, the boat temporary storage device 2 and the third boat-moving assembly 6; and the third boat-moving assembly 6 is configured to move the vertical boat 100 between the second boat-moving assembly 5 and the purification table.

[0101] The preferred method provided by this invention for moving boats comprises three moving boat components: a first moving boat component 4, a second moving boat component 5, and a third moving boat component 6. Since each moving boat component is responsible for a relatively fixed and short transport area, this reduces energy loss and mechanical wear caused by long-distance transport, while also increasing transport speed. Furthermore, when one moving boat component malfunctions, it does not affect the normal operation of other components, facilitating rapid troubleshooting and repair, and reducing overall system downtime.

[0102] Therefore, the boat-moving device in the loading and unloading system of the present invention adopts a segmented design, which can improve the handling speed of the boat-moving device and avoid the problem of slow speed and easy failure caused by using a single component for an excessively long boat-moving journey.

[0103] Of course, in optional embodiments of the present invention, the number of boat-moving components in the boat-moving device can be flexibly adjusted according to actual needs.

[0104] Please refer to the following: Figures 1 to 5 Next, the structure of the first boat-moving component 4 will be described in detail.

[0105] like Figure 4 As shown, the first boat-moving assembly 4 includes a first lifting mechanism 41, a first Y-axis moving mechanism 42, and a first X-axis moving mechanism 43.

[0106] The first lifting mechanism 41 is configured to move the vertical boat 100 along the Z-axis. The first Y-axis moving mechanism 42 is slidably connected to the first lifting mechanism 41 and is configured to drive the first lifting mechanism 41 to move along the Y-axis. The first X-axis moving mechanism 43 is slidably connected to the first Y-axis moving mechanism 42 and is configured to drive the first Y-axis moving mechanism 42 to move along the X-axis.

[0107] The first boat-moving assembly 4 provided by the present invention drives the first Y-axis moving mechanism 42 and its first lifting mechanism 41 to move along the X-axis direction via the first X-axis moving mechanism 43, and also drives the first lifting mechanism 41 to move along the Y-axis direction via the first Y-axis moving mechanism 42, thereby moving the first lifting mechanism 41 to the position of each buffer platform 20 in the boat temporary storage device 2 or the position of the boat clamping device 3. Subsequently, the vertical boat 100 can be lifted from the buffer platform 20 or placed onto the boat clamping device 3 via the first lifting mechanism 41.

[0108] like Figure 4 and Figure 5 As shown, the first lifting mechanism 41 includes a first support base 411, a first boat support plate 412, and a first lifting drive component 413.

[0109] The first support base 411 is mounted on the first Y-axis moving mechanism 42. The first boat support plate 412 is located above the top of the first support base 411 and is used to support the vertical boat 100. The body of the first lifting drive member 413 is mounted on the first support base 411, and its driving end is connected to the first boat support plate 412, and is used to drive the first boat support plate 412 to move up and down relative to the first support base 411.

[0110] The first boat-moving assembly 4 provided by the present invention drives the first boat-supporting plate 412 to move up and down via a first lifting drive component 413. The first lifting drive component 413 can preferably be an electric actuator or an electric push rod. Compared with pneumatic actuators such as cylinders, the overall lifting of the first lifting drive component 413 is less affected by external forces, and will not experience inconsistent cylinder start-stop speeds due to uneven air pressure. Furthermore, it can stop at different heights according to working conditions, making it more adaptable.

[0111] Taking the first lifting mechanism 41 receiving the vertical boat 100 from the buffer platform 20 as an example, when the first lifting mechanism 41 moves to the position of the buffer platform 20, the first boat support plate 412 is located below the vertical boat 100 on the buffer platform 20. At this time, the first lifting drive component 413 lifts the first boat support plate 412, allowing the first boat support plate 412 to support the vertical boat 100, thus separating the vertical boat 100 from the buffer platform 20. Subsequently, the first X-axis moving mechanism 43 and the first Y-axis moving mechanism 42 can respectively drive the first lifting mechanism 41 and the vertical boat 100 on it to move along the X-axis and Y-axis directions, thereby moving the first lifting mechanism 41 towards the boat clamping device 3.

[0112] Taking the first lifting mechanism 41 placing the vertical boat 100 into the boat clamping device 3 as an example, when the first lifting mechanism 41 moves to the position of the boat clamping device 3, the first boat support plate 412 is located above the support plate 37 of the boat clamping device 3. The first lifting drive component 413 lowers the first boat support plate 412, allowing the support plate 37 to support the vertical boat 100, thus separating the vertical boat 100 from the first boat support plate 412. Subsequently, the first X-axis moving mechanism 43 and the first Y-axis moving mechanism 42 can respectively drive the first lifting mechanism 41 to move along the X-axis and Y-axis directions, thereby moving the first lifting mechanism 41 towards the boat temporary storage device 2.

[0113] In the first lifting mechanism 41, the first boat support plate 412 is provided with positioning elements 71. The shape and number of positioning elements 71 can be flexibly adjusted according to actual needs. There can be two positioning elements 71, and their shape can be conical. It should be noted that the bottom of the vertical boat 100 is provided with positioning holes, and the positioning elements 71 are used to match the positioning holes at the bottom of the vertical boat 100. When the first boat support plate 412 supports the vertical boat 100, the positioning elements 71 are inserted into the positioning holes, which can play a role in positioning, limiting and fixing the vertical boat 100, thereby stably fixing the vertical boat 100 on the first lifting mechanism 41 and transporting it.

[0114] In the first lifting mechanism 41, the first boat support plate 412 is also equipped with limiting members 72. The shape and number of limiting members 72 can be flexibly adjusted according to actual needs. There can be four limiting members 72, and their shapes can be elongated or "C"-shaped. For example, two "C"-shaped limiting members 72 can be arranged opposite each other, or two elongated limiting members 72 can be arranged opposite each other. This design can reduce weight and facilitate disassembly. It should be noted that the bottom of the vertical boat 100 has a central hole, and the limiting members 72 match the central hole at the bottom of the vertical boat 100. When the first boat support plate 412 supports the vertical boat 100, the limiting members 72 abut against the inner side of the central hole, which can position, limit, and fix the vertical boat 100, further securing the vertical boat 100 stably on the first lifting mechanism 41 for transport.

[0115] In addition, a first micro switch device is provided on the first boat support plate 412. The first micro switch device is used to detect whether a vertical boat 100 is placed on the first boat support plate 412, which helps to improve the accuracy of the first boat moving assembly 4 moving the boat.

[0116] In the first lifting mechanism 41, the first support base 411 is provided with a first Z-axis guide rail 414 and a first slide block 415. The first Z-axis guide rail 414 and the first slide block 415 are slidably connected, and one end of the first Z-axis guide rail 414 is connected to the first boat support plate 412. It should be noted that the number of the first Z-axis guide rail 414 and the first slide block 415 can be flexibly adjusted according to actual needs. For example, the number of both the first Z-axis guide rail 414 and the first slide block 415 can be set to two. When the first lifting drive member 413 drives the first boat support plate 412 to move up and down, the first Z-axis guide rail 414 will slide relative to the first slide block 415, which can guide the lifting and lowering movement of the first boat support plate 412, making the first boat support plate 412 and the vertical boat 100 on it more stable during the lifting and lowering movement.

[0117] like Figure 4 As shown, the first Y-axis moving mechanism 42 includes a first base 421, a first Y-axis guide assembly 422, a first Y-axis transmission assembly 423, and a first Y-axis drive member 424.

[0118] The first base 421 is mounted on the first X-axis moving mechanism 43. The first Y-axis guide assembly 422 includes a first Y-axis guide rail 4221 and a first Y-axis slider 4222. The first Y-axis guide rail 4221 is mounted on the first base 421, and the first Y-axis slider 4222 is mounted on the first support base 411 and slidably connected to the first Y-axis guide rail 4221. The first Y-axis transmission assembly 423 includes a first Y-axis rack 4231 and a first Y-axis gear 4232. The first Y-axis rack 4231 is mounted on the first base 421 and parallel to the first Y-axis guide rail 4221, and the first Y-axis gear 4232 meshes with the first Y-axis rack 4231. The body of the first Y-axis drive member 424 is mounted on the first support base 411, and its drive end is connected to the first Y-axis gear 4232.

