WO2013143198A1 - 一种水晶坯件自动磨抛系统 - Google Patents

一种水晶坯件自动磨抛系统 Download PDF

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Publication number
WO2013143198A1
WO2013143198A1 PCT/CN2012/074660 CN2012074660W WO2013143198A1 WO 2013143198 A1 WO2013143198 A1 WO 2013143198A1 CN 2012074660 W CN2012074660 W CN 2012074660W WO 2013143198 A1 WO2013143198 A1 WO 2013143198A1
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WO
WIPO (PCT)
Prior art keywords
station
grinding
polishing
rotating frame
hemisphere
Prior art date
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PCT/CN2012/074660
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English (en)
French (fr)
Inventor
虞卫东
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浙江名媛工艺饰品有限公司
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Publication of WO2013143198A1 publication Critical patent/WO2013143198A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
    • B24B9/16—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of diamonds; of jewels or the like; Diamond grinders' dops; Dop holders or tongs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B11/00—Machines or devices designed for grinding spherical surfaces or parts of spherical surfaces on work; Accessories therefor
    • B24B11/02—Machines or devices designed for grinding spherical surfaces or parts of spherical surfaces on work; Accessories therefor for grinding balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • B24B29/04—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for rotationally symmetrical workpieces, e.g. ball-, cylinder- or cone-shaped workpieces

Definitions

  • the invention relates to the field of grinding and polishing of crystal products, in particular to an automatic grinding and polishing system for crystal blanks for automatic grinding and polishing of crystal blanks.
  • the existing multi-station crystal inclined surface grinding and polishing machine adopts a plurality of heads fixed with a rhinestone jig to perform multi-station processing.
  • the patent document published as CN201179615Y discloses an automatic loading and unloading rhinestone inclined surface grinding and polishing.
  • the machine including the frame, has two rotating frames side by side on the frame, and one head is arranged on each side of the rotating frame to form seven working positions, which are respectively a loading station, a front hemisphere rough grinding station and a front hemisphere polishing worker.
  • Position, docking station, rear hemisphere rough grinding station, rear hemisphere polishing station, unloading station, loading station has a rhinestone blank feeding mechanism corresponding to the machine head, and the rough grinding station is provided with
  • the corresponding disc grinding mechanism of the machine head has a disc throwing mechanism corresponding to the machine head at the polishing station, and a rhinestone semi-finished product cutting mechanism corresponding to the machine head is arranged at the unloading station, and the docking station is provided with and respectively The corresponding docking mechanism of the two rhinestone fixtures on the two rotating frames.
  • the technical scheme does not require manual intervention in the entire rhinestone bevel grinding and polishing process, and realizes full automation of the rhinestone bevel grinding and polishing process, improves the processing efficiency, reduces the labor and tooling costs, and can effectively control the product quality.
  • the inventor found that the following problems are solved: First, at the docking station, the two clamps that are docked are respectively located on the two rotating frames, so that the manufacturing precision of the machine is very high and difficult. The docking accuracy is guaranteed; the machine is large in size and difficult to manufacture and transport; the third is the limited space for the docking station, the loading station and the loading station, and the complicated design of the structure affects the processing efficiency.
  • the patent document published as CN101758431A discloses a fully automatic rhinestone grinding and polishing machine which adopts a robot automatic conveying jig, the jig seat is arranged at each processing station, and the water jig jig is transported by the robot to the processing station, and the robot will
  • the water drill jig and the clamp base are positioned, and after being positioned, the clamp cylinder is locked and fixed by the locking cylinder on the clamp seat, so that the clamp holder and the corresponding grinding and polishing processing mechanism of each station are independent of each other, thereby reducing the machine platform
  • the overall manufacturing accuracy requirements and at the same time ensure the precise positioning of the rhinestone fixture relative to the grinding tool, avoiding the interaction and interference between the processing mechanisms at each station.
  • the fixture is flowed on the fixture holder of each processing station, for the crystal blank on a specific fixture, in order to ensure the consistency of processing at each station, it is necessary to ensure the fixture and each work.
  • the consistency of the fixture on the fixture (including the consistency of the grinding angle, the angle of the transition surface, etc.), and the error accumulation amplification effect occurs once there is an error, which is especially important for grinding and polishing stations. Inconsistent positioning between the front and the rear, there will be a subsequent polishing process that does not polish the bevel surface processed in the previous grinding process, resulting in a large reduction in the polishing effect. Therefore, the jig of the flow in this technical solution is at each station fixture.
  • a crystal blank automatic grinding and polishing system in the patent document disclosed in CN102248460A, comprising: a first rotating frame, and an upper hemisphere provided with at least one pair of crystal blanks around the first rotating frame An upper hemispherical grinding station for grinding and at least one upper hemisphere polishing station for polishing the upper hemisphere of the crystal blank, the first rotating frame being rotatable and positionable and provided with at least two heads;
  • the rotating frame, around the second rotating frame is provided with at least one lower hemisphere grinding station for grinding the lower hemisphere of the crystal blank and at least one lower hemisphere polishing station for polishing the lower hemisphere of the crystal blank.
  • the second rotating frame can be rotated and positioned and provided with at least two heads;
  • the loading station is provided with a loading mechanism capable of fixing the crystal blank on the fixture;
  • the docking station is provided with the ability to remove the crystal blank from a fixture that is coupled to the docking mechanism of the other fixture;
  • a blanking station provided with a blanking mechanism capable of detaching the crystal blank from the fixture; and at least one capable of a first transfer mechanism for taking and lowering the jig and transferring it between the loading station, the docking station and the handpiece on the first revolving frame; at least one capable of picking up and lowering the jig and capable of docking it a second transfer mechanism for transferring between the position, the unloading station and the head on the second rotating frame; wherein the upper hemisphere grinding station and the lower hemisphere grinding station are provided with a grinding mechanism, A polishing mechanism is disposed on both the upper hemisphere polishing station and the lower hemisphere polishing station.
  • the technical solution adopts a rotating frame and a machine head form to realize the conversion between the grinding process and the polishing process, because the clamp and the clamp seat are integrated in this process, and there is no flow of the clamp, so the front grinding process can be ensured.
  • the processing consistency with the subsequent polishing process however, the overall precision of the grinding and polishing process can be ensured by the manufacturing precision of the rotating frame, the machine head and the related grinding and polishing station mechanism; the grinding and polishing process and the loading are realized by the mechanical hand transfer mechanism.
  • the clamp rotation is matched with the loading station, the docking station or the fixture seat on the blanking station, so it can rely on each
  • the matching precision of the fixture base and the related mechanism at the station ensures that the feeding, docking and blanking can be carried out.
  • the requirements of the matching precision of these processes can be slightly lower than the grinding and polishing process.
  • the technical solution adopts two sets of transfer mechanisms (the first transfer mechanism and the second transfer mechanism) to realize the flow of the clamp through two transfer cycles, or whether the overall machine has a large volume, and the docking station space is small, which is inconvenient to install and maintain.
  • the machine has high manufacturing cost and high energy consumption.
  • the patent document published as CN102152190A discloses a fully automatic jewelry grinding and polishing machine.
  • a spindle assembly is arranged in the middle of the frame.
  • the upper end of the spindle assembly is provided with a turntable.
