A product grinding device

Abstract

The present invention discloses a product grinding device, which includes a feeding mechanism, a grinding mechanism, a cleaning and drying mechanism, a discharging mechanism arranged in sequence along the transverse direction, and a handling robot for transporting the product from the feeding mechanism to the grinding mechanism and then to the cleaning and drying mechanism. Among them, the grinding mechanism includes a first slide rail arranged longitudinally, a vacuum suction table slidably matched with the first slide rail through a lead screw, and a first lifting member arranged near the rear end of the first slide rail. A rotary motor is connected to the first lifting member, and a grinding wheel is installed at the bottom of the rotary motor. The grinding wheel has an annular grinding surface located at the bottom and arranged horizontally. The outer diameter of the annular grinding surface is larger than the width of the product in the transverse direction, realizing the integrated automation of grinding and cleaning, and enabling the grinding wheel to complete the grinding of the product in the transverse direction at one time, improving the grinding accuracy and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of chip processing, and particularly to a product grinding device. Background Art

[0002] Semiconductor silicon wafers are the basic raw materials for manufacturing semiconductor devices. High-purity semiconductors are prepared into wafers through processes such as crystal pulling and slicing. The wafers form extremely tiny circuit structures through a series of semiconductor manufacturing processes, and then become chips after thinning, cutting, packaging, and testing, and are widely used in various electronic devices. Among them, product thinning is a very important step.

[0003] After our chips are mounted on products and wire bonding and encapsulation are completed, in order to meet requirements such as improving the performance and heat dissipation of the chips, it is necessary to thin the plastic encapsulation material on the chip surface. The device for completing this process is a product grinding machine. The product grinding machine usually includes components such as a grinding spindle and a vacuum suction table. Before product grinding, the product is manually carried to the vacuum suction table and adsorbed. The table moves in the Y-axis direction under the grinding spindle, and the grinding spindle descends along the Z-axis to grind and thin the product. After grinding is completed, the grinding spindle rises, and the table moves to the loading and unloading position.

[0004] In the prior art, a 20MM thick grinding wheel is used to grind the plastic encapsulation material with its outer circumferential surface. Since the product is generally 60mm wide, every time the table makes a reciprocating movement in the Y-axis, the grinding spindle needs to move about 20mm in the X-axis. After multiple movements, it can meet the requirements of a 60mm wide product. Such a grinding method plus manual loading and unloading has low efficiency and high cost. Summary of the Invention

[0005] The purpose of the present invention is to provide a product grinding device.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A product grinding device includes a loading mechanism, a grinding mechanism, a cleaning and drying mechanism, a unloading mechanism arranged in sequence along the horizontal direction, and a handling robot for transporting the product from the loading mechanism to the grinding mechanism and then to the cleaning and drying mechanism. Among them, the grinding mechanism includes a first slide rail arranged longitudinally, a vacuum suction table slidably matched with the first slide rail through a lead screw, and a first lifting member arranged near the rear end of the first slide rail. A rotary motor is connected to the first lifting member, and a grinding wheel is installed at the bottom of the rotary motor. The grinding wheel has a ring-shaped grinding surface located at the bottom and arranged horizontally, and the outer diameter of the ring-shaped grinding surface is greater than the width of the product in the horizontal direction. This application can achieve integrated automation of grinding and cleaning, and when the grinding wheel grinds the product, the grinding of the product in the horizontal direction can be completed at one time, improving the grinding accuracy and efficiency.

[0008] As a further solution of the present invention: the feeding mechanism includes a first translation module arranged in the longitudinal direction, a first material box storage table arranged at one end of the first translation module, a first lifting module arranged on the first translation module, a first clamping jaw arranged on the first lifting module, a feeding channel arranged between the first clamping jaw and the grinding mechanism, and a first push rod for pushing the product to be ground in the fully loaded material box clamped by the first clamping jaw to the feeding channel.

[0009] As a further solution of the present invention: the handling robot has a handling suction cup for adsorbing products, the loading channel is composed of two baffles arranged at intervals and a support plate arranged on opposite sides of the two baffles and close to the top of the baffles, a pallet and a lifting cylinder for driving the pallet to rise and fall are provided under the loading channel, and the initial position of the pallet is lower than the loading channel.

[0010] As a further solution of the present invention: a tabletop cleaning mechanism for cleaning the tabletop of the vacuum suction table is provided above the middle portion of the first slide rail, the tabletop cleaning mechanism includes a first lifting cylinder, a first mounting plate provided below the first lifting cylinder, and two first fixed blocks respectively provided at both ends of the lower surface of the first mounting plate, a first water pipe and a first wiping sponge sleeved on the first water pipe are provided between the two first fixed blocks, a first mounting hole is provided on one of the first fixed blocks, one end of the first water pipe passes through the first mounting hole and is connected to the first joint, and a plurality of water outlet holes are provided in the first water pipe along the axial direction.