[0119] The first boat-moving assembly 4 provided by the present invention drives the first Y-axis gear 4232 to rotate via the first Y-axis drive member 424. Since the first Y-axis gear 4232 meshes with the first Y-axis rack 4231, the first support base 411 moves linearly along the first Y-axis guide rail 4221, thereby realizing the movement of the first lifting mechanism 41 in the Y-axis direction. This structural design makes the movement of the first lifting mechanism 41 in the Y-axis direction more stable and precise, and can accurately move the vertical boat 100 to the designated position.

[0120] In practical applications, the first Y-axis drive component 424 is preferably a motor, the first Y-axis gear 4232 is preferably a helical gear, and the first Y-axis rack 4231 is preferably a helical rack. When the helical gear and the helical rack mesh, the overlap ratio can be increased, improving the smoothness and load-bearing capacity of the transmission, and reducing vibration and noise during the transmission process. Compared with an integrated linear motion mechanism that can bear the same weight, the first Y-axis moving mechanism 42 of the first boat-moving assembly 4 adopts a linear motion mechanism with gear and rack cooperation, which occupies less space. The separate setting makes maintenance more convenient, and also reduces the space occupied by the equipment.

[0121] Furthermore, the body of the first Y-axis drive member 424 is provided with a first tensioning assembly. This first tensioning assembly is used to adjust the meshing tightness between the first Y-axis gear 4232 and the first Y-axis rack 4231, preventing excessively tight or loose meshing and thus preventing damage to both, thereby extending their service life. Specifically, the first tensioning assembly may include a first adjusting plate and a first tensioning block. The first adjusting plate is fixedly connected to the body of the first Y-axis drive member 424, and the first tensioning block can adjust the first adjusting plate to move away from or towards the first Y-axis rack 4231, thereby causing the first Y-axis gear 4232 to move away from or towards the first Y-axis rack 4231.

[0122] like Figure 2 and Figure 4 As shown, the first X-axis moving mechanism 43 includes a first X-axis guide assembly 431, a first X-axis transmission assembly 432, and a first X-axis drive component 433.

[0123] The first X-axis guide assembly 431 includes a first X-axis guide rail 4311 and a first X-axis slider 4312. The first X-axis guide rail 4311 is mounted on the frame, and the first X-axis slider 4312 is mounted on the first base 421 and connected to the slider of the first X-axis guide rail 4311. The first X-axis transmission assembly 432 includes a first X-axis rack 4321 and a first X-axis gear. The first X-axis rack 4321 is mounted on the frame and parallel to the first X-axis guide rail 4311, and the first X-axis gear meshes with the first X-axis rack 4321. The body of the first X-axis drive component 433 is mounted on the first base 421, and its drive end is connected to the first X-axis gear.

[0124] The first boat-moving assembly 4 provided by this invention drives the first X-axis gear to rotate via the first X-axis drive member 433. Since the first X-axis gear meshes with the first X-axis rack 4321, the first base 421 moves linearly along the first X-axis guide rail 4311, realizing the movement of the first Y-axis moving mechanism 42 and the first lifting mechanism 41 on it in the X-axis direction. This structural design makes the movement of the first lifting mechanism 41 in the X-axis direction more stable and precise, enabling accurate transport of the vertical boat 100 to the designated position.

[0125] In practical applications, the first X-axis drive component 433 is preferably a motor, the first X-axis gear is preferably a helical gear, and the first X-axis rack 4321 is preferably a helical rack. When the helical gear and the helical rack mesh, the overlap ratio can be increased, improving the smoothness and load-bearing capacity of the transmission, and reducing vibration and noise during the transmission process. Compared with an integrated linear motion mechanism that can bear the same weight, the first X-axis moving mechanism 43 of the first boat-moving assembly 4 adopts a linear motion mechanism with gear and rack cooperation, which occupies less space. The separate setting makes maintenance more convenient, and also reduces the space occupied by the equipment.

[0126] Furthermore, a second tensioning assembly 74 is provided on the body of the first X-axis drive member 433. The second tensioning assembly 74 is used to adjust the meshing tightness between the first X-axis gear and the first X-axis rack 4321, preventing the meshing from being too tight or too loose, thus preventing damage to both and extending their service life. Specifically, the second tensioning assembly 74 may include a second adjusting plate and a second tensioning block. The second adjusting plate is fixedly connected to the body of the first X-axis drive member 433, and the second tensioning block can adjust the second adjusting plate to move away from or towards the first X-axis rack 4321, thereby causing the first X-axis gear to move away from or towards the first X-axis rack 4321.

[0127] Please refer to the following: Figures 6 to 8 Next, the structure of the second boat-moving component 5 will be described in detail.

[0128] like Figure 6 As shown, the second boat-moving assembly 5 includes a second lifting mechanism 51, a second Y-axis moving mechanism 52, and a second X-axis moving mechanism 53.

[0129] The second lifting mechanism 51 is configured to move the vertical boat 100 along the Z-axis. The second Y-axis moving mechanism 52 is slidably connected to the second lifting mechanism 51 and is configured to drive the second lifting mechanism 51 to move along the Y-axis. The second X-axis moving mechanism 53 is slidably connected to the second Y-axis moving mechanism 52 and is configured to drive the second Y-axis moving mechanism 52 to move along the X-axis.

[0130] The second boat-moving assembly 5 provided by the present invention drives the second Y-axis moving mechanism 52 and its second lifting mechanism 51 to move along the X-axis direction via the second X-axis moving mechanism 53, and also drives the second lifting mechanism 51 to move along the Y-axis direction via the second Y-axis moving mechanism 52. This causes the second lifting mechanism 51 to move to the location of each buffer platform 20 in the boat temporary storage device 2, or the location of the movable platform 15 in the boat loading device 1, or the location of the gripper mechanism 61 in the third boat-moving assembly 6. Subsequently, the vertical boat 100 can be received from the buffer platform 20, the movable platform 15, or the gripper mechanism 61 via the second lifting mechanism 51, or the vertical boat 100 can be placed on the buffer platform 20 or the gripper mechanism 61.

[0131] like Figure 6 and Figure 7 As shown, the second lifting mechanism 51 includes a second support base 511, a second boat support plate 512, and a second lifting drive component 513.

[0132] The second support base 511 is mounted on the second Y-axis moving mechanism 52. The second boat support plate 512 is located above the top of the second support base 511 and is used to support the vertical boat 100. The body of the second lifting drive member 513 is mounted on the second support base 511, and its driving end is connected to the second boat support plate 512, and is used to drive the second boat support plate 512 to move up and down relative to the second support base 511.

[0133] The second boat-moving assembly 5 provided by this invention drives the second boat support plate 512 to move up and down via a second lifting drive component 513. The second lifting drive component 513 is preferably an electric actuator or an electric push rod. Compared to pneumatic actuators such as cylinders, the overall lifting of the second lifting drive component 513 is less affected by external forces, avoiding the inconsistent start-stop speeds caused by uneven air pressure, and it can stop at different heights according to working conditions, offering better adaptability.

[0134] In the second lifting mechanism 51, the second boat support plate 512 is equipped with a positioning component 71 and a limiting component 72. The positioning component 71 is used to match the positioning hole inserted into the bottom of the vertical boat 100, and the limiting component 72 is used to match the center hole extending into the bottom of the vertical boat 100. The shape and number of the positioning component 71 and the limiting component 72 can be flexibly adjusted according to actual needs. There can be two positioning components 71, and their shape can be conical. There can be four limiting components 72, and their shape can be elongated or "C"-shaped. For example, two "C"-shaped limiting components 72 are arranged opposite each other, and two elongated limiting components 72 are arranged opposite each other. This design can reduce weight and facilitate disassembly. When the second support plate 512 supports the vertical boat 100, the positioning member 71 is inserted into the positioning hole, and the limiting member 72 extends into the center hole and abuts against the inside of the center hole, thereby positioning, limiting and fixing the vertical boat 100, and then stably fixing the vertical boat 100 on the second lifting mechanism 51 for transportation.

