CN204546254U - Crystal blank automatic grinding and polishing system and hand type transfer device thereof - Google Patents

Abstract

The utility model discloses crystal blank automatic grinding and polishing system and hand type transfer device thereof, comprise the first arc track, second arc track and two transfer robot arm A, first arc track and the second arc track are that upper and lower correspondence is fixedly installed in frame, two transfer robot arm A slide along the first arc track and the second arc track, the manipulator seat of described transfer robot arm A is provided with at least two respectively by bearing and horizontally rotates part, horizontally rotate on part, respectively by bearing, upper block and lower tumbler are installed, lower tumbler is along the first arc track slip underneath, upper block slides above the second arc track, thus upper block and lower tumbler form vertically clamping the first arc track and the second arc track, transfer robot arm B in the left/right rotation moving mechanism that the manipulator seat of transfer robot arm A is adjacent by connecting rod A connects and moves simultaneously.The technical program structure more advantages of simple, motion stabilization is reliable, manufacturing cost and use cost is lower.

Description

Crystal blank automatic grinding and polishing system and hand type transfer device thereof

Technical field

The utility model belongs to crystal product polishing processing field, relate to a kind of crystal blank automatic grinding and polishing system of crystal blank being carried out to automation polishing processing, particularly relate to wherein for the hand type transfer device of transferring clamp on several stations of annular spread.

Background technology

In prior art, the automatic grinding and polishing system (polished machine) of crystal blank, comprising: feeding station, is provided with the feed mechanism that crystal blank can be fixed on fixture; At least one carries out the episphere grinding station of grinding to the episphere of crystal blank and at least one carries out the episphere polishing station of polishing to the episphere of crystal blank; Docking station, is provided with and crystal blank can be fixed to the docking mechanism that two fixtures also can be carried out by another fixture position exchange from a fixture switching; At least one carries out the lower semisphere grinding station of grinding to the lower semisphere of crystal blank and at least one carries out the lower semisphere polishing station of polishing to the lower semisphere of crystal blank; Discharge station, is provided with the cutting agency that crystal blank can be disassembled from fixture; Wherein, described episphere grinding station and lower semisphere grinding station are equipped with grinding mechanism, described episphere polishing station and lower semisphere polishing station are equipped with polishing mechanism.Crystal blank is carried out between each station the transfer device circulated, have head swivel mount form, manipulator swivel mount form and robot track form.

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

Material loading, (comprise the fixture pin preheating → bread of sky fixture → upper pearl → bonding) → episphere grinding → episphere polishing → docking, (the fixture pin preheating → bread → fixture comprising sky fixture to supporting → to crystal blank in the fixture pin heating melt adhesive of empty fixture → to the fixture pin heating of another fixture remove photoresist → Cooling fixture pin makes to be adhesively fixed) → lower semisphere grinding → lower semisphere polishing → blanking, (comprise and fixture heating removed photoresist → lower pearl and cleaning clamp pin).

Publication number is the manipulator disclosed in the patent document of CN202378056U for crystal blank polishing system, comprise magnechuck, magnechuck is fixed on the first mount pad, and the first mount pad and the second mount pad exist horizontal slip, vertically slide and rotate three kinds of connected modes.The program adopts magnechuck to adsorb stationary fixture, and manufacturing cost and use cost is higher.

Publication number is that CN202412000U discloses a kind of manipulator for crystal blank polishing system, comprise mount pad, mount pad is provided with sliding seat, sliding seat is driven by sliding cylinder and slides, sliding seat front end is hinged with a swing arm, swing arm is provided with two grafting cylinders be oppositely arranged, the piston rod front end of grafting cylinder is connected with fixture by latch, socket, and swing arm is driven by oscillating cylinder and swings.The program adopts latch, the form of socket realizes fixture and captures, and employs multiple cylinder and there is the higher problem of manufacturing cost and use cost equally.

