An ancient ceramic gene sample robot flexible sample preparation system and method

Abstract

The application provides an ancient ceramic gene sample robot flexible sample preparation system and method, which comprises a material preparation and active grinding device, a measurement spraying and detection device, a passive grinding and polishing and cleaning and drying device and an end grabbing device; the end grabbing device is installed on a mechanical arm of a robot, and the end grabbing device is used to take and place a component to be ground and polished; the material preparation and active grinding device, the measurement spraying and detection device and the passive grinding and polishing and cleaning and drying device are arranged around the mechanical arm. The application has the following beneficial effects: the ancient ceramic gene sample robot flexible sample preparation system has a simple structure, good manufacturing process and is suitable for grinding and polishing operations of various cross-section type and flake type porcelain samples, and the system also considers the grabbing operations of the two types of samples, combines the elastic phenomenon of a spring, so that the robot only needs to perform a horizontal trajectory in the active grinding process, and realizes the passive grinding and polishing, cleaning and drying of the grinding and polishing surface and other operations.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot automation, and particularly relates to a robot flexible sample preparation system for ancient ceramic gene samples and a method thereof. BACKGROUND

[0002] In order to facilitate the preservation of ancient ceramic fragments and the learning of later generations, the fragments need to be made into samples for preservation. In the process of making porcelain samples, the broken porcelain pieces are inlaid in a cylindrical base made of resin or pasted on the surface of a glass slide. The former is called a cross-section type porcelain sample, and the latter is called a thin-section type porcelain sample. The cross-section type porcelain sample needs to be polished until the porcelain fragments are exposed, and then the surface is polished to make it smooth and scratch-free, which is convenient for observation and learning. The thin-section type porcelain sample is inconvenient for uniform storage because the fragments are too thick, so the fragments need to be polished to make them thin and smooth, which is convenient for manual observation and learning.

[0003] Currently, in the process of making the above samples, the cross-section type porcelain sample and the thin-section type porcelain sample need to be manually taken to the sandpaper for active polishing or to the polishing machine for automatic polishing. In this process, the artificial needs to repeatedly measure with a micrometer and observe scratches under a microscope. This method not only cannot guarantee efficiency, but also is prone to personal injury such as scratching fingers and fragments falling into eyes. SUMMARY

[0004] Therefore, the present application aims to provide a robot flexible sample preparation system for ancient ceramic gene samples, which can realize automatic polishing of cross-section type and thin-section type porcelain samples, including automatic leveling and calibration of the polishing surface, elastic active and passive grinding and polishing, surface cleaning and drying, and closed-loop detection of processing quality, to meet the processing and storage requirements of ancient ceramic fragment samples, and effectively solve the problems of long time-consuming, instability and danger in manual polishing.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows:

[0006] A robot flexible sample preparation system for ancient ceramic gene samples, characterized in that it comprises a material preparation and active grinding device, a measurement, spraying and detection device, a passive polishing and cleaning and drying device, and an end gripping device.

[0007] The end gripping device is installed on the mechanical arm of the robot, and the end gripping device is used to take and place the components to be polished.

[0008] The material preparation and active grinding device, the measurement, spraying and detection device, and the passive polishing and cleaning and drying device are arranged around the mechanical arm.

[0009] Further, the sample preparation and active grinding device comprises a sample preparation area for placing the sample and a grinding area for grinding the sample;

[0010] The grinding area is provided with no less than one abrasive paper, and the abrasive papers in the grinding area have the same / different mesh.

[0011] Further, the measurement, spraying and detection device comprises a plane measurement module, a polishing agent spraying module and a scratch detection module.

[0012] The plane measurement module is used to measure the level of the sample surface and the thickness of the sample.

[0013] The polishing agent spraying module is used to spray the polishing agent to the sample.

[0014] The scratch detection module is used to detect the scratches on the sample surface.

[0015] Further, the passive grinding, polishing, cleaning and drying device is used to grind and polish the sample after the polishing agent spraying, and then clean and dry the sample.

