Crystal shearing device and robot

Abstract

The utility model relates to a crystal shearing device and a robot, and the device comprises a lifting assembly which comprises a vertical plate assembly, a first driving mechanism, and a linkage mechanism. The vertical plate assembly comprises a first vertical plate, a second vertical plate movably connected to the first vertical plate in the vertical direction, and a third vertical plate movably connected to the second vertical plate in the vertical direction. The first driving mechanism is installed on the first vertical plate and connected with the second vertical plate to drive the second vertical plate to ascend and descend. The linkage mechanism is installed on the second vertical plate and connected with the first vertical plate and the third vertical plate so that the second vertical plate can drive the third vertical plate to ascend and descend in the ascending and descending process. The crystal shearing assembly comprises a fixing support installed on the third vertical plate, and the second driving mechanism is arranged to drive the crystal shearing mechanism to horizontally move so that the crystal shearing mechanism can shear the crystal in the horizontal moving process. According to the crystal cutting device, accurate and safe crystal cutting operation can be carried out on a long crystal bar, and the product quality can be guaranteed while the safety risk is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to single crystal silicon rod preparation technical field especially is a kind of shearing device and robot. BACKGROUND

[0002] In photovoltaic, semiconductor industry field, crystal pulling process is a kind of key technology for manufacturing high-quality single crystal silicon material.Crystal bar needs to be taken after being grown in single crystal furnace.At present, the shearing of the connecting part between the upper end of crystal bar and seed crystal in the process of taking crystal mainly adopts artificial mode.With the continuous development of technology, the length of crystal bar is continuously increased, usually more than 7 meters.

[0003] When processing long crystal bar, artificial shearing has many defects.On the one hand, the safety risk is larger, and the operator needs to be close to high-temperature single crystal furnace and crystal bar when performing shearing operation, faces more dangerous factors such as high temperature and high radiation, and the safety risk is greatly improved.On the other hand, shearing is difficult, and since the crystal bar is long and in vertical state, the control of shearing position of long crystal bar is more difficult for artificial operation, the precision is difficult to guarantee, and it is easy to appear inaccurate shearing position, thereby affecting the quality of crystal bar and the effect of subsequent processing.Therefore, it is urgent to develop a shearing device suitable for the taking crystal demand of long crystal bar. SUMMARY

[0004] Therefore, the utility model wants to overcome the insufficient in prior art, provides a kind of shearing device and robot, can be accurate, safe shearing operation to long crystal bar, while reducing safety risk, can also guarantee product quality.

[0005] To solve the above technical problems, the utility model provides a kind of shearing device, comprising:

[0006] Lifting assembly, including vertical plate assembly, first drive mechanism and linkage mechanism;The vertical plate assembly includes first vertical plate, second vertical plate movably connected to the first vertical plate along the vertical direction, and third vertical plate movably connected to the second vertical plate along the vertical direction;The first drive mechanism is installed on the first vertical plate, and is connected with the second vertical plate to drive the second vertical plate to lift;The linkage mechanism is installed on the second vertical plate, and is connected with the first vertical plate and the third vertical plate respectively, so that the second vertical plate drives the third vertical plate to lift during lifting process;

[0007] Shearing assembly, including fixed support installed on the third vertical plate, second drive mechanism provided on the fixed support and shearing mechanism connected with the second drive mechanism;The second drive mechanism is arranged to drive the shearing mechanism to move horizontally, so that the shearing mechanism shears during horizontal movement.

[0008] In one embodiment of the utility model, the linkage mechanism includes first sprocket rotatingly installed at the top end of the second vertical plate, first chain wound around the first sprocket, second sprocket rotatingly installed at the bottom end of the second vertical plate, and second chain wound around the second sprocket, both ends of the first chain extend downward and are connected with the first vertical plate and the third vertical plate respectively, both ends of the second chain extend upward and are connected with the first vertical plate and the third vertical plate respectively.

