CN104741990B

CN104741990B - Clamp positioning mechanism, docking machinery, loading and unloading machinery and crystal blank polishing system

Info

Publication number: CN104741990B
Application number: CN201510161826.0A
Authority: CN
Inventors: 王雪萍
Original assignee: Individual
Current assignee: Yu Yaxian
Priority date: 2015-04-07
Filing date: 2015-04-07
Publication date: 2017-03-01
Anticipated expiration: 2035-04-07
Also published as: CN104741990A

Abstract

The invention discloses clamp positioning mechanism, docking machinery, loading and unloading machinery and crystal blank polishing system, this clamp positioning mechanism, including clamp fixing plate, described clamp fixing plate is provided with the groove for pushing to slide fixture, clamp fixing plate is provided with stop positioner in the side of described groove, this stop positioner includes a stop arm, this stop arm controls that stretches into or exit fixture to push to slide path thus realizing stopping fixture or allow fixture to pass through by stopping driving structure, clamp fixing plate is provided with promotion positioner in the opposite side of described groove, this promotion positioner includes a promotion arm, this promotion arm by promote driving structure control stretch into fixture push to slide path and promote fixture move.The technical program is passed through setting and is stopped positioner and promote positioner so that fixture can be accurately positioned in clamp fixing plate, simple and reasonable, safeguards easy to adjust.

Description

Clamp positioning mechanism, docking machinery, loading and unloading machinery and crystal blank polishing system

Technical field

The invention belongs to crystal product polishing processing field, it is related to a kind of carry out automatization's polishing processing to crystal blank Crystal blank polishing system and its clamp positioning mechanism, docking machinery, loading and unloading machinery.

Background technology

In prior art, the automatic grinding and polishing system (polished machine) of crystal blank, including：Feeding station, be provided with by Crystal blank is fixed on the feed mechanism on fixture；At least one carries out the episphere of grinding to the episphere of crystal blank Grinding station and the episphere that at least one is polished to the episphere of crystal blank processing polish station；Docking station, if It is equipped with and crystal blank can be fixed to another fixture and two fixtures can be carried out position pair from a fixture switching The docking mechanism changing；At least one the lower semisphere of crystal blank is carried out the lower semisphere grinding station of grinding and at least one The lower semisphere that the lower semisphere of crystal blank is polished processing polishes station；Discharge station, is provided with crystal blank The cutting agency disassembling from fixture；Wherein, described episphere grinding station and lower semisphere grinding station are equipped with mill Cut mechanism, described episphere polishing station and lower semisphere polishing station are equipped with polishing mechanism.By crystal blank in each station Between the transfer device that circulated, have head swivel mount form, mechanical hand swivel mount form and robot track form.

The polishing processing flow process of crystal blank (espespecially standard water drilling class product) is as follows：

Feeding (including the fixture pin preheating → bread → upper pearl → bonding of empty fixture) → episphere grinding → upper half Ball polishing → docking (include the fixture pin preheating → bread → fixture of empty fixture to supporting → the fixture pin of empty fixture is heated Crystal blank in the melt adhesive → fixture pin heating of another fixture is removed photoresist → Cooling fixture pin makes to be adhesively fixed) → lower semisphere Grinding → lower semisphere polishing → blanking (include fixture heating is removed photoresist → lower pearl and cleaning clamp pin).Said process In, docking operation holding time is the longest, next to that upper material process, blanking procedure holding time is shorter, for grinding (or polishing) Operation, typically adopts multiple grindings (or polishing) the multiple grinding of station (or polishing), such grinding (or polishing) in prior art The time that operation takies is also relatively short.How the time taking is shortened on docking operation or passes through reasonable distribution each operation mistake Journey makes the time of staying on each processing stations be closer to, it is to avoid the board waiting time is long, improves whole automatic grinding and polishing system A working (machining) efficiency exactly industry difficult problem anxious to be resolved for system.

Publication No. discloses a kind of Automatic Cycle twin tong ornaments polished machine, water in the patent documentation for CN102366914A (i.e. fixture circulation follows in same fabrication cycles for the episphere grinding and polishing (front grinding and polishing) of brilliant blank and lower semisphere grinding and polishing (grinding and polishing afterwards) Ring), wherein, the clamping fixture seat on each station be arranged in parallel (especially grinding and polishing station) along about the length direction of fixture, so left Right transfer device between each station during transferring clamp, needs first to stretch down and from the clamping fixture seat of a station, fixture is brought up Again across after the fixture seat mechanism on corresponding station, then send down on the clamping fixture seat being placed on another station, so Left and right transfer device complex structure, action is loaded down with trivial details, easy break-down and high cost.And, using docking in its docking mechanism Frame (i.e. adapter assembly part) and wait support (i.e. fixture reset assembly part) are 180 ° of rotational structures, so exist following Problem：One is, because the heating tube in docking mechanism typically adopts high-frequency heating pipe or coal gas spit tube, general heating Pipe is required for occurring equipment or apparatus for supply of gas etc. to be connected with high frequency, and heating tube will be arranged on two fixtures of docking Between (seat), that is, be arranged in above-mentioned adapter assembly, 180 degree on a large scale frequently rotation heating tube can be led to set with high frequency The attachment structure of standby or apparatus for supply of gas etc. complicates, and has an effect on service life；Two are, in order to vacate the rotation of adapter assembly Turn space, be arranged on from adapter assembly remote position for the cleaning of upper position fixture, the wire brush of bread gluing and powder disk, it Shift motion length, holding time many；Three are, in above-mentioned adapter assembly, docking, bread gluing and 180 degree rotation are successively Carry out, occupy more time, so that switching (docking) station holding time extends, station mechanism such as other grinding and polishings etc. Treat time lengthening, dock the low working (machining) efficiency also simultaneously reducing whole Automatic Cycle of efficiency.

For this reason, inventor discloses a kind of crystal blank automatic milling in the patent documentation of Publication No. CN103072059A Polishing system and its docking mechanism, including the first about transfer device, are arranged in order along the first about transfer device and are provided with feeding Station, at least one the episphere of crystal blank is carried out with the episphere grinding station of grinding, at least one is to crystal blank The episphere of part is polished the episphere polishing station processed and docking station, and the first about transfer device can move left and right Can pick up and put down the mechanical hand of fixture with positioning and being provided with least four；Second about transfer device, along second about Transfer device is arranged in order and is provided with described docking station, at least one carries out under grinding to the lower semisphere of crystal blank Hemisphere grinding station, the lower semisphere that at least one is polished to the lower semisphere of crystal blank processing polish station and blankers Position, the second about transfer device can move left and right and position and be provided with least four and can pick up and put down the machinery of fixture Handss；Wherein, described feeding station is provided with the feed mechanism that can be fixed on crystal blank on fixture；In described discharge station It is provided with the cutting agency that crystal blank can be disassembled from fixture；Described episphere grinding station and lower semisphere grinding work It is equipped with grinding mechanism on position, described episphere polishing station and lower semisphere polishing station are equipped with polishing mechanism；Described right Connect station and be provided with docking mechanism, wherein, bread position and docking location are located at below the first about transfer device, and bread Pass through the first about transfer device transferring clamp between the upper fixture seat of assembly and docking frame upper；Crossover position and translation bit Below the second about transfer device and logical between the fixture fixed part on the first fixture placement rack and conversion support top Cross the second about transfer device transferring clamp.

But said structure is, the clamping fixture seat on each station be arranged in parallel along about the length direction of fixture and (especially grinds Throw station), such left and right transfer device during transferring clamp, needs first to stretch down the clamping fixture seat from a station between each station On fixture is brought up again across after the fixture seat mechanism on corresponding station, then send down and be placed on another station On clamping fixture seat, such left and right transfer device complex structure, action are loaded down with trivial details, easy break-down and high cost.And in its docking mechanism, Before and after first, transfer device needs first to be transferred on conversion support band material clamp from docking support, then waits conversion support After 180 ° of upper-lower positions of rotation are exchanged, before and after first, the band plastic clip tool on conversion support is sent into docking support by transfer device again, Before and after first during this, transfer device back and forth transfers fixture, and docking support can be only in waiting state, which increases machine The platform waiting time, therefore still need and improve further with improve production efficiency.