[0016] Further, the end gripping device comprises:

[0017] a suction cup for adsorbing the thin slice type porcelain sample;

[0018] a clamping jaw for clamping the cross section type porcelain sample.

[0019] Further, the sample preparation and active grinding device comprises a first experimental table, a portable panel, a handle, a thin slice type porcelain sample, a thin slice type support, a cross section type porcelain sample, a cross section type support, a first Z-shaped right angle plate, a second Z-shaped right angle plate, a square water tank, a few-shaped plate, an abrasive paper, a water supply bucket and a first wastewater bucket.

[0020] The water supply bucket and the wastewater bucket are placed in the first experimental table, and the portable panel is fixed on the upper surface of the first experimental table by bolt connection.

[0021] The handle one and the handle two are respectively fixed on the two sides of the portable panel by bolt connection.

[0022] The cross section type support and the thin slice type support are sequentially fixed on the portable panel by bolt connection.

[0023] The Z-shaped right angle plate one and the Z-shaped right angle plate two are symmetrically fixed on the upper surface of the first experimental table by bolt connection.

[0024] The two sides of the square water tank are fixed on the upper surfaces of the Z-shaped right angle plate one and the Z-shaped right angle plate two by welding.

[0025] The few-shaped plate is sequentially fixed on the square water tank by welding.

[0026] The sandpaper is fixedly connected with the several-shaped plate through bolts.

[0027] The square water tank is fixedly connected with the first wastewater bucket through the corrugated pipe.

[0028] Further, the plane measurement module comprises a second experimental table, a first mounting plate, a second mounting plate, a third mounting plate, a horizontal support, and a contact displacement sensor, wherein the first mounting plate is fixedly connected with the second experimental table through bolts, the second mounting plate is connected with the first mounting plate perpendicularly through bolts, the third mounting plate is connected with the second mounting plate perpendicularly through bolts, the horizontal support is fixedly connected on the first mounting plate through bolts, and the contact displacement sensor is fixedly connected with the horizontal support through bolts, and the measurement end of the contact displacement sensor is in contact with the lower surface of the third mounting plate.

[0029] The spraying polishing agent module comprises a second experimental table, an L-shaped mounting plate, a first positioning block, a polishing agent, a second positioning block, a first straight-line cylinder, a spraying plate, and a spraying protective cover, wherein the L-shaped mounting plate is fixedly connected on the upper surface of the second experimental table through bolts, the first positioning block is fixedly connected with the L-shaped mounting plate through bolts, the polishing agent is connected with the first positioning block through an arc, the second positioning block is fixedly connected with the first positioning block through bolts, the second straight-line cylinder is fixedly connected with the L-shaped mounting plate through bolts, and the spraying plate is fixedly connected with the second straight-line cylinder through bolts.

[0030] The scratch detection module comprises an industrial camera, a universal rod support, and a support base, wherein the support base is fixedly placed on the second experimental table, the universal rod support is fixedly connected with the support base through threads, and the industrial camera is fixedly connected on the universal rod support through bolts.

[0031] Further, the passive grinding, polishing, cleaning, and drying device comprises a third experimental table, a first grinding and polishing machine, a second grinding and polishing machine, a fourth experimental table, a drying fan, an ultrasonic cleaning machine, a second wastewater bucket, and a third wastewater bucket.

[0032] The first grinding and polishing machine and the second grinding and polishing machine are both fixedly connected on the upper surface of the third experimental table through bolts.

[0033] One side of the corrugated pipe one and the corrugated pipe two is fixedly connected with the first grinding and polishing machine and the second grinding and polishing machine through clamps, the other side of the corrugated pipe one and the corrugated pipe two is fixedly connected with the wastewater bucket through clamps, and the ultrasonic cleaning machine and the drying fan are both fixedly connected on the upper surface of the fourth experimental table through bolts.