[0009] In one embodiment of the utility model, the lifting assembly further includes a sliding mechanism, the sliding mechanism includes first sliding rail vertically arranged between the first vertical plate and the second vertical plate, first sliding block slidingly connected with the first sliding rail, second sliding rail vertically arranged between the second vertical plate and the third vertical plate, and second sliding block slidingly connected with the second sliding rail; the first sliding rail is fixedly installed on the first vertical plate; the first sliding block is fixedly connected with the second vertical plate; the second sliding rail is fixedly installed on the second vertical plate; the second sliding block is fixedly connected with the third vertical plate.

[0010] In one embodiment of the utility model, the first driving mechanism includes mounting seat, driving gear, speed reducer, driving motor, and vertical rack; the mounting seat is fixedly connected with the first vertical plate; the speed reducer is fixedly installed on the mounting seat; the output end of the driving motor is connected with the input end of the speed reducer; the driving gear is installed on the output end of the speed reducer; the vertical rack is arranged on the second vertical plate and located between the first vertical plate and the second vertical plate; the driving gear is engaged with the vertical rack.

[0011] In one embodiment of the utility model, the mounting seat includes two mounting supports arranged in an up-down manner, and support side plate adjustably mounted at one end of the two mounting supports; the mounting supports are fixedly installed on the side edge of the first vertical plate and form stepped portions at the end away from the first vertical plate; the support side plate is horizontally provided with adjusting waist hole, and fixed bolts are arranged at the adjusting waist hole and fixedly connected with the mounting supports; the stepped portions are provided with adjusting screw holes along the length direction of the adjusting waist hole, and adjusting bolts with screw threads are arranged at the adjusting screw holes; the adjusting bolts pass through the adjusting screw holes and abut against the side edge of the connecting side plate; the speed reducer is fixedly installed on the support side plate, and the output end of the speed reducer penetrates through the support side plate and is coaxially fixed with the driving gear between the two mounting supports.

[0012] In an embodiment of the utility model, the crystal shearing mechanism comprises a first moving seat, a second moving seat, a shearing support and two cross-hinged shearing pieces; the first moving seat is movably connected with the second driving mechanism in the horizontal direction; the second moving seat is elastically connected with the first moving seat; the second moving seat is connected with the movable end of the second driving mechanism; the shearing support is arranged on the side of the first moving seat away from the second driving mechanism, and the two cross-hinged shearing pieces are hinged with the shearing support at the cross-hinged position and are respectively hinged with the second moving seat.

[0013] In an embodiment of the utility model, the second moving seat comprises a moving body and two moving fork arms fixed on the two sides of the moving body; the moving body is connected with the movable end of the second driving mechanism, the moving body is movable in the horizontal direction in the first moving seat, and an elastic member is arranged between the moving body and the first moving seat; the ends of the two moving fork arms away from the moving body are respectively hinged with the corresponding side shearing pieces.

[0014] In an embodiment of the utility model, the second driving mechanism comprises a driving support arranged on the fixed support, a driving support base arranged at one end of the driving support, an electric push rod arranged in the driving support, and a guide push rod arranged in parallel with the electric push rod; the fixed end of the electric push rod is connected with the driving support, the movable end of the electric push rod penetrates through the driving support base and is fixedly connected with the moving body of the second moving seat after extending into the first moving seat; the guide push rod is slidably connected with the driving support base and is fixedly connected with the first moving seat.

[0015] In an embodiment of the utility model, the crystal shearing assembly further comprises a detection camera mounted on the second driving mechanism.

[0016] The utility model further provides a robot, which comprises a robot main body.

[0017] The crystal shearing device as described above is arranged on the robot main body.

[0018] Compared with the prior art, the above technical solution of the utility model has the following advantages:

[0019] The crystal shearing device provided by the application can realize the rapid lifting of the crystal shearing assembly through the lifting assembly, can effectively improve the lifting stroke of the crystal shearing assembly, and can shear the crystal of the long crystal rod, so as to adapt to the crystal taking demand of the long-size crystal rod. Meanwhile, the crystal shearing device can automatically shear the crystal, and does not need manual shearing operation, thereby reducing the safety risk and ensuring the product quality. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to make the content of the utility model more easily be clearly understood, the following according to the specific embodiment of the utility model and combining with the drawings, the utility model is further explained in detail, wherein.

