CN104669271B - Capture chuck assembly and three axle feed arrangements, loader robot, system of processing - Google Patents

Abstract

The invention discloses crawl chuck assembly.Including: rotary drive mechanism, connector, the first chuck and the second chuck；Rotary drive mechanism is connected with connector, and the first chuck and the second chuck are arranged on connector at an angle；Rotary drive mechanism passes through to drive connector to rotate and then drive the first chuck and the second chuck to rotate, so that position replaces between the first chuck and the second chuck.The invention also discloses a kind of three axle feed arrangements, loader robot and system of processing.By the way, shorten the material delivery time, and then production efficiency can be improved.

Description

Grabbing chuck assembly and three-axis feeding device, loading robot, processing system

technical field

The invention relates to a grabbing chuck assembly, a three-axis feeding device, a charging robot and a processing system.

Background technique

In the prior art, the process of transporting the blank to the raw material processing platform for processing, and taking out the processed blank from the raw material processing platform is usually a decentralized process.

Specifically, the mechanical arm is only set as a chuck, and the chuck is required to grab the blank when transporting the blank to the raw material processing platform for processing and retrieving the processed blank from the raw material processing platform. Its processing is as follows:

Firstly, one blank is sent to the raw material processing platform for processing. After the processing is completed, the robotic arm takes out the blank, and then another blank is sent to the raw material processing platform for processing. After the mechanical arm takes the blank out..., repeat The above process, until all blanks are processed.

It can be seen that the mechanical arm of the prior art can only send or take one billet separately, and the production efficiency is very low.

Contents of the invention

In order to solve the above technical problems, the present invention provides a grabbing chuck assembly, a three-axis feeding device, a loading robot, and a processing system, which shortens the blank transfer time and improves production efficiency.

In order to solve the above technical problems, the present invention provides a grab chuck assembly, including: a rotary drive mechanism, a connector, a first chuck and a second chuck; the rotary drive mechanism is connected to the connector, the first chuck and the second chuck The two chucks are arranged on the connecting piece at a certain angle; the rotation driving mechanism drives the first chuck and the second chuck to rotate by driving the connecting piece to rotate, so that the positions of the first chuck and the second chuck alternate.

Wherein, the rotary driving mechanism is a cylinder or a motor; the connecting piece is a triangular prism whose bottom surface is an isosceles triangle; The second chuck is symmetrical about the bisector of the base of the isosceles triangle.

Wherein, the connecting piece is a triangular prism whose bottom surface is an isosceles right triangle.

The grabbing chuck assembly of the embodiment of the present invention: by setting the first chuck and the second chuck, and the first chuck and the second chuck can be driven by the rotary drive mechanism to alternate positions, and then can be in the opposite position. In the one-time transfer process of blanks, it is possible to take out processed blanks from the raw material processing platform, and transport unprocessed blanks to the raw material processing platform for processing, which shortens the blank transfer time and greatly improves production efficiency. .

In order to solve the above technical problems, the present invention also provides a three-axis feeding device, including the gripping chuck assembly described in any one of the above embodiments, and also includes: X-axis motion platform, Y-axis motion platform, Z-axis A motion platform and a mechanical arm; wherein, one end of the mechanical arm is arranged on the Z-axis motion platform and can move along the Z-axis direction on the Z-axis motion platform, and the grabbing chuck assembly is arranged on the end of the mechanical arm away from the Z-axis motion platform.

In order to solve the above-mentioned technical problems, the present invention also provides a charging robot, including the three-axis feeding device described in any one of the above-mentioned embodiments, and also includes: a supply device, wherein the supply device includes: a bracket, on which the There is a first guiding mechanism extending along the first direction; a first adjusting and fixing block, the first adjusting and fixing block cooperates with the first guiding mechanism and can move linearly within the range limited by the first guiding mechanism, and the first adjusting and fixing block A second guide mechanism extending along the second direction is provided, wherein the second direction is perpendicular to the first direction; a second adjustment and fixing block, the second adjustment and fixing block cooperates with the second guide mechanism, and can be defined by the second guide mechanism Linear movement within the range; lifting assembly, the lifting assembly is arranged on the second adjustment fixed block, so as to support the blank on the lifting assembly from the first height to the second height for grabbing by the grabbing chuck.