[0034] Further, the end gripping device comprises a mounting flange, a flange mounting plate, a first electromagnetic valve, a first support plate, a vacuum generator, a second electromagnetic valve, a second support plate, a first hose mounting block, a mounting main plate, a first linear guide rail, a first sliding block, a first L plate, a third L plate, a first vacuum chuck, a fourth L plate, a clamping L plate, a cylinder chuck mounting plate, a second linear cylinder, a second L plate, a first shaft support, a first flange type linear bearing, a first spring, a first optical shaft, a second shaft support, a third shaft support, a second spring, a second optical shaft, a second flange type linear bearing, a fourth shaft support, a fifth L plate, a sixth L plate, a finger clamping cylinder, a first clamping claw, a second sliding block, a second linear guide rail, a second hose mounting block, a second clamping claw, a protective shell, a second vacuum chuck;

[0035] The mounting flange is fixedly connected to the end of the mechanical arm through bolts, and the flange mounting plate is fixedly connected to the mounting flange through bolts.

[0036] The vacuum generator is fixedly connected to the two sides of the flange mounting plate through bolts.

[0037] The first support plate and the second support plate are respectively connected to the two sides of the flange mounting plate through bolts.

[0038] The mounting main plate is fixedly connected to the first support plate and the second support plate through bolts.

[0039] The vacuum generator is fixedly connected to the mounting main plate through bolts.

[0040] The protective shell is fixedly connected to the mounting main plate through bolts.

[0041] The first shaft support, the second shaft support, the third shaft support, the fourth shaft support, the first linear guide rail and the second linear guide rail are fixedly connected to the mounting main plate through bolts.

[0042] The first sliding block and the second sliding block are respectively arranged on the first linear guide rail and the second linear guide rail.

[0043] The first optical shaft and the second optical shaft are respectively connected to the first shaft support and the second shaft support, and the third shaft support and the fourth shaft support through threads.

[0044] The first flange type linear bearing and the second flange type linear bearing are respectively connected to the first optical shaft and the second optical shaft through shaft holes.

[0045] The first spring and the second spring are respectively connected to the first optical shaft and the second optical shaft through nesting.

[0046] The two sides of the first spring are respectively connected to the first shaft support and the first flange type linear bearing.

[0047] The two sides of the second spring are respectively connected to the third shaft support and the second flange type linear bearing.

[0048] The second L plate is fixedly connected with the first flange type linear bearing through bolts;

[0049] One end of the first L plate is fixedly connected with the second L plate through bolts, and the other side of the first L plate is fixedly connected with the first sliding block through bolts;

[0050] The cylinder chuck mounting plate is fixedly connected with the first L plate through bolts, the first straight cylinder is fixedly connected with the cylinder chuck mounting plate through bolts, and the clamping L plate is fixedly connected at the end of the first straight cylinder through bolts;

[0051] The first vacuum chuck and the second vacuum chuck are symmetrically fixedly connected on the cylinder chuck mounting plate through bolts, the third L plate and the fourth L plate are respectively fixedly connected on the two sides of the cylinder chuck mounting plate through bolts, the fifth L plate is fixedly connected with the second flange type linear bearing through bolts, one end of the sixth L plate is fixedly connected with the fifth L plate through bolts, and the other side of the sixth L plate is fixedly connected with the second sliding block through bolts;

[0052] The finger cylinder is fixedly connected with the sixth L plate through bolts, and the first clamping claw and the second clamping claw are symmetrically connected with the finger cylinder through bolts.

[0053] Further, the scheme discloses a robot grinding and polishing method for section and sheet type porcelain specimen manufacturing, which is used for controlling an ancient ceramic gene specimen robot flexible sample preparation system, and comprises the following steps:

[0054] The grinding and polishing method for the sheet type porcelain specimen comprises the following steps:

[0055] A1, a robot carries an end gripper to grab a section sample in a preparation area through a finger cylinder; A2, leveling work of a section surface to be ground is performed in a plane measurement module;

[0056] A3, after the leveling work in the step A2 is completed, pre-grinding is performed on sandpaper, and water drops are provided through a water supply module during the pre-grinding;

[0057] A4, after the pre-grinding in the step A3 is completed, fine grinding work is performed on sandpaper of a driving grinding device, the fine grinding work is sequentially performed according to the mesh number of the sandpaper from low to high, and the fine grinding work is performed in an "8" track, and water drops are provided through the water supply module during the fine grinding work;