[0135] Furthermore, the second support plate 512 is provided with a clamping plate assembly 514, which includes a pair of clamping plates 5141 and a pair of clamping drive members 5142. The pair of clamping plates 5141 are disposed on opposite sides of the second support plate 512, and the pair of clamping drive members 5142 are installed on the bottom of the second support plate 512, with the drive ends of the pair of clamping drive members 5142 correspondingly connected to the pair of clamping plates 5141. The pair of clamping drive members 5142 can drive the pair of clamping plates 5141 to move towards each other, thereby forming a clamping state; they can also drive the pair of clamping plates 5141 to move away from each other, thereby forming a releasing state.

[0136] When the positioning member 71 on the second support plate 512 is inserted into the positioning hole at the bottom of the vertical boat 100, and the limiting member 72 extends into the center hole at the bottom of the vertical boat 100, the pair of clamping drive members 5142 drive the pair of clamping plates 5141 to move towards each other, which can firmly clamp the vertical boat 100, more effectively ensure the stability of the vertical boat 100 during transportation, and prevent it from overturning.

[0137] In addition, a second micro switch is provided on the second boat support plate 512. This second micro switch is used to detect whether a vertical boat 100 is placed on the second boat support plate 512. Whenever the second micro switch detects that a vertical boat 100 is placed on the second boat support plate 512, it controls a pair of clamping drive members 5142 to drive a pair of clamping plates 5141 to move towards each other, firmly clamping the vertical boat 100, thereby improving the accuracy of the boat moving assembly 5.

[0138] In the second lifting mechanism 51, the second support base 511 is provided with a second Z-axis guide rail 515 and a second slide block 516. The second Z-axis guide rail 515 and the second slide block 516 are slidably connected, and one end of the second Z-axis guide rail 515 is connected to the second boat support plate 512. It should be noted that the number of the second Z-axis guide rail 515 and the second slide block 516 can be flexibly adjusted according to actual needs. For example, the number of both the second Z-axis guide rail 515 and the second slide block 516 can be set to two. When the second lifting drive member 513 drives the second boat support plate 512 to perform lifting and lowering movements, the second Z-axis guide rail 515 will slide relative to the second slide block 516, which can guide the lifting and lowering movements of the second boat support plate 512, making the second boat support plate 512 and the vertical boat 100 on it more stable during the lifting and lowering process. Compared to using a guide rod, the use of a second Z-axis guide rail 515 in conjunction with a second slide block 516 allows the second boat support plate 512 to move more smoothly during lifting and lowering, with more precise movement at different heights, better anti-tipping capability, and a longer service life. An oil collection box 5151 can also be installed at the end of the second Z-axis guide rail 515 furthest from the second boat support plate 512. The oil collection box 5151 is used to collect lubricating oil dripping from the second Z-axis guide rail 515, preventing lubricating oil from contaminating the cleanliness of the second boat support assembly 5.

[0139] In addition, considering that the second boat-moving assembly 5 needs to move the vertical boat 100 between the boat-entry device 1, the boat-storage device 2 and the third boat-moving assembly 6, the heights of the buffer platforms 20 in the boat-storage device 2, the heights of the movable platforms 15 in the boat-entry device 1 and the heights of the gripper mechanisms 61 in the third boat-moving assembly 6 may be different.

[0140] like Figure 7 and Figure 8 As shown, multiple height detection sensors 517 at different heights can also be installed on the second support base 511. The height detection sensor 517 is preferably a U-shaped photoelectric sensor. By determining whether the height sensing element on the second Z-axis guide rail 515 has reached a certain height, the height detection sensor 517 is used to determine whether the second boat support plate 512 has been raised to that height. This helps to improve the accuracy of the lifting and lowering of the second boat support plate 512, and enables the second boat moving assembly 5 to better dock with the buffer platform 20, the movable platform 15, and the gripper mechanism 61.

[0141] In addition, such as Figure 7As shown, a support member 518 and a buffer member 519 can also be provided on the top of the second support base 511. The support member 518 is used to support the second boat plate 512 when it descends to its lowest limit position, while the buffer member 519 is used to absorb the kinetic energy of the second boat plate 512 during its descent and reduce the impact. Moreover, the second boat plate 512 and the second support base 511 are connected by a cable chain. Air pipes or cables are threaded and constrained in the internal cavity of the cable chain, which can provide guidance and protection for air pipes or cables when the second boat plate 512 is raised and lowered. Each section of the cable chain can be opened for easy installation and maintenance. When the second boat plate 512 is raised and lowered, the cable chain generates less noise and has wear-resistant properties, making it suitable for high-speed movement.

[0142] like Figure 6 and Figure 7 As shown, the second Y-axis moving mechanism 52 includes a second base 521, a second Y-axis guide assembly 522, a second Y-axis transmission assembly 523, and a second Y-axis drive member 524.

[0143] The second base 521 is mounted on the second X-axis moving mechanism 53. The second Y-axis guide assembly 522 includes a second Y-axis guide rail 5221 and a second Y-axis slider. The second Y-axis guide rail 5221 is mounted on the second base 521, and the second Y-axis slider is mounted on the second support 511 and slidably connected to the second Y-axis guide rail 5221. The second Y-axis transmission assembly 523 includes a second Y-axis rack 5231 and a second Y-axis gear 5232. The second Y-axis rack 5231 is mounted on the second base 521 and parallel to the second Y-axis guide rail 5221, and the second Y-axis gear 5232 meshes with the second Y-axis rack 5231. The body of the second Y-axis drive member 524 is mounted on the second support 511, and its drive end is connected to the second Y-axis gear 5232.

[0144] In practical applications, the second Y-axis drive component 524 is preferably a motor, the second Y-axis gear 5232 is preferably a helical gear, and the second Y-axis rack 5231 is preferably a helical rack. When the helical gear and rack mesh, the overlap ratio increases, improving the smoothness and load-bearing capacity of the transmission, and reducing vibration and noise during transmission. Compared to an integrated linear motion mechanism capable of carrying the same weight, the second Y-axis moving mechanism 52 of the second handling component uses a gear and rack linear motion mechanism, which occupies less space. The separate design makes maintenance more convenient and also reduces the area occupied by the equipment.

[0145] Furthermore, a third tensioning assembly 75 is provided on the body of the second Y-axis drive member 524. The third tensioning assembly 75 is used to adjust the meshing tightness between the second Y-axis gear 5232 and the second Y-axis rack 5231, preventing excessively tight or loose meshing and thus preventing damage to both, thereby extending their service life. Specifically, the third tensioning assembly 75 may include a third adjusting plate and a third tensioning block. The third adjusting plate is fixedly connected to the body of the second Y-axis drive member 524, and the third tensioning block can adjust the third adjusting plate to move away from or towards the second Y-axis rack 5231, thereby causing the second Y-axis gear 5232 to move away from or towards the second Y-axis rack 5231.

[0146] In addition, the second lifting mechanism 51 is equipped with a lateral movement sensor, and three lateral movement detection sensors 525 are spaced apart on the side of the second base 521 at positions corresponding to both ends of the second Y-axis guide rail 5221. The lateral movement detection sensors 525 are preferably U-shaped photoelectric sensors. These three lateral movement detection sensors 525 are used to detect the maximum value, minimum value, and origin of the movement of the second lifting mechanism 51 in the positive or negative Y-axis direction, respectively, thereby enabling multiple detections of the lateral movement of the second lifting mechanism 51, improving the accuracy of detecting erroneous movements, and preventing damage to the second lifting mechanism 51. Furthermore, lateral movement stops 526 are also provided at both ends of the second base 521 along the Y-axis direction. These lateral movement stops 526 can limit the movement of the second lifting mechanism 51 in the Y-axis direction, providing multiple protections for the second lifting mechanism 51 at extreme positions, and enhancing the protection of the second lifting mechanism 51 and the vertical boat 100 on it.

