Feeding and discharging device and turnover device

Abstract

The utility model relates to the technical field of semiconductors and photovoltaics, in particular to a feeding and discharging device and a turnover device, and solves the problem that a silicon wafer is broken due to the fact that a supporting groove of a supporting tooth assembly cannot support the silicon wafer due to deformation of the silicon wafer in the related technology. The supporting piece assembly of the feeding and discharging device has the adjusting function, under the condition that the sheet-shaped product borne by the boat structure deforms, the position of the supporting groove in the supporting piece assembly is adjusted, so that the supporting groove can be aligned with the sheet-shaped product, the supporting piece assembly moves in the direction close to the boat structure, and therefore the sheet-shaped product can be conveniently discharged. Therefore, the bracket can bear the sheet-shaped product borne by the boat structure, the situation that the bracket cannot bear the sheet-shaped product due to the tooth staggering problem is avoided, and the sheet-shaped product is prevented from being broken.

Description

Technical Field

[0001] The present disclosure relates to the fields of semiconductor and photovoltaic technologies, and particularly relates to a loading and unloading device and a flipping device. Background Art

[0002] In the context of global warming, shortage of conventional energy and environmental pollution, photovoltaic power generation, as an important renewable energy power generation technology, has achieved rapid development, and the demand for photovoltaic cells is increasing day by day. For photovoltaic cells based on silicon wafers, the quality of the silicon wafers directly determines the conversion efficiency of the photovoltaic cells. Currently, in the industry, quartz boats are usually used to carry silicon wafers. The quartz boat has multiple groove rods, and multiple tooth grooves are provided on the groove rods. The multiple tooth grooves support the edge area of the silicon wafer. Due to the self-gravity of the silicon wafer, the central area of the silicon wafer naturally sags and deforms. In order to facilitate the loading and unloading of the silicon wafers, the quartz boat is usually adjusted from a vertical state to a horizontal state. And in order to prevent the silicon wafers from falling off the quartz boat when the quartz boat is in a horizontal state, a trough of a tooth support assembly is usually used to support the silicon wafers.

[0003] However, the tooth support assembly of the related technology is not adjustable. Moreover, in order to meet the functional requirements and economic and environmental protection requirements of photovoltaic products, the silicon wafers are becoming larger and thinner, and the deformation amount of the central area of the silicon wafers is relatively large. The trough of the tooth support assembly cannot be aligned with the deformed silicon wafers, that is, the tooth misalignment problem occurs, resulting in the trough being unable to receive the silicon wafers, thereby causing the silicon wafers to break. Summary of the Utility Model

[0004] In view of this, the embodiments of the present disclosure provide a loading and unloading device and a flipping device, which solve the problem in the related technology that the trough of the tooth support assembly cannot receive the silicon wafers due to the deformation of the silicon wafers, thereby causing the silicon wafers to break.

[0005] In a first aspect, embodiments of the present disclosure provide a loading and unloading device applied to a boat structure configured to carry sheet products. The boat structure has a plurality of support rods extending in a first direction, and the support rods have a plurality of receiving grooves. The plurality of receiving grooves are arranged at intervals along the first direction. The plurality of receiving grooves located in the same plane together form a carrying portion configured to carry at least a partial edge region of the sheet product. The loading and unloading device includes: a carrying assembly configured to carry the boat structure, wherein there is a receiving space above the carrying assembly, and the receiving space is configured to receive the boat structure; a sheet supporting assembly including at least one sheet supporting plate extending in a second direction and having a plurality of supporting grooves arranged at intervals along the second direction. The openings of the supporting grooves face the receiving space. When the boat structure is received in the receiving space, the first direction is parallel to the second direction. Wherein, the sheet supporting plate can move relative to the carrying assembly along the second direction so that the plurality of supporting grooves on the sheet supporting plate are respectively arranged corresponding to the plurality of carrying portions, and the sheet supporting plate can also move relative to the carrying assembly along a direction close to or away from the receiving space so that the supporting grooves can support or disengage from the sheet product carried by the corresponding carrying portion.

[0006] In some embodiments, the sheet supporting assembly further includes: a vertical driving assembly connected to the sheet supporting plate and configured to drive the sheet supporting plate to move relative to the carrying assembly along the second direction so that each of the supporting grooves on the sheet supporting plate is respectively located at the corresponding carrying portion; a horizontal driving assembly connected to the vertical driving assembly and configured to drive the sheet supporting plate to move relative to the carrying assembly along a direction close to or away from the receiving space so that the supporting grooves on the sheet supporting plate can support or disengage from at least a partial edge region of the sheet product carried by the corresponding carrying portion.

[0007] In some embodiments, the vertical driving assembly includes: a first support seat, located on the side of the carrying assembly and extending along the second direction; a first driving source, connected to the first support seat and configured to provide a first driving force; a first driving member, a first end of the first driving member is connected to the first driving source so that the first driving source can drive the first driving member to move relative to the carrying assembly in a third direction, wherein the third direction is perpendicular to the second direction and perpendicular to the direction of approaching or departing from the accommodation space; a second driving member, having a long slot, an extending direction of the long slot intersects with the third direction, in the extending direction of the long slot, a vertical height of a first end of the long slot is greater than a vertical height of a second end of the long slot, the second end of the first driving member is inserted into the long slot and is slidably connected to the long slot so that the first driving member can drive the second driving member to move relative to the carrying assembly in the second direction; wherein, the supporting plate is connected to the second driving member and is slidably connected to the first support seat so that the second driving member can drive the supporting plate to move relative to the carrying assembly in the second direction.

[0008] In some embodiments, the first driving member includes: a first sub-driving member, the first sub-driving member is connected to the first driving source; a rotating shaft, a first end of the rotating shaft is connected to the first sub-driving member, a second end of the rotating shaft is inserted into the long slot and is rollably connected to the long slot.

[0009] In some embodiments, the horizontal driving assembly includes: a second support seat, located below the carrying assembly, connected to the first support seat and slidably connected to the carrying assembly, wherein the first sub-driving member is slidably connected to the second support seat; a second driving source, connected to the carrying assembly and configured to drive the second support seat to move relative to the carrying assembly to drive the first support seat to move relative to the carrying assembly in a direction of approaching or departing from the accommodation space.