Therefore, inventor discloses a kind of crystal blank automatic milling in the patent documentation of Publication No. CN103273397A Polishing system, including before and after the first about transfer device of be arrangeding in parallel and the second about transfer device, along the first about transfer Structure is arranged in order from left to right and is provided with loading and unloading station, multiple episphere grinding and polishing station and docking station, along the second left/right rotation Telephone-moving structure right-to-left is arranged in order and is provided with docking station, multiple lower semisphere grinding and polishing station and loading and unloading station；Wherein, up and down Material station is provided with for taking off the crystal blank processing from fixture and crystal blank to be processed is fixed on this Loading and unloading machinery on fixture, episphere grinding and polishing station and lower semisphere grinding and polishing station are provided with for the crystal on fixture Blank carries out the grinding and polishing machinery of polishing processing, and docking station is provided with another for being fixed to crystal blank from a fixture switching Docking machinery on one fixture, the structure of described first about transfer device and the second about transfer device is identical, all includes For pushing multiple transfer robot arm and one about the linearly extended track of fixture between adjacent stations, this track is erected at Mechanically, transfer robot arm is moved by shifting this track of driving means drives edge for loading and unloading machinery, grinding and polishing machinery and docking；Up and down The clamping fixture seat that material machinery, grinding and polishing machinery and docking are mechanically used for installs fixture sets in a row along about fixture length direction, turns Move mechanical hand and promote fixture sliding between the adjacent clamping fixture seat in left and right along fixture length direction.

But, still there is following asking in the specific embodiment disclosed in the patent documentation of Publication No. CN103273397A Topic：

1st, in grinding and polishing machinery, grinding and polishing frame is provided with grinding tool, grinding tool is driven by the grinding tool motor being arranged in grinding and polishing frame Dynamic rotation, setting up above grinding tool has the linearly extended straight rail of grinding and polishing sector and left and right, and sliding along straight rail, it is mechanical to arrange transfer Handss；Described grinding and polishing sector is included being horizontally slipped with grinding and polishing rack level the swing planker being connected, and swings planker and is filled by wobble drive Put driving left and right reciprocally swinging, the setting one grinding and polishing clamping fixture seat that slides is swung on planker, grinding and polishing clamping fixture seat is by clamping fixture seat driving means Drive oscilaltion, grinding and polishing clamping fixture seat be provided with for push to slide guiding about fixture multiple upper latch segment, lower latch segment and leading Wheel, upper latch segment be installed on grinding and polishing clamping fixture seat and with the dovetail of fixture on the upside of match, lower latch segment be arranged on grinding and polishing folder Tool seat on fixture locking cylinder movable end connect and with the dovetail of fixture on the downside of match, when fixture is locked, fixture Locking cylinder is driven lower latch segment to move upwards and fixes thus being held tightly the dovetail of fixture with the cooperation of upper latch segment, and guide wheel is arranged on Grinding and polishing clamping fixture seat bottom, when fixture is not locked, fixture can push to slide movement on guide wheel；The outside of described grinding and polishing clamping fixture seat The positive stop strip of one about extension is installed, fixture left and right between grinding and polishing clamping fixture seat and positive stop strip pushes to slide movement.In said structure, many Individual grinding tool each adopts individual motor to drive and rotates, and manufacturing cost is high；Using grinding and polishing clamping fixture seat bilateral reciprocation, so lead to Grinding and polishing sector complex structure, debugging is complicated difficult.

2nd, in the transfer device of left and right, transfer robot arm includes manipulator seat, and multiple guide wheels, machine are installed in the side of manipulator seat Tool handss seat guides slip in orbit by these guide wheels, and the opposite side of manipulator seat arranges a travelling carriage sliding up and down, sliding A tooth bar, tooth bar and the mechanical hand meshed transmission gear being arranged on manipulator seat are fixed in the top of moving frame, mechanical hand gear with Mechanical hand lifting drive is in transmission connection, and a fixture shift fork, the handss at fixture shift fork and fixture back are fixed in the bottom of travelling carriage Handle cooperation clamping；Described mechanical hand lifting drive is servomotor, and multiple transfer robot arm are driven by same servomotor Dynamic lifting, the gear shaft of the adjacent mechanical hand gear of transfer robot arm passes through oscillating bearing and kinematic link connects thus realizing Synchronous axial system.It has been recognised by the inventors that said structure advantages of simple, manufacturing cost not enough is still higher, fixture transfer efficiency and motion Stability all needs to be improved further.

3rd, in loading and unloading machinery, loading and unloading frame is provided with discharge position, discharge position on a feeding bread position and, It is arranged in a row setting about feeding bread position and upper discharge position, form a line before and after lower discharge position and feeding bread position and set Put, a rotating turret A that can rotate and position is installed between lower discharge position and feeding bread position, rotating turret A is driven by Device drives and rotates in the horizontal plane, rotating turret A is provided with two groups of switch fixture seat A of before and after, this two groups of switch fixture seat A divide Discharge position and the top of feeding bread position Wei Yu not descended, wherein, lower discharge position is provided with blanking assembly, feeding bread position On bread assembly is installed, upper discharge position is provided with loading assemblies, above loading assemblies set up have feeding clamping fixture seat, and, The feeding clamping fixture seat of the switch fixture seat A of feeding bread position and upper discharge position sets in a row along about fixture length direction, turns Change be designed with clamping fixture seat A and feeding clamping fixture seat for push to slide guiding about fixture multiple upper latch segment, lower latch segment and leading Wheel, also is provided with fixture locking cylinder, all sets up what left and right extended above lower discharge position, feeding bread position and upper discharge position Straight rail, slides along straight rail and arranges transfer robot arm.It has been recognised by the inventors that said structure advantages of simple, manufacturing cost not enough Still higher, fixture also needs to be improved further in the circulation of each position and working (machining) efficiency.

4th, dock in machinery, docking frame is provided with a docking location, a clear position, a docking bread position and first-class Treat setting in a row about position, docking location and clear position, dock setting in a row about bread position and holding fix, The setting in string before and after clear position and docking bread position, is in that string is arranged before and after docking location and holding fix, docks position Put and a cursor that can rotate and position is installed and holding fix between, cursor is driven by device and drives in vertical plane Interior rotation, the rotary shaft of cursor is located at its side, installs docking lower clamp seat in the offside of its rotary shaft, docking location is pacified A dress docking upper fixture seat and heating tube, docking upper fixture seat is fixed in docking frame, and this heating tube is arranged on to connecting folder The lower section of tool seat is simultaneously driven by device driving lifting, and holding fix is room；When the docking lower clamp seat on cursor rotates During to docking location, docking lower clamp seat is located at the underface of docking upper fixture seat, the fixture of the fixture on docking lower clamp seat Upwards, when the docking lower clamp seat on cursor turns to holding fix, the fixture pin on docking lower clamp seat is downward for pin；Cleaning Between position and docking bread position, a rotating turret B that can rotate and position is installed, rotating turret B is driven by device and drives Rotate in the horizontal plane, rotating turret B is provided with two groups of switch fixture seat B of before and after, this two groups of switch fixture seat B are located at clear respectively Reason position and the top of docking bread position；Wherein, clear position is provided with cleaning assembly, and docking bread position is provided with bread Assembly, the switch fixture seat B on docking upper fixture seat and clear position on docking location is in a row along about fixture length direction Setting, the docking lower clamp seat on switch fixture seat B and holding fix on docking bread position is along about fixture length direction Set in a row, and, dock and be equipped with and push to slide for about fixture on upper fixture seat, switch fixture seat B and docking lower clamp seat The multiple upper latch segment of guiding, lower latch segment and guide wheel, also are provided with fixture locking cylinder, in docking location, clear position, docking The top of bread position and holding fix also all sets up the straight rail that left and right extends, and slides along straight rail and arranges transfer machinery Handss.It has been recognised by the inventors that said structure advantages of simple not enough, docking lower clamp seat is arranged on cursor, and docks upper fixture Seat lacks common reference for installation, so needs the higher accuracy of manufacture just can have higher docking success rate, is not only manufactured into This height, and it is all limited larger to dock efficiency, mechanism's service life and operation stability.

