WO2014201786A1

WO2014201786A1 - Automatic system for grinding and polishing crystal blank

Info

Publication number: WO2014201786A1
Application number: PCT/CN2013/085212
Authority: WO
Inventors: 虞卫东
Original assignee: 浙江名媛工艺饰品有限公司
Priority date: 2013-06-18
Filing date: 2013-10-15
Publication date: 2014-12-24
Also published as: CN103273397A; CN103273397B

Abstract

Disclosed is an automatic system for grinding and polishing a crystal blank, comprising a first left and right transfer mechanism and a second left and right transfer mechanism, wherein blanking loading and unloading working position, a plurality of upper hemisphere grinding and polishing working positions and a butt-joint working position are arranged in sequence from left to right along the first left and right transfer mechanism, and a butt-joint working position, a plurality of lower hemisphere grinding and polishing working positions and a loading and unloading working position are arranged in sequence from right to left along the second left and right transfer mechanism; the loading and unloading working position is provided with blanking loading and unloading machinery thereon, all the grinding and polishing working positions are provided with grinding and polishing machineries thereon, and the butt-joint working position is provided with butt-joint machinery thereon. Each left and right transfer mechanism comprises a plurality of transfer manipulators and a track extending in a straight line in a left and right direction; fixture bases which are positioned on the loading and unloading machinery, the grinding and polishing machineries and the butt-joint machinery and used for installing fixtures are arranged in left and right rows in the length direction of the fixtures, and the transfer manipulators push the fixtures to slip between the adjacent left and right fixture bases in the length direction of the fixtures.

Description

Crystal blank automatic grinding and polishing system

Technical field

The invention belongs to the field of grinding and polishing of crystal products, and relates to an automatic grinding and polishing system for crystal blanks for automatic grinding and polishing of crystal blanks.

Background technique

In the prior art, an automatic grinding and polishing system for a crystal blank (grinding and polishing machine) includes: a loading station provided with a loading mechanism capable of fixing the crystal blank on the jig; at least one pair of the crystal blank The upper hemisphere grinding station for grinding the hemisphere and at least one upper hemisphere polishing station for polishing the upper hemisphere of the crystal blank; the docking station is provided with the ability to transfer the crystal blank from a fixture to the fixture Another butt joint mechanism capable of positionally changing the two clamps; at least one lower hemisphere grinding station for grinding the lower hemisphere of the crystal blank and at least one lower hemisphere for crystal blank polishing a processing lower hemisphere polishing station; a blanking station provided with a blanking mechanism capable of detaching the crystal blank from the jig; wherein the upper hemisphere grinding station and the lower hemisphere grinding station are both provided There is a grinding mechanism, and the upper hemisphere polishing station and the lower hemisphere polishing station are provided with a polishing mechanism. A transfer mechanism for transferring a crystal blank between stations, an organic head rotating frame form, a robot rotating frame form, and a robot hand track form.

The grinding and polishing process for crystal blanks (especially standard rhinestone products) is as follows:

Feeding (including pre-heating of the clamp of the empty fixture → Dip powder → Upper bead → Bonding) → Upper hemisphere grinding process → Upper hemisphere polishing process → Docking (including the fixture clamp preheating of the empty clamp → Dip powder → Fixture against →Clamping the clamp of the empty fixture to the molten metal, bonding the crystal blank to the fixture of the other fixture, heating the glue to the fixture, cooling the fixture needle to fix the bond, → grinding the lower hemisphere → polishing the lower hemisphere → cutting (including heating the glue to the fixture → lower beads and cleaning fixture pins). In the above process, the docking process takes the longest time, followed by the loading process, and the blanking process takes a short time. For the grinding (or polishing) process, multiple grinding (or polishing) stations are generally used in the prior art. Multiple grinding (or polishing), so the grinding (or polishing) process takes a relatively short time. How to shorten the time occupied by the docking process or make the residence time of each processing station relatively close by rationally distributing the various process steps, avoiding the waiting time of the machine is too long, and improving the processing efficiency of the entire automatic grinding and polishing system is the urgent need of the industry Solve the problem.

The patent document published as CN102366914A discloses an automatic circulation double-clamp jewelry grinding and polishing machine, in which the upper hemisphere grinding and polishing (pre-grinding) and the lower hemisphere grinding and polishing (post-polishing) of the crystal blank are in the same processing cycle ( That is, the jig flow cycle), wherein the jigs on each station are arranged in parallel along the length direction of the jig (especially the grinding and polishing station), so that the left and right transfer mechanisms need to be extended first when transferring the jig between the stations. The jig is lifted from the fixture seat of one station and then passed over the fixture seat mechanism of the corresponding station, and then sent to the fixture seat placed on another station. The structure of the left and right transfer mechanism is complicated and moves. It is cumbersome, prone to failure and costly. Moreover, the docking bracket (ie, the adapter assembly portion) and the waiting bracket (ie, the clamp reset assembly portion) are both 180° rotating structures in the docking mechanism, so that the following problems exist: First, because the heating tube in the docking mechanism is generally The high-frequency heating pipe or the gas fire-breathing pipe is used, so the general heating pipe needs to be connected with the high-frequency generating device or the gas supply device, and the heating pipe is installed between the two clamps (seats) that are butted, that is, installed above. In the adapter assembly, a large range of 180 degrees of frequent rotation may cause the connection structure of the heating pipe and the high frequency generating device or the gas supply device to be complicated, and also affect the service life; second, in order to vacate the rotating space of the adapter assembly, The wire brush and powder plate used for cleaning the upper clamp and powdering the glue are placed far away from the adapter assembly, and their movement stroke is long and takes up a lot of time; thirdly, the above-mentioned adapter assembly is docked and dipped. Powder gluing and 180 degree rotation are carried out successively, taking up more time, which makes the transfer (docking) station take longer, and other grinding and polishing station mechanisms It is prolonged, abutting low efficiency while reducing the processing efficiency of the whole automatic cycle.

To this end, the inventor discloses a crystal blank automatic grinding and polishing system and a docking mechanism thereof, including a first left and right transfer mechanism, which are arranged in sequence along the first left and right transfer mechanism. Work station, at least one upper hemisphere grinding station for grinding the upper hemisphere of the crystal blank, at least one upper hemisphere polishing station and docking station for polishing the upper hemisphere of the crystal blank, first around The transfer mechanism is capable of moving and positioning left and right and is provided with at least four robots capable of picking up and lowering the jig; the second left and right transfer mechanism sequentially arranging the docking station and the at least one pair of crystal blanks along the second left and right transfer mechanisms The lower hemisphere grinding station for grinding in the lower hemisphere, at least one lower hemisphere polishing station and the unloading station for polishing the lower hemisphere of the crystal blank, and the second left and right transfer mechanism can move and position left and right and set There are at least four robots capable of picking up and lowering the jig; wherein the loading station is provided with a crystal blank capable of being fixed on the jig a feeding mechanism; the unloading station is provided with a cutting mechanism capable of detaching the crystal blank from the jig; and the grinding mechanism is provided on the upper hemisphere grinding station and the lower hemisphere grinding station a polishing mechanism is disposed on the upper hemisphere polishing station and the lower hemisphere polishing station; the docking station is provided with a docking mechanism, wherein the powdering position and the docking position are located below the first left and right transfer mechanism, and the dip The first assembly is transferred between the powder assembly and the upper holder of the upper portion of the docking bracket by the first left and right transfer mechanism; the transition position and the switching position are located below the second left and right transfer mechanism, and between the first clamp placement frame and the clamp fixing portion at the upper portion of the conversion bracket The jig is transferred by the second left and right transfer mechanism.

