Single crystal transfer apparatus, system and method

Abstract

Disclosed are a single crystal transfer apparatus, system and method. A control system is provided in the single crystal transfer system. The control system is in communication connection with an upper-level control center. The control system receives and executes an instruction from the control center, drives the single crystal transfer apparatus to move, drives the single crystal transfer apparatus to pick up a single crystal and place the single crystal on a single crystal support frame, and feeds back execution information to the upper-level control center. In this way, a majority of operations are automatically completed by means of the single crystal transfer apparatus, thereby greatly reducing human involvement, and thus greatly reducing labor demands and greatly lowering labor costs. A control system on the single crystal transfer apparatus performs information exchange with an upper-level control center, thereby avoiding the occurrence of information flow interruptions during single crystal transfer, and thus facilitating the control and management of all processes and also facilitating the traceability of related information.

Description

Single crystal transfer device, transfer system and transfer method Technical Field

[0001] The present application relates to the field of single crystal manufacturing, and in particular to a single crystal transfer device, a transfer system, and a transfer method. Background Art

[0002] In the relevant production process, the work of transporting single crystals is basically done manually. The crystal retrieval barrel is first pulled to the side of the single crystal furnace. After the single crystal is pulled, the auxiliary chamber is unscrewed, so that the single crystal is vertically lowered and placed in the crystal retrieval barrel waiting on the side. After the seed crystal is cut off, the crystal retrieval barrel is manually pulled to the side of an empty transfer device. A transfer device is only equipped with one row of support structures. Then the single crystal is manually pulled out vertically from the crystal retrieval barrel by the lifting equipment, and then one side of the single crystal is placed on the side of the transfer device, and then the single crystal is tilted, and finally the single crystal is placed horizontally on the support structure of the transfer device.

[0003] The above operations have some shortcomings, specifically: 1. Most of them are manually operated, which requires a lot of manpower and high labor costs, which is contrary to the current trend of reducing costs and increasing efficiency in the photovoltaic industry; 2. Manual operation makes it difficult to form a complete information chain of relevant information in the single crystal transportation process, which inevitably leads to information flow breakpoints, making it difficult to manage the single crystal transportation operation well, and when problems arise, it is also difficult to trace the source of the problem.

[0004] Application Contents

[0005] The embodiments of the present application provide a single crystal transfer device, a single crystal support frame, a single crystal transfer system and a transfer method, which can reduce manual participation, lower labor requirements, and avoid information flow breakpoints during the single crystal transfer process.

[0006] In a first aspect, a single crystal transport device according to an embodiment of the present application includes:

[0007] Vehicle body;

[0008] At least one set of clamping assemblies, movably connected to one side of the vehicle body, the clamping assemblies being configured to clamp both circumferential sides of the single crystal;

[0009] a control system, communicatively connected to an upper-level control center, the control system being configured to receive and execute instructions from the upper-level control center, drive the single crystal transport device to move, drive the clamping assembly to move relative to the vehicle body to clamp and release the single crystal, and feed back execution information to the upper-level control center;

[0010] The moving component is arranged at the lower side of the single crystal transport device, and the moving component drives the single crystal transport device to move.

[0011] In a second aspect, a single crystal transport system described in an embodiment of the present application includes an upper control center and the single crystal transport device, and the single crystal transport device is communicatively connected to the upper control center.

[0012] In a third aspect, a single crystal transport method according to an embodiment of the present application includes:

[0013] The control system of the single crystal transport device receives instructions from the upper control center;

[0014] The control system performs the following operations according to the instructions:

[0015] The driving moving assembly drives the single crystal transport device to move to the crystal retrieval position;

[0016] driving at least one set of clamping components to clamp the single crystal;

[0017] Driving the moving assembly to move the single crystal transfer device to a crystal placement position;

[0018] driving the at least one set of clamping components to place the single crystal;

[0019] Feedback execution information to the upper control center. Beneficial effects

[0020] The embodiment of the present application adopts the above-mentioned technical solution, so it has the following beneficial effects: most of the operations are automatically completed by the single crystal transfer device, which greatly reduces human participation, thereby greatly reducing labor requirements and greatly reducing labor costs; the control system on the single crystal transfer device will exchange information with the upper control center, and the single crystal transfer device executes operations based on the instructions of the upper control center, and feeds back the execution status to the upper control center, so that the relevant information in the single crystal transfer process can form a complete information chain. In this way, the occurrence of information flow breakpoints during the single crystal operation process can be avoided, thereby facilitating the control and management of each process, and making it more convenient to trace relevant information. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0022] FIG1 is a perspective schematic diagram of a single crystal transport device according to an embodiment of the present application;

[0023] FIG2 is a first enlarged perspective diagram of a single crystal transport device according to an embodiment of the present application;

[0024] FIG3 is a second enlarged perspective schematic diagram of the single crystal transfer device according to an embodiment of the present application;

[0025] FIG4 is a third enlarged perspective schematic diagram of the single crystal transfer device according to an embodiment of the present application;

[0026] FIG5 is an enlarged side view of a single crystal transport device according to an embodiment of the present application;

[0027] FIG6 is an enlarged schematic diagram of a front view of a single crystal transport device according to an embodiment of the present application;

[0028] FIG7 is an enlarged schematic top view of a single crystal transport device according to an embodiment of the present application;

[0029] FIG8 is a schematic diagram of a single crystal support frame according to an embodiment of the present application.

[0030] Implementation Methods of the Application

[0031] As shown in Figures 1 to 7, the present application discloses a single crystal transport device, which includes: a vehicle body 1; at least one set of clamping assemblies 33, movably connected to one side of the vehicle body 1, for clamping both sides of the single crystal; a control system for communicating with a higher-level control center, receiving and executing instructions from the higher-level control center, driving the single crystal transport device to move, driving the clamping assemblies to move relative to the vehicle body to clamp / release the single crystal, and feeding back execution information to the higher-level control center; and a moving assembly 10, disposed on the lower side of the single crystal transport device, for driving the movement of the single crystal transport device. The moving assembly 10 can be a wheel 10.

[0032] The clamping assembly 33 can rotate and move up and down relative to the vehicle body 1. In this embodiment, the single crystal transport device further includes a connecting assembly, through which the clamping assembly 33 is connected to the vehicle body 1 so as to be relatively rotatable and movable up and down.

[0033] The connecting assembly includes a mounting member 2 connected to one side of the vehicle body 1 for relative vertical movement, a mounting seat 31 connected to one side of the mounting member 2 for relative rotation, and the clamping assembly 33 is connected to the side of the mounting seat 31 away from the vehicle body 1.