Publication number is that CN203331025U discloses a kind of crystal blank automatic grinding and polishing system and left/right rotation moving mechanism thereof, transfer robot arm, comprise manipulator seat, multiple guide wheel is installed in the side of manipulator seat, manipulator seat to be led slip in orbit by these guide wheels, the opposite side of manipulator seat arranges a travelling carriage slided up and down, a tooth bar is fixed on the top of travelling carriage, tooth bar and the manipulator meshed transmission gear be arranged on manipulator seat, manipulator gear and manipulator lifting drive are in transmission connection, a fixture shift fork is fixed in the bottom of travelling carriage, fixture shift fork coordinates with the handle at fixture back and clamps.The program adopts shift fork to promote fixture slippage, although the structure of manipulator is simple, but push to slide mobile stable not, grinding and polishing face indexing device needs to move dodges to ensure to push to slide, adopt monolateral benchmark, so also cause fixture worm shaft to increase with the difficulty that coordinates of shaft coupling in the indexing device of grinding and polishing face because push to slide simultaneously.

Publication number is disclose a kind of crystal blank automatic grinding and polishing system in the patent document of CN103659518A, comprising: the docking mechanism of the setting that is arranged in a linear from left to right, the first grinding mechanism, the first polishing mechanism, the second polishing mechanism, the second grinding mechanism, the 3rd polishing mechanism and charging and discharging mechanism; First grinding mechanism comprises the first grinding grinding tool for grinding, and the side of the first grinding grinding tool is lower semisphere grinding position, and the opposite side of the first grinding grinding tool is holding fix B; First polishing mechanism comprises the first polishing abrasive tool for polishing, and the side of the first polishing abrasive tool is lower semisphere stock removal polishing position, and the opposite side of the first polishing abrasive tool is episphere second polishing position; Second polishing mechanism comprises the second polishing abrasive tool for polishing, and the side of the second polishing abrasive tool is lower semisphere second polishing position, and the opposite side of the second polishing abrasive tool is episphere stock removal polishing position; Second grinding mechanism comprises the second grinding grinding tool for grinding, and the side of the second grinding grinding tool is top end face grinding position, and the opposite side of the second grinding grinding tool is episphere grinding position; 3rd polishing mechanism comprises the 3rd polishing abrasive tool for polishing, and the side of the 3rd polishing abrasive tool is top end face polishing position, and the opposite side of the 3rd polishing abrasive tool is holding fix A; Described charging and discharging mechanism comprises material loading position and blanking position, material loading position is provided with material loading clamping fixture seat and feed mechanism, blanking position is provided with blanking clamp seat and cutting agency, is provided with the loading and unloading transfer device that can pick up and put down fixture and also fixture can be carried out between material loading position and blanking position shifting between material loading position and blanking position; Wherein, described material loading clamping fixture seat and blanking clamp seat are provided with the fixture locking device for the fixture that is locked; Episphere grinding position, episphere stock removal polishing position, episphere second polishing position, lower semisphere grinding position, lower semisphere stock removal polishing position, lower semisphere second polishing position, top end face grinding position and top end face polishing position all arrange for sectional fixture and drive fixture to carry out the grinding and polishing sector of polishing processing; Material loading position, holding fix A, episphere grinding position, episphere stock removal polishing position, episphere second polishing position, holding fix B and to connecting the circulation being realized fixture between jig installation position by the first left/right rotation moving mechanism; Docking lower clamp installation site, lower semisphere grinding position, lower semisphere stock removal polishing position, lower semisphere second polishing position, top end face grinding position, between top end face polishing position and blanking position, realized the circulation of fixture by the second left/right rotation moving mechanism; Described first left/right rotation moving mechanism and the second left/right rotation moving mechanism include rectilinear orbit, and linearly track slides and arranges the translation manipulator that several could pick up and put down fixture.In the program, docking transfer device and loading and unloading transfer device adopt identical vibrational power flow, be swivel mount mode, swivel mount is arranged in frame, to connecting jig installation position, docking lower clamp installation site and docking bread position around the surrounding being arranged on swivel mount, swivel mount is installed the transfer robot arm that several could pick up and put down fixture.Adopt the hand type transfer device of swivel mount, need independently power drive swivel mount to rotate, rotator inertia is large, complex structure, and need the synchronous transfer fixture of the automatically controlled transfer device that achieves a butt joint, loading and unloading transfer device and left/right rotation moving mechanism, manufacturing cost is high.

