CN116330151A - A double-sided grinding automatic loading and unloading device - Google Patents

Abstract

The invention discloses an automatic loading and unloading device for double-sided grinding, which includes a structural frame, a manipulator, a feeding mechanism, a feeding mechanism, a feeding mechanism, a turntable mechanism and a cleaning box; the structural frame includes a cabinet, a mullion and a top frame, and the vertical The frame is installed on the top of the cabinet, and the top frame is installed on the top of the mullion; the manipulator includes a six-axis manipulator installed on the top of the cabinet and located at the rear of the feeding mechanism, and a four-axis manipulator installed in the middle of the bottom of the top frame And the lower six-axis manipulator installed on the top of the cabinet and on the right side of the unloading mechanism. The automatic loading and unloading device for hard disk substrates of the present invention can be widely used in the production of hard disks to automatically complete the task of loading and unloading substrates. The device has the advantages of simple operation, high stability, and high efficiency. In addition, it can also greatly reduce Human interference and cross-contamination, thereby improving product quality and production efficiency.

Description

A double-sided grinding automatic loading and unloading device

technical field

The invention relates to the technical field, in particular to an automatic loading and unloading device for double-sided grinding.

Background technique

The substrate in hard disk production has very high process precision requirements, and is easily polluted and damaged by the outside world. There are some problems in the current loading and unloading, such as complicated operation, poor stability, and low efficiency. Therefore, the present invention proposes a Double-sided grinding automatic loading and unloading device to improve the deficiencies of the existing technology.

Contents of the invention

The object of the present invention is to provide an automatic loading and unloading device for double-sided grinding, so as to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a double-sided grinding automatic loading and unloading device, including a structural frame, a manipulator, a feeding mechanism, a material transfer mechanism, a blanking mechanism, a turntable mechanism and a cleaning box; the structural frame includes a cabinet , mullion and top frame, the mullion is installed on the top of the cabinet, and the top frame is installed on the top of the mullion; the manipulator includes a six-axis manipulator installed on the top of the cabinet and located at the rear of the feeding mechanism, installed at the bottom of the top frame The four-axis manipulator in the middle of the rear side and the lower six-axis manipulator installed on the top of the cabinet and on the right side of the unloading mechanism;

Preferably, the feeding mechanism includes an elevator, the left side of the elevator is installed with a lifting plate through the connecting seat, and 8 turning parts are installed on the left side of the lifting plate from bottom to top, the turning parts include a horizontal plate, and the left side of the horizontal plate is installed with a transfer The inner side of the adapter seat is installed with a rotating plate through a pin shaft, two struts are installed at the front and rear ends of the left side of the rotating plate, and a rectangular support frame is installed in the middle of the left side of the rotating plate.

Preferably, the feeding mechanism includes an elevator, the left side of the elevator is installed with a lifting plate through the connecting seat, and a turning piece is installed on the left side of the lifting plate from bottom to top, the turning piece includes a horizontal plate, and an adapter seat is installed on the left side of the horizontal plate , the inner side of the adapter seat is installed with a rotating plate through a pin shaft, two struts are installed at the front and rear ends of the left side of the rotating plate, and a rectangular support frame is installed in the middle of the left side of the rotating plate;

Preferably, the unloading mechanism includes a base, the vertical plate is installed on the top rear side of the vertical plate, the track is installed on the front side of the vertical plate, the 4 carriers pass through a slide bar that can slide in the inner cavity of the track, and the 4 connecting rods are equidistantly installed On the front side of the slide bar, the bottom end of the slide bar is connected to the base through the electric cylinder, and 10 round rods are installed on the inside of the carrier. The round rods are inserted into the inner wall of the carrier through threaded rods and fixed by nuts. The cylinder is socketed, the electric push rod is installed on the side of the mullion, and the stop rod is installed on the front end of the electric push rod.

A double-sided grinding automatic loading and unloading device proposed by the present invention has the beneficial effects of:

The automatic loading and unloading device for hard disk substrates of the present invention can be widely used in the production of hard disks to automatically complete the task of loading and unloading substrates. The device has the advantages of simple operation, high stability, and high efficiency. In addition, it can also greatly reduce Human interference and cross-contamination, thereby improving product quality and production efficiency.

Description of drawings

Fig. 1 is an axonometric view of the present invention;

Fig. 2 is the top view of the present invention;

Fig. 3 is the front view of the present invention;

Fig. 4 is a front view of the feeding mechanism of the present invention;

Figure 5 is an enlarged view of A in Figure 1;

Fig. 6 is the front view of the unloading mechanism of the present invention;

Fig. 7 is a top view of the unloading mechanism of the present invention.