  • the turntable is provided with a plurality of cantilevers, and the plurality of cantilever is the central axis of the spindle assembly.
  • the position is evenly distributed at the center, and a manipulator is arranged at the end of each cantilever; the frame is distributed in the order of work, respectively: an loading and unloading integrated component, at least one pre-grinding integrated component, at least one front polishing integrated component, and a transit integration A component, at least one post-grinding integrated component, at least one post-polish integrated component; the various components described above are connected end to end.
  • the product is formed at one time, and all processes are integrated in one machine, and the production efficiency is high.
  • it adopts all the stations of the whole machine to be arranged around a cantilever turntable (equivalent to a rotating frame).
  • the machine is huge in volume, difficult to manufacture and transport, and the space of each station is small, the arrangement of the mechanism is difficult, and the installation and maintenance of the equipment is inconvenient;
  • the work position adopts the robot transfer jig, which also has the problems of high manufacturing difficulty and high manufacturing precision.
  • the object of the present invention is to provide a crystal blank automatic grinding and polishing system, which can not only realize the automatic grinding and polishing processing of the upper and lower hemispherical slopes of the crystal blank, but also ensure the quality of the grinding and polishing process, and can fully Utilizing the advantages of existing models, it simplifies the complexity of the mechanism, reduces the size of the machine, and is easy to manufacture, transport and maintain.
  • a crystal blank automatic grinding and polishing system comprising: a first rotating frame, and at least one upper hemisphere for the crystal blank is arranged around the first rotating frame. a processed upper hemisphere grinding station and at least one upper hemisphere polishing station for polishing the upper hemisphere of the crystal blank, the first rotating frame being rotatable and positionable and provided with at least two heads; the second rotating frame a lower hemisphere grinding station for grinding the lower hemisphere of the crystal blank and at least one lower hemisphere polishing station for polishing the lower hemisphere of the crystal blank, second, around the second rotating frame
  • the rotating frame can be rotated and positioned and provided with at least two heads;
  • a loading station is provided with a loading mechanism capable of fixing the crystal blank on the fixture;
  • the docking station is provided with a crystal blank capable of removing the crystal blank from a fixture a docking mechanism fixed to another fixture and capable of positionally replacing the two clamps;
  • the second scheme adopts the loading and unloading combined station arrangement: a crystal blank automatic grinding and polishing system, comprising: a first rotating frame, and at least one upper hemisphere for the crystal blank is arranged around the first rotating frame. a processed upper hemisphere grinding station and at least one upper hemisphere polishing station for polishing the upper hemisphere of the crystal blank, the first rotating frame being rotatable and positionable and provided with at least two heads; the second rotating frame a lower hemisphere grinding station for grinding the lower hemisphere of the crystal blank and at least one lower hemisphere polishing station for polishing the lower hemisphere of the crystal blank, second, around the second rotating frame
  • the rotating frame can be rotated and positioned and provided with at least two heads;
  • the loading and unloading station is provided with a loading and unloading mechanism capable of detaching the crystal blank from the jig and fixing another batch of crystal blanks on the jig
  • the docking station is provided with a docking mechanism capable
  • the bevel grinding and polishing of crystal blanks mainly involves loading, upper hemisphere grinding, upper hemisphere polishing, butt joint, lower hemisphere grinding, lower hemisphere polishing and blanking.
  • the conversion between the grinding process and the polishing process is realized by using the rotating frame and the machine head, because the clamp and the clamp seat are integrated with each other in the process, and there is no flow of the clamp, so the front grinding can be ensured.
  • the overall precision of the grinding and polishing process can be ensured by the manufacturing precision of the rotating frame, the machine head and the related grinding and polishing station mechanism; the grinding and polishing process is realized by the mechanical hand transfer mechanism and The conversion between the loading process, the docking process, and the blanking process, because the fixture is flowing in the process, the fixture turns and the loading station, the docking station, the blanking station or the fixture seat on the loading and unloading station (fixture fixing plate) is fixed and fixed, so it can rely on the matching precision of the fixture seat and related mechanism at each station to ensure the feeding, docking and blanking.
  • the requirements of these procedures for the matching precision are relative to the grinding and polishing process. Can be slightly lower.
  • a docking mechanism capable of changing the positions of the two clamps that are docked is adopted, so that only one fixture is flowed each time in the docking station, such a transfer mechanism can realize the docking station and the loading.
  • the jig circulation cycle between the work station and the unloading work station (or the loading and unloading work station) not only realizes the automatic grinding and polishing processing of the upper and lower hemisphere slopes of the crystal blank, but also ensures the quality of the grinding and polishing process, and each work
  • the arrangement of the bits is more reasonable and concise, the installation space of the station is more versatile, and the overall volume of the machine is reduced.
  • an existing device can be used, for example, a four-station rhinestone bevel grinding and polishing machine disclosed in the patent document of the inventor's publication No. CN101269472A and subsequent
  • the mechanism disclosed in the patent document is disclosed, for example, in a multi-disc multi-grain gemstone polishing device disclosed in the patent document No. CN2715913Y, and a rhinestone grinding and polishing machine disclosed in the patent document No. CN2825203Y.
  • the rotating frame may be in the form of a turntable or a bracket; the head may be mounted with a fixture or a plurality of clamps; the crystal blank may be a crystal ball blank or a diamond blank. Or other shaped crystal blanks; the grinding mechanism is a flat disc grinding mechanism or a roller grinding mechanism (drum grinding wheel mechanism), and the polishing mechanism is a flat disc polishing mechanism or a roller polishing mechanism (roller grinding wheel mechanism); grinding
  • drum grinding wheel mechanism drum grinding wheel mechanism
  • the polishing mechanism is a flat disc polishing mechanism or a roller polishing mechanism (roller grinding wheel mechanism); grinding
  • the specific structure of the mechanism and the polishing mechanism can be found in the above patent documents.
  • the specific structure of the docking mechanism can be found in the patent documents of the publication numbers CN102152190A, CN102152188A, CN202162662U, and the specific structure of the loading mechanism, the blanking mechanism or the loading and unloading mechanism can be found in the disclosure. No. CN102152190A, CN102240941A, CN102211305A patent documents.
  • the robot-type transfer mechanism can be realized by picking up and lowering the jigs from under the jig fixing plates, but the required mechanism actions are compared.
  • the head on the first rotating frame and the head on the second rotating frame each include a clamp fixing plate, and the clamp is placed on the fixing plate of the clamp and fixed by the clamp locking mechanism, thereby ensuring The mechanism of the robotic transfer mechanism is simple and reliable. How to set the fixture fixing plate on the handpiece, what specific structure the machine head can adopt, and which auxiliary mechanisms are also found can be found in the above patent documents.
  • the first rotating frame is provided with at least one upper hemisphere grinding station, at least one upper hemisphere polishing station and at least one waiting station, and the first rotating frame is provided with at least three heads;
  • the frame is provided with at least one lower hemisphere grinding station, at least one lower hemisphere polishing station and at least one waiting station, and the second rotating frame is provided with at least three handpieces. Waiting for the station to be vacant, no grinding and polishing processing, setting the waiting station can avoid the grinding and polishing processing time of the machine when the robot transfer mechanism transfers the fixture, thereby improving the processing efficiency.