[0034] A set of clamping assemblies 33 includes two opposing clamping arms 331, each of which is connected to the mounting base 31 for movement in and out of the mounting base. The two clamping arms 331 are positioned apart from each other in an open position and move toward each other to clamp the single crystal. Each clamping arm 331 includes a main arm 3311, one side of which is connected to the mounting base 31 for movement in the left and right directions, and a clamping member 3312 disposed on the main arm 3311. The two clamping members 3312 of a set of clamping assemblies 33 are positioned opposite each other, and the shapes of the clamping surfaces of the two clamping members 3312 (i.e., the shapes of the opposing sides of the two clamping members 3312) are configured to match the circumferential outer wall shape of the single crystal. For example, if the single crystal is generally circular, the opposing sides of the two clamping members 3312 are configured as arcuate surfaces. If the single crystal is polygonal, the opposing sides of the two clamping members 3312 are configured to cover the corresponding sides of the single crystal. Preferably, the clamping member 3312 is configured to be detachably connected to the main arm 3311. In this way, the clamping members 3312 with different clamping surfaces can be replaced to correspond to single crystals of different shapes and appearances, so that the single crystal transfer device of the present invention has a wider range of applications.

[0035] In this embodiment, preferably, the clamping components 33 are arranged in two or more groups at intervals above and below. In this way, when clamping a single crystal, the upper and lower groups or more clamping members 3312 can clamp the single crystal more firmly and can clamp a heavier single crystal. The clamping components 33 can be configured to be fixedly connected to the mounting seat 31 and cannot move up and down relative to the mounting seat 31, that is, the positions of the upper and lower clamping components 33 cannot be adjusted, and the upper and lower spacings of different upper and lower groups of clamping components 33 are fixed. In other embodiments, at least one of the clamping components 33 can be configured to move up and down relative to the mounting seat 31. That is, of the two groups of clamping components 33, only one of the clamping components 33 can move up and down relative to the mounting seat 31, or both the upper and lower groups of clamping components 33 can move up and down relative to the mounting seat 31. In this way, the upper and lower spacings of the upper and lower groups of clamping components 33 can be adjusted more flexibly according to the length of the crystal rod, so that the single crystal transfer device of the present application has a wider range of adaptability.

[0036] When the clamping assembly 33 is configured to move vertically relative to the mounting base 31, the functional group 3 further includes a connector (not shown) connected to the mounting base 31 for vertical movement. One side of the main arm 3311 is connected to the connector for horizontal movement relative to the mounting base 31. With this configuration, to move the clamping assembly 33 vertically, the connector is driven to move vertically relative to the mounting base 31. To move the two clamping arms 331 of the clamping assembly 33 further apart or closer, the clamping arms 331 are driven to move horizontally relative to the connector. The two main arms 3311 of each group of holding devices that can move up and down relatively are connected to the left and right sides of a connecting piece, so that when the connecting piece is driven to move up and down, a group of clamping components 33 moves up and down at the same time, thereby ensuring that the two clamping arms 331 of a group of clamping components 33 remain synchronized, that is, ensuring that the two clamping parts 3312 of a group of clamping components 33 move synchronously, and further ensuring that no matter how they move up and down, the two clamping parts 3312 of a group of clamping devices can be clamped on opposite sides of the outer surface of the single crystal, and the clamping force will not be misplaced, thereby ensuring that the single crystal is clamped.

[0037] Because the single crystal lowered from the auxiliary chamber is at a high temperature, and to ensure the performance of the single crystal, the single crystal surface cannot come into direct contact with metal, the clamping member 3312 includes a load-bearing member 3313 connected to the main arm 3311 and a high-temperature resistant non-metallic clamping portion 3314 connected to the side of the load-bearing member 3313 facing away from the main arm 3311. The high-temperature resistant non-metallic clamping portion 3314 can be a fiber synthetic stone clamping portion 3314 or a polytetrafluoroethylene clamping portion 3314. Fiber synthetic stone and polytetrafluoroethylene are both high-temperature resistant non-metallic materials, so they can clamp high-temperature single crystals without affecting their performance. The load-bearing member can be made of any known and feasible material that can bear the weight of the single crystal.

[0038] In order to make the relative movement between the above-mentioned components smoother and not deviate during movement, matching slide rails and sliders are provided between each relatively moving component (the slide rail and slider combination 330 shown in Figure 2 can facilitate the relative movement of the clamping arm 331; the slide rail and slider combination 3300 facilitates the up and down movement of the clamping arm 331).

[0039] In this embodiment, the functional group preferably further includes a crystal rod 32 connected to the side of the mounting seat 31 facing away from the mounting member 2 for relative vertical movement, and a crystal tray 33 connected to the underside of the crystal rod 32 for supporting the bottom of the single crystal in the longitudinal direction. The crystal rod 32 and crystal tray 34 are located between the two clamping arms of the clamping assembly 33. During the process of transferring a vertical single crystal by the single crystal transport device, the crystal tray 34 supports the bottom of the single crystal, preventing the single crystal from falling if the clamping assembly becomes slightly loose, thereby making the single crystal transport more stable and reliable.

[0040] The crystal tray 34 has an upward-opening receiving space 341 for the bottom portion of the single crystal along its length. The crystal tray 34 can be fixedly attached to the underside of the crystal rod 31. Preferably, the crystal tray 34 is detachably attached to the underside of the crystal rod 31, making it easy to replace the crystal tray 34 with a different single crystal. This ensures more stable support for the single crystal provided by the crystal tray 34.

[0041] The crystal tray 34 is located below and between the two clamping arms 331 of the clamping assembly. Preferably, the central axis of the crystal tray 34 is aligned with the axis between the two clamping arms 331 of the clamping assembly. This arrangement ensures that a vertical single crystal remains upright when clamped and lifted by the single crystal transfer device, preventing tilting pressure on the single crystal transfer device that could cause it to overturn. Furthermore, this arrangement ensures that even after being rotated 90 degrees, the single crystal remains horizontal, facilitating placement of the single crystal.

[0042] The single crystal transport device is also provided with a drive group connected to and controlled by the control system. Under the control of the control system, the drive group drives the mounting member 2, the functional group 3, the crystal rod 32, and the clamping arm 331 to rotate or move.

[0043] The drive group includes a first drive device, a second drive device, a third drive device, and a fourth drive device (not shown). Under the control of the control system, the first drive device drives the mounting member 2 to move up and down relative to the vehicle body 1, the second drive device drives the mounting seat 31 to rotate relative to the mounting member 2, the third control device drives the crystal rod 32 to move up and down relative to the mounting seat 31, and the fourth control device drives the two clamping arms 331 of the clamping assembly 33 to move closer or farther apart. In this embodiment, the first drive device is also connected to the vehicle body 1 and the mounting member 2, the second drive device is also connected to the mounting member 2 and the mounting seat 31 of the functional group 3, the third drive device is also connected to the mounting seat 31 and the crystal rod 32, and the fourth drive device is also connected to the mounting seat 31 and the clamping arms 331 of the clamping assembly 33.