However, in the above structure, the clamp seats on the respective stations are arranged in parallel along the longitudinal direction of the clamp (especially the grinding and polishing station), so that when the left and right transfer mechanisms transfer the clamps between the stations, it is necessary to first extend from one work. The fixture is placed on the fixture holder and then passed over the fixture mechanism on the corresponding station, and then placed on the fixture holder on another station. The left and right transfer mechanism is complicated in structure, cumbersome and easy to operate. Failure and high cost. In the docking mechanism, the first front and rear transfer mechanism needs to first transfer the tape clamp from the docking bracket to the conversion bracket, and then wait for the conversion bracket to rotate 180° up and down position, and then the first front and rear transfer mechanism will be converted on the bracket. The rubber clamp is fed into the docking bracket. In this process, the first front and rear transfer mechanism reciprocates the transfer fixture, and the docking bracket can only be in a waiting state, which increases the waiting time of the machine, so further improvement is needed to improve production efficiency.

technical problem

In order to solve the above technical problems, the object of the present invention is to provide a crystal blank automatic grinding and polishing system, which is suitable for the upper hemisphere grinding and polishing of the crystal blank and the lower hemisphere grinding and polishing in the same processing cycle, compared with the prior art. The mechanism at each processing station is more simple and reasonable, the structure of the left and right transfer mechanism and the transfer manipulator is more reasonable, the action is simpler, the cost is lower, the operation is more reliable, and the waiting time of each station and the transfer mechanism is less and the efficiency is higher. , further improve the processing efficiency and reliability of the entire automatic grinding and polishing system.

Technical solution

A crystal blank automatic grinding and polishing system comprises a first left and right transfer mechanism and a second left and right transfer mechanism arranged in parallel in front and rear, and a loading and unloading station and a plurality of upper half are arranged in order from left to right along the first left and right transfer mechanism. The ball grinding and throwing station and the docking station are arranged along the second left and right transfer mechanism from the right to the left, and have a docking station, a plurality of lower hemisphere grinding and polishing stations and a loading and unloading station; wherein the loading and unloading station is provided The upper and lower material grinding machine for fixing the processed crystal blank from the jig and fixing the crystal blank to be processed on the jig, the upper hemisphere grinding and polishing station and the lower hemisphere grinding and polishing station are respectively provided for The grinding and polishing machine for grinding and polishing the crystal blank on the fixture, the docking station is provided with a docking machine for transferring the crystal blank from one fixture to another fixture, the first left and right transfer mechanism and the first The two left and right transfer mechanisms have the same structure, and each includes a plurality of transfer robots for pushing the jig between adjacent stations and a track extending linearly from left to right. The track is mounted on the loading and unloading machinery, the grinding and polishing machine, and the pair. Mechanically, the transfer robot is driven to move along the track by the transfer drive device; the clamps for mounting fixtures on the loading and unloading machinery, the grinding and polishing machine, and the docking machine are arranged side by side along the length direction of the clamp, and the transfer robot pushes the clamp along the length of the clamp Sliding between the left and right adjacent clamp seats.

Preferably, the plurality of transfer robots are driven in series by a plurality of connecting rods and then driven synchronously by a transfer drive unit. The structure is reasonable, the drive is simple, the efficiency is high, and the cost is low.

Preferably, the transfer robot comprises a robot seat, and a plurality of guide wheels are mounted on one side of the robot seat, the robot seat is guided to slide on the track through the guide wheels, and the other side of the robot seat is provided with a sliding frame that slides up and down. A rack is fixed on the upper part of the carriage, the rack is meshed with the manipulator gear mounted on the manipulator seat, the manipulator gear is connected with the manipulator lifting drive device, the lower part of the carriage is fixed with a clamp fork, the clamp fork and the back of the clamp The handle is matched and clamped; the mechanical lifting and lowering driving device is a servo motor, and the plurality of transfer robots are driven and driven by the same servo motor, and the gear shaft of the robot gear of the adjacent transfer robot is connected by the joint bearing and the transmission link to realize synchronous rotation. . The structure is reasonable, the drive is simple, the operation is reliable, the efficiency is high, and the cost is low.

Preferably, the grinding and polishing machine comprises a grinding and polishing frame, and the grinding and polishing frame is equipped with a grinding tool, and the grinding tool is driven to rotate by a grinding machine motor mounted on the grinding and polishing frame, and the grinding device is provided with a grinding and polishing mechanism and a straight rail extending in a straight line to the left and right, and a transfer robot is arranged to slide along the straight rail; the grinding and polishing mechanism includes a swinging carriage that is horizontally slidably connected to the grinding and polishing frame, and the swinging carriage is driven by the swing driving device to swing back and forth, and the swinging carriage A grinding and polishing fixture seat is arranged on the upper sliding, and the grinding and polishing fixture seat is driven up and down by the clamp seat driving device, and the grinding and polishing fixture seat is provided with a plurality of upper locking blocks, a lower locking block and a guide wheel for guiding the left and right sliding guides of the fixture. The upper locking block is fixed on the grinding and polishing fixture seat and matched with the upper side of the dovetail of the clamp, and the lower locking block is connected with the movable end of the clamp locking cylinder mounted on the grinding and polishing fixture seat and under the dovetail of the clamp Side matching, when the clamp is locked, the clamp lock cylinder drives the lower locking block to move upwards to cooperate with the upper locking block to hold the dovetail of the clamp tightly, and the guide wheel is installed in the lower part of the grinding and polishing fixture seat, when the clamp is not locked When the clamp is movable on the guide wheel slip pushing; jig grinding and polishing the outer mounting seat extending around a section of the stopper, between the grinding and polishing jig holders and sliding left and right push bars move limit. The structure is reasonable, the drive is simple, the operation is reliable, the efficiency is high, and the cost is low.

Preferably, the clamp base driving device comprises a feed cylinder, the feed cylinder is fixedly mounted on the swing carriage, the moving end of the feed cylinder is connected with the grinding and polishing fixture seat, and an automatic compensation mechanism is also provided, including installation on the swing drag The compensating mechanism motor and the cam on the plate, the compensating mechanism motor is connected with the cam drive, and the cam rotates on the swinging carriage and abuts against the moving end of the feed cylinder to limit the stroke of the feed cylinder. The structure is reasonable, the drive is simple, the operation is reliable, and the cost is low.

Preferably, the swinging carriages on the plurality of left and right adjacent grinding and polishing stations are synchronously oscillated by the joint bearing and the connecting rod. The structure is reasonable, the drive is simple, the operation is reliable, the efficiency is high, and the cost is low.