  • Each of the station mechanism, the rotating frame and the transfer mechanism in the above technical solution can be disposed on one machine frame, but the machine table is bulky and is not conducive to manufacturing transportation. Therefore, preferably, the first The rotating frame and its upper hemisphere grinding station, the upper hemisphere polishing station and the waiting station are arranged on the same frame, the second rotating frame and its lower hemisphere grinding station, the lower hemisphere polishing station and the waiting The stations are set in the same rack.
  • the loading station, the docking station, the unloading station and the transfer mechanism may be arranged on the same rack, or the loading station, the docking station, the blanking station and the transfer mechanism may be made.
  • a relatively independent machine rack can also be in many other forms.
  • the above-mentioned plurality of mechanisms can be unpacked and transported during transportation, and can be assembled and used together when assembled (or assembled by connectors).
  • the above-mentioned transfer mechanism has a plurality of specific structures, which may be in the form of a track and a robot, that is, a robot for picking up and lowering a jig, and the robot moves from one station to another along a fixed track (reciprocating movement), however, such If a mechanism uses a single robot to circulate between stations under a single track, there is a problem of inefficiency. If multiple robots are used to transfer between two stations along their independent tracks, there are many drive mechanisms. Problems such as complex movements and high energy consumption.
  • the transfer mechanism comprises a third rotating frame that can be rotated and positioned, and a third rotating frame is provided with a plurality of robots capable of picking up and lowering the clamp; the third rotating frame can be in the form of continuous rotation, It can be reciprocating.
  • the transfer mechanism in the form of a rotating frame and a manipulator has the advantages of simple structural action, high reliability and high efficiency. For a structure in which a plurality of robots are transferred along a circular orbit, they are substantially the same in form as a rotating frame and a robot.
  • the patent documents disclosed in the publications CN101758433A, CN201863078U, CN201702632U, CN102152190A, CN102240941A can be found.
  • the motor can be rotated by a gear or a belt drive, and a positioning turntable is fixedly arranged on the rotating frame, and a pin hole is arranged on the positioning turntable.
  • a positioning pin driven by the positioning cylinder is disposed on the frame, and a positioning pin is inserted into the pin hole to realize positioning when the rotating frame is rotated into position.
  • the invention adopts the above technical solutions, fully utilizes the advantages of the existing models, and simplifies the complexity of the mechanism action, not only realizes the automatic grinding and polishing processing of the upper and lower hemispherical slopes of the crystal blank, and ensures the quality and processing of the grinding and polishing processing. Consistency, and the arrangement of each station is more reasonable and concise, the installation space of the station is more spacious, and the overall volume of the machine is reduced, which provides feasibility for automatic machining of multiple machines in series (or using a built-in machine). It greatly reduces the difficulty and cost of manufacturing, transportation, installation, commissioning and maintenance, simplifies the transfer and transfer mode of the fixture, further improves the processing efficiency, and reduces the energy consumption of the machine and the manufacturing cost of the material.
  • Embodiment 1 is a schematic structural view of Embodiment 1;
  • Figure 2 is a schematic structural view of Embodiment 2;
  • Figure 3 is a schematic structural view of Embodiment 3
  • Figure 4 is a schematic view showing the mounting structure of the clamp on the handpiece
  • Figure 5 is a partial cross-sectional view of Figure 4 .
  • a crystal blank automatic grinding and polishing system as shown in FIG. 1 comprises: a first rotating frame 2, and two upper ball grindings for grinding the upper hemisphere of the crystal blank around the first rotating frame 2 Stations 11, 12 and an upper hemisphere polishing station 13 for polishing the upper hemisphere of the crystal blank, a waiting station 14, the first rotating frame 2 can be rotated and positioned and provided with four heads 21;
  • Two rotating frames 4, around the second rotating frame 4 are provided with two lower hemisphere grinding stations 31, 32 for grinding the lower hemisphere of the crystal blank and one for polishing the lower hemisphere of the crystal blank Hemispherical polishing station 33, a waiting station 34, the second rotating frame 4 can be rotated and positioned and provided with four heads 41;
  • the loading station 6 is provided with a material capable of fixing the crystal blank on the fixture Mechanism;
  • docking station 5 is provided with a docking mechanism capable of transferring the crystal blank from one fixture to another fixture and capable of changing the position of the two fixtures;
  • the loading station 7
  • the head 21 on the first rotating frame 2 and the head 41 on the second rotating frame 4 each include a clamp fixing plate 101, and the clamp 100 is placed on the clamp.
  • the upper side of the plate 101 is fixed by a clamp locking mechanism.
  • the clamp locking mechanism includes a single dovetail groove disposed on an upper portion of the clamp fixing plate 101 and matching with a dovetail at the bottom of the clamp 100.
  • the bottom 104 of the clamp fixing plate 101 is hinged with a locking block 102, and the upper end of the locking block 102 is fixedly locked.
  • the movable end of the locking cylinder 103 is movably connected to the clamp fixing plate 101.
  • the lower end of the locking block 102 protrudes from the lower portion of the clamp fixing plate 101 and is provided with the single dovetail groove to lock the bottom dovetail of the clamp 100. Swallowtail hook.
  • the first rotating frame 2 and its upper hemisphere grinding stations 11, 12, the upper hemisphere polishing station 13 and the waiting station 14 are disposed on the same frame, the second rotating frame 4 and its lower hemisphere grinding
  • the cutting stations 31, 32, the lower hemisphere polishing station 33 and the waiting station 34 are disposed on the same frame; the loading station 6, the docking station 5, the blanking station 7, and the transfer mechanism are respectively disposed at Separate racks.
  • the transfer mechanism includes a third rotating frame 8 that is rotatable and positionable.
  • the third rotating frame 8 is circumferentially provided with five robots 81 capable of picking up and lowering the jig 100; the grinding mechanism is a roller grinding mechanism.
  • the polishing mechanism is a roller polishing mechanism.
  • the first rotating frame 2 is grounded at the upper head of the upper hemispherical grinding station 11, 12, and the first rotating frame 2 is polished at the upper head of the upper hemispherical polishing station 13
  • a rotating frame 2 is stationary at the head above the waiting station 14
  • the second rotating frame 4 is ground at the upper head of the upper hemispherical grinding stations 31, 32, and the second rotating frame 4 is in the upper hemisphere polishing station.
  • the jig of the upper head of the 33 is polished, the second rotating frame 4 is stationary at the head above the waiting station 34; the empty jig is bonded and fixed to the crystal blank at the loading station 6, and the finished jig is at the blanking station 7
  • the processed finished part is removed, and the clamp processed by the upper hemisphere transfers the crystal blank to the other fixture at the docking station 5, and the five robots 81 on the third rotating frame 8 respectively grab the clamps on the corresponding station,
  • the three rotating frame 8 rotates a station distance from the robot 81 to lower the clamp, so that the clamp on the original loading station 6 is transferred to the first rotating frame 2 on the head above the waiting station 14 for the upper hemisphere grinding and polishing processing.
  • the original first rotating frame 2 is waiting for the head above the station 14
  • the fixture is transferred to the docking station 5 for docking.
  • the fixture of the original docking station 5 to which the crystal blank is docked is transferred to the second rotating frame 4 on the head above the waiting station 34 for waiting for the lower hemisphere to be polished.