Wherein, the lifting assembly includes a connecting block, a positioning block, a receiving platform and a first driving unit; the connecting block is connected with the second adjusting and fixing block, the positioning block is arranged on the connecting block, the receiving platform is detachably connected to the positioning block, and the first driving The unit is arranged between the positioning block and the receiving platform to support the receiving platform.

Wherein, the bracket is provided with a cover plate, and a third guide mechanism and a fourth guide mechanism arranged on the cover plate and extending along the first direction; a second drive unit is movably connected to the fourth guide mechanism, and the second drive unit There is a push rod on it; when working, the blank is placed in the third guide mechanism, and the push rod follows the second drive unit to move within the range limited by the fourth guide mechanism, and at the same time pushes the blank to the lifting assembly.

Wherein, a limit switch is set on the lifting component, and when the blank is transferred to the lifting component along the third guide mechanism under the push of the push rod and touches the limit switch, the second driving unit stops working, and at the same time, the first driving unit starts working to lift the blank; or, the lifting assembly is provided with a pressure sensor, and when the pressure sensor detects that the receiving platform receives the blank, the second drive unit stops working, and at the same time, the first drive unit starts to work to lift the blank .

Wherein, the third guide mechanism includes two guide rails arranged in parallel and at intervals along the first direction, and a slide groove extending along the second direction is arranged on the cover plate; wherein, each guide rail cooperates with the slide groove respectively, and can independently move along the slide groove at the second Move upwards in two directions to realize adjustable position and width; moreover, a recovery groove is arranged on the bracket, and the recovery groove is arranged adjacent to the lifting component and at a certain angle to the ground.

In order to solve the above technical problems, the present invention also provides a processing system for processing blanks, including the loading robot described in any one of the above embodiments, and also includes: a raw material processing platform for receiving The blank obtained by the plate is processed.

Description of drawings

Fig. 1 is a schematic structural view of an embodiment of the supply device of the present invention.

Fig. 2 is a schematic structural view of an embodiment of the charging robot of the present invention.

Fig. 3 is a schematic side view of the embodiment of the loading robot shown in Fig. 2 .

Fig. 4 is a schematic side view of the embodiment of the three-axis feeding device in the loading robot shown in Fig. 2 .

Fig. 5 is a schematic structural diagram of an embodiment of a grabbing chuck in the three-axis feeding device shown in Fig. 4 .

Fig. 6 is a front structural schematic view of an embodiment of the processing system of the present invention.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1 , the supply device 100 according to the embodiment of the present invention includes: a bracket 101, on which a first guide mechanism 102 extending along a first direction is arranged; A guiding mechanism 102 cooperates and can move linearly within the range limited by the first guiding mechanism 102. The first adjusting and fixing block 103 is provided with a second guiding mechanism 104 extending along a second direction, wherein the second direction is perpendicular to the first One direction, wherein, the first direction is defined as the horizontal direction, and correspondingly, the second direction is defined as the vertical direction; the second adjustment and fixing block 105, the second adjustment and fixing block 105 cooperates with the second guide mechanism 104, and can be adjusted in the second Guide mechanism 104 makes linear movement within the limited range; And lifting assembly 106, lifting assembly 106 is arranged on the second adjustment fixed block 105, and it only needs to move on the vertical direction, can be positioned at the blank 200 on the lifting assembly 106 Lift from the first height to the second height.

Specifically, the first guide mechanism 102 and the second guide mechanism 104 can generally be set as slide grooves, and of course, guide rods can also be set.

Further, the lifting assembly 106 includes a connecting block 1061, a positioning block 1062, a receiving platform 1063 and a first driving unit. The connecting block 1061 is connected with the second adjusting and fixing block, the positioning block 1062 is arranged on the connecting block 1061, the receiving platform 1063 is detachably connected on the positioning block 1062, and the first driving unit is arranged between the positioning block 1062 and the receiving platform 1063 to The receiving platform 1063 is held up. In this way, when the second adjusting and fixing block moves within the area defined by the first guiding mechanism 102 and/or the second guiding mechanism 104 , the lifting assembly 106 can move accordingly. Wherein, the first drive unit can usually be designed as a cylinder, and of course, can also be designed as a motor. In other embodiments, at least the connecting block 1061 and the positioning block 1062 do not need to be designed separately, and their functions are realized by a separate second adjusting and fixing block.

