Silicon rod processing line and silicon rod processing technology

Abstract

The present invention relates to a silicon rod processing line and a silicon rod processing technology, comprising a traveling fixture, a loading and unloading device, a squaring device, a grinding device and an operating device. The beneficial effect is that the operating device can realize the operation of the traveling fixture between various processes, and the operated component is not directly set as a silicon rod, but is set as a traveling fixture, and the operation of the silicon rod is realized by the traveling fixture. Since the silicon rod itself does not directly contact the operating device, it can well avoid the silicon rod from being damaged due to collision and the like. Since the operating device can realize the operation of the traveling fixture that clamps the silicon rod between various workstations, and the silicon rod does not need to perform additional positioning operations, the silicon rod processing line can realize fully automatic processing of the silicon rod, thereby providing a corresponding hardware foundation for realizing a dark factory, reducing the personnel participation rate, and thereby reducing the processing cost of the silicon rod.

Description

Technical Field

[0001] The invention relates to the technical field of silicon rod processing, and in particular to a silicon rod processing line and a silicon rod processing technology. Background Art

[0002] At present, in the relevant technology, the silicon rod processing production line directly operates the silicon rods to realize the cutting, grinding and other operations of the silicon rods. Therefore, it is necessary to use a manual single machine to position the silicon rods, and then cooperate with the traditional logistics system to realize the semi-automatic processing of the silicon rods.

[0003] With this processing method, since the silicon rod positioning operation is performed manually, it requires more manpower, resulting in difficulty in reducing the cost of silicon rod processing and is not conducive to the realization of automated processing of silicon rods. At the same time, the manual positioning method is not conducive to the standardization of positioning operations, and is therefore not conducive to improving the processing accuracy of silicon rods. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a silicon rod processing line and a silicon rod processing technology, which solve the technical problems in the related art that the silicon rod production line requires a large amount of manpower, resulting in difficulty in reducing the cost of silicon rod processing and is not conducive to realizing the automated processing of silicon rods.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In the first aspect, the technical solution of the present invention provides a silicon rod processing line, including a traveling fixture, a loading and unloading device, a squaring device, a grinding device and an operating device, wherein the traveling fixture is used to clamp the silicon rod and can drive the silicon rod to operate; the loading and unloading device is used to clamp the silicon rod to the traveling fixture, and to detach the processed silicon rod from the traveling fixture; the squaring device is used to square the silicon rod; the grinding device is used to grind the silicon rod; the operating device is used to transfer the traveling fixture between the loading and unloading device, the squaring device and the grinding device; wherein the traveling fixture, as a support body and rotating body of the silicon rod, is at least used in the squaring process and the grinding process of the silicon rod.

[0009] In this technical solution, the silicon rod processing line includes a traveling fixture, a loading and unloading device, a squaring device, a grinding device, an operating device and an off-line driving device. The traveling fixture is used to clamp the silicon rod, and the traveling fixture and the silicon rod participate in the processing of the silicon rod together. The traveling fixture is longitudinally arranged at a corresponding position in each process, and serves as a support for the silicon rod to maintain the vertical state of the silicon rod. It also serves as a driving part for the silicon rod to drive the silicon rod to rotate to a required angle, such as 45° or 90°, to match the process requirements of different processing procedures.

[0010] The traveling fixture uses an off-line drive to perform clamping or unclamping actions, so that the traveling fixture itself does not need to be provided with a corresponding driving component, thereby making the structure of the traveling fixture more compact, thereby facilitating the use of the traveling fixture together with the silicon rod in the processing procedure of the silicon rod.

[0011] The operating device can realize the operation of the accompanying fixture between various processes. Compared with the related technology, the component being operated is not directly set as the silicon rod, but is set as the accompanying fixture, and the operation of the silicon rod is realized through the accompanying fixture. In this way, since the silicon rod itself does not directly contact the operating device, it can effectively avoid the silicon rod from being damaged due to collision and the like. At the same time, the accompanying fixture is a standard rigid component. Compared with the silicon rod, it can be more easily matched to the corresponding position of each processing step of the silicon rod processing line to achieve improved silicon rod processing efficiency.

[0012] Under the function of this silicon rod processing line, since the operating device can realize the movement of the accompanying fixture that clamps the silicon rods between various workstations, and the silicon rods do not need additional positioning operations, the silicon rod processing line can realize fully automatic processing of silicon rods, thereby providing the corresponding hardware foundation for realizing a dark factory, reducing the personnel participation rate, and thus reducing the processing cost of silicon rods.

[0013] In one technical solution of the present invention, the loading and unloading device includes: a first frame, a first positioning structure, a turning material table and a manipulator. The first positioning structure is arranged on the first frame, and is used to match with the accompanying fixture to realize the positioning and clamping of the accompanying fixture; the turning material table is arranged on the first frame, and is used to vertically turn the silicon rod; the manipulator is arranged on the first frame, and is used to grab the silicon rod and send the silicon rod into the clamping area of ​​the accompanying fixture, and the manipulator has a vertical floating range.

[0014] In one technical solution of the present invention, the squaring device includes a second frame, a second positioning structure and a ring wire cutting head, the second positioning structure is arranged on the second frame, and is used to match with the accompanying fixture to realize the positioning and clamping of the accompanying fixture; the ring wire cutting head is vertically slidably connected to the second frame, and the ring wire cutting head is used to realize the cutting of silicon rods; wherein, the ring wire cutting head includes a frame body, a ring wire and a plurality of guide wheels, the guide wheels are rotatably installed on the frame body, a plurality of guide wheels form an installation profile, the ring wire is arranged on the installation profile, the ring wire is horizontally arranged, and oppositely arranged cutting sections are formed on the ring wire, and the spacing between the cutting sections is adjustable; the squaring device also includes: a load sensor, the load sensor is arranged on the second frame, and the load sensor is used to detect the load of the ring wire; the squaring device also includes a skin edge grabbing device, the skin edge grabbing device is slidably connected to the second frame, and is used to grab and transport the cut silicon rod skin edge.

[0015] In one technical solution of the present invention, the grinding device includes a third frame, a grinding mechanism and a third positioning structure. The grinding mechanism is vertically slidably connected to the third frame in an opposed manner. The third positioning structure is arranged on the third frame and is used to match the accompanying fixture to achieve positioning and clamping of the accompanying fixture.