5th, board overall volume is larger, station and arrangement of mechanism not reasonable it is more difficult to implement board safeguard and closed pipe Reason, is unfavorable for improving workshop environment.

6th, in the upper discharge position of loading and unloading machinery and the docking location of docking machinery, because fixture needs and feed mechanism In upper flitch or upper lower clamp cooperation, it requires transfer robot arm can by fixture be transferred to accurate location to ensure on Material precision or merging precision, so undoubtedly increased manufacturing cost, debugging maintenance cost and the transfer difficulty of transfer robot arm, existing Have and in technology, also have the unilateral positioner of setting, but all cannot ensure fixture positioning precision, also cannot adapt to each processing The individual variation of position.

Content of the invention

An object of the present invention is to provide a kind of clamp positioning mechanism, stops positioner by setting and promotes positioning Device is so that fixture can be accurately positioned in clamp fixing plate, simple and reasonable, safeguards easy to adjust.

The second object of the present invention is to provide a kind of docking machinery, using above-mentioned clamp positioning mechanism.

The third object of the present invention is to provide a kind of loading and unloading machinery, using above-mentioned clamp positioning mechanism.

The fourth object of the present invention is to provide a kind of crystal blank polishing system, using above-mentioned docking machinery or charging ＆ discharging machine Tool.

To achieve the above object, present invention employs following technical scheme：

Clamp positioning mechanism, including clamp fixing plate, described clamp fixing plate is provided with the groove for pushing to slide fixture, folder Tool fixed plate is provided with stop positioner in the side of described groove, and this stop positioner includes a stop arm, this stop arm That is stretched into or exited by stop driving structure control fixture pushes to slide path thus realizing stopping fixture or allowing fixture to pass through, fixture Fixed plate is provided with promotion positioner in the opposite side of described groove, and this promotion positioner includes a promotion arm, this promotion arm Stretch into pushing to slide path and promoting fixture to move of fixture by promoting driving structure to control.

Preferably, described stop arm and clamp fixing plate are slidably connected, the glide direction of this stop arm and the cunning of fixture Push away path orthogonal, described stop driving structure is a slip driving cylinder, and the mobile terminal of slip driving cylinder is connected with stop arm Thus driving stop arm to slide.

Preferably, described stop arm is hinged with clamp fixing plate, the rotational plane of this stop arm pushes to slide road with fixture Footpath is vertical, and described stop driving structure is a rotation driving cylinder, rotates driving cylinder and passes through tooth bar or connecting rod and stop arm It is in transmission connection thus driving stop arm to rotate.

Preferably, described promotion arm is hinged with clamp fixing plate, the rotational plane of this promotion arm pushes to slide road with fixture Footpath is parallel, and described promotion driving structure is a rotation driving cylinder, rotates driving cylinder and passes through tooth bar or connecting rod and promote arm It is in transmission connection thus driving promotion arm to rotate.

Preferably, set up by support in described clamp fixing plate thering is multiple guide wheels, in the groove of clamp fixing plate When pushing to slide fixture, up or down, guide wheel is located at the both sides of fixture with clamp fixing plate distribution to the fixture pin of fixture.

Loading and unloading machinery, including：One feeding sequence, including two the first clamping fixture seats of left-right situs, one of them first The lower section setting loading assemblies of clamping fixture seat；The first clamping fixture seat above this loading assemblies adopts fixture localization machine as above Structure；One blanking sequence, including two the second clamping fixture seats of left-right situs, the lower section setting blanking group of one of them the second clamping fixture seat Part；The first level rotating turret that between feeding sequence and blanking sequence, setting one can rotate in the horizontal plane and position, feeding One of one of sequence first clamping fixture seat and blanking sequence second clamping fixture seat is separately fixed at first level rotating turret Both sides exchanging before and after being realized by the rotation of first level rotating turret in front and back, another first clamping fixture seat in feeding sequence and Another second clamping fixture seat in blanking sequence is separately fixed on loading and unloading base；Two the first clamping fixture seats in feeding sequence Between and feeding sequence and grinding and polishing machinery episphere job sequence between all fixture is realized by the first about transfer device Circulation, between two in blanking sequence second clamping fixture seat and blanking sequence and grinding and polishing machinery lower semisphere job sequence it Between all realize the circulation of fixture by the second about transfer device.

Further preferably, in described loading and unloading machinery：Loading and unloading base is provided with discharge position, a feeding bread position Put, discharge position on a holding fix and；Loading assemblies are arranged in discharge position, and the first clamping fixture seat above loading assemblies is Feeding clamping fixture seat, blanking assembly is arranged in lower discharge position, and the second clamping fixture seat above blanking assembly is blanking clamp seat；First Horizontally rotate frame to be arranged between feeding bread position and holding fix, feeding bread position is installed bread assembly, the first water Flat turn moving frame is rotated in the horizontal plane by Motor drive.

Docking machinery, including：Sequence is docked, first including left-right situs docks upper fixture seat and the 3rd fixture before one Seat, the lower section setting one of the first docking upper fixture seat matches and implements the first docking lower clamp seat of docking；Sequence is docked after one, The second docking upper fixture seat including left-right situs and the 4th clamping fixture seat, the lower section setting one of the second docking upper fixture seat matches Implement the second docking lower clamp seat of docking；Setting one between front docking sequence and rear docking sequence can be in vertical rotation in surface Second can rotating in the horizontal plane with the vertical rotating turret and of positioning and positioning horizontally rotates frame, the first docking upper fixture Seat and first docks the front side that lower clamp seat is arranged on vertical rotating turret, the second docking upper fixture seat and the second docking lower clamp seat It is arranged on the rear side of vertical rotating turret, the first docking upper fixture seat, the first docking lower clamp seat, the second docking upper fixture seat and the Two docking lower clamp seats are realized before and after's upper-lower position by the rotation of vertical rotating turret simultaneously and are exchanged, and the 3rd clamping fixture seat and the 4th presss from both sides Tool seat is separately fixed at the second both sides in front and back horizontally rotating frame and realizes front and back position by the second rotation horizontally rotating frame Exchange；In front docking sequence first docking upper fixture seat and the 3rd clamping fixture seat between and front docking sequence and grinding and polishing machinery The circulation of fixture is all realized by the first about transfer device, afterwards the second docking in docking sequence between episphere job sequence Between upper fixture seat and the 4th clamping fixture seat and after docking sequence and grinding and polishing machinery lower semisphere job sequence between all by the Two about transfer devices realize the circulation of fixture；Wherein, the first docking upper fixture seat, the first docking lower clamp seat, the second docking Upper fixture seat and the second docking lower clamp seat are all using clamp positioning mechanism as above.

Further preferably, docking base is provided with a docking location, a clear position, a docking bread position and a wait The setting in string before and after position, clear position and docking bread position, is in that string is arranged before and after docking location and holding fix, erects Straight rotating turret is arranged between docking location and holding fix, and docking location is provided with the folder for two fixtures to docking The heater that tool pin is heated, second horizontally rotates frame is arranged between clear position and docking bread position, clears up position Put and be provided with cleaning assembly, docking bread position is provided with bread assembly.