[0021] Figure 1 It is the overall structure schematic diagram of the crystal shearing device of the preferred embodiment of the utility model.

[0022] Figure 2 It is the structure schematic diagram of the lifting assembly of the preferred embodiment of the utility model.

[0023] Figure 3 It is the structure schematic diagram of the second vertical plate, linkage mechanism, sliding mechanism and vertical rack of the preferred embodiment of the utility model.

[0024] Figure 4 It is the structure schematic diagram of the first driving mechanism of the preferred embodiment of the utility model.

[0025] Figure 5 It is the structure schematic diagram of the crystal shearing assembly of the preferred embodiment of the utility model.

[0026] Figure 6 It is the structure schematic diagram of the crystal shearing mechanism (not including the first moving seat) of the preferred embodiment of the utility model.

[0027] Figure 7 It is the structure schematic diagram of the robot of the preferred embodiment of the utility model.

[0028] Description of the drawings of the specification: 1, lifting assembly;10, first driving mechanism;101, driving gear;102, speed reducer;103, driving motor;104, vertical rack;105, mounting support;1050, step portion;106, support side plate;107, adjusting waist hole;108, fixed bolt;109, adjusting bolt;11, linkage mechanism;110, first sprocket;111, first chain;112, second sprocket;113, second chain;12, first vertical plate;13, second vertical plate;14, third vertical plate;15, first sliding rail;16, first sliding block;17, second sliding rail;18, second sliding block;2, crystal shearing assembly;20, fixed support;21, second driving mechanism;210, driving support;211, driving support;212, electric push rod;213, guide push rod;22, crystal shearing mechanism;220, first moving seat;221, second moving seat;2210, moving body;2211, moving fork arm;222, shearing support;223, shearing piece;2230, shearing portion;2231, force applying portion;22310, shearing waist hole;224, elastic piece;225, connecting bolt;24, photoelectric sensor;25, photoelectric contact;3, detection camera;4, robot main body. DETAILED DESCRIPTION

[0029] The utility model will be further described below in conjunction with the drawings and specific embodiments, so that the skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model. Embodiment one

[0030] Referring to Figure 1 The utility model discloses a crystal shearing device for shearing the connecting part between the upper end of the crystal bar and the seed crystal. The crystal shearing device comprises a lifting assembly 1 and a crystal shearing assembly 2. The crystal shearing assembly 2 can be lifted under the drive of the lifting assembly 1.

[0031] Referring to Figure 2 The lifting assembly 1 comprises a vertical plate assembly, a first drive mechanism 10 and a linkage mechanism 11. The vertical plate assembly comprises a first vertical plate 12, a second vertical plate 13 movably connected to the first vertical plate 12 in the vertical direction, and a third vertical plate 14 movably connected to the second vertical plate 13 in the vertical direction. The first drive mechanism 10 is installed on the first vertical plate 12 and connected to the second vertical plate 13 to drive the second vertical plate 12 to lift. The linkage mechanism 11 is installed on the second vertical plate 13 and connected to the first vertical plate 12 and the third vertical plate 14 respectively, so that the second vertical plate 13 drives the third vertical plate 14 to lift during lifting.

[0032] Referring to Figure 4 The first drive mechanism 10 comprises a mounting seat, a drive gear 101, a speed reducer 102, a drive motor 103 and a vertical rack 104. The mounting seat is fixedly connected to the first vertical plate 12. The speed reducer 102 is fixedly installed on the mounting seat. The output end of the drive motor 103 is connected to the input end of the speed reducer 102. The drive gear 101 is installed on the output end of the speed reducer 102. The vertical rack 104 is arranged on the second vertical plate 13 and located between the first vertical plate 102 and the second vertical plate 103. The drive gear 101 is engaged with the vertical rack 104. The drive gear 101 is rotated by the power input of the drive motor 103, and the vertical rack 104 is engaged and driven to lift, thereby lifting the second vertical plate.

[0033] In detail, the mounting seat comprises two mounting supports 105 arranged vertically, and a support side plate 106 adjustably mounted on one end of the two mounting supports 105. The drive gear 101 is installed between the two mounting supports 105. The mounting support 105 is fixedly installed on the side edge of the first vertical plate 12 and forms a stepped portion 1050 at the end away from the first vertical plate 12.