[0010] In some embodiments, it further includes: at least one first slide rail, connected to the second driving member and extending along the second direction, so that the second driving member can drive the first slide rail to move along the second direction, wherein one side of the first slide rail facing the accommodating space is connected to the support plate; at least one first slider, slidably connected to the first slide rail and connected to one side of the first support seat close to the accommodating space; and / or, at least one second slide rail, disposed below the carrying assembly, connected to the carrying assembly and extending along a fourth direction, wherein the fourth direction intersects the third direction and the second direction respectively; at least one second slider, slidably connected to the second slide rail, located above the second support seat and connected to the second support seat; and / or, at least one third slide rail, disposed above the second support seat and connected to the second support seat, the third slide rail extending along the third direction; at least one third slider, slidably connected to the third slide rail, located below the first sub-driving member and connected to the first sub-driving member.

[0011] In some embodiments, the loading and unloading device further includes: at least two groups of limiting components, capable of moving relative to the carrying assembly in a direction perpendicular to the picking and placing of the wafer, and at least two groups of the limiting components are symmetrically disposed on both sides of the carrying assembly; wherein, the limiting component includes: a third support seat, located above the carrying assembly and slidably connected to the carrying assembly; a fourth support seat, located on the side of the carrying assembly and connected to the third support seat and extending along the second direction; a plurality of limiting blocks, respectively disposed on one side of the fourth support seat close to the accommodating space; a third driving source, located above the carrying assembly and respectively connected to the carrying assembly and the third support seat, configured to drive the third support seat to move relative to the carrying assembly, so as to drive the fourth support seat to move relative to the carrying assembly in a direction close to or away from the accommodating space, so that the plurality of limiting blocks limit or move away from the plurality of support rods of the boat structure.

[0012] In some embodiments, the surface of the limiting block facing the accommodating space has a limiting groove, so that at least a part of the support rod can be stuck into the limiting groove; in the direction of approaching or departing from the accommodating space, the dimension between the two side walls of the limiting groove gradually decreases.

[0013] In some embodiments, the boat structure further includes: a bottom plate connected to one end of the support rod; wherein, the loading and unloading device further includes: at least one pressing component slidably connected to the loading component, and each bottom plate corresponds to at least one pressing component; wherein, the pressing component includes: a fourth driving source directly or indirectly connected to the loading component and configured to provide a second driving force; a pressing plate connected to the fourth driving source; wherein, when the loading component carries the boat structure, the fourth driving source drives the pressing plate to move closer to or away from the bottom plate of the boat structure, so that the pressing plate presses or releases the bottom plate.

[0014] In some embodiments, the loading and unloading device further includes: at least one set of guiding components, and the boat structure further includes a pick-and-place opening. The guiding components are slidably connected to the loading component corresponding to the pick-and-place opening along a direction perpendicular to the pick-and-place sheet, so that the guiding components can be in a closed state or an open state; wherein, the guiding components include: a fifth driving source directly or indirectly connected to the loading component and configured to provide a third driving force; a guiding plate connected to the fifth driving source and extending along the second direction, the guiding plate having a plurality of guiding grooves spaced along the second direction; wherein, when the loading component carries the boat structure and the guiding components are in the closed state, the guiding grooves correspond to the receiving grooves one by one along the pick-and-place sheet direction.

[0015] In some embodiments, the loading component includes: a base; at least two loading seats installed above the base, and at least two of the loading seats can respectively carry both sides of the bottom plate of the boat structure; a plurality of support columns connected between the base and the loading seats along the second direction, so that the base and the loading seats enclose an installation space.

[0016] In some embodiments, the loading and unloading device further includes: at least two third support seats located in the installation space and slidably connected to the loading component, and at least two of the third support seats are symmetrically arranged on both sides of the base; a fourth slide rail arranged in the installation space and connected to the base, the fourth slide rail extending along a direction perpendicular to the pick-and-place sheet; at least two fourth sliders arranged in the installation space, each third support seat connecting at least one of the fourth sliders, and the fourth sliders being slidably connected to the fourth slide rail; a sensor installed on the base and configured to detect the placement position of the boat structure.

[0017] Second aspect, embodiments of the present disclosure provide a flipping device, including: a loading and unloading device as described in the first aspect, configured to carry a boat structure and enable a supporting sheet assembly of the loading and unloading device to support a sheet product carried by the boat structure; a flipping assembly, connected to a carrying assembly of the loading and unloading device, configured to flip the loading and unloading device around a direction of a rotation axis, and the rotation axis is perpendicular to a sheet taking and placing direction.

[0018] The supporting sheet assembly of the loading and unloading device provided by the embodiments of the present disclosure has an adjustment function. In the case where the sheet product carried by the boat structure is deformed, by adjusting the position of the supporting groove on the supporting sheet plate, so that the supporting groove can be aligned with the sheet product, and the supporting sheet plate moves in a direction close to the boat structure, so that the supporting groove can support the sheet product carried by the boat structure, so as to avoid the problem of misaligned teeth resulting in the supporting groove being unable to support the sheet product, thereby avoiding the fragmentation of the sheet product. Description of the Drawings

[0019] Figure 1 The figure shows a schematic structural diagram of a loading and unloading device provided by an embodiment of the present disclosure.

[0020] Figure 2 The figure shows a front view of a loading and unloading device, a boat structure and a sheet product provided by an embodiment of the present disclosure.

[0021] Figure 3 As shown is Figure 2 A schematic structural diagram of area A shown in the figure.

[0022] Figure 4 As shown is Figure 2 A schematic structural diagram of area B shown in the figure.

[0023] Figure 5 The figure shows a side view of a loading and unloading device, a boat structure and a sheet product provided by an embodiment of the present disclosure.

[0024] Figure 6 As shown is Figure 5 A schematic structural diagram of area C shown in the figure.

[0025] Figure 7 The figure shows a side view of a loading and unloading device, a boat structure and a sheet product provided by another embodiment of the present disclosure.

[0026] Figure 8 As shown is Figure 7 A schematic structural diagram of area D shown in the figure.

[0027] Figure 9 The figure shows a schematic structural diagram of a supporting sheet assembly provided by an embodiment of the present disclosure.

[0028] Figure 10The figure shows a schematic structural diagram of a supporting sheet component provided by another embodiment of the present disclosure.

[0029] Figure 11 The figure shows a schematic structural diagram of a supporting sheet component provided by another embodiment of the present disclosure.