[0011] As a further solution of the present invention: the cleaning and drying mechanism comprises:

[0012] A flow channel plate, wherein buckles are arranged around the flow channel plate, the buckles are hinged to the bottom of the flow channel plate, and a return spring is arranged between the buckles and the flow channel plate to drive the buckles to close;

[0013] An upper cover plate, wherein a relief opening is provided in the middle of the upper cover plate, and a stopper is provided around the relief opening at the bottom of the upper cover plate for contacting with the buckle to open the buckle;

[0014] A lower cover plate is arranged below the upper cover plate and is fixedly connected to the upper cover plate via a support rod, and a drainage hole is provided on the lower cover plate;

[0015] A water shield is provided between the upper cover plate and the lower cover plate and is sealed and connected to the lower cover plate;

[0016] A water spray pipe extending into the water shield to clean the product;

[0017] The rotary lifting table drives the lifting of the flow channel plate, causing the flow channel plate to reciprocate up and down between the avoidance opening and the water baffle, and causing the flow channel plate to rotate within the water baffle.

[0018] As a further aspect of the present invention: A blowing pipe is further provided on one side of the water spraying pipe, and the blowing pipe extends into the water baffle to blow air on the product.

[0019] As a further aspect of the present invention: The top end of the water baffle is provided with an inwardly turned water baffle ring.

[0020] As a further aspect of the present invention: One end of the upper cover plate close to the grinding mechanism is provided with a mounting groove. Two relatively arranged second fixing blocks, a second water pipe disposed between the two second fixing blocks, and a second wiping sponge sleeved on the second water pipe are provided in the mounting groove. A second mounting hole is opened on one of the second fixing blocks. One end of the second water pipe penetrates through the second mounting hole and is connected to a second joint. A plurality of water outlet holes are axially opened on the second water pipe.

[0021] As a further aspect of the present invention: The rotary lifting table includes a second lifting cylinder, a rotating motor, a synchronous pulley, a connecting plate, a spline shaft, a spline nut, and a bearing seat. The bearing seat is hermetically fixed in the shaft hole of the lower cover plate. The spline shaft passes through the bearing seat through the spline nut, and one end of the spline shaft is fixed to the bottom of the flow channel plate. The other end of the spline shaft is rotatably connected to the connecting plate through a bearing. The synchronous pulley is in clearance fit with the spline shaft and is fixedly connected to the inner shaft sleeve of the bearing seat through a docking sleeve. The rotating motor is fixed to the bottom of the lower cover plate and drives the synchronous pulley through a belt. The synchronous pulley indirectly drives the spline shaft to rotate through the bearing seat. The second lifting cylinder is fixed to the bottom of the lower cover plate to drive the connecting plate and the spline shaft to move up and down synchronously.

[0022] As a further aspect of the present invention: Two side plates are provided on both sides of the upper surface edge of the flow channel plate. A blanking flow channel is provided between the two side plates. A docking flow channel for docking the blanking flow channel with the empty material box placed on the blanking mechanism is provided on the upper cover plate. The blanking mechanism has a push rod structure for pushing the product from the flow channel plate along the docking flow channel into the empty material box.

[0023] The beneficial effects of the present invention:

[0024] 1. By providing a feeding mechanism, a grinding mechanism, a cleaning and drying mechanism, a blanking mechanism, and a handling robot, the present application can automatically take out the unground products in the material box for grinding, cleaning, drying, and then reloading into the box, realizing the integrated automation of grinding and cleaning.

[0025] 2. In this application, the grinding wheel has a horizontally arranged annular grinding surface, and the outer diameter of the annular grinding surface is larger than the width of the product in the transverse direction, so that when the grinding wheel grinds the product, the grinding of the product in the transverse direction can be completed at one time, improving the grinding accuracy and efficiency.

[0026] 3. In this application, by providing a clearance fit between the synchronous pulley and the spline shaft, the synchronous pulley is fixedly connected to the spline nut through a docking sleeve, and the synchronous pulley drives the spline nut to rotate, and then the spline nut drives the spline shaft to rotate, avoiding the mutual interference between the self-rotation and the lifting of the spline shaft.