[0044] The first drive device, the second drive device, the third drive device, and the fourth drive device can be any known and feasible structure. For example, the first drive device includes a hydraulic drive device (not shown) fixedly connected to the vehicle body 1, a sprocket 51 rotatably connected to the vehicle body 1, and a chain 52 wound around the sprocket 51, with one side of the chain 52 connected to the mounting member 2 and the other side connected to the hydraulically driven actuator. When the hydraulic drive device is activated and the actuator pulls one side of the chain 52 downward, the mounting member 2 moves upward relative to the vehicle body 1, thereby pulling the entire functional group 3 upward. The second drive device can be a combination of a motor and a rotating shaft 53, and the third and fourth drive devices can be cylinders. The specific structures of the drive devices are not limited to those listed above and are not described in detail here.

[0045] The single crystal transporter also includes left and right extension arms 4 extending from the underside of the vehicle body 1 toward the side where the functional group 3 is located. The extension arms 4 are located below the functional group 3. Preferably, a counterweight 42 is provided on the underside of the vehicle body 1 and / or the extension arms 4. This arrangement prevents the single crystal transporter from tipping over due to the heavy single crystals and the light bottom of the single crystal transporter.

[0046] The single crystal transport device is further provided with a code reader 41 connected to the control system. In this embodiment, the code reader 41 is provided on the upper side of one of the extension arms 4 away from the vehicle body 1 .

[0047] Wheels 10 are provided at intervals on the left and right sides of the lower side of the vehicle body 1 , and a wheel 10 is also provided on the side of each extension arm 4 away from the vehicle body 1 . The single crystal transfer device moves via these wheels 10 .

[0048] The single crystal transfer device is also provided with a touch screen display 14 and / or function buttons 15 connected to the control system. Preferably, the touch screen display 14 can display the current working status information of the single crystal transfer device and related commands, prompts, etc., such as the current power of the single crystal transfer device, the wireless network signal, the current parameters of the clamping component, the prompt for executing the next step, etc., so that the operator can more intuitively understand the current various states of the single crystal transfer device. More importantly, in addition to the single crystal transfer vehicle being able to automatically perform the next operation after completing each step through the control system, the operator can also control the operation of the single crystal transfer device by clicking the command, prompt or / and operation function button 15 on the touch screen display 14. In this way, the single crystal transfer device of the present application can be controlled in a variety of ways, so that its movement is more controllable, thereby making the operation of single crystal transfer (clamping, transporting, placing rods, etc.) more controllable and safer and more reliable to use.

[0049] In this embodiment, the vehicle body 1 includes a base 11, a control box 12 mounted on the base 11, and a mast 13. The mast 13 is located on one side of the control box 12, and the mounting base 31 is connected to the mast 13 so as to be movable up and down relative to the mast 13. The extension arms 4 extend from the left and right sides of the base 11. The touchscreen display 14 and function buttons 15 are mounted on the control box 12, and the control system is housed within the control box 12.

[0050] Preferably, the single crystal transport device is also equipped with a safety bar 6, with both sides of each safety bar 6 being removably connected to the side of each clamping arm 331 of a clamping assembly facing away from the vehicle body. In this embodiment, the side of each clamping arm 331 facing away from the vehicle body 1 is provided with a connecting portion 3315. Each connecting portion 3315 is a connecting hole. Each safety bar 6 can be sequentially passed through the connecting holes of each clamping arm 331 of a clamping assembly. Then, by tightening the locknut 61 from top to bottom, the two sides of the safety bar 6 are fixedly connected to the corresponding clamping arm 331.

[0051] Furthermore, the connecting hole is set as a square hole, and correspondingly, the safety guard bar 6 is set as a square. In this way, the safety guard bar 6 cannot rotate relative to the clamping arm 331 after being connected, so that the connection is more stable.

[0052] To facilitate the use of the safety bar 6, a protrusion 16 is provided on one side of the vehicle body 1. One end of the safety bar 6 is provided with a hook 62 that can be hooked onto the protrusion 16. When the safety bar 6 is not in use, it is hung on the protrusion via the hook 62. When the safety bar 6 is needed, it is removed from the protrusion. This arrangement ensures that the safety bar 6 remains on the single crystal transport device, making it more convenient to use.

[0053] Preferably, the control system has a built-in navigation system, which plans a route based on the current position of the single crystal transfer device and the target position, and the single crystal transfer device moves according to the planned route. The target position includes the position of the target single crystal furnace and the position of the target single crystal support frame 8.

[0054] Preferably, the single crystal transport device is also provided with a driving recorder 7, which can record the situation during the movement of the single crystal transport device, so that if an accident occurs during the movement of the single crystal transport device, the record of the driving recorder 7 can be checked for tracing. The driving recorder 7 is provided on the vehicle body 1.

[0055] The present application also discloses a single crystal operation system, which can be used for taking single crystals, transporting single crystals, and placing single crystals. The system includes an upper control center, a single crystal support frame 8, and the above-mentioned single crystal transfer device, and at least one row of support members are provided on the single crystal support frame; the upper control center is communicatively connected with the control system of the single crystal transfer device, and the control system receives and executes the instructions of the control center, drives the single crystal transfer device to move, drives the functional structure to move relative to the vehicle body 1 to take the single crystal, and place the single crystal horizontally on the support member of the single crystal support frame 8, and feeds back the execution information to the control center to realize information interaction between the control system and the upper control center.

[0056] The specific configuration of the control system information between the upper control center and the single crystal transport device and the specific method of information interaction between the two can be any known and feasible technology and will not be described in detail here.

[0057] As shown in Figure 8 , the single crystal support frame 8 includes a main support 83, on which support members 81 are mounted. A row of support members 81 includes multiple spaced apart support members. Corresponding to the positions of the clamping assembly 33, the gap between at least two adjacent support members 81 in a row of multiple support members 81 is configured to allow the clamping assembly 33 to rotate to a parallel position and move up and down, thereby forming an escape gap 82. That is, if the single crystal transport device is provided with only one set of clamping assemblies 33, then among a row of multiple support members 81, only two adjacent support members 81 have an escape gap 82 provided between them for the vertical movement of the clamping assembly 33 rotated to a parallel position. If the single crystal transport device is provided with two sets of clamping assemblies 33, then among a row of multiple support members 81, two adjacent support members 81 at one corresponding position have an escape gap 82 provided between them for the vertical movement of one of the clamping assemblies 33 rotated to a parallel position, and two adjacent support members 81 at another corresponding position have an escape gap 82 provided between them for the vertical movement of the other clamping assembly 33 rotated to a parallel position. This arrangement facilitates the smooth descent of the clamping assembly 33 rotated to a horizontal position to place the single crystal on the single crystal support frame 8 without interfering with the support members 81.

[0058] Preferably, the gap between any two adjacent support members 81 is set as an avoidance gap 82 for the clamping assembly 33 rotated to a parallel state to move up and down, thereby making the single crystal placement operation more convenient.