[0030] Figure 12 The figure shows a schematic front view structural diagram of a loading and unloading device, a boat structure, and a sheet product provided by another embodiment of the present disclosure.

[0031] Figure 13 The figure shows a schematic structural diagram of a loading and unloading device provided by another embodiment of the present disclosure.

[0032] Figure 14 The figure shows a front view of a loading and unloading device provided by another embodiment of the present disclosure.

[0033] Figure 15 The figure shows a side view of a loading and unloading device, a boat structure, and a sheet product provided by another embodiment of the present disclosure.

[0034] Figure 16 Shown is Figure 15 A schematic structural diagram of the E area shown.

[0035] Figure 17 The figure shows a side view of a loading and unloading device, a boat structure, and a sheet product provided by another embodiment of the present disclosure.

[0036] Figure 18 Shown is Figure 17 A schematic structural diagram of the F area shown.

[0037] Figure 19 The figure shows a schematic structural diagram of a flipping device provided by an embodiment of the present disclosure.

[0038] Reference numerals:

[0039] 1. Flipping device; 10. Loading and unloading device; 100. Carrying component; 101. Accommodating space;

[0040] 110. Base; 120. Carrier seat; 130. Support column; 200. Support piece assembly; 201. Support groove; 210. Support piece plate; 220. Vertical drive assembly; 2210. First support seat; 2220. First drive source; 2230. First drive member; 2231. First end of the first drive member; 2232. Second end of the first drive member; 2233. First sub-drive member; 2234. Rotating shaft; 2240. Second drive member; 2241. Long groove; 2242. First end of the long groove; 2243. Second end of the long groove; 230. Horizontal drive assembly; 2310. Second support seat; 2320. Second drive source; 300. First slide rail; 400. First slider; 500. Second slide rail; 600. Second slider; 700. Third slide rail; 800. Third slider; 900. Limit assembly; 910. Third support seat; 920. Fourth support seat; 930. Limit block; 9301. Limit groove; 940. Third drive source; 1000. Pressing assembly; 1001. Fourth drive source; 1002. Pressing plate; 1100. Guide assembly; 1101. Fifth drive source; 1102. Guide plate; 1112. Guide groove; 1103. Connecting plate; 1200. Fourth slide rail; 1300. Fourth slider; 1400. Protective cover; 1500. Detector; 20. Flipping assembly; 2. Boat structure; 21. Support rod; 22. Bottom plate; 2001. Accommodation groove; 23. Loading and unloading opening; 3. Sheet product. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0042] Figure 1 The figure shows a schematic structural diagram of a loading and unloading device provided by an embodiment of the present disclosure. Figure 2 The figure shows a front view of a loading and unloading device, a boat structure and a sheet product provided by an embodiment of the present disclosure. Figure 3 As shown in Figure 2 a schematic structural diagram of area A shown in Figure 4 As shown in Figure 2 a schematic structural diagram of area B shown in Figure 5 The figure shows a side view of a loading and unloading device, a boat structure and a sheet product provided by an embodiment of the present disclosure. Figure 6 As shown in Figure 5 a schematic structural diagram of area C shown in Figure 7 The figure shows a side view of a loading and unloading device, a boat structure and a sheet product provided by another embodiment of the present disclosure.Figure 8 As shown Figure 7 is a schematic structural diagram of the D area shown. As Figures 1 to 8 shown, the loading and unloading device 10 is applied to the boat structure 2, and the boat structure 2 is configured to carry the sheet product 3. The boat structure 2 has a plurality of support rods 21 extending in the first direction X1. The support rods 21 have a plurality of receiving grooves 2001, and the plurality of receiving grooves 2001 are arranged at equal intervals along the first direction X1. The plurality of receiving grooves 2001 located in the same plane together form a carrying part, and the carrying part is configured to carry at least a partial edge area of the sheet product 3. Exemplarily, the boat structure 2 has four support rods 21.

[0043] The loading and unloading device 10 includes a carrying component 100 and a sheet supporting component 200. The carrying component 100 is configured to carry the boat structure 2. Among them, there is a receiving space 101 above the carrying component 100, and the receiving space 101 is configured to receive the boat structure 2. The sheet supporting component 200 includes at least one sheet supporting plate 210. The sheet supporting plate 210 extends in the second direction X2. The sheet supporting plate 210 has a plurality of supporting grooves 201 arranged at equal intervals along the second direction X2. The openings of the supporting grooves 201 face the receiving space 101. When the boat structure 2 is received in the receiving space 101, the first direction X1 is parallel to the second direction X2. The sheet supporting plate 210 can move relative to the carrying component 100 along the second direction X2, so that the plurality of supporting grooves 201 on the sheet supporting plate 210 are respectively arranged in one-to-one correspondence with the plurality of carrying parts. The sheet supporting plate 210 can also move relative to the carrying component 100 along the direction close to or away from the receiving space 101, so that the supporting grooves 201 can support or disengage from the sheet products 3 carried by the corresponding carrying parts.

[0044] Exemplarily, the plurality of support rods 21 can be two or more support rods 21, and the plurality of receiving grooves 2001 can be two or more receiving grooves 2001. The plurality of supporting grooves 201 can be two or more supporting grooves 201.

[0045] Exemplarily, as Figures 2 to 6 shown, the carrying component 100 carries the boat structure 2, the boat structure 2 is in a vertical state, the boat structure 2 carries the sheet product 3. Due to the action of the self-gravity of the sheet product 3, the central area of the sheet product 3 naturally sags and deforms, and the sheet product 3 cannot be aligned with the supporting grooves 201 one by one, that is, the problem of misaligned teeth occurs, resulting in the supporting grooves 201 being unable to support the sheet product 3.

[0046] Exemplarily, as Figure 7 and Figure 8As shown, the bracket 201 of the support plate 210 moves along the second direction X2 so that the bracket 201 can be aligned with the deformed sheet-like product 3. When the support plate 210 moves relative to the carrier assembly 100 in the direction close to the accommodation space 101, the sheet-like product 3 can enter the bracket 201, thereby enabling the bracket 201 to support the sheet-like product 3.

[0047] Exemplarily, the sheet-like product 3 can be a product such as a silicon wafer, a wafer, a battery panel, a glass substrate, etc.