[0058] A5, after the fine grinding work in the step A4 is completed, a section sample is carried into a polishing agent spraying hole by a mechanical arm, and polishing agent spraying of a surface to be polished of the section sample is realized through linear cylinder movement of the spraying;

[0059] A6, after the section sample is sprayed with the polishing agent, the section sample is carried on a grinding and polishing machine by the mechanical arm, polishing is performed for a set polishing time, and water drops are provided through the water supply module during the polishing;

[0060] A7, the polished cross-section sample is placed in an ultrasonic cleaner by a mechanical arm to complete cleaning, and after cleaning, is placed in a drying area to complete drying operation;

[0061] A8, the grinding surface of the cross-section sample is placed in a visual detection area by a mechanical arm to complete scratch detection, if there is no scratch, the cross-section sample is placed in a finished product area, if there is a scratch, secondary operation of grinding or polishing is performed, and the cycle is repeated;

[0062] A9, after the scratch detection meets the requirements, the cross-section finished product meets the finished product requirements, and the cross-section finished product is placed in a cross-section finished product area;

[0063] and / or

[0064] A polishing method for a cross-section porcelain specimen;

[0065] B1, a robot carries an end gripper to grab a thin sheet sample in a material preparation area through a clamping cylinder and a suction cup;

[0066] B2, leveling work of a thin sheet grinding surface is performed in a plane measurement module;

[0067] B3, after the leveling work in step B2 is completed, fine grinding is sequentially performed in a sanding machine, water droplets are provided through a water supply module during the fine grinding, measurement is performed in the plane measurement module after fine grinding of one mesh is completed, the height of the porcelain sample is ensured to reach, and then fine grinding of the next mesh is performed, if not satisfied, the current mesh fine grinding is continuously returned, and the cycle is repeated;

[0068] B4, after the fine grinding in step B3 is completed, the thin sheet sample is carried by a mechanical arm into a polishing agent spraying hole, polishing agent spraying of a thin sheet sample polishing surface is realized through linear cylinder movement of the spraying, and then polishing is performed by using a polishing machine;

[0069] B5, after the sample in step B4 is cleaned by using an ultrasonic cleaner, drying is performed;

[0070] B6, the grinding surface of the thin sheet sample is placed in a visual detection area by a mechanical arm to complete scratch detection, if there is no scratch, the thin sheet sample is placed in a finished product area, if there is a scratch, secondary operation of grinding or polishing is performed, and the cycle is repeated;

[0071] B7, after the scratch detection meets the requirements, the thin sheet finished product meets the finished product requirements, and the thin sheet finished product is placed in a thin sheet finished product area.

[0072] Compared with the prior art, the robot flexible sample preparation system for the ancient ceramic gene specimen has the following beneficial effects:

[0073] (1) The ancient ceramic gene sample robot flexible sample preparation system has simple structure, good manufacturing process, is suitable for grinding and polishing operations of various cross-section type and flake type porcelain samples, considers the grabbing operations of the two types of samples, combines the elastic phenomenon of the spring, so that the robot only needs to perform horizontal trajectory in the active grinding process, realizes active and passive grinding and polishing, cleaning and drying of the grinding and polishing surface and the like;

[0074] (2) The ancient ceramic gene sample robot flexible sample preparation system has clear structure, simple design, convenient operation, strong use performance, can be used in grinding and polishing work of the two types of samples, and has wide application range;

[0075] (3) The ancient ceramic gene sample robot flexible sample preparation system, BRIEF DESCRIPTION OF DRAWINGS

[0076] The drawings constituting a part of the present application are used to provide further understanding of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0077] Figure 1 is the overall isometric view of the present application;

[0078] Figure 2 is the overall top view of the present application;

[0079] Figure 3 is the isometric view of the overall tray part of the present application;

[0080] Figure 4 is the isometric view of the material preparation and active grinding device of the present application;

[0081] Figure 5 is the front view of the material preparation and active grinding device of the present application;

[0082] Figure 6 is the isometric view of the measurement spraying and detection device of the present application;

[0083] Figure 7 is the isometric view of the passive grinding and polishing and cleaning and drying device of the present application;

[0084] Figure 8 is the front view of the passive grinding and polishing and cleaning and drying device of the present application;

[0085] Figure 9 is the side view of the end grabbing device of the present application;

[0086] Figure 10 is the isometric view of the end grabbing device of the present application;

[0087] Figure 11 is the isometric view of the safety protection device of the present application;

[0088] Figure 12 is a local enlarged schematic view of the detection device of the present application;

[0089] Figure 13 is a schematic view of the structure arrangement of the contact displacement sensor of the present application.

