Grabbing mechanism and boat carrying device

Abstract

The utility model provides a grabbing mechanism and a boat carrying device, relates to the field of semiconductor or photovoltaic material processing, and solves the technical problem that the placing position of a boat structure is deviated or sheet materials are thrown out of the boat structure due to the fact that the boat structure is likely to shake in the carrying process. The grabbing mechanism comprises a mounting assembly; the gripper assembly is connected with the mounting assembly and is configured to grab the boat structure; and the anti-shaking assembly is provided with a first driving part and a first telescopic part, the first driving part is connected with the mounting assembly, the first driving part is in transmission connection with the first telescopic part, and the first driving part is configured to drive the first telescopic part to move so that the first telescopic part can abut against the top of the boat structure and apply pressure to the top of the boat structure to press the boat structure. By means of the structure, shaking of the boat structure can be greatly reduced, the boat structure can be transported more stably, and therefore the situation that sheet materials in the boat structure are thrown out due to shaking of the boat structure is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of semiconductor or photovoltaic material processing, and in particular to a grabbing mechanism and a boat moving device. BACKGROUND

[0002] Semiconductor or photovoltaic materials are widely used in electronic, new energy and other industries. Semiconductor or photovoltaic materials usually need to be chemically treated before they can be applied to products. Chemical vapor deposition (CVD) technology is one of the processing methods. CVD technology is currently widely used in semiconductor or photovoltaic material processing. Common processing equipment includes plasma enhanced chemical vapor deposition (PECVD) equipment, low pressure chemical vapor deposition (LPCVD) equipment, atmospheric pressure chemical vapor deposition (APCVD) and the like. In addition to CVD technology, diffusion processes such as phosphorus diffusion and boron diffusion can also be used to process semiconductor or photovoltaic materials by gas diffusion. There are many related devices in the industry that can be selected according to specific processing needs.

[0003] In the processing procedure of semiconductor or photovoltaic materials, a boat structure is usually used to carry semiconductor or photovoltaic materials, and a boat moving device is used to transport the boat structure to a boat support, then the boat structure and the boat support are transported to a furnace body for process treatment, and finally the boat structure on the boat support is transported to a wafer unloading platform for unloading by the boat moving device. The boat moving device plays a role in transferring the boat structure during transportation.

[0004] In related technologies, the traditional boat moving device uses a grabbing mechanism to grab the boat structure. Specifically, the boat structure is usually grabbed by a boat grabbing hand controlled by a pneumatic cylinder or a boat grabbing hand controlled by a motor synchronous belt and the like. With these two structures, the boat structure is naturally placed on the boat grabbing hand. The boat structure is prone to shaking due to inertia, which may cause the wafer-shaped material (i.e., the semiconductor or photovoltaic material) in the boat structure to be thrown out of the boat structure during transportation, or cause the boat structure to deviate on the boat grabbing hand, resulting in deviation of the placement position of the boat structure when the boat structure is placed, such as deviation of the boat structure on the wafer unloading platform. At this time, the wafer-shaped material in the boat structure cannot be taken out when the wafer unloading action is performed. Practical new type content

[0005] In order to solve the above technical problems, the present application is proposed. The embodiment of the present application provides a grabbing mechanism and a boat moving device.

[0006] In the first aspect, an embodiment of the present application provides a grabbing mechanism, comprising: a mounting assembly; a gripper assembly connected with the mounting assembly and configured to grab a boat structure; a anti-shaking assembly, the anti-shaking assembly has a first driving part and a first telescopic part, the first driving part is connected with the mounting assembly, the first driving part is in transmission connection with the first telescopic part, the first driving part is configured to drive the first telescopic part to move, so that the first telescopic part abuts against the top of the boat structure and applies pressure to the top of the boat structure to compress the boat structure.

[0007] In some embodiments, two or more gripper assemblies are arranged on opposite sides of the mounting assembly; two or more anti-shaking assemblies are arranged on opposite sides of the mounting assembly; the mounting assembly has oppositely arranged first and second sides, the first side has first and second ends, and the second side has third and fourth ends, the first and third ends are oppositely arranged, and the second and fourth ends are oppositely arranged; wherein the first and fourth ends are respectively provided with the gripper assemblies, and the second and third ends are respectively provided with the anti-shaking assemblies.

[0008] In some embodiments, the mounting assembly comprises: a mounting body; a first adjusting piece connected with the mounting body, the first adjusting piece has a first through hole; a second adjusting piece connected with the mounting body, each second adjusting piece is connected with one anti-shaking assembly, and each second adjusting piece is located below the corresponding first adjusting piece; and a first screwing piece, each first screwing piece passes through the first through hole of one first adjusting piece and is in threaded connection with the corresponding second adjusting piece of the first adjusting piece.

[0009] In some embodiments, the gripper assembly comprises: a gripper rotatably connected with the mounting assembly through a rotating shaft; and a gripper power cylinder, a housing of the gripper power cylinder is rotatably connected with the mounting assembly, and a driving shaft of the gripper power cylinder is rotatably connected with the gripper through a connecting shaft and is configured to drive the gripper to rotate around the rotating shaft.

[0010] In some embodiments, the gripper assembly further comprises: a limiting piece connected with the gripper, the limiting piece can abut against the mounting assembly when the gripper rotates to a preset grabbing position.

[0011] In some embodiments, the grabbing mechanism further comprises: one or more buffers connected with the mounting assembly, the buffers can abut against the top of the boat structure; a tab detection sensor connected with the mounting assembly and configured to detect whether the sheet material carried by the boat structure moves out of the boat structure; and a boat detection sensor connected with the mounting assembly and configured to detect whether there is a boat structure below the grabbing mechanism.

[0012] In some embodiments, the mounting assembly comprises a mounting body, the mounting body comprising: a first mounting plate and a second mounting plate parallel to each other, the first mounting plate and the second mounting plate being spaced apart along a vertical direction; a connecting column vertically arranged between the first mounting plate and the second mounting plate; a connecting plate arranged between the first mounting plate and the second mounting plate along the vertical direction, the anti-shaking assembly being arranged on the connecting plate; a first fixing member connected to the second mounting plate, the gripper assembly being mounted between the first mounting plate and the second mounting plate and being rotatably connected to the first fixing member.

[0013] In a second aspect, an embodiment of the present application provides a boat moving device configured to transport a boat structure, the boat moving device comprising: a support assembly; a transverse movement assembly in transmission connection with the support assembly and extending along a first direction, the transverse movement assembly being capable of moving along a second direction relative to the support assembly, the second direction being arranged at an angle to the first direction; a longitudinal movement assembly in transmission connection with the transverse movement assembly and being capable of moving along the first direction relative to the transverse movement assembly; a vertical movement assembly in transmission connection with the longitudinal movement assembly and being capable of moving along a vertical direction relative to the longitudinal movement assembly; and the gripper mechanism of any one of the first aspect being connected to the vertical movement assembly.