A kind of crystal blank polishing system, including before and after the first about transfer device of be arrangeding in parallel and the second about transfer Mechanism, be arranged in order along the first about transfer device right-to-left be provided with loading and unloading station, multiple episphere grinding and polishing station and Docking station, is arranged in order from left to right along the second about transfer device and is provided with docking station, multiple lower semisphere grinding and polishing station With loading and unloading station；Wherein, loading and unloading station is provided for taking off the crystal blank processing from fixture and will be to be added The crystal blank of work is fixed on the loading and unloading machinery on this fixture, episphere grinding and polishing station and lower semisphere grinding and polishing station be located at for Mechanically, docking station is provided for pressing from both sides crystal blank from one for the grinding and polishing carrying out polishing processing to the crystal blank on fixture Tool switching is fixed to the docking machinery on another fixture；Loading and unloading machinery, grinding and polishing machinery and docking are mechanically used for installation folder The clamping fixture seat of tool sets in a row along about fixture length direction, and described first about transfer device and the second about transfer device are equal Including the multiple transfer robot arm horizontally slipping, transfer robot arm promotes folder by shifting driving means drives edge fixture length direction Tool sliding between the adjacent clamping fixture seat in left and right；It is characterized in that, also include clamp positioning mechanism as above.Described grinding and polishing Machinery includes：One grinding tool sequence, has multiple grinding and polishing grinding tools of left-right situs, the front side of grinding and polishing grinding tool and rear side setting polished machine Structure；One episphere job sequence, including on front side of described grinding tool sequence, left-right situs multiple grinding and polishing sectors, this upper half Realize the circulation of fixture between adjacent grinding and polishing sector by the first about transfer device in ball job sequence；One lower semisphere processing Sequence is including on rear side of described grinding tool sequence, left-right situs multiple grinding and polishing sectors, adjacent in this lower semisphere job sequence Grinding and polishing sector between realize the circulation of fixture by the second about transfer device；Described loading and unloading machinery is as mentioned above；Described Docking machinery is as mentioned above.

Empty fixture first feeding bonding crystal blank on the first clamping fixture seat in the feeding sequence of loading and unloading machinery, then pass through First about transfer device circulates successively on the multiple grinding and polishing sectors in the episphere job sequence of grinding and polishing machinery and carries out crystal The episphere polishing processing of blank, then pass through the first about transfer device mobile to the front docking sequence docking machinery the Connect for a pair and docked on clamping fixture seat, this fixture becomes sky fixture, another sky on the first docking lower clamp seat after docking Fixture becomes the strips fixture being bonded with crystal blank after docking, this strips fixture by the rotation of vertical rotating turret exchange to Afterwards in docking sequence, then by the multiple grinding and polishings in the lower semisphere job sequence of the second about transfer device movement to grinding and polishing machinery In mechanism, circulation carries out the episphere polishing processing of crystal blank successively, then passes through the second about transfer device movement to upper and lower Carry out blanking on second clamping fixture seat in the blanking sequence of material machinery and unload the crystal blank processing, turn finally by first level Moving frame changes the feeding carrying out another batch of crystal blank to feeding sequence；Carry out, the empty fixture after above-mentioned docking simultaneously Moved on the 3rd clamping fixture seat to front docking sequence by the first about transfer device, then horizontally rotate turning of frame by second Dynamic exchange is docked in sequence to rear, then passes through the second about transfer device movement to the second docking upper fixture seat, finally leads to Cross rotating of vertical rotating turret and exchange the docking waiting another batch of crystal blank to front docking sequence.

Above-mentioned grinding and polishing grinding tool is disc type grinding tool or roll-type grinding tool.

Multiple grinding and polishing sectors in above-mentioned episphere job sequence or lower semisphere job sequence can be all identical one Grinding and polishing angle.Multiple grinding and polishing sectors in above-mentioned episphere job sequence or lower semisphere job sequence can also be that formation is many respectively Individual different grinding and polishing angle.Above-mentioned grinding and polishing angle refers to the axial direction of fixture pin of the fixture in grinding and polishing sector and the grinding and polishing face of grinding tool Formed angle, this makes it possible to the facet that polishing processing on crystal ball base goes out different angle layers.

Preferably, being all respectively arranged with above the both sides in front and back of described loading and unloading machinery, grinding and polishing machinery and docking machinery The crossbeam that left and right connects, described transfer robot arm includes the horizontally slip sliding seat being arranged on crossbeam and a fixture shift fork, folder The lower end of tool shift fork is clamped with the handle cooperation at fixture back, and the upper end of fixture shift fork is hinged with sliding seat, and fixture shift fork passes through Air cylinder driven swings up and down.The structure of left and right transfer device and transfer robot arm is more rationally, action is simpler, cost more Low, operation is relatively reliable.

Preferably, in described grinding and polishing machinery：Described grinding and polishing grinding tool is roll-type grinding tool, the rotating shaft two ends of each grinding and polishing grinding tool All it is arranged on planker by bearing block, planker horizontally slips and is arranged on grinding and polishing base and by reciprocal about translation Motor drive Mobile, the planker of multiple grinding and polishing grinding tools of left-right situs is fixedly connected synchronizing moving, and connection is passed through in the rotating shaft of adjacent grinding and polishing grinding tool Axial organ connects synchronous axial system, and grinding tool motor is connected with the rotating shaft transmission of one of grinding and polishing grinding tool by drive.

The present invention, due to employing above technical scheme so that fixture can be accurately positioned in clamp fixing plate, ties Structure advantages of simple, safeguards easy to adjust.This clamp positioning mechanism is applied in docking machinery and loading and unloading machinery it is ensured that right Connect precision and feeding precision thus improve product quality；And so fixture only need to be transferred to fixture and fix by transfer robot arm Approximate location on plate, after putting down fixture, by the positioning datum stopping positioner offer fixture, is promoted by promoting positioner Fixture moves to being close to stop arm, because clamp positioning mechanism is provided on the clamping fixture seat of needs, its adjustment and maintenance are Carry out on independent single station, easy to adjust, greatly reduce left and right transfer device, transfer robot arm or even whole grinding and polishing The accuracy of manufacture of system requires, and greatly reduces board manufacturing cost and use cost.Additionally, the shifting of each station and transfer device The dynamic time is also less, in hgher efficiency, further increases working (machining) efficiency and the reliability of whole automatic grinding and polishing system.

Brief description

Fig. 1 is the structural representation of crystal blank polishing system of the present invention；

Fig. 2 is the structural representation of the grinding tool sequence of grinding and polishing machinery of the present invention；

Fig. 3 is the structural representation of grinding and polishing machinery of the present invention；

Fig. 4 is the structural representation of transfer device about the present invention；

Fig. 5 is one of structural representation of loading and unloading machinery of the present invention；

Fig. 6 is the two of the structural representation of loading and unloading machinery of the present invention；

Fig. 7 is one of structural representation of present invention docking machinery；

Fig. 8 is the two of the structural representation of present invention docking machinery；

Fig. 9 is one of structural representation of present clip detent mechanism；

Figure 10 is the two of the structural representation of present clip detent mechanism.

Specific embodiment

Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.

In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " clockwise ", " inverse The orientation of the instructions such as hour hands " or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of description originally Invention and simplification description, rather than indicate or imply that the device of indication or element must have specific orientation, with specifically side Position construction and operation, are therefore not considered as limiting the invention.

Direction all around of the present invention is：So that, in Fig. 1, upper left is front, after bottom right is, lower-left is a left side, and upper right is Right.This is for convenience, can also adjust accordingly in practice and not affect each mechanism and connect and action, these all fall Enter in protection scope of the present invention.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include one or more this feature.In describing the invention, unless otherwise stated, " multiple " are meant that two Individual or two or more, limits unless otherwise clear and definite.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；It can be machine Tool connects or electrically connects；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, can be two units Connection within part.For the ordinary skill in the art, above-mentioned term can be understood as the case may be at this Concrete meaning in bright.

In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score The first and second feature directly contacts can be included not to be directly contact but passes through it is also possible to include the first and second features Between other characterisation contact.And, fisrt feature second feature " on ", that " top " and " above " include first is special Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of Fisrt feature level height is less than second feature.