[0034] Specifically, the horizontal adjusting hole 107 is arranged on the support side plate 106, and the fixing bolt 108 is arranged at the adjusting hole 107 and fixedly connected with the mounting support 105. The adjusting screw hole is arranged along the length direction of the adjusting hole 107, and the adjusting screw bolt 109 is arranged at the adjusting screw hole. The adjusting screw bolt passes through the adjusting screw hole and abuts against the side of the connecting side plate 106. The speed reducer 102 is fixedly installed on the support side plate 105. The output end of the speed reducer 102 penetrates through the support side plate 105 and is coaxially fixed with the driving gear 101 between the two mounting supports 105. Through the above arrangement, the meshing gap of the driving gear 101 and the vertical rack 104 can be adjusted. On the one hand, the gap is avoided to be too small to cause the two to be stuck; on the other hand, the gap is adjusted after the two are worn to improve the stability of transmission.

[0035] In further embodiments, in combination with Figure 3 As shown, the linkage mechanism 11 includes the first sprocket 110 rotatably installed at the top end of the second vertical plate 13, the first chain 111 wound around the first sprocket 110, the second sprocket 112 rotatably installed at the bottom end of the second vertical plate 13, and the second chain 113 wound around the second sprocket 112. It should be noted that the two ends of the first chain 111 extend downward and are connected with the first vertical plate 12 and the third vertical plate 14 respectively. The two ends of the second chain 112 extend upward and are connected with the first vertical plate 12 and the third vertical plate 14 respectively. Through the above arrangement, the second vertical plate can be driven by the linkage mechanism to quickly lift and lower the third vertical plate during the lifting and lowering process. At the same time, since the third vertical plate moves relatively with respect to the second vertical plate, the third vertical plate can realize the extension of the lifting stroke on the basis of the lifting and lowering movement of the second vertical plate, so that it can be lifted to a high place to perform the crystal cutting operation on the long-size crystal bar. At the same time, the linkage mechanism 11 not only realizes the linkage of the second vertical plate and the third vertical plate, but also can realize the buffering of the movement inertia of the third vertical plate during the lifting and lowering process, thereby improving the stability of the lifting and lowering process of the crystal cutting assembly.

[0036] In further embodiments, in combination with Figure 2 and Figure 3 As shown, in order to guide and limit the movement of the vertical plate assembly, the lifting assembly 1 further includes a sliding mechanism. In detail, the sliding mechanism includes the first sliding rail 15 arranged between the first vertical plate 12 and the second vertical plate 13 in the vertical direction, and the first sliding block 16 slidably connected with the first sliding rail 15. The first sliding rail 15 is fixedly installed on the first vertical plate 12. The first sliding block 16 is fixedly connected with the second vertical plate 13. The two end portions of the first sliding rail 15 are provided with the stoppers to limit the sliding stroke of the first sliding block 16. Thus, the relative movement between the first vertical plate 12 and the second vertical plate 13 is limited and guided, and the stability of the first vertical plate 12 and the second vertical plate 13 during the movement is ensured.

[0037] The sliding mechanism further comprises a second sliding rail 17 vertically arranged between the second vertical plate 13 and the third vertical plate 14, and a second sliding block 18 in sliding connection with the second sliding rail 17. The second sliding rail 17 is fixedly installed on the second vertical plate 13. The second sliding block 18 is fixedly connected with the third vertical plate 14. The two ends of the second sliding rail 17 are also provided with stoppers to limit the sliding stroke of the second sliding block 18. In this way, the relative movement between the second vertical plate 13 and the third vertical plate 14 can be limited and guided, and the stability of the second vertical plate 13 and the third vertical plate 14 during operation can be ensured.

[0038] The crystal shearing assembly 2 in the embodiment comprises a fixed support 20 installed on the third vertical plate 14, a second driving mechanism 21 arranged on the fixed support 20, and a crystal shearing mechanism 22 connected with the second driving mechanism 21. The second driving mechanism 21 is arranged to drive the crystal shearing mechanism 22 to move horizontally, so that the crystal shearing mechanism 22 performs crystal shearing during the horizontal movement.