[0059] The single crystal support frame 8 is also provided with a slot code readable by the single crystal transport device's code reader 41, with each row of support members 81 corresponding to a slot code. The slot codes and the single crystal transport device's code reader 41 are positioned so that when the code reader 41 reads a slot code, the clamping assembly 33 of the single crystal transport device, rotated to a horizontal position, is aligned vertically with the corresponding clearance gap 82, and the single crystal, rotated to a horizontal position, is vertically parallel to the corresponding row of support members 81.

[0060] In this embodiment, taking the example of two parallel rows of supports 81 arranged above the single crystal support frame 8, each row can be used to place a single crystal in a horizontal state, so that a single crystal support frame 8 can place more single crystals, and the use efficiency is higher. Correspondingly, slot codes are provided on both sides of the single crystal support frame 8; when the code reader 41 can read the slot code on one side, it means that the single crystal rotated to a horizontal state is parallel to the row of supports 81 on the corresponding side; when the code reader 41 can read the slot code on the other side, it means that the single crystal rotated to a horizontal state is parallel to the row of supports 81 on the other side. Through such a setting, the target position for placing the single crystal can be located more accurately, and it is also more convenient to bind the single crystal code to the corresponding slot code, thereby facilitating and better tracing the process information of the single crystal transportation.

[0061] In this embodiment, a space 80 is provided below the main support 83 for the extension arm 4 to extend into, and the slot code is provided above this space on the main support 83 so that a code reader located above the extension arm 4 can read the slot code. Specifically, legs 84 are provided below each of the four sides of the main support 83. The space between the bottom of the main support 83 and the four legs 84 constitutes the space 80 for the extension arm 4 to extend into. The slot code is provided below the opposite side of the main support 83 (as shown in FIG. 8 , which schematically illustrates the location of the slot code 86 on one side). When a single crystal support frame 8 is provided with two rows of support frames 81 and two slot codes, the two slot codes are provided below different sides of the main support 83. This allows the slot code on the corresponding side to be found regardless of which side the single crystal transfer device extension arm 4 extends into the space 80.

[0062] The slot code may be a two-dimensional code or any other known and feasible code that can be read by a code reader on the single crystal transport device.

[0063] Preferably, the single crystal support rack 8 is also provided with a shelf code, and each single crystal support rack 8 corresponds to a shelf code. In this way, when a single crystal is placed on a certain row of slot codes of a single crystal support rack 8, the single crystal is not only bound to the slot code, but also to the shelf code, thereby making it easier to trace the process information of the single crystal transportation.

[0064] The lower side of the single crystal support frame 8 is also provided with a moving component 85, such as a wheel, so as to facilitate the movement of the single crystal support frame 8 when necessary. The wheel 85 is provided on the lower side of the support leg 84.

[0065] The present application also discloses a single crystal operation method, the method comprising:

[0066] The control system of the single crystal transport device receives instructions from the upper control center;

[0067] The control system performs the following operations according to the instructions:

[0068] The driving moving assembly drives the single crystal transport device to move to the crystal retrieval position;

[0069] driving at least one set of clamping components to clamp the single crystal;

[0070] Driving the moving assembly to move the single crystal transfer device to a crystal placement position;

[0071] driving the at least one set of clamping components to place the single crystal;

[0072] Feedback execution information to the upper control center.

[0073] The upper control center issues instructions, and the control system of the single crystal transfer device receives the instructions from the upper control center. Under the control of the control system, the single crystal transfer device moves to the crystal retrieval position. When the single crystal needs to be retrieved from the single crystal furnace, it moves to the target single crystal furnace.

[0074] The upper control center contains information on the current status of each single crystal transfer device, single crystal support frame, single crystal furnace and the single crystal in each single crystal furnace. Therefore, when the single crystal in a single crystal furnace is about to be pulled, the upper control center will send instructions to the single crystal transfer device that is currently in a non-working state or is currently in a working state but the end of work time matches the completion time of the single crystal pulling. The instructions include but are not limited to: information of the target single crystal furnace (such as the single crystal furnace number, position, etc.), information of the single crystal in the target single crystal furnace (such as the length, coding, etc. of the single crystal). The coding of each single crystal is uniformly compiled by the upper control center, which facilitates the management of the single crystal, information tracing, etc.

[0075] The control system of the single crystal transport device drives at least one clamping assembly 33 to clamp the single crystal. The step includes: after the target single crystal is driven down and passes between the open clamping assemblies 33 and stops descending, the control system controls the clamping assemblies 33 to clamp the single crystal. Specifically, the control system controls the two clamping arms 331 of the clamping assembly 33 to move closer together until the clamping members 3312 on the two clamping arms 331 clamp onto the outer surface of the single crystal. Furthermore, the control system controls a fourth drive device, which controls the two clamping arms 331 of the clamping assembly to move closer together.

[0076] When the single crystal transfer device moves to the target single crystal furnace, the auxiliary chamber of the single crystal furnace is opened to lower the single crystal, so that the single crystal passes downward into between the opened clamping components 33.

[0077] In order to prevent the single crystal from tilting after being clamped by the clamping device and generating unbalanced pressure on the single crystal transfer device, thereby avoiding overturning of the single crystal transfer device, the position of the single crystal after it is lowered must meet the single crystal clamping requirements. The single crystal clamping requirements include: if only one set of clamping components is set, the clamping components must be clamped in the middle position in the length direction of the crystal rod; if two or more sets of clamping components are set, the middle position between the uppermost set of clamping components and the lowermost set of clamping components must be at the same height as the middle position in the length direction of the crystal rod.

[0078] If the crystal rod and crystal tray are provided, since the crystal tray is used to support the bottom of the single crystal in the length direction, the clamping assembly must be able to clamp the single crystal as required above, and the crystal tray must also be able to support the bottom of the single crystal in the length direction. Therefore, in order to meet the above-mentioned single crystal clamping conditions and the requirement that the crystal tray support the bottom of the single crystal, before the single crystal is lowered, the control system of the single crystal transfer device extracts the target single crystal data from the instruction of the upper control center, and adjusts the position of the crystal tray according to the single crystal data so that the bottom of the single crystal is supported by the crystal tray. The adjustment principle is as follows:

[0079] The control system, based on the length of the single crystal, determines whether the current height position of the clamping assembly relative to the pedestal meets the aforementioned single crystal clamping requirements. If so, the single crystal can be lowered directly. If not, the crystal rod and pedestal are moved up or down as needed to the appropriate height. Specifically, the control system analyzes and determines whether the crystal rod 32 and pedestal 34 need to be moved up or down based on the length of the crystal ingot and the relative positions of the clamping assembly and pedestal, ensuring that the bottom of the single crystal in the longitudinal direction is supported by the pedestal 34 when the clamping assembly clamps the single crystal as required. If the control system determines that vertical movement of the crystal rod 32 is necessary, it calculates the target distance for vertical movement of the crystal rod 32 based on the length of the crystal ingot and the positions of the clamping assembly and pedestal (the principle of this calculation can be any known and feasible conventional technique and is not detailed here). If the single crystal is too long, the target distance for downward movement of the crystal rod 32 is too long. If the pedestal 34 does not reach the calculated target distance even after reaching the ground, the lower side of the crystal rod 32 and pedestal 34 are moved downward to extend into the crystal cavity.