Publication number be CN104015183 patent document discloses a kind of hand type transfer device, transfer robot arm is by two arc track slip up and down, the first guide wheel group is adopted vertically to clamp the both sides up and down of the first arc track, two the second guide wheel group levels clamp the inside and outside both sides of the second arc track, and two the second guide wheel group are arranged on two respectively and horizontally rotate on part, thus ensure that transfer robot arm can along the smooth and easy slip of trapped orbit, also ensure that the smooth motion that the motive force of connecting rod effectively can be converted into transfer robot arm, the motive force making hand type transfer device can use left/right rotation moving mechanism like this realizes synchronization action.But in actual use, applicant still wishes to be optimized said structure, to reduce requirement on machining accuracy and manufacture process requirement further, reduce manufacturing cost.

Summary of the invention

In order to solve above-mentioned technical problem, the purpose of this utility model is to provide a kind of crystal blank automatic grinding and polishing system and hand type transfer device thereof, this hand type transfer device is as docking transfer device or loading and unloading transfer device, reliably be connected synchronization action with left/right rotation moving mechanism, simple and reasonable, motion stabilization is reliable, manufacturing cost and use cost is lower.

To achieve the above object, the utility model have employed following technical scheme:

Hand type transfer device, comprise the first arc track, second arc track and two transfer robot arm A, first arc track and the second arc track are that upper and lower correspondence is fixedly installed in frame, two transfer robot arm A slide along the first arc track and the second arc track, the manipulator seat of described transfer robot arm A is provided with at least two respectively by bearing and horizontally rotates part, horizontally rotate on part, respectively by bearing, upper block and lower tumbler are installed, lower tumbler is along the first arc track slip underneath, upper block slides above the second arc track, thus upper block and lower tumbler form vertically clamping the first arc track and the second arc track, transfer robot arm B in the left/right rotation moving mechanism that the manipulator seat of transfer robot arm A is adjacent by connecting rod A connects and moves simultaneously.

Described upper block and lower tumbler are U-shaped or V-type groove guide wheel.

As preferably, described transfer robot arm A is identical with transfer robot arm B structure.

As preferably, described left/right rotation moving mechanism comprises multiple transfer robot arm B that linearly track slides, adjacent two the transfer robot arm B in left and right in same left/right rotation moving mechanism are flexibly connected and synchronizing moving by connecting rod, before and after frame both sides two left/right rotation moving mechanisms in transfer robot arm B driven by rack-mounted same motor, this motor and rack-mounted central gear are in transmission connection, central gear and the spur rack engaged transmission of both sides before and after it, the spur rack of both sides, front and back is fixedly connected with the transfer robot arm B in the left/right rotation moving mechanism of its homonymy respectively.

Further preferably, the manipulator seat of described transfer robot arm A to be flexibly connected with the slip planker be fixed on spur rack by connecting rod A and also to move simultaneously.

As preferably, described transfer robot arm A comprises manipulator seat, manipulator seat is provided with the first travelling carriage and the second travelling carriage, first travelling carriage and manipulator seat are slidably connected and are driven by its drive unit and slide up and down, second travelling carriage and the first travelling carriage are slidably connected and are driven by cylinder B and slide up and down, first travelling carriage bottom arranges a trunnion axis, the two ends, left and right of trunnion axis respectively arrange a mechanical tong: this mechanical tong comprises symmetrically arranged two jaws and two linking arms, the middle part of two jaws is all on the horizontal axis sheathed thus realize hinged, the lower end of two jaws is bare terminal end, the upper end of two jaws is hinged with the lower end of respective linking arm respectively, the upper end of two linking arms is all hinged with the second travelling carriage, the jointed shaft of described linking arm and jaw, linking arm is all parallel with trunnion axis with the jointed shaft of the second travelling carriage.Eight characters machinery tong is adopted to realize the reliable and stable clamping of fixture, the first travelling carriage is adopted to realize opening and clamping of mechanical tong with relative the sliding up and down of the second travelling carriage, only need the less cylinder of use one can realize holder action, simple and reasonable, reduce manufacturing cost and use cost.

Preferred further, it is hinged that the upper end of described two linking arms and the second travelling carriage pass through same jointed shaft.