In the figure: 1. Cabinet, 2. Mullion, 3. Top frame, 4. Feeding mechanism, 4-1. Elevator, 4-2. Connecting seat, 4-3. Lifting plate, 4-4. Folding piece . 5a, motor, 5b, moving seat, 5c, connecting frame, 5d, carrier, 5e, lead screw, 5f, concave frame, 5g, limit plate, 6, blanking mechanism, 6a, base, 6b, vertical plate, 6c, electric cylinder, 6d, track, 6e, connecting rod, 6f, carrier, 6g, round rod, 6h, threaded rod, 6i, cylinder, 6j, electric push rod, 6k, stop rod, 7, turntable mechanism, 8. Cleaning box, 9. Feeding six-axis manipulator, 10. Four-axis manipulator, 11. Lower six-axis manipulator.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-2, the present invention provides a technical solution: a double-sided grinding automatic loading and unloading device, including a structural frame, a manipulator, a feeding mechanism 4, a feeding mechanism 5, a feeding mechanism 6, a turntable mechanism 7 and Cleaning box 8;

The structural frame includes a cabinet 1, a mullion 2 and a top frame 3, the mullion 2 is installed on the top of the cabinet 1, and the top frame 3 is installed on the top of the mullion 2;

The manipulator includes a six-axis manipulator 9 installed on the top of the cabinet 1 and located at the rear of the feeding mechanism 4, a four-axis manipulator 10 installed at the middle of the bottom rear side of the top frame 3, and a manipulator 10 installed at the top of the cabinet 1 and located at the unloading mechanism. 6 The lower six-axis manipulator 11 on the right side;

The four-axis manipulator 10 is used to move the disk substrate from the wobble plate on the turntable mechanism 7 to the grinder, and the six-axis manipulator 9 is used to move the disk substrate in the upper cleaning box to the wobble plate on the turntable mechanism 7 , the lower six-axis manipulator 11 moves from the swing plate on the turntable mechanism 7 to the cleaning box 8; the turntable mechanism 7 is used for the intermediate conversion mechanism between the cleaning box 8 and the grinder, and the four-axis manipulator 10 is used for loading and unloading on the double-sided grinding machine. To achieve high-speed positioning, the feeding six-axis manipulator 9 transfers the disc substrate from the cleaning box 8 to the turntable at high speed; the lower six-axis manipulator 11 transfers the disc substrate from the turntable to the cleaning box 8 at high speed;

Please refer to Fig. 4-5, the feeding mechanism 4 includes a lifter 41, the left side of the lifter 41 is installed with a lifting plate 43 through a connecting seat 42, and 8 turning pieces 44 are installed on the left side of the lifting plate 43 from bottom to top, and the turning piece 44 Including a horizontal plate 441, the left side of the horizontal plate 441 is equipped with an adapter seat 442, and the inner side of the adapter seat 442 is installed with a rotating plate 443 through a pin shaft. Two poles 445 are installed at the front and rear ends of the left side of the rotating plate 443. A rectangular support frame 446 is installed in the middle of the side;

Please refer to Fig. 2, the feeding mechanism 5 comprises a concave frame 5f, a motor 5a is installed at the end of the left end of the concave frame 5f, a limit plate 5g is installed at the end of the right end of the concave frame 5f, and the left end of the leading screw 5e is connected to the motor through a coupling. 5a is connected to the output end, the right end of the screw 5e is connected to the limit plate 5g through a bearing, the inner wall of the moving seat 5b is threaded, the inner wall of the moving seat 5b is screwed to the outer wall of the leading screw 5e, and the carrier 5d is connected to the moving frame 5c through the connecting frame 5c. Block 5b connection;

Referring to Figures 6 and 7, the unloading mechanism 6 includes a base 6a, a vertical plate 6b is installed on the rear side of the top of the 6a, and a track 6d is installed on the front side of the vertical plate 6b, and 4 carriers 6f pass through a cavity that can be mounted on the track 6d. Sliding slide bar, four connecting rods 6e are equidistantly installed on the front side of the slide bar, the bottom end of the slide bar is connected to the base 6a through the electric cylinder 6c, ten round rods 6g are installed on the inner side of the carrier 6f, and the round rods 6g are threaded The rod 6h is plugged into the inner wall of the carrier 6f and fixed by a nut, the outer wall of the round rod 6g is sleeved with the cylinder 6i, the electric push rod 6j is installed on the side of the mullion 2, and the stop rod 6k is installed on the front end of the electric push rod 6j .

1. Working principle of feeding mechanism

1: The feeding six-axis manipulator 9 takes the disk in the cleaning box 8 on the first layer;

2: After taking out the disk, the material transfer mechanism 5 comes over and takes away the cleaning box 8;

3: The cleaning box 8 on the first layer is positioned to turn over the flap;

4: The elevator 41 moves upward for a fixed distance;

5: The optical fiber senses that the second layer of material is in place;

6: The loading six-axis manipulator 9 starts taking materials again;

7: Repeat the above actions for the lower layers;

8: Take the material to the 8th floor, continue to add material and repeat the above action.

