Transfer device and transfer system

Abstract

The utility model discloses a transfer device which comprises a plurality of bearing mechanisms, a plurality of lifting mechanisms, a plurality of lifting mechanisms and a plurality of lifting mechanisms, the bearing mechanisms are arranged in the linear direction, an avoiding gap is formed between every two adjacent bearing mechanisms, and the avoiding gaps are used for containing supporting arms for lifting crystal bars; the lifting mechanism is in transmission connection with the more than two bearing mechanisms or the lifting mechanism is in transmission connection with the support arm, and the lifting mechanism is used for driving the bearing mechanisms and the support arm to relatively move along the height direction so as to separate and lift the crystal bar from the support arm. Different from the prior art, according to the technical scheme, the receding gaps are formed among the multiple bearing mechanisms, so that the supporting arms for bearing the crystal bars and the bearing mechanisms are alternated in the crystal bar transferring process; the lifting mechanism is arranged to lift the crystal bar, so that the crystal bar is quickly separated from the support arm, and the transfer of the crystal bar is completed; and therefore, the transfer efficiency and convenience of the crystal bars are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crystal rod transportation, and in particular to a transportation device and a transportation system. Background Art

[0002] In the semiconductor and photovoltaic material manufacturing industry, crystal rods are key raw materials, and their efficient and accurate transportation is an important link to ensure production continuity and product quality. Traditional methods of crystal rod transportation often rely on manual handling, mechanical conveyor belts or manipulators. These methods are not only inefficient, but also easily cause surface damage to the crystal rods due to collisions, friction and other factors during transportation, affecting the final performance of the product. In addition, with the expansion of production scale and the improvement of automation, higher requirements are placed on the accuracy and speed of crystal rod transportation.

[0003] Specifically, although the existing mechanical conveyor belt or manipulator can reduce the labor burden, it lacks efficiency; that is, after the manipulator grabs the crystal rod, it needs to rotate and move the crystal rod so that the crystal rod can be placed on the transfer device. In this process, due to the long length of the crystal rod, the operating radius of the manipulator is large; at the same time, after the crystal rod is placed on the transfer device, it needs to be repeatedly aligned, which further affects the efficiency of crystal rod transportation; the same is true for the conveyor belt. Summary of the invention

[0004] In view of the above problems, the present application provides a transfer device to efficiently and quickly transfer crystal rods.

[0005] To achieve the above objectives, the present application provides a transfer device, comprising:

[0006] A supporting mechanism, wherein there are multiple supporting mechanisms, the multiple supporting mechanisms are arranged in a straight line direction, and there is an avoidance gap between two adjacent supporting mechanisms, and the avoidance gap is used to accommodate a support arm for lifting the crystal rod;

[0007] A lifting mechanism is connected to the supporting mechanism or the supporting mechanism is connected to the supporting arm, and is used to drive the supporting mechanism and the supporting arm to move relative to each other in the height direction so as to lift the crystal rod away from the supporting arm.

[0008] In the technical solution of the embodiment of the present application, the supporting mechanism includes: a first rotating unit, the first rotating unit rotates around its rotation center, the rotation center of the first rotating unit is arranged perpendicular to the crystal rod, and the first rotating unit is used to move the crystal rod;

[0009] And / or, the supporting mechanism is a second rotating unit, the second rotating unit includes two oppositely arranged first rotating members, the first rotating members rotate around their respective rotation centers; the rotation center of the first rotating member is arranged parallel to the crystal rod, and the second rotating unit is used to rotate the crystal rod.

[0010] In the technical solution of the embodiment of the present application, the first rotating unit includes: a first rotating shaft and a first supporting member, the first supporting member is two, the two first supporting members are sleeved on the first rotating shaft, and the distance between the two first supporting members is smaller than the diameter of the crystal rod, so as to support the crystal rod; the first rotating shaft and the length direction of the crystal rod are perpendicular to each other;

[0011] The first rotating member includes: a second rotating shaft and a second supporting member, the second supporting member is sleeved on the second rotating shaft, and the distance between the two first rotating members is smaller than the diameter of the crystal rod to support the crystal rod; the second rotating shaft and the length direction of the crystal rod are parallel to each other.