  • the clamp of the original second rotating frame 4 on the head above the waiting station 34 is transferred to the blanking station 7 for blanking, and the empty fixture for finishing the blanking at the original unloading station 7 is transferred to the loading station.
  • a crystal blank automatic grinding and polishing system comprises: a first rotating frame 2, and two upper ball grindings for grinding the upper hemisphere of the crystal blank around the first rotating frame 2; Stations 11, 12 and an upper hemisphere polishing station 13 for polishing the upper hemisphere of the crystal blank, the first rotating frame 2 can be rotated and positioned and provided with four heads 21; the second rotating frame 4, surround The second rotating frame 4 is provided with two lower hemisphere grinding stations 31, 32 for grinding the lower hemisphere of the crystal blank and a lower hemisphere polishing station 33 for polishing the lower hemisphere of the crystal blank.
  • the second rotating frame 4 can be rotated and positioned and provided with four heads 41;
  • the loading and unloading station 9 is provided with the ability to detach the crystal blank from the jig and to fix another batch of crystal blanks on the jig
  • the docking station 5 is provided with a docking mechanism capable of transferring the crystal blank from one fixture to another and capable of positionally changing the two clamps; and one capable of picking up and lowering the fixture And able to work on it a transfer mechanism for sequentially transferring between the head 21 on the first rotating frame 2, the docking station 5, and the head 41 on the second rotating frame 4; wherein the upper hemisphere grinding station 11, Both the 12 and lower hemisphere grinding stations 31, 32 are provided with a grinding mechanism, and the upper hemisphere polishing station 13 and the lower hemisphere polishing station 33 are provided with a polishing mechanism.
  • the head 21 on the first rotating frame 2 and the head 41 on the second rotating frame 4 each include a clamp fixing plate 101, and the clamp 100 is placed on the clamp.
  • the upper side of the plate 101 is fixed by a clamp locking mechanism.
  • the clamp locking mechanism includes a single dovetail groove disposed on an upper portion of the clamp fixing plate 101 and matching with a dovetail at the bottom of the clamp 100.
  • the bottom 104 of the clamp fixing plate 101 is hinged with a locking block 102, and the upper end of the locking block 102 is fixedly locked.
  • the movable end of the locking cylinder 103 is movably connected to the clamp fixing plate 101.
  • the lower end of the locking block 102 protrudes from the lower portion of the clamp fixing plate 101 and is provided with the single dovetail groove to lock the bottom dovetail of the clamp 100. Swallowtail hook.
  • the first rotating frame 2 and its upper hemisphere grinding stations 11, 12, the upper hemisphere polishing station 13 and the waiting station 14 are disposed on the same frame, the second rotating frame 4 and its lower hemisphere grinding
  • the cutting stations 31, 32, the lower hemisphere polishing station 33 and the waiting station 34 are disposed on the same frame; the loading and unloading station 9, the docking station 5, and the transfer mechanism are respectively disposed on separate racks.
  • the transfer mechanism includes a third rotating frame 8 that can be rotated and positioned.
  • the third rotating frame 8 is circumferentially provided with four robots 81 capable of picking up and lowering the jig 100; the grinding mechanism is a roller grinding mechanism.
  • the polishing mechanism is a roller polishing mechanism.
  • the first rotating frame 2 is grounded at the upper head of the upper hemispherical grinding station 11, 12, and the first rotating frame 2 is polished at the upper head of the upper hemispherical polishing station 13
  • a rotating frame 2 is stationary at the head above the waiting station 14
  • the second rotating frame 4 is ground at the upper head of the upper hemispherical grinding stations 31, 32, and the second rotating frame 4 is in the upper hemisphere polishing station.
  • the jig of the upper head of the 33 is polished, and the second rotating frame 4 is stationary at the head above the waiting station 34; the finished jig is unloaded and fixed on the unloaded crystal in the loading and unloading station 9
  • the blank, the upper hemisphere grinding and polishing finished fixture transfers the crystal blank to the other fixture at the docking station 5, and the four robots 81 on the third rotating frame 8 respectively grab the fixtures on the corresponding station, and the third The rotating frame 8 rotates a station away from the robot 81 to lower the clamp, so that the clamp on the original loading and unloading station 9 is transferred to the first rotating frame 2 on the head above the waiting station 14 for the upper hemisphere grinding and polishing process.
  • the original first rotating frame 2 is waiting for the head above the station 14.
  • the upper clamp is transferred to the docking station 5 for docking.
  • the clamp of the original docking station 5 with the crystal blank attached to it is transferred to the second rotating frame 4 on the head above the waiting station 34 for the lower hemisphere grinding.
  • the clamp of the original second rotating frame 4 on the head above the waiting station 34 is transferred to the loading and unloading station 9 for unloading and reloading; after each grinding and polishing station is finished, the first rotation is performed.
  • the frame 2 and the second rotating frame 4 respectively rotate a working distance, and the jig waiting for the upper hemisphere grinding and polishing process is transferred to the upper hemisphere grinding station 11 for processing, and the upper hemisphere grinding and polishing finished jig is transferred to the waiting station 14
  • the jig waiting for the lower hemisphere grinding and polishing process is transferred to the lower hemisphere grinding station 31 for processing, and the lower hemisphere grinding and polishing finished jig is transferred to the waiting station 34; the loading and unloading station 9 and the docking station 5 are completed.
  • the third revolving frame 8 and the robot 81 operate to enter the next cycle.
  • a crystal blank automatic grinding and polishing system as shown in FIG. 3 differs from Embodiment 1 only in that:
  • the transfer mechanism includes five robots capable of picking up and lowering the clamps, respectively, above the loading station 6 to above the head of the first rotating frame 2 (on the waiting station 14), the first rotating frame 2 above the head (located on the waiting station 14) to the top of the docking station 5, above the docking station 5 to the top of the second rotating frame 4 (located on the waiting station 34), the second rotating frame 4 Five fixed rails above the head (located on the waiting station 34) to the top of the unloading station 7, and from the unloading station 7 to the loading station 6 run back and forth.