[0016] In a second aspect, the present invention provides a silicon rod processing process, which is applied to the silicon rod processing line in any of the above technical solutions, comprising:

[0017] S1: Move the accompanying fixture to the first positioning structure and perform the silicon rod loading operation;

[0018] S2: Based on the silicon rod being clamped by the accompanying clamp, the accompanying clamp clamping the silicon rod is moved to the second positioning structure and a square cutting operation is performed;

[0019] S3: after the silicon rod is squared, the accompanying fixture holding the silicon rod is moved to the third positioning structure and a grinding operation is performed;

[0020] S4: After the silicon rod is polished, the accompanying fixture holding the silicon rod is moved to the first positioning structure and the silicon rod is unloaded.

[0021] In the present application, the operation of the robot arm can realize the operation of the accompanying clamp between different processing steps, that is, in the silicon rod processing process of the present invention, the transportation of the silicon rod is indirectly realized, and the rotation function of the silicon rod is performed by relying on the accompanying clamp. In this way, there is no need to perform separate positioning operations on the silicon rod, which greatly improves the silicon rod processing efficiency, makes it easier to realize fully automated processing of silicon rods, realize dark factories, reduce personnel participation rates, and thus reduce the processing costs of silicon rods.

[0022] In a technical solution of the present invention, the portable fixture is moved to the first positioning structure and the silicon rod loading operation is performed, which specifically includes:

[0023] S1.1: Place the silicon rod on the turning table and turn the silicon rod vertically;

[0024] S1.2: Based on the silicon rod being in a vertical state, the silicon rod is grasped by a manipulator;

[0025] S1.3: After the silicon rod is grasped by the robot, the silicon rod is sent to the clamping area of ​​the accompanying clamp.

[0026] In one technical solution of the present invention, the silicon rod is fed into the clamping area of ​​the accompanying clamp, which specifically includes:

[0027] S1.3.1: Make sure that the silicon rod has a vertical floating range after being grasped by the robot;

[0028] S1.3.2: Control the first upward distance of the silicon rod;

[0029] S1.3.3: Send the silicon rod horizontally into the clamping position of the accompanying clamp;

[0030] S1.3.4: Control the silicon rod to move down to the second distance;

[0031] The first distance is greater than or equal to the second distance.

[0032] In a technical solution of the present invention, the accompanying clamp holding the silicon rod is moved to the second positioning structure and the square opening operation is performed, which specifically includes:

[0033] S2.1: Move the accompanying clamp holding the silicon rod to the second positioning structure;

[0034] S2.2: Based on the movement of the accompanying fixture of the silicon rod to the second positioning structure, the cutting spacing of the loop cutting head is adjusted to a predetermined value, and the loop cutting head is controlled to perform a cutting action;

[0035] S2.3: Detect the load of the loop line. When the load of the loop line drops sharply, the loop line cutting head is controlled to reset;

[0036] S2.4: Grab and transport the cut silicon rod edge skin by using the edge skin grabbing device;

[0037] S2.5: Control the silicon rod to rotate 90° and repeat steps S2.2-S2.4.

[0038] In a technical solution of the present invention, the accompanying fixture holding the silicon rod is moved to the third positioning structure and the grinding operation is performed, which specifically includes:

[0039] S3.1: Place the portable fixture in the positioning structure of the grinding device;

[0040] S3.2: Based on the positioning structure of the traveling fixture placed on the grinding device, vertical pressing of the traveling fixture is performed;

[0041] S3.3: Based on the vertical pressing of the accompanying fixture, the silicon rod is polished.

[0042] In one technical solution of the present invention, the grinding of the silicon rod specifically includes:

[0043] S3.3.1: Grinding a first set of opposite planes of the silicon rod by a grinding device;

[0044] S3.3.2: After the grinding of the first set of planes opposite to the silicon rod is completed, the silicon rod is controlled to rotate 90°, and the grinding device is controlled to grind the second set of planes opposite to the silicon rod;

[0045] S3.3.3: After the grinding of the second set of planes opposite to the silicon rod is completed, the silicon rod is controlled to rotate to perform chamfering or rounding grinding;

[0046] Chamfer grinding work specifically includes:

[0047] S3.3.3.1: After the second set of plane grinding is completed, the silicon rod is controlled to rotate 45° to grind the first set of chamfers of the silicon rod; after the first set of chamfers of the silicon rod is polished, the silicon rod is controlled to rotate 90° to grind the second set of chamfers of the silicon rod;

[0048] The fillet grinding work specifically includes:

[0049] S3.3.3.2: After the grinding of the second set of opposite planes of the silicon rod is completed, the silicon rod is controlled to continue to rotate in the same direction to grind the two sets of fillets of the silicon rod.

[0050] (III) Beneficial effects

[0051] The beneficial effects of the present invention are as follows: the silicon rod processing line and silicon rod processing technology of the present invention, the operating device can realize the operation of the accompanying clamp between various processes. Compared with the related art, the component to be operated is not directly set as the silicon rod, but is set as the accompanying clamp, and the operation of the silicon rod is realized by the accompanying clamp. In this way, since the silicon rod itself does not directly contact the operating device, it can well avoid the silicon rod from being damaged due to collision and the like. At the same time, the accompanying clamp is a standard rigid component. Compared with the silicon rod, it can be more easily matched to the corresponding position of each processing process of the silicon rod processing line, so as to improve the processing efficiency of the silicon rod and also more easily ensure the processing accuracy of the silicon rod.