[0012] In the technical solution of the embodiment of the present application, the supporting mechanism includes: a third rotating unit and a fourth rotating unit;

[0013] There are two third rotating units, each of which rotates around its own rotation center, the rotation center of each third rotating unit is vertically arranged to the crystal rod, and the third rotating unit is used to move the crystal rod;

[0014] The fourth rotating unit is located between the two third rotating units, and the fourth rotating unit rotates around its rotation center; the rotation center of the fourth rotating unit is arranged parallel to the crystal rod, and the fourth rotating unit is used to rotate the crystal rod.

[0015] In the technical solution of the embodiment of the present application, the lifting mechanism is transmission-connected with the third rotating unit or the fourth rotating unit, and the lifting mechanism is used to drive the third rotating unit and the fourth rotating unit to move relative to each other along the height direction.

[0016] The technical solution of the embodiment of the present application also includes:

[0017] A fixed bracket, wherein a plurality of bosses for supporting the fourth rotating unit are protruding from the side of the fixed bracket, and the bosses are adapted to the fourth rotating unit; the lifting mechanism is placed on the fixed bracket;

[0018] A movable bracket is slidably connected to the fixed bracket, the movable bracket is used to support the third rotating unit, the third rotating unit is adapted to the movable bracket, the movable bracket is connected to the lifting mechanism, and the movable mechanism is used to drive the movable bracket to move in the height direction.

[0019] The technical solution of the embodiment of the present application further includes: a sensor, which is placed on the supporting mechanism and is used to detect the crystal rod on the supporting mechanism.

[0020] The technical solution of the embodiment of the present application further includes: a detection mechanism, which is placed on the supporting mechanism and is used to detect the crystal lines on the crystal rod.

[0021] To achieve the above-mentioned purpose, the present application provides a transfer system, comprising: a transfer device and a transfer vehicle as described in any one of the embodiments;

[0022] The transport vehicle comprises: a support arm and a moving mechanism, the support arm is placed on the moving mechanism, and the moving mechanism is used to drive the support arm to move;

[0023] There are a plurality of support arms, which are spaced apart along a straight line. When the transfer device receives the crystal rod on the transfer carrier, the support arms are placed in the avoidance gap of the transfer device.

[0024] In the technical solution of the embodiment of the present application, the mobile mechanism is an AGV.

[0025] Different from the prior art, the above technical solution sets an avoidance gap between the multiple supporting mechanisms so that the support arm carrying the crystal rod and the supporting mechanism alternate with each other during the crystal rod transfer process; and through the setting of the lifting mechanism, the crystal rod is lifted so that the crystal rod is quickly detached from the support arm to complete the transportation of the crystal rod, thereby improving the transportation efficiency and convenience of the crystal rod.

[0026] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0028] Figure 1 Composition of a transport system for a specific embodiment;

[0029] Figure 2 It is a structural diagram of a transfer device for a specific implementation method;

[0030] Figure 3 for Figure 2 Middle A: Enlarged view;

[0031] Figure 4 This is a structural diagram of the first rotating unit in a specific implementation manner;

[0032] Figure 5 This is a structural diagram of the second rotating unit in a specific implementation manner;

[0033] Figure 6 It is a structural diagram of the lifting mechanism described in the specific implementation method;

[0034] Figure 7 This is a schematic diagram of the second rotating unit and the structure of driving the second rotating shaft to rotate in a specific implementation manner;

[0035] Figure 8 This is a structural diagram of the transport vehicle described in the specific implementation method;

[0036] Fig. 9 This is a schematic diagram of a support arm supporting a crystal rod according to a specific implementation method.

[0037] Description of reference numerals:

[0038] 10. Support mechanism; 20. Lifting mechanism; 30. Fixed support; 40. Mobile support; 50. Detection mechanism; 60. Transfer carrier; 70. Crystal rod; 80. Avoidance gap;

[0039] 11. First rotating unit; 12. Second rotating unit; 13. Third rotating unit; 14. Fourth rotating unit;

[0040] 31. Boss;

[0041] 61. Support arm; 62. Moving mechanism;

[0042] 111. a first rotating shaft; 112. a first supporting member;

[0043] 121. A second rotating shaft; 122. A second supporting member. DETAILED DESCRIPTION

[0044] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0046] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0047] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0049] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0050] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0051] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0052] See also Figures 1 to 9 , this embodiment provides a transfer device, including:

[0053] A supporting mechanism 10, wherein the supporting mechanism 10 is multiple, and the multiple supporting mechanisms 10 are arranged in a straight line direction, and there is an avoidance gap 80 between two adjacent supporting mechanisms 10, and the avoidance gap 80 is used to accommodate the support arm 61 for lifting the crystal rod 70;

[0054] The lifting mechanism 20 is connected to the supporting mechanism 10 or more than two supporting mechanisms 10 or is connected to the supporting arm 61. The lifting mechanism 20 is used to drive the supporting mechanism 10 and the supporting arm 61 to move relative to each other in the height direction so as to lift the crystal rod 70 away from the supporting arm 61.