[0147] like Figure 6 and Figure 7 As shown, the second X-axis moving mechanism 53 includes a second X-axis guide assembly 531, a second X-axis transmission assembly 532, and a second X-axis drive member 533.

[0148] The second X-axis guide assembly 531 includes a second X-axis guide rail 5311 and a second X-axis slider 5312. The second X-axis guide rail 5311 is mounted on the frame, and the second X-axis slider 5312 is mounted on the second base 521 and connected to the slider of the second X-axis guide rail 5311. The second X-axis transmission assembly 532 includes a second X-axis rack 5321 and a second X-axis gear 5322. The second X-axis rack 5321 is mounted on the frame and parallel to the second X-axis guide rail 5311, and the second X-axis gear 5322 meshes with the second X-axis rack 5321. The body of the second X-axis drive component 533 is mounted on the second base 521, and its drive end is connected to the second X-axis gear 5322.

[0149] In practical applications, the second X-axis drive component 533 is preferably a motor, the second X-axis gear 5322 is preferably a helical gear, and the second X-axis rack 5321 is preferably a helical rack. When the helical gear and rack mesh, the overlap ratio increases, improving the smoothness and load-bearing capacity of the transmission, and reducing vibration and noise during transmission. Compared to an integrated linear motion mechanism capable of carrying the same weight, the second X-axis moving mechanism 53 of the second conveying component uses a gear and rack linear motion mechanism, which occupies less space. The separate design makes maintenance more convenient and also reduces the area occupied by the equipment.

[0150] Furthermore, a fourth tensioning assembly 76 is provided on the body of the second X-axis drive member 533. The fourth tensioning assembly 76 is used to adjust the meshing tightness between the second X-axis gear 5322 and the second X-axis rack 5321, preventing excessively tight or loose meshing and thus preventing damage to both, thereby extending their service life. Specifically, the fourth tensioning assembly 76 may include a fourth adjusting plate and a fourth tensioning block. The fourth adjusting plate is fixedly connected to the body of the second X-axis drive member 533, and the fourth tensioning block can adjust the fourth adjusting plate to move away from or towards the second X-axis rack 5321, thereby causing the second X-axis gear 5322 to move away from or towards the second X-axis rack 5321.

[0151] It should be noted that, in Figure 1 In order to simplify the structure and reduce costs, the first boat-moving assembly 4 and the second boat-moving assembly 5 share the X-axis guide rail and X-axis rack, that is, the first X-axis guide rail 4311 also serves as the second X-axis guide rail 5311, and the first X-axis rack 4321 also serves as the second X-axis rack 5321. Figure 6 In addition, two second boat-moving components 5 can be provided. These two second boat-moving components 5 share a second base 521. That is to say, two second lifting mechanisms 51 are provided at intervals along the Y direction on the second base 521.

[0152] In addition, such as Figure 1 , Figure 4 , Figure 6 and Figure 7As shown, a photoelectric aluminum profile 77 is also provided between the first boat-moving assembly 4 and the second boat-moving assembly 5. Two first X-axis guide rails 4311 are provided, with the photoelectric aluminum profile 77 parallel to and located between the two first X-axis guide rails 4311. Multiple vertical movement detection sensors are provided at intervals along the X-axis direction for each buffer platform 20; preferably, U-shaped photoelectric sensors are used. Vertical movement sensors are provided on both the first base 421 and the second base 521. Through the multiple vertical movement detection sensors corresponding to each buffer platform 20, the vertical movement of the first lifting mechanism 41 or the second lifting mechanism 51 can be detected multiple times to ensure that the first lifting mechanism 41 or the second lifting mechanism 51 moves accurately to the corresponding buffer platform 20, thereby facilitating the transport of the vertical boat 100 on each buffer platform 20 by the first boat-moving assembly 4 or the second boat-moving assembly 5.

[0153] The loading and unloading system of the present invention also includes a cell warping detection device 8, which is configured to detect cell warping on a vertical boat 100 located on a boat-moving device.

[0154] Please refer to the following: Figure 1 and Figure 9 The structure of the warp detection device 8 will be described in detail next.

[0155] The warp detection device 8 includes a lifting mechanism 81 and a detection body 82. The lifting mechanism 81 is slidably connected to the detection body 82 and is configured to drive the detection body 82 to move along the Z-axis.

[0156] The inspection body 82 includes a handle 821, an upper cover 822, a sealing plate 823, a camera 824, a power supply 825, and a simulated inspection surface for the camera 824. The handle 821 facilitates the operator's grip on the inspection body 82; the upper cover 822 creates a dark environment for the camera 824 to target the simulated surface to be inspected; the sealing plate 823 also provides a dark environment for the camera 824 to target the simulated surface; the camera 824 emits light onto the simulated inspection surface; the power supply 825 provides the light source for the camera 824's illumination; the simulated inspection surface of the camera 824 is used to correspondingly illuminate the battery cells in each leaf-bearing slot of the vertical boat 100, collecting the status data of the battery cells and comparing it with standard data. The vision system then determines whether the battery cells are warped. When warped battery cells are detected, they are manually adjusted; when no warped battery cells are detected, the next handling process is performed.

[0157] The cell warping detection device 8 is used to detect cell warping in the vertical boat 100 after the process is completed. After the detection is completed, the cell warping detection device 8 needs to be moved to the highest position so that the second lifting mechanism 51 can carry the vertical boat 100 through.

[0158] The specific testing process is as follows: The cell warping detection device 8 is initially in its highest position. After the second transfer assembly 5 receives the processed vertical boat 100 from the third transfer assembly 6, the cell warping detection device 8 checks from top to bottom whether the cells in each carrier slot of the vertical boat 100 are warped. If warping is found, manual adjustment is performed; if no warping is found, after the test is completed, the cell warping detection device 8 returns to its highest position so that the second transfer assembly 5 can move the vertical boat 100 to the buffer platform 20 for further processing.

[0159] Please refer to the following: Figures 10 to 12 Next, the structure of the third boat-moving component 6 will be described in detail.

[0160] like Figure 10 As shown, the third boat-moving assembly 6 includes a gripper mechanism 61, a Z-axis moving mechanism 62, a third Y-axis moving mechanism 63, and a third X-axis moving mechanism 64.

[0161] The gripper mechanism 61 is configured to grip the vertical boat 100. A third Y-axis moving mechanism 63 is slidably connected to the gripper mechanism 61 and configured to drive the gripper mechanism 61 to move along the Y-axis. A Z-axis moving mechanism 62 is slidably connected to the third Y-axis moving mechanism 63 and configured to drive the third Y-axis moving mechanism 63 to move along the Z-axis. A third X-axis moving mechanism 64 is slidably connected to the Z-axis moving mechanism 62 and configured to drive the Z-axis moving mechanism 62 to move along the X-axis.

[0162] The third boat-moving assembly 6 provided by the present invention drives the Z-axis moving mechanism 62 and its third Y-axis moving mechanism 63 and gripper mechanism 61 to move along the X-axis direction through the third X-axis moving mechanism 64, and also drives the gripper mechanism 61 to move along the Y-axis direction through the third Y-axis moving mechanism 63, and also drives the third Y-axis moving mechanism 63 and its driving gripper mechanism 61 to move along the Z-axis direction through the Z-axis moving mechanism 62, thereby moving the gripper mechanism 61 to dock with the purification table or the second boat-moving assembly 5.

[0163] It should be noted that the Z-axis moving mechanism 62, the third Y-axis moving mechanism 63, and the third X-axis moving mechanism 64 all adopt existing integrated linear motion mechanisms, which will not be described in detail here.

[0164] like Figure 10 As shown, the gripper mechanism 61 includes a pair of gripping side plates 611 and a pair of gripping drive members 612. The pair of gripping drive members 612 can drive the pair of gripping side plates 611 to move towards each other, thereby forming a gripping state; they can also drive the pair of gripping side plates 611 to move away from each other, thereby forming a releasing state.