[0027] 4. By providing a stop member around the avoidance opening at the bottom of the upper cover plate, a buckle is hinged at the bottom of the runner plate, and a return spring is provided between the runner plate and the buckle, so that during the lifting process of the runner plate, the buckle automatically adjusts the opening and closing amplitude according to the lifting height, and automatically clamps the product on the fixed plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 is a schematic diagram of the structure of the loading mechanism in the present invention;

[0031] Figure 3 is a schematic diagram of the structure of the loading runner in the present invention;

[0032] Figure 4 is a schematic diagram of another angle of the loading runner in the present invention;

[0033] Figure 5 is a schematic diagram of a partial structure of the loading mechanism in the present invention;

[0034] Figure 6 is a schematic diagram of another angle of a partial structure of the loading mechanism in the present invention;

[0035] Figure 7 is a schematic diagram of the structure of the vacuum suction table in the present invention;

[0036] Figure 8 is a schematic diagram of the structure of the grinding wheel in the present invention;

[0037] Figure 9 is a cross-sectional view of the grinding wheel in the present invention;

[0038] Figure 10 is a schematic diagram of the table cleaning structure in the present invention;

[0039] Figure 11 is a schematic diagram of a partial structure of the table cleaning structure in the present invention;

[0040] Figure 12 It is a schematic structural diagram of the cleaning and drying structure and the blanking structure in the present invention;

[0041] Figure 13 It is a schematic structural diagram of the cleaning and drying structure in the present invention;

[0042] Figure 14 It is a sectional view of the cleaning and drying structure in the present invention;

[0043] Figure 15 Figure 14 Enlarged view of the structure at position B;

[0044] Figure 16 It is a schematic structural diagram of a part of the cleaning and drying structure in the present invention;

[0045] Figure 17 It is a schematic structural diagram of the buckle and the stopper in the present invention;

[0046] Figure 18 is Figure 12 Enlarged view of the structure at position A. Specific embodiments

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0048] Please refer to Figure 1 As shown, the present invention is a product grinding device, including a feeding mechanism 10, a grinding mechanism 20, a cleaning and drying mechanism 30, a blanking mechanism 40 arranged in sequence along the horizontal direction, and a handling robot 50 for handling products. The feeding mechanism 10 is used to take out unground products from the material box one by one; the grinding mechanism 20 is used to grind and thin the unground products; the cleaning and drying mechanism 30 is used to clean and dry the ground products; the blanking mechanism 40 is used to reload the dried products into a new material box, and the handling robot 50 moves along the cross beam 51 to move the single product taken out from the feeding mechanism 10 to the grinding mechanism 20 and move the ground product to the cleaning and drying mechanism 30.

[0049] Specifically, please refer to Figure 2As shown in the figure, the loading mechanism 10 includes a first translation module 101 arranged longitudinally, a first cartridge storage table 102 provided at one end of the first translation module 101, a first lifting module 103 arranged on the first translation module 101, a first gripper 104 arranged on the first lifting module 103, a loading channel 105 provided between the first gripper 104 and the grinding mechanism 20, and a first push rod 106 for pushing the products to be ground in the full cartridge held by the first gripper 104 onto the loading channel 105. The loading channel 105 is arranged transversely. The first gripper 104 is arranged opposite to the first cartridge storage table 102, and the first cartridge storage table 102 has two layers, one layer is used for placing full cartridges, and the other layer is used for placing empty cartridges. Driven by the first translation module 101 and the first lifting module 103 together, the first gripper 104 can move to the first cartridge storage table 102 to move the full cartridge filled with products to between the first push rod 106 and the loading channel and dock with the loading channel 105. The first push rod 106 is used to push the products in the cartridge onto the loading channel 105 one by one. After all the products in the cartridge are pushed out, the first gripper 104 puts the empty cartridge back on the first cartridge storage table 102 and grabs a new full cartridge again.

[0050] Further, please refer to Figure 2 , Figure 5 and Figure 6 As shown in the figure, a fixed bracket 107 is fixedly arranged on the housing of the first lifting module 103. A second slide rail 108, a sliding frame 109 slidably matched with the second slide rail 108, and a servo motor 110 for driving the sliding frame 109 to slide along the second slide rail 108 are arranged on the fixed bracket 107. A driving wheel is arranged on the servo motor 110, a driven wheel spaced from the driving wheel is fixedly arranged on the fixed bracket 107, a transmission belt 111 is sleeved between the driving wheel and the driven wheel, a engaging member 112 engaged with the transmission belt 111 is fixedly arranged on the sliding frame 109, and the first push rod 106 is fixed on the sliding frame 109. Driven by the servo motor 110, the transmission belt 111 drives the sliding frame 109 to slide along the second slide rail 108, so that the first push rod 106 pushes the products to be ground in the cartridge onto the loading channel 105.