The supply device 100 of the embodiment of the present invention: by setting the lifting assembly 106, the blank 200 can be lifted up in the vertical direction to facilitate subsequent process processing, and its transmission path is short and the equipment volume is small; A guiding mechanism 102, a second guiding mechanism 104, and a first adjusting and fixing block 103 respectively arranged on the first guiding mechanism 102 and a second adjusting and fixing block 105 arranged on the second guiding mechanism 104 are arranged on the second adjusting and fixing block The lifting assembly 106 of 105 can move precisely in the plane formed by the first guiding mechanism 102 and the second guiding mechanism 104, and is easy to operate and easy to align, which is beneficial for assembling the supply device 100 with other equipment.

Continuing to refer to FIG. 1 , in a specific application embodiment, the bracket 101 is provided with a cover plate 115, and a third guide mechanism 107 and a fourth guide mechanism 108 arranged on the cover plate 115 and extending along the first direction; The four guide mechanism 108 is movably connected with a second drive unit 109, and the second drive unit 109 is provided with a push rod 110; during work, the blank 200 is placed in the third guide mechanism 107, and the push rod 110 follows the second drive unit 109 The fourth guide mechanism 108 moves within a limited range and simultaneously pushes the blank 200 onto the lifting assembly 106 .

Wherein, the third guide mechanism 107 can be set to include two guide rails 1071 arranged in parallel and spaced apart along the first direction. The guide rails 1071 cooperate with the cover plate 115 to form the transmission channel for transporting the blank 200 , and can be placed on the cover plate 115 A sliding slot 1072 extending along the second direction is provided. Each guide rail 1071 is installed on this chute 1072, and cooperates with chute 1072 respectively, and each guide rail 1071 can independently move along the chute 1072 in the second direction so as to realize the adjustable position and width, and adjust the distance between the two guide rails 1071. The width can be applied to blanks 200 of different sizes and specifications, so that one machine can be used for multiple purposes.

Wherein, a limit switch (not shown) can be set on the lifting assembly 106, and when the blank 200 is transferred to the lifting assembly 106 along the third guide mechanism 107 under the push of the push rod 110 and touches the limit switch, the second driving unit 109 Stop working, at the same time, the first driving unit starts working to hold up the blank 200. The work of the hoisting component 106 is more real-time, without waiting or empty running, and has a higher degree of intelligence.

Alternatively, the limit switch can be replaced by a pressure sensor (not shown) or an infrared sensor (not shown). For example, when the limit switch is replaced by a pressure sensor, when the blank 200 is transferred to the receiving platform 1063 of the lifting assembly 106, the pressure sensor will detect a value, and when the value reaches a preset threshold (the setting of the threshold is related to blank 200 weight), the second drive unit 109 will stop working, and the first drive unit will start working to lift the blank 200 to the aforementioned required height; When the chuck assembly 305 grabs the blank 200 from the receiving platform 1063 and leaves the receiving platform 1063, the pressure sensor detects that the value is zero (also can be set to other values), the first drive unit starts to work, and returns from the first driving unit. The second guide mechanism 104 acquires the original position of the blank 200 and stops working. Meanwhile, the second drive continues to work to push the next blank 200 onto the receiving platform 1063 .

A recovery tank 111 can also be set on the support 101, and the recovery tank 111 is arranged adjacent to the lifting assembly 106 and is arranged at a certain angle with the ground, so that the processed blank 200 is directly put into the recovery tank 111 by the latter processing device, and the blank 200 is placed in the recovery tank 111. Arrive at the predetermined position along the extension direction of the recovery tank 111 under its own gravity. Specifically, the recovery tank 111 can be arranged with the bracket 101 in a splicing structure to facilitate quick installation, wherein the recovery tank 111 can also be used to connect with another delivery platform to facilitate subsequent processing. By setting the recovery groove 111, the processed blank 200 can be quickly and efficiently recovered, thereby improving production efficiency.

Continuing to refer to FIG. 1 , a plurality of connecting parts 112 are provided on the top of the bracket 101 for assembling the external device and the supply device 100 into one body. The connecting portion 112 can be configured as a threaded hole or other structures, which are not listed here.