[0080] In the case where the crystal rod and crystal support are not set, it is necessary to confirm whether the height distance between the current clamping assembly and the ground can meet the above-mentioned clamping requirements while also ensuring a safe distance between the bottom of the single crystal and the ground (the minimum specific setting value of the safe distance between the bottom of the single crystal and the ground depends on the site). If so, the single crystal can be lowered directly; if the single crystal is too long, when the single crystal is lowered to a safe distance between its bottom and the ground, its middle position is still not at the relative position with the clamping in the above-mentioned clamping requirements, the single crystal cannot be lowered directly, but the bottom of the single crystal needs to be lowered into the crystal hole.

[0081] Because single crystals are generally long, a crystal cavity is opened at a suitable location next to the single crystal furnace to facilitate the single crystal, crystal rod 32, and crystal support 34 to extend downward into the crystal cavity. This improves space utilization and makes the lowering and clamping of the single crystal more convenient.

[0082] If it is confirmed that the single crystal or crystal rod 32, crystal support 34 needs to be lowered into the crystal hole, then before the descent, it is confirmed whether the current crystal hole has the conditions to allow it to descend. If the crystal hole has the conditions to allow it to descend, the descent operation is performed; if the crystal hole does not have the conditions to allow it to descend, the control system triggers the alarm device to alarm, and the workshop operator handles the crystal hole according to the alarm situation until the crystal hole has the conditions to allow it to descend.

[0083] Specifically, the conditions for the crystal cavity to allow the single crystal, crystal rod 32, or crystal support 34 to descend include, but are not limited to: the cover plate on the crystal cavity entrance is currently open, and there are no objects in the crystal cavity that could interfere with the descending single crystal, crystal rod 32, or crystal support 34. In one embodiment, the crystal cavity confirmation can be determined autonomously by the single crystal transport device. For example, a sensor is provided on the single crystal transport device. After the single crystal transport device is moved into position, the sensor senses whether the crystal cavity entrance cover plate is open and whether there is interference within the crystal cavity. This information is then fed back to the single crystal transport device's control system. The control system analyzes the received information and, based on the analysis, issues corresponding instructions to the various mechanisms of the single crystal transport device. For example, if the sensor detects that the crystal cavity entrance cover plate is not open, or that interference is present within the crystal cavity despite being open, the control system, after receiving and processing the information, triggers an alarm. The workshop operator, in response to the alarm, opens the crystal cavity or removes any interfering objects from the cavity until the crystal cavity meets the conditions for allowing the single crystal, crystal rod 32, or crystal support 34 to descend. For example, the control system of the single crystal transport device is equipped with a camera and a built-in visual inspection system. The camera captures the crystal cavity and transmits the captured image to the control system. The control system's visual inspection system stores standard information indicating whether the crystal cavity meets the conditions that allow the single crystal or crystal rod 32 and crystal support 34 to be lowered. The control system's visual inspection system compares and analyzes the camera image with the standard information. If the crystal cavity condition does not match the standard information, the alarm device is triggered to sound an alarm until the camera finally captures the crystal cavity condition that meets the standard.

[0084] In other embodiments, the crystal transport device can also transmit the crystal cavity status to a higher-level control center, which then compares and analyzes whether the crystal cavity meets the requirements. For example, the higher-level control center may have a built-in visual inspection system. A camera on the crystal transport device captures the crystal cavity status and transmits the captured image to the control system. The control system then forwards the image to the higher-level control center, which stores information on the crystal cavity standard. The higher-level control center performs the aforementioned analysis and comparison and sends the results to the control system on the crystal transport device. If the analysis and comparison result indicates that the crystal cavity status does not meet the standard, the control system on the crystal transport device triggers an alarm device. Alternatively, the control system on the crystal transport device transmits sensor information to the higher-level control center, which analyzes the received information and then sends the analysis result to the control system of the crystal transport device. The control system then takes appropriate action based on the received information. For example, if the received information indicates that the current crystal cavity does not meet the descent conditions, the control system triggers an alarm device. The alarm device may emit an audible alarm so that the operator can hear it even from a distance. When it is confirmed that the current crystal cavity has the conditions to allow the crystal rod and crystal support to be lowered, the control system controls the crystal rod 32 and crystal support 34 to descend the target distance and be located in the crystal cavity: the control system controls the third driving device according to the target distance, so that the crystal rod 32 moves downward, thereby driving the crystal support 34 to move downward and extend into the crystal cavity until it moves to the target distance. At this time, whether the relative position of the current clamping assembly and crystal support matches the length of the crystal rod, the single crystal can be lowered so that the single crystal passes downward through the opened clamping assembly 33 until the bottom of the single crystal in the length direction is supported by the crystal support 34 and can no longer fall.

[0085] Before the single crystal is lowered, the clamping assembly is in an open state, meaning the left and right clamping arms 331 of each clamping assembly are positioned relatively far apart. If the crystal rod 32 and crystal tray 34 move up or down, they remain stationary after reaching their target positions, and the single crystal begins to be lowered from the auxiliary chamber of the single crystal furnace. Specifically, the auxiliary chamber is opened, and the single crystal is aligned with the crystal tray 34 before lowering. The single crystal sequentially passes between the two clamping arms 331 of the clamping assembly, that is, between the clamping members of the two arms, until the bottom of the single crystal is supported by the crystal tray 34 and cannot be lowered further.

[0086] If the crystal rod and crystal tray are not provided, the position of the single crystal after it is lowered only needs to meet the single crystal clamping requirements. If a crystal tray is provided, when the single crystal descends to the relative position required for the single crystal clamping conditions, the bottom of the single crystal is supported by the crystal tray 34 and cannot descend further. Preferably, the single crystal transport device is equipped with a second sensor to detect whether the single crystal has descended. When the second sensor detects that the single crystal has not continued to descend within a certain period of time after descending, it feeds this information back to the control system. The control system then controls the fourth drive device to drive the clamping arm 331 toward the single crystal, causing the clamping member 3312 to clamp the single crystal. Alternatively, the upper control center transmits the weight of the target single crystal to the control system of the pilgrimage vehicle. The crystal tray 34 is equipped with a weight sensor or pressure sensor. The weight sensor / pressure sensor detects the weight of the single crystal / the pressure exerted by the single crystal on the crystal tray 34 in real time and feeds this back to the control system. The control system compares and analyzes the feedback information with the weight of the target single crystal. When they match, it controls the fourth drive device to drive the clamping arm 331 to move and clamp the single crystal. In other embodiments, when the bottom of the single crystal is placed within the crystal holder 34 and cannot be lowered further, the operator clicks a corresponding command on the touch screen 14 or operates a corresponding button in the function buttons 15, thereby driving the fourth drive device to move the clamping arm 331 toward the clamping arm 331 to clamp the single crystal. Before driving the moving assembly to move the single crystal transport device to the crystal placement position, it is necessary to confirm whether the clamping assembly 33 is clamping the single crystal. Because there is a process from the clamping member 3312 clamping the single crystal to the clamping position, the single crystal must be clamped to ensure that the single crystal does not become loose during transportation and to avoid accidents caused by the single crystal becoming loose. It also requires clamping to ensure that the single crystal can subsequently be accurately rotated to a horizontal position parallel to the support member 81 of the single crystal support frame 8, thereby allowing the horizontal single crystal to be smoothly placed on the support member 81 of the single crystal support frame 8. Therefore, it is necessary to ensure that the single crystal is clamped by the clamping assembly 33.