[0055] There are multiple supporting mechanisms 10, and the multiple supporting mechanisms 10 are arranged in a straight line direction (i.e., the extension direction of the crystal rod 70), and the supporting mechanisms 10 are used to support the crystal rod 70. The avoidance gap 80 is provided between two supporting mechanisms 10, and the avoidance gap 80 is used to accommodate the support arm 61 for lifting the crystal rod 70. The surface of the supporting mechanism 10 is covered with a soft protective material, such as a rubber pad or an antistatic coating, to prevent the crystal rod 70 from being scratched or affected by static electricity during transportation.

[0056] Specifically, when the transfer device is ready to support the crystal ingot 70 , the support arm 61 is placed in the avoidance gap 80 , that is, the support arm 61 is placed between the two supporting mechanisms 10 , and the crystal ingot 70 is placed above the supporting mechanisms 10 .

[0057] The lifting mechanism 20 can be driven by a hydraulic cylinder, a pneumatic cylinder or an electric lead screw, and is connected to two or more supporting mechanisms 10 or directly to the support arm 61 through a moving device. Specifically, when the lifting mechanism 20 is connected to the supporting mechanism 10, the lifting mechanism 20 can directly raise the height of the supporting mechanism 10, so that multiple supporting mechanisms 10 can simultaneously receive the crystal ingot 70 located above them, thereby allowing the crystal ingot 70 to be separated from the support arm 61 below.

[0058] When the lifting mechanism 20 is connected to the support arm 61 , the lifting mechanism 20 directly acts on the support arm 61 . The lifting mechanism 20 lowers the height of the support arm 61 , so that the crystal rod 70 falls on the supporting mechanism 10 .

[0059] Then the support arm 61 is driven to move out of the avoidance gap 80 to complete the transfer operation.

[0060] In actual operation, the crystal ingot 70 is transported by the support arm 61 until the support arm 61 is placed in the avoidance gap 80, at which time the crystal ingot 70 is placed above the supporting mechanism 10. The lifting mechanism 20 is activated to lift the supporting mechanism 10, or to lower the support arm 61, so that the crystal ingot 70 is separated from the support of the support arm 61. After the crystal ingot 70 is received by the supporting mechanism 10, the support arm 61 exits the avoidance gap 80 along a preset trajectory.

[0061] Different from the prior art, the above technical solution sets an avoidance gap 80 between the plurality of supporting mechanisms 10, so that the arm 61 supporting the crystal rod 70 and the supporting mechanism 10 are alternated with each other during the transfer of the crystal rod 70; and the lifting mechanism 20 is set to lift the crystal rod 70, so that the crystal rod 70 is quickly detached from the arm 61, completing the transportation of the crystal rod 70; thereby improving the transportation efficiency and convenience of the crystal rod 70.

[0062] According to some embodiments of the present application, referring to Figure 1 , Figure 2 , Figure 4 as well as Figure 5 The supporting mechanism 10 includes: a first rotating unit 11, the first rotating unit 11 rotates around its rotation center, the rotation center of the first rotating unit 11 is vertically arranged with the crystal rod 70, and the first rotating unit 11 is used to move the crystal rod 70;

[0063] And / or, the supporting mechanism 10 includes: a second rotating unit 12, the second rotating unit 12 includes two oppositely arranged first rotating members, the first rotating members rotate around their respective rotation centers; the rotation center of the first rotating member is arranged parallel to the crystal rod 70, and the second rotating unit 12 is used to rotate the crystal rod 70.

[0064] First of all, it should be explained that the crystal rod 70 is a cylindrical structure, and there are multiple crystal bars on the surface of the crystal rod 70, and the crystal bars are arranged along the length direction of the crystal rod 70; the rotation of the crystal rod 70 is used to adjust the orientation of the crystal bars to avoid the wire saw contacting the crystal bars first when the crystal rod 70 is wired, thereby avoiding damage to the crystal rod 70.