[0014] In some embodiments, the support assembly comprises: a support body; a first rack extending along the second direction and connected to the support body; the transverse movement assembly comprises: a first gear in meshing connection with the first rack; a first driving source in transmission connection with the first gear and configured to drive the first gear to rotate so as to move the first gear along the second direction, the first driving source moving along the second direction following the first gear; a transverse movement body connected to the first driving source and moving along the second direction following the first driving source; a second rack extending along the first direction and connected to the transverse movement body; the longitudinal movement assembly comprises: a second gear in meshing connection with the second rack; a second driving source in transmission connection with the second gear and configured to drive the second gear to rotate so as to move the second gear along the first direction, the second driving source moving along the first direction following the first gear; a longitudinal movement body connected to the second driving source and moving along the first direction following the second driving source; a third driving source connected to the longitudinal movement body; a third gear in transmission connection with the third driving source and configured to rotate under the driving of the third driving source; the vertical movement assembly comprises: a third rack extending along the vertical direction and in meshing connection with the third gear and configured to move along the vertical direction under the driving of the third gear; a vertical movement body connected to the third rack and moving along the vertical direction following the third rack, the gripper mechanism being connected to the vertical movement body.

[0015] In some embodiments, the support assembly further comprises: a first slide rail extending along the second direction and connected with the support body; the lateral movement assembly further comprises: one or more first sliders connected with the lateral movement body and in sliding connection with the first slide rail; a second slide rail extending along the first direction and connected with the lateral movement body; the longitudinal movement assembly further comprises: one or more second sliders connected with the longitudinal movement body and in sliding connection with the second slide rail; and one or more third sliders connected with the longitudinal movement body; and the vertical movement assembly further comprises: a third slide rail extending along the vertical direction, connected with the vertical movement body, and in sliding connection with the one or more third sliders.

[0016] In some embodiments, the vertical movement assembly further comprises: a blocking member connected with the vertical movement body and configured to contact the lateral movement body when the vertical movement body is lowered to a preset blocking position, so as to block the vertical movement body from continuing to lower.

[0017] In some embodiments, the vertical movement body has a second through hole extending along the horizontal direction; and the longitudinal movement assembly further comprises: a fall-prevention assembly having a second driving part and a second telescopic part, the second driving part being connected with the longitudinal movement body, the second driving part being in transmission connection with the second telescopic part, and the second driving part being configured to drive the second telescopic part to move along the horizontal direction and pass through the second through hole, so as to block the vertical movement body from lowering.

[0018] The anti-shaking assembly can apply pressure to the boat structure from the top of the boat structure, so as to greatly reduce the shaking of the boat structure, enable the boat structure to be transported more stably, avoid the sheet-shaped material in the boat structure from being thrown out due to the shaking of the boat structure, and also reduce the probability of the boat structure deviating on the grabbing mechanism and causing the placement position of the boat structure to deviate. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0020] Figure 1 Fig. 1 shows a structure schematic diagram of a grabbing mechanism provided by an exemplary embodiment of the present application.

[0021] Figure 2 Fig. 2 shows a bottom view of the grabbing mechanism provided by the exemplary embodiment of the present application.

[0022] Figure 3 Fig. 1 shows a schematic view of a boat carrying device according to an exemplary embodiment of the present application.

[0023] Figure 4 Fig. 2 shows a schematic view of a boat carrying device according to another exemplary embodiment of the present application.

[0024] Figure 5 Fig. 3 shows a schematic view of a boat carrying device according to an exemplary embodiment of the present application. Figure 3 Fig. 4 shows a partial enlarged view of region A in Fig. 3.

[0025] Figure 6 Fig. 5 shows a schematic view of a boat carrying device according to an exemplary embodiment of the present application. Figure 3 Fig. 6 shows a partial enlarged view of region B in Fig. 5.

[0026] Figure 7 Fig. 7 shows a schematic view of a boat carrying device according to an exemplary embodiment of the present application. Figure 4 Fig. 8 shows a partial enlarged view of region C in Fig. 7.

[0027] Figure 8 Fig. 9 shows a schematic view of a longitudinal movement assembly and a vertical movement assembly according to an exemplary embodiment of the present application.

[0028] Figure 9 Fig. 10 shows a schematic view of a boat carrying device according to another exemplary embodiment of the present application.

[0029] Figure 10 Fig. 11 shows a schematic view of a boat carrying device according to an exemplary embodiment of the present application. Figure 9 Fig. 12 shows a partial enlarged view of region D in Fig. 11.

[0030] Reference signs:

[0031] 100, grabbing mechanism; 110, mounting assembly; 111, first side; 112, second side; 1111, first end; 1112, second end; 1121, third end; 1122, fourth end; 113, mounting body; 1131, first mounting plate; 1132, second mounting plate; 1133, connecting plate; 1134, connecting column; 1135, first fixing member; 11351, first fixing part; 11352, second fixing part; 1136, second fixing member; 1137, third fixing member; 1138, cylinder rotating shaft; 114, first adjusting member; 115, second adjusting member; 1151, adjusting block; 1152, cylinder mounting plate; 11521, waist-shaped hole; 116, third side; 117, fourth side; 120, gripper assembly; 121, gripper; 1211, grabbing part; 12111, bearing groove; 12112, inner pad strip; 1212, cylinder connecting part; 122, rotating shaft; 123, connecting shaft; 124, gripper power cylinder; 1241, shell; 1242, drive shaft; 1243, fish eye joint; 125, limiting member; 130, anti-sway assembly; 131, first driving part; 132, first telescopic part; 1321, push rod; 1322, contact head; 140, buffer; 150, tab detection sensor; 160, boat detection sensor; 200, boat carrying device; 210, support assembly; 211, support body; 2111, stand column; 21111, first stand column; 21112, second stand column; 21113, third stand column; 21114, fourth stand column; 2112, tensile reinforcement; 2113, support beam; 212, first rack; 213, first sliding rail; 220, transverse movement assembly; 221, first driving source; 222, transverse movement body; 223, second rack; 224, first sliding block; 225, second sliding rail; 230, longitudinal movement assembly; 231, second driving source; 232, longitudinal movement body; 233, third driving source; 234, second sliding block; 235, third sliding block; 236, anti-falling assembly; 240, vertical movement assembly; 241, third rack; 242, vertical movement body; 2421, second through hole; 243, third sliding rail; 244, blocking member; 245, sealing plate; 250, first drag chain; 260, second drag chain; 270, third drag chain; 300, boat structure; 310, boat ear. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] Exemplary device