[0090] Explanation of reference signs:

[0091] 1 - overall tray; 2 - mechanical arm control cabinet; 3 - electrical control cabinet; 4 - material preparation and active grinding device; 5 - measurement spraying and detection device; 6 - passive grinding and cleaning and drying device; 7 - mechanical arm base; 8 - mechanical arm; 9 - end gripping device; 10 - safety protection device;

[0092] 101 - first base plate; 102 - second base plate; 103 - third base plate; 104 - channel steel; 105 - cushion block; 106 - L-shaped anchor plate;

[0093] 401 - first experiment table; 402 - portable panel; 403 - handle; 404 - thin slice type porcelain specimen; 405 - thin slice type support; 406 - cross section type porcelain specimen; 407 - cross section type support; 408 - square sink; 409 - sand tray; 410 - several character shaped plate; 411 - first Z-shaped right angle plate; 412 - second Z-shaped right angle plate; 413 - water supply bucket; 414 - first wastewater bucket;

[0094] 501 - second experiment table; 502 - contact displacement sensor; 503 - first mounting plate; 504 - horizontal support; 505 - third mounting plate; 506 - second mounting plate; 507 - L-shaped mounting plate; 508 - polishing agent; 509 - first positioning block; 510 - second positioning block; 511 - spray protection cover; 512 - spray pressure plate; 513 - first straight line air cylinder; 514 - industrial camera; 515 - universal rod support; 516 - support base;

[0095] 601 - third experiment table; 602 - first grinding and polishing machine; 603 - second grinding and polishing machine; 604 - fourth experiment table; 605 - drying fan; 606 - ultrasonic cleaning machine; 607 - second wastewater bucket; 608 - third wastewater bucket;

[0096] 901-mounting flange; 902-flange mounting plate; 903-first electromagnetic valve; 904-first support plate; 905-vacuum generator; 906-second electromagnetic valve; 907-second support plate; 908-first hose mounting block; 909-mounting main plate; 910-first linear guide rail; 911-first slider; 912-first L plate; 913-third L plate; 914-vacuum chuck; 915-fourth L plate; 916-clamping L plate; 917-cylinder chuck mounting plate; 918-second linear cylinder; 919-second L plate; 920-first shaft support; 921-first flange type linear bearing; 922-first spring; 923-first optical axis; 924-second shaft support; 925-third shaft support; 926-second spring; 927-second optical axis; 928-second flange type linear bearing; 929-fourth shaft support; 930-fifth L plate; 931-sixth L plate; 932-clamping finger cylinder; 933-first clamping claw; 934-second slider; 935-second linear guide rail; 936-second hose mounting block; 937-second clamping claw; 938-protection shell; 939-second vacuum chuck;

[0097] 1001-profile frame; 1002-acrylic plate; 1003-profile frame rotating door; 1004-magnetic lock safety door switch; 1005-safety grating sensor; 1006-profile anchor bolt; 1007-protection fence reinforcing plate. DETAILED DESCRIPTION

[0098] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0099] The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0100] A kind of ancient ceramic gene specimen robot flexible sample preparation system, comprising: overall tray 1, mechanical arm 8 control cabinet 2, electrical control cabinet 3, spare and active grinding device 4, measurement spraying and detection device 5, passive grinding and cleaning drying device 6, mechanical arm 8 pedestal 7, mechanical arm 8, end gripping device 9 and safety protection device 10;