[0065] When the supporting mechanism 10 is a first rotating unit 11, there is an avoidance gap 80 between two adjacent first rotating units 11. When the support arm 61 moves into the avoidance gap 80, the crystal rod 70 is placed above the first rotating unit 11. By driving the lifting mechanism 20, the height difference between the support arm 61 and the first rotating unit 11 is reduced, so that the crystal rod 70 moves to the first rotating unit 11. Finally, the first rotating unit 11 is driven to rotate to drive the crystal rod 70 to move along its length direction.

[0066] When the supporting mechanism 10 is a second rotating unit 12, there is an avoidance gap 80 between two adjacent second rotating units 12. When the support arm 61 moves into the avoidance gap 80, the crystal rod 70 is placed above the second rotating unit 12. By driving the lifting mechanism 20, the height difference between the support arm 61 and the second rotating unit 12 is reduced, so that the crystal rod 70 moves to the second rotating unit 12.

[0067] Furthermore, when the crystal rod 70 is placed on the second rotating unit 12, the two first rotating members are arranged opposite to each other, so that the circumference of the crystal rod 70 contacts the two first rotating members, and stable support is achieved. When the crystal line direction needs to be adjusted, the first rotating member is driven to rotate and then the crystal rod 70 is driven to rotate, so as to avoid damage to the crystal rod 70 when cutting the crystal rod 70.

[0068] According to some embodiments of the present application, referring to Figure 4 as well as Figure 5 The first rotating unit 11 includes: a first rotating shaft 111 and a first supporting member 112. The first supporting members 112 are two, and the two first supporting members 112 are sleeved on the first rotating shaft 111. The distance between the two first supporting members 112 is smaller than the diameter of the crystal rod 70, so as to support the crystal rod 70. The length direction of the first rotating shaft 111 and the crystal rod 70 are perpendicular to each other.

[0069] The first rotating member includes: a second rotating shaft 121 and a second supporting member 122. The second supporting member 122 is sleeved on the second rotating shaft 121, and the distance between the two first rotating members is smaller than the diameter of the crystal rod 70 to support the crystal rod 70. The length directions of the second rotating shaft 121 and the crystal rod 70 are parallel to each other.

[0070] The first rotating shaft 111 is rotatably arranged around its rotation center, and there are two first supporting members 112, and the two first supporting members 112 are both mounted on the first rotating shaft 111; there is a gap between the two first supporting members 112, and the two first supporting members 112 are used to support the crystal rod 70. Specifically, when the first rotating unit 11 supports the crystal rod 70, the crystal rod 70 is placed above the gap between the two first supporting members 112, and the side wall of the crystal rod 70 is against the outer walls of the two first supporting members 112.

[0071] Similarly, see Figure 7 The second rotating unit 12 includes two first rotating members, which are arranged side by side with a gap between them. The two first rotating members are used to support the crystal rod 70. Specifically, when the first rotating members support the crystal rod 70, the crystal rod 70 is placed above the gap between the two first rotating members, and the side wall of the crystal rod 70 is against the outer walls of the two first rotating members.

[0072] The first rotating member includes: a second rotating shaft 121 and a second supporting member 122. The second supporting member 122 is sleeved on the second rotating shaft 121, and the distance between the two first rotating members is smaller than the diameter of the crystal rod 70, so as to support the crystal rod 70. The second rotating shaft 121 is parallel to the length direction of the crystal rod 70. When the second rotating shaft 121 rotates, the second supporting member 122 is driven to rotate, thereby driving the crystal rod 70 to rotate.

[0073] According to some embodiments of the present application, referring to Figure 2 as well as Figure 3 , the supporting mechanism 10 comprises: a third rotating unit 13 and a fourth rotating unit 14;

[0074] There are two third rotating units 13, and the third rotating units 13 rotate around their respective rotation centers. The rotation centers of the third rotating units 13 are arranged vertically to the crystal rod 70, and the third rotating units 13 are used to move the crystal rod 70;

[0075] The fourth rotating unit 14 is located between the two third rotating units 13 , and the fourth rotating unit 14 includes: two oppositely arranged second rotating members, which rotate around their respective rotation centers; the rotation centers of the second rotating members are arranged parallel to the crystal rod 70 , and the fourth rotating unit 14 is used to rotate the crystal rod 70 .

[0076] The third rotating unit 13 has the same structure as the first rotating unit 11, and the third rotating unit 13 is used to move the crystal rod 70. The fourth rotating unit 14 has the same structure as the second rotating unit 12, and the fourth rotating unit 14 is used to make the crystal rod 70 rotate. The structures of the third rotating unit 13 and the fourth rotating unit 14 are not described here in detail. In this embodiment, the supporting mechanism 10 includes: the fourth rotating unit 14 and the third rotating unit 13 placed on both sides of the fourth rotating unit 14, and the side walls of the third rotating unit 13 are in contact with the side walls of the fourth rotating unit 14.