[0034] Figure 1 Fig. 1 shows a schematic view of a structure of a grabbing mechanism according to an example embodiment of the present application, Figure 9 Fig. 2 shows a schematic view of a structure of a boat moving device according to another example embodiment of the present application, Figure 10 Fig. 3 shows a schematic view of a structure of a boat moving device according to an example embodiment of the present application, Figure 9 Fig. 4 shows a partial enlarged view of a region D in Fig. 3. As shown in Fig. 4, Figure 1 、 Figure 9 and Figure 10 According to an example embodiment of the present application, a grabbing mechanism 100 is provided, which comprises a mounting assembly 110, a gripper assembly 120, and a shake-preventing assembly 130. The gripper assembly 120 is connected with the mounting assembly 110 and is configured to grab a boat structure 300. The shake-preventing assembly 130 has a first driving part 131 and a first telescopic part 132. The first driving part 131 is connected with the mounting assembly 110, and the first driving part 131 is in transmission connection with the first telescopic part 132. The first driving part 131 is configured to drive the first telescopic part 132 to move, so that the first telescopic part 132 abuts against a top of the boat structure 300 and applies a pressure to the top of the boat structure 300 to compress the boat structure 300.

[0035] Specifically, the grabbing mechanism 100 can be applied to a boat moving device. The mounting assembly 110 exemplarily comprises one or more plate-shaped structures and / or one or more columnar structures. The gripper assembly 120 at least comprises a gripper 121 for grabbing the boat structure 300. The material of the gripper 121 is exemplarily steel. The top of the boat structure 300 exemplarily has a boat ear 310, and the gripper assembly 120 can be used to grab the boat ear 310. The shake-preventing assembly 130 is exemplarily a pneumatic cylinder, the first driving part 131 comprises a cylinder barrel assembly of the pneumatic cylinder, and the first telescopic part 132 comprises a cylinder rod of the pneumatic cylinder. The boat structure 300 is used to carry a sheet-shaped material, which is exemplarily a silicon wafer, a battery sheet, a glass substrate, etc.

[0036] In actual applications, the process of transporting the boat structure 300 from the initial platform to the placement platform can be divided into three steps: picking up the boat structure 300 on the initial platform to a high position, transporting the boat structure 300, and placing the boat structure 300 on the placement platform. When picking up the boat structure 300 on the initial platform to a high position, the first driving part 131 can first drive the first telescopic part 132 to abut against the top of the boat structure 300, and then the boat structure 300 is lifted to a high position by the gripper assembly 120. When transporting the boat structure 300, the first telescopic part 132 always abuts against the top of the boat structure 300, so that the boat structure 300 is continuously prevented from shaking. When placing the boat structure 300 on the placement platform, when the picking mechanism 100 is lowered to a preset boat placing position (at this time, the lower surface of the boat structure 300 is exemplarily 2 millimeters away from the placement platform), the anti-shaking assembly 130 is retracted (i.e., the first driving part 131 drives the first telescopic part 132 away from the top of the boat structure 300), so as to prevent the downward pressure applied by the first telescopic part 132 to the boat structure 300, so that the boat structure 300 is prevented from colliding with the placement platform and being damaged.

[0037] In the above embodiment, the anti-shaking assembly 130 can apply pressure (such as downward pressure) to the top of the boat structure 300, so as to greatly reduce the shaking of the boat structure 300, and the boat structure 300 can be transported more stably, so as to avoid the sheet-shaped material in the boat structure 300 from being thrown out due to the shaking of the boat structure 300, and also reduce the probability of the boat structure 300 deviating from the picking mechanism 100, so as to avoid the deviation of the placement position of the boat structure 300.

[0038] In some embodiments, the first telescopic part 132 includes a push rod 1321 (such as the cylinder rod of the above-mentioned air cylinder) and a contact head 1322. One end of the push rod 1321 is in transmission connection with the first driving part 131 and is configured to move under the driving of the first driving part 131. The other end of the push rod 1321 is connected with the contact head 1322. The contact head 1322 is exemplarily made of rubber material and is configured to move with the push rod 1321 and abut against the top of the boat structure 300 to apply pressure to the top of the boat structure 300.

[0039] Figure 2 FIG. 8 shows a bottom view of the picking mechanism provided by an exemplary embodiment of the present application.

[0040] In some embodiments, as shown in FIG. 8, the first telescopic part 132 is provided with a plurality of push rods 1321 and a plurality of contact heads 1322. The push rods 1321 are in transmission connection with the first driving part 131 and are configured to move under the driving of the first driving part 131. The contact heads 1322 are exemplarily made of rubber material and are configured to move with the push rods 1321 and abut against the top of the boat structure 300 to apply pressure to the top of the boat structure 300. Figure 1 and Figure 2As shown, two or more of the grabber assemblies 120 are arranged on opposite sides of the mounting assembly 110, and two or more of the anti-shaking assemblies 130 are arranged on opposite sides of the mounting assembly 110. The mounting assembly 110 has a first side 111 and a second side 112 arranged opposite to each other. The first side 111 has a first end 1111 and a second end 1112, and the second side 112 has a third end 1121 and a fourth end 1122. The first end 1111 is arranged opposite to the third end 1121, and the second end 1112 is arranged opposite to the fourth end 1122. The first end 1111 and the fourth end 1122 are respectively provided with the grabber assemblies 120, and the second end 1112 and the third end 1121 are respectively provided with the anti-shaking assemblies 130.

[0041] For example, the number of the grabber assemblies 120 is two, and the number of the anti-shaking assemblies 130 is two. The two grabber assemblies 120 are arranged on the first end 1111 and the fourth end 1122 respectively, and the two anti-shaking assemblies 130 are arranged on the second end 1112 and the third end 1121 respectively.

[0042] With this structure, the boat structure 300 can be stably grabbed by the grabber assemblies 120 and tightly pressed by the anti-shaking assemblies 130 to prevent shaking. Specifically, the top of the boat structure 300 is usually rectangular. This structure can grab the boat structure 300 from two opposite corners close to the top of the boat structure 300 and apply downward pressure to the boat structure 300 from the other two opposite corners close to the top of the boat structure 300. This structure is relatively stable and can achieve stable grabbing and anti-shaking of the boat structure 300.

[0043] In some embodiments, as shown, Figure 1 The mounting assembly 110 includes a mounting body 113, first adjusting members 114, second adjusting members 115, and first screwing members, which are exemplarily screws or bolts. The first adjusting members 114 are connected to the mounting body 113 and have first through holes. The second adjusting members 115 are connected to the mounting body 113, and each second adjusting member 115 is connected to one anti-shaking assembly 130. Each second adjusting member 115 is located below the corresponding first adjusting member 114. Each first screwing member passes through the first through hole of one first adjusting member 114 and is threadedly connected to the corresponding second adjusting member 115 of the one first adjusting member 114.