[0051] After the products are moved to the loading channel 105, the handling manipulator 50 can move along the cross beam 51 driven by the linear motor, and first carry the products on the loading channel 105 to the grinding mechanism 20 for grinding. Among them, the handling manipulator 50 has a handling suction cup for sucking the products. See Figure 3The feeding channel 105 is composed of two baffles 1051 arranged at an interval and a support plate 1052 arranged on the opposite sides of the two baffles 1051 and close to the top of the baffle 1051. A support plate 1053 and a lifting cylinder 1054 for driving the support plate 1053 to rise and fall are arranged below the feeding channel 105. The initial position of the support plate is lower than the feeding channel 105. When the product is pushed from the material box to the feeding channel 105 by the action of the first push rod 106, the two support plates 1052 are respectively supported on the two side edges of the bottom surface of the product. When the transport robot 50 transports the product, the lifting cylinder 1054 drives the support plate 1053 to lift, so that the support plate 1053 supports the middle position of the product to lift it up, allowing the product to be separated from the support of the support plate 1052. After that, the transport suction cup of the transport robot 50 presses on the upper surface of the product to adsorb and fix it, to prevent the transport suction cup from adsorbing the product, so that only the two side edges of the product are supported by the support plate 1052 and the middle part is suspended in the air, and the transport suction cup can easily bend and deform the product.

[0052] See also Figure 1 , Figures 7 - 9 As shown, the grinding mechanism 20 includes a first slide rail 201 arranged in the longitudinal direction, a vacuum suction table 202 arranged above the first slide rail 201, a screw 203 threadedly matched with the vacuum suction table 202, and a first lifting member 204 (such as a motor screw lifter) arranged near the rear end of the first slide rail 201. The first lifting member 204 is connected to a rotating motor 205, and a grinding wheel 207 is installed at the bottom of the rotating motor 205 through a grinding wheel fixing seat 206. The grinding wheel 207 is specifically a bowl-shaped grinding wheel, having an annular grinding surface 2071 horizontally arranged at the bottom, and the outer diameter of the annular grinding surface 2071 is larger than the width of the product in the lateral direction.

[0053] Before grinding, the transport robot 50 transports the product from the feed channel 105 to the vacuum suction table 202 located at the initial position (i.e., the position close to the front end of the first slide rail 201). During the transport process, the transport robot 50 rotates the product by 90 degrees, so that the product is adjusted from being placed horizontally on the feed channel 105 to being placed vertically on the vacuum suction table 202. The vacuum suction table 202 fixes the product by suction, and moves along the first slide rail 201 under the drive of the screw rod 203 to transfer the product to the bottom of the grinding wheel 207.

[0054] During grinding, the rotating motor 205 drives the grinding wheel 207 to rotate, and the first lifting member 204 drives the rotating grinding wheel 207 to descend, so that the annular grinding surface 2071 of the grinding wheel 207 contacts the product surface and performs layer-by-layer grinding on the product in the Z-axis direction. When grinding each layer, the lead screw 203 drives the vacuum suction table 202 to move along the first slide rail 201, so that the inner grinding surface of the grinding wheel 207 grinds the product in the Y-axis direction, reducing the thickness of the product. In this way, the grinding wheel 207 and the product are reciprocally driven to move relative to each other in the Z-axis direction and the Y-axis direction, so that the product is gradually thinned layer by layer. Until the product is ground to the predetermined thickness, the lead screw 203 drives the vacuum suction table 202 to return to the initial position again, and the handling robot 50 transports the ground product on the vacuum suction table 202 to the cleaning and drying mechanism 30. In this application, since the outer diameter of the annular grinding surface 2071 is larger than the width of the product in the transverse direction, during grinding, there is no need to adjust the relative position of the grinding wheel 207 and the product in the transverse direction (X-axis direction), so that the grinding of the product in the transverse direction is completed at one time, which is beneficial to improving the grinding accuracy and production efficiency.

[0055] Further, in this embodiment, to improve work efficiency, two sets of grinding mechanisms 20 are arranged in parallel, and the two sets of grinding mechanisms 20 can be respectively used to grind products, or one set can be used for rough grinding and the other set can be used for fine grinding. There are two handling robots 50 to improve the handling efficiency.

[0056] Please refer to Figure 10 and Figure 11 As shown, in this embodiment, a table cleaning mechanism 60 for cleaning the table surface of the vacuum suction table 202 is provided above the middle of the first slide rail 201. Before each time the vacuum suction table 202 transports a product, its table surface can be cleaned by the table cleaning mechanism 60. Specifically, the table cleaning mechanism 60 includes a first lifting cylinder 601 fixed to the bottom of the cross beam 51, a first mounting plate 602 provided below the first lifting cylinder 601, and first fixing blocks 603 respectively provided at both ends of the lower surface of the first mounting plate 602. A first water pipe 604 and a first wiping sponge 605 sleeved on the first water pipe 604 are provided between the two first fixing blocks 603. A first mounting hole is opened on one of the first fixing blocks 603, and one end of the first water pipe 604 passes through the first mounting hole and is connected to the first joint 606, which is convenient for the first water pipe 604 to be connected to an external water source through the first joint 606. A plurality of water outlet holes are axially opened on the peripheral wall of the first water pipe 604, which is convenient for the first water pipe 604 to slowly supply water to the first wiping sponge 605 to keep it moist. During cleaning, the first lifting cylinder 601 drives the first wiping sponge 605 to descend to a set height, and the lead screw 203 drives the vacuum suction table 202 to reciprocate below the first wiping sponge 605, so that the wetted first wiping sponge 605 wipes the table surface of the vacuum suction table 202 to keep its table surface clean.