Clamp positioning mechanism as described in Fig. 9, Figure 10, including clamp fixing plate 701, described clamp fixing plate 701 sets There is the groove for pushing to slide fixture 8, clamp fixing plate 701 is provided with stop positioner in the side of described groove, this stop is fixed Position device includes a stop arm 705, this stop arm 705 by stop driving structure control stretch into or exit fixture 8 push to slide road Thus realizing stopping fixture 8 or allowing fixture 8 to pass through, clamp fixing plate 701 is provided with promotion positioning in the opposite side of described groove in footpath Device, this promotion positioner includes a promotion arm 707, and this promotion arm 707 is by the cunning promoting driving structure control to stretch into fixture 8 Push away path and promote fixture to move.

In the present embodiment, described stop arm 705 is slidably connected by line slideway 703 with clamp fixing plate 701, this stop The glide direction of arm 705 pushes to slide path orthogonal with fixture 8, and described stop driving structure is a slip driving cylinder 704, slides The mobile terminal of driving cylinder 704 is connected with stop arm 705 thus driving stop arm 705 to slide.Another embodiment is：Described resistance Blocking arm 705 is hinged with clamp fixing plate 701, and the rotational plane of this stop arm 705 pushes to slide path orthogonal with fixture 8, described resistance Gear driving structure is a rotation driving cylinder, rotate driving cylinder pass through tooth bar or connecting rod and stop arm 705 be in transmission connection from And drive stop arm 705 to rotate.For example, rotating driving cylinder drives tooth bar to move, the pinion rotation that rack drives are engaged with, This gear be can be arranged directly in stop arm or rotated coaxially with stop arm.Adjust for convenience, can also be in stop arm Upper threaded connection bolt is used for stopping limit clamp.

In the present embodiment, described promotion arm 707 is hinged with clamp fixing plate 701, the rotational plane of this promotion arm 707 and folder Tool 8 to push to slide path parallel, described promotion driving structure is a rotation driving cylinder 708, rotates driving cylinder 708 and passes through tooth bar Or connecting rod is in transmission connection with promotion arm 707 thus driving promotion arm 707 to rotate.Rotating driving cylinder 708 drives 710 tooth bars to move Dynamic, tooth bar 710 drives the gear 709 being engaged with to rotate, and this gear 709 and stop arm 707 rotate coaxially.Another embodiment It is：This gear 709 is molded directly within stop arm.Other embodiments can also be：Arm is promoted first to stretch into using double cylinders Promote two movement structures of fixture again, so can lead to promote positioning device structure complicated, manufacturing cost is high；Or, adopt Single cylinder promotes arm to move along vertical (or inclination) in the path direction that pushes to slide of fixture, by promoting arm and fixture one end Inclined-plane cooperation promotes fixture to produce sliding, but such structure is more difficult to control quality of fit, fixture moving range less.

In the present embodiment, described clamp fixing plate 701 is set up by support multiple guide wheels 706, in clamp fixing plate When pushing to slide fixture 8 in 701 groove, up or down, guide wheel 706 is located at the fixture pin of fixture 8 with clamp fixing plate 701 distribution The both sides of fixture 8.Latch segment, lower latch segment and fixture locking cylinder 702 are provided with described clamp fixing plate 701.

A kind of crystal blank polishing system as shown in Figure 1, including before and after the first about transfer device of be arrangeding in parallel and Second about transfer device, is arranged in order along the first about transfer device right-to-left and is provided with loading and unloading station, multiple upper half Ball milling throws station and docking station, be arranged in order from left to right along the second about transfer device be provided with docking station, multiple under Hemisphere grinding and polishing station and loading and unloading station；Wherein, loading and unloading station is provided for taking the crystal blank processing from fixture Get off and crystal blank to be processed is fixed on loading and unloading machinery, episphere grinding and polishing station and the lower semisphere grinding and polishing on this fixture Station be located at for polishing processing is carried out to the crystal blank on fixture grinding and polishing mechanically, docking station is provided for crystal Blank is fixed to the docking machinery another fixture from a fixture switching；Loading and unloading machinery, grinding and polishing machinery and docking machinery The upper clamping fixture seat being used for installs fixture sets in a row along about fixture length direction, described first about transfer device and second left Right transfer device all includes the multiple transfer robot arm horizontally slipping, and transfer robot arm is long by shifting driving means drives edge fixture Degree direction promotes fixture sliding between the adjacent clamping fixture seat in left and right；

Described grinding and polishing machinery includes：One grinding tool sequence, has multiple grinding and polishing grinding tools of left-right situs, the front side of grinding and polishing grinding tool Grinding and polishing sector is set with rear side；One episphere job sequence, including on front side of described grinding tool sequence, left-right situs multiple Grinding and polishing sector, realizes the stream of fixture by the first about transfer device between adjacent grinding and polishing sector in this episphere job sequence Turn；One lower semisphere job sequence, including on rear side of described grinding tool sequence, left-right situs multiple grinding and polishing sectors, this lower half Realize the circulation of fixture between adjacent grinding and polishing sector by the second about transfer device in ball job sequence；

Described loading and unloading machinery includes：One feeding sequence, including two the first clamping fixture seats of left-right situs, one of them The lower section setting loading assemblies of one clamping fixture seat, the first clamping fixture seat above this loading assemblies adopts fixture localization machine as above Structure；One blanking sequence, including two the second clamping fixture seats of left-right situs, the lower section setting blanking group of one of them the second clamping fixture seat Part；The first level rotating turret that between feeding sequence and blanking sequence, setting one can rotate in the horizontal plane and position, feeding One of one of sequence first clamping fixture seat and blanking sequence second clamping fixture seat is separately fixed at first level rotating turret The both sides rotation by first level rotating turret is realized front and back position and exchanged, another first fixture in feeding sequence in front and back Another second clamping fixture seat in seat and blanking sequence is separately fixed on loading and unloading base；Two first folders in feeding sequence All realized by the first about transfer device between tool seat and between the episphere job sequence of feeding sequence and grinding and polishing machinery The circulation of fixture, between two in blanking sequence second clamping fixture seat and blanking sequence and grinding and polishing machinery lower semisphere processing sequence All realize the circulation of fixture by the second about transfer device between row；

Described docking machinery includes：Sequence is docked, the first docking upper fixture seat and the 3rd including left-right situs presss from both sides before one Tool seat, the lower section setting one of the first docking upper fixture seat matches and implements the first docking lower clamp seat of docking；Sequence is docked after one Row, the second docking upper fixture seat including left-right situs and the 4th clamping fixture seat, the lower section of the second docking upper fixture seat arranges a phase The second docking lower clamp seat of docking is implemented in cooperation；Setting one between front docking sequence and rear docking sequence can be in vertical plane Rotate and positioning vertical rotating turret and can rotate in the horizontal plane and position second horizontally rotate frame, first to connecting Clamping fixture seat and first docks the front side that lower clamp seat is arranged on vertical rotating turret, the second docking upper fixture seat and the lower folder of the second docking Tool seat is arranged on the rear side of vertical rotating turret, the first docking upper fixture seat, the first docking lower clamp seat, the second docking upper fixture seat Before and after's upper-lower position is realized by the rotation of vertical rotating turret simultaneously exchange with the second docking lower clamp seat, the 3rd clamping fixture seat and the Before and after four clamping fixture seats are separately fixed at the second both sides in front and back horizontally rotating frame and are realized by the second rotation horizontally rotating frame Position is exchanged；In front docking sequence first is docked between upper fixture seat and the 3rd clamping fixture seat and front docking sequence and polished machine The circulation of fixture is all realized by the first about transfer device, afterwards second in docking sequence between the episphere job sequence of tool Between docking upper fixture seat and the 4th clamping fixture seat and all logical between the lower semisphere job sequence of rear docking sequence and grinding and polishing machinery Cross the circulation that the second about transfer device realizes fixture.Wherein, first docking upper fixture seat, first docking lower clamp seat, second Docking upper fixture seat and the second docking lower clamp seat are all using clamp positioning mechanism as above.