[0052] Since the operating device can realize the movement of the accompanying fixture holding the silicon rods between various workstations and the silicon rods do not need additional positioning operations, the silicon rod processing line can realize fully automatic processing of silicon rods, thereby providing the corresponding hardware foundation for realizing a dark factory, reducing the personnel participation rate, thereby reducing the processing cost of silicon rods and improving the processing accuracy of silicon rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is one of the structural schematic diagrams of the portable clamp of the present invention;

[0054] Figure 2 This is the second structural schematic diagram of the portable clamp of the present invention;

[0055] Figure 3 It is a structural schematic diagram of the loading and unloading device of the present invention;

[0056] Figure 4 It is a structural schematic diagram of the manipulator of the present invention;

[0057] Figure 5 For the present invention Figure 3 A schematic diagram of the local enlarged structure at B in the middle;

[0058] Figure 6 For the present invention Figure 4 A schematic diagram of the local enlarged structure at C in the middle;

[0059] Figure 7 It is a structural schematic diagram of the prescription opening device of the present invention;

[0060] Figure 8 It is a structural schematic diagram of the circular wire cutting head of the present invention;

[0061] Fig. 9 It is a schematic structural diagram of the grinding device of the present invention;

[0062] Fig.10 It is one of the structural schematic diagrams of the operating device of the present invention;

[0063] Fig.11 This is the second structural schematic diagram of the operating device of the present invention;

[0064] Fig.12 The figure is a flow chart of the silicon rod processing technology of the present invention.

[0065] [Description of Reference Numerals]

[0066] 1: portable clamp, 11: clamp body, 12: clamp, 121: clamp body, 122: clamp support, 13: first driving member, 14: rotating part, 15: second driving member, 16: power supply device;

[0067] 2: Off-line drive device;

[0068] D: operating device;

[0069] 3: loading and unloading device, 31: first frame, 32: manipulator, 321: cross slide, 322: body, 323: rotating part, 324: sliding part, 325: running part, 326: clamping claw, 3261: first clamping claw, 3262: second clamping claw, 34: turning material table, 35: first positioning structure;

[0070] 4: squaring device, 41: second frame, 42: second positioning structure, 43: loop cutting head, 431: frame, 432: loop, 433: a plurality of guide wheels, A: cutting section, 44: edge skin grabbing device;

[0071] 5: grinding device, 51: third frame, 52: grinding mechanism, 53: third positioning structure. DETAILED DESCRIPTION

[0072] In order to better explain the present invention, so as to facilitate understanding, the following Figure 1-12 , the present invention is described in detail through specific implementation methods.

[0073] Embodiment 1:

[0074] Reference Figure 1-Figure 11 The embodiment of the present invention provides a silicon rod processing line, including a portable fixture 1, a loading and unloading device 3, a squaring device 4, a grinding device 5 and a running device D, wherein the portable fixture 1 is used to clamp the silicon rod and can drive the silicon rod to operate; the loading and unloading device 3 is used to clamp the silicon rod to the portable fixture 1, and to detach the processed silicon rod from the portable fixture 1; the squaring device 4 is used to square the silicon rod; the grinding device 5 is used to grind the silicon rod; the running device D is used to transfer the portable fixture 1 between the loading and unloading device 3, the squaring device 4 and the grinding device 5; wherein the portable fixture 1 is used as a support body and a rotating body of the silicon rod at least in the squaring process and the grinding process of the silicon rod;

[0075] The loading and unloading device 3 is provided with an external drive device 2 for realizing the clamping drive of the portable clamp 1 .

[0076] In this embodiment, the silicon rod processing line includes a traveling fixture 1, a loading and unloading device 3, a squaring device 4, a grinding device 5, an operating device D and an off-line driving device 2. The traveling fixture 1 is used to clamp the silicon rod, and the traveling fixture 1 participates in the processing of the silicon rod together with the silicon rod. The traveling fixture 1 is longitudinally arranged at a corresponding position in each process, and serves as a support body for the silicon rod to maintain the vertical state of the silicon rod. It also serves as a driving member for the silicon rod to drive the silicon rod to rotate to a required angle, such as 45° or 90°, to match the process requirements of different processing steps.

[0077] like Figure 1 and Figure 2The traveling fixture 1 uses an off-line drive to perform the clamping or unclamping action, so that the traveling fixture 1 itself does not have a corresponding driving component, thereby making the structure of the traveling fixture 1 more compact, thereby facilitating the use of the traveling fixture 1 together with the silicon rod in the processing procedure of the silicon rod.

[0078] The operating device D can realize the operation of the accompanying fixture 1 between various processes, and can be set as a robot or an operating manipulator. Compared with the related technology, the component being operated is not directly set as the silicon rod, but is set as the accompanying fixture 1, and the operation of the silicon rod is realized through the accompanying fixture 1. In this way, since the silicon rod itself does not directly contact the operating device D, it can well avoid the silicon rod from being damaged due to collision and the like. At the same time, the accompanying fixture 1 is a standard rigid component. Compared with the silicon rod, it can be more easily matched to the corresponding position of each processing step of the silicon rod processing line to achieve improved silicon rod processing efficiency.

[0079] Since the operating device D can realize the movement of the accompanying clamp 1 for clamping the silicon rod between various workstations, and the silicon rod does not need additional positioning operations, the silicon rod processing line can realize fully automatic processing of silicon rods, thereby providing the corresponding hardware foundation for realizing a dark factory, reducing the personnel participation rate, and thus reducing the processing cost of silicon rods.

[0080] like Figure 1 and Figure 2 The portable clamp 1 includes a clamp body 11, at least a pair of clamps 12, a first driving member 13, a rotating part 14 and a second driving member 15. The clamp body 11 serves as a base of the portable clamp 1. It can be subjected to simulated force verification and optimized in structure through finite element analysis to meet the requirements of clamping silicon rods under the premise of compact structure, low curb weight and easy processing.

[0081] At least one pair of chucks 12 can be arranged along the length direction of the clamp body 11, and can move closer to or farther away from each other under the drive of the first driving member 13. When the chucks 12 move closer to each other, the silicon rod can be clamped, and when the chucks 12 move away from each other, the clamped silicon rod can be loosened in the clamp body 11.

[0082] The chuck 12 includes a chuck body 121 and a chuck support 122, and the chuck support 122 is arranged on the chuck body 11. The accompanying clamp 1 also includes a rotating part 14, and the chuck body 121 and the chuck support 122 are connected through the rotating part 14; the rotating part 14 is configured as a rotating head, and the rotating head is rotatably connected to the corresponding chuck support 122. At least one rotating part 14 is driven to rotate by a second driving member 15, and the second driving member 15 can be a rotary driving member, and its rotation direction and operation cycle are both in an adjustable form; when the chuck body 121 is loaded with a silicon rod, the second driving member 15 is operated, which can drive the silicon rod to rotate, thereby matching the different rotation position requirements of the silicon rod processing process.