[0048] The support sheet assembly 200 of the loading and unloading device 10 provided by the embodiments of the present disclosure has an adjustment function. In the case where the sheet-like product 3 carried by the boat structure 2 is deformed, by adjusting the position of the bracket 201 on the support plate 210, the bracket 201 can be aligned with the sheet-like product 3, and the support plate 210 moves in the direction close to the boat structure 2, so that the bracket 201 can support the sheet-like product 3 carried by the boat structure 2, so as to avoid the problem of misaligned teeth resulting in the bracket 201 being unable to support the sheet-like product 3, thereby avoiding the fragmentation of the sheet-like product 3.

[0049] In some embodiments, such as Figure 1 , Figure 9 , Figure 10 As shown, the support sheet assembly 200 further includes a vertical drive assembly 220 and a horizontal drive assembly 230. The vertical drive assembly 220 is connected to the support plate 210 and is configured to drive the support plate 210 to move relative to the carrier assembly 100 along the second direction X2, so that each bracket 201 on one support plate 210 is respectively located at a corresponding bearing portion. The horizontal drive assembly 230 is connected to the vertical drive assembly 220 and is configured to drive the support plate 210 to move relative to the carrier assembly 100 in the direction close to or away from the accommodation space 101, so that the brackets 201 on the support plate 210 can support or disengage from at least a partial edge region of the sheet-like product 3 carried by the corresponding bearing portion.

[0050] Exemplarily, the vertical drive assembly 220 can include a robotic arm, a cylinder, or other structures capable of driving the support plate 210 to move along the second direction X2.

[0051] Exemplarily, the horizontal drive assembly 230 can include a linear module, a cylinder, a robotic arm, or other structures capable of driving the vertical drive assembly 220 to move.

[0052] Exemplarily, the cross-sectional shape of the bracket 201 can be a "V" shape, a rectangle, or other polygons or irregular shapes.

[0053] In some embodiments, such as Figure 1 , Figures 9 to 11As shown, the vertical driving assembly 220 includes a first support base 2210, a first driving source 2220, a first driving member 2230, and a second driving member 2240. The first support base 2210 is located on the side of the carrying assembly 100 and extends along the second direction X2. The first driving source 2220 is connected to the first support base 2210 and is configured to provide a first driving force. The first end 2231 of the first driving member is connected to the first driving source 2220 so that the first driving source 2220 can drive the first driving member 2230 to move relative to the carrying assembly 100 along the third direction X3, where the third direction X3 is perpendicular to the second direction X2 and perpendicular to the direction of approaching or departing from the accommodation space 101. The second driving member 2240 has a long slot 2241, and the extending direction of the long slot 2241 intersects with the third direction X3. In the extending direction of the long slot 2241, the vertical height of the first end 2242 of the long slot is greater than the vertical height of the second end 2243 of the long slot. The second end 2232 of the first driving member is inserted into the long slot 2241 and is slidably connected to the long slot 2241 so that the first driving member 2230 can drive the second driving member 2240 to move relative to the carrying assembly 100 along the second direction X2. The support plate 210 is connected to the second driving member 2240 and is slidably connected to the first support base 2210 so that the second driving member 2240 can drive the support plate 210 to move relative to the carrying assembly 100 along the second direction X2.

[0054] Exemplarily, the first driving source 2220 may include a cylinder, an oil cylinder, or other structures that can provide a first driving force.

[0055] Exemplarily, the first driving member 2230 may include a block structure and a rod-shaped structure. The block structure is respectively connected to the rod-shaped structure and the first driving source 2220, and the rod-shaped structure is inserted into the long slot 2241 and is slidably connected to the long slot 2241.

[0056] Exemplarily, the cross-sectional shape of the rod-shaped structure may be circular, rectangular, or other polygons or irregular shapes.

[0057] Exemplarily, in the extending direction of the long slot 2241, the vertical height from the first end 2242 to the second end 2243 of the long slot decreases continuously or step by step.

[0058] Exemplarily, the second driving member 2240 may be a long strip plate-like structure or a block structure.

[0059] In some embodiments, such as Figure 11As shown in the figure, the first driving member 2230 includes a first sub-driving member 2233 and a rotating shaft 2234. The first sub-driving member 2233 is connected to the first driving source 2220. The first end of the rotating shaft 2234 is connected to the first sub-driving member 2233, and the second end of the rotating shaft 2234 is inserted into the long slot 2241 and is in rolling connection with the long slot 2241. Using rolling connection instead of sliding connection is convenient for reducing the friction between the first driving member 2230 and the long slot 2241, so that the movement of the first sub-driving member 2233 relative to the second driving member 2240 is smoother.

[0060] In some embodiments, as Figure 1 , Figures 9 to 11 shown, the horizontal driving assembly 230 includes a second support base 2310 and a second driving source 2320. The second support base 2310 is located below the carrying assembly 100, is connected to the first support base 2210, and is slidably connected to the carrying assembly 100. The first sub-driving member 2233 is slidably connected to the second support base 2310. The second driving source 2320 is connected to the carrying assembly 100 and is configured to drive the second support base 2310 to move relative to the carrying assembly 100, so as to drive the first support base 2210 to move relative to the carrying assembly 100 in a direction close to or away from the accommodation space 101. This driving method is simple and reliable.

[0061] Exemplarily, the second driving source 2320 can be a cylinder, an oil cylinder, or other structures capable of providing driving force.

[0062] In some embodiments, as Figure 1 and Figure 10 , Figure 11 shown, the loading and unloading device 10 further includes at least one first slide rail 300 and at least one first slider 400. The first slide rail 300 is connected to the second driving member 2240 and extends along the second direction X2, so that the second driving member X2 can drive the first slide rail 300 to move along the second direction X2. Wherein, a support plate 210 is connected to the side of the first slide rail 300 facing the accommodation space 101. The first slider 400 is slidably connected to the first slide rail 300 and is connected to the side of the first support base 2210 close to the accommodation space 101. The first slide rail 300 and the first slider 400 are used to support the support plate 210 and guide the movement of the support plate 210, so as to improve the accuracy and stability of the movement of the support plate 210.