  • Other institutions and work processes are similar to those in Embodiment 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
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Abstract

一种水晶坯件自动磨抛系统，包括：环绕第一旋转架（2）设置上半球磨削工位（11、12）和抛光工位（13），第一旋转架（2）设有机头（21）；环绕第二旋转架（4）设置下半球磨削工位（31、32）和抛光工位（33），第二旋转架（4）设有机头（41）；上料工位（6）；对接工位（5）；下料工位（7）；以及，能够拾取和放下夹具并能够将其在上料工位（6）、第一旋转架（2）上的机头（21）、对接工位（5）、第二旋转架（4）上的机头（41）以及下料工位（7）之间进行依次转移的转移机构。还包括一种磨抛系统，将上述的上料工位、下料工位合并成一个上下料工位。本发明不仅可以实现对水晶坯件上、下半球斜面的全自动磨抛加工，保证磨抛加工质量，而且可以充分利用现有机型优点，简化机构动作复杂程度，减小机台体积，易于制造、运输及维护。

Description

一种水晶坯件自动磨抛系统 技术领域
本发明涉及水晶制品磨抛加工领域，尤其涉及一种对水晶坯件进行自动化磨抛加工的水晶坯件自动磨抛系统。
 背景技术
现有的多工位水晶斜面磨抛机都是采用多个固定有水钻夹具的机头旋转进行多工位加工的，例如公开号为CN201179615Y的专利文献公开了一种自动上下料水钻斜面磨抛机，包括机架，机架上并排设有两个旋转架，旋转架四面各设一机头，构成七个工位，分别为上料工位、前半球粗磨工位、前半球抛光工位、对接工位、后半球粗磨工位、后半球抛光工位、下料工位，上料工位设有与机头相对应的水钻坯料上料机构，粗磨工位上设有与机头相对应的磨盘机构，抛光工位上设有与机头相对应的抛盘机构，下料工位上设有与机头相对应的水钻半成品下料机构，对接工位上设有与分别设在两个旋转架上的两个水钻夹具相对应的对接机构。该技术方案在整个水钻斜面磨抛加工工程中不需要人工介入，实现了水钻斜面磨抛加工的全自动化，提高了加工效率，降低了人工和工装成本，可以有效控制产品质量。该技术方案在实际实施过程中，发明人发现具有以下问题：一是在对接工位上，对接的两个夹具是分别位于两个旋转架上的，这样对机器制造精度要求很高并且也难于保证对接精度；再是机台体积较大，难于制造和运输；三是对接工位、上料工位、下料工位的空间有限，结构设计复杂动作繁琐影响加工效率。
公开号为CN101758431A的专利文献公开了一种全自动水钻磨抛机，其采用机械手自动运送夹具，夹具座设置在各加工工位上，水钻夹具由机械手运送到加工工位上，并由机械手将水钻夹具与夹具座进行定位，定位后由夹具座上的锁紧气缸锁紧夹具并固定，这样每个工位上夹具座和相应的磨抛加工机构是相互独立的，因而可以降低对机台整体制造精度的要求并同时保证水钻夹具相对于磨具的精确定位，避免了各工位上的加工机构之间的相互影响和干扰。但是，因为夹具是在各加工工位的夹具座上进行流转的，对于一个特定夹具上的水晶坯件来说，为了保证其在各工位的加工一致性就必须要保证夹具与每个工位上夹具座的配合一致性（包括磨抛角度、转面角度等的一致性），而一旦存在误差就会出现误差累加放大效果，这一点对于磨削和抛光工位来说尤为重要，如果出现前后配合定位的不一致，就会出现后道抛光工序不是对前道磨削工序加工的斜面进行抛光加工，导致抛光效果大打折扣，所以，该技术方案中流转的夹具在每个工位夹具座上的准确定位是至关重要的，而对于现有技术和机构来说要实现夹具与各工位夹具座配合的一致性和机械自动准确定位还是相当困难的，并且存在机构动作复杂繁琐、易出故障、维护成本高等问题。同时，采用完整机台结构同样存在体积大、运输制造困难等问题。
为此，本发明人在公开号为CN102248460A的专利文献中提出了一种水晶坯件自动磨抛系统，包括：第一旋转架，环绕第一旋转架设置有至少一个对水晶坯件的上半球进行磨削加工的上半球磨削工位和至少一个对水晶坯件的上半球进行抛光加工的上半球抛光工位，第一旋转架能够转动和定位并设置有至少两个机头；第二旋转架，环绕第二旋转架设置有至少一个对水晶坯件的下半球进行磨削加工的下半球磨削工位和至少一个对水晶坯件的下半球进行抛光加工的下半球抛光工位，第二旋转架能够转动和定位并设置有至少两个机头；上料工位，设置有能够将水晶坯件固定在夹具上的上料机构；对接工位，设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上的对接机构；下料工位，设置有能够将水晶坯件从夹具上拆卸下来的下料机构；以及，至少一个能够拾取和放下夹具并能够将其在上料工位、对接工位以及第一旋转架上的机头之间进行转移的第一转移机构；至少一个能够拾取和放下夹具并能够将其在对接工位、下料工位以及第二旋转架上的机头之间进行转移的第二转移机构；其中，所述上半球磨削工位和下半球磨削工位上均设有磨削机构，所述上半球抛光工位和下半球抛光工位上均设有抛光机构。该技术方案采用旋转架和机头形式实现磨削工序和抛光工序之间的转换，因为这一过程中夹具与夹具座是配合一体的，不存在夹具的流转，所以可以保证前道磨削工序和后道抛光工序的加工一致性，然而磨抛加工的整体精度则可以由旋转架、机头与相关磨抛工位机构的制造精度来保证；采用机械手式转移机构实现磨抛工序与上料工序、对接工序、下料工序之间的转换，因为这一过程中夹具是流转的，夹具轮流与上料工位、对接工位或者下料工位上的夹具座配合固定，所以可以依靠各工位上夹具座与相关机构的自身配合精度保证上料、对接、下料得以实施，当然这些工序对配合精度的要求相对于磨抛工序来说可以略低些。但是，该技术方案采用了两组转移机构（第一转移机构和第二转移机构）通过两个转移循环实现夹具流通，还是存在整体机台体积较大、对接工位空间较小不方便安装维护、机台制造成本较高、能耗较高等问题。
公开号为CN102152190A的专利文献公开了一种全自动饰品磨抛机，机架中间设置有主轴组件，主轴组件上端设置有转盘，转盘上设置有多个悬臂，多个悬臂以主轴组件的中心轴线位置为中心均匀分布，每个悬臂末端设置有一个机械手；机架上以工作顺序分布，分别分布有：上下料集成组件、至少一个前磨削集成组件、至少一个前抛光集成组件、转接集成组件、至少一个后磨削集成组件、至少一个后抛光集成组件；上述各个组件首尾相接。该技术方案中，产品一次成型，集所有工序于一机，生产效率高。但是，其采用整机所有工位围绕一个悬臂转盘（相当于旋转架）布置，机台体积巨大、制造运输困难，各工位空间较小、机构布置困难、不方便设备安装维护；其磨抛工位采用机械手转移夹具，同样存在制造难度大、制造精度要求高等问题。
 技术问题
为了解决上述的技术问题，本发明的目的是提供一种水晶坯件自动磨抛系统，不仅可以实现水晶坯件上、下半球斜面的全自动磨抛加工，保证磨抛加工质量，而且可以充分利用现有机型优点，简化机构动作复杂程度，减小机台体积，易于制造、运输及维护。