[0083] In this embodiment, at least one pair of chucks 12 is configured as a stationary chuck and a dynamic chuck. The stationary chuck is fixedly connected to the chuck body 11, and the dynamic chuck is slidably connected to the chuck body 11 along the direction of the line connecting at least one pair of chucks 12. The first driving member 13 drives the dynamic chuck to slide.

[0084] In this embodiment, at least one pair of chucks 12 is configured as a static chuck and a dynamic chuck, that is, in at least one pair of chucks 12, the static chuck is fixedly connected to the clamp body 11, and the dynamic chuck is slidably connected to the clamp body 11 along the direction of the line connecting the at least one pair of chucks 12, and the dynamic chuck is driven to slide by the first driving member 13, so that the accompanying clamp 1 can clamp or release the clamping action.

[0085] The off-line driving device 2 and the portable clamp 1 are of a split structure, and the driving connection between the two can be disconnected or combined; the second driving member 15 is configured as a motor, and the portable clamp 1 also includes a power supply device 16, which can be arranged on the clamp body 11 and electrically connected to the motor to provide electrical energy for the operation of the motor; wherein the power supply device 16 is configured as a battery, and the battery can be wirelessly charged.

[0086] Embodiment 2:

[0087] Reference Figures 3 to 6 In addition to all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0088] The loading and unloading device 3 includes a first frame 31, a first positioning structure 35, a turning material table 34 and a manipulator 32. The first positioning structure 35 is arranged on the first frame 31, and is used to match with the accompanying fixture 1 to realize the positioning and clamping of the accompanying fixture 1; the turning material table 34 is arranged on the first frame 31, and is used to vertically turn the silicon rod; the manipulator 32 is arranged on the first frame 31, and is used to grab the silicon rod and send the silicon rod into the clamping area of ​​the accompanying fixture 1. The manipulator 32 has a vertical floating range.

[0089] In this embodiment, the loading and unloading device 3 includes a first frame 31, a manipulator 32, a first positioning structure 35 and a turning table 34. The first positioning structure 35 is used to set the accompanying clamp 1. The manipulator 32 is used to transport the silicon rod to the accompanying clamp 1 during the loading process, so that the silicon rod can be clamped by the accompanying clamp 1; the manipulator 32 is used to remove the silicon rod from the accompanying clamp 1 during the unloading process.

[0090] The turning table 34 may be adjacent to the first frame 31, and a receiving cavity is formed in the turning table 34 to receive the silicon rod; wherein the turning table 34 includes a horizontal position and a vertical position, and the turning table 34 can actively switch between the horizontal position and the vertical position, so that the silicon rod can be clamped by the manipulator 32. During the loading process, the silicon rod is arranged in the receiving cavity, and after the turning table 34 moves to the vertical position, the manipulator 32 can take out and clamp the silicon rod; during the unloading process, after the turning table 34 moves to the vertical position, the manipulator 32 can transport the silicon rod to the receiving cavity, and then the turning table 34 moves from the vertical position to the horizontal position to complete the unloading.

[0091] Specifically, the flipping material table 34 may include a flipping drive component, a table body and a mounting frame. The table body is hinged to the mounting frame. The flipping drive component may be a telescopic drive component, and its two ends are respectively hinged to the mounting frame and the table body. The position of the flipping material table 34 can be changed by extending and retracting the telescopic drive component.

[0092] Specifically, the manipulator 32 can be set as a self-centering four-axis manipulator 32, which can be set in the front-to-back direction with the accompanying fixture 1, that is, the manipulator 32 is in front and the accompanying fixture 1 is in the back; the manipulator 32 includes a cross slide 321, a body 322, a rotating part 323, at least two pairs of sliding parts 324, at least two pairs of running parts 325 and at least two pairs of clamping claws 326; the body 322 is connected to the rotating part 323 and the body 322 extends vertically, and the rotating part 323 can make the body 322 rotate around under the drive of the second driving member 15 The two pairs of sliding parts 324 are longitudinally slidably installed on the main body 322, and the two pairs of operating parts 325 are drivingly connected to the corresponding sliding parts 324, and the sliding parts 324 can slide vertically under the drive of the third driving member; the two pairs of clamping jaws 326 are drivingly connected to the corresponding two pairs of operating parts 325, and the operating parts 325 can drive the two groups of clamping jaws 326 to operate to clamp or release the silicon rod; the first driving member 13 and the third driving member are both configured as telescopic driving members, and the second driving member 15 is configured as a rotary driving member.

[0093] In this embodiment, the manipulator 32 is a four-axis manipulator 32, and the clamping jaws 326 are self-centering clamping jaws 326, so that the manipulator 32 can smoothly complete the loading and unloading operations of the silicon rods and realize the self-centering clamping work of the silicon rods.

[0094] The cross slide 321 is cross-shaped and is arranged on the first frame 31. The cross slide 321 may include two groups of linear slides, which are slidably connected to each other and are cross-shaped. The rotating part 323 is arranged on the cross slide 321 and is driven to operate by the cross slide 321. The rotating part 323 can drive the main body 322 to rotate. The sliding part 324 is arranged on the main body 322 and can drive the operating part 325 to slide on the main body 322, and the clamping jaw 326 is driven to operate by the operating part 325. In this way, the clamping jaw 326 can slide in the horizontal X, Y, and Z directions, and rotate in the Z direction, thereby realizing the flexible movement of the clamping jaw 326, so that the silicon rod can be accurately operated to the desired position.

[0095] The two pairs of jaws 326 each include a first jaw 3261 and a second jaw 3262, and the first jaw 3261 and the second jaw 3262 are both driven and connected to the operating part 325; wherein the first jaw 3261 and the second jaw 3262 are both configured as self-centering jaws 326, and a clamping space for a silicon rod is formed between the first jaw 3261 and the second jaw 3262, and the operating part 325 can drive the first jaw 3261 and the second jaw 3262 to approach or move away from each other, thereby achieving the clamping of the silicon rod or the release of the clamped silicon rod.