[0063] In some embodiments, as Figure 9 , Figure 10As shown, the loading and unloading device 10 also includes at least one second slide rail 500 and at least one second slider 600, the second slide rail 500 is arranged below the bearing assembly 100, connected to the bearing assembly 100 and extending along the fourth direction X4, wherein the fourth direction X4 intersects with the third direction X3 and the second direction X2 respectively, and illustratively, the fourth direction X4 is perpendicular to the third direction X3 and the second direction X2 respectively. The second slider 600 is slidably connected to the second slide rail 500, and is located above the second support seat 2310 and connected to the second support seat 2310. The second slide rail 500 and the second slider 600 are used to realize the slidable connection between the second support seat 2310 and the bearing assembly 100, and the movement of the second support seat 2310 is guided to improve the accuracy and stability of the movement of the second support seat 2310.

[0064] In some embodiments, Figure 10 As shown, the loading and unloading device 10 further includes at least one third slide rail 700 and at least one third slider 800. The third slide rail 700 is disposed above the second support seat 2310 and connected to the second support seat 2310. The third slide rail 700 extends along the third direction X3. The third slider 800 is slidably connected to the third slide rail 700, and is located below the first sub-driving member 2233 and connected to the first sub-driving member 2233. The third slide rail 700 and the third slider 800 are used to support the first sub-driving member 2233 and guide the movement of the first sub-driving member 2233 to improve the accuracy and stability of the movement of the first sub-driving member 2233.

[0065] In some embodiments, Figure 1 and Figure 2 As shown, there are two support plates 210. When the support plates 210 support the sheet product 3, the brackets 201 of the two support plates 210 respectively support the middle area of the same side of the sheet product 3. The two support plates 210 support the sheet product 3 to improve the stability of the support plates 210 in supporting the sheet product 3.

[0066] In the production process of photovoltaic products, it is necessary to perform loading and unloading operations of the sheet products 3 for many times, that is, the sheet products 3 in the basket and the boat structure 2 are mutually guided, the sheet products 3 after process treatment are guided out of the boat structure 2 and introduced into the basket, and the sheet products 3 not subjected to process treatment are guided out of the basket and introduced into the boat structure 2. The positioning accuracy of the boat structure 2 directly affects the accuracy of the sheet products 3 entering the boat structure 2.

[0067] In some embodiments, the loading and unloading device 10 further includes at least two sets of limiting components 900. The at least two sets of limiting components 900 can move relative to the carrying component 100 in a direction perpendicular to the direction of picking and placing wafers. The at least two sets of limiting components 900 are symmetrically arranged on both sides of the carrying component 100, wherein the direction of picking and placing wafers is the fourth direction X4.

[0068] Exemplarily, as Figure 1 shown, the loading and unloading device 10 further includes two sets of limiting components 900. The two sets of limiting components 900 can move relative to the carrying component 100 in a direction perpendicular to the direction of picking and placing wafers. The two sets of limiting components 900 are symmetrically arranged on both sides of the carrying component 100.

[0069] As Figure 1 、 Figure 12 shown, the limiting component 900 includes a third support base 910, a fourth support base 920, a plurality of limiting blocks 930, and a third driving source 940. The third support base 910 is located above the carrying component 100 and is slidably connected to the carrying component 100. The fourth support base 920 is located on the side of the carrying component 100 and is connected to the third support base 910 and extends along the second direction X2. The plurality of limiting blocks 930 are respectively arranged on the side of the fourth support base 920 close to the accommodation space 101. The third driving source 940 is located above the carrying component 100 and is connected to the carrying component 100. The third driving source 940 is connected to the third support base 910 and is configured to drive the third support base 910 to move relative to the carrying component 100, so as to drive the fourth support base 920 to move relative to the carrying component 100 in a direction close to or away from the accommodation space 101, so that the plurality of limiting blocks 930 limit or move away from the plurality of support rods 21 of the boat structure 2. The limiting component 900 is used to limit the boat structure 2 to prevent the boat structure 2 from moving in the accommodation space 101, so as to ensure the accuracy and stability of the placement position of the boat structure 2 on the carrying component 100.

[0070] Exemplarily, the third driving source 940 can be a cylinder, an oil cylinder, a robotic arm, or other structures capable of providing driving force.

[0071] The plurality of limiting blocks 930 can be two or more than two limiting blocks 930. Exemplarily, there are four limiting blocks 930 on the side of each fourth support base 920 close to the accommodation space 101, and the four limiting blocks 930 are symmetrically arranged on one side of the fourth support base 920.

[0072] In some embodiments, as Figure 1 and Figure 12As shown, the surface of the limiting block 930 facing the accommodating space 101 has a limiting groove 9301, such that at least a part of the support rod 21 can be snapped into the limiting groove 9301. In the direction of approaching or departing from the accommodating space 101, the dimension between the two side walls of the limiting groove 9301 gradually decreases. The support rod 21 is limited by the limiting groove 9301, and the limiting method is simple and reliable.

[0073] Exemplarily, the cross-sectional shape of the limiting groove 9301 can be a "V" shape, an arc shape, a U shape, or other polygons or irregular shapes.

[0074] In some embodiments, the boat structure 2 further includes a bottom plate 22, and the bottom plate 22 is connected to one end of the support rod 21. The loading and unloading device 10 further includes at least one pressing component 1000. The pressing component 1000 is slidably connected to the carrying component 100, and each bottom plate 22 corresponds to at least one pressing component 1000. The pressing component 1000 includes a fourth driving source 1001 and a pressing plate 1002. The fourth driving source 1001 is directly or indirectly connected to the carrying component 100. The fourth driving source 1001 is configured to provide a second driving force, and the pressing plate 1002 is connected to the fourth driving source 1001. When the carrying component 100 carries the boat structure 2, the fourth driving source 1001 drives the pressing plate 1002 to move closer to or away from the bottom plate 22 of the boat structure 2, so that the pressing plate 1002 presses or releases the bottom plate 22.

[0075] Exemplarily, as Figure 12 、 Figure 13 shown, the loading and unloading device 10 further includes two pressing components 1000. One pressing component 1000 is arranged on one fourth support seat 920, such that the pressing component 1000 can move along with the limiting component 900. Among them, the fourth driving source 1001 is arranged on the side of the fourth support seat 920 close to the accommodating space 101 and is connected to the fourth support seat 920.