[0044] Specifically, the first adjusting member 114 can be screwed to the mounting body 113 via a second threaded connector (such as a screw or bolt). The first threaded connector can be threadedly connected to the first threaded portion of the second adjusting member 115. The second adjusting member 115 exemplarily has a first threaded hole extending in a vertical direction, and the first threaded portion is the thread within the first threaded hole. The second adjusting member 115 exemplarily may include: an adjusting block 1151, a cylinder mounting plate 1152, a third threaded connector (such as a screw or bolt), and a fourth threaded connector (such as a screw or bolt). The mounting body 113 has a third threaded portion, such as a third threaded hole extending in a horizontal direction, the third threaded portion being the thread within the third threaded hole. The cylinder mounting plate 1152 has a slotted hole 11521 extending in a vertical direction, and the third threaded connector passes through the slotted hole 11521 and is screwed to the third threaded portion. The adjusting block 1151 is screwed to the cylinder mounting plate 1152 via a fourth threaded connector. The first drive unit 131 is connected to the cylinder mounting plate 1152.

[0045] In practical applications, the height of the anti-sway component 130 can be adjusted by adjusting the screw position of the first screw connector and the first screw connection part, i.e., adjusting the height of the second adjusting component 115. If the anti-sway component 130 is set too high, the pressure exerted by the anti-sway component 130 on the boat structure 300 will be too small, and the boat structure 300 will still sway. If the anti-sway component 130 is set too low, the pressure exerted by the anti-sway component 130 on the boat structure 300 will be too large, thereby damaging the boat structure 300. Through this structure, the height of the anti-sway component 130 can be precisely adjusted, thereby adjusting the pressure exerted by the anti-sway component 130 on the boat structure 300, so that the anti-sway component 130 presses against the boat structure 300 with appropriate pressure.

[0046] In some embodiments, such as Figure 1 As shown, the mounting assembly 110 includes a mounting body 113, which comprises: a first mounting plate 1131 and a second mounting plate 1132 that are parallel to each other, a connecting post 1134, a connecting plate 1133, and a first fixing member 1135. The first mounting plate 1131 and the second mounting plate 1132 are spaced apart vertically. The connecting post 1134 is vertically disposed between the first mounting plate 1131 and the second mounting plate 1132. The connecting plate 1133 is vertically disposed between the first mounting plate 1131 and the second mounting plate 1132, and an anti-sway assembly 130 is disposed on the connecting plate 1133. The first fixing member 1135 is connected to the second mounting plate 1132, and a gripper assembly 120 is installed between the first mounting plate 1131 and the second mounting plate 1132 and is rotatably connected to the first fixing member 1135.

[0047] For example, the first adjusting member 114 is connected to the connecting plate 1133, which has a third screw connection.

[0048] In some embodiments, such asFigure 1 and Figure 10 As shown in FIG. 1, the gripper assembly 120 comprises a gripper 121 and a gripper power cylinder 124. The gripper 121 is rotatably connected with the mounting assembly 110 through a rotating shaft 122. The housing 1241 of the gripper power cylinder 124 is rotatably connected with the mounting assembly 110, and the driving shaft 1242 of the gripper power cylinder 124 is rotatably connected with the gripper 121 through a connecting shaft 123, which is configured to drive the gripper 121 to rotate around the rotating shaft 122.

[0049] Exemplarily, the mounting body 113 further comprises a third fixing member 1137 and a cylinder rotating shaft 1138. The third fixing member 1137 is connected with the first fixing member 1135, and the cylinder rotating shaft 1138 is rotatably connected with the third fixing member 1137, and the housing 1241 of the gripper power cylinder 124 is rotatably connected with the cylinder rotating shaft 1138.

[0050] Exemplarily, the first fixing member 1135 has at least one third through hole through which the rotating shaft 122 passes, and the gripper 121 has a fourth through hole through which the rotating shaft 122 also passes, so as to enable the gripper 121 to rotate around the rotating shaft 122. The gripper 121 has a gripping part 1211 and a cylinder connecting part 1212 connected with each other. The gripping part 1211 is away from the gripper power cylinder 124, and the cylinder connecting part 1212 is close to the gripper power cylinder 124. The gripping part 1211 is used for gripping the boat structure 300, and the cylinder connecting part 1212 has a fifth through hole through which the connecting shaft 123 passes. The end of the driving shaft 1242 of the gripper power cylinder 124 is connected with a fish-eye joint 1243, which is sleeved on the connecting shaft 123, so as to enable the driving shaft 1242 to be rotatably connected with the gripper 121 through the connecting shaft 123.

[0051] Exemplarily, as shown in FIG. 1, the first fixing member 1135 comprises a first fixing part 11351 and a second fixing part 11352 connected with each other. The first fixing part 11351 is close to the gripper 121, and the second fixing part 11352 is away from the gripper 121. The first fixing part 11351 has at least one third through hole, and the second fixing part 11352 is connected with the third fixing member 1137. The first fixing part 11351 is connected with the second mounting plate 1132 through screws or bolts, and the second fixing part 11352 is connected with the second mounting plate 1132 through screws or bolts. Figure 10

[0052] ​In a conventional grabbing mechanism, the boat structure is usually grabbed by two gripper assemblies. First, two grippers are driven to approach and move away from each other by two cylinders, so as to grab and release the boat structure. In this structure, the cylinders bear the weight of the grippers and the boat structure, so that only small and light boat structures can be transported, and a large cylinder is needed to ensure that the cylinder can bear a large weight. If a large cylinder is used, the grabbing mechanism will occupy a large space. Second, the two grippers are controlled to grab and release the boat structure by a motor synchronous belt structure, but the motor cost is high.

[0053] In the above embodiment, the gripper power cylinder 124 only needs to push the gripper 121 to rotate, and does not need to bear the weight of the gripper 121 and the boat structure 300. Therefore, a smaller cylinder can be used, which occupies a smaller space and has a lower motor cost. Moreover, by this structure, a larger and heavier boat structure 300 can be grabbed.

[0054] In some embodiments, as shown in Figure 1 The gripper assembly 120 further includes a limiting piece 125. The limiting piece 125 is connected with the gripper 121, and can abut against the mounting assembly 110 when the gripper 121 rotates to a preset grabbing position.

[0055] For example, the gripper 121 has a second threaded part, such as a second threaded hole, and the second threaded part is a thread in the second threaded hole. The limiting piece 125 includes a stud, which is screwed with the second threaded part. When the gripper 121 rotates to the preset grabbing position, the limiting piece 125 can abut against the second mounting plate 1132.