[0096] Both pairs of sliding parts 324 have vertical floating amount on the main body 322, so that the clamping jaws 326 also have vertical floating amount, that is, the two pairs of sliding parts 324 can slide longitudinally relative to the main body 322. For example, the sliding amount can be set to 3-5mm. When the sliding parts 324 float relative to the main body 322, the chuck 12 can also float relative to the main body 322, so that the silicon rod clamped by the chuck 12 can also float.

[0097] Embodiment 3:

[0098] Reference Figure 7 and Figure 8 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0099] The square opening device 4 includes a second frame 41, a second positioning structure 42 and a ring wire cutting head 43. The second positioning structure 42 is arranged on the second frame 41, and is used to match the accompanying fixture 1 to realize the positioning and clamping of the accompanying fixture 1; the ring wire cutting head 43 is vertically slidably connected to the second frame 41, and the ring wire cutting head 43 is used to realize the cutting of silicon rods; wherein the ring wire cutting head 43 includes a frame body 431, a ring wire 432 and a plurality of guide wheels 433, the guide wheels are rotatably mounted on the frame body 431, a plurality of guide wheels form an installation profile, the ring wire 432 is arranged on the installation profile, the ring wire 432 is arranged horizontally, and oppositely arranged cutting sections A are formed on the ring wire 432, and the spacing of the cutting sections A is adjustable; the square opening device 4 also includes: a load sensor, the load sensor is arranged on the second frame 41, and the load sensor is used to detect the load of the ring wire 432;

[0100] The squaring device 4 further comprises a skin edge grabbing device 44, which is slidably connected to the second frame 41 and is used for grabbing and transporting the cut silicon rod skin edges.

[0101] In this embodiment, the second positioning structure 42 is used to set the accompanying fixture 1, and the loop wire cutting head 43 is used to implement the cutting action of the silicon rod. The loop wire cutting head 43 includes a frame 431, a loop wire 432 and a plurality of guide wheels 433. The guide wheels are rotatably mounted on the frame 431. The plurality of guide wheels form a mounting profile. The loop wire 432 is arranged on the mounting profile. The loop wire 432 is arranged horizontally. Oppositely arranged cutting segments A are formed on the loop wire 432, and the spacing between the cutting segments A is adjustable.

[0102] The edge skin cut by the squaring device 4 is grabbed and transported by the edge skin grabbing device 44 and transported to the edge skin storage position; the guide wheel 433 includes a transverse guide wheel and a longitudinal guide wheel, the transverse guide wheel is used to bear the transverse load, and the longitudinal guide wheel is used to bear the vertical load. During the cutting process of the loop line 432, the vertical load on the loop line 432 is mainly borne by the vertical guide wheel; at the same time, the guide wheel 433 also forms a wheel group, and the wheel group of the cutting section A can slide to adjust the spacing of the cutting section A. At least one guide wheel 433 is set as a tension wheel, that is, it can compensate for the excess or missing length of the loop line 432 due to the change in the size of the installation profile, and at least one guide wheel 433 is a driving wheel, which is used to drive the loop line 432 to run.

[0103] The edge skin grabbing device 44 is configured as a grabbing robot 32, which is used to grab the edge skin and transport it to the edge skin storage position. The grabbing robot 32 is shown in the figure, which belongs to the existing technical means and will not be described in detail here.

[0104] Embodiment 4:

[0105] Reference Fig. 9 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0106] The grinding device 5 includes a third frame 51, a grinding mechanism 52 and a third positioning structure 53. The grinding mechanism 52 is vertically slidably connected to the third frame 51 in an opposed manner; the third positioning structure 53 is arranged on the third frame 51, and is used to match the accompanying fixture 1 to achieve positioning and clamping of the accompanying fixture 1.

[0107] In this embodiment, the grinding device 5 includes a third frame 51, a grinding mechanism 52 and a third positioning structure 53. In order to realize the driven sliding connection between the grinding mechanism 52 and the third frame 51, a slide table can be slidably connected to the third frame 51, and the grinding device 5 is arranged on the slide table, that is, the vertical sliding of the grinding mechanism 52 is realized by controlling the active sliding of the slide table.

[0108] The grinding mechanism 52 is provided with two groups horizontally opposed to each other, and the grinding device 5 includes a grinding spindle, which is provided as a nested spindle, whose inner shaft can rotate synchronously with the outer shaft, and whose inner shaft can be extended and retracted relative to the outer shaft, and the inner shaft and the outer shaft are respectively provided with a rough grinding head and a fine grinding head, and by extending and retracting the inner shaft relative to the outer shaft, the rough grinding head or the fine grinding head can participate in the grinding process alone to perform the grinding operation.

[0109] Embodiment 5:

[0110] Reference Fig.12 The present invention provides a silicon rod processing technology, which is applied to the silicon rod processing line in any of the above embodiments. The silicon rod processing technology includes:

[0111] S1: Move the portable fixture 1 to the first positioning structure 35 and perform the silicon rod loading operation;

[0112] S2: Based on the silicon rod being clamped by the accompanying clamp 1, the accompanying clamp 1 clamping the silicon rod is moved to the second positioning structure 42 and a square opening operation is performed;

[0113] S3: after the silicon rod is squared, the accompanying fixture 1 holding the silicon rod is moved to the third positioning structure 35 and a grinding operation is performed;

[0114] S4: After the silicon rod is polished, the accompanying fixture 1 holding the silicon rod is moved to the first positioning structure 35 to perform the unloading operation of the silicon rod.

[0115] The first positioning structure 35, the second positioning structure 42 and the third positioning structure 53 all include a coarse positioning head and a fine positioning head, which are arranged at corresponding installation positions, and the coarse positioning head and the fine positioning head are both configured as conical pins, and the tips of the conical pins face the clamp body 11; corresponding positions of the clamp body 11 are provided with positioning holes matching the coarse positioning head and the fine positioning head; wherein, the fine positioning head is provided with a conical sleeve, which is used to abut against the corresponding positioning hole to realize the clamping of the clamp body 11 relative to the positioning structure.

[0116] In this embodiment, the silicon rod processing process mainly includes four processes. The first is a loading process. In the loading process, the silicon rod is clamped into the accompanying clamp 1 by the loading and unloading device 3, and the whole process is automated.

