A double-sided grinding automatic loading and unloading device

Abstract

The present invention discloses an automatic loading and unloading device for double-sided grinding, comprising a structural frame, a manipulator, a loading mechanism, a material transfer mechanism, a material unloading mechanism, a turntable mechanism, and a cleaning box; the structural frame comprises a cabinet, a vertical frame, and a top frame, wherein the vertical frame is mounted at the top of the cabinet, and the top frame is mounted at the top of the vertical frame; the manipulator comprises a six-axis loading manipulator mounted at the top of the cabinet and located behind the loading mechanism, a four-axis manipulator mounted at the middle position behind the bottom end of the top frame, and a six-axis unloading manipulator mounted at the top of the cabinet and located to the right of the unloading mechanism. The automatic loading and unloading device for hard disk substrates of the present invention can be widely used in hard disk production to automatically complete the loading and unloading tasks of hard disk substrates. The device has the advantages of simple operation, high stability, and high efficiency. In addition, it can greatly reduce human interference and cross contamination, thereby improving product quality and production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading devices, in particular to an automatic loading and unloading device for double-sided grinding. Background Art

[0002] The substrates used in hard disk production have very high process precision requirements and are easily contaminated and damaged by the outside world. Current loading and unloading systems have some problems, such as complex operation, poor stability, and low efficiency. Therefore, the present invention proposes an automatic loading and unloading device for double-sided grinding to improve the shortcomings of the existing technology. Summary of the Invention

[0003] The object of the present invention is to provide an automatic loading and unloading device for double-sided grinding to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: an automatic loading and unloading device for double-sided grinding, used for loading and unloading hard disk substrates in a cleaning box, comprising a structural frame, a manipulator mounted on the structural frame, and a loading and unloading mechanism mounted on the left and right ends of the inner side of the structural frame, a material transfer mechanism arranged between the loading and unloading mechanism and a position of a turntable mechanism arranged in the middle of the inner side of the structural frame, and also comprising a cleaning box; the structural frame comprises a cabinet, a vertical frame and a top frame, the vertical frame being mounted on the top of the cabinet, and the top frame being mounted on the top of the vertical frame; the manipulator comprises a six-axis loading manipulator mounted on the top of the cabinet and located behind the loading mechanism, a four-axis manipulator mounted in the middle position behind the bottom end of the top frame, and a six-axis unloading manipulator mounted on the top of the cabinet and located on the right side of the unloading mechanism;

[0005] Preferably, the loading mechanism includes an elevator, a lifting plate is installed on the left side of the elevator through a connecting seat, and a plurality of folding parts are installed on the left side wall of the lifting plate at equal distances from top to bottom, the folding parts include a horizontal plate, an adapter seat is installed on the left side of the horizontal plate, a rotating plate is installed on the inner side of the adapter seat through a pin shaft, two support rods are installed at the front and rear ends of the left side of the rotating plate, and a rectangular support frame is installed in the middle position of the left side of the rotating plate; the folding part also includes a concave seat, the inner side of the concave seat can be rotatably connected to one side of the rotating plate, a horizontal bar is installed on the other side of the rotating plate, and a plurality of support rods and a support frame are installed on the left side of the horizontal bar, the support rods are located on both sides of the support frame, and there is a distance between the support rods and the support frame.

[0006] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0007] Preferably, the material transmission mechanism includes a concave frame, a motor is installed on one side of the concave frame, and a limit plate is installed on the other side. The output end of the motor is installed on one end of the screw through a coupling, and the other end of the screw is interference fit with the inner ring of the bearing of the limit plate. The outer wall of the screw is threadedly connected to a movable seat, the top of the movable seat is installed on one end of the connecting frame, and the other end of the connecting frame is installed with a carrier.

[0008] Preferably, the movable seat is T-shaped, the vertical body portion is threadedly connected to the lead screw and slides in the concave frame, and the horizontal body portion slides on the top end of the concave frame.

[0009] The invention proposes a double-sided grinding automatic loading and unloading device, which has the following beneficial effects:

[0010] The double-sided grinding automatic loading and unloading device of the present invention can be widely used in hard disk production to automatically complete the loading and unloading tasks of hard disk substrates. The device has the advantages of simple operation, high stability, and high efficiency. In addition, it can greatly reduce human interference and cross contamination, thereby improving product quality and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is an axonometric drawing of the present invention;

[0012] Figure 2 A top view of the present invention;

[0013] Figure 3 It is the front view of the present invention;

[0014] Figure 4 This is a front view of the feeding mechanism of the present invention;

[0015] Figure 5 for Figure 1 Enlarged view of point A in the middle;

[0016] Figure 6 This is a front view of the blanking mechanism of the present invention;

[0017] Figure 7 It is a top view of the blanking mechanism of the present invention.