Further preferably, the upper and lower of described first travelling carriage is fixedly connected with by two guide pillars, and on guide pillar, slip cap is provided with the first guide pin bushing and the second guide pin bushing, and the first guide pin bushing is fixedly connected with manipulator seat, and the second guide pin bushing is fixedly connected with the second travelling carriage.Rational in infrastructure like this, drive simple, reliable, efficiency is high, cost is low.

Further preferably, the drive unit of described first travelling carriage is that the mobile terminal of the cylinder A be fixed on manipulator seat, cylinder A is fixedly connected with the first travelling carriage.

Further preferably, described frame is provided with positioning sliding block and positioning cylinder, positioning cylinder drives the location structure wedging on the manipulator seat of positioning sliding block and transfer robot arm A to locate.

A kind of crystal blank automatic grinding and polishing system, comprises hand type transfer device as above.

The utility model is owing to have employed above technical scheme, transfer robot arm is by two arc track slip up and down, the both sides up and down of the first arc track and the second arc track are vertically clamped respectively by upper lower tumbler, and the upper block cooperatively interacted and lower tumbler are arranged on one to horizontally rotate on part, thus ensure that transfer robot arm can along the smooth and easy slip of trapped orbit, also ensure that the smooth motion that the motive force of connecting rod effectively can be converted into transfer robot arm, the motive force making hand type transfer device can use left/right rotation moving mechanism like this realizes synchronization action, simple and reasonable, connect reliable firm, motion stabilization is reliable, manufacturing cost and use cost is lower.

Accompanying drawing explanation

Fig. 1 is the stereogram of the utility model hand type transfer device; The forward and backward upper left referred in Fig. 1 described in the utility model, bottom right, left and right refers to lower-left in Fig. 1, upper right;

Fig. 2 is the stereogram (having track, front side) of the utility model transfer robot arm A;

Fig. 3 is the stereogram (having track, rear side) of the utility model transfer robot arm A;

Fig. 4 is the stereogram (rail-free, rear side) of the utility model transfer robot arm A;

Fig. 5 is the stereogram (having positioning sliding block and positioning cylinder) of the utility model transfer robot arm A.

Detailed description of the invention

Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is made a detailed explanation.

Embodiment 1:

A kind of hand type transfer device as shown in Figure 1, comprise the first arc track 2, second arc track 3 and two transfer robot arm A1, first arc track 2 and the second arc track 3 are fixedly installed in frame in upper and lower correspondence, two transfer robot arm A1 slide along the first arc track 2 and the second arc track 3, as Fig. 3, shown in Fig. 4, the manipulator seat 101 of described transfer robot arm A1 is provided with at least two respectively by bearing 113 and horizontally rotates part 110, horizontally rotate on part 110, respectively by bearing, upper block 111 and lower tumbler 112 are installed, lower tumbler 112 is along the first arc track 2 slip underneath, upper block 111 slides above the second arc track 3, thus upper block 111 and lower tumbler 112 form vertically clamping the first arc track 2 and the second arc track 3, transfer robot arm B4 in the left/right rotation moving mechanism that the manipulator seat 101 of transfer robot arm A1 is adjacent by connecting rod A8 connects and moves simultaneously.

In the present embodiment, described upper block 111 and lower tumbler 112 are U-shaped or V-type groove guide wheel.

As shown in Figure 1, described left/right rotation moving mechanism comprises multiple transfer robot arm B4 that linearly track slides, adjacent two the transfer robot arm B4 in left and right in same left/right rotation moving mechanism are flexibly connected and synchronizing moving by connecting rod 7, before and after frame both sides two left/right rotation moving mechanisms in transfer robot arm B4 driven by rack-mounted same motor, this motor and rack-mounted central gear 6 are in transmission connection, central gear 6 with its before and after spur rack 5 engaged transmission of both sides, the spur rack 5 of both sides, front and back is fixedly connected with the transfer robot arm B4 in the left/right rotation moving mechanism of its homonymy respectively.The manipulator seat 101 of described transfer robot arm A1 is flexibly connected (turning joint is connected) by connecting rod A8 with the slip planker be fixed on spur rack 5 and moves simultaneously.