[0077] According to some embodiments of the present application, referring to Figure 1 , Figure 2 , Figure 3 as well as Figure 6 The lifting mechanism 20 is in transmission connection with the third rotating unit 13 or the fourth rotating unit 14, and the lifting mechanism 20 is used to drive the third rotating unit 13 and the fourth rotating unit to move relative to each other along the height direction.

[0078] In this embodiment, the lifting mechanism 20 is connected to the supporting mechanism 10, and the lifting mechanism 20 drives the third rotating unit 13 to rise and fall; specifically, when the support arm 61 is placed in the avoidance gap 80, the lifting mechanism 20 drives the third rotating unit 13 to rise and receive the crystal rod 70; then the lifting mechanism 20 drives the third rotating unit 13 to descend so that it falls on the fourth rotating unit 14. At this time, the crystal rod 70 is separated from the third rotating unit 13 and is received by the fourth rotating unit; the fourth rotating unit 14 can drive the crystal rod 70 to rotate.

[0079] According to some embodiments of the present application, referring to Figure 2 as well as Figure 3 , also includes:

[0080] A fixed bracket 30, wherein a plurality of bosses 31 for supporting the fourth rotating unit 14 are protruding from the side of the fixed bracket 30, and the bosses 31 are adapted to the fourth rotating unit 14; the lifting mechanism 20 is placed on the fixed bracket 30;

[0081] The movable bracket 40 is slidably connected to the fixed bracket 30, the movable bracket 40 is used to support the third rotating unit 13, the third rotating unit 13 is adapted to the movable bracket 40, the movable bracket 40 is connected to the lifting mechanism 20, and the lifting mechanism 20 is used to drive the movable bracket 40 to move in the height direction.

[0082] The fixing bracket 30 includes a body and a boss 31 . The boss 31 is multiple and arranged in an array on the side wall of the body. That is, the boss 31 is protruding from the side wall of the body. The fourth rotating unit 14 is placed on the boss 31 .

[0083] The movable bracket 40 is used to support the third rotating unit 13, and the movable bracket 40 is placed on both sides of the boss 31, and the movable bracket 40 and the boss 31 are arranged to move relative to each other; specifically, the lifting mechanism 20 is placed on the main body, and the lifting end of the lifting mechanism 20 is connected to the movable bracket 40, and the third rotating unit 13 is driven to rise and fall by driving the movable bracket 40 to rise and fall.

[0084] According to some embodiments of the present application, referring to Figure 2 as well as Figure 3 , further comprising: a sensor, the sensor is placed on the supporting mechanism 10, and the sensor is used to detect the crystal rod 70 on the supporting mechanism 10. Also comprising: a detection mechanism 50, the detection mechanism 50 is placed on the supporting mechanism 10, and the detection mechanism 50 is used to detect the crystal wire on the crystal rod 70.

[0085] The sensor is an infrared sensor, a position sensor or a distance sensor, and the sensor is used to detect whether there is a crystal rod 70 on the supporting mechanism 10. Specifically, when the crystal rod 70 moves onto the supporting mechanism 10, the sensor detects the crystal rod 70 and drives the support arm 61 to withdraw from the avoidance gap 80.

[0086] The detection mechanism 50 is a visual detection mechanism 50, which is used to detect the crystal wire on the crystal rod 70. When the crystal wire is placed on the top of the crystal rod 70, the fourth rotating mechanism or the second rotating mechanism is driven to operate so that the crystal rod 70 rotates, thereby preventing the wire saw from touching the crystal wire first when writing the crystal rod 70 from top to bottom.

[0087] See also Figures 8 to 9 , this embodiment provides a transfer system, including: a transfer device and a transfer carrier 60 as described in any one of the embodiments;

[0088] The transport vehicle 60 includes: a support arm 61 and a moving mechanism 62, wherein the support arm 61 is placed on the moving mechanism 62, and the moving mechanism 62 is used to drive the support arm 61 to move;

[0089] There are a plurality of support arms 61 , which are spaced apart along a straight line. When the transfer device receives the crystal rod 70 on the transfer carrier 60 , the support arms 61 are placed in the avoidance gap 80 of the transfer device.