[0117] The second is the square opening process, in which the portable fixture 1 is moved to the second positioning structure 42 of the square opening device 4 by the moving device D for positioning, and then the silicon rod is cut by the circular wire cutting head 43. After cutting, the silicon rod is changed from a round rod to a square rod;

[0118] The third is the grinding process, in which the portable fixture 1 is moved to the third positioning structure 53 of the squaring device 4 by the moving device D for positioning, and then the grinding work is performed, so that the square rod is roughly ground and finely ground, and the chamfering or rounding of the silicon rod is completed;

[0119] The fourth is the unloading process, in which the accompanying clamp 1 is operated to the first positioning structure 35 of the squaring device 4 by the operating device D for positioning, and the silicon rod is taken out from the accompanying clamp 1 by the loading and unloading device 3, and is placed on the turning table 34. When the silicon rod is placed on the turning table 34, the turning table 34 should be in an upright state. After the silicon rod is placed on the turning table 34, it is in a horizontal state when the turning table 34 is controlled to operate.

[0120] In the present application, the operating robot 32 can realize the operation of the accompanying clamp 1 between different processing steps, that is, in the silicon rod processing process of the present invention, the transportation of the silicon rod is indirectly realized, and the rotation function of the silicon rod is performed by relying on the accompanying clamp 1. In this way, there is no need to perform separate positioning operations on the silicon rod, which greatly improves the silicon rod processing efficiency, makes it easier to realize fully automated processing of silicon rods, realize dark factories, reduce personnel participation rates, and thus reduce the processing costs of silicon rods.

[0121] Embodiment 6:

[0122] In addition to all the technical solutions of the silicon rod processing technology in the above embodiment, the embodiment of the present invention further has the following technical solutions:

[0123] The portable fixture 1 is moved to the first positioning structure 35 and the silicon rod loading operation is performed, specifically including:

[0124] S1.1: placing the silicon rod on the turning table 34 and turning the silicon rod vertically;

[0125] S1.2: Based on the silicon rod being in a vertical state, the silicon rod is grasped by the manipulator 32;

[0126] S1.3: After the silicon rod is grasped by the robot 32 , the silicon rod is sent to the clamping area of ​​the accompanying clamp 1 .

[0127] In this embodiment, the clamping process of the silicon rod mainly includes three steps:

[0128] The first is the unloading process of the silicon rods, that is, the silicon rods are transported to the turning table 34 by the automated material or operation device D, and then the turning table 34 is controlled to stand up, and the silicon rods are also stood up at the same time;

[0129] The second is the process of grabbing the silicon rod. Since the position of the silicon rod after being erected is limited by the position of the turning table 34, the position of the silicon rod is relatively fixed, so the silicon rod can be grabbed by the manipulator 32;

[0130] The third is the silicon rod loading process, that is, the silicon rod is fed into the clamping area of ​​the accompanying clamp 1 by the manipulator 32, and then the accompanying clamp 1 is driven by the off-line driving device 2 to operate, so as to clamp the silicon rod;

[0131] Since the position of the portable fixture 1 has been defined by the first positioning structure 35 and the axis position of the silicon rod is defined by the manipulator 32 , the silicon rod can be clamped without additional horizontal adjustment of the manipulator 32 .

[0132] Embodiment 7:

[0133] In addition to all the technical solutions of the silicon rod processing technology in any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0134] The silicon rod is sent into the clamping area of ​​the accompanying clamp 1, specifically including:

[0135] S1.3.1: After the silicon rod is grasped by the robot 32, there is a vertical floating interval;

[0136] S1.3.2: Control the first upward distance of the silicon rod;

[0137] S1.3.3: Send the silicon rod horizontally into the clamping position of the accompanying clamp 1;

[0138] S1.3.4: Control the silicon rod to move down to the second distance;

[0139] The first distance is greater than or equal to the second distance. For example, the first distance is set to be equal to the second distance and equal to 10 mm.

[0140] In this embodiment, when the silicon rod is clamped into the accompanying fixture 1, the manipulator 32 is additionally used to control the silicon rod to move up and down. Since the sliding part 324 has floating amount, after the manipulator 32 clamps the silicon rod, under the action of gravity, the silicon rod will completely consume the floating amount and move down to the limit position.

[0141] When the silicon rod is clamped by the clamp 326, there is bound to be a slight longitudinal slip between the two, that is, in the process of the silicon rod being clamped by the clamp 326, under the action of gravity, the silicon rod is bound to move downward a slight distance relative to the clamp 326, and in the process of clamping the silicon rod into the accompanying clamp 1, since the silicon rod has moved upward a first distance in advance, the silicon rod will not collide with the accompanying clamp 1 due to its own sliding deviation. After the silicon rod is clamped, the sliding part 324 is controlled to slide downward a second distance. Since the sliding part 324 has a vertical floating amount, the floating amount can compensate for the sliding deviation of the silicon rod relative to the clamp 326, thereby ensuring that the silicon rod clamping work is accurate and stable.

[0142] Embodiment 8:

[0143] In addition to all the technical solutions of the silicon rod processing technology in any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0144] The portable fixture 1 holding the silicon rod is moved to the second positioning structure 42 and a square opening operation is performed, which specifically includes:

[0145] S2.1: Move the accompanying clamp 1 holding the silicon rod to the second positioning structure 42;

[0146] S2.2: The accompanying fixture 1 based on the silicon rod moves to the second positioning structure 42, adjusts the cutting spacing of the loop cutting head 43 to a predetermined value, and controls the loop cutting head 43 to perform the cutting action;

[0147] S2.3: Detect the load of the loop line 432. When the load of the loop line 432 decreases sharply, control the loop line cutting head 43 to reset;

[0148] S2.4: The cut silicon rod edge skin is grasped and transported by the edge skin grasping device 44;

[0149] S2.5: Control the silicon rod to rotate 90° and repeat steps S2.2-S2.4.