In conjunction with Fig. 3, in order to move the support 101 conveniently, and then adjust the position between the supply device 100 and the subsequent processing device, a plurality of wheels 113 are provided at the bottom of the support 101 for moving the supply device 100; the bottom of the support 101 is provided with A plurality of locking mechanisms are used to lock the wheels 113; a plurality of height-adjustable supporting mechanisms 114 are arranged at the bottom of the bracket 101, and are used to lift the bracket 101 and make the wheels 113 suspended in the air.

Referring to FIG. 2 to FIG. 5 , the present invention also provides a three-axis feeding device 300 cooperating with the above-mentioned feeding device 100 . As shown in FIG. 4 , in this embodiment, the three-axis feeding device 300 includes an X-axis motion platform 301 , a Y-axis motion platform 302 , a Z-axis motion platform 303 and a mechanical arm 304 .

Specifically, one end of the mechanical arm 304 is disposed on the Z-axis motion platform 303, and the mechanical arm 304 can reciprocate along the Z-axis direction on the Z-axis motion platform 303. One end of the Z-axis motion platform 303 .

Referring to FIG. 5 , in a specific application embodiment, the grabbing chuck assembly 305 includes: a rotation driving mechanism 3051 , a connecting piece 3052 , a first chuck 3053 and a second chuck 3054 . Wherein, the rotary driving mechanism 3051 is connected with the connecting piece 3052, and the first chuck 3053 and the second chuck 3054 are arranged on the connecting piece 3052 at a certain angle; the rotating driving mechanism 3051 drives the connecting piece 3052 to rotate and then drives the first chuck 3053 and the second chuck 3054 rotate, so that the positions between the first chuck 3053 and the second chuck 3054 alternate.

Specifically, the rotary drive mechanism 3051 can be an air cylinder or a motor; the connecting member 3052 can be a triangular prism (or a structure similar to a triangular prism) whose bottom surface is an isosceles triangle, and the first chuck 3053 and the second chuck 3054 are respectively arranged on The two sides of the connector 3052 have equal side lengths, wherein the first chuck 3053 and the second chuck 3054 are symmetrical about the bisector of the base of the isosceles triangle. Of course, other structures can also be designed, and they will not be listed here. . Preferably, the connecting piece 3052 is a triangular prism whose bottom surface is an isosceles right triangle. With the chuck provided in this structure, the position of the first chuck 3053 and the second chuck 3054 can be exchanged only by rotating the driving mechanism 3051 to drive the connecting member 3052 to rotate 180°, and the control is more convenient. In addition, according to this principle, if the blank 200 is made of a magnetic material, such as iron, an electromagnetically controlled suction cup can be used instead of the chuck to grasp the blank 200 , which will not be described too much here.

4 and 5, of course, in order to arrange the grab chuck assembly 305 on the mechanical arm 304, usually an intermediate piece 3055 can be provided, and one end of the intermediate piece 3055 is fixed on the The upper end and the other end of the mechanical arm 304 are connected to the rotation driving mechanism 3051 , of course, the connection between the rotation driving mechanism 3051 and the intermediate piece 3055 can also be connected by means of screw connection, welding or clamping.

When in use, the control mechanism controls the mechanical arm 304 to move precisely on the (x, y, z) coordinates through the X-axis motion platform 301, the Y-axis motion platform 302, and the Z-axis motion platform 303, and controls the rotation of the grasping chuck assembly 305 The drive unit rotates, and then drives the corresponding chuck to move to the required position and work.

The grab chuck assembly 305 of the embodiment of this embodiment: by setting the first chuck 3053 and the second chuck 3054, and the first chuck 3053 and the second chuck 3054 can be driven alternately by the rotary drive mechanism 3051 position, and then in a transmission process of the blank 200, it is possible to take out the processed blank 200 from the raw material processing platform 500, and to transport the unprocessed blank 200 to the raw material processing platform 500 for processing. Can greatly improve production efficiency.

Referring to FIG. 1 to FIG. 5 , the present invention also provides a loading robot 400 , including the supply device 100 and the three-axis feeding device 300 described in any one of the above embodiments.

Wherein, the grabbing chuck assembly 305 on the three-axis feeding device 300 is mainly used to grab the blank 200 from the lifting assembly 106 of the supply device 100 and transfer it to the next processing platform (such as the raw material described later). processing platform 500).