[0076] Exemplarily, the fourth driving source 1001 can be a cylinder. The telescopic rod of the cylinder moves along the second direction X2 to drive the pressing plate 1002 to move along the second direction X2, so that the pressing plate 1002 presses the boat structure 2 against the carrying component 100 along the second direction X2, to prevent the position of the boat structure 2 relative to the carrying component 100 from changing when the boat structure 2 is turned from a vertical state to a horizontal state, and to improve the accuracy and stability of the placement position of the boat structure 2 on the carrying component 100.

[0077] In some embodiments, the loading and unloading device 10 further includes at least one set of guiding components 1100. The boat structure 2 further includes a pick-up and placement opening 23. The guiding components 1100 are slidably connected to the corresponding pick-up and placement opening 23 of the carrying component 100 along a direction perpendicular to the pick-up and placement sheet, so that the guiding components 1100 can be in a closed state or an open state. The guiding components 1100 include a fifth driving source 1101 and a guiding plate 1102. The fifth driving source 1101 is directly or indirectly connected to the carrying component 100, and the fifth driving source 1101 is configured to provide a third driving force. The guiding plate 1102 is connected to the fifth driving source 1101 and extends along the second direction X2. The guiding plate 1102 has a plurality of guiding grooves 1112, and the guiding grooves 1112 are arranged at equal intervals along the second direction X2. When the carrying component 100 carries the boat structure 2 and when the guiding components 1100 are in the closed state, the guiding grooves 1112 correspond to the receiving grooves 2001 one by one along the pick-up and placement sheet direction.

[0078] As Figures 1 to 3 、 Figure 12 and Figure 13 shown, the guiding components 1100 are arranged on the fourth support base 920 so that the guiding components 1100 can move following the limiting components 900. Among them, the fifth driving source 1101 is connected to the fourth support base 920.

[0079] Exemplarily, the guiding plate 1102 is connected to the fifth driving source 1101 through a connecting plate 1103, and the connecting plate 1103 is used to support the guiding plate 1102 to improve the connection stability and the movement stability of the guiding plate 1102.

[0080] Exemplarily, the loading and unloading device 10 includes two sets of guiding components 1100, and one set of guiding components 1100 is connected to one set of limiting components 900. When loading the sheet-shaped product 3, the two sets of guiding components 1100 are used to guide the two ends of the sheet-shaped product 3 respectively to improve the guiding accuracy, so that the sheet-shaped product 3 can enter the receiving groove 2001 of the boat structure 2 more smoothly.

[0081] Exemplarily, in the depth direction of the guiding groove 1112, the dimension between the upper and lower side walls of the guiding groove 1112 gradually decreases, so as to facilitate the sheet-shaped product 3 to enter the guiding groove 1112 and enter the receiving groove 2001 of the boat structure 2 under the guidance of the guiding groove 1112. Exemplarily, as Figure 3 shown, the guiding components 1100 are in the open state. At this time, the guiding grooves 1112 of the guiding components 1100 are located on one side of the receiving groove 2001 of the boat structure 2 to avoid interfering with the unloading process of the sheet-shaped product 3 by the guiding components 1100.

[0082] Exemplarily, as Figure 15 、 Figure 16As shown, when loading and unloading the sheet product 3 in the boat structure 2, the boat structure 2 is flipped from the vertical state to the horizontal state. At this time, the receiving groove 201 of the supporting plate 210 supports the sheet product 3.

[0083] Exemplarily, after the loading and unloading device 10 is flipped from the vertical state to the horizontal state, the vertical driving assembly 220 operates to align the receiving groove 201 of the supporting plate 210 with the receiving groove 2001 of the boat structure 2 one by one, so that the receiving groove 201 can more smoothly support the sheet product 3 during loading, and the unloading process is smoother.

[0084] Exemplarily, as Figure 17 and Figure 18 shown, when loading the sheet product 3 in the boat structure 2, the guiding assembly 1100 is in a closed state. At this time, the guiding groove 1112 of the guiding assembly 1100 moves in the direction close to the boat structure 2, so that the guiding groove 1112 overlaps with the receiving groove 2001 in the horizontal direction, so as to enable the sheet product 3 to enter the guiding groove 1112 and smoothly enter the receiving groove 2001 under the guiding action of the guiding groove 1112, thereby avoiding jamming during the loading process.

[0085] In some embodiments, the carrying assembly 100 includes a base 110, at least two carrying seats 120 and a plurality of support columns 130. At least two carrying seats 120 are installed above the base 110, and at least two carrying seats 120 can respectively carry both sides of the bottom plate 22 of the boat structure 2. A plurality of support columns 130 are connected between the base 110 and the carrying seats 120 along the second direction X2, so that the base 110 and the carrying seats 120 enclose an installation space to facilitate the installation of the third driving source 940.

[0086] Exemplarily, as Figure 9 shown, the base 110 is located above the second support seat 2310, the lower surface of the base 110 is slidably connected to the second support seat 2310, and the upper surface of the base 110 is slidably connected to the third support seat 910. The carrying seat 120 is located above the third support seat 910, which can prevent the boat structure 2 from interfering with the movement of the third support seat 910 relative to the base 110.

[0087] The plurality of support columns 130 can be two or more support columns 130. Exemplarily, as Figure 12 、 Figure 13 shown, the carrying assembly 100 includes two carrying seats 120 and four support columns 130, wherein two support columns 130 are connected between the base 110 and one carrying seat 120.

[0088] In some embodiments, the loading and unloading device 10 further includes at least two third support seats 910, a fourth slide rail 1200, at least two fourth sliders 1300, and a sensor 1500. At least two third support seats 910 are located in the installation space and are slidably connected to the carrier assembly 100. At least two third support seats 910 are symmetrically arranged on both sides of the base 110. The fourth slide rail 1200 is arranged in the installation space and is connected to the base 110. The fourth slide rail 110 extends in a direction perpendicular to the direction of taking and placing the wafer. Exemplarily, the fourth slide rail 110 extends along the third direction X3. The fourth sliders 1300 are arranged in the installation space. Each third support seat 910 is connected to at least one fourth slider 1300, and the fourth sliders 1300 are slidably connected to the fourth slide rail 1200. The fourth sliders 1300 and the fourth slide rail 1200 are used to support the third support seats 910 and guide the movement of the third support seats 910 to improve the accuracy and stability of the movement of the third support seats 910. The sensor 1500 is installed on the base 110 and is configured to detect the placement position of the boat structure 2.