Preferably, one side of the grinding and polishing fixture seat is provided with an index conversion mechanism for converting a grinding and polishing surface of the crystal blank, and includes an index conversion bracket, a connecting seat, an indexing conversion motor, a connecting cylinder and a connecting shaft, The indexing conversion bracket is fixedly connected with the grinding and polishing fixture seat, the connecting seat is slidably connected with the indexing conversion bracket and driven by the connecting cylinder, the connecting shaft is rotated and arranged on the connecting seat, and one end of the connecting shaft is provided with a worm shaft end capable of being connected with the clamp The part cooperates with the inserted slot or the insert, and the other end of the connecting shaft is connected with the indexing motor mounted on the indexing conversion bracket through the bevel gear set, the spline shaft and the bevel gear set. The structure is reasonable, the drive is simple, the operation is reliable, the efficiency is high, and the cost is low.

Preferably, the loading and unloading machine comprises a loading and unloading frame, wherein the loading and unloading frame is provided with a lower material position, a loading material and a loading position, and the loading and the feeding position are arranged one to the left. The row setting, the blanking position and the loading position of the loading material are arranged in a row before and after, and a rotating frame A capable of rotating and positioning is installed between the blanking position and the loading position, and the rotating frame A is driven by the driving device at the horizontal plane. In the inner rotation, the front and rear two sets of conversion jigs A are mounted on the turret A. The two sets of conversion jigs A are respectively located above the unloading position and the loading position of the loading material, wherein the unloading component is installed at the unloading position. A powder-mixing component is installed on the loading position of the feeding material, a loading component is installed on the loading position, a loading fixture holder is arranged above the loading component, and the conversion fixture seat A and the loading position of the loading position of the loading material are The loading clamp holders are arranged in rows along the length direction of the clamp, and the conversion clamp seat A and the loading clamp seat are provided with a plurality of upper locking blocks, lower locking blocks and guide wheels for the left and right sliding push guides of the clamp, and also There is a clamp locking cylinder, in A straight track extending left and right is arranged at the cutting position, the loading position of the feeding material and the loading position, and the transfer robot is arranged to slide along the straight track. The structure is reasonable, the operation is reliable, the efficiency is high, and the cost is low.

Further preferably, one side of the loading position is provided with a cooling position, and a cooling fixture seat is arranged on the cooling position, and the cooling position, the loading position of the feeding material, and the loading position are arranged in a row, the cooling fixture seat and the feeding The clamping fixture seat A of the clamp seat and the loading position of the loading material is arranged in a row along the longitudinal direction of the clamp, and the cooling fixture seat is provided with a plurality of upper locking blocks, a lower locking block and a guide wheel for sliding the left and right sliding guides. A straight rail extending left and right is also placed above the cooling fixture. Facilitate the layout of the entire system to improve efficiency and quality.

Preferably, the docking machine comprises a docking rack, wherein the docking rack is provided with a pair of docking positions, a cleaning position, a pair of picking powder positions and a waiting position, the docking position and the cleaning position are arranged in a row, the docking powder position and The waiting position is arranged in a row, the cleaning position and the docking powder position are arranged in a row before and after, the docking position and the waiting position are arranged in a row before and after, and a rotating arm capable of rotating and positioning is installed between the docking position and the waiting position, and the rotating arm is arranged The driving device is driven to rotate in a vertical plane, the rotating shaft of the rotating arm is disposed on one side thereof, and the lower clamping bracket is mounted on the opposite side of the rotating shaft, and the upper clamping fixture seat and a heating tube are mounted at the docking position, and the upper clamping fixture is attached The seat is fixed on the docking frame, the heating pipe is installed under the docking upper clamp seat and driven by the driving device to lift and lower, the waiting position is vacant; when the docking lower clamp seat on the rotating arm rotates to the docking position, the lower clamping fixture The seat is located directly below the butt joint holder, and the clamp of the clamp on the lower clamp base is up, when the pair on the rotating arm The lower clamp seat is rotated to the waiting position, and the clamp pin on the lower clamp holder is downwardly; a turret B capable of rotating and positioning is mounted between the cleaning position and the docking powder application position, and the turret B is driven by the driving device in the horizontal plane. Rotating, the turret B is mounted with two sets of front and rear conversion jigs B. The two sets of conversion jigs B are respectively located above the cleaning position and the docking powder position; wherein the cleaning position is provided with a cleaning component for docking the powder position The powder-carrying component is provided, the docking upper clamp seat in the docking position and the conversion clamp seat B in the cleaning position are arranged side by side in the longitudinal direction of the clamp, the conversion clamp seat B on the docking powder position and the docking lower clamp on the waiting position The seats are arranged in rows along the length direction of the clamp, and a plurality of upper locking blocks, lower locking blocks and guides for guiding the left and right sliding pushes of the clamp are respectively arranged on the upper clamp holder, the conversion clamp base B and the butt lower clamp seat. The wheel is also provided with a clamp locking cylinder, and a straight track extending left and right is also arranged above the docking position, the cleaning position, the docking powder position and the waiting position, along the straight track Slide the transfer robot. The structure is reasonable, the action is simple, the operation is reliable, the efficiency is high, and the cost is low.

Compared with the docking mechanism disclosed in the patent document published in the publication No. CN102366914A, the two clamps of the present invention are continuously cycled through two different transfer paths, and the docking, up-and-down conversion and the powdering are simultaneously performed, thereby greatly reducing the docking. The time occupied by the station, the waiting time of other stations is less, and the overall processing efficiency of the system is improved; and the upper and lower clamp holders of the docking are fixed to the upper clamp holder, and the lower clamp holder is rotated by the rotating arm. After directly docking with the docking fixture holder, the action structure is simple and the precision is high, which avoids the upper and lower fixture holders being arranged to slide, thereby affecting the docking precision, improving the docking precision, the structure is more simple and reasonable, and is convenient for maintenance and installation; The heating pipe does not need to rotate and the moving distance is short, so that the connection structure of the heating pipe and the high-frequency generating device or the gas supply device is simplified, the service life of the device is improved, and the maintenance and installation are facilitated. The separate position setting of the powder-mixing component and the cleaning component also makes the structure more simple and reasonable. In the present invention, the transfer path of the butt-spaced jig and the strip jig is simpler, and the unidirectional transfer jig does not have a reciprocating transfer path, so that each of the docking mechanisms disclosed in the patent document published in the publication No. CN103072059A The operation on the station is relatively independent and simultaneous, which greatly reduces the waiting time of the machine and improves the processing efficiency.

In order to further improve the production efficiency, the above-mentioned loading and unloading machinery, grinding and polishing machine and docking machine are all designed by the simultaneous processing of double clamps, and the fixture seats are arranged in pairs before and after. Accordingly, the transfer robots are also arranged in pairs before and after the synchronous movement. Two clamp holders.