[0165] The gripper mechanism 61 also includes a fixed base plate 613, a pair of slider base plates 614, and a gripping guide assembly 615. The fixed base plate 613 is mounted on the third Y-axis slider of the third Y-axis moving mechanism 63. The pair of slider base plates 614 are respectively connected to a pair of gripping side plates 611. The gripping guide assembly 615 consists of two gripping guide rails 6151 and four gripping sliders 6152. The two gripping guide rails 6151 are mounted in parallel on the fixed base plate 613, and two gripping sliders 6152 are slidably connected to each gripping guide rail 6151. These two gripping sliders 6152 are respectively mounted on the pair of gripping side plates 611 through the slider base plates 614. The fixed ends of the pair of gripping drive members 612 are mounted on the fixed base plate 613, and their drive ends are respectively connected to the pair of gripping side plates 611.

[0166] The gripping drive 612 is preferably a cylinder. When the gripper mechanism 61 needs to be switched to the release state, the drive ends of the pair of gripping drive 612 (i.e., the piston rods of the cylinder) extend outward, thereby driving the pair of gripping side plates 611 to open; when the gripper mechanism 61 needs to be switched to the clamping state, the drive ends of the pair of gripping drive 612 (i.e., the piston rods of the cylinder) retract inward, thereby driving the pair of gripping side plates 611 to close.

[0167] The gripper mechanism 61 also includes a gripping limit component 616, which restricts the opposite movement of a pair of gripping side plates 611 to prevent the pair of gripping side plates 611 from getting too close and thus damaging the vertical boat 100.

[0168] Specifically, the gripping and limiting assembly 616 consists of a limiting fixing member and a limiting abutment member. The lower end of the limiting fixing member is mounted on the fixed base plate 613, and the upper end of the tensioning limiting member 72 is located between the two slider base plates 614. The limiting abutment member is located at the upper end of the limiting fixing member, with its two ends facing the pair of slider base plates 614 respectively. The limiting abutment member is preferably a limiting screw. When the gripper mechanism 61 switches to the gripping state, a pair of gripping drive members 612 drive a pair of gripping side plates 611 to move towards each other. When the pair of slider base plates 614 connected to the pair of gripping side plates 611 abut against the limiting abutment member respectively, the pair of gripping drive members 612 stop driving, so that a suitable distance is maintained between the pair of gripping side plates 611 of the gripper mechanism 61, ensuring that the vertical boat 100 can be gripped while avoiding excessive clamping force.

[0169] like Figure 10 , Figure 11 and Figure 12 As shown, the gripper mechanism 61 also includes a third micro switch device 78, which is used to detect whether a pair of gripping side plates 611 are holding the vertical boat 100, which helps to improve the accuracy of the third boat-moving assembly 6 in moving the boat.

[0170] In practical applications, the number of third micro-switches 78 can be flexibly adjusted according to actual needs. For example, at least one third micro-switches 78 can be provided on each gripping side plate 611.

[0171] The third micro-switch device 78 includes a movable sensing element 781, a photoelectric sensor 782, a lifting elastic element 783, a fixing plate 784, a protective cover 785, and a locking element 786. The fixing plate 784 is installed at the bottom of the gripping side plate 611. The photoelectric sensor 782 is detachably fixed to the fixing plate 784 by the locking element 786, which is preferably a locking screw. The protective cover 785 covers the photoelectric sensor 782, providing protection. The movable sensing element 781 extends vertically through the gripping side plate 611, and the lifting elastic element 783 is fitted at the lower end of the movable sensing element 781.

[0172] The detection principle of the third micro-switch device 78 is as follows: When the gripper mechanism 61 grips the vertical boat 100, the vertical boat 100 pushes the movable sensing element 781 downward, compressing the lifting elastic element 783, causing the movable sensing element 781 to move down to the position corresponding to the photoelectric sensor 782, thereby acquiring a detection signal that there is a boat on the gripping side plate 611. When the gripper mechanism 61 releases the vertical boat 100, the movable sensing element 781 moves upward under the elastic force of the lifting elastic element 783 until it returns to its original position.

[0173] Please refer to the following: Figures 13 to 14 The structure of the boat-infeeding device 1 will be described in detail below.

[0174] like Figure 13 and Figure 14 As shown, the boat loading device 1 includes a boat base 11, a tilting bracket 12, a first guide mechanism 13, a second guide mechanism 14, and a movable platform 15.

[0175] It should be understood that the boat feeding device 1 has two states: unfolded and closed. When in the unfolded state, the flipping bracket 12 is placed horizontally and extends to the outside of the frame; when in the closed state, the flipping bracket 12 is placed vertically and retracts into the inside of the frame.

[0176] The boat-carrying base 11 is installed inside the frame, and the tilting bracket 12 is rotatably mounted on one side of the boat-carrying base 11. A first guide mechanism 13 is mounted on the boat-carrying base 11, and a second guide mechanism 14 is mounted on the tilting bracket 12; the two are matched with each other. The movable platform 15 is used to support the vertical boat 100. When the boat-feeding device 1 is in the unfolded state, the movable platform 15 can move on the first guide mechanism 13 and the second guide mechanism 14, thereby transporting the vertical boat 100 from the outside of the frame to the inside of the frame.

[0177] It should be noted that the flipping action of the flipping bracket 12 can be achieved manually or by using an automatic drive mechanism. The following will explain the usage process of the boat feeding device 1 by taking the manual flipping of the flipping bracket 12 as an example.

[0178] In actual use, to switch the boat-feeding device 1 to the extended state, the operator first pushes the tilting bracket 12 downwards, extending it to the outside of the frame. Next, the movable platform 15 is pulled along the first guide mechanism 13 and the second guide mechanism 14 onto the tilting bracket 12, and then the vertical boat 100 is placed on the movable platform 15. Subsequently, the movable platform 15 and the vertical boat 100 it carries are pushed along the first guide mechanism 13 and the second guide mechanism 14 onto the boat base 11. Afterwards, the first boat-transfer assembly 4 receives the vertical boat 100 from the movable platform 15. To switch the boat-feeding device 1 to the closed state, the operator pushes the tilting bracket 12 upwards, retracting it into the frame. Thus, the vertical boat 100 is manually transported from the outside to the inside of the frame, eliminating the need for an additional boat-feeding robot, thereby saving costs. Furthermore, the boat-feeding device 1 is in the closed state when idle, not occupying production workshop space and improving the system's space utilization.

[0179] The boat base 11 includes a pair of first guide supports 110, and the first guide mechanism 13 is composed of a pair of second guide wheel sets. The pair of first guide wheel sets are respectively mounted on the pair of first guide supports 110, and each first guide wheel set includes a plurality of first guide wheels 130 arranged at even intervals.

[0180] The flipping bracket 12 includes a pair of second guide supports 121 and a flipping base plate 122 connected between the pair of second guide supports 121. The second guide mechanism 14 consists of a pair of second guide wheel sets, which are respectively mounted on the pair of second guide supports 121, and each second guide wheel set includes a plurality of second guide wheels 140 arranged at even intervals.

[0181] The tilting bracket 12 is connected to a tilting shaft 161 near the boat base 11, and bearing seats 162 are respectively fitted at both ends of the tilting shaft 161. When the boat loading device 1 switches between the unfolded state and the closed state, the tilting bracket 12 tilts up or down around the tilting shaft 161.

[0182] The flipping bracket 12 is provided with a side baffle 123 at a position away from the boat base 11. The side baffle 123 is used to prevent the movable platform 15 from sliding off the boat base 11 when the boat loading device 1 is in the unfolded state.

[0183] The boat-feeding device 1 also includes a flipping limiting component 163, which is located beside the flipping bracket 12. The flipping bracket 12 is provided with a first positioning component 164, which is used to cooperate with the flipping limiting component 163 to limit the flipping bracket 12 when it is placed vertically.