Before using the loading robot 400, it is necessary to splice the three-axis feeding device 300 on the bracket 101 of the supply device 100 through the base, and complete the corresponding electrical connection. The alignment of the center of the component 106 realizes the positioning of the supply device 100 and the three-axis feeding device 300, so that the subsequent transfer between the mechanical arm 304 and the lifting component 106 is more accurate and efficient; after positioning, the lifting component 106 is moved in the first direction and Locking in the second direction only allows the lifting assembly 106 to reciprocate in the vertical direction, thereby completing the installation before use.

The operation process of the charging robot 400 is briefly introduced as follows:

Place the blank 200 in the third guide mechanism 107 of the supply device 100, open the second drive unit 109 of the supply device 100, and the push rod 110 on the second drive unit 109 follows the movement of the second drive unit 109 to move the blank 200 Push it to the receiving platform 1063 of the lifting assembly 106. When it is detected that the blank 200 enters the receiving platform 1063, the first drive unit works to lift the blank 200 from the first height position to the second height position, and then three-axis feeding The device 300 drives the grabbing chuck assembly 305 on the mechanical arm 304 to the position of the blank 200, and uses one of the chucks to grab the blank 200 and send the blank 200 to the subsequent processing device. At the same time, the lifting assembly 106 detects After the blank 200 has been transferred, the first driving unit continues to work, and returns the receiving platform 1063 to the original position to wait for the arrival of the next blank 200, and so forth. Through the design of the above structure, the transfer process of the blank 200 is more intelligent, and the lifting assembly 106 and the grasping chuck cooperate with each other when transferring the blank 200, which can greatly improve the efficiency of the blank 200 transfer.

As shown in FIG. 6 , and please refer to FIG. 1 to FIG. 5 , the present invention also provides a processing system for processing blanks, including the charging robot 400 described in any one of the above-mentioned embodiments, and It includes: a raw material processing platform 500; the raw material processing platform 500 is used to receive the blank 200 obtained from the grabbing chuck of the loading robot 400, and process the blank 200.

In a specific application embodiment, the first chuck 3053 in the grab chuck assembly 305 can be set to grab the blank 200 from the receiving platform 1063 of the lifting assembly 106 and transfer it to the raw material processing platform 500 for processing, and define the first The second chuck 3054 is used to grab the processed blank 200 from the raw material processing platform 500 and transport it to a predetermined location (such as the recovery tank 111 mentioned above).

Among them, in order to realize fully automatic operation and make the processing system more intelligent, sensors (not shown) can be set on the raw material processing platform 500 or other parts related positions, and the control mechanism controls the mechanical arm 304 in the X-axis direction, the Y-axis direction and the Z-axis direction. Move in the axial direction to reach directly above the lifting assembly 106, and grab the blank 200 from the receiving platform 1063 by the first chuck 3053. When there is no blank 200 at the same inlet and outlet), the control mechanism controls the first chuck 3053 to transfer the blank 200 to the inlet and outlet 501; when the sensor detects that the inlet and outlet 501 of the raw material processing platform 500 has been processed When the blank 200 is completed, the control mechanism controls the second chuck 3054 of the grab assembly to rotate to the position of the first chuck 3053, and grabs the processed blank 200 from the inlet and outlet 501, and then the control mechanism controls the mechanical The arm 304 returns over the lift assembly 106 and deposits the blank 200 on the second chuck 3054 (at the recovery slot 111 as previously described). Wherein, the result of the sensor detecting the material inlet and outlet 501 will make the control mechanism control the moving position and work of the first chuck 3053 or the second chuck 3054 accordingly. Of course, in order to prevent the grabbing component from grabbing the blank 200 that has just been transported to the inlet and outlet 501 , it is necessary to set the working frequency, detection time or other parameters of the sensor in advance.

Moreover, in this embodiment, the entire process can be optimized to improve production efficiency. For example, it is designed to: after the chuck sends the blank 200 to the inlet and outlet 501 of the raw material processing platform 500, the chuck assembly 305 is grabbed with the mechanical The arm 304 moves to the position of the lifting assembly 106 to grab the next blank 200 to be processed, and then moves to the inlet and outlet 501 again, and grabs the idle chuck on the chuck assembly 305 to grab the processed blank from the inlet and outlet 501. The blank 200, and then the blank 200 to be processed is sent to the inlet and outlet 501. The entire process is seamlessly connected, making the most efficient use of time, thereby improving production efficiency.