 技术解决方案
为了达到上述的目的，本发明采用了以下的技术方案：
方案之一，采用上料、下料分开工位布置：一种水晶坯件自动磨抛系统，包括：第一旋转架，环绕第一旋转架设置有至少一个对水晶坯件的上半球进行磨削加工的上半球磨削工位和至少一个对水晶坯件的上半球进行抛光加工的上半球抛光工位，第一旋转架能够转动和定位并设置有至少两个机头；第二旋转架，环绕第二旋转架设置有至少一个对水晶坯件的下半球进行磨削加工的下半球磨削工位和至少一个对水晶坯件的下半球进行抛光加工的下半球抛光工位，第二旋转架能够转动和定位并设置有至少两个机头；上料工位，设置有能够将水晶坯件固定在夹具上的上料机构；对接工位，设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；下料工位，设置有能够将水晶坯件从夹具上拆卸下来的下料机构；以及，能够拾取和放下夹具并能够将其在上料工位、第一旋转架上的机头、对接工位、第二旋转架上的机头以及下料工位之间进行依次转移的转移机构；其中，所述上半球磨削工位和下半球磨削工位上均设有磨削机构，所述上半球抛光工位和下半球抛光工位上均设有抛光机构。
方案之二，采用上料、下料合并工位布置：一种水晶坯件自动磨抛系统，包括：第一旋转架，环绕第一旋转架设置有至少一个对水晶坯件的上半球进行磨削加工的上半球磨削工位和至少一个对水晶坯件的上半球进行抛光加工的上半球抛光工位，第一旋转架能够转动和定位并设置有至少两个机头；第二旋转架，环绕第二旋转架设置有至少一个对水晶坯件的下半球进行磨削加工的下半球磨削工位和至少一个对水晶坯件的下半球进行抛光加工的下半球抛光工位，第二旋转架能够转动和定位并设置有至少两个机头；上下料工位，设置有能够将水晶坯件从夹具上拆卸下来并能够将另一批水晶坯件固定在该夹具上的上下料机构；对接工位，设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；以及，能够拾取和放下夹具并能够将其在上下料工位、第一旋转架上的机头、对接工位以及第二旋转架上的机头之间进行依次转移的转移机构；其中，所述上半球磨削工位和下半球磨削工位上均设有磨削机构，所述上半球抛光工位和下半球抛光工位上均设有抛光机构。
对于水晶坯件的斜面磨抛加工主要涉及上料、上半球磨削、上半球抛光、对接、下半球磨削、下半球抛光、下料。本技术方案中：采用旋转架和机头形式实现磨削工序和抛光工序之间的转换，因为这一过程中夹具与夹具座是配合一体的，不存在夹具的流转，所以可以保证前道磨削工序和后道抛光工序的加工一致性，然而磨抛加工的整体精度则可以由旋转架、机头与相关磨抛工位机构的制造精度来保证；采用机械手式转移机构实现磨抛工序与上料工序、对接工序、下料工序之间的转换，因为这一过程中夹具是流转的，夹具轮流与上料工位、对接工位、下料工位或者上下料工位上的夹具座（夹具固定板）配合固定，所以可以依靠各工位上夹具座与相关机构的自身配合精度保证上料、对接、下料得以实施，当然这些工序对配合精度的要求相对于磨抛工序来说可以略低些。并且，上述技术方案中采用了能够将对接的两个夹具的位置对换的对接机构，这样在对接工位上每次流通仅为一个夹具，这样一个转移机构就能够实现对接工位、上料工位、下料工位（或者上下料工位）之间的夹具流通循环，这样不仅实现了水晶坯件上、下半球斜面的全自动磨抛加工，保证了磨抛加工质量，而且各工位布置更加合理简洁，工位机构设置空间更加宽裕，减小了机台整体体积，为多机台串联（或者采用拼装式机台）实现全自动加工提供了可行性，极大的降低了制造、运输、安装调试及维护的难度和成本，简化了夹具转移流通方式，降低了机台能耗和材料制造成本。
对于采用旋转架和机头形式实现多工位磨抛加工的机械，可以采用现有设备，例如本发明人的公开号为CN101269472A的专利文献公开的一种四工位水钻斜面磨抛机以及后续的改进专利文献公开的机构，再例如公开号为CN2715913Y的专利文献公开的一种多盘位多粒宝石研磨装置、公开号为CN2825203Y的专利文献公开的一种水钻研磨抛光机。需要说明的是，上述旋转架可以是转盘形式，也可以支架形式；上述机头上可以安装一个夹具也可以安装多个夹具；上述水晶坯件可以为水晶球坯件，也可以是水钻坯件或者其他异形水晶坯件；上述磨削机构为平盘磨削机构或者辊式磨削机构（滚筒磨轮机构），上述抛光机构为平盘抛光机构或者辊式抛光机构（滚筒磨轮机构）；磨削机构、抛光机构的具体结构可见于上述专利文献，对于对接机构的具体结构可见于公开号CN102152190A、CN102152188A、CN202162662U的专利文献，对于上料机构、下料机构或者上下料机构的具体结构可见于公开号为CN102152190A、CN102240941A、CN102211305A的专利文献。
从上述专利文献中，可以知道它们的夹具是安装在机头的夹具固定板下面的，机械手式转移机构要从夹具固定板下方拾取和放下夹具虽然也能够实现，但是所需要的机构动作会比较复杂，因此，作为优选，所述第一旋转架上的机头和第二旋转架上的机头均包括夹具固定板，夹具放置在夹具固定板上面并通过夹具锁紧机构固定，这样保证了机械手式转移机构的机构动作简单可靠。对于夹具固定板是如何设置于机头上、机头可以采用何种具体结构以及还具有哪些辅助机构，可见于上述专利文献。
作为优选，环绕第一旋转架设置有至少一个上半球磨削工位、至少一个上半球抛光工位和至少一个等待工位，第一旋转架上设置有至少三个机头；环绕第二旋转架设置有至少一个下半球磨削工位、至少一个下半球抛光工位和至少一个等待工位，第二旋转架上设置有至少三个机头。等待工位为空位，不实施磨抛加工，设置等待工位可以避免机械手式转移机构转移夹具时占用机台的磨抛加工时间，从而提高加工效率。
上述技术方案中的各工位机构、旋转架及转移机构是可以设置在一个机台机架上的，但是这样会机台体积较大、不利于制造运输，因此，作为优选，所述第一旋转架及其上半球磨削工位、上半球抛光工位和等待工位设置在同一个机架上，所述第二旋转架及其下半球磨削工位、下半球抛光工位和等待工位设置在同一个机架上。而所述上料工位、对接工位、下料工位和转移机构可以设置在同一个机架上，也可以将上料工位、对接工位、下料工位和转移机构都做成一个相对独立的机台机架，还可以是其他多种形式。上述多个机构可以在运输时拆开包装运输，可以在使用时组合在一起（或者通过连接件拼装在一起）安装使用。