[0089] Exemplarily, the loading and unloading device 10 further includes two third support seats 910, and one fourth slider 1300 is connected to each side of the third support seat 910.

[0090] Exemplarily, as Figure 13 shown, the loading and unloading device 10 further includes a protective cover 1400. The protective cover 1400 is arranged above the bottom plate 110 and is configured to shield the structural members above the bottom plate 110 to protect the structural members above the bottom plate 110 and improve the neatness and aesthetics of the appearance of the loading and unloading device 10.

[0091] Figure 19 The figure shows a schematic structural diagram of a flipping device provided by an embodiment of the present disclosure. As Figure 19 shown, the flipping device 1 includes the loading and unloading device 10 and a flipping assembly 20 mentioned in the above embodiment. The loading and unloading device 10 is configured to carry the boat structure 2 and enable the wafer support assembly 200 of the loading and unloading device 10 to support the wafer-shaped products 3 carried by the boat structure 2. The flipping assembly 20 is connected to the carrier assembly 100 of the loading and unloading device 10 and is configured to flip the loading and unloading device 10 around the direction of the rotation axis, and the rotation axis is perpendicular to the direction of taking and placing the wafer.

[0092] Exemplarily, the flipping assembly 20 may include a robotic arm, and the robotic arm is used to flip the loading and unloading device 10. Exemplarily, the flipping assembly 20 may include a flipping shaft and a carrying structure connected to the flipping shaft. The carrying structure is used to carry the loading and unloading device 10, and the flipping shaft is used to flip the carrying structure, thereby realizing the flipping of the loading and unloading device 10.

[0093] Since the flipping device 1 includes the loading and unloading device 10, the flipping device 1 includes all the technical features and technical effects of the loading and unloading device 10, which will not be elaborated here.

[0094] Exemplarily, the loading and unloading process of the loading and unloading device 10 is as follows:

[0095] The boat structure 2 carrying the sheet-like product 3 is vertically placed in the accommodation space 101 of the carrying component 100. At this time, due to the gravity of the sheet-like product 3 itself, the central area of the sheet-like product 3 naturally sags and deforms. The limiting component 900 moves in the direction close to the accommodation space 101, so that at least part of the support rod 21 of the boat structure 2 can be caught in the limiting groove 9301, so as to realize the limiting of the boat structure 2 by the limiting component 900. The pressing plate 1002 of the pressing component 1000 moves in the direction close to the bottom plate 22 of the boat structure 2 to press the bottom plate 22. The support plate 210 moves relative to the carrying component 100 along the second direction X2 under the drive of the vertical drive component 220, so that the support grooves 201 on the support plate 210 are aligned with the edges of the corresponding sheet-like products 3 one by one. The support plate 210 moves in the direction close to the accommodation space 101 under the drive of the horizontal drive component 230, so that the support grooves 201 support at least part of the edge area of the corresponding sheet-like product 3. The flipping component 20 flips the loading and unloading device 10, so that the boat structure 2 is in a horizontal state. The support plate 210 continues to move relative to the carrying component 100 along the second direction X2 under the drive of the vertical drive component 220, so that the support grooves 201, the sheet-like products 3 and the accommodation grooves 2001 of the boat structure 2 are aligned one by one for smooth unloading. The guiding component 1100 is in an open state, and the sheet-like products 3 are pushed out of the boat structure 2 along the direction of taking and placing the sheets, and the unloading process is completed. Subsequently, the guiding component 1100 is closed, and the sheet-like products 3 are placed in the accommodation grooves 2001 of the boat structure 2 along the direction of taking and placing the sheets, and the support grooves 201 support at least part of the edge area of the sheet-like product 3, and the loading process is completed.

[0096] In each embodiment of the present disclosure, if not clearly defined, the connection form can be detachably connected by means of bolts and nuts, screws, buckles, magnetic attraction, etc. In some connections, if there is no special requirement for the form of detachable cooperation, non-detachable connection can be carried out by means of welding, bonding, etc.

[0097] The "one embodiment", "embodiment" and other phrases mentioned in the specification indicate that the described embodiment may include specific features, structures or characteristics, but not necessarily every embodiment includes such specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when combining an embodiment to describe a specific feature, structure or characteristic, it is within the knowledge scope of those skilled in the art to implement such a feature, structure or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0098] It should be understood that the terms "on", "above", and "over" in this disclosure should be interpreted in the broadest manner, such that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0099] In addition, for ease of description, spatial relative terms may be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature to another component or feature as shown in the figures. Spatial relative terms are intended to encompass different orientations of a component in use or operation other than the orientation shown in the drawings. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatial relative descriptors used in the text may be interpreted accordingly.

[0100] It should be noted that in this text, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the said element.

[0101] The above are only the preferred embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A loading and unloading device is applied to a boat structure, the boat structure is configured to carry sheet products, the boat structure has a plurality of support rods extending along a first direction, the support rods have a plurality of receiving grooves, and the plurality of receiving grooves are arranged at intervals along the first direction. A plurality of the receiving grooves located in the same plane together form a carrying portion, and the carrying portion is configured to carry at least a partial edge region of the sheet product; characterized in that, The loading and unloading device includes: A carrying component configured to carry the boat structure. There is an accommodation space above the carrying component, and the accommodation space is configured to accommodate the boat structure. A support plate component including at least one support plate. The support plate extends in the second direction and has a plurality of support grooves arranged at intervals in the second direction. The openings of the support grooves face the accommodation space. When the boat structure is accommodated in the accommodation space, the first direction is parallel to the second direction. Wherein, the support plate can move relative to the carrying component in the second direction, so that the plurality of support grooves on the support plate are respectively arranged in one-to-one correspondence with the plurality of carrying parts. The support plate can also move relative to the carrying component in a direction close to or away from the accommodation space, so that the support grooves can support or disengage from the sheet-like products carried by the corresponding carrying parts.

2. The loading and unloading device according to claim 1, wherein, The support plate component further includes: A vertical driving component connected to the support plate and configured to drive the support plate to move relative to the carrying component in the second direction, so that each support groove on the support plate is respectively located at the corresponding carrying part. A horizontal driving component connected to the vertical driving component and configured to drive the support plate to move relative to the carrying component in a direction close to or away from the accommodation space, so that the support grooves on the support plate can support or disengage from at least partial edge regions of the sheet-like products carried by the corresponding carrying parts.