[0184] Specifically, the flipping limiting assembly 163 includes a limiting support and a locking rod limiting block. The limiting support is mounted on the frame, and the locking rod limiting block is located on the side of the limiting support facing the flipping bracket 12. The first positioning assembly 164 is preferably a top-bottom linkage lock assembly, which includes a locking drive and a positioning locking rod. The locking drive drives the positioning locking rod closer to the locking rod limiting block, so that the positioning locking rod and the locking rod limiting block are engaged, thereby locking the flipping bracket 12 when the boat-entering device 1 is in the closed state; or, the locking drive drives the positioning locking rod away from the locking rod limiting block, so that the positioning locking rod and the locking rod limiting block are separated, thereby unlocking the flipping bracket 12 when the boat-entering device 1 is in the closed state.

[0185] In addition, the flipping bracket 12 is also provided with a second positioning component 165. The second positioning component 165 is used to cooperate with the movable platform 15 to limit the flipping bracket 12 when it is placed vertically. The second positioning component 165 includes a plurality of positioning abutments, preferably stop screws. One end of the positioning abutment is fixed to the flipping base plate 122, and the other end can abut against the movable platform 15 when the flipping base plate 122 is placed vertically, thereby limiting the flipping bracket 12.

[0186] like Figure 13 As shown, the movable platform 15 includes a movable end plate 151 and a pair of movable side plates 152. The movable end plate 151 is connected between the same ends of the pair of movable side plates 152, and together with the pair of movable side plates 152, they form a U-shaped movable platform 15. When the boat loading device 1 switches to the closed state, the movable end plate 151 will abut against the positioning abutment on the flipping bracket 12.

[0187] In addition, the movable platform 15 also includes four boat positioning blocks 153, two of which are respectively located at the connection positions between a pair of movable side plates 152 and movable end plates 151, and the other two are respectively located at the ends of the pair of movable side plates 152 away from the movable end plates 151. In this way, these four boat positioning blocks 153 can jointly support the four corners of the vertical boat 100.

[0188] The boat positioning block 153 consists of three blocks of different heights: a first block with the lowest height, a second block with the middle height, and a third block with the highest height. The second and third blocks are respectively positioned on opposite sides of the first block. The first block is used to directly contact the bottom of the vertical boat 100, the second block facilitates the lifting and removal of the vertical boat 100 from the boat positioning block 153, and the third block facilitates the limiting and fixing of the vertical boat 100.

[0189] In addition, the movable platform 15 also includes three angle handles 154, which are respectively installed on a pair of movable side plates 152 and movable end plates 151, making it convenient for staff to manually hold and pull the movable platform 15.

[0190] Please refer to the following: Figures 15 to 17 Next, the structure of the boat clamping device 3 will be described in detail.

[0191] The boat clamping device 3 includes a support frame 31, a reference component 32, a clamping component 33, a first drive component 34, a second drive component 35, and a third drive component 36.

[0192] The support frame 31 is preferably a square frame structure, placed vertically, and has a horizontally placed support plate 37 at its bottom for supporting the vertical boat 100. A reference component 32 is fixedly installed on one inner wall of the support frame 31, placed vertically, and serves as a reference for positioning the vertical boat 100, providing a unified standard for bidirectional alignment. A first drive component 34 is disposed on the support frame 31 and drives the vertical boat 100 to move along the Y-axis, aligning it with the reference component 32 in the Y-axis direction. A second drive component 35 is disposed on the support frame 31 and drives the vertical boat 100 to move along the X-axis, aligning it with the reference component 32 in the X-axis direction. A clamping component 33 is disposed opposite to the reference component 32 along the Y-axis direction. The third drive assembly 36 is disposed on the support frame 31 and is used to drive the clamping assembly 33 to move toward the reference assembly 32 and abut against the side of the vertical boat 100 so that the clamping assembly 33 and the reference assembly 32 clamp the vertical boat 100.

[0193] The boat clamping device 3 provided by this invention drives the vertical boat 100 to move along two intersecting horizontal directions via a first driving component 34 and a second driving component 35, respectively. This enables bidirectional fine-tuning of the horizontal position of the vertical boat 100, ensuring precise alignment of the vertical boat 100 with the reference component 32 in both the Y-axis and X-axis directions. The support frame 31 is arranged vertically, and the bearing plate 37, serving as the bearing structure for the vertical boat 100, is integrated into the bottom of the vertical support frame 31. This allows the entire boat clamping device 3 to be distributed vertically, eliminating the need for additional horizontal docking space. This structure significantly reduces the area occupied by the boat clamping device 3 on the horizontal plane, thereby reducing the horizontal footprint of the entire loading and unloading machine and lowering equipment footprint costs.

[0194] When the vertical boat 100 is precisely aligned with the reference component 32 in the Y-axis and X-axis directions via the first drive assembly 34 and the second drive assembly 35, the third drive assembly 36 operates, driving the clamping assembly 33 to move smoothly towards the reference component 32 along the Y-axis until the clamping assembly 33 abuts against the side of the vertical boat 100 away from the reference component 32. Through the power control of the third drive assembly 36, the clamping assembly 33 and the reference component 32 form a bidirectional clamping force, firmly fixing the vertical boat 100 between the reference component 32 and the clamping assembly 33, ensuring the vertical boat 100 maintains a stable posture during loading and unloading. Therefore, the opposing clamping design of the reference component 32 and the clamping assembly 33 can apply a balanced clamping force from both sides of the vertical boat 100, effectively limiting the horizontal swaying and offset of the vertical boat 100, and enhancing the stability of the vertical boat 100.

[0195] Furthermore, the support plate 37 is connected to the support frame 31 via a Y-axis guide assembly 38. The number of Y-axis guide assemblies 38 can be flexibly adjusted according to actual needs. For example, four Y-axis guide assemblies 38 can be set, and these four Y-axis guide assemblies 38 are respectively connected to the four corners of the support plate 37. The Y-axis guide assembly 38 includes a pad 381, a transverse slider 382, ​​and a transverse guide rail 383. The transverse guide rail 383 is installed at the bottom of the support frame 31, the transverse slider 382 is slidably connected to the transverse guide rail 383, and the pad 381 is connected between the transverse slider 382 and the support plate 37. This configuration also allows for the adjustment of the position of the support plate 37 within the support frame 31 by pushing the support plate 37 to move along the Y-axis on the transverse guide rail 383. This ensures that the vertical boat 100 located on the support plate 37 is positioned between the reference component 32 and the clamping component 33, thereby ensuring that the vertical boat 100 is precisely aligned with the reference component 32 in both the Y-axis and X-axis directions, and that the clamping component 33 and the reference component 32 form a bidirectional clamping force on the vertical boat 100.

[0196] In the boat clamping device 3, a limiting plate 39 is provided on the support frame 31. This limiting plate 39 is used to limit the vertical boat 100 on the bearing plate 37, thereby restricting the vertical boat 100 from moving along the X-axis. The limiting plate 39 is preferably located at the top of the support frame 31, forming a rigid constraint on the vertical boat 100 from above. The supplementary top limiting makes the constraint on the vertical boat 100 more comprehensive, especially for vertical boats with greater height, it can avoid the risk of swaying or tipping due to a high center of gravity, ensuring that the vertical boat 100 always remains vertical.

[0197] like Figure 17 As shown, a first mounting hole is provided on the limiting plate 39, and a first roller 391 is installed in the first mounting hole. The first roller 391 can roll along the Y-axis. The first roller 391 is used to make rolling contact with the top of the vertical boat 100. Compared with the direct sliding contact between the limiting plate 39 and the vertical boat 100, its frictional resistance is reduced, which can effectively avoid scratches, wear or chipping on the top of the vertical boat 100 (especially the graphite vertical boat 100) due to friction. In addition, the number of first rollers 391 can be flexibly adjusted according to actual needs. For example, the limiting plate 39 is provided with multiple first rollers 391 arranged at intervals along the Y-axis. Compared with a single roller or direct sliding contact, multiple first rollers 391 can disperse the contact pressure, which greatly reduces the frictional resistance, thereby more effectively reducing the damage to the vertical boat 100.