As Fig. 2, Fig. 3, shown in Fig. 4, described transfer robot arm A1 comprises manipulator seat 101, manipulator seat 101 is provided with the first travelling carriage 105 and the second travelling carriage 104, first travelling carriage 105 is slidably connected with manipulator seat 101 and is driven by its drive unit and slides up and down, second travelling carriage 104 and the first travelling carriage 105 are slidably connected and are driven by cylinder B106 and slide up and down, first travelling carriage 105 bottom arranges a trunnion axis 107, the two ends, left and right of trunnion axis 107 respectively arrange a mechanical tong: this mechanical tong comprises symmetrically arranged two jaws 108, 109 and two linking arms, two jaws 108, the middle part of 109 to be all set on trunnion axis 107 thus to realize hinged, two jaws 108, the lower end of 109 is bare terminal end, two jaws 108, the upper end of 109 is hinged with the lower end of respective linking arm respectively, the upper end of two linking arms is all hinged with the second travelling carriage 104, described linking arm and jaw 108, the jointed shaft of 109, linking arm is all parallel with trunnion axis 107 with the jointed shaft of the second travelling carriage 104.Upper end and second travelling carriage 104 of described two linking arms are hinged by same jointed shaft.The upper and lower of described first travelling carriage 105 is fixedly connected with by two guide pillars 103, and on guide pillar 103, slip cap is provided with the first guide pin bushing and the second guide pin bushing, and the first guide pin bushing is fixedly connected with manipulator seat 101, and the second guide pin bushing is fixedly connected with the second travelling carriage 104.The drive unit of described first travelling carriage 105 is that the mobile terminal of the cylinder A102 be fixed on manipulator seat 101, cylinder A102 is fixedly connected with the first travelling carriage 105.

Described transfer robot arm B4 is identical with transfer robot arm A1 structure.In order to reduce driving power source, the first travelling carriage drive unit of the transfer robot arm B4 in same left/right rotation moving mechanism is improved, the tooth bar of downward-extension is fixedly installed between the upper and lower of i.e. described first travelling carriage, this tooth bar engages with the horizontal teeth wheel shaft on manipulator seat, the two ends of horizontal teeth wheel shaft connect turning joint, the horizontal teeth wheel shaft of two transfer robot arm B4 that left and right is adjacent is flexibly connected and synchronous axial system by turning joint and drive link, the lifting action of multiple like this transfer robot arm B4 can be driven by a drive unit, such as a cylinder is installed on the top of first travelling carriage of a transfer robot arm B4 wherein, the piston rod of cylinder is connected with its manipulator seat 1, first travelling carriage of this transfer robot arm B4 moves up and down under the driving of cylinder, other transfer robot arm are via tooth bar, horizontal teeth wheel shaft, turning joint is connected with drive link and synchronous axial system.

The fixture corresponding with above-mentioned transfer robot arm A1, B4, is provided with two handles corresponding with above-mentioned mechanical tong at back.

As shown in Figure 1, rack rail arranges two groups, front and back left/right rotation moving mechanism, these two groups of left/right rotation moving mechanism oppositely movements, drive motors is after slowing down, again by central gear 6 and spur rack 5 engaged transmission be fixed in two transfer robot arm, thus two transfer robot arm B4 before and after driving move left and right, the transfer robot arm B4 of homonymy connects synchronizing moving via connecting rod 7, and two transfer robot arm A1 are connected with former and later two spur racks 5 respectively.

As shown in Figure 1, shown in Figure 5, described frame is provided with positioning sliding block 902 and positioning cylinder 901, positioning cylinder 901 drives positioning sliding block 902 to locate with location structure 114 wedging on the manipulator seat 101 of transfer robot arm A1.Positioning sliding block 902 and location structure 114 are by wedge shape or slot and the inserted block cooperation location with guiding surface.

A kind of crystal blank automatic grinding and polishing system, comprises hand type transfer device as above.