3. The loading and unloading device according to claim 2, characterized in that, The vertical driving component includes: A first support seat located on the side of the carrying component and extending in the second direction. A first driving source connected to the first support seat and configured to provide a first driving force. A first driving member. The first end of the first driving member is connected to the first driving source, so that the first driving source can drive the first driving member to move relative to the carrying component in a third direction, wherein the third direction is perpendicular to the second direction and perpendicular to the direction close to or away from the accommodation space. A second driving member having a long groove. The extending direction of the long groove intersects with the third direction. In the extending direction of the long groove, the vertical height of the first end of the long groove is greater than the vertical height of the second end of the long groove. The second end of the first driving member is inserted into the long groove and is slidably connected to the long groove, so that the first driving member can drive the second driving member to move relative to the carrying component in the second direction. Wherein, the support plate is connected to the second driving member and is slidably connected to the first support seat, so that the second driving member can drive the support plate to move relative to the carrying component in the second direction.

4. The loading and unloading device according to claim 3, wherein The first driving member includes: A first sub-driving member connected to the first driving source. A rotating shaft. The first end of the rotating shaft is connected to the first sub-driving member, and the second end of the rotating shaft is inserted into the long groove and is rollably connected to the long groove.

5. The loading and unloading device according to claim 4, wherein, The horizontal driving component includes: The second support base is located below the carrying component, connected to the first support base, and slidably connected to the carrying component. Among them, the first sub-driving member is slidably connected to the second support base; The second driving source is connected to the carrying component and is configured to drive the second support base to move relative to the carrying component, so as to drive the first support base to move relative to the carrying component in a direction close to or away from the accommodation space.

6. The loading and unloading device according to claim 5, characterized in that, It further includes: At least one first slide rail, connected to the second driving member and extending along the second direction, so that the second driving member can drive the first slide rail to move along the second direction. Among them, one side of the first slide rail facing the accommodation space is connected to the support plate; At least one first slider, slidably connected to the first slide rail and connected to one side of the first support base close to the accommodation space; And / or, At least one second slide rail is arranged below the carrying component, connected to the carrying component and extending along the fourth direction, where the fourth direction intersects with the third direction and the second direction respectively; At least one second slider, slidably connected to the second slide rail and located above the second support base and connected to the second support base; And / or, At least one third slide rail is arranged above the second support base and connected to the second support base, and the third slide rail extends along the third direction; At least one third slider, slidably connected to the third slide rail and located below the first sub-driving member and connected to the first sub-driving member.

7. The loading and unloading device according to claim 1, wherein, It further includes: At least two groups of limiting components, which can move relative to the carrying component in a direction perpendicular to the picking and placing of the sheet. At least two groups of the limiting components are symmetrically arranged on both sides of the carrying component; Among them, the limiting component includes: The third support base is located above the carrying component and is slidably connected to the carrying component; The fourth support base is located on the side of the carrying component, connected to the third support base, and extends along the second direction; A plurality of limiting blocks are respectively arranged on one side of the fourth support base close to the accommodation space; The third driving source is located above the carrying component and is respectively connected to the carrying component and the third support base, and is configured to drive the third support base to move relative to the carrying component, so as to drive the fourth support base to move relative to the carrying component in a direction close to or away from the accommodation space, so that the plurality of limiting blocks limit or move away from the plurality of support rods of the boat structure.

8. The loading and unloading device according to claim 7, wherein The surface of the limiting block facing the accommodation space has a limiting groove, so that at least part of the support rod can be caught in the limiting groove; In the direction close to or away from the accommodation space, the dimension between the two side walls of the limiting groove gradually decreases.

9. The loading and unloading device according to claim 1, wherein The boat structure further includes: A bottom plate, connected to one end of the support rod; Among them, the loading and unloading device further includes: At least one pressing component, which is slidably connected to the carrying component, and each base plate corresponds to at least one pressing component; Wherein, the pressing component includes: A fourth driving source, directly or indirectly connected to the carrying component, configured to provide a second driving force; A pressing plate, connected to the fourth driving source; Wherein, when the carrying component carries the boat structure, the fourth driving source drives the pressing plate to move closer to or away from the base plate of the boat structure, so as to press or release the base plate by the pressing plate.

10. The loading and unloading device according to claim 1, characterized in that, It further includes: At least one set of guiding components, the boat structure further includes a pick-and-place opening, and the guiding components are slidably connected to the carrying component corresponding to the pick-and-place opening along a direction perpendicular to the pick-and-place sheet, so that the guiding components can achieve a closed state or an open state; Wherein, the guiding component includes: A fifth driving source, directly or indirectly connected to the carrying component, configured to provide a third driving force; A guiding plate, connected to the fifth driving source and extending along the second direction, the guiding plate has a plurality of guiding grooves, and the guiding grooves are arranged at intervals along the second direction; Wherein, when the carrying component carries the boat structure and when the guiding component is in the closed state, the guiding grooves correspond to the receiving grooves one by one along the pick-and-place sheet direction.

11. The loading and unloading device according to claim 1, characterized in that, The carrying component includes: A base; At least two carrying seats, installed above the base, and at least two of the carrying seats can respectively carry both sides of the base plate of the boat structure; A plurality of support columns, connected between the base and the carrying seats along the second direction, so that the base and the carrying seats enclose an installation space.

12. The loading and unloading device according to claim 11, wherein It further includes: At least two third support seats, located in the installation space and slidably connected to the carrying component, and at least two of the third support seats are symmetrically arranged on both sides of the base; A fourth slide rail, arranged in the installation space and connected to the base, and the fourth slide rail extends along a direction perpendicular to the pick-and-place sheet; At least two fourth sliders, arranged in the installation space, each third support seat is connected to at least one of the fourth sliders, and the fourth sliders are slidably connected to the fourth slide rail; A sensor, installed on the base, configured to detect the placement position of the boat structure.

13. A flipping device, characterized in that, It includes: The loading and unloading device according to any one of claims 1 to 12, configured to carry a boat structure and enable the support sheet assembly of the loading and unloading device to support the sheet-shaped product carried by the boat structure; A flipping component, connected to the carrying component of the loading and unloading device, configured to flip the loading and unloading device around the direction of the rotation axis, and the rotation axis is perpendicular to the pick-and-place sheet direction.

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