上述转移机构的具体结构有多种，可以是轨道和机械手形式，即机械手用于拾取和放下夹具，机械手沿固定的轨道从一个工位移动至另一个工位（往复移动），但是，这样的机构如果采用单个机械手沿单轨道在各工位之间循环移动，就存在效率低下的问题，如果采用多个机械手分别沿其独立轨道在两个工位之间实现转移，就存在驱动机构多、动作复杂、能耗高等问题。因此，作为优选，所述转移机构包括能够转动和定位的第三旋转架，第三旋转架上圆周设置有多个能够拾取和放下夹具的机械手；第三旋转架可以是连续旋转形式的，也可以是往复摆动的。采用旋转架和机械手形式的转移机构，具有结构动作简单、运行可靠效率高等优点。对于多个机械手沿圆环轨道转移的结构，其实质上与旋转架和机械手形式相同。至于机械手的具体结构可见于公开号为CN101758433A、CN201863078U、CN201702632U、CN102152190A、CN102240941A的专利文献。至于上述第一至第三旋转架的转动和定位机构均可采用现有技术，即可采用电机经齿轮或者带传动驱动旋转架转动，在旋转架上固定设置定位转盘，定位转盘上设置销孔，机架上设置由定位气缸驱动的定位销，当旋转架转动到位时有定位销插入该销孔实现定位。
 有益效果
本发明由于采用了以上的技术方案，充分利用现有机型优点，简化机构动作复杂程度，不仅实现了水晶坯件上、下半球斜面的全自动磨抛加工，保证了磨抛加工质量和加工一致性，而且各工位布置更加合理简洁，工位机构设置空间更加宽裕，减小了机台整体体积，为多机台串联（或者采用拼装式机台）实现全自动加工提供了可行性，极大的降低了制造、运输、安装调试及维护的难度和成本，简化了夹具转移流通方式，进一步提高了加工效率，降低了机台能耗和材料制造成本。
 附图说明
图1是实施例1的结构示意图；
图2是实施例2的结构示意图；
图3是实施例3的结构示意图；
图4是夹具在机头上的安装结构示意图；
图5是图4的局部剖视图。
 本发明的最佳实施方式
实施例1：
如图1所示的一种水晶坯件自动磨抛系统，包括：第一旋转架2，环绕第一旋转架2设置有两个对水晶坯件的上半球进行磨削加工的上半球磨削工位11、12和一个对水晶坯件的上半球进行抛光加工的上半球抛光工位13、一个等待工位14，第一旋转架2能够转动和定位并设置有四个机头21；第二旋转架4，环绕第二旋转架4设置有两个对水晶坯件的下半球进行磨削加工的下半球磨削工位31、32和一个对水晶坯件的下半球进行抛光加工的下半球抛光工位33、一个等待工位34，第二旋转架4能够转动和定位并设置有四个机头41；上料工位6，设置有能够将水晶坯件固定在夹具上的上料机构；对接工位5，设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；下料工位7，设置有能够将水晶坯件从夹具上拆卸下来的下料机构；以及，一个能够拾取和放下夹具并能够将其在上料工位6、第一旋转架2上的机头21（等待工位14上方）、对接工位5、第二旋转架4上的机头41（等待工位34上方）以及下料工位7之间进行依次转移的转移机构；其中，所述上半球磨削工位11、12和下半球磨削工位31、32上均设有磨削机构，所述上半球抛光工位13和下半球抛光工位33上均设有抛光机构。
本实施例中，如图4、图5所示，所述第一旋转架2上的机头21和第二旋转架4上的机头41均包括夹具固定板101，夹具100放置在夹具固定板101上面并通过夹具锁紧机构固定。所述夹具锁紧机构包括设置在夹具固定板101的上部、与夹具100底部燕尾相匹配的单燕尾槽，夹具固定板101底部104铰接有锁紧块102，锁紧块102的上端固定锁紧气缸103，锁紧气缸103的活动端与夹具固定板101活动连接，锁紧块102的下端伸出夹具固定板101的下部并设有与所述单燕尾槽相配合锁紧夹具100底部燕尾的燕尾钩。所述第一旋转架2及其上半球磨削工位11、12、上半球抛光工位13和等待工位14设置在同一个机架上，所述第二旋转架4及其下半球磨削工位31、32、下半球抛光工位33和等待工位34设置在同一个机架上；所述上料工位6、对接工位5、下料工位7、转移机构分别设置在各自独立的机架上。所述转移机构包括能够转动和定位的第三旋转架8，第三旋转架8上圆周设置有五个能够拾取和放下夹具100的机械手81；所述磨削机构为辊式磨削机构，所述抛光机构为辊式抛光机构。
加工时，第一旋转架2在上半球磨削工位11、12上方机头的夹具进行磨削加工，第一旋转架2在上半球抛光工位13上方机头的夹具进行抛光加工，第一旋转架2在等待工位14上方机头静止，第二旋转架4在上半球磨削工位31、32上方机头的夹具进行磨削加工，第二旋转架4在上半球抛光工位33上方机头的夹具进行抛光加工，第二旋转架4在等待工位34上方机头静止；空夹具在上料工位6粘接固定上水晶坯件，加工完成的夹具在下料工位7卸下加工成品件，上半球加工完成的夹具在对接工位5将水晶坯件转接至另一个夹具，第三旋转架8上的五个机械手81分别抓取对应工位上的夹具，第三旋转架8转动一个工位距离机械手81放下夹具，这样，原上料工位6上的夹具被转移到第一旋转架2在等待工位14上方的机头上等待进行上半球磨抛加工，原第一旋转架2在等待工位14上方机头上的夹具被转移到对接工位5上进行对接，原对接工位5上对接有水晶坯件的夹具被转移至第二旋转架4在等待工位34上方的机头上等待进行下半球磨抛加工，原第二旋转架4在等待工位34上方机头上的夹具被转移至下料工位7进行下料，原下料工位7上完成下料的空夹具被转移至上料工位6进行上料；各磨削、抛光工位加工完成后，第一旋转架2和第二旋转架4分别转动一个工位距离，等待进行上半球磨抛加工的夹具转至上半球磨削工位11上进行加工，上半球磨抛加工完成的夹具转至等待工位14，等待进行下半球磨抛加工的夹具转至下半球磨削工位31上进行加工，下半球磨抛加工完成的夹具转至等待工位34；上料工位6、下料工位7和对接工位5加工完成后，第三旋转架8和机械手81动作，进入下一个循环。
 本发明的实施方式
实施例2：
如图2所示的一种水晶坯件自动磨抛系统，包括：第一旋转架2，环绕第一旋转架2设置有两个对水晶坯件的上半球进行磨削加工的上半球磨削工位11、12和一个对水晶坯件的上半球进行抛光加工的上半球抛光工位13，第一旋转架2能够转动和定位并设置有四个机头21；第二旋转架4，环绕第二旋转架4设置有两个对水晶坯件的下半球进行磨削加工的下半球磨削工位31、32和一个对水晶坯件的下半球进行抛光加工的下半球抛光工位33，第二旋转架4能够转动和定位并设置有四个机头41；上下料工位9，设置有能够将水晶坯件从夹具上拆卸下来并能够将另一批水晶坯件固定在该夹具上的上下料机构；对接工位5，设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；以及，一个能够拾取和放下夹具并能够将其在上下料工位9、第一旋转架2上的机头21、对接工位5以及第二旋转架4上的机头41之间进行依次转移的转移机构；其中，所述上半球磨削工位11、12和下半球磨削工位31、32上均设有磨削机构，所述上半球抛光工位13和下半球抛光工位33上均设有抛光机构。
本实施例中，如图4、图5所示，所述第一旋转架2上的机头21和第二旋转架4上的机头41均包括夹具固定板101，夹具100放置在夹具固定板101上面并通过夹具锁紧机构固定。所述夹具锁紧机构包括设置在夹具固定板101的上部、与夹具100底部燕尾相匹配的单燕尾槽，夹具固定板101底部104铰接有锁紧块102，锁紧块102的上端固定锁紧气缸103，锁紧气缸103的活动端与夹具固定板101活动连接，锁紧块102的下端伸出夹具固定板101的下部并设有与所述单燕尾槽相配合锁紧夹具100底部燕尾的燕尾钩。所述第一旋转架2及其上半球磨削工位11、12、上半球抛光工位13和等待工位14设置在同一个机架上，所述第二旋转架4及其下半球磨削工位31、32、下半球抛光工位33和等待工位34设置在同一个机架上；所述上下料工位9、对接工位5、转移机构分别设置在各自独立的机架上。所述转移机构包括能够转动和定位的第三旋转架8，第三旋转架8上圆周设置有四个能够拾取和放下夹具100的机械手81；所述磨削机构为辊式磨削机构，所述抛光机构为辊式抛光机构。