2. The working principle of the blanking mechanism

1: The cleaning box 8 on the material transfer mechanism 5 is loaded and moved to the first layer of the unloading rack;

2: The electric cylinder 6c of the unloading rack moves upward for a short distance, and moves the cleaning box 8 to the unloading rack;

3: The feeding mechanism 5 exits the unloading rack;

4: The electric cylinder 6c of the unloading rack moves downward;

5: The electric push rod 6j drives the cleaning box 8 to move inward through the stop rod, and pushes the cleaning box 8 to the position inside the first layer of the unloading rack;

6: The second group of materials on the material transfer mechanism 5 is finished;

10: The electric cylinder 6c of the unloading rack moves upward for a short distance, and moves the cleaning box 8 to the unloading rack;

11: The feeding mechanism 5 exits the unloading rack;

12: The electric cylinder 6c of the unloading rack moves down to the second floor position;

13: Repeat the above to move to the fourth floor.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (9)

1. Automatic unloader that goes up of two-sided grinding for go up unloading to the disk substrate in the cleaning box, its characterized in that: the automatic feeding device comprises a structural frame, a manipulator arranged on the structural frame, a discharging mechanism and a feeding mechanism arranged at the left end and the right end of the inner side of the structural frame, and a material conveying mechanism arranged between the discharging mechanism and the feeding mechanism and a turntable mechanism arranged in the middle of the inner side of the structural frame are corresponding in position.

2. The automatic double-sided grinding feeding and discharging device according to claim 1, wherein: the structural frame comprises a cabinet at the bottom, a vertical frame arranged at the top end of the cabinet and a top frame arranged at the top end of the vertical frame.

3. The automatic double-sided grinding feeding and discharging device according to claim 2, wherein: the manipulator comprises a six-axis feeding manipulator arranged at the top end of the cabinet and positioned at the rear side of the feeding mechanism, a six-axis descending manipulator arranged at the top end of the cabinet and positioned at the right side of the discharging mechanism, and a four-axis manipulator arranged at the bottom end of the top frame and corresponding to the position of the turntable mechanism.

4. A double-sided lapping automatic loading and unloading device according to claim 3, wherein: the feeding mechanism comprises a lifting plate and a lifting machine, the bottom end of the right side of the lifting plate is connected with the lifting machine through a connecting seat, and a plurality of turnover pieces are arranged on the left side wall of the lifting plate from top to bottom at equal intervals.

5. The automatic double-sided grinding feeding and discharging device according to claim 4, wherein: the folding piece comprises a concave seat, one side of a rotating plate is rotatably connected to the inner side of the concave seat, a cross rod is installed on the other side of the rotating plate, a plurality of supporting rods and supporting frames are installed on the left side of the cross rod, the supporting rods are located on two sides of the supporting frames, and a certain distance exists between the supporting rods and the supporting frames.

6. A double-sided lapping automatic loading and unloading device according to claim 3, wherein: the blanking mechanism comprises a blanking frame and an electric cylinder arranged at the bottom end of the blanking frame and capable of enabling the blanking frame to move up and down, the blanking frame comprises a vertical plate, a track is arranged on the front side of the vertical plate, a sliding rod is arranged in an inner cavity of the track, one end of a connecting rod is fixedly arranged on the front side of the sliding rod, a carrier is arranged at the other end of the connecting rod, and a plurality of conducting units are arranged on the inner side of the carrier.

7. The automatic double-sided grinding feeding and discharging device according to claim 6, wherein: the conducting unit comprises a round rod, the round rod is fixedly arranged on the inner side of the carrier, a rotatable cylinder is sleeved on the outer wall of the round rod, and a gap exists between the cylinder and the round rod.

8. The automatic double-sided grinding feeding and discharging device according to any one of claims 1 to 7, wherein: the material conveying mechanism comprises a concave frame, a motor is arranged on one side of the concave frame, a limiting plate is arranged on the other side of the concave frame, one end of a screw rod is arranged at the output end of the motor through a coupler, the other end of the motor is in interference fit with the inner ring of a bearing of the limiting plate, a movable seat is connected with the outer wall of the screw rod through threads, one end of a connecting frame is arranged at the top end of the movable seat, and a carrier is arranged at the other end of the connecting frame.

9. The automatic double-sided grinding feeding and discharging device according to claim 8, wherein: the movable seat is T-shaped, the vertical body part is in threaded connection with the screw rod and slides in the concave frame, and the horizontal body part slides at the top end of the concave frame.

Images