[0087] The method for confirming whether the clamping assembly 33 clamps the single crystal can be: confirm whether the two clamping arms of the clamping assembly move relative to each other by a predetermined distance from the initial open position. If so, it means that the single crystal has been clamped. Otherwise, it means that it is not clamped and the two clamping arms need to continue to be driven to move relative to each other.

[0088] The predetermined distance can be obtained through multiple experiments: in the experiment, the ability of the clamping assembly to clamp the single crystal without damaging the single crystal and the ability of the single crystal and the clamping assembly to remain relatively stationary during transportation are used as the clamping standard, and the distance moved by the two clamping arms of the clamping assembly from the open state to the clamping state is calculated, and the given distance is subsequently used as the predetermined distance that the clamping arms need to move.

[0089] The touchscreen display of the single crystal transport device displays the current clamping arm movement distance in real time, which the operator can view on the touchscreen. In other embodiments, the single crystal transport device may also be provided with a prompt device connected to a control system. When the clamping arm of the clamping assembly 33 moves a predetermined distance, the control system of the single crystal transport device controls the prompt device to issue a clamping prompt. This prompt device may be a voice prompt device or any other known and feasible prompt device.

[0090] When the single crystal is clamped, the lower end of the single crystal is supported by the crystal holder 34, and the left and right sides are also clamped by the clamping parts 3312 on the upper and lower clamping arms 331, so that the single crystal is in a state of being stably clamped and supported by the single crystal transfer device.

[0091] After confirming that the single crystal is completely clamped and secured, the seed crystal is sheared so that the single crystal is only held and supported by the single crystal transport device. The sheared seed crystal can be handled in a conventional manner.

[0092] After cutting the seed crystal, if the single crystal or crystal holder 34 is in the crystal cavity, the control system drives the functional structure to move upward and out of the crystal cavity before the single crystal transfer device moves toward the single crystal support frame, so as to facilitate the subsequent movement of the single crystal transfer device. And the upward movement of the functional structure can be directly moved to the target height position. Specifically, the control system on the single crystal transfer device calculates the target height position to which the single crystal is to rise based on the height of the single crystal support frame 8 specified in the instruction issued by the upper control center, and the target height position is set so that when the single crystal rises to the target height position, the single crystal is rotated and is in a parallel state, and the position of the clamping assembly and the single crystal is higher than the support member 81 of the single crystal support frame. In this way, the single crystal can be successfully placed on the support member 81 of the single crystal support frame 8 later. As long as the target height position meets the above requirements, the specific height is determined according to the actual situation on site. The principle of the measurement can also be any known and feasible conventional technology, which will not be described here. After the target height position is calculated, the control system controls the first driving device, which drives the mounting member 2 to move upward relative to the gantry 13, thereby driving the mounting seat 31 and the entire functional group 3 (clamping arm 331, crystal rod 32, crystal support 34), and crystal rod to move upward together until the crystal support 34 and the single crystal move to the target height position, so that the crystal rod 32, crystal support 34 and the single crystal are separated from the crystal cavity and rise to the specified height position.

[0093] In other embodiments, the control system may drive the functional structure upward to disengage the crystal cavity but not to the target height. After the single crystal transfer device moves to the side of the single crystal support at the designated position, the control system may then drive the functional structure to continue upward until it reaches the target height. Alternatively, after the functional structure reaches the target height, the control system may drive the functional group to rotate to a horizontal position. Alternatively, the control system may first rotate the functional group and the single crystal to a horizontal position before driving the functional structure to continue upward to a height above the support member 81 of the single crystal support.

[0094] Preferably, after confirming that the single crystal is clamped or the seed crystal is cut off and before the single crystal transfer device moves to the crystal placement position, it also includes: fixing the two sides of at least one safety guard bar to the two clamping arms of a clamping assembly relative to each other; fixing the two sides of at least one safety guard bar 6 to the two clamping arms 331 of a clamping assembly relative to each other.

[0095] In this embodiment, the two safety bars 6 are preferably fixedly connected to the two clamping arms of the upper and lower clamping assemblies. Specifically, the two safety bars 6 are first removed from one side of the single crystal transporter body. One safety bar 6 is then passed through the connection holes in the upper clamping arms 331, and the other safety bar 6 is then passed through the connection holes in the lower clamping arms 331. Locking nuts 61 are then tightened to securely connect the two sides of the two safety bars 6 to the corresponding clamping arms 331. In this way, not only are the upper and lower clamping arms 331 more firmly fixed relative to each other and prevented from moving away from each other, thereby further ensuring that the clamping arms 331 firmly clamp the single crystal and preventing the clamping arms 331 from loosening their grip on the single crystal during transport, but the safety guard bar 6, the left and right clamping arms 331, and the mounting base 31 together form a space, with the safety guard bar 6 blocking the side between the left and right clamping arms 331 away from the mounting base 31, thereby preventing the single crystal from accidentally loosening and falling out of that side, thereby making the single crystal transport device safer during transport of the single crystal. Furthermore, because the bottom wall of the single crystal is supported by the crystal support 34, the single crystal is prevented from moving downward due to being loosened, thereby making the single crystal transport device more secure in its clamping and support of the single crystal.

[0096] If the single crystal and the crystal holder have descended into the crystal cavity, and once it is confirmed that the clamping arm 331 is clamping the single crystal and the safety guard bar 6 is in place, indicating that the single crystal has met the conditions for upward movement, the operator can click the relevant command or operate the relevant function button on the touch screen 14, so that the control system controls the first drive device and drives the entire functional device to move upward. In other embodiments, a sensor can also be provided on the clamping arm 331. When it senses that the safety guard bar 6 is locked, the feedback information is fed back to the control system, and the control system controls the crystal rod 32, the crystal holder 34, and the single crystal to move upward. The above-mentioned sensor can be any known and feasible sensor, and its working principle is also known technology, so it will not be described in detail here.

[0097] After the crystal holder 34 and the single crystal are separated from the crystal cavity, the operator covers the cavity opening to prevent people or objects from falling in. The operation of covering the cavity opening can be performed manually.