[0090] The plurality of arms 61 are connected to each other, the moving mechanism 62 is placed under the arms 61, and the moving mechanism 62 and the arms 61 are detachably connected; specifically, when the arms 61 need to be moved, the moving mechanism 62 moves to the bottom of the arms 61 to drive the arms 61 to move.

[0091] According to some embodiments of the present application, referring to Figure 8 as well as Fig. 9 The moving mechanism 62 is an AGV. The AGV (Automated Guided Vehicle) is used to move the support arm 61.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A transfer device, characterized in that: include: A supporting mechanism, wherein there are multiple supporting mechanisms, the multiple supporting mechanisms are arranged in a straight line direction, and there is an avoidance gap between two adjacent supporting mechanisms, and the avoidance gap is used to accommodate a support arm for lifting the crystal rod; A lifting mechanism is connected to the supporting mechanism or the supporting mechanism is connected to the supporting arm, and is used to drive the supporting mechanism and the supporting arm to move relative to each other in the height direction so as to lift the crystal rod away from the supporting arm.

2. A transfer device according to claim 1, characterized in that: The supporting mechanism comprises: a first rotating unit, the first rotating unit rotates around its rotation center, the rotation center of the first rotating unit is arranged perpendicular to the crystal rod, and the first rotating unit is used to move the crystal rod; And / or, the supporting mechanism includes: a second rotating unit, the second rotating unit includes two oppositely arranged first rotating members, the first rotating members rotate around their respective rotation centers; the rotation center of the first rotating member is arranged parallel to the crystal rod, and the second rotating unit is used to rotate the crystal rod.

3. A transfer device according to claim 2, characterized in that: The first rotating unit comprises: a first rotating shaft and a first supporting member, wherein the first supporting members are two, and the two first supporting members are sleeved on the first rotating shaft, and the distance between the two first supporting members is smaller than the diameter of the crystal rod, so as to support the crystal rod; the first rotating shaft and the length direction of the crystal rod are perpendicular to each other; The first rotating member includes: a second rotating shaft and a second supporting member, the second supporting member is sleeved on the second rotating shaft, and the distance between the two first rotating members is smaller than the diameter of the crystal rod to support the crystal rod; the second rotating shaft and the length direction of the crystal rod are parallel to each other.

4. A transfer device according to claim 1, characterized in that: The supporting mechanism comprises: a third rotating unit and a fourth rotating unit; There are two third rotating units, each of which rotates around its own rotation center, the rotation center of each third rotating unit is vertically arranged to the crystal rod, and the third rotating unit is used to move the crystal rod; The fourth rotating unit is located between the two third rotating units, and the fourth rotating unit rotates around its rotation center; the rotation center of the fourth rotating unit is arranged parallel to the crystal rod, and the fourth rotating unit is used to rotate the crystal rod.

5. A transfer device according to claim 4, characterized in that: The lifting mechanism is in transmission connection with the third rotating unit or the fourth rotating unit, and is used to drive the third rotating unit and the fourth rotating unit to move relative to each other along a height direction.

6. A transfer device according to claim 4, characterized in that: Also includes: A fixed bracket, wherein a plurality of bosses for supporting the fourth rotating unit are protruding from the side of the fixed bracket, and the bosses are adapted to the fourth rotating unit; the lifting mechanism is placed on the fixed bracket; A movable bracket is slidably connected to the fixed bracket, the movable bracket is used to support the third rotating unit, the third rotating unit is adapted to the movable bracket, the movable bracket is connected to the lifting mechanism, and the lifting mechanism is used to drive the movable bracket to move in the height direction.

7. A transfer device according to claim 1, characterized in that: Also includes: A sensor is placed on the supporting mechanism and is used to detect the crystal rod on the supporting mechanism.

8. A transfer device according to claim 1, characterized in that: Also includes: A detection mechanism is placed on the supporting mechanism, and is used to detect crystal lines on the crystal rod.

9. A transport system, characterized in that: include: A transfer device and a transfer vehicle as described in any one of claims 1 to 8; The transport vehicle comprises: a support arm and a moving mechanism, the support arm is placed on the moving mechanism, and the moving mechanism is used to drive the support arm to move; There are a plurality of support arms, which are spaced apart along a straight line. When the transfer device receives the crystal rod on the transfer carrier, the support arms are placed in the avoidance gap of the transfer device.

10. A transport system according to claim 9, characterized in that: The moving mechanism is an AGV.

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