[0056] Specifically, the grabbing part 1211 of the gripper 121 has a bearing groove 12111. When the boat structure 300 is grabbed, the groove bottom of the bearing groove 12111 should be kept in a horizontal state and be in contact with the boat ear 310, so that the lower surface of the boat ear 310 is attached to the groove bottom of the bearing groove 12111, i.e., the boat ear 310 and the groove bottom of the bearing groove 12111 form a surface contact, so that the boat structure 300 can be stably grabbed and avoid falling. By setting the limiting piece 125, the angle of rotation of the gripper 121 can be limited, so as to avoid excessive rotation of the gripper 121, so that the lower surface of the boat ear 310 and the groove bottom of the bearing groove 12111 have an included angle (i.e., the boat ear 310 and the groove bottom of the bearing groove 12111 form a line contact), so that the boat structure 300 cannot be stably grabbed by the gripper 121 and falls.

[0057] In actual application, when the boat structure 300 on the initial platform is grabbed to a high place, the gripper power cylinder 124 can first drive the gripper 121 to rotate around the rotating shaft 122 to a position where the bearing groove 12111 is located below the boat ear 310 of the boat structure 300, and the groove bottom of the bearing groove 12111 is horizontal, then the first driving part 131 drives the first telescopic part 132 to abut against the top of the boat structure 300, and finally the grabbing mechanism 100 is lifted to make the groove bottom of the bearing groove 12111 contact with the boat ear 310 of the boat structure 300, thereby driving the boat structure 300 to rise.

[0058] In some embodiments, as shown in Figure 1 The grabbing part 1211 further includes an inner pad strip 12112, which is arranged on the groove bottom of the bearing groove 12111 and is configured to contact with the boat ear 310 of the boat structure 300. The inner pad strip 12112 can protect the boat ear 310 from being abraded.

[0059] In some embodiments, as shown in Figure 1 The grabbing mechanism 100 further includes one or more buffers 140, which are connected with the mounting assembly 110 and can abut against the top of the boat structure 300. The buffer 140 is exemplarily an oil pressure buffer.

[0060] In actual application, when the boat structure 300 is placed on the placing platform, the boat structure 300 is prone to shaking after the anti-shaking assembly 130 is retracted, and the buffer 140 can reduce the shaking degree of the boat structure 300, thereby preventing the boat structure 300 from deviating or the sheet material from being thrown out of the boat structure 300. In addition, in the conventional boat carrying device, in order to reduce the shaking of the boat structure when it is placed on multiple placing platforms, an oil pressure buffer needs to be arranged on each of the multiple placing platforms, which has a high cost. In the embodiment of the present application, the buffer 140 is arranged in the grabbing mechanism 100, and the oil pressure buffers do not need to be arranged on the multiple placing platforms, which can reduce the number of buffers 140 arranged, thereby reducing the cost.

[0061] Exemplarily, as shown in Figure 1 and Figure 2 The mounting assembly 110 further has a third side 116 and a fourth side 117 arranged oppositely, the third side 116 is located between the first side 111 and the second side 112, and the fourth side 117 is located between the first side 111 and the second side 112. The number of buffers 140 is two or more, and the two or more buffers 140 are arranged on the third side 116 and the fourth side 117, respectively.

[0062] Exemplarily, the mounting body 113 can further include a second fixing part 1136. The second fixing part 1136 is connected with the second mounting plate 1132, and the buffer 140 is mounted on the second fixing part 1136.

[0063] In some embodiments, as shown in Figure 2 The boat structure 300 is used to carry the sheet material, and the grabbing mechanism 100 further comprises a tab detection sensor 150. The tab detection sensor 150 is connected with the mounting assembly 110 and is configured to detect whether the sheet material carried by the boat structure 300 moves out of the boat structure 300.

[0064] The tab detection sensor 150 can be connected with the side of the first mounting plate 1131, and the tab detection sensor 150 is exemplarily an optical sensor, such as a diffuse reflection sensor. Generally, the boat structure 300 is composed of a top plate, a bottom plate, and a plurality of channel bars connected between the top plate and the bottom plate. The plurality of channel bars are arranged in a ring shape, so that an accommodation space is formed inside the boat structure 300 to accommodate the sheet material. The boat structure 300 has a sheet taking and placing side, and the number of channel bars on the sheet taking and placing side is smaller, so that the sheet material can be taken out of the accommodation space through the sheet taking and placing side, or the sheet material can be placed in the accommodation space through the sheet taking and placing side. The tab detection sensor 150 is exemplarily arranged above the sheet taking and placing side of the boat structure 300. The tab detection sensor 150 can continuously detect whether the sheet material carried by the boat structure 300 moves out of the boat structure 300 when the gripper assembly 120 contacts the boat structure 300.

[0065] By arranging the tab detection sensor 150, it can be detected in time whether the sheet material moves out of the boat structure 300, so that the (boat conveying device) can be stopped to continue conveying the boat structure 300, and the sheet material can be prevented from being thrown out of the boat structure 300 and damaged.

[0066] In some embodiments, as shown in Figure 2 The grabbing mechanism 100 further comprises a boat detection sensor 160. The boat detection sensor 160 is connected with the mounting assembly 110 and is configured to detect whether the boat structure 300 exists below the grabbing mechanism 100. The boat detection sensor 160 is exemplarily an optical sensor, such as a diffuse reflection sensor. The boat detection sensor 160 is exemplarily connected with the bottom of the second mounting plate 1132, such as the central area of the bottom of the second mounting plate 1132.

[0067] In actual application, after the grabbing mechanism 100 moves to above the preset boat grabbing position, the boat detection sensor 160 can detect whether the boat structure 300 exists below. In the case that the boat structure 300 exists below the grabbing mechanism 100, the grabbing mechanism 100 can move downward to the preset boat grabbing position close to the boat structure 300, and then the gripper assembly 120 and the anti-shaking assembly 130 can work in the manner described in the above embodiments.

[0068] In some embodiments, the grabbing mechanism 100 can be formed by one-piece steel processing, with higher precision, higher stability, and greater load bearing capacity.

[0069] In summary, the following steps 1-12 can be performed when the boat structure 300 is transported from the initial platform to the placement platform.

[0070] Step 1: The grabbing mechanism 100 moves above the preset boat grabbing position.

[0071] Step 2: The boat detection sensor 160 detects whether there is a boat structure 300 below the grabbing mechanism 100.

[0072] Step 3: If there is a boat structure 300 below the grabbing mechanism 100, the grabbing mechanism 100 moves downward to the preset boat grabbing position.

[0073] Step 4: The gripper power cylinder 124 drives the gripper 121 to rotate around the rotation shaft 122 from the release position to the grabbing position.

[0074] When the gripper 121 is in the release position, the bearing groove 12111 is located below the boat ear 310 of the boat structure 300, and when the gripper 121 is in the grabbing position, the bearing groove 12111 is located below the boat ear 310 of the boat structure 300.

[0075] Step 5: The first driving part 131 drives the first telescopic part 132 to abut against the top of the boat structure 300.