[0098] In this embodiment, the crystal placement position is the position of the target single crystal support frame. The single crystal transfer device moves to the side of the single crystal support frame 8 designated by the upper control center, and is facing the side of a row of support frames.

[0099] In this embodiment, at any time before the single crystal transport device moves toward the single crystal support frame, the control system sends a message to the upper control center to request the single crystal support frame 8. After receiving the request, the upper control center specifies the single crystal support frame 8 and a row of supports on the single crystal support frame 8 based on the length of the single crystal and the current status of all single crystal support frames, and sends the positions of these specified single crystal support frames 8 and the slot code information corresponding to the specified row of supports to the control system of the single crystal transport device. After receiving this information from the upper control center, the control system drives the single crystal transport device to move to the side of the specified single crystal support frame 8. In other embodiments, the instructions received from the upper control center by the single crystal transport device before moving to the target location may also include the positions of the specified single crystal support frame 8 and the slot codes corresponding to the specified row of supports on the specified single crystal support frame 8.

[0100] Preferably, when the single crystal transport device moves, it moves according to a route planned by a built-in navigation system. The navigation system within the control system first plans a route based on the current position of the single crystal transport device and a target location designated by the upper-level control center (e.g., a target single crystal furnace or target single crystal support frame 8). The single crystal transport device then moves according to the route planned by the navigation system. During the movement of the single crystal transport device, the driving recorder 7 thereon records the movement of the single crystal transport device.

[0101] When the single crystal transfer device is transporting single crystals, the single crystals are in a vertical state, so that they take up less space and will not affect surrounding operations during transportation.

[0102] Driving the at least one set of clamping components to place the single crystal includes:

[0103] The driving clamping assembly drives the single crystal to rotate to a horizontal state;

[0104] Place the single crystal on the target row support on the single crystal support frame designated by the upper control center.

[0105] The control system drives the clamping assembly and the single crystal to rotate to a horizontal position, including the following steps: when the single crystal transport device moves to a designated side of the single crystal support frame 8, the control system controls the second drive device to operate, thereby driving the mounting seat 31 to rotate 90 degrees relative to the mounting member 2. As a result, the entire functional group 3 and the single crystal rotate 90 degrees relative to the vehicle body 1, thereby rotating the single crystal to a horizontal position. The upper and lower clamping assemblies 33 are also horizontally positioned, and the two clamping arms 331 on the left and right sides of each clamping assembly 33 are also vertically positioned. Furthermore, because the functional group 3 and the single crystal were previously raised to a designated height, after the functional group 3 and the single crystal are rotated 90 degrees, the lower clamping arms 331 are also higher than the support members 81 of the single crystal support frame 8.

[0106] Before driving at least one group of clamping components to place the single crystal, the single crystal transfer device first confirms the position of the target row of supports specified on the designated single crystal support frame 8: the code reader on the single crystal transfer device first reads the slot code on the single crystal support frame and feeds it back to the control system, which compares it. If the slot code is the slot code corresponding to a specified row of supports 81 on the designated single crystal support frame, it means that the row of supports 81 corresponding to the slot code is a row of supports 81 specified by the upper control center; if not, the single crystal transfer device moves and reads other slot codes on the single crystal support frame 8 until the slot code read is the slot code corresponding to the specified row of supports 81.

[0107] Specifically, the single crystal transfer device moves until the left and right extension arms 4 on its lower side extend to the bottom of one side of the single crystal support frame 8 and the code reader 41 reads the slot code on the corresponding side. The code reader 41 reads the slot code on this side and feeds the read information back to the control system. The control system compares it. When the slot code is the slot code corresponding to the specified row of supports 81 of the specified single crystal support frame 8, it indicates that the row of supports 81 on this side is the row of supports 81 specified by the upper control center; if the slot code is not the slot code corresponding to the row of supports 81 specified by the upper control center, the control system controls the single crystal transfer device to move to the other side of the single crystal support frame 8, the extension arm 4 extends to the bottom of the other side of the single crystal support frame 8 and the code reader 41 reads the slot code on the other side to determine that the support 81 on the other side is the placement position of the single crystal. In this way, the single crystal transfer device reads the slot codes corresponding to different rows of supports 81 on the single crystal support frame 8 through the code reader 41 to confirm the placement position of the single crystal, and adjusts its own correct position relative to the single crystal support frame 8 during the confirmation process to prepare for subsequent rod placement.

[0108] Because the slot code and the position of the single crystal transport device's code reader 41 are configured so that when the code reader 41 reads a particular slot code, the horizontally rotated clamping assembly 33 of the single crystal transport device aligns with the clearance gap 82 between the corresponding two supports 81, and the horizontally rotated single crystal is vertically parallel to the corresponding row of supports 81. Therefore, after the position is confirmed, that is, when the slot code read by the code reader on the single crystal transport device corresponds to the slot code of a row of supports 81 designated by the upper-level control center, the horizontally rotated clamping assembly 33 aligns with the clearance gap 82 at the corresponding position of the row of supports 81, and the horizontally rotated single crystal is vertically parallel to the row of supports 81. At this point, the clamping assembly 33 and the single crystal can be moved downward for the rod placement operation.

[0109] After confirming the position, the single crystal rod is placed: specifically, the control system controls the first drive device to drive the mounting member 2 to move downward, thereby causing the entire functional group 3 and the single crystal to move downward, and the clamping arm 331 on the lower side of the clamping assembly 33 falls downward into the corresponding avoidance gap 82, and the single crystal is placed on the support member 81.

[0110] When the single crystal is fully supported by support member 81 and cannot move further downward, the nut is loosened to detach the safety bar 6 from the clamping assembly. The control system then drives the clamping assembly 33 to open (i.e., drives the two clamping arms 331 of the clamping assembly 33 to move upward and downward relative to each other), thereby releasing the single crystal. The single crystal transport device then moves away from single crystal support frame 8, completing the placement operation. In other embodiments, the nut can be loosened to remove the safety bar 6 after the single crystal is rotated to a horizontal position.

[0111] In the above operation, the operator can click the relevant command on the touch screen or operate the corresponding function button, and then the control system executes the above-mentioned rod release operation and controls the two clamping arms 331 of the clamping assembly 33 to move relatively up and down to release the clamping of the single crystal. Alternatively, the control system can automatically drive the single crystal transport device to perform the above operation after the single crystal transport device completes the previous step.

[0112] After the rod placement operation is completed, the control system drives the functional group to rotate back to the vertical state to prepare for the next single crystal transfer. It can also prevent the crystal rod in the horizontal state from taking up too much space and affecting surrounding operations.

[0113] After the rod placement operation is completed, the control system of the single crystal transfer device will feed back the execution information to the upper control center. In this way, the single crystal code is bound to the slot code corresponding to the row of supports 81, that is, the single crystal and the row of supports 81 of the single crystal support frame have a unique corresponding relationship, which facilitates subsequent tracing.