[0039] Therefore, it can be known that the crystal shearing device provided by the embodiment is provided with the lifting assembly 1 and the crystal shearing assembly 2. The lifting assembly 1 comprises a vertical plate assembly, a first driving mechanism 10, and a linkage mechanism 11. The vertical plate assembly comprises a first vertical plate 12, a second vertical plate 13 movably connected with the first vertical plate 12 in the vertical direction, and a third vertical plate 14 movably connected with the second vertical plate 13 in the vertical direction. The first driving mechanism 10 is installed on the first vertical plate 12 and connected with the second vertical plate 13 to drive the second vertical plate 13 to lift. The linkage mechanism 11 is installed on the second vertical plate 13 and connected with the first vertical plate 12 and the third vertical plate 14 respectively, so that the third vertical plate 14 is driven to lift during the lifting of the second vertical plate 13. The crystal shearing assembly 2 comprises a fixed support 20 installed on the third vertical plate 14, a second driving mechanism 21 arranged on the fixed support 20, and a crystal shearing mechanism 22 connected with the second driving mechanism 21. During work, the second driving mechanism 21 is arranged to drive the crystal shearing mechanism 22 to move horizontally, so that the crystal shearing mechanism 22 performs crystal shearing during the horizontal movement. At the same time, the crystal shearing assembly 2 can also be lifted under the driving of the third vertical plate 14, so as to meet the crystal taking demand for the long crystal rod, perform accurate and safe crystal shearing operation, and reduce the safety risk and ensure the product quality.

[0040] In combination Figure 1 , Figure 5 and Figure 6In a further embodiment, the cutting mechanism 22 comprises a first moving seat 220, a second moving seat 221, a cutting support 222, and two cross-hinged cutting members 223. The first moving seat 220 is movably connected with the second driving mechanism 21 in the horizontal direction. The second moving seat 221 is elastically connected with the first moving seat 220. The second moving seat 221 is connected with the movable end of the second driving mechanism 21. The cutting support 222 is arranged on the first moving seat 220 away from the second driving mechanism 21. The two cutting members 223 are hingedly connected with the cutting support 222 at the cross-hinged position, and are respectively hingedly connected with the second moving seat 221.

[0041] In a further embodiment, the second moving seat 221 comprises a moving body 2210 and two moving fork arms 2211 respectively fixed on both sides of the moving body 2210. As shown in Figure 1 and Figure 6 , the moving body 2210 is connected with the movable end of the second driving mechanism 21, and the moving body 2210 is movable in the horizontal direction within the first moving seat 220. An elastic member 224 is arranged between the moving body 2210 and the first moving seat 220. The two moving fork arms 2211 are respectively hingedly connected with the corresponding side cutting member 223 away from the moving body 2210. The elastic member 224 includes but is not limited to a spring.

[0042] In detail, as shown in Figure 6 , the cutting member 223 comprises a cutting portion 2230 and a force applying portion 2231. The cutting portion 2230 is arranged at one end of the cutting member 223 and is in contact with the crystal bar to cut the crystal. The force applying portion 2231 is arranged at the other end of the cutting member 223. The force applying portion 2231 is provided with a cutting waist hole 22310, and the cutting waist hole 22310 is provided with a connecting bolt 225. The cutting member 223 is hingedly connected with the moving fork arm 2211 through the cutting waist hole 22310 and the connecting bolt 225.

[0043] As a preferred embodiment, as shown in Figure 5 , the second driving mechanism 21 comprises a driving bracket 210 arranged on the fixed bracket 20, a driving support 211 arranged at one end of the driving bracket 210, an electric push rod 212 arranged in the driving bracket 210, and a guide push rod 213 arranged in parallel with the electric push rod 212. The fixed end of the electric push rod 212 is connected with the driving bracket 210, the movable end of the electric push rod 212 penetrates through the driving support 211 and extends into the first moving seat 220 to be fixedly connected with the moving body 2210 of the second moving seat 221. The guide push rod 213 is slidingly connected with the driving support 211 and is fixedly connected with the first moving seat 220.