[0198] like Figure 16 As shown, a second mounting hole is provided on the support plate 37, and a second roller 371 is installed in the second mounting hole. The second roller 371 can roll along the X-axis. When the first boat-moving assembly 4 transports the vertical boat 100 to the boat-clamping device 3, causing the vertical boat 100 to move downward and be placed on the support plate 37, the vertical boat 100 can slide into the boat-clamping device 3 with the help of the second roller 371. At the same time, compared with sliding friction, the rolling friction of the second roller 371 can prevent scratches, wear, or chipping on the bottom of the vertical boat 100. In addition, the number of second rollers 371 can be flexibly adjusted according to actual needs. For example, the support plate 37 is provided with multiple second rollers 371 arranged at intervals along the X-axis. Compared with a single roller or direct sliding contact, the distributed rolling contact points of multiple second rollers 371 can evenly distribute the weight of the vertical boat 100 and the force generated during movement, avoiding structural damage caused by local stress concentration, thereby reducing the cost of consumable replacement and equipment maintenance.

[0199] The support plate 37 is also provided with a blocking strip 372 and a blocking block 373. The bottom of the vertical boat 100 is limited by the blocking block 373 and the blocking strip 372, and the top of the vertical boat 100 is limited by the limiting plate 39 on the top of the support frame 31, thereby further enhancing the stability of the vertical boat 100 in the boat clamping device 3.

[0200] The support plate 37 is also provided with a clearance hole 374, which is used to allow the first boat support plate 412 of the first boat moving assembly 4 to move along the Z-axis and along the X-axis, thereby realizing the transfer of the vertical boat 100 between the first boat moving assembly 4 and the boat clamping device 3.

[0201] In the boat clamping device 3, such as Figure 15 and Figure 17 As shown, the reference assembly 32 includes a reference mounting component 321 and a reference positioning component 322. The reference mounting component 321 consists of a column 3211 and a mounting plate 3212. The opposite sides of the column 3211 are connected to the support frame 31 and the mounting plate 3212, respectively. The mounting plate 3212 is connected between the column 3211 and the reference positioning component 322. The reference positioning component 322 is used to correspond to the battery cell support position in the vertical boat 100.

[0202] The number of reference positioning components 322 can be flexibly adjusted according to actual needs. For example, multiple reference positioning components 322 can be arranged at intervals along the Z-axis, and these multiple reference positioning components 322 can accurately correspond to the battery cell bearing positions at different heights on the vertical boat 100, forming multi-point synchronous positioning. Compared with the positioning of a single reference positioning component 322, multi-point positioning can more accurately correct slight tilts or offsets of the vertical boat 100 in the height direction, ensuring that the vertical boat 100 maintains a vertical posture throughout the entire process.

[0203] The reference positioning member 322 has a locking point avoidance groove 323 on the side facing the clamping assembly 33. The locking point avoidance groove 323 is used to avoid the locking points around the battery cell bearing position. At the same time, adjacent reference positioning members 322 are spaced apart in the Z-axis direction to form a positioning rod avoidance groove 324. The positioning rod avoidance groove 324 is used to avoid the positioning rod in the vertical boat 100. By setting the locking point avoidance groove 323 and the positioning rod avoidance groove 324, the reference positioning member 322 can be precisely fitted with the vertical boat 100, which is more conducive to improving the positioning accuracy in the X-axis and Y-axis directions.

[0204] In the boat clamping device 3, the clamping assembly 33 includes a stop member 331, a transverse elastic member 332, a pusher member 333, and a guide shaft 334. The transverse elastic member 332 is sleeved on the guide shaft 334. The stop member 331 and the pusher member 333 are respectively connected to the two ends of the guide shaft 334. The pusher member 333 is also connected to the drive shaft of the third drive assembly 36. The material of the stop member 331 is preferably polyoxymethylene resin, and the material of the vertical boat 100 is preferably graphite. This arrangement makes the material of the stop member 331 softer than that of the vertical boat 100, making it more suitable for contacting the vertical boat 100 and applying elastic force.

[0205] If clamping component 33 is needed to clamp the vertical boat 100, the pushing component 333 moves towards the reference component 32 under the forward drive of the third drive component 36. At this time, the abutting component 331 also moves towards the reference component 32, causing the abutting component 331 to abut against the vertical boat 100. This causes the lateral elastic component 332 to undergo elastic deformation, and the lateral elastic component 332 applies an elastic force towards the reference component 32 to the abutting component 331. To release the clamping state, the pushing component 333 moves away from the reference component 32 under the reverse drive of the third drive component 36. The lateral elastic component 332 springs back to its original position, and the abutting component 331 disengages from the vertical boat 100.

[0206] In the boat clamping device 3, such as Figure 16 As shown, the first drive assembly 34 is preferably a boat-pushing assembly with a floating joint 341. The boat-pushing assembly drives the vertical boat 100 to move along the Y-axis direction via the floating joint 341, and can specifically correct the positional deviation of the vertical boat 100 in the Y-axis direction. The floating joint 341 ensures that the driving force is applied evenly to the vertical boat 100, avoiding displacement of the vertical boat 100 due to localized force, and allowing the vertical boat 100 to move smoothly along the preset Y-axis direction. Furthermore, the second drive assembly 35 includes a boat-pushing drive component 351 and a movable push plate 352. The boat-pushing drive component 351 is mounted on the support plate 37, and the driving end of the boat-pushing drive component 351 is connected to the movable push plate 352. The boat-pushing drive component 351 drives the movable push plate 352 to move along the X-axis direction, so that the movable push plate 352 pushes the vertical boat 100 to move along the X-axis direction. Figure 17 As shown, the third drive component 36 adopts the existing telescopic drive structure, which will not be described in detail here.

[0207] The boat clamping device 3 provided by this invention can clamp the vertical boat 100, thereby facilitating the loading and unloading of battery cells by the loading and unloading robot arm. This boat clamping device 3 reduces the space occupied on the horizontal plane, helping to increase production capacity. Multiple boat clamping devices 3 can be configured, for example, two. A first boat-moving assembly 4 moves the vertical boat 100 between the boat temporary storage devices 2 on both sides and the boat clamping device 3. The more boat clamping devices 3 there are, the more boats can be loaded and unloaded, thereby increasing production capacity.

[0208] The loading and unloading system of the present invention also includes a boat transport device, which is configured to transport a fully loaded vertical boat 100 from the boat clamping device 3 to the boat loading device 1. It should be clarified that an empty vertical boat 100 is fed into the machine frame via the boat loading device 1, and then transported to the boat clamping device 3 via the first boat handling assembly 4 and the second boat handling assembly 5 for loading of battery cells. Afterwards, the fully loaded vertical boat 100 is transported to the boat loading device 1 via the boat transport device, and finally, the fully loaded vertical boat 100 is placed onto the movable platform 15 of the boat loading device 1 by a worker.

[0209] The vertical processing equipment provided by the present invention includes a vertical furnace, a clean bench, and a loading and unloading machine. The clean bench is located between the loading and unloading machine and the vertical furnace. The loading and unloading machine includes the loading and unloading system described above.

[0210] To make it easier to understand, the following section will elaborate on the collaborative operation between the various components in the loading and unloading system.

[0211] The manual operator switches the boat loading device 1 to the unfolded state, pulls the movable platform 15 onto the flipping bracket 12, and then places the vertical boat 100 fully loaded with unprocessed solar cells onto the movable platform 15. Subsequently, the movable platform 15 is pushed onto the boat base 11.

[0212] The second boat-moving assembly 5 operates, moving the second lifting mechanism 51 below the movable platform 15 and raising the second boat support plate 512 to support the vertical boat 100 fully loaded with unprocessed solar cells. Next, the second boat-moving assembly 5 transports the vertical boat 100 fully loaded with unprocessed solar cells, and the boat-loading device 1 can be switched to the closed state. Then, the second boat-moving assembly 5 moves the vertical boat 100 fully loaded with unprocessed solar cells to the position where it docks with the third transport assembly.