[0114] The single crystal rack can be placed in any suitable location where it is needed. If it needs to be moved to another location, the upper-level control center sends a command to the AGV. The AGV moves to the single crystal rack according to the command and transports it to another area designated by the upper-level control center, thereby transporting the single crystal on the single crystal rack to the designated area. Preferably, before transporting the single crystal rack, the AGV first reads the shelf code to confirm whether it is the single crystal rack designated by the upper-level control center. This facilitates traceability of the entire process.

[0115] In summary, because the present application adopts the above-mentioned single crystal transfer device, system and single crystal transfer method, most of the single crystal transfer operations are automatically completed by the single crystal transfer device, which greatly reduces human participation, thereby greatly reducing labor requirements and greatly reducing labor costs; in addition, the control system on the single crystal transfer device and the upper control center will exchange information, and the single crystal transfer device executes operations based on the instructions of the upper control center and feeds back the execution status to the upper control center, thereby avoiding the occurrence of information flow breakpoints during the operation of the single crystal, thereby facilitating the control and management of each process, and making it more convenient to trace relevant information. Preferably, the single crystal transfer device feeds back the completion status information to the upper control center in real time after completing each step of the operation. In this way, the information interaction between the control system and the upper control is more complete, so that the upper control center can better grasp the entire operation process in real time.

[0116] The directions or positional relationships indicated by the above-mentioned “up, down, left, right, front, and back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention; and those skilled in the art should know that when the visual observation changes, the relative directions also change accordingly.

[0117] The above detailed description of the specific embodiments of the present application is only for the preferred embodiments of the present application and should not be considered as limiting the scope of implementation of the present application. All equivalent changes and improvements made within the scope of the present application should still fall within the scope of the patent application.

Claims

1. A single crystal transport device, wherein: include: Vehicle body; At least one set of clamping assemblies, movably connected to one side of the vehicle body, the clamping assemblies being configured to clamp both circumferential sides of the single crystal; a control system, communicatively connected to an upper-level control center, the control system being configured to receive and execute instructions from the upper-level control center, drive the single crystal transfer device to move, drive the clamping assembly to move relative to the vehicle body to clamp and release the single crystal, and feed back execution information to the upper-level control center; The moving component is arranged on the lower side of the single crystal transport device, and the moving component is configured to drive the single crystal transport device to move.

2. The single crystal transport device according to claim 1, wherein: The single crystal transport device further includes a connecting assembly, through which the clamping assembly is connected to the vehicle body so as to be relatively rotatable and movable up and down.

3. The single crystal transport device according to claim 2, wherein: The connecting assembly includes a mounting piece connected to one side of the vehicle body so as to be relatively movable up and down, and a mounting seat connected to one side of the mounting piece so as to be relatively rotatable. The clamping assembly is connected to the side of the mounting seat away from the vehicle body.

4. The single crystal transport device according to claim 3, wherein: The clamping assembly includes two clamping arms that are arranged opposite to each other and can be connected to the mounting base so as to be relatively moved away or closer; each clamping arm includes a main arm on one side of which can be relatively moved left and right and connected to the mounting base, and a clamping member arranged on the main arm, and the two clamping members of the clamping assembly are arranged opposite to each other.

5. The single crystal transport device according to claim 4, wherein: The single crystal transfer device is also provided with a safety guard bar, and a connecting portion is provided on the side of the clamping arm away from the vehicle body. The two sides of the safety guard bar can be detachably connected to the two clamping arms of a clamping assembly on the side away from the vehicle body.

6. The single crystal transport device according to any one of claims 3 to 5, wherein: The single crystal transport device further includes a crystal rod connected to the side of the mounting seat away from the mounting member so as to be relatively movable up and down, and a crystal tray connected to the lower side of the crystal rod and configured to support the bottom of the single crystal in the length direction.

7. The single crystal transport device according to any one of claims 1 to 6, wherein: The single crystal transport device also includes at least one of a touch screen display arranged on the vehicle body and connected to the control system, function buttons arranged on the vehicle body and connected to the control system, a driving recorder arranged on the vehicle body, and a navigation system built into the control system.

8. The single crystal transport device according to any one of claims 1 to 7, wherein: The single crystal transport device is also provided with a code reader connected to the control system.

9. A single crystal transport system, wherein: It comprises an upper control center and a single crystal transport device according to any one of claims 1 to 8, wherein the single crystal transport device is communicatively connected to the upper control center.

10. The single crystal transport system according to claim 9, wherein: The single crystal transfer system also includes a single crystal support frame, on which is provided at least one row of support members configured to support horizontal single crystals; the single crystal support frame is provided with a slot code that can be read by a code reader of the single crystal transfer device, and each row of the single crystal support devices corresponds to one slot code.

11. A single crystal transport method, wherein: include: The control system of the single crystal transport device receives instructions from the upper control center; The control system performs the following operations according to the instructions: The driving moving assembly drives the single crystal transport device to move to the crystal retrieval position; driving at least one set of clamping components to clamp the single crystal; Driving the moving assembly to move the single crystal transfer device to a crystal placement position; driving the at least one set of clamping components to place the single crystal; Feedback execution information to the upper control center.

12. The single crystal transport method according to claim 11, wherein: Before driving the moving assembly to move the single crystal transfer device to the crystal placement position, the method further includes: The two sides of at least one safety guard bar are respectively fixedly connected to the two clamping arms of a clamping assembly.

13. The single crystal transport method according to claim 11 or 12, wherein: The crystal placement position is the position of the target single crystal support frame; Driving the at least one set of clamping components to place the single crystal includes: The driving clamping assembly drives the single crystal to rotate to a horizontal state; Place the single crystal on the target row support on the single crystal support frame designated by the upper control center.

14. The single crystal transport method according to claim 13, wherein: Before placing the single crystal on the target row of supports on the single crystal support rack specified by the upper control center, the single crystal transfer device first confirms the position of the specified target row of supports on the specified single crystal support rack. The confirmation method is that the code reader on the single crystal transfer device reads the slot code on the side of the single crystal support rack facing the single crystal transfer device and feeds it back to the control system. The control system compares the slot code. If the slot code is the slot code corresponding to the target row of supports on the specified single crystal support rack, it means that the row of supports corresponding to the slot code is the target row of supports specified by the upper control center.

15. The single crystal transport method according to any one of claims 11 to 14, wherein: When the single crystal transport device moves, it moves according to the route planned by the navigation system.

16. The single crystal transport method according to claims 11 to 15, wherein: When the single crystal transport device is in motion, the driving recorder thereon records the situation during the movement of the single crystal transport device.

17. The single crystal transport method according to any one of claims 11 to 16, wherein: Before driving at least one group of clamping assemblies to clamp the single crystal, the single crystal transport method further includes: The control system extracts data of the target single crystal from the instruction of the upper control center; The position of the wafer tray is adjusted according to the single crystal data so that the bottom of the single crystal is supported by the wafer tray.

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