Beneficial effect

The invention adopts the above technical solution, and is suitable for the upper hemisphere grinding and polishing and the lower hemisphere grinding and polishing of the crystal blank in the same processing cycle, and the mechanism on each processing station is more simple and reasonable than the prior art. The structure of the transfer mechanism and the transfer manipulator is more reasonable, the action is simpler, the cost is lower, the operation is more reliable, the waiting time of each station and the transfer mechanism is less, the efficiency is higher, and the processing efficiency of the entire automatic grinding and polishing system is further improved. reliability.

DRAWINGS

1 is a schematic structural view of an automatic grinding and polishing system for a crystal blank of the present invention;

Figure 2 is a perspective view of the grinding and polishing machine of the present invention;

Figure 3 is a schematic view showing the structure of the grinding and polishing machine of the present invention;

Figure 4 is a side view of Figure 3;

Figure 5 is a schematic structural view of the grinding and polishing machine of the present invention (removing the grinding and polishing frame);

Figure 6 is a schematic structural view of a grinding and polishing mechanism;

Figure 7 is a side view of Figure 6;

Figure 8 is a perspective view of the grinding and polishing mechanism;

Figure 9 is a schematic view showing the installation of the automatic compensation mechanism;

Figure 10 is a perspective view showing the installation of the automatic compensation mechanism;

Figure 11 is a schematic view showing the installation of the index conversion mechanism;

Figure 12 is a perspective view showing the installation of the index conversion mechanism;

Figure 13 is a schematic structural view (part) of the left and right transfer mechanism;

Figure 14 is a plan view of Figure 13;

Figure 15 is a perspective view of the transfer robot;

Figure 16 is a second perspective view of the transfer robot;

Figure 17 is a schematic structural view of a loading and unloading machine;

Figure 18 is a schematic view showing the structure of a docking machine.

BEST MODE FOR CARRYING OUT THE INVENTION

Example 1:

As shown in FIG. 1 , a crystal blank automatic grinding and polishing system comprises a first left and right transfer mechanism 5 and a second left and right transfer mechanism 6 arranged in parallel in the front and rear, and arranged along the first left and right transfer mechanism 5 from left to right. Loading and unloading station (in which the loading position of the material is 12, the loading position 13 and the cooling position 14), and the plurality of upper hemisphere grinding and polishing stations (including the primary grinding station 21 and the secondary grinding in the upper hemisphere grinding and polishing process) The cutting station 22, the primary polishing station 23 and the secondary polishing station 24) and the docking station (the docking position 31 and the cleaning position 32) are arranged in the same order from the right to the left along the second left and right transfer mechanism 6 Station (with docking powder position 33 and waiting position 34), multiple lower hemisphere grinding and polishing stations (including one grinding station 41 in the lower hemisphere grinding and polishing, secondary grinding station 42, one polisher Bit 43 and secondary polishing station 44) and loading and unloading station (where the blanking position 11); wherein the loading and unloading station is provided for removing the processed crystal blank from the fixture and is to be processed The blank of the crystal is fixed to the fixture on the loading and unloading machine, the upper hemisphere Both the grinding and polishing station and the lower hemisphere grinding and polishing station are provided with grinding and polishing machines for grinding and polishing the crystal blanks on the fixture, and the docking station is provided for transferring the crystal blanks from a fixture to a fixture. A docking machine on another fixture.

The front, rear, left and right directions of the present invention are: in Fig. 1, the upper left is the front, the lower right is the rear, the lower left is the left, and the upper right is the right. This is for convenience of description, and adjustments can be made in practice without affecting the connection and action of the various mechanisms, which fall within the scope of the present invention.

The first left and right transfer mechanism 5 and the second right and left transfer mechanism 6 have the same structure, as shown in FIGS. 13 and 14, each includes a plurality of transfer robots 50 and a straight line for pushing the jig between adjacent stations. An extended track formed by a plurality of straight rails mounted on a loading and unloading machine, a grinding and polishing machine, and a docking machine (or a complete straight track mounted on a loading and unloading machine, a grinding and polishing machine, and a docking machine) The plurality of transfer robots 50 move along the track, and the plurality of transfer robots 50 are driven in series by a plurality of connecting rods 53 to be synchronously moved by a transfer drive device. In this embodiment, the transfer drive device is a transfer servo motor. 51. The transfer servo motor 51 is drivingly connected to the lead screw 54, and the screw nut screwed to the screw shaft 54 is connected to the transfer robot 50. As shown in FIG. 15 and FIG. 16, the transfer robot 50 includes a robot holder 501. One side of the robot holder 501 is provided with a plurality of guide wheels 502. The robot holder 501 is guided to slide on the track through the guide wheels 502, and the other of the robot holders 501 a sliding frame 504 that slides up and down is disposed on the side, A rack 505 is fixed to the upper portion of the carriage 504. The rack 505 is meshed with the robot gear 506 mounted on the robot base 501. The robot gear 506 is drivingly connected to the robot lifting drive, and a lower portion of the carriage 504 is fixed to a clamp fork 503. The clamp fork 503 can be clamped with the handle on the back of the clamp. Since the loading and unloading machinery, the grinding and polishing machine, and the jig for mounting the jig on the docking machine are arranged side by side along the length direction of the jig, the transfer robot 50 can push the jig along the length of the jig to slide between the jigs of the adjacent stations. shift. Preferably, the robot lifting drive device is a servo motor, and the plurality of transfer robots 50 are driven up and down by the same servo motor, and the gear shaft of the robot gear 506 of the adjacent transfer robot 50 is connected by the joint bearing and the transmission link 52 to realize synchronous rotation. In this embodiment, two jigs are simultaneously processed at one station, so that the transfer robot 50 is disposed in pairs before and after, and the two transfer robots 50 that are paired in front and rear are fixedly connected to each other by a fixed connection.

As shown in FIG. 2, FIG. 3, FIG. 4 and FIG. 5, the grinding and polishing machine comprises a grinding and polishing frame 2, and the grinding and polishing frame 2 is mounted with a grinding tool 205 (in this embodiment, the grinding tool 205 is a roller grinding machine). The tool 205 is driven to rotate by a grinding machine motor 206 mounted on the grinding and polishing frame 2 (only rotating without swinging), and the upper and lower sides of the grinding tool 205 are provided with two straight front and rear The rail 201 and the front and rear two sets of grinding and polishing mechanisms are provided with a transfer robot 50 slid along the straight rail 201.