加工时，第一旋转架2在上半球磨削工位11、12上方机头的夹具进行磨削加工，第一旋转架2在上半球抛光工位13上方机头的夹具进行抛光加工，第一旋转架2在等待工位14上方机头静止，第二旋转架4在上半球磨削工位31、32上方机头的夹具进行磨削加工，第二旋转架4在上半球抛光工位33上方机头的夹具进行抛光加工，第二旋转架4在等待工位34上方机头静止；加工完成的夹具在上下料工位9卸下加工成品件后再粘接固定上未加工的水晶坯件，上半球磨抛加工完成的夹具在对接工位5将水晶坯件转接至另一个夹具，第三旋转架8上的四个机械手81分别抓取对应工位上的夹具，第三旋转架8转动一个工位距离机械手81放下夹具，这样，原上下料工位9上的夹具被转移到第一旋转架2在等待工位14上方的机头上等待进行上半球磨抛加工，原第一旋转架2在等待工位14上方机头上的夹具被转移到对接工位5上进行对接，原对接工位5上对接有水晶坯件的夹具被转移至第二旋转架4在等待工位34上方的机头上等待进行下半球磨抛加工，原第二旋转架4在等待工位34上方机头上的夹具被转移至上下料工位9进行下料和重新上料；各磨削、抛光工位加工完成后，第一旋转架2和第二旋转架4分别转动一个工位距离，等待进行上半球磨抛加工的夹具转至上半球磨削工位11上进行加工，上半球磨抛加工完成的夹具转至等待工位14，等待进行下半球磨抛加工的夹具转至下半球磨削工位31上进行加工，下半球磨抛加工完成的夹具转至等待工位34；上下料工位9和对接工位5加工完成后，第三旋转架8和机械手81动作，进入下一个循环。
实施例3：
如图3所示的一种水晶坯件自动磨抛系统，与实施例1的不同仅在于： 所述转移机构包括五个能够拾取和放下夹具的机械手，这五个机械手分别沿上料工位6上方至第一旋转架2的机头上方（位于等待工位14上）、第一旋转架2的机头上方（位于等待工位14上）至对接工位5上方、对接工位5上方至第二旋转架4的机头上方（位于等待工位34上）、第二旋转架4的机头上方（位于等待工位34上）至下料工位7上方、下料工位7至上料工位6上方的五个固定轨道往返运行。其他机构和工作过程与实施例1相仿。
工业实用性
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Claims (7)

1、一种水晶坯件自动磨抛系统，其特征在于，包括：
第一旋转架（2），环绕第一旋转架（2）设置有至少一个对水晶坯件的上半球进行磨削加工的上半球磨削工位（11、12）和至少一个对水晶坯件的上半球进行抛光加工的上半球抛光工位（13），第一旋转架（2）能够转动和定位并设置有至少两个机头（21）；
第二旋转架（4），环绕第二旋转架（4）设置有至少一个对水晶坯件的下半球进行磨削加工的下半球磨削工位（31、32）和至少一个对水晶坯件的下半球进行抛光加工的下半球抛光工位（33），第二旋转架（4）能够转动和定位并设置有至少两个机头（41）；
上料工位（6），设置有能够将水晶坯件固定在夹具上的上料机构；
对接工位（5），设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；
下料工位（43），设置有能够将水晶坯件从夹具上拆卸下来的下料机构；以及，
能够拾取和放下夹具并能够将其在上料工位（6）、第一旋转架（2）上的机头（21）、对接工位（5）、第二旋转架（4）上的机头（41）以及下料工位（7）之间进行依次转移的转移机构；
其中，所述上半球磨削工位（11、12）和下半球磨削工位（31、32）上均设有磨削机构，所述上半球抛光工位（13）和下半球抛光工位（33）上均设有抛光机构。
2、一种水晶坯件自动磨抛系统，其特征在于，包括：
第一旋转架（2），环绕第一旋转架（2）设置有至少一个对水晶坯件的上半球进行磨削加工的上半球磨削工位（11、12）和至少一个对水晶坯件的上半球进行抛光加工的上半球抛光工位（13），第一旋转架（2）能够转动和定位并设置有至少两个机头（21）；
第二旋转架（4），环绕第二旋转架（4）设置有至少一个对水晶坯件的下半球进行磨削加工的下半球磨削工位（31、32）和至少一个对水晶坯件的下半球进行抛光加工的下半球抛光工位（33），第二旋转架（4）能够转动和定位并设置有至少两个机头（41）；
上下料工位（9），设置有能够将水晶坯件从夹具上拆卸下来并能够将另一批水晶坯件固定在该夹具上的上下料机构；
对接工位（5），设置有能够将水晶坯件从一个夹具转接固定到另一个夹具上并能够将两个夹具进行位置对换的对接机构；以及，
能够拾取和放下夹具并能够将其在上下料工位（9）、第一旋转架（2）上的机头（21）、对接工位（5）以及第二旋转架（4）上的机头（41）之间进行依次转移的转移机构；
其中，所述上半球磨削工位（11、12）和下半球磨削工位（31、32）上均设有磨削机构，所述上半球抛光工位（13）和下半球抛光工位（33）上均设有抛光机构。
3、根据权利要求1或2所述的一种水晶坯件自动磨抛系统，其特征在于，所述第一旋转架（2）上的机头（21）和第二旋转架（4）上的机头（41）均包括夹具固定板（101），夹具（100）放置在夹具固定板（101）上面并通过夹具锁紧机构固定。
4、 根据权利要求1或2所述的一种水晶坯件自动磨抛系统，其特征在于，环绕第一旋转架（2）设置有至少一个上半球磨削工位（11、12）、至少一个上半球抛光工位（13）和至少一个等待工位（14），第一旋转架（2）上设置有至少三个机头（21）；环绕第二旋转架（4）设置有至少一个下半球磨削工位（31、32）、至少一个下半球抛光工位（33）和至少一个等待工位（34），第二旋转架（4）上设置有至少三个机头（41）。
5、 根据权利要求4所述的一种水晶坯件自动磨抛系统，其特征在于，所述第一旋转架（2）及其上半球磨削工位（11、12）、上半球抛光工位（13）和等待工位（14）设置在一个机架上，所述第二旋转架（4）及其下半球磨削工位（31、32）、下半球抛光工位（33）和等待工位（34）设置在另一个机架上。
6、 根据权利要求1或2所述的一种水晶坯件自动磨抛系统，其特征在于，所述转移机构包括能够转动和定位的第三旋转架（8），第三旋转架（8）上圆周设置有多个能够拾取和放下夹具（100）的机械手（81）。
7、根据权利要求1或2所述的一种水晶坯件自动磨抛系统，其特征在于，所述磨削机构为平盘磨削机构或者辊式磨削机构，所述抛光机构为平盘抛光机构或者辊式抛光机构。
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