[0150] In this embodiment, based on the silicon rod being clamped by the portable fixture 1, the portable fixture 1 clamping the silicon rod operates the second positioning structure 42 and performs the square opening operation, which only includes five steps;

[0151] The first is the placement of the portable fixture 1, that is, the portable fixture 1 is placed on the second positioning structure 42 of the square opening device 4 by operating the manipulator 32. Since the portable fixture 1 clamps the silicon rod, the position of the silicon rod is also limited.

[0152] The second is the adjustment of the circular cutting head 43 in the squaring device 4. It is necessary to make the spacing between the cutting segments A of the circular cutting head 43 match the required processing spacing, and then control the circular cutting head 43 to move downward. Since there are two cutting segments A arranged opposite to each other on the circular cutting head 43, the circular cutting head 43 can achieve the cutting of the two opposite sides of the circular cross-section silicon rod through a single downward movement.

[0153] The third is the load detection of the loop wire 432 of the loop wire cutting head 43, that is, the load of the loop wire 432 is detected by the load sensor. When the detected load drops sharply, it means that the single cutting of the silicon rod is completed. At this time, the loop wire cutting head 43 can be controlled to reset and prepare for the next cutting action.

[0154] The fourth step is to grab and transport the cut edge skins of the silicon rods. The cut edge skins are grabbed by the edge skin grabbing device 44 and transported to the desired location, and then transported away from the square device 4 through automated logistics.

[0155] Fifth, repeat the second step to the fourth step to cut another surface of the silicon rod to be processed, and similarly transport the cut edge skin to a specific location.

[0156] Embodiment 9:

[0157] In addition to all the technical solutions of the silicon rod processing technology in any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0158] The portable fixture 1 holding the silicon rod is moved to the third positioning structure 35 and a grinding operation is performed, which specifically includes:

[0159] S3.1: placing the portable fixture 1 in the positioning structure of the grinding device 5;

[0160] S3.2: Based on the positioning structure of the portable fixture 1 placed on the grinding device 5, vertical pressing of the portable fixture 1 is performed;

[0161] S3.3: Based on the vertical pressing of the accompanying fixture 1, the silicon rod is polished.

[0162] In this embodiment, the portable fixture 1 holding the silicon rod is moved to the corresponding position of the grinding device 5 to perform the grinding operation, which mainly includes three steps:

[0163] The first is the placement of the portable fixture 1, that is, the portable fixture 1 is placed on the third positioning structure 53 of the grinding device 5 by operating the manipulator 32. Since the portable fixture 1 clamps the silicon rod, the position of the silicon rod is also limited.

[0164] The second is the clamping process of the portable fixture 1, that is, the portable fixture 1 is clamped by a clamping device, thereby preventing the portable fixture 1 from shaking during the grinding process, thereby affecting the grinding accuracy.

[0165] The third is the grinding process, that is, the rough grinding and fine grinding of the silicon rod are realized by the grinding mechanism 52, and because the grinding structure integrates the rough grinding device and the fine grinding device, it is not only beneficial to reduce the space occupation of the grinding device 5 and improve the structural compactness of the grinding device 5, but also because of the use of a nested grinding head, the grinding process can be switched between rough grinding and fine grinding without long interruption, thereby improving the grinding efficiency.

[0166] Embodiment 10:

[0167] In addition to all the technical solutions of the silicon rod processing technology in any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0168] The polishing work of silicon rods includes:

[0169] S3.3.1: Grinding a first set of opposite planes of the silicon rod by means of a grinding device 5;

[0170] S3.3.2: After the grinding of the first set of planes opposite to the silicon rod is completed, the silicon rod is controlled to rotate 90°, and the grinding device 5 is controlled to grind the second set of planes opposite to the silicon rod;

[0171] S3.3.3: After the grinding of the second set of planes opposite to the silicon rod is completed, the silicon rod is controlled to rotate to perform chamfering or rounding grinding;

[0172] Chamfer grinding work specifically includes:

[0173] S3.3.3.1: After the second set of plane grinding is completed, the silicon rod is controlled to rotate 45° to grind the first set of chamfers of the silicon rod; after the first set of chamfers of the silicon rod is polished, the silicon rod is controlled to rotate 90° to grind the second set of chamfers of the silicon rod;

[0174] The fillet grinding work specifically includes:

[0175] S3.3.3.2: After the grinding of the second set of opposite planes of the silicon rod is completed, the silicon rod is controlled to continue to rotate in the same direction to grind the two sets of fillets of the silicon rod.

[0176] In this embodiment, based on the portable fixture 1 being vertically pressed, the grinding of the silicon rod only needs to include the following steps:

[0177] The first is to grind the first plane. Since the grinding devices 5 are arranged in an opposing manner, the grinding of two opposing planes can be achieved at the same time.

[0178] The second is to switch the grinding plane, that is, to control the silicon rod to rotate 90° through the accompanying fixture 1 to achieve grinding of another opposite plane.

[0179] The third step is a process of grinding chamfers or rounded corners. In this process, when grinding chamfers, the portable fixture 1 is rotated 45° after the four side walls are polished. After the opposite chamfers are polished, the portable fixture 1 is rotated 90° to complete the grinding of all chamfers.

[0180] When grinding the fillet, the portable fixture 1 can be used to control the silicon rod to continuously rotate in the same direction. This grinding method is more conducive to ensuring the consistency of the grinded fillet, thereby improving the overall grinding effect of the silicon rod, because the rotation direction of the silicon rod is single.

[0181] It can be understood that, except for any conflicting parts, the above-mentioned embodiments 1-10 can be freely combined to form other implementation modes of the present invention.