[0018] In the figure: 1, cabinet, 2, vertical frame, 3, top frame, 4, feeding mechanism, 41, elevator, 42, connecting seat, 43, lifting plate, 44, folding member, 441, horizontal plate, 442, adapter seat, 443, rotating plate, 444, horizontal bar, 445, support rod, 446, supporting frame, 5, material transmission mechanism, 5a, motor, 5b, moving seat, 5c, connecting frame, 5d, carrier, 5e, wire Bar, 5f, concave frame, 5g, limit plate, 6, unloading mechanism, 6a, base, 6b, vertical plate, 6c, electric cylinder, 6d, track, 6e, connecting rod, 6f, carrier, 6g, round rod, 6h, threaded rod, 6i, cylinder, 6j, electric push rod, 6k, stop rod, 7, turntable mechanism, 8, cleaning box, 9, six-axis loading robot, 10, four-axis robot, 11, six-axis unloading robot. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 2 , the present invention provides a technical solution: a double-sided grinding automatic loading and unloading device, including a structural frame, a manipulator, a loading mechanism 4, a material transmission mechanism 5, a material unloading mechanism 6, a turntable mechanism 7 and a cleaning box 8;

[0021] The structural frame includes a cabinet 1, a vertical frame 2 and a top frame 3. The vertical frame 2 is installed on the top of the cabinet 1, and the top frame 3 is installed on the top of the vertical frame 2.

[0022] The manipulators include a six-axis loading manipulator 9 installed at the top of the cabinet 1 and located behind the loading mechanism 4, a four-axis manipulator 10 installed in the middle position behind the bottom end of the top frame 3, and a six-axis unloading manipulator 11 installed at the top of the cabinet 1 and located on the right side of the unloading mechanism 6;

[0023] The four-axis manipulator 10 is used to move the hard disk substrate from the pendulum disk on the turntable mechanism 7 to the grinding machine. The six-axis loading manipulator 9 is used to move the hard disk substrate in the upper cleaning box to the pendulum disk on the turntable mechanism 7. The six-axis unloading manipulator 11 moves the hard disk substrate from the pendulum disk on the turntable mechanism 7 to the cleaning box 8. The turntable mechanism 7 is used for intermediate conversion of the hard disk substrate between the cleaning box 8 and the grinding machine. The four-axis manipulator 10 is used for loading and unloading the double-sided grinder to achieve high-speed positioning. The six-axis loading manipulator 9 transfers the hard disk substrate from the cleaning box 8 to the turntable at high speed. The six-axis unloading manipulator 11 transfers the hard disk substrate from the turntable to the cleaning box 8 at high speed.

[0024] See also Figure 4-Figure 5 The feeding mechanism 4 includes an elevator 41. A lifting plate 43 is installed on the left side of the elevator 41 through a connecting seat 42. Eight folding parts 44 are installed on the left side of the lifting plate 43 from bottom to top. The folding parts 44 include a horizontal plate 441. A transfer seat 442 is installed on the left side of the horizontal plate 441. A rotating plate 443 is installed on the inner side of the transfer seat 442 through a pin. Two support rods 445 are installed at the front and rear ends of the left side of the rotating plate 443. A rectangular support frame 446 is installed in the middle position of the left side of the rotating plate 443.

[0025] See also Figure 2 The material transmission mechanism 5 includes a concave frame 5f, a motor 5a is installed at the left end of the concave frame 5f, a limit plate 5g is installed at the right end of the concave frame 5f, the left end of the lead screw 5e is connected to the output end of the motor 5a through a coupling, the right end of the lead screw 5e is connected to the limit plate 5g through a bearing, the inner wall of the movable seat 5b is threaded, the inner wall of the movable seat 5b is threadedly connected to the outer wall of the lead screw 5e, and the carrier 5d is connected to the movable seat 5b through the connecting frame 5c;

[0026] See also Figure 6 and Figure 7 The unloading mechanism 6 includes a base 6a, a vertical plate 6b installed on the rear side of the top end of the base 6a, a track 6d installed on the front side of the vertical plate 6b, four carriers 6f can slide in the inner cavity of the track 6d through a sliding rod, four connecting rods 6e are equidistantly installed on the front side of the sliding rod, and the bottom end of the sliding rod is connected to the base 6a through the electric cylinder 6c. Ten round rods 6g are installed on the inner side of the carrier 6f, and the round rod 6g is inserted into the inner wall of the carrier 6f through the threaded rod 6h and fixed by a nut. The outer wall of the round rod 6g is sleeved with the cylinder 6i, the electric push rod 6j is installed on the side of the vertical frame 2, and the blocking rod 6k is installed at the front end of the electric push rod 6j.