[0101] The whole tray 1 includes a first bottom disc 101, a second bottom disc 102, a third bottom disc 103, a channel steel 104, a cushion block 105, and an L-shaped anchor plate 106, wherein the first bottom disc 101 is fixedly connected with the left side of the second bottom disc 102 through bolts, the right side of the second bottom disc 102 is fixedly connected with the left side of the third bottom disc 103 through bolts, the channel steel 104 is fixedly connected with the two sides of the first bottom disc 101, the second bottom disc 102 and the third bottom disc 103 through welding, the cushion block 105 is fixedly connected with the two ends of the channel steel 104 through welding, and the L-shaped anchor plate 106 is fixedly connected with the two ends of the left side of the first bottom disc 101 and the right side of the third bottom disc 103 through welding, and the other side of the L-shaped anchor plate 106 is fixedly connected with the ground through bolts;

[0102] The preparation and active grinding device 4 includes a first experimental table 401, a portable panel 402, a handle 403, a thin slice type porcelain sample 404, a thin slice type support 405, a cross section type porcelain sample 406, a cross section type support 407, a first Z-shaped right angle plate 411, a second Z-shaped right angle plate 412, a square water tank 408, a few-shaped plate 410, sandpaper, a water supply barrel 413 and a first waste water barrel 414, wherein the water supply barrel 413 and the waste water barrel are placed in the first experimental table 401, the portable panel 402 is fixedly connected with the upper surface of the first experimental table 401 through bolts, the handle 403 one and the handle 403 two are fixedly connected with the two sides of the portable panel 402 through bolts, the cross section type support 407 and the thin slice type support 405 are fixedly connected with the portable panel 402 through bolts in sequence, the Z-shaped right angle plate one and the Z-shaped right angle plate two are fixedly connected with the upper surface of the first experimental table 401 through bolts in symmetry, the two sides of the square water tank 408 are fixedly connected with the upper surfaces of the Z-shaped right angle plate one and the Z-shaped right angle plate two through welding, the few-shaped plate 410 is fixedly connected with the square water tank 408 through welding in sequence, the sandpaper is fixedly connected with the few-shaped plate 410 through bolts, and the square water tank 408 is fixedly connected with the first waste water barrel 414 through a corrugated pipe connection mode;

[0103] The measurement, spraying and detection device 5 includes a plane measurement module, a spraying polishing agent 508 module and a scratch detection module, and the specific work flow of different process procedures of the cross section and thin slice two kinds of samples is as follows:

[0104] The work flow of the cross section sample is as follows:

[0105] 1) The robot carries the end gripper to grab the cross section sample in the preparation area through the clamping cylinder;

[0106] 2) After grabbing, the leveling work of the cross section sample to be ground is carried out in the plane measurement module;

[0107] 3) After leveling, pre-grinding is carried out on the 400 mesh sand disc of the grinding and polishing machine, and water droplets are provided through the water supply module during the pre-grinding.

[0108] 4) After the pre-grinding is completed, fine grinding work of various mesh numbers (preferably, but not limited to 1000, 1200, 1500, 2000, 3000) is carried out in the cross-section active fine grinding module, from low to high (preferably, but not limited to, in the "8" track), and the higher the mesh number, the longer the polishing time, and water droplets are provided through the water supply module during the polishing process;

[0109] 5) After the fine grinding is completed, the cross-section sample carried by the mechanical arm is inserted into the polishing agent spraying hole, and the polishing agent spraying of the surface to be polished of the cross-section sample is realized through the linear cylinder movement of the spraying;

[0110] 6) After the spraying is completed, the cross-section sample carried by the mechanical arm is polished on the polishing cloth of the grinding and polishing machine, and the set polishing time is completed, and water droplets are provided through the water supply module during the polishing;

[0111] 7) Then the mechanical arm places the polished surface of the cross-section sample in the ultrasonic cleaning machine to complete cleaning;

[0112] 8) After the cleaning is completed, the mechanical arm carries the cross-section sample and places it in the drying area to complete the drying operation;

[0113] 9) Then the mechanical arm places the grinding surface of the cross-section sample perpendicular to the camera lens in the visual detection area to complete the scratch detection, if there is no scratch, the cross-section sample is placed in the finished product area, if there is a scratch, secondary operation of grinding or polishing is carried out, and the cycle is repeated.