Empty fixture first feeding bonding crystal blank on the first clamping fixture seat in the feeding sequence of loading and unloading machinery, then pass through First about transfer device circulates successively on the multiple grinding and polishing sectors in the episphere job sequence of grinding and polishing machinery and carries out crystal The episphere polishing processing of blank, then pass through the first about transfer device mobile to the front docking sequence docking machinery the Connect for a pair and docked on clamping fixture seat, this fixture becomes sky fixture, another sky on the first docking lower clamp seat after docking Fixture becomes the strips fixture being bonded with crystal blank after docking, this strips fixture by the rotation of vertical rotating turret exchange to Afterwards in docking sequence, then by the multiple grinding and polishings in the lower semisphere job sequence of the second about transfer device movement to grinding and polishing machinery In mechanism, circulation carries out the episphere polishing processing of crystal blank successively, then passes through the second about transfer device movement to upper and lower Carry out blanking on second clamping fixture seat in the blanking sequence of material machinery and unload the crystal blank processing, turn finally by first level Moving frame changes the feeding carrying out another batch of crystal blank to feeding sequence；Carry out, the empty fixture after above-mentioned docking simultaneously Moved on the 3rd clamping fixture seat to front docking sequence by the first about transfer device, then horizontally rotate turning of frame by second Dynamic exchange is docked in sequence to rear, then passes through the second about transfer device movement to the second docking upper fixture seat, finally leads to Cross rotating of vertical rotating turret and exchange the docking waiting another batch of crystal blank to front docking sequence.So bench structure is tight Gather, station and arrangement of mechanism are more reasonable, small volume, board convenient to carry out is safeguarded and closed management, be conducive to improving life Produce workshop condition.

Above-mentioned grinding and polishing grinding tool is disc type grinding tool or roll-type grinding tool.In above-mentioned episphere job sequence or lower semisphere job sequence Multiple grinding and polishing sectors form multiple different grinding and polishing angles respectively.Above-mentioned grinding and polishing angle refers to the folder of the fixture in grinding and polishing sector The axial direction of tool pin and the angle formed by grinding and polishing face of grinding tool, this makes it possible to polishing processing on crystal ball base and go out different angle layers Facet.

Left and right transfer device as shown in Figure 4, all includes the multiple transfer robot arm horizontally slipping, transfer robot arm by turn Move driving means drives edge fixture length direction and promote fixture sliding between the adjacent clamping fixture seat in left and right；Described charging ＆ discharging machine All it is respectively arranged with the crossbeam 5011 that left and right connects, described transfer above both sides before and after tool, grinding and polishing machinery and docking machinery Tool handss include the horizontally slip sliding seat 604 being arranged on crossbeam 5011 and a fixture shift fork 606, the lower end of fixture shift fork 606 Handle cooperation with fixture back clamps, and the upper end of fixture shift fork 606 is hinged with sliding seat 604, and fixture shift fork 606 passes through cylinder 605 drivings swing up and down, and when it is rocked to upper, fixture shift fork 606 is separated with the handle at fixture back, when it is rocked to down During position, the handle cooperation clamping at the lower end fixture back of fixture shift fork 606, such that it is able to promote fixture sliding along about chute, So simple and reasonable, motion reliability, efficiency high, low cost of manufacture.Pass through between the sliding seat 604 of multiple transfer robot arm Some connecting rods 603 concatenate synchronizing moving, and the jointed shaft 607 of multiple fixture shift forks 606 is connected to one, fixture shift fork 606 upper end is fixed on its jointed shaft 607, and multiple fixture shift forks 606 drive synchronous hunting by same cylinder 605.Described Transfer driving means are a motor 602, and this motor 602 and sliding seat 604 pass through reducing gear, gear and tooth bar 601 transmission even Connect.Described first about transfer device and the second about transfer device structure are identical.

Grinding and polishing machinery as shown in Figure 2 and Figure 3, described grinding and polishing grinding tool is roll-type grinding tool, the rotating shaft of each grinding and polishing grinding tool 504 Two ends are all arranged on planker 506 by bearing block 505, and planker 506 horizontally slips and is arranged on grinding and polishing base 501 and by translation Motor 508 moves back and forth about driving, and the planker 506 of multiple grinding and polishing grinding tools 504 of left-right situs is fixedly connected synchronizing moving, phase The rotating shaft of adjacent grinding and polishing grinding tool 504 connects synchronous axial system by shaft coupling 5021, grinding tool motor 503 pass through drive 502 and its In a grinding and polishing grinding tool 504 rotating shaft transmission connect.The rotating shaft 5021 of this grinding and polishing grinding tool 504 is with drive 502 by spline even Connect.The centre installing a fork 507 fork 507 on grinding and polishing base 501 is hinged with grinding and polishing base 501, the upper end of fork 507 with drag Plate 506 is flexibly connected, and the lower end of fork 507 is connected with translation motor 508 by crank connecting link.Described grinding and polishing sector can be public The number of opening is the structure disclosed in the patent documentation such as CN203918748, CN203863461, CN203863514, CN203863460, Clamping fixture seat 511 including a mounting seat 509 with for placing clamp, clamping fixture seat 511 is provided with fixture locking device 512 and divides Degree conversion equipment 510.

Loading and unloading machinery as shown in Figure 5, Figure 6, loading and unloading base 101 is provided with discharge position 14, a feeding bread Discharge position 11 on position 13, a holding fix 12 and；Loading assemblies 103 are arranged in discharge position 11, on loading assemblies 103 First clamping fixture seat of side is feeding clamping fixture seat 104, and blanking assembly 109 is arranged in lower discharge position 14, blanking assembly 109 top Second clamping fixture seat is blanking clamp seat 110, and feeding clamping fixture seat 104 and blanking clamp seat 110 are fixed on fixed mount 102, fixing Frame 102 is fixed on loading and unloading base 101；First level rotating turret 105 is arranged on feeding bread position 13 and holding fix 12 Between, feeding bread position 13 is installed bread assembly 108, first level rotating turret 105 is driven in the horizontal plane by motor 106 Rotate.This spline structure also advantages of simple, low cost of manufacture, fixture is also improved in the circulation of each position and working (machining) efficiency.First Horizontally rotate the both sides installs fixture seat 107 in front and back of frame 105.It is in string setting before and after upper discharge position 11 and lower discharge position 14, etc. It is in string setting before and after treating position 12 and feeding bread position 13.It is designed with locking on first clamping fixture seat and the second clamping fixture seat Block, lower latch segment, guide wheel and fixture locking cylinder.Loading assemblies 103 include a heating tube, a storing basin and a die pad, should Heating tube is arranged on the top of storing basin and is driven by air cylinder driven lifting, and this heating tube is connected with thermatron, storage Feed basin is fixed on fixed mount 102, and die pad is arranged in storing basin and is driven by air cylinder driven oscilaltion, upper material clamp Seat adopts clamp positioning mechanism as above, and feeding clamping fixture seat is fixedly mounted on fixed mount 102 and is located above storing basin； During feeding, die pad is by crystal blank jack-up one row in storing basin, and crystal blank is held out against the fixture in feeding clamping fixture seat Fixture pin on, heating tube carries out heating to fixture pin makes on fixture pin rubber powder fusing bonding crystal blank, then, heating tube and Liftout sheet reset, completes feeding.Blanking assembly 109 includes a heating tube, a wire brush and a splicing basin, heating tube and wire brush It is arranged on above splicing basin, heating tube connects thermatron, wire brush is arranged on one liter by motor-driven rotation, splicing basin Air cylinder driven slide anteroposterior drops on platform A and is driven by, and lifting platform A and fixed mount 102 are vertically slidably connected and are driven by gas Cylinder drives lifting；During blanking, lifting platform A rises, and heating tube heats to the fixture pin of the fixture on blanking clamp seat, then Heating tube is return, splicing basin move, below the fixture pin of wire brush movement to fixture and carry out clear up discharging, on fixture fixture pin Crystal blank fall in splicing basin, splicing basin and lifting platform A reset, and complete blanking action.Bread assembly 108 includes a rubber powder Disk, rubber powder disk is arranged on a lifting platform B and is driven by air cylinder driven slide anteroposterior, and lifting platform B is erected with loading and unloading base 101 Directly be slidably connected and be driven by air cylinder driven lifting, and on rubber powder disk, install one to be used for striking off the scraping blade of rubber powder, scraping blade by Its driving cylinder drives and swings；During bread, rubber powder disk moves into, and lifting platform B rises, the fixture pin profit of the fixture on clamping fixture seat 107 With the waste heat after blanking in rubber powder disk bread, then, lifting platform B reset, rubber powder disk reset strike off rubber powder.Here can also be The side of rubber powder disk is installed a heating tube and fixture pin is heated, to avoid the waste heat after blanking not enough.