[0057] Please refer toFigure 1 and Figure 13 As shown, a bottom cleaning mechanism 70 for cleaning the bottom surface of the ground product is provided between the cleaning and drying mechanism 30 and the grinding mechanism 20. The bottom cleaning mechanism 70 includes a mounting groove 701, two second fixed blocks 702 arranged in the mounting groove 701 and opposite to each other, and a second water pipe (not shown) and a second wiping sponge 703 arranged between the two second fixed blocks 702. A second mounting hole is provided on one of the second fixed blocks 702, and one end of the second water pipe passes through the second mounting hole and is connected to the second joint 704, so that the second water pipe can be connected to an external water source through the second joint 704. The second wiping sponge 703 is sleeved on the second water pipe and partially protrudes out of the mounting cavity formed between the two second fixed blocks 702. The second water pipe is provided with a plurality of water outlet holes along the axial direction, and the second water pipe supplies water to the second wiping sponge 703 through the second water outlet hole to keep it moist. When the transport robot 50 transports the product from the vacuum suction table 202 to the cleaning and drying mechanism 30 , the transport robot 50 carries the product so that its bottom surface contacts the second wiping sponge 703 , allowing the second wiping sponge 703 to wipe and clean the bottom surface of the product.

[0058] See also Figures 13 - 17 As shown, the cleaning and drying mechanism 30 includes a flow channel plate 301 , an upper cover plate 302 , a lower cover plate 303 , a water shield 304 , a water spray pipe 305 , and a rotating lifting platform 306 .

[0059] Buckles 3011 are arranged around the flow channel plate 301. The specific number of buckles 3011 arranged around each periphery can be set according to the actual situation and is not specifically limited here. The buckle 3011 is hinged to the bottom of the flow channel plate 301, and a reset spring 3012 is arranged between the buckle 3011 and the flow channel plate 301 to drive the buckle 3011 to close. The main body of the buckle 3011 is in a Z shape, and the buckle 3011 is hinged to the flow channel plate 301 through a connecting shaft 3013. The main body of the reset spring 3012 is sleeved on the connecting shaft 3013, and the two free ends of the reset spring 3012 are respectively fixed on the buckle 3011 and the flow channel plate 301.

[0060] An escape opening 3021 is provided in the middle of the upper cover plate 302, and a stopper 3022 is provided around the escape opening 3021 at the bottom of the upper cover plate 302 for contacting with the buckle 3011 to open the buckle 3011. Preferably, a bearing is sleeved on the stopper 3022, and the buckle 3011 moves along the outer circumference of the bearing during the opening and closing process, driving the bearing to roll, thereby reducing the wear between the stopper 3022 and the buckle 3011 during relative movement.

[0061] The lower cover plate 303 is arranged below the upper cover plate 302 and is fixedly connected to the upper cover plate 302 through a support rod 307. The upper surface of the lower cover plate 303 is stepped and has a positioning portion 3031 that is convex in the middle. A drain hole 3032 is provided on the positioning portion 3031.

[0062] The water baffle 304 is arranged between the upper cover plate 302 and the lower cover plate 303. The water baffle 304 is generally cylindrical. A docking hole adapted to the positioning portion 3031 is provided on its bottom wall. When installing the water baffle 304, the docking hole is sleeved on the positioning portion 3031, so that the water baffle 304 and the lower cover plate 303 can be quickly aligned and then fixedly connected by bolts. After being fixedly connected, the bottom wall of the water baffle 304 is attached to the lower cover plate 303, and a sealing ring is provided between the bottom wall of the water baffle 304 and the lower cover plate 303, so that the water baffle 304 and the lower cover plate 303 are hermetically connected to prevent the water in the water baffle 304 from flowing out between the water baffle 304 and the lower cover plate 303. Further, the inner bottom surface of the water baffle 304 is higher than the upper surface of the positioning portion 3031, which is convenient for the water in the water baffle 304 to flow to the positioning portion 3031 and drain out from the drain hole 3032.