[0213] The third handling component operates by clamping the vertical boat 100, which is fully loaded with unprocessed solar cells, located on the second support plate 512. The clamping mechanism is moved to a position where it docks with the clean bench, and then the vertical boat 100, which is fully loaded with unprocessed solar cells, is placed in a temporary storage position on the clean bench.

[0214] After passing through the clean bench, the clean bench sends the vertical boat 100, which is fully loaded with unprocessed solar cells, into the vertical furnace for processing, and then receives the vertical boat 100, which is fully loaded with processed solar cells, from the vertical furnace.

[0215] The third boat-moving assembly 6 operates again, causing the gripper mechanism 61 to move to the position where it docks with the clean bench, and clamping the vertical boat 100, which is fully loaded with processed solar cells, in the temporary storage position. Then, the third boat-moving assembly 6 moves the vertical boat 100, which is fully loaded with processed solar cells, to the position where it docks with the second boat-moving assembly 5.

[0216] The second boat-transfer assembly 5 operates again, moving the second boat support plate 512 below the gripper mechanism 61 to receive the vertical boat 100 fully loaded with processed solar cells. Then, the third boat-transfer assembly 6 transports the vertical boat 100 fully loaded with processed solar cells to the buffer platform 20 of the boat storage device 2.

[0217] The first boat-moving assembly 4 operates, moving the first lifting mechanism 41 below the buffer platform 20 and raising the first boat support plate 412 to support the vertical boat 100 fully loaded with processed solar cells. Next, the cell warping detection device 8 performs cell warping detection. Then, the first boat-moving assembly 4 transports the vertical boat 100 fully loaded with processed solar cells to the support plate 37 of the boat-clamping device 3.

[0218] The clamping device 3 positions and clamps the vertical boat 100, which is fully loaded with processed battery cells, on the support plate 37. The loading and unloading robot then unloads the battery cells from the vertical boat 100.

[0219] After unloading the pre-processed solar cells, the vertical boat 100 becomes an empty vertical boat 100. Then, the loading and unloading robot can load solar cells onto the empty vertical boat 100, resulting in a vertical boat 100 fully loaded with unprocessed solar cells. Then, the vertical boat 100 fully loaded with unprocessed solar cells is sent to the boat loading device 1 via the boat transport device.

[0220] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A loading and unloading system for vertical processing equipment, characterized in that, It includes a frame, and boat feeding device (1), boat temporary storage device (2), boat clamping device (3), loading and unloading manipulator and boat moving device respectively installed on the frame; The boat feeding device (1) is configured to transport the vertical boat (100) from the outside of the frame to the inside of the frame. The boat temporary storage device (2) is provided with a plurality of buffer platforms (20) for temporarily storing the vertical boat (100). The boat clamping device (3) is configured to clamp the vertical boat (100). The loading and unloading robot is configured to load or unload battery cells onto the vertical boat (100) located on the boat clamping device (3). The boat moving device is configured to move the vertical boat (100) between the boat feeding device (1), the boat temporary storage device (2), the boat clamping device (3), and the clean table inside the vertical processing equipment.

2. The loading and unloading system as described in claim 1, characterized in that, The boat loading device (1), the boat temporary storage device (2), the boat clamping device (3) and the loading and unloading robot are arranged in sequence along the X-axis direction. The boat moving device includes a first boat moving assembly (4), a second boat moving assembly (5) and a third boat moving assembly (6). The first boat-moving assembly (4) is configured to move the vertical boat (100) between the boat storage device (2) and the boat clamping device (3), the second boat-moving assembly (5) is configured to move the vertical boat (100) between the boat feeding device (1), the boat storage device (2) and the third boat-moving assembly (6), and the third boat-moving assembly (6) is configured to move the vertical boat (100) between the second boat-moving assembly (5) and the purification table.

3. The loading and unloading system as described in claim 2, characterized in that, The first boat-moving component (4) includes: The first lifting mechanism (41) is configured to drive the vertical boat (100) to move along the Z-axis direction; The first Y-axis moving mechanism (42) is slidably connected to the first lifting mechanism (41) and is configured to drive the first lifting mechanism (41) to move along the Y-axis direction; The first X-axis moving mechanism (43) is slidably connected to the first Y-axis moving mechanism (42) and is configured to drive the first Y-axis moving mechanism (42) to move along the X-axis direction.

4. The loading and unloading system as described in claim 3, characterized in that, The first lifting mechanism (41) includes: The first support base (411) is disposed on the first Y-axis moving mechanism (42); The first boat support plate (412) is located above the top of the first support base (411) and is used to support the vertical boat (100); The first lifting drive component (413) is mounted on the first support base (411) and its drive end is connected to the first boat support plate (412), and is used to drive the first boat support plate (412) to move up and down relative to the first support base (411).

5. The loading and unloading system as described in claim 4, characterized in that, The first boat support plate (412) is provided with a positioning member (71) and / or a limiting member (72), wherein the positioning member (71) is used to match the positioning hole at the bottom of the vertical boat (100), and the limiting member (72) is used to match the center hole at the bottom of the vertical boat (100).

6. The loading and unloading system as described in claim 4, characterized in that, The first support base (411) is provided with a first Z-axis guide rail (414) and a first slide (415), wherein the first Z-axis guide rail (414) is slidably connected to the first slide (415), and one end of the first Z-axis guide rail (414) is connected to the first boat support plate (412).

7. The loading and unloading system as described in claim 4, characterized in that, The first Y-axis moving mechanism (42) includes: The first base (421) is mounted on the first X-axis moving mechanism (43); The first Y-axis guide assembly (422) includes a first Y-axis guide rail (4221) and a first Y-axis slider (4222). The first Y-axis guide rail (4221) is mounted on the first base (421), and the first Y-axis slider (4222) is mounted on the first support base (411) and slidably connected to the first Y-axis guide rail (4221). The first Y-axis transmission assembly (423) includes a first Y-axis rack (4231) and a first Y-axis gear (4232). The first Y-axis rack (4231) is mounted on the first base (421) and parallel to the first Y-axis guide rail (4221). The first Y-axis gear (4232) meshes with the first Y-axis rack (4231). The first Y-axis drive unit (424) is mounted on the first support base (411) and its drive end is connected to the first Y-axis gear (4232).

8. The loading and unloading system as described in claim 7, characterized in that, The first X-axis moving mechanism (43) includes: The first X-axis guide assembly (431) includes a first X-axis guide rail (4311) and a first X-axis slider (4312). The first X-axis guide rail (4311) is mounted on the frame, and the first X-axis slider (4312) is mounted on the first base (421) and connected to the slider of the first X-axis guide rail (4311). The first X-axis transmission assembly (432) includes a first X-axis rack (4321) and a first X-axis gear. The first X-axis rack (4321) is mounted on the frame and parallel to the first X-axis guide rail (4311). The first X-axis gear meshes with the first X-axis rack (4321). The first X-axis drive unit (433) is mounted on the first base (421) and its drive end is connected to the first X-axis gear.

9. The loading and unloading system as described in claim 8, characterized in that, The first Y-axis drive (424) has a first tensioning component on its body, which is used to adjust the meshing tightness between the first Y-axis gear (4232) and the first Y-axis rack (4231); and / or, the first X-axis drive (433) has a second tensioning component (74) on its body, which is used to adjust the meshing tightness between the first X-axis gear and the first X-axis rack (4321).

10. The loading and unloading system according to any one of claims 1-9, characterized in that, It also includes a cell warping detection device (8), which is configured to perform cell warping detection on the vertical boat (100) located on the boat-moving device.

11. A vertical processing equipment, characterized in that, It includes a vertical furnace, a clean bench, and a loading and unloading machine, wherein the clean bench is located between the loading and unloading machine and the vertical furnace, and the loading and unloading machine includes the loading and unloading system as described in any one of claims 1-10.

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