Dock machinery as shown in Figure 7, Figure 8, docking base 301 is provided with a docking location 31, a clear position 32, Docking bread position 33 and a holding fix 34, docking location 31 and clear position 32 about setting in a row, dock bread position Put 33 and holding fix 34 about setting in a row, be in string setting before and after clear position 32 and docking bread position 33, docking Be in string setting before and after position 31 and holding fix 34, vertical rotating turret 306 be arranged on docking location 31 and holding fix 34 it Between and rotation driven by motor 305, docking location 31 is provided with the fixture pin for two fixtures to docking and heats Heater 309, second horizontally rotate frame 302 is arranged on clear position 32 and docking bread position 33 between, clear position 32 are provided with cleaning assembly 303, and docking bread position 33 is provided with bread assembly 310.Two docking upper fixture seats 308, two All using clamp positioning mechanism as above, 308, two docking of two docking upper fixture seats are lower to press from both sides docking lower clamp seat 307 Be designed with two clamping fixture seats 304 that tool seat 307 and second horizontally rotates on frame 302 latch segment, lower latch segment, guide wheel and Fixture locking cylinder.Cleaning assembly 303 includes a waste material basin and a wire brush, and waste material basin is located at clear position 32 upper fixture seat 304 lower section, wire brush is arranged on waste material basin top and is driven by motor-driven rotation, and waste material basin erects with docking base 301 Directly it is slidably connected and drive oscilaltion with being driven by device；Empty fixture after docking is from docking location 31 to connecting folder When being moved to by left and right transfer device on tool seat on the clamping fixture seat 304 in clear position 32, waste material basin rises, brushing Cull on the fixture pin of the empty fixture after docking.Bread assembly 310 is identical with the bread modular construction on feeding bread position, Including a rubber powder disk, rubber powder disk is arranged on a lifting platform B and is driven by air cylinder driven slide anteroposterior, lifting platform B with dock Frame 3 is vertically slidably connected and is driven by air cylinder driven lifting, and installs one on rubber powder disk for striking off the scraping blade of rubber powder, Scraping blade is driven by air cylinder driven and swings；During bread, rubber powder disk moves into, and lifting platform B rises, the fixture on switch fixture seat B Fixture pin utilizes the bread in rubber powder disk of the waste heat after blanking, and then, lifting platform B resets, and rubber powder disk resets and strikes off rubber powder.

Although embodiments of the invention have been shown and described above it is to be understood that above-described embodiment is example Property it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art is in the principle without departing from the present invention and objective In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.

Claims

1. loading and unloading machinery is it is characterised in that include：

One feeding sequence, including two the first clamping fixture seats of left-right situs, the lower section setting feeding of one of them the first clamping fixture seat Assembly；The clamp positioning mechanism that the first clamping fixture seat above this loading assemblies adopts, including clamp fixing plate (701), described folder Tool fixed plate (701) is provided with the groove for pushing to slide fixture (8), and clamp fixing plate (701) is provided with the side of described groove Stop positioner, this stop positioner includes a stop arm (705), this stop arm (705) is controlled by stop driving structure That stretches into or exit fixture (8) pushes to slide path thus realizing stopping fixture (8) or allowing fixture (8) to pass through, clamp fixing plate (701) opposite side in described groove is provided with promotion positioner, and this promotion positioner includes a promotion arm (707), and this pushes away Swing arm (707) stretches into pushing to slide path and promoting fixture to move of fixture (8) by promotion driving structure control；

One blanking sequence, including two the second clamping fixture seats of left-right situs, the lower section setting blanking of one of them the second clamping fixture seat Assembly；

The first level rotating turret that between feeding sequence and blanking sequence, setting one can rotate in the horizontal plane and position, feeding One of one of sequence first clamping fixture seat and blanking sequence second clamping fixture seat is separately fixed at first level rotating turret Both sides exchanging before and after being realized by the rotation of first level rotating turret in front and back, another first clamping fixture seat in feeding sequence and Another second clamping fixture seat in blanking sequence is separately fixed on loading and unloading base；

Between two the first clamping fixture seats in feeding sequence and between the episphere job sequence of feeding sequence and grinding and polishing machinery All realize the circulation of fixture by the first about transfer device, between two in blanking sequence second clamping fixture seat and blanking sequence All realize the circulation of fixture by the second about transfer device between the lower semisphere job sequence of row and grinding and polishing machinery；Described first Left and right transfer device and the second about transfer device all include the multiple transfer robot arm horizontally slipping, and transfer robot arm is by shifting Driving means drives edge fixture length direction promotes fixture sliding between the adjacent clamping fixture seat in left and right.

2. loading and unloading according to claim 1 machinery is it is characterised in that described stop arm (705) and clamp fixing plate (701) it is slidably connected, the glide direction of this stop arm (705) pushes to slide path orthogonal with fixture (8), described stop driving structure For a slip driving cylinder (704), the mobile terminal of slip driving cylinder (704) is connected thus driving stop with stop arm (705) Arm (705) slides.

3. loading and unloading according to claim 1 machinery is it is characterised in that described stop arm (705) and clamp fixing plate (701) hinged, the rotational plane of this stop arm (705) pushes to slide path orthogonal with fixture (8), and described stop driving structure is one Rotate driving cylinder, rotate driving cylinder and be in transmission connection thus driving stop arm with stop arm (705) by tooth bar or connecting rod (705) rotate.

4. loading and unloading machinery according to claim 1 is it is characterised in that described promote arm (707) and clamp fixing plate (701) hinged, the rotational plane of this promotion arm (707) and fixture (8) push to slide that path is parallel, described promotion driving structure is one Rotate driving cylinder (708), rotate driving cylinder (708) pass through tooth bar or connecting rod with promote arm (707) and be in transmission connection thus Drive and promote arm (707) to rotate.

5. loading and unloading machinery according to claim 1 passes through support it is characterised in that described clamp fixing plate (701) is upper Erection has multiple guide wheels (706), when pushing to slide fixture (8) in the groove of clamp fixing plate (701), the fixture pin of fixture (8) to Upper or downward, guide wheel (706) is located at the both sides of fixture (8) with clamp fixing plate (701) distribution.

6. loading and unloading according to claim 1 machinery is it is characterised in that in described loading and unloading machinery：Loading and unloading base (101) it is provided with discharge position (14), a feeding bread position (13), discharge position (11) on a holding fix (12) and； Loading assemblies (103) are arranged in discharge position (11), and the first clamping fixture seat above loading assemblies (103) is feeding clamping fixture seat (104), blanking assembly (109) is arranged in lower discharge position (14), and the second clamping fixture seat above blanking assembly (109) is lower feed collet Tool seat (110)；First level rotating turret (105) is arranged between feeding bread position (13) and holding fix (12), and feeding is stained with Powder position (13) is upper to install bread assembly (108), and first level rotating turret (105) is driven by motor (106) and turns in the horizontal plane Dynamic.