Of course, depending on the situation, other more optimized control procedures can also be designed for the control mechanism to control the supply device 100 and the three-axis feeding device 300 .

The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields, All are included in the scope of patent protection of the present invention in the same way.

Claims (8)

1. a loader robot, it is characterised in that including:

Three axle feed arrangements, described three axle feed arrangements include capturing chuck assembly, X-axis motion platform, Y-axis motion platform, Z axis motion platform and mechanical arm, described mechanical arm one end is arranged on described Z axis motion platform and can move along Z-direction on described Z axis motion platform, and described crawl chuck assembly is arranged at described mechanical arm one end away from described Z axis motion platform；Wherein, described crawl chuck assembly includes rotary drive mechanism, connector, the first chuck and the second chuck, described rotary drive mechanism is connected with described connector, described first chuck and described second chuck are arranged on described connector at an angle, described rotary drive mechanism is by driving described connector to rotate and then drive described first chuck and described second chuck to rotate, so that position replaces between described first chuck and described second chuck；

Further, described loader robot also includes:

Feedway, wherein, described feedway includes:

Support, described support is provided with the first guiding mechanism extended in a first direction；

First adjusts fixed block, described first adjust fixed block coordinate with described first guiding mechanism, can described first guiding mechanism restriction scope in for linear motion, described first adjustment fixed block is provided with the second guiding mechanism extended in a second direction, wherein, second direction is perpendicular to first direction；

Second adjust fixed block, described second adjust fixed block coordinate with described second guiding mechanism, can described second guiding mechanism restriction scope in for linear motion；

Promoting assembly, described lifting assembly is arranged at described second and adjusts on fixed block, with will be located in blank on described lifting assembly from first highly holder to the second height for the crawl of described crawl chuck assembly.

2. loader robot according to claim 1, it is characterised in that:

Described lifting assembly includes contiguous block, locating piece, adapting table and the first driver element；

Described contiguous block adjusts fixed block with described second and is connected, described locating piece is arranged on described contiguous block, described adapting table is removably connected on described locating piece, and described first driver element is arranged between described locating piece and described adapting table to be held up by described adapting table.

3. loader robot according to claim 2, it is characterised in that:

Described support is provided with cover plate, and be arranged on described cover plate and all extend in a first direction the 3rd guiding mechanism, the 4th guiding mechanism；

Described 4th guiding mechanism is connected with the second driver element, described second driver element is provided with push rod；

During work, blank is positioned in described 3rd guiding mechanism, and described push rod follows the range of motion that described second driver element limits at described 4th guiding mechanism, is pushed to by blank on described lifting assembly simultaneously.

4. loader robot according to claim 3, it is characterised in that:

Described lifting assembly is provided with limit switch, when blank is transferred to described lifting assembly along described 3rd guiding mechanism and touches described limit switch under push rod promotes, described second driver element is quit work, simultaneously so that described first driver element starts working to hold up blank；

Or, described lifting assembly is provided with pressure transducer, when described pressure transducer detects that described adapting table receives blank so that described second driver element quits work, simultaneously so that described first driver element starts working to hold up blank.

5. loader robot according to claim 3, it is characterised in that:

Described 3rd guiding mechanism includes two articles of guide rails that parallel interval is arranged in the first direction, and described cover plate is provided with the chute extended in a second direction；

Wherein, each described guide rail coordinates with described chute respectively, independently can move and then realize position in a second direction along described chute and width is adjustable；

Further, described support being provided with accumulator tank, the contiguous described lifting assembly of described accumulator tank arranges and arranges at an angle with ground.

6. loader robot according to claim 1, it is characterised in that:

Described rotary drive mechanism is cylinder or motor；

Described connector is bottom surface is the triangular prism of isosceles triangle, described first chuck and described second chuck are respectively arranged at the two sides that the described connector length of side is equal, wherein, described first chuck and described second chuck are symmetrical about the bisector on described isosceles triangle base.

7. loader robot according to claim 1, it is characterised in that:

Described connector is bottom surface is the triangular prism of isosceles right triangle.

8. the system of processing for blank is processed, it is characterised in that include the loader robot as described in any one of claim 1-7, also include:

Raw material processing platform, for receiving the blank obtained from described crawl chuck assembly, and is processed blank.