[0076] Step 6: The grabbing mechanism 100 rises, and the groove bottom of the bearing groove 12111 contacts the boat ear 310 of the boat structure 300, thereby lifting the boat structure 300.

[0077] The tab detection sensor 150 continuously detects whether the sheet material carried by the boat structure 300 moves out of the boat structure 300 when the gripper assembly 120 contacts the boat structure 300.

[0078] Step 7: The grabbing mechanism 100 moves the boat structure 300 above the placement platform.

[0079] Step 8: The grabbing mechanism 100 descends to the preset boat placement position.

[0080] Step 9: The first driving part 131 drives the first telescopic part 132 away from the top of the boat structure 300.

[0081] At this time, the bumper 140 can prevent the boat structure 300 from shaking.

[0082] Step 10: The grabbing mechanism 100 descends to the boat structure 300 placed on the placement platform.

[0083] Step 11, the gripper power cylinder 124 drives the gripper 121 to rotate around the rotation shaft 122 from the grabbing position to the loosening position, so that the gripper 121 is separated from the boat structure 300.

[0084] Step 12, the grabbing mechanism 100 moves to the highest position, and returns to perform step 1, so that the next boat structure 300 can be carried.

[0085] Figure 3 Fig. 1 shows a structural schematic diagram of a boat carrying device provided by an example embodiment of the present application, Figure 4 Fig. 2 shows a structural schematic diagram of a boat carrying device provided by another example embodiment of the present application.

[0086] Based on the same concept, as Figure 3 and Figure 4 shown, the embodiment of the present application further provides a boat carrying device 200, which is configured to transport a boat structure 300, for example, the boat carrying device 200 can carry the boat structure 300 from an initial platform to a boat carrier, so that the boat structure 300 and the boat carrier can be transported as a whole to a reaction furnace for processing, and for another example, the boat carrying device 200 can also carry the boat structure 300 on the boat carrier to a piece unloading platform, so that the boat structure 300 can be subjected to a piece unloading process.

[0087] Specifically, the boat carrying device 200 comprises a support assembly 210, a transverse movement assembly 220, a longitudinal movement assembly 230, a vertical movement assembly 240, and the grabbing mechanism 100 of any one of the above embodiments. The transverse movement assembly 220 is in transmission connection with the support assembly 210 and extends along a first direction (i.e., the X direction), and the transverse movement assembly 220 is capable of moving along a second direction (i.e., the Y direction) relative to the support assembly 210, and the second direction is arranged at an angle with the first direction. The longitudinal movement assembly 230 is in transmission connection with the transverse movement assembly 220 and is capable of moving along the first direction relative to the transverse movement assembly 220. The vertical movement assembly 240 is in transmission connection with the longitudinal movement assembly 230 and is capable of moving along a vertical direction (i.e., the Z direction) relative to the longitudinal movement assembly 230. The grabbing mechanism 100 is connected with the vertical movement assembly 240.

[0088] For example, the grabbing mechanism 100 can be connected to the bottom of the vertical movement assembly 240, and for example, the first mounting plate 1131 can be connected with the bottom of the vertical movement assembly 240.

[0089] Through this structure, the vertical movement assembly 240 can drive the grabbing mechanism 100 to move along the vertical direction, the longitudinal movement assembly 230 can drive the vertical movement assembly 240 and the grabbing mechanism 100 to move along the first direction, and the transverse movement assembly 220 can drive the longitudinal movement assembly 230, the vertical movement assembly 240 and the grabbing mechanism 100 to move along the second direction. Thus, flexible transportation of the boat structure 300 is realized.

[0090] Figure 5 A partial enlarged view of region A in FIG. 1 is shown. Figure 3

[0091] In some embodiments, as shown in FIG. 2, the support assembly 210 includes a support body 211 and a first rack 212. The first rack 212 extends along a second direction and is connected to the support body 211. Figure 5

[0092] In particular, as shown in FIG. 3, the support body 211 can include one or more than one column 2111, one or more than one tie 2112, and one or more than one support beam 2113. For example, there are four columns 2111, including a first column 21111, a second column 21112, a third column 21113, and a fourth column 21114, two ties 2112, and two support beams 2113. The two ties 2112 are oppositely arranged, each extending along a first direction, and the two ends of one tie 2112 are respectively connected to the first column 21111 and the second column 21112, and the two ends of the other tie 2112 are respectively connected to the third column 21113 and the fourth column 21114. The two support beams 2113 are oppositely arranged, each extending along a second direction, and the two ends of one support beam 2113 are respectively connected to the first column 21111 and the third column 21113, and the two ends of the other support beam 2113 are respectively connected to the second column 21112 and the fourth column 21114. Figure 3

[0093] The column 2111 is used to support and bear the weight of other structures in the boat handling device 200 except the column 2111. The tie 2112 is used to reinforce the column 2111. The support beam 2113 is used to mount the first rack 212, the first sliding rail 213 described below, the first drag chain 250 described below, etc., and is also used to bear the gravity of the lateral movement assembly 220, the longitudinal movement assembly 230, the vertical movement assembly 240, the grabbing mechanism 100 (and the boat structure 300), etc.

[0094] Figure 6 A partial enlarged view of region B in FIG. 1 is shown. Figure 3 Figure 7 A partial enlarged view of region C in FIG. 1 is shown. Figure 4

[0095] In some embodiments, as shown in FIG. 2, the support assembly 210 includes a support body 211 and a first rack 212. The first rack 212 extends along a second direction and is connected to the support body 211. Figure 5 Figure 6 Figure 7 ​​​​​​​As shown, the lateral movement assembly 220 includes a first gear, a first driving source 221, a lateral movement body 222, and a second rack 223. The first gear is engaged with the first rack 212. The first driving source 221 is in driving connection with the first gear and is configured to drive the first gear to rotate so as to drive the first gear to move in the second direction, and the first driving source 221 moves in the second direction following the first gear. The lateral movement body 222 is connected with the first driving source 221 and moves in the second direction following the first driving source 221. The second rack 223 extends in the first direction and is connected with the lateral movement body 222. The first driving source 221 is exemplarily an electric motor. Through the structure, the lateral movement assembly 220 can be driven to move in the second direction.

[0096] Exemplarily, the number of the first racks 212 is two, the number of the first driving sources 221 is two, and the number of the first gears is two. One first rack 212 can be arranged on each of the two support beams 2113, and one first driving source 221 can be connected to each end of the lateral movement body 222. Each first driving source 221 is in driving connection with a first gear, and each first gear is engaged with a first rack 212. Through the structure, the lateral movement body 222 can be stably supported and driven to move in the second direction from both ends of the lateral movement body 222.

[0097] Figure 8 As shown is a structural schematic view of a longitudinal movement assembly and a vertical movement assembly provided by an exemplary embodiment of the application.