[0063] There is a gap between the top end of the water baffle 304 and the upper cover plate 302. The top end of the water baffle 304 is provided with an inwardly turned water baffle ring 3041 to prevent water from flying out along the opening of the water baffle 304 when the product is subsequently spin-dried. Further, the bottom surface of the water baffle ring 3041 is a concave arc surface, and the water splashed on the water baffle ring 3041 can fall back into the water baffle 304 along the arc surface.

[0064] One end of the water spray pipe 305 extends into the water baffle 304 along the gap between the top end of the water baffle 304 and the upper cover plate 302. The other end of the water spray pipe 305 can be connected to an external water source through a water joint (not shown). Further, an air blowing pipe 308 is also provided on one side of the water spray pipe 305. One end of the air blowing pipe 308 extends into the water baffle 304 along the gap between the top end of the water baffle 304 and the upper cover plate 302, and the other end is connected to an external water source through an air joint (not shown).

[0065] In this embodiment, the rotary lifting platform 306 includes a second lifting cylinder 3061, a rotating motor 3062, a synchronous wheel 3063, a connecting plate 3064, a spline shaft 3065, a spline nut 3066 and a bearing seat 3067. The bearing seat 3067 includes an inner sleeve 30671, an outer sleeve 30672 and a first bearing 30673 arranged between the inner sleeve 30671 and the outer sleeve 30672 so that the two can rotate relative to each other. Two first bearings 30673 are arranged at intervals above and below, and a bearing isolation ring 30674 is arranged between the two first bearings 30673 to maintain a fixed distance between the two first bearings 30673. The outer sleeve 30672 is sealed and fixed in the shaft hole in the middle of the lower cover plate 303, the inner sleeve 30671 is sleeved and fixed on the spline nut 3066, the spline shaft 3065 passes through the inner sleeve 30671 through the spline nut 3066, and one end of the spline shaft 3065 extends out of the top of the inner sleeve 30671 and is fixed to the bottom of the flow channel plate 301, and the other end of the spline shaft 3065 extends out of the bottom of the inner sleeve 30671 and is rotatably connected to the connecting plate 3064 through a bearing, the synchronous wheel 3063 is clearance-matched with the spline shaft 3065 and is fixed to the inner sleeve 30671 through a docking sleeve 3068, wherein the synchronous wheel 3063 is sleeved and fixed on the bottom of the docking sleeve 3068, and The top of the docking sleeve 3068 is sleeved on the bottom of the inner shaft sleeve 30671, and the rotating motor 3062 is fixedly connected to the bottom of the lower cover plate 303. The rotating motor 3062 is provided with a driving wheel 30621, and the driving wheel 30621 is connected to the synchronous wheel 3063 through a belt (not shown). The rotating motor 3062 drives the synchronous wheel 3063 through the belt. The synchronous wheel 3063 is linked with the inner shaft sleeve 30671 through the docking sleeve 3068, enters the inner shaft sleeve 30671 and is linked with the spline shaft 3065 through the spline nut 3066, and finally the spline shaft 3065 drives the flow channel plate 301 to rotate, that is, the flow channel plate 301 is driven to rotate by the rotating motor 3062. The second lifting cylinder 3061 is fixedly connected to the bottom of the lower cover plate 303 and the cylinder rod of the second lifting cylinder 3061 is connected to the connecting plate 3064. The second lifting cylinder 3061 drives the spline shaft 3065 to move up and down synchronously by driving the connecting plate 3064 up and down, thereby driving the flow channel plate 301 to move up and down. It can be understood that when the spline shaft 3065 moves up and down, it moves up and down relative to the spline nut 3066, and does not affect the inner sleeve 30671 and the synchronous wheel 3063, so that the rotation and lifting of the spline shaft 3065 do not interfere with each other.

[0066] Among them, the tops of the inner shaft sleeve 30671 and the outer shaft sleeve 30672 both extend into the water baffle 304. The top surface of the inner shaft sleeve 30671 is provided with a first step 30675, and the top surface of the outer shaft sleeve 30672 is provided with a second step 30676. A third step 30677 is provided on the second step 30676. The third step 30677 is lower than the first step 30675, and the third step 30677 is located above the first bearing 30673 to stop the first bearing 30673. An inner cover 3069 is provided on the inner shaft sleeve 30671. The inner cover 3069 is sleeved on the peripheral wall of the first step 30675 and rotates synchronously with the inner shaft sleeve 30671. The outer edge of the inner cover 3069 extends above the second step 30676. The third step 30677 extends into the retaining groove opened at the bottom of the inner cover 3069 to prevent external water from flowing into the gap between the inner shaft sleeve 30671 and the outer shaft sleeve 30672. An outer cover 3070 is provided on the outer shaft sleeve 30672. The outer cover 3070 is hermetically sleeved on the spline shaft 3065, so that the outer cover 3070 rotates relative to the outer shaft sleeve 30672 following the spline shaft 3065. The outer edge of the outer cover 3070 extends to the outer edge of the inner shaft sleeve 30671, and the outer edge of the outer cover 3070 has a flanging portion that is turned downwards. The flanging portion is looped outside the second step 30676 to cover the second step 3067, further preventing water from entering between the inner shaft sleeve 30671 and the outer shaft sleeve 30672.