[0182] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0183] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0184] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0185] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A silicon rod processing line, characterized in that: include: A portable clamp (1), the portable clamp (1) is used to clamp the silicon rod and can drive the silicon rod to operate; A loading and unloading device (3), the loading and unloading device (3) being used to clamp the silicon rod to the accompanying fixture (1), and to remove the processed silicon rod from the accompanying fixture (1); A square root device (4), the square root device (4) is used to realize square root of the silicon rod; A grinding device (5), the grinding device (5) being used to grind the silicon rod; A running device (D), the running device (D) being used to realize the transfer of the portable fixture (1) between the loading and unloading device (3), the squaring device (4) and the grinding device (5); The loading and unloading device (3) comprises: First rack (31); A first positioning structure (35), the first positioning structure (35) being arranged on the first frame (31) and being used to match the portable clamp (1) to achieve positioning and clamping of the portable clamp (1); a turning table (34), the turning table (34) being arranged on the first frame (31) and being used for turning the silicon rods vertically; A manipulator (32), the manipulator (32) being arranged on the first frame (31), and being used for grabbing the silicon rod and sending the silicon rod into the clamping area of ​​the accompanying clamp (1), the manipulator (32) having a vertical floating range; The prescription opening device (4) comprises: Second rack (41); A second positioning structure (42), the second positioning structure (42) being arranged on the second frame (41) and being used to match the accompanying clamp (1) to achieve positioning and clamping of the accompanying clamp (1); A loop wire cutting head (43), the loop wire cutting head (43) being vertically slidably connected to the second frame (41), the loop wire cutting head (43) being used to cut the silicon rod; The loop wire cutting head (43) comprises a frame (431), a loop wire (432) and a plurality of guide wheels (433), wherein the guide wheels are rotatably mounted on the frame (431), a plurality of the guide wheels form a mounting profile, the loop wire (432) is arranged on the mounting profile, the loop wire (432) is arranged in a transverse manner, and opposing cutting sections (A) are formed on the loop wire (432), and the spacing between the cutting sections (A) is adjustable; The square opening device (4) further comprises: a load sensor, the load sensor being arranged on the second frame (41), the load sensor being used to detect the load of the loop wire (432); The squaring device (4) further comprises a skin edge grabbing device (44), wherein the skin edge grabbing device (44) is slidably connected to the second frame (41) and is used to grab and transport the cut silicon rod skin edge; The grinding device (5) comprises: Third rack (51); A grinding mechanism (52), the grinding mechanism (52) being vertically slidably connected to the third frame (51) in an opposed manner; A third positioning structure (53), the third positioning structure (53) being arranged on the third frame (51) and being used to match the accompanying clamp (1) to achieve positioning and clamping of the accompanying clamp (1).

2. A silicon rod processing process, applied to the silicon rod processing line as claimed in claim 1, characterized in that: include: S1: moving the portable fixture (1) to the first positioning structure (35) and performing a loading operation of the silicon rod; S2: based on the silicon rod being clamped by the accompanying clamp (1), the accompanying clamp (1) clamping the silicon rod is moved to the second positioning structure (42) and a squaring operation is performed; S3: after the silicon rod is squared, the accompanying clamp (1) holding the silicon rod is moved to the third positioning structure (53) and a grinding operation is performed; S4: After the silicon rod has been polished, the accompanying clamp (1) holding the silicon rod is moved to the first positioning structure (35) to perform a material unloading operation on the silicon rod.

3. The silicon rod processing process according to claim 2, characterized in that: The step of moving the portable fixture (1) to the first positioning structure (35) and performing the loading operation of the silicon rods specifically includes: S1.1: placing the silicon rod on the turning table (34), and turning the silicon rod vertically; S1.2: Based on the silicon rod being in a vertical state, the silicon rod is grasped by the manipulator (32); S1.3: Based on the silicon rod being grasped by the robot (32), the silicon rod is sent into the clamping area of ​​the accompanying clamp (1).

4. The silicon rod processing process according to claim 3, characterized in that: The step of feeding the silicon rod into the clamping area of ​​the accompanying clamp (1) specifically comprises: S1.3.1: After the silicon rod is grasped by the robot (32), there is a vertical floating interval; S1.3.2: Controlling the silicon rod to move upward for a first distance; S1.3.3: Sending the silicon rod horizontally into the clamping position of the accompanying clamp (1); S1.3.4: controlling the silicon rod to move downward a second distance; Wherein, the first distance is greater than or equal to the second distance.

5. The silicon rod processing process according to claim 4, characterized in that: The step of moving the accompanying clamp (1) holding the silicon rod to the second positioning structure (42) and performing a square cutting operation specifically includes: S2.1: moving the accompanying clamp (1) holding the silicon rod to the second positioning structure (42); S2.2: Based on the movement of the accompanying fixture (1) of the silicon rod to the second positioning structure (42), the cutting spacing of the loop cutting head (43) is adjusted to a predetermined value, and the loop cutting head (43) is controlled to perform a cutting action; S2.3: detecting the load of the loop wire (432), and when the load of the loop wire (432) decreases sharply, controlling the loop wire cutting head (43) to reset; S2.4: Grabbing and transporting the cut silicon rod edge skin by the edge skin grabbing device (44); S2.5: Control the silicon rod to rotate 90°, and repeat steps S2.2-S2.

4.

6. The silicon rod processing process according to claim 5, characterized in that: The step of moving the accompanying clamp (1) holding the silicon rod to the third positioning structure (53) and performing a grinding operation specifically includes: S3.1: placing the portable fixture (1) in the positioning structure of the grinding device (5); S3.2: Based on the positioning structure of the accompanying fixture (1) being placed on the grinding device (5), a vertical pressing operation of the accompanying fixture (1) is performed; S3.3: Based on the vertical pressing of the accompanying clamp (1), the silicon rod is polished.

7. The silicon rod processing process according to claim 6, characterized in that: The polishing work of silicon rods includes: S3.3.1: Grinding a first set of opposite planes of the silicon rod by means of a grinding device (5); S3.3.2: upon completion of the grinding of the first set of planes opposite to the silicon rod, controlling the silicon rod to rotate 90°, and controlling the grinding device (5) to grind the second set of planes opposite to the silicon rod; S3.3.3: Based on the completion of the grinding of the second set of planes opposite to the silicon rod, controlling the silicon rod to rotate to perform chamfering or rounding grinding; Chamfering and grinding work specifically includes: S3.3.3.1: Based on the completion of the second set of plane grinding, the silicon rod is controlled to rotate 45° to grind the first set of chamfers of the silicon rod; based on the completion of the first set of chamfers of the silicon rod, the silicon rod is controlled to rotate another 90° to grind the second set of chamfers of the silicon rod; The fillet grinding work specifically includes: S3.3.3.2: After the grinding of the second set of opposite planes of the silicon rod is completed, the silicon rod is controlled to continue to rotate in the same direction to grind the two sets of fillets of the silicon rod.

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