As shown in FIG. 6, FIG. 7, and FIG. 8, the grinding and polishing mechanism includes an oscillating carriage 203 which is horizontally slidably connected to the grinding and polishing frame 2 by a linear optical axis 202. The oscillating carriage 203 is driven by the oscillating driving device to reciprocate left and right. The oscillating and oscillating carriage 203 is slidably disposed on the slidable carriage 203, and the grinding and polishing fixture 207 is driven up and down by the clamp driving device. The grinding and polishing fixture 207 is provided with a plurality of upper locking for the left and right sliding guide of the clamp. Block 212, lower locking block 211 and guide wheel 210, the upper locking block 212 is fixed on the grinding and polishing fixture seat 207 (fixed or directly formed on the fixture seat) and matched with the upper side of the dovetail of the clamp 7, under The locking block 211 is coupled to the movable end of the clamp locking cylinder 208 mounted on the grinding and polishing clamp base 207 and matched with the lower side of the dovetail of the clamp 7. When the clamp 7 is locked, the clamp locking cylinder 208 drives the lower lock. The clamping block 211 moves upward to cooperate with the upper locking block 212 to hold the dovetail of the clamp 7 fixed. The guide wheel 210 is mounted on the lower portion of the grinding and polishing fixture seat 207. When the clamp 7 is not locked, the clamp 7 can be on the guide pulley 210. Push up and move. In order to avoid the front and rear tilting side of the jig 7 during the sliding push movement, a left and right extending limiting strip 209 is mounted on the outer side of the grinding and polishing jig 207, and the jig 7 is pushed to the left and right between the grinding and polishing jig 207 and the limiting strip 209. mobile.

As shown in FIG. 6, in the present embodiment, in order to make full use of the space and the structure is more reasonable, the grinding and polishing jig 207 has an inclined plate portion and a vertical plate portion, and the inclined plate portion is inclined with the swinging carriage 203 which is disposed obliquely above. The sliding connection, the vertical plate portion is used for mounting the locking clamp, and thus the upper locking block 212, the lower locking block 211, the guide wheel 210 and the clamp locking cylinder 208 are all mounted on the vertical plate portion, so that the clamp 7 is a clamp The needle is disposed vertically downward on the grinding and polishing jig 207 so that the transfer robot 50 pushes the jig 7 to slide on the grinding and polishing jig 207.

As shown in FIG. 9 and FIG. 10, in the present embodiment, the holder driving device is a feeding cylinder 213, and the feeding cylinder 213 is fixedly mounted on the swinging carriage 203, and the moving end 2131 of the feeding cylinder 213 and the grinding and polishing fixture holder 207 are provided. In order to adjust the grinding and feeding feed stroke of the clamp to compensate for the wear of the abrasive tool (especially the polishing abrasive), an automatic compensation mechanism is provided, including a compensation mechanism motor 214 and a cam 215 mounted on the swing carriage 203. The compensation mechanism motor 214 is drivingly coupled to the cam 215 via the bevel gear set 216. The cam 215 is rotatably disposed on the swing carriage 203 and abuts against the moving end 2131 of the feed cylinder 213 to limit the stroke of the feed cylinder 213. When the feed stroke needs to be adjusted, the compensation mechanism motor 214 drives the cam 215 to rotate, so that the smaller radius of the cam 215 abuts against the moving end 2131 of the feed cylinder 213, so that the grinding and polishing are fixedly connected with the moving end 2131 of the feed cylinder 213. The clamp seat 207 and the clamp thereon can be closer to the abrasive article. Of course, it is also possible to provide the above-described feed cylinder 213 and the automatic compensation mechanism on the grinding and polishing jig 207, but this increases the load on the feed cylinder, which is not preferable.

In this embodiment, the swing driving device is a swing driving motor, and the swing driving motor drives the swinging carriage 203 to swing back and forth through the cam and the connecting rod. In this embodiment, for the convenience and cost saving, the two swinging pallets arranged in pairs are synchronously oscillated together, and the swinging pallets on the left and right adjacent grinding and polishing stations are passed through the joint bearing and the joint. The rods are connected together to oscillate synchronously. Of course, the oscillating drive can also be a cylinder.

As shown in FIG. 11 and FIG. 12, one side of the grinding and polishing jig 207 is provided with an index conversion mechanism 204 for converting a grinding and polishing surface of the crystal blank, and includes an index conversion bracket 2041, a connecting base 2043, and an indexing conversion motor. 2044, the connecting seat cylinder 2046 and the connecting shaft 2048, the indexing conversion bracket 2041 is fixedly connected with the grinding and polishing fixture seat 207, the connecting seat 2043 is slidably connected with the indexing conversion bracket 2041 and driven to move by the connecting seat cylinder 2046, and the connecting shaft 2048 is rotated. On the connecting base 2043, one end of the connecting shaft 2048 is provided with a slot (or a plug) that can be mated with the worm shaft end of the clamp 7, and the other end of the connecting shaft 2048 passes through the bevel gear set A2047 and the spline shaft 2042. The bevel gear set B2045 is drivingly connected with the index conversion motor 2044 mounted on the index conversion bracket 2041. One end of the spline shaft 2042 is fixedly connected with one of the bevel gears A2047, and the other end of the spline shaft 2042 is connected with the bevel gear set. B2045 One of the bevel gears is circumferentially fixed and axially connected. Thus, when the jig on the grinding and polishing jig 207 is moved into position, the connecting cylinder 2046 drives the connecting base 2043 to move to one side of the jig 7 and causes the slot (or the insert) at one end of the connecting shaft 2048 and the worm of the jig 7 The insert block (or slot) of the shaft end is mated to realize synchronous rotation of the two, and then the indexing conversion motor 2044 needs to rotate the worm shaft of the clamp 7 according to the grinding and polishing process, thereby achieving the crystal blank of the front end of the conversion clamp needle. The purpose of the grinding and polishing surface.