[0098] In some embodiments, as shown in Figure 6 , Figure 7 and Figure 8 As shown, the longitudinal movement assembly 230 includes a second gear, a second driving source 231, a longitudinal movement body 232, a third driving source 233, and a third gear. The second gear is engaged with the second rack 223. The second driving source 231 is in driving connection with the second gear and is configured to drive the second gear to rotate so as to drive the second gear to move in the first direction, and the second driving source 231 moves in the first direction following the first gear. The longitudinal movement body 232 is connected with the second driving source 231, for example, the second driving source 231 can be connected to one side of the longitudinal movement body 232 close to the second rack 223, and the longitudinal movement body 232 can move in the first direction following the second driving source 231. The third driving source 233 is connected with the longitudinal movement body 232, for example, the third driving source 233 can be connected to one side of the longitudinal movement body 232 close to the lateral movement assembly 220. The third gear is in driving connection with the third driving source 233 and is configured to rotate under the driving of the third driving source 233. The second driving source 231 is exemplarily an electric motor, and the third driving source 233 is exemplarily an electric motor. Through the structure, the longitudinal movement assembly 230 can be driven to move in the first direction.

[0099] In some embodiments, as shown in Figure 6 , Figure 7 and Figure 8 , the vertical movement assembly 240 comprises a third rack 241 and a vertical movement body 242. The third rack 241 extends along the vertical direction and is engaged with a third gear, configured to move along the vertical direction under the drive of the third gear. The vertical movement body 242 is connected with the third rack 241 and moves along the vertical direction following the third rack 241, and the grabbing mechanism 100 is connected with the vertical movement body 242, wherein the third rack 241 can be connected to the side of the vertical movement body 242, such as the side close to the longitudinal movement assembly 230. Through this structure, the vertical movement assembly 240 can move along the vertical direction.

[0100] In some embodiments, as shown in Figure 6 , the vertical movement assembly 240 further comprises a cover plate 245. The cover plate 245 is connected with the vertical movement body 242, such as can be arranged on the side of the vertical movement body 242 away from the longitudinal movement assembly 230. By arranging the cover plate 245, part of the vertical movement assembly 240 can be shielded, thereby improving the aesthetics of the vertical movement assembly 240.

[0101] In some embodiments, as shown in Figure 5 , Figure 6 and Figure 7 , the bracket assembly 210 further comprises a first slide rail 213. The first slide rail 213 extends along the second direction and is connected with the bracket body 211. The lateral movement assembly 220 further comprises one and more first slide blocks 224 and a second slide rail 225. The one and more first slide blocks 224 are connected with the lateral movement body 222 and are in sliding connection with the first slide rail 213. The second slide rail 225 extends along the first direction and is connected with the lateral movement body 222. The longitudinal movement assembly 230 further comprises one and more second slide blocks 234 and one and more third slide blocks 235. The one and more second slide blocks 234 are connected with the longitudinal movement body 232 and are in sliding connection with the second slide rail 225. The one and more third slide blocks 235 are connected with the longitudinal movement body 232. The vertical movement assembly 240 further comprises a third slide rail 243. The third slide rail 243 extends along the vertical direction, is connected with the vertical movement body 242, and is in sliding connection with the one and more third slide blocks 235, wherein the third slide rail 243 can be connected to the side of the vertical movement body 242, such as the side close to the longitudinal movement assembly 230.

[0102] Through the structure, the first slider 224 and the first slide rail 213 cooperate to guide the movement direction of the lateral movement assembly 220, so that the lateral movement assembly 220 can accurately move in the second direction. The second slider 234 and the second slide rail 225 cooperate to guide the movement direction of the longitudinal movement assembly 230, so that the longitudinal movement assembly 230 can accurately move in the first direction. The third slider 235 and the third slide rail 243 cooperate to guide the movement direction of the vertical movement assembly 240, so that the vertical movement assembly 240 can accurately move in the vertical direction.

[0103] In some embodiments, as shown in Figure 6 , Figure 7 and Figure 8 , the vertical movement assembly 240 further includes a blocking piece 244. The blocking piece 244 is connected with the vertical movement body 242 and is configured to contact the lateral movement body 222 when the vertical movement body 242 descends to a preset blocking position, so as to block the vertical movement body 242 from continuing to descend.

[0104] Exemplarily, the blocking piece 244 can be arranged at the top of the vertical movement body 242. In actual application, there may be faults such as damage or power failure of the third driving source 233, damage of the third gear, and loose screw, which cause the vertical movement body 242 to fall. By arranging the blocking piece 244, the vertical movement body 242 can be prevented from continuously falling and injuring the worker.

[0105] In some embodiments, the vertical movement body 242 has a second through hole 2421 extending in the horizontal direction. The longitudinal movement assembly 230 further includes a fall-preventing assembly 236. The fall-preventing assembly 236 has a second driving part and a second telescopic part. The second driving part is connected with the longitudinal movement body 232, and the second driving part is in transmission connection with the second telescopic part. The second driving part is configured to drive the second telescopic part to move in the horizontal direction and pass through the second through hole 2421, so as to block the vertical movement body 242 from descending.

[0106] Among them, the fall-preventing assembly 236 is exemplarily a fall-preventing cylinder, the second driving part includes a cylinder barrel assembly, a spring assembly and the like of the fall-preventing cylinder, and the second telescopic part includes a cylinder rod of the fall-preventing cylinder. Through the structure, the second telescopic part can extend into the second through hole when the vertical movement body 242 falls, so as to prevent the vertical movement body 242 from continuing to fall and injuring the worker.

[0107] In actual application, when the second driving part is powered on, the second driving part can drive the second telescopic part to move away from the second through hole 2421, and when the second driving part is powered off, the second telescopic part will move into the second through hole 2421 under the action of the spring assembly. The boat carrying device 200 can further include a speed sensor, which can detect the movement speed of the vertical movement body 242, and when the movement speed of the vertical movement body 242 exceeds a preset speed threshold, the second driving part can drive the second telescopic part to move into the second through hole 2421.

[0108] In some embodiments, as shown in Figure 3 and Figure 6 The boat carrying device 200 further includes at least one of a first drag chain 250, a second drag chain 260 and a third drag chain 270, all of which are used to accommodate the line. The first drag chain 250 is connected with the support beam 2113, and as the first drag chain 250 extends in the second direction, the first drag chain 250 can be arranged above one support beam 2113. The second drag chain 260 is connected with the transverse movement body 222, and as the second drag chain 260 extends in the first direction, the second drag chain 260 can be arranged above the transverse movement body 222. The third drag chain 270 is connected with the vertical movement body 242, and as the third drag chain 270 extends in the vertical direction, the third drag chain 270 can be connected with the side of the vertical movement body 242, as shown in Figure 6 The third drag chain 270 is connected to the right side of the vertical movement body 242. The first drag chain 250, the second drag chain 260 and the third drag chain 270 can protect the line, and because the first drag chain 250, the second drag chain 260 and the third drag chain 270 are flexible, the line will not be damaged when the transverse movement assembly 220, the longitudinal movement assembly 230 and the vertical movement assembly 240 move.