[0114] 10) After the scratch detection meets the requirements, the cross-section finished product meets the finished product requirements, and is placed in the cross-section finished product area.

[0115] The working procedure of the wafer sample is:

[0116] 1) The robot carries the end gripper to grab the wafer sample in the preparation area through the clamping cylinder and the suction cup;

[0117] 2) After grabbing, the wafer surface to be ground is leveled in the plane measurement module;

[0118] 3) After leveling, fine grinding is carried out on the 180-mesh sand disc of the grinding and polishing machine, water droplets are provided through the water supply module during the grinding and polishing, and after the grinding and polishing is completed, the plane measurement module is measured to ensure that the height of the porcelain sample reaches the next mesh number, if it does not meet the requirements, it continues to return to the current mesh number fine grinding, and the cycle is repeated;

[0119] 4) The fine grinding is carried out on the 400 mesh sand disc of the grinding and polishing machine in turn, water droplets are provided through the water supply module during the grinding and polishing, and after the grinding and polishing, the measurement is carried out on the plane measurement module, so that the height of the porcelain sample reaches, and then the grinding and polishing of the next mesh is carried out, if it does not meet, it continues to return to the current mesh fine grinding, and the cycle is repeated;

[0120] 5) The fine grinding is carried out on the 800 mesh sand disc of the grinding and polishing machine in turn, water droplets are provided through the water supply module during the grinding and polishing, and after the grinding and polishing, the measurement is carried out on the plane measurement module, so that the height of the porcelain sample reaches, and then the grinding and polishing of the next mesh is carried out, if it does not meet, it continues to return to the current mesh fine grinding, and the cycle is repeated;

[0121] 6) After the fine grinding, the mechanical arm carries the wafer sample into the polishing agent spraying hole, and the polishing agent spraying of the polishing surface of the wafer sample is realized through the linear cylinder movement of the spraying;

[0122] 7) After the spraying, the mechanical arm carries the wafer sample on the polishing cloth of the grinding and polishing machine to polish, and the polishing time is completed;

[0123] 8) Then the mechanical arm places the polished wafer sample surface in the ultrasonic cleaning machine to complete the cleaning;

[0124] 9) After the cleaning is completed, the mechanical arm carries the wafer sample to the drying area to complete the drying operation;

[0125] 10) Then the mechanical arm places the grinding surface of the wafer sample perpendicular to the camera lens in the visual detection area to complete the scratch detection, if there is no scratch, the wafer sample is placed in the finished product area, if there is a scratch, the second operation of grinding or polishing is carried out, and the cycle is repeated.

[0126] 11) After the scratch detection meets the requirements, the wafer product meets the finished product requirements, and is placed in the wafer product area.

[0127] The plane measurement module comprises a second experimental table, a first mounting plate 503, a second mounting plate 506, a third mounting plate 505, a horizontal support 504 and a contact displacement sensor 502, wherein the first mounting plate 503 is fixedly connected with the second experimental table through bolts, the second mounting plate 506 is connected with the first mounting plate 503 perpendicularly through bolts, the third mounting plate 505 is connected with the second mounting plate 506 perpendicularly through bolts, the horizontal support 504 is fixedly connected on the first mounting plate 503 through bolts, and the contact displacement sensor 502 is fixedly connected with the horizontal support 504 through bolts, and the measurement end of the contact displacement sensor 502 is in contact with the lower surface of the third mounting plate 505;

[0128] The spraying polish 508 module comprises a second experimental table, an L-shaped mounting plate 507, a first positioning block 509, a polish 508, a second positioning block 510, a first straight cylinder 513, a spraying pressure plate 512, and a spraying protective cover 511, wherein the L-shaped mounting plate 507 is fixed on the upper surface of the second experimental table through bolt connection, the first positioning block 509 is fixedly connected with the L-shaped mounting plate 507 through a bolt, the polish 508 is connected with the first positioning block 509 through an arc, the second positioning block 510 is fixedly connected with the first positioning block 509 through a bolt, the second straight cylinder 918 is fixedly connected with the L-shaped mounting plate 507 through a bolt, and the spraying pressure plate 512 is fixedly connected with the second straight cylinder 918 through a bolt.