As shown in FIG. 17, the loading and unloading machine comprises a loading and unloading frame 1, and the loading and unloading frame 1 is provided with a lower material position 11, a loading powdering position 12, a loading position 13 and a cooling position 14. The loading position 12, the loading position 13 and the cooling position 14 are arranged in a row, and the blanking position 11 and the loading position 12 are arranged in a row, the blanking position 11 and the loading position 12 There is a turret A15 which can be rotated and positioned. The turret A15 is driven to rotate in the horizontal plane by the driving device. The turret A15 is mounted with two front and rear conversion clamps A151. The two sets of conversion clamps A151 are respectively located under The material position 11 and the top of the loading position 12 are above. The blanking position 11 is mounted with a blanking assembly. The blanking assembly comprises a heating pipe, a wire brush and a receiving basin. The heating pipe and the wire brush are mounted on the receiving basin, and the heating pipe is connected to the high frequency heating device, the wire brush. Rotating by the motor, the receiving basin is mounted on a lifting platform A and driven by the driving cylinder to slide back and forth. The lifting platform A is vertically slidably connected with the loading and unloading frame 1 and driven by the cylinder to drive the lifting and lowering; The table A is raised, the heating tube heats the jig needle of the jig on the conversion jig A, then the heating tube is retracted, the receiving bowl moves, the wire brush moves to the lower side of the jig of the jig and is cleaned and unloaded, and the jig is clamped on the needle The crystal blank falls into the receiving basin, and the receiving bowl and the lifting platform A are reset to complete the cutting action. The powder-filling component 12 is provided with a powder-mixing component, and the powder-impregnating component comprises a rubber powder disk, which is mounted on a lifting platform B and driven by the driving cylinder to slide back and forth, the lifting platform B and the loading and unloading frame 1 The vertical sliding connection is driven by the cylinder to drive the lifting and lowering, and a scraper for scraping the rubber powder is mounted on the rubber powder disc, and the scraping blade is driven to drive the cylinder to drive and swing; when the powder is powdered, the rubber powder disc is moved in, the lifting platform B When raised, the jig needle of the jig on the conversion jig A is dipped in the rubber powder tray by the residual heat after the blanking, and then the lifting table B is reset, and the rubber powder plate is reset to scrape the rubber powder. Here, a heating tube can also be installed on one side of the powder disc to heat the jig needle to avoid insufficient residual heat after cutting. The loading position 13 is mounted with a loading assembly, the loading assembly includes a heating tube, a storage basin and a top plate, the heating tube is mounted above the storage basin and driven by the cylinder to drive the lifting and lowering, the heating tube Connected to the high-frequency heating device, the storage tank is fixed on the loading and unloading frame 1, the top material plate is arranged in the storage basin and driven by the driving cylinder to move up and down, and the loading clamp seat is fixedly mounted on the loading and unloading frame 1 And located above the storage tank; when loading, the top plate lifts the crystal blank in the storage basin to a row, and the crystal blank is clamped on the clamp pin of the clamp of the loading fixture seat, and the heating tube pair The jig needle is heated to melt the glue on the jig needle to bond the crystal blank, and then the heating tube and the top plate are reset to complete the loading. A cooling fixture is mounted on the cooling location 14. The conversion jig A151 of the loading position 12, the loading jig of the loading position 13 and the cooling jig on the cooling position 14 are arranged side by side along the length direction of the jig, and in these jigs (including the blanking position) The upper conversion clamp seat on the 11 is also provided with a plurality of upper locking blocks, lower locking blocks and guide wheels (and clamp locking cylinders) for the left and right sliding push guides of the clamp, as well as They also have straight rails on the top of them. These straight rails are combined with the straight rails in the grinding and polishing machine and the docking machine to form a whole machine track for the left and right movement of a plurality of transfer robots. The transfer robot pushes the clamps on the left and right sides of the fixtures. . In this embodiment, the loading and unloading machinery and the grinding and polishing machine process two clamps at the same time for each station, so each clamp seat and the straight rail are arranged in pairs.

As shown in FIG. 18, the docking machine includes a docking frame 3, and the docking rack 3 is provided with a pair of docking positions 31, a cleaning position 32, a pair of powdering positions 33 and a waiting position 34, a docking position 31 and a cleaning position. 32 is arranged in a row, and the docking powder position 33 and the waiting position 34 are arranged in a row. The cleaning position 32 and the docking powder position 33 are arranged one after another, and the docking position 31 and the waiting position 34 are arranged one column before and after. A rotatable and positionable rotating arm 35 is mounted between the docking position 31 and the waiting position 34. The rotating arm 35 is driven to rotate in a vertical plane by its driving device. The rotating shaft of the rotating arm 35 is disposed on one side thereof, and is rotated therein. The opposite side of the shaft is connected to the lower clamp base 351, the docking position 31 is mounted with the upper clamp holder and a heating tube, and the upper clamp holder is fixed on the docking frame 3, and the heating tube is installed under the butt joint holder and is The driving cylinder drives the lifting and lowering, the heating tube is connected with the high-frequency heating device, and the waiting position 34 is vacant; when the docking lower clamping seat 351 on the rotating arm 35 is rotated to the docking position 31, the butt-lowing clamp holder 351 is located at the docking upper holder Directly below, the clamp of the clamp on the lower clamp base 351 is needled up and abuts against the crystal blank on the clamp needle of the clamp on the upper clamp fixture, and the heating pipe first pairs the clamp needle of the clamp on the lower clamp holder 351. Heating the melt, and then heating and removing the clamp needle of the clamp on the upper clamp holder. After docking, the crystal blank is bonded to the clamp pin of the clamp (belt clamp) on the lower clamp holder 351. The turning arm 35 is rotated by 180°, and the butt joint holder 351 on the turning arm 35 is rotated to the waiting position 34, and the jig pin on the lower jig 351 is butted downward, waiting for the left and right transfer robot to remove the strip jig. A turret B36 capable of rotating and positioning is mounted between the cleaning position 32 and the docking powder position 33. The turret B36 is driven to rotate in a horizontal plane by the driving device, and the front and rear two sets of conversion jigs B361 are mounted on the turret B36. Two sets of conversion jigs B361 are located above the cleaning position 32 and the docking powder position 33, respectively. The cleaning position 32 is provided with a cleaning assembly. The cleaning assembly includes a waste pot and a wire brush. The waste pot is located below the conversion jig B361 on the cleaning position 32. The wire brush is disposed on the upper part of the waste pot and driven by the driving motor. The waste pot is vertically slidably connected to the docking frame 3 and is driven up and down by the driving device thereof; when the butted empty jig is moved from the docking upper jig of the docking position 31 to the cleaning position 32 by the left and right transfer robot 50 When the clamp base B361 is on, the waste pot is raised, and the wire brush cleans the residual glue on the clamp pin of the empty clamp after docking. The docking powder position 33 is provided with a powdering component, which has the same structure as the powdering component on the powdering position of the feeding material, and comprises a rubber powder tray which is mounted on and driven by the lifting platform B. The cylinder drive slides back and forth, the lifting platform B and the docking frame 3 are vertically slidably connected and driven to drive the cylinder to drive up and down, and a scraper for scraping the rubber powder is mounted on the rubber powder disc, and the scraper is driven to drive the cylinder to drive the swing. When the powder is applied, the rubber powder tray is moved in, the lifting table B is raised, and the jig needle of the jig on the conversion jig B is dipped in the rubber powder tray by the residual heat after the blanking, and then the lifting table B is reset, and the rubber powder tray is reset. Reset the flattening powder. The butting upper holder on the docking position 31 and the converting jig B on the cleaning position 32 are arranged side by side in the longitudinal direction of the jig, and the switching jig B on the butt powder position 33 and the lower jig 351 on the waiting position 34 are provided. Arranged in rows along the length of the clamp, and on these clamps, a plurality of upper locking blocks, lower locking blocks and guide wheels (and clamp locking) for the left and right sliding guides of the clamp are also provided. Cylinders), similarly, there are also straight rails on top of them. These straight rails are combined with the straight rails in the grinding and polishing machine and the loading and unloading machinery to form a whole machine rail for a plurality of transfer robots to move left and right. The transfer robot will clamp the fixtures. The transfer is carried out on the left and right sides of each fixture holder. In this embodiment, the docking machine and the grinding and polishing machine process two clamps at the same time for each station, so each fixture seat and the straight rail are arranged in pairs. The driving device of the rotating arm 35 includes a driving cylinder 352. The driving cylinder 352 is drivingly connected to the large gear 353 through a rack. The large gear 353 is drivingly coupled with the gear shaft of the rotating arm 35 to drive the rotating arm 35 to rotate.