[0109] The above describes the basic principles of the present application in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects and the like mentioned in the present application are only examples and not limitations, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and understanding, and are not limited to the above specific details to realize the present application.

[0110] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0111] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0112] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0113] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A gripping mechanism, characterized in that, include: Install components; The gripper assembly, connected to the mounting assembly, is configured as a gripping boat structure; An anti-sway assembly has a first driving part and a first telescopic part. The first driving part is connected to the mounting assembly and is throttle-connected to the first telescopic part. The first driving part is configured to drive the first telescopic part to move so that the first telescopic part abuts against the top of the boat structure and applies pressure to the top of the boat structure to press the boat structure.

2. The gripping mechanism according to claim 1, characterized in that, Two or more of the gripper assemblies are located on opposite sides of the mounting assembly; Two or more of the anti-sway components are located on opposite sides of the mounting assembly; The mounting component has a first side and a second side arranged opposite to each other. The first side has a first end and a second end, and the second side has a third end and a fourth end. The first end and the third end are arranged opposite to each other, and the second end and the fourth end are arranged opposite to each other. The first end and the fourth end are respectively provided with the gripper assembly, and the second end and the third end are respectively provided with the anti-sway assembly.

3. The gripping mechanism according to claim 1 or 2, characterized in that, The installation components include: Installation main body; A first adjusting member is connected to the mounting body, and the first adjusting member has a first through hole; The second adjustment member is connected to the mounting body, each of the second adjustment members is connected to one of the anti-sway components, and each of the second adjustment members is located below the corresponding first adjustment member; First screw connectors, each of the first screw connectors passing through the first through hole of a first adjusting member, and threadedly connected to the second adjusting member corresponding to the first adjusting member.

4. The gripping mechanism according to claim 1 or 2, characterized in that, The gripper assembly includes: A gripper, which is rotatably connected to the mounting assembly via a rotating shaft; A gripper power cylinder, wherein the housing of the gripper power cylinder is rotatably connected to the mounting assembly, and the drive shaft of the gripper power cylinder is rotatably connected to the gripper via a connecting shaft, and is configured to drive the gripper to rotate about the rotation axis.

5. The gripping mechanism according to claim 4, characterized in that, The gripper assembly also includes: A limiting member is connected to the gripper, and when the gripper rotates to a preset gripping position, the limiting member can abut against the mounting component.

6. The gripping mechanism according to claim 1 or 2, characterized in that, Also includes: One or more buffers are connected to the mounting assembly, and the buffers are capable of abutting against the top of the boat structure; A tab detection sensor, connected to the mounting assembly, is configured to detect whether the sheet material carried by the boat structure has moved out of the boat structure; A boat detection sensor, connected to the mounting assembly, is configured to detect the presence of the boat structure below the gripping mechanism.

7. The gripping mechanism according to claim 1, characterized in that, The installation component includes an installation body, the installation body comprising: A first mounting plate and a second mounting plate that are parallel to each other are arranged at intervals along the vertical direction; A connecting column is vertically disposed between the first mounting plate and the second mounting plate; A connecting plate is vertically disposed between the first mounting plate and the second mounting plate, and the anti-sway component is disposed on the connecting plate; The first fixing member is connected to the second mounting plate, and the gripper assembly is installed between the first mounting plate and the second mounting plate and is rotatably connected to the first fixing member.

8. A boat-moving device, characterized in that, Configured as a transport boat structure, the boat-moving device includes: Support assembly; A lateral movement component is connected to the support assembly and extends along a first direction. The lateral movement component is capable of moving relative to the support assembly along a second direction, which is set at an angle to the first direction. The longitudinal motion component is connected to the transverse motion component and is capable of moving relative to the transverse motion component along the first direction; A vertical motion component is connected to the longitudinal motion component and is capable of moving relative to the longitudinal motion component in the vertical direction; The gripping mechanism according to any one of claims 1 to 7 is connected to the vertical motion component.

9. The boat-moving device according to claim 8, characterized in that, The support assembly includes: Support body; A first rack extends along the second direction and is connected to the support body; The lateral motion component includes: The first gear meshes with the first rack. A first drive source is connected to the first gear and configured to drive the first gear to rotate so that the first gear moves in the second direction, and the first drive source follows the first gear to move in the second direction. The lateral moving body is connected to the first driving source and moves along the second direction following the first driving source; The second rack extends along the first direction and is connected to the transverse moving body; The longitudinal motion component includes: The second gear meshes with the second rack. A second drive source is connected to the second gear transmission and is configured to drive the second gear to rotate so that the second gear moves along the first direction, and the second drive source follows the first gear to move along the first direction. The longitudinally moving main body is connected to the second drive source and moves along the first direction following the second drive source; The third driving source is connected to the longitudinally moving main body; The third gear is connected to the third drive source and is configured to rotate under the drive of the third drive source; The vertical motion component includes: The third rack extends vertically and meshes with the third gear, and is configured to move vertically under the drive of the third gear; The vertically moving main body is connected to the third rack and moves vertically along with the third rack. The gripping mechanism is connected to the vertically moving main body.

10. The boat-moving device according to claim 9, characterized in that, The support assembly also includes: The first slide rail extends along the second direction and is connected to the main body of the bracket. The lateral motion component also includes: One or more first sliders are connected to the transverse motion body and are slidably connected to the first slide rail; The second slide rail extends along the first direction and is connected to the transverse moving body; The longitudinal motion component further includes: One or more second sliders are connected to the longitudinal motion body and are slidably connected to the second slide rail; One or more third sliders are connected to the longitudinally moving body; The vertical motion component also includes: The third slide rail extends along the vertical direction, connects to the vertical moving body, and is slidably connected to one or more of the third sliders.

11. The boat-moving device according to claim 9 or 10, characterized in that, The vertical motion component also includes: A blocking element, connected to the vertical moving body, is configured to contact the horizontal moving body when the vertical moving body descends to a preset blocking position, so as to prevent the vertical moving body from continuing to descend.

12. The boat-moving device according to claim 9 or 10, characterized in that, The vertical moving body has a second through hole extending in the horizontal direction; The longitudinal motion component further includes: A fall arrestor assembly having a second drive unit and a second telescopic unit, the second drive unit being connected to the longitudinally moving body and the second telescopic unit being drively connected, the second drive unit being configured to drive the second telescopic unit to move in a horizontal direction and pass through the second through hole to prevent the vertically moving body from falling.

Images