[0044] As shown in Figure 5As shown, in order to facilitate monitoring and identifying the cutting position, and improving the accuracy of the cutting operation, the cutting assembly 2 further comprises a detection camera 3 installed on the second driving mechanism 21.

[0045] In addition, in order to monitor the movement stroke of the guide push rod 213, in combination with Figure 5 As shown, the cutting assembly 2 further comprises a sensor assembly, which comprises a photoelectric sensor 24 and a photoelectric touch piece 25. Specifically, the photoelectric sensor 24 is provided with two, and the two photoelectric sensors 24 are respectively arranged at the two ends of the driving bracket 210 along the length direction, and the photoelectric touch piece 25 is arranged at one end of the guide push rod 213 away from the driving support 211.

[0046] Therefore, it can be known that the cutting device provided by the embodiment is provided with a lifting assembly 1 and a cutting assembly 2. The lifting assembly 1 comprises a vertical plate assembly, a first driving mechanism 10 and a linkage mechanism 11. The vertical plate assembly comprises a first vertical plate 12, a second vertical plate 13 movably connected to the first vertical plate 12 in the vertical direction, and a third vertical plate 14 movably connected to the second vertical plate 13 in the vertical direction. The first driving mechanism 10 is installed on the first vertical plate 12 and connected with the second vertical plate 13 to drive the second vertical plate 13 to lift. And the linkage mechanism 11 is installed on the second vertical plate 13 and connected with the first vertical plate 12 and the third vertical plate 14 respectively, so that the second vertical plate 13 drives the third vertical plate 14 to lift quickly during the lifting process, and the lifting stroke of the third vertical plate is expanded. The cutting assembly 2 comprises a fixed bracket 20 installed on the third vertical plate 14, a second driving mechanism 21 arranged on the fixed bracket 20, and a cutting mechanism 22 connected with the second driving mechanism 21; during operation, the second driving mechanism 21 is arranged to drive the cutting mechanism 22 to move horizontally, so that the cutting mechanism 22 performs cutting operation during the horizontal movement. Compared with the prior art, the cutting device provided by the embodiment can realize the quick lifting of the cutting assembly through the lifting assembly, and can effectively improve the lifting stroke of the cutting assembly, so that the cutting of the long crystal rod can be realized to adapt to the crystal taking demand of the long size crystal rod. At the same time, the cutting device can automatically cut, without manual cutting operation, which can reduce the safety risk and ensure the product quality. Embodiment two

[0047] The utility model discloses still a kind of robot, according to Figure 7 As shown, the robot comprises a robot body 4, and the cutting device as in embodiment one, which is arranged on the robot body 4.

[0048] In this way, the cutting device can be driven by the robot body 4 to move between different single crystal furnaces to adapt to the cutting rod demand of multiple single crystal furnaces.

[0049] In the description of the utility model, need understanding is, the term "first", "second" only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more than two, unless otherwise specifically limited.

[0050] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0051] Obviously, the above embodiments are only examples for clearly illustrating, and are not limited to the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the utility model creation.

Claims

1. A crystal shearing device, characterized in that, include: A lifting assembly includes a vertical plate assembly, a first drive mechanism, and a linkage mechanism. The vertical plate assembly includes a first vertical plate, a second vertical plate movably connected to the first vertical plate in a vertical direction, and a third vertical plate movably connected to the second vertical plate in a vertical direction. The first drive mechanism is mounted on the first vertical plate and connected to the second vertical plate to drive the second vertical plate to lift. The linkage mechanism is mounted on the second vertical plate and connected to both the first and third vertical plates, so that it drives the third vertical plate to lift during the lifting process of the second vertical plate. The crystal-cutting assembly includes a fixed bracket mounted on a third vertical plate, a second drive mechanism disposed on the fixed bracket, and a crystal-cutting mechanism connected to the second drive mechanism; the second drive mechanism is configured to drive the crystal-cutting mechanism to move horizontally, so that the crystal-cutting mechanism performs crystal cutting during the horizontal movement.