Claims (10)

1. hand type transfer device, comprise the first arc track (2), second arc track (3) and two transfer robot arm A (1), first arc track (2) and the second arc track (3) are fixedly installed in frame in upper and lower correspondence, two transfer robot arm A (1) are slided along the first arc track (2) and the second arc track (3), it is characterized in that, the manipulator seat (101) of described transfer robot arm A (1) is provided with at least two respectively by bearing (113) and horizontally rotates part (110), horizontally rotate on part (110), respectively by bearing, upper block (111) and lower tumbler (112) are installed, lower tumbler (112) is along the first arc track (2) slip underneath, upper block (111) slides above the second arc track (3), thus upper block (111) and lower tumbler (112) form vertically clamping the first arc track (2) and the second arc track (3), transfer robot arm B (4) in the left/right rotation moving mechanism that the manipulator seat (101) of transfer robot arm A (1) is adjacent by connecting rod A (8) connects and moves simultaneously.

2. hand type transfer device according to claim 1, is characterized in that, described upper block (111) and lower tumbler (112) are U-shaped or V-type groove guide wheel.

3. hand type transfer device according to claim 1, is characterized in that, described transfer robot arm A (1) is identical with transfer robot arm B (4) structure.

4. hand type transfer device according to claim 1, it is characterized in that, described left/right rotation moving mechanism comprises multiple transfer robot arm B (4) that linearly track slides, adjacent two the transfer robot arm B (4) in left and right in same left/right rotation moving mechanism are flexibly connected and synchronizing moving by connecting rod (7), before and after frame both sides two left/right rotation moving mechanisms in transfer robot arm B (4) driven by rack-mounted same motor, this motor and rack-mounted central gear (6) are in transmission connection, central gear (6) with its before and after spur rack (5) engaged transmission of both sides, the spur rack (5) of both sides, front and back is fixedly connected with the transfer robot arm B (4) in the left/right rotation moving mechanism of its homonymy respectively.

5. hand type transfer device according to claim 4, it is characterized in that, the manipulator seat (101) of described transfer robot arm A (1) to be flexibly connected with the slip planker be fixed on spur rack (5) by connecting rod A (8) and to move simultaneously.

6. hand type transfer device according to claim 1, it is characterized in that, described transfer robot arm A (1) comprises manipulator seat (101), manipulator seat (101) is provided with the first travelling carriage (105) and the second travelling carriage (104), first travelling carriage (105) and manipulator seat (101) are slidably connected and are driven by its drive unit and slide up and down, second travelling carriage (104) and the first travelling carriage (105) are slidably connected and are driven by cylinder B (106) and slide up and down, first travelling carriage (105) bottom arranges a trunnion axis (107), the two ends, left and right of trunnion axis (107) respectively arrange a mechanical tong: this mechanical tong comprises symmetrically arranged two jaws (108, 109) and two linking arms, two jaws (108, 109) middle part is all set in trunnion axis (107) and goes up thus realize hinged, two jaws (108, 109) lower end is bare terminal end, two jaws (108, 109) upper end is hinged with the lower end of respective linking arm respectively, the upper end of two linking arms is all hinged with the second travelling carriage (104), described linking arm and jaw (108, 109) jointed shaft, linking arm is all parallel with trunnion axis (107) with the jointed shaft of the second travelling carriage (104).

7. hand type transfer device according to claim 6, it is characterized in that, the upper and lower of described first travelling carriage (105) is fixedly connected with by two guide pillars (103), the upper slip cap of guide pillar (103) is provided with the first guide pin bushing and the second guide pin bushing, first guide pin bushing is fixedly connected with manipulator seat (101), and the second guide pin bushing is fixedly connected with the second travelling carriage (104).

8. hand type transfer device according to claim 6, it is characterized in that, the drive unit of described first travelling carriage (105) is for being fixed on the cylinder A (102) on manipulator seat (101), and the mobile terminal of cylinder A (102) is fixedly connected with the first travelling carriage (105).

9. hand type transfer device according to claim 1, it is characterized in that, described frame is provided with positioning sliding block (902) and positioning cylinder (901), positioning cylinder (901) drives positioning sliding block (902) to locate with location structure (114) wedging on the manipulator seat (101) of transfer robot arm A (1).

10. a crystal blank automatic grinding and polishing system, comprises hand type transfer device as claimed in any one of claims 1-9 wherein.