[0067] The flow channel plate 301 is initially located above the avoidance opening 3021 (as Figure 13 ), at this time, the buckle 3011 is in an open state due to being resisted by the stopper 3022, and the return spring 3012 is in a compressed state, so that the upper surface of the entire flow channel plate 301 is exposed. The handling manipulator 50 will transfer the polished product from the vacuum suction table 202 to the flow channel plate 301. During the transfer process of the handling manipulator 50, the handling manipulator 50 will rotate again to change the product from the longitudinal placement state back to the transverse placement state and place it on the flow channel plate 301.

[0068] After the product is transported onto the runner plate 301, the second lifting cylinder 3061 drives the runner plate 301 to descend, causing the runner plate 301 to drive the product down and move it to a preset position within the water baffle 304. In the initial stage of the descent of the runner plate 301, the buckle 3011 moves downward along the bearing sleeved on the stopper 3022, causing the return spring 3012 to gradually rebound and drive the buckle 3011 to gradually close until the buckle 3011 separates from the stopper 3022 and the return spring 3012 rebounds completely, and then the buckle 3011 completely closes to fasten the product on the runner plate 301. After the runner plate 301 descends to the preset position, the water spray pipe 305 sprays water on the product on the runner plate 301. At this time, the rotating motor 3062 drives the runner plate 301 to rotate within the water baffle 304 to adjust the cleaning angle of the product. After the cleaning is completed, the rotating motor 3062 accelerates to drive the runner plate 301 to rotate, and the air blowing pipe 308 blows air on the product to quickly dry the product.

[0069] Please refer to Figure 12 , Figure 13 and Figure 18 As shown in, two side plates 3014 are provided at both side edges of the upper surface of the runner plate 301, so that a blanking runner 3015 is formed on the runner plate 301 between the two side plates 3014. A docking runner 70 for docking the blanking runner 3015 with the empty material box placed on the blanking mechanism 40 is provided on the upper cover plate 302. After the product is dried, the second lifting cylinder 3061 lifts the runner plate 301 again above the avoidance opening 3021 to dock the blanking runner 3015 with the docking runner 70.

[0070] Among them, the blanking mechanism 40 includes a second translation module 401 arranged longitudinally, a second material box storage table 402 provided at one end of the second translation module 401, a second lifting module 403 arranged on the second translation module 401, a second gripper 404 arranged on the second lifting module 403, and a push rod structure 405 for pushing the product from the blanking channel 3015 along the docking channel 70 into the empty material box clamped by the second gripper 404. The second gripper 404 is arranged opposite to the second material box storage table 402. The second material box storage table 402 has two layers up and down. One layer is used for placing full material boxes, and the other layer is used for placing empty material boxes. Driven by the second translation module 401 and the second lifting module 403, the second gripper 404 can clamp the empty material box to be docked with the docking channel 70. The push rod structure 405 includes a front push rod 4051 above the upper cover plate 302 and a rear push rod 4052. The initial position of the front push rod 4051 is on the side of the avoidance port 3021 far from the docking channel 70, and the rear push rod 4052 is telescopically arranged in the middle and rear section of the avoidance port 3021. The front push rod 4051 pushes the product from the flow channel plate 301 into the docking channel 70 through a first transverse movement module 4053 arranged on one side of the upper cover plate 302, and the rear push rod 4052 pushes the product from the docking channel 70 into the empty material box completely fixed by the blanking mechanism 40. When the empty material box is full, driven by the second translation module 401 and the second lifting module 403, the second gripper 404 places the full material box on the second material box storage table 402 and takes a new empty material box on the second material box storage table 402 to be docked with the docking channel 70.