2. The crystal shearing device according to claim 1, characterized in that, The linkage mechanism includes a first sprocket rotatably mounted on the top of the second vertical plate, a first chain wrapped around the first sprocket, a second sprocket rotatably mounted on the bottom of the second vertical plate, and a second chain wrapped around the second sprocket. The two ends of the first chain extend downward and are respectively connected to the first vertical plate and the third vertical plate, and the two ends of the second chain extend upward and are respectively connected to the first vertical plate and the third vertical plate.

3. The crystal shearing device according to claim 2, characterized in that, The lifting assembly further includes a sliding mechanism, which includes a first slide rail vertically disposed between the first vertical plate and the second vertical plate, a first slider slidably connected to the first slide rail, a second slide rail vertically disposed between the second vertical plate and the third vertical plate, and a second slider slidably connected to the second slide rail; the first slide rail is fixedly installed on the first vertical plate; the first slider is fixedly connected to the second vertical plate; the second slide rail is fixedly installed on the second vertical plate; and the second slider is fixedly connected to the third vertical plate.

4. The crystal shearing device according to claim 1, characterized in that, The first driving mechanism includes a mounting base, a driving gear, a reducer, a driving motor, and a vertical rack; the mounting base is fixedly connected to a first vertical plate; the reducer is fixedly mounted on the mounting base; the output end of the driving motor is connected to the input end of the reducer; the driving gear is mounted on the output end of the reducer; the vertical rack is disposed on the second vertical plate and located between the first vertical plate and the second vertical plate; the driving gear meshes with the vertical rack.

5. The crystal shearing device according to claim 4, characterized in that, The mounting base includes two mounting supports arranged vertically, and a support side plate adjustablely mounted on one end of the two mounting supports. The mounting supports are fixedly mounted on the side of the first vertical plate, and a stepped portion is formed at the end away from the first vertical plate. The support side plate has a horizontally opening adjustment hole, and a fixing bolt is provided at the adjustment hole to fix it to the mounting support. The stepped portion has an adjustment threaded hole along the length direction of the adjustment hole, and a threaded adjustment bolt is provided at the adjustment threaded hole. The adjustment bolt passes through the adjustment threaded hole and abuts against the side of the connecting side plate. The reducer is fixedly mounted on the support side plate, and the output end of the reducer passes through the support side plate and is coaxially fixed with the drive gear between the two mounting supports.

6. The crystal shearing device according to claim 1, characterized in that, The shearing mechanism includes a first movable seat, a second movable seat, a shearing support, and two cross-hinged shearing members; the first movable seat is movably connected to the second driving mechanism in the horizontal direction; the second movable seat is elastically connected to the first movable seat; the second movable seat is connected to the movable end of the second driving mechanism; the shearing support is disposed on the side of the first movable seat away from the second driving mechanism, the two shearing members are hinged to the shearing support at the cross-hinged joint, and the two shearing members are respectively hinged to the second movable seat.

7. The crystal shearing device according to claim 6, characterized in that, The second movable seat includes a movable body and two movable fork arms respectively fixed on both sides of the movable body; the movable body is connected to the movable end of the second drive mechanism, the movable body is movable in the horizontal direction within the first movable seat, and an elastic element is provided between the movable body and the first movable seat; the ends of the two movable fork arms away from the movable body are respectively hinged to the corresponding side shearing elements.

8. The crystal shearing device according to claim 7, characterized in that, The second driving mechanism includes a driving bracket mounted on a fixed bracket, a driving support at one end of the driving bracket, an electric push rod disposed within the driving bracket, and a guide push rod disposed parallel to the electric push rod; the fixed end of the electric push rod is connected to the driving bracket, and the movable end of the electric push rod passes through the driving support and extends into the first movable seat, where it is fixedly connected to the movable body of the second movable seat; the guide push rod is slidably connected to the driving support and fixedly connected to the first movable seat.

9. The crystal shearing device according to any one of claims 1-8, characterized in that, The crystal-cutting assembly also includes a detection camera mounted on the second drive mechanism.

10. A robot, characterized in that, include: Robot body; The crystal-cutting device as described in any one of claims 1-9 is disposed on the robot body.

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