[0027] 1. Working principle of feeding mechanism

[0028] 1: The six-axis loading robot 9 takes the hard disk substrate from the first layer of the cleaning box 8;

[0029] 2: After taking out the hard disk substrate, the material conveying mechanism 5 comes over and takes away the cleaning box 8;

[0030] 3: The positioning flap of the first layer cleaning box 8 turns upward;

[0031] 4: The elevator 41 moves upward a fixed distance;

[0032] 5: The optical fiber senses that the second layer of material is in place;

[0033] 6: The loading six-axis manipulator 9 starts to take the material again;

[0034] 7: Repeat the above steps for the following layers;

[0035] 8: After taking out the material from the 8th layer, continue to add material and repeat the above steps.

[0036] 2. Working principle of blanking mechanism

[0037] 1: The cleaning box 8 on the material conveying mechanism 5 is loaded with finished materials and moved to the first layer position of the unloading rack;

[0038] 2: The unloading rack electric cylinder 6c moves upward a short distance to move the cleaning box 8 to the unloading rack;

[0039] 3: The material conveying mechanism 5 exits the unloading rack;

[0040] 4: The electric cylinder 6c of the unloading rack moves downward;

[0041] 5: The electric push rod 6j drives the cleaning box 8 to move inward through the stop rod, pushing the cleaning box 8 to the position inside the first layer of the unloading rack;

[0042] 6: The second group of materials on the feeding mechanism 5 is loaded;

[0043] 10: The unloading rack electric cylinder 6c moves upward a short distance to move the cleaning box 8 to the unloading rack;

[0044] 11: The material conveying mechanism 5 exits the unloading rack;

[0045] 12: The unloading rack electric cylinder 6c moves downward to the second layer position;

[0046] 13: Repeat the above steps to the fourth layer.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A double-sided grinding automatic loading and unloading device for loading and unloading hard disk substrates in a cleaning box, characterized by: It includes a structural frame, a manipulator installed on the structural frame, and a feeding mechanism and a feeding mechanism installed at the left and right ends of the inner side of the structural frame. The feeding mechanism arranged between the feeding mechanism and the feeding mechanism corresponds to the position of the turntable mechanism arranged in the middle part of the inner side of the structural frame. The structural frame includes a cabinet at the bottom, a vertical frame arranged at the top of the cabinet, and a top frame arranged at the top of the vertical frame; The manipulators include a six-axis loading manipulator installed at the top of the cabinet and on the rear side of the loading mechanism, a six-axis unloading manipulator installed at the top of the cabinet and on the right side of the unloading mechanism, and a four-axis manipulator installed at the bottom of the top frame corresponding to the position of the turntable mechanism; The feeding mechanism includes a lifting plate and an elevator. The bottom right end of the lifting plate is connected to the elevator through a connecting seat. The left side wall of the lifting plate is equipped with a plurality of folding parts equidistantly from top to bottom. The folding member includes a concave seat, the inner side of the concave seat is rotatably connected to one side of the rotating plate, a cross bar is installed on the other side of the rotating plate, and a plurality of support rods and a support frame are installed on the left side of the cross bar. The support rods are located on both sides of the support frame, and there is a distance between the support rods and the support frame; The unloading mechanism includes an unloading frame and an electric cylinder arranged at the bottom end of the unloading frame to enable the unloading frame to move up and down. The unloading frame includes a vertical plate, a track is installed on the front side of the vertical plate, a sliding rod is arranged in the inner cavity of the track, the front side of the sliding rod is fixedly installed on one end of the connecting rod, the other end of the connecting rod is installed with a carrier, a plurality of conduction units are installed on the inner side of the carrier, an electric push rod is installed on the side of the vertical frame, and a blocking rod is installed at the front end of the electric push rod; The conducting unit comprises a round rod which is fixedly mounted on the inner side of the carrier. A rotatable cylinder is sleeved on the outer wall of the round rod, and a gap exists between the cylinder and the round rod.

2. The double-sided grinding automatic loading and unloading device according to claim 1, characterized in that: The material transmission mechanism includes a concave frame, a motor is installed on one side of the concave frame, and a limit plate is installed on the other side. The output end of the motor is installed on one end of the screw through a coupling, and the other end of the screw is interference fit with the inner ring of the bearing of the limit plate. The outer wall of the screw is threadedly connected to a movable seat, the top of the movable seat is installed on one end of the connecting frame, and the other end of the connecting frame is installed with a carrier.

3. The double-sided grinding automatic loading and unloading device according to claim 2, characterized in that: The movable seat is T-shaped, the vertical body part is connected with the lead screw thread and slides in the concave frame, and the horizontal body part slides on the top of the concave frame.

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