[0129] The scratch detection module comprises an industrial camera 514, a universal rod support 515, and a support base 516, wherein the support base 516 is fixedly placed on the second experimental table, the universal rod support 515 is fixedly connected with the support base 516 through a thread, and the industrial camera 514 is fixedly connected on the universal rod support 515 through a bolt.

[0130] The passive grinding and polishing and cleaning and drying device 6 comprises a third experimental table 601, a first grinding and polishing machine 602, a second grinding and polishing machine 603, a fourth experimental table 604, a drying fan 605, an ultrasonic cleaning machine 606, a second wastewater tank 607, and a third wastewater tank 608, wherein the first grinding and polishing machine 602 and the second grinding and polishing machine 603 are both fixedly connected on the upper surface of the third experimental table 601 through bolts, and the ultrasonic cleaning machine 606 and the drying fan 605 are both fixedly connected on the upper surface of the fourth experimental table 604 through bolts.

[0131] The end grasping device 9 comprises a mounting flange 901, a flange mounting plate 902, a first electromagnetic valve 903, a first support plate 904, a vacuum generator 905, a second electromagnetic valve 906, a second support plate 907, a first hose mounting block 908, a mounting main plate 909, a first linear guide rail 910, a first sliding block 911, a first L-shaped plate 912, a third L-shaped plate 913, a first vacuum chuck 914, a fourth L-shaped plate 915, a clamping L-shaped plate 916, a cylinder chuck mounting plate 917, a second straight cylinder 918, a second L-shaped plate 919, a first shaft support 920, a first flange type linear bearing 921, a first spring 922, a first optical shaft 923, a second shaft support 924, a third shaft support 925, a second spring 926, a second optical shaft 927, a second flange type linear bearing 928, a fourth shaft support 929, a fifth L-shaped plate 930, a sixth L-shaped plate 931, a finger clamping cylinder 932, a first clamping claw 933, a second sliding block 934, a second linear guide rail 935, a second hose mounting block 936, a second clamping claw 937, a protective shell 938, and a second vacuum chuck 939.

[0132] The mounting flange 901 is fixedly connected with the end of the mechanical arm 8 through bolts, the flange mounting plate 902 is fixedly connected with the mounting flange 901 through bolts, the vacuum generator 905 is fixedly connected on both sides of the flange mounting plate 902 through bolts, the first support plate 904 and the second support plate 907 are respectively fixedly connected on both sides of the flange mounting plate 902 through bolts, the mounting total plate 909 is fixedly connected with the first support plate 904 and the second support plate 907 through bolts, the vacuum generator 905 is fixedly connected with the mounting total plate 909 through bolts, the protective shell 938 is fixedly connected with the mounting total plate 909 through bolts, the first shaft support 920, the second shaft support 924, the third shaft support 925, the fourth shaft support 929, the first linear guide rail 910 and the second linear guide rail 935 are all fixedly connected with the mounting total plate 909 through bolts, the first sliding block 911 and the second sliding block 934 are respectively connected with the first linear guide rail 910 and the second linear guide rail 935 through moving mode, the first optical axis 923 and the second optical axis 927 are respectively fixedly connected with the first shaft support 920 and the second shaft support 924 and the third shaft support 925 and the fourth shaft support 929 through threads, the first flange type linear bearing 921 and the second flange type linear bearing 928 are respectively connected with the first optical axis 923 and the second optical axis 927 through shaft holes, the first spring 922 and the second spring 926 are respectively connected with the first optical axis 923 and the second optical axis 927 through nesting mode, the two sides of the first spring 922 are respectively fixedly connected with the first shaft support 920 and the first flange type linear bearing 921, the two sides of the second spring 926 are respectively fixedly connected with the third shaft support 925 and the second flange type linear bearing 928, the second L plate 919 is fixedly connected with the first flange type linear bearing 