The processing is described as follows:

As shown in FIG. 1, the jig mounted on the conversion jig A151 on the unloading position 11 is formed by the unloading assembly to form an empty jig after the unloading, and the turret A15 is horizontally rotated by 180°. The jig is transferred to the loading position 12 of the loading, after the powdering is completed by the dipping component, 5 the jig after the dipping is pushed to the loading jig of the loading position 13, and after the loading is completed by the loading assembly, the first left and right The transfer mechanism 5 pushes the tape clamp to the cooling fixture seat of the cooling position 14. After cooling, the first right and left transfer mechanism 5 sequentially shifts it to the primary grinding station 21 of the upper hemisphere inclined surface grinding and polishing, and the secondary grinding. Grinding and polishing processing is performed on the cutting station 22, the primary polishing station 23 and the secondary polishing station 24, and the jig for finishing the upper hemisphere grinding and polishing is pushed by the first left and right transfer mechanism 5 to the docking upper holder of the docking position 31, Docking with the empty clamp on the lower clamp base of the rotating arm: docking the clamp on the upper and lower clamp bases to the opposite side of the clamp fixture for the lower empty fixture, bonding the molten metal to the crystal blank → heating the clamp needle of the upper clamp Go glue → cold The adhesive fixing jig pin. After the docking is completed, the butt joint upper seat of the docking position 31 is mounted with the docked empty clamp, and the butt joint fixture of the rotating arm 35 is mounted with the butted strip clamp, and the rotating arm 35 is vertically rotated by 180°. The butt joint fixture and the docked strip clamp are transferred to the waiting position 34, and the docked empty clamp is moved by the first left and right transfer mechanism 5 to the conversion fixture seat B on the cleaning position 32, through the cleaning assembly pair The jig is cleaned to remove the residual glue, the turret B is horizontally rotated by 180°, and the cleaned jig is transferred to the butt-dipped position 33. After the dipping powder is completed by the dipping component, the jig after the dipping is pressed by the second left and right transfer mechanism 6 Pushing to the docking lower holder of the waiting position 34, and simultaneously pushing the strip clamp on the docking lower fixture seat of the waiting position 34 to the grinding and polishing fixture seat on the grinding and polishing station 41 of the lower hemisphere grinding and polishing. The rotating arm 35 is vertically rotated by 180°, and the butt joint of the lower clamp holder and the powdered jig thereof is transferred to the docking position 31 for the next docking; the second left and right transfer mechanism 6 sequentially moves the strip clamp to the lower hemisphere inclined surface grinding machine. throw The first grinding station 41, the secondary grinding station 42, the primary polishing station 43, and the secondary polishing station 44 perform the grinding and polishing process, and then move to the grinding station 45 and polishing of the end surface grinding and polishing process. The station 46 performs grinding and polishing processing, and the strip clamp after the completion of the grinding and polishing process is moved by the second right and left transfer mechanism 6 to the blanking position 11, and after the blanking is completed by the blanking assembly, the next processing cycle is entered. The above is only a description of the flow of a single set of clamps. In practice, each station is continuously processed by a continuous flow of the clamp.