[0071] The above has described an embodiment of the present invention in detail, but the content is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A product grinding device, characterized in that, It comprises a feeding mechanism, a grinding mechanism, a cleaning and drying mechanism, a feeding mechanism and a handling robot which are sequentially arranged in a transverse direction and carry the product from the feeding mechanism to the grinding mechanism and then to the cleaning and drying mechanism, wherein the grinding mechanism comprises a first slide rail arranged in a longitudinal direction, a vacuum suction table which is slidably matched with the first slide rail through a screw rod, and a first lifting member arranged near the rear end of the first slide rail, the first lifting member is connected to a rotating motor, a grinding wheel is installed at the bottom of the rotating motor, the grinding wheel has an annular grinding surface which is located at the bottom and is horizontally arranged, and the outer diameter of the annular grinding surface is larger than the width of the product in the transverse direction; The cleaning and drying mechanism comprises: A flow channel plate, wherein buckles are arranged around the flow channel plate, the buckles are hinged to the bottom of the flow channel plate, and a return spring is arranged between the buckles and the flow channel plate to drive the buckles to close; An upper cover plate, wherein a relief opening is provided in the middle of the upper cover plate, and a stopper is provided around the relief opening at the bottom of the upper cover plate for contacting with the buckle to open the buckle; A lower cover plate is arranged below the upper cover plate and is fixedly connected to the upper cover plate via a support rod, and a drainage hole is provided on the lower cover plate; A water shield is provided between the upper cover plate and the lower cover plate and is sealed and connected to the lower cover plate; A water spray pipe extending into the water shield to clean the product; A rotating lifting platform drives the flow channel plate to move up and down, so that the flow channel plate moves back and forth up and down in the avoidance port and the water shield, and the flow channel plate rotates in the water shield; The upper cover plate is provided with a mounting groove at one end close to the grinding mechanism, and two second fixing blocks arranged opposite to each other, a second water pipe arranged between the two second fixing blocks, and a second wiping sponge sleeved on the second water pipe are arranged in the mounting groove, a second mounting hole is opened on one of the second fixing blocks, one end of the second water pipe passes through the second mounting hole and is connected to the second joint, and a plurality of water outlet holes are opened in the axial direction of the second water pipe; The rotary lifting platform includes a second lifting cylinder, a rotating motor, a synchronous wheel, a connecting plate, a spline shaft, a spline nut and a bearing seat. The bearing seat is sealed and fixed in the axial hole of the lower cover plate. The spline shaft passes through the bearing seat through the spline nut, and one end of the spline shaft is fixed to the bottom of the flow channel plate. The other end of the spline shaft is rotatably connected to the connecting plate through a bearing. The synchronous wheel is clearance-matched with the spline shaft and is fixed to the inner sleeve of the bearing seat through a docking sleeve. The rotating motor is fixed to the bottom of the lower cover plate and drives the synchronous wheel through a belt. The synchronous wheel indirectly drives the spline shaft to rotate through the bearing seat. The second lifting cylinder is fixed to the bottom of the lower cover plate to drive the connecting plate and the spline shaft to move up and down synchronously.

2. The product grinding device according to claim 1, characterized in that, The feeding mechanism includes a first translation module arranged longitudinally, a first cartridge storage table provided at one end of the first translation module, a first lifting module provided on the first translation module, a first gripper provided on the first lifting module, a feeding channel provided between the first gripper and the grinding mechanism, and a first push rod for pushing the products to be ground in the fully loaded cartridge held by the first gripper onto the feeding channel.

3. The product grinding device according to claim 2, characterized in that, The handling robot has a handling suction cup for sucking products. The feeding channel is composed of two spaced baffles and a support plate provided on the opposite side of the two baffles and near the top of the baffles. A support plate and a lifting cylinder for driving the support plate to lift are provided below the feeding channel, and the initial position of the support plate is lower than the feeding channel.

4. The product grinding device according to claim 1, characterized in that, Above the middle of the first slide rail, there is a table cleaning mechanism for cleaning the surface of the vacuum suction table. The table cleaning mechanism includes a first lifting cylinder, a first mounting plate provided below the first lifting cylinder, and two first fixing blocks respectively provided at both ends of the lower surface of the first mounting plate. A first water pipe and a first wiping sponge sleeved on the first water pipe are provided between the two first fixing blocks. A first mounting hole is provided on one of the first fixing blocks, one end of the first water pipe passes through the first mounting hole and is connected to a first joint, and a plurality of water outlet holes are provided axially along the first water pipe.

5. The product grinding device according to claim 1, characterized in that, A blow pipe is further provided on one side of the water spray pipe, and the blow pipe extends into the water retaining cover to blow air on the product.

6. The product grinding device according to claim 1, characterized in that, The top end of the water retaining cover is provided with an inwardly turned water retaining ring.

7. The product grinding device according to claim 1, characterized in that, On both sides of the upper surface of the flow channel plate, there are two side plates, and there is a blanking channel between the two side plates. The upper cover plate is provided with a docking channel for docking the blanking channel with the empty cartridge placed on the blanking mechanism. The blanking mechanism has a push rod structure for pushing the product from the flow channel plate along the docking channel into the empty cartridge.

Images