7. dock machinery it is characterised in that including：

Dock sequence before one, dock upper fixture seat and the 3rd clamping fixture seat, the first docking upper fixture seat including the first of left-right situs Lower section setting one match implement docking first docking lower clamp seat；

Dock sequence after one, dock upper fixture seat and the 4th clamping fixture seat, the second docking upper fixture seat including the second of left-right situs Lower section setting one match implement docking second docking lower clamp seat；

Setting one between front docking sequence and rear docking sequence can be in the vertical rotating turret and of vertical rotation in surface and positioning Second can rotating in the horizontal plane and positioning horizontally rotates frame, and the first docking upper fixture seat and the first docking lower clamp seat are pacified It is contained in the front side of vertical rotating turret, after the second docking upper fixture seat and the second docking lower clamp seat are arranged on vertical rotating turret Side, the first docking upper fixture seat, the first docking lower clamp seat, the second docking upper fixture seat and the second docking lower clamp seat pass through perpendicular The rotation of straight rotating turret is realized before and after's upper-lower position simultaneously and is exchanged, and the 3rd clamping fixture seat and the 4th clamping fixture seat are separately fixed at the second water Both sides front and back position is realized by the second rotation horizontally rotating frame exchange before and after flat turn moving frame；

In front docking sequence first docking upper fixture seat and the 3rd clamping fixture seat between and front docking sequence and grinding and polishing machinery The circulation of fixture is all realized by the first about transfer device, afterwards the second docking in docking sequence between episphere job sequence Between upper fixture seat and the 4th clamping fixture seat and after docking sequence and grinding and polishing machinery lower semisphere job sequence between all by the Two about transfer devices realize the circulation of fixture；Described first about transfer device and the second about transfer device all include left and right The multiple transfer robot arm slided, transfer robot arm promotes fixture in left and right by shifting driving means drives edge fixture length direction Sliding between adjacent clamping fixture seat；

Wherein, the first docking upper fixture seat, the first docking lower clamp seat, the second docking upper fixture seat and the second docking lower clamp seat Using clamp positioning mechanism, all include clamp fixing plate (701), described clamp fixing plate (701) is provided with for pushing to slide folder The groove of tool (8), clamp fixing plate (701) is provided with stop positioner in the side of described groove, this stop positioner bag Include a stop arm (705), this stop arm (705) by stop driving structure control stretch into or exit fixture (8) push to slide path Thus realizing stopping fixture (8) or allowing fixture (8) to pass through, clamp fixing plate (701) is provided with promotion in the opposite side of described groove Positioner, this promotion positioner includes a promotion arm (707), and this promotion arm (707) is stretched into by promotion driving structure control Fixture (8) push to slide path and promote fixture move.

8. docking machinery according to claim 7 is it is characterised in that described stop arm (705) and clamp fixing plate (701) It is slidably connected, the glide direction of this stop arm (705) pushes to slide path orthogonal with fixture (8), described stop driving structure is one Slip driving cylinder (704), the mobile terminal of slip driving cylinder (704) is connected thus driving stop arm with stop arm (705) (705) slide.

9. docking machinery according to claim 7 is it is characterised in that described stop arm (705) and clamp fixing plate (701) Hinged, the rotational plane of this stop arm (705) pushes to slide path orthogonal with fixture (8), and described stop driving structure is a rotation Driving cylinder, is rotated driving cylinder and is in transmission connection thus driving stop arm (705) with stop arm (705) by tooth bar or connecting rod Rotate.

10. docking machinery according to claim 7 is it is characterised in that described promote arm (707) and clamp fixing plate (701) hinged, the rotational plane of this promotion arm (707) and fixture (8) push to slide that path is parallel, described promotion driving structure is one Rotate driving cylinder (708), rotate driving cylinder (708) pass through tooth bar or connecting rod with promote arm (707) and be in transmission connection thus Drive and promote arm (707) to rotate.

11. docking machineries according to claim 7 pass through support frame it is characterised in that described clamp fixing plate (701) is upper It is provided with multiple guide wheels (706), when pushing to slide fixture (8) in the groove of clamp fixing plate (701), the fixture pin of fixture (8) is upwards Or downwards, guide wheel (706) is located at the both sides of fixture (8) with clamp fixing plate (701) distribution.

12. docking machineries according to claim 7 are it is characterised in that docking base (301) is provided with a docking location (31) a, clear position (32), docking bread position (33) and a holding fix (34), clear position (32) and docking bread It is in string setting before and after position (33), be in string setting before and after docking location (31) and holding fix (34), vertical rotating turret (306) it is arranged between docking location (31) and holding fix (34), docking location (31) is provided with for two to docking The heater (309) that the fixture pin of individual fixture is heated, second horizontally rotate frame (302) be arranged on clear position (32) and Between docking bread position (33), clear position (32) is provided with cleaning assembly (303), and docking bread position (33) is provided with is stained with Component powder (310).

A kind of 13. crystal blank polishing systems, including before and after the first about transfer device of be arrangeding in parallel and the second about transfer Mechanism, be arranged in order along the first about transfer device right-to-left be provided with loading and unloading station, multiple episphere grinding and polishing station and Docking station, is arranged in order from left to right along the second about transfer device and is provided with docking station, multiple lower semisphere grinding and polishing station With loading and unloading station；Wherein, loading and unloading station is provided for taking off the crystal blank processing from fixture and will be to be added The crystal blank of work is fixed on the loading and unloading machinery on this fixture, episphere grinding and polishing station and lower semisphere grinding and polishing station be located at for Mechanically, docking station is provided for pressing from both sides crystal blank from one for the grinding and polishing carrying out polishing processing to the crystal blank on fixture Tool switching is fixed to the docking machinery on another fixture；Loading and unloading machinery, grinding and polishing machinery and docking are mechanically used for installation folder The clamping fixture seat of tool sets in a row along about fixture length direction, and described first about transfer device and the second about transfer device are equal Including the multiple transfer robot arm horizontally slipping, transfer robot arm promotes folder by shifting driving means drives edge fixture length direction Tool sliding between the adjacent clamping fixture seat in left and right；It is characterized in that, described loading and unloading machinery and docking are mechanically provided with fixture Detent mechanism, this clamp positioning mechanism includes clamp fixing plate (701), and described clamp fixing plate (701) is provided with for pushing to slide The groove of fixture (8), clamp fixing plate (701) is provided with stop positioner in the side of described groove, this stop positioner Including a stop arm (705), this stop arm (705) controls that stretches into or exit fixture (8) to push to slide road by stopping driving structure Thus realizing stopping fixture (8) or allow fixture (8) to pass through, clamp fixing plate (701) is provided with and pushes away in the opposite side of described groove in footpath Dynamic positioning system, this promotion positioner includes a promotion arm (707), and this promotion arm (707) is controlled by promotion driving structure to be stretched Enter pushing to slide path and promoting fixture to move of fixture (8).

A kind of 14. crystal blank polishing systems according to claim 13 it is characterised in that described stop arm (705) with Clamp fixing plate (701) is slidably connected, and the glide direction of this stop arm (705) pushes to slide path orthogonal with fixture (8), described resistance Gear driving structure be a slip driving cylinder (704), the mobile terminal of slip driving cylinder (704) be connected with stop arm (705) from And drive stop arm (705) to slide.

A kind of 15. crystal blank polishing systems according to claim 13 it is characterised in that described stop arm (705) with Clamp fixing plate (701) is hinged, and the rotational plane of this stop arm (705) pushes to slide path orthogonal with fixture (8), and described stop is driven Dynamic structure is a rotation driving cylinder, rotate driving cylinder pass through tooth bar or connecting rod be in transmission connection with stop arm (705) thus Stop arm (705) is driven to rotate.

A kind of 16. crystal blank polishing systems according to claim 13 it is characterised in that described promotion arm (707) with Clamp fixing plate (701) is hinged, the rotational plane of this promotion arm (707) and fixture (8) push to slide that path is parallel, described promotion is driven Dynamic structure is rotation driving cylinder (708), rotates driving cylinder (708) and passes through tooth bar or connecting rod and promote arm (707) biography It is dynamically connected thus driving promotion arm (707) to rotate.

A kind of 17. crystal blank polishing systems according to claim 13 are it is characterised in that described clamp fixing plate (701) upper erection by support has multiple guide wheels (706), when pushing to slide fixture (8) in the groove of clamp fixing plate (701), folder Up or down, guide wheel (706) is located at the both sides of fixture (8) with clamp fixing plate (701) distribution to the fixture pin of tool (8).