Embodiments of the invention

Industrial applicability

Sequence table free content

Claims

A crystal blank automatic grinding and polishing system, comprising a first left and right transfer mechanism (5) and a second left and right transfer mechanism (6) arranged in parallel in front and rear, arranged along the first left and right transfer mechanism (5) from left to right The loading and unloading station, the plurality of upper hemisphere grinding and polishing stations and the docking station, along the second left and right transfer mechanism (6) are arranged in order from right to left, with a docking station, a plurality of lower hemisphere grinding and polishing stations, and loading and unloading a working position; wherein the loading and unloading station is provided with a loading and unloading machine for fixing the processed crystal blank from the jig and fixing the crystal blank to be processed on the jig, the upper hemisphere grinding and polishing station and The grinding and polishing machine for grinding and polishing the crystal blank on the fixture is arranged on the lower hemisphere grinding and polishing station, and the docking station is provided with a method for transferring the crystal blank from one fixture to another. The docking machine is characterized in that the first left and right transfer mechanism (5) and the second left and right transfer mechanism (6) have the same structure, and each includes a plurality of transfer robots for pushing the jig between adjacent stations (50) ) and one straight line a track that is erected on a loading and unloading machine, a grinding and polishing machine, and a docking machine. The transfer robot (50) is driven along the track by a transfer drive device; the loading and unloading machine, the grinding and polishing machine, and the docking machine are used to mount the fixture The clamp holders are arranged side by side along the longitudinal direction of the clamp, and the transfer robot (50) pushes the clamp along the length direction of the clamp to slide between the adjacent clamp holders.
A crystal blank automatic grinding and polishing system according to claim 1, wherein said plurality of transfer robots (50) are driven in series by a plurality of connecting rods (53) and driven by a transfer driving device. mobile.
A crystal blank automatic grinding and polishing system according to claim 1, wherein said transfer robot (50) comprises a robot holder (501), and a plurality of guide wheels (502) are mounted on one side of the robot holder (501). ), the robot holder (501) is guided to slide on the track through the guide wheels (502), and the other side of the robot holder (501) is provided with a sliding frame (504) that slides up and down. A rack (505) is fixed to an upper portion of the carriage (504), the rack (505) is meshed with a robot gear (506) mounted on the robot base (501), and the robot gear (506) is coupled to the robot lift drive. a lower portion of the carriage (504) is fixed with a clamp fork (503), and the clamp fork (503) is clamped with the handle of the back of the clamp; the mechanical lifting drive device is a servo motor, and the plurality of transfer robots (50) are The same servo motor drives the lifting and lowering, and the gear shaft of the robot gear (506) of the adjacent transfer robot (50) is connected by the joint bearing and the transmission link (52) to realize synchronous rotation.
A crystal blank automatic grinding and polishing system according to claim 1, wherein the grinding and polishing machine comprises a grinding and polishing frame (2), and the grinding and polishing frame (2) is equipped with a grinding tool (205). The grinding tool (205) is driven to rotate by a grinding machine motor (206) mounted on the grinding and polishing frame (2). The grinding tool (205) is provided with a grinding and polishing mechanism and a straight rail (201) extending straight from left to right. The straight rail (201) is slidably disposed to transfer the robot (50); the grinding and polishing mechanism includes a swinging carriage (203) slidably connected horizontally to the grinding and polishing frame (2), and the swinging carriage (203) is driven by the swing driving device The right and left reciprocating swings, and a grinding and polishing clamp seat (207) is slidably disposed on the swinging carriage (203). The grinding and polishing fixture base (207) is driven up and down by the clamp seat driving device, and the grinding and polishing fixture seat (207) is provided with a clamp. a plurality of upper locking blocks (212), a lower locking block (211) and a guide wheel (210) guided by the left and right sliding guides, and the upper locking block (212) is fixed on the grinding and polishing fixture seat (207) and the clamp (7) The upper side of the dovetail is matched, the lower locking block (211) is mounted on the grinding and polishing clip The movable end of the clamp locking cylinder (208) on the seat (207) is connected and matched with the lower side of the dovetail of the clamp (7), and when the clamp (7) is locked, the clamp lock cylinder (208) drives the lock The tight block (211) moves upward to cooperate with the upper locking block (212) to hold the dovetail of the clamp (7), and the guide wheel (210) is mounted on the lower part of the grinding and polishing fixture seat (207) when the clamp (7) is not When locked, the clamp (7) can be slidably moved on the guide wheel (210); a left and right extending limit strip (209) is mounted on the outer side of the grinding and polishing fixture seat (207), and the clamp (7) is ground. The slide holder (207) and the limit bar (209) are moved to the left and right.
A crystal blank automatic grinding and polishing system according to claim 4, wherein the holder driving device comprises a feeding cylinder (213), and the feeding cylinder (213) is fixedly mounted on the swinging carriage (203) Upper, the moving end (2131) of the feed cylinder (213) is connected to the grinding and polishing jig (207), and is also provided with an automatic compensating mechanism including a compensating mechanism motor (214) and a cam mounted on the swinging carriage (203). (215), the compensation mechanism motor (214) is drivingly connected with the cam (215), and the cam (215) is rotatably disposed on the swing carriage (203) and is opposite to the moving end (2131) of the feed cylinder (213) to restrict the movement. The stroke to the cylinder (213).
A crystal blank automatic grinding and polishing system according to claim 4, wherein the swinging carriages on the plurality of left and right adjacent grinding and polishing stations are synchronously oscillated by the joint bearing and the connecting rod.
A crystal blank automatic grinding and polishing system according to claim 4, wherein one side of the grinding and polishing jig (207) is provided with a index conversion mechanism for converting a grinding and polishing surface of the crystal blank ( 204), including index conversion bracket (2041), connecting seat (2043), indexing conversion motor (2044), connecting seat cylinder (2046) and connecting shaft (2048), indexing conversion bracket (2041) and grinding and polishing fixture The seat (207) is fixedly connected, the connecting seat (2043) is slidably connected to the indexing conversion bracket (2041) and driven to move by the connecting seat cylinder (2046), and the connecting shaft (2048) is rotatably disposed on the connecting seat (2043), and the connecting shaft is connected (2048) one end is provided with a slot or a plug which can be mated with the end of the worm shaft of the clamp (7), and the other end of the connecting shaft (2048) passes through the bevel gear set A (2047) and the spline shaft (2042) The bevel gear set B (2045) is drivingly coupled to the indexing conversion motor (2044) mounted on the index conversion bracket (2041).
A crystal blank automatic grinding and polishing system according to claim 1, wherein the loading and unloading machine comprises a loading and unloading frame (1), and the loading and unloading frame (1) is provided with a lower material position (11). ), a loading position (12) and a loading position (13), the loading position (12) and the loading position (13) are arranged in a row, the feeding position (11) and the upper part The material powdering position (12) is arranged in a row before and after, and a rotating frame A (15) capable of rotating and positioning is installed between the blanking position (11) and the loading position (12), and the rotating frame A (15) The driving device is driven to rotate in a horizontal plane, and the front and rear two sets of conversion jigs A (151) are mounted on the turret A (15). The two sets of conversion jigs A (151) are respectively located at the unloading position (11) and The material is placed above the powder position (12), wherein the blanking position (11) is mounted with a blanking component, and the loading material (12) is mounted with a powdering component, and the loading position (13) is mounted thereon. a material assembly, a loading clamp holder is arranged above the loading component, and the loading position of the powder is (12) The loading clamp holders of the clamp holder A (151) and the loading position (13) are arranged side by side along the longitudinal direction of the clamp, and the conversion clamp seat A (151) and the loading clamp holder are provided with the left and right sliding guides for the clamps. The plurality of upper locking blocks, the lower locking block and the guide wheel are also provided with a clamp locking cylinder, and are arranged above the feeding position (11), the loading position (12) and the loading position (13). A straight rail extending left and right, sliding the robot (50) along a straight rail.
A crystal blank automatic grinding and polishing system according to claim 8, wherein one side of the loading position (13) is provided with a cooling position (14), and a cooling fixture is mounted on the cooling position (14). The cooling position (14) and the loading position (12) of the loading material and the loading position (13) of the feeding material are arranged in a row, and the conversion jig of the cooling jig base and the loading jig holder and the loading position (12) of the loading material are arranged. The seat A (151) is arranged in a row along the longitudinal direction of the clamp, and the cooling fixture seat is provided with a plurality of upper locking blocks, a lower locking block and a guide wheel for sliding the left and right sliding guides, and is also erected above the cooling fixture seat. There are straight tracks extending left and right.
A crystal blank automatic grinding and polishing system according to claim 1, wherein the docking machine comprises a docking frame (3), and the docking frame (3) is provided with a pair of joint positions (31) and a cleaning Position (32), a pair of contact powder position (33) and a waiting position (34), the docking position (31) and the cleaning position (32) are arranged in a row, the docking powder position (33) and the waiting position (34) Set left and right in a row, the cleaning position (32) and the docking powder position (33) are arranged one column before and after, the docking position (31) and the waiting position (34) are arranged one column before and after, the docking position (31) and the waiting position (34) A rotating arm (35) capable of rotating and positioning is mounted between the rotating arm (35) driven by its driving device to rotate in a vertical plane, and the rotating shaft of the rotating arm (35) is disposed on one side thereof, and the rotating shaft thereof The opposite side is connected to the lower clamp base (351), the docking position (31) is mounted with the upper clamp holder and a heating tube, and the upper clamp holder is fixed on the docking frame (3), and the heating tube is mounted on the docking fixture Below the seat and by it The driving device drives the lifting and lowering, and the waiting position (34) is vacant; when the docking lower clamping seat (351) on the rotating arm (35) is rotated to the docking position (31), the docking lower clamping seat (351) is located on the docking upper clamping seat. Directly below, the clamp of the clamp on the lower clamp holder (351) is needled upward, and when the lower clamp holder (351) on the rotary arm (35) is rotated to the waiting position (34), the lower clamp holder (351) is docked. The clamp pin is downward; a turret B (36) capable of rotating and positioning is mounted between the cleaning position (32) and the docking powder position (33), and the turret B (36) is driven by the driving device to rotate in a horizontal plane. The front and rear two sets of conversion jigs B (361) are mounted on the turret B (36), and the two sets of conversion jigs B (361) are respectively located above the cleaning position (32) and the docking powder position (33); The cleaning position (32) is provided with a cleaning component, the docking powder position (33) is provided with a powder-carrying component, the docking position on the docking position (31) and the conversion fixture seat B on the cleaning position (32) along the fixture The length direction is set in rows, The conversion jig base B on the pick-up powder position (33) and the docking lower jig base (351) on the waiting position (34) are arranged side by side in the longitudinal direction of the jig, and the upper jig base and the conversion jig base B (361) And the butt joint holder (351) are provided with a plurality of upper locking blocks, lower locking blocks and guide wheels for the left and right sliding push guides of the clamp, and also a clamp locking cylinder, in the docking position (31), The cleaning position (32), the docking powder position (33), and the waiting position (34) are also provided with straight rails extending left and right, and the transfer robot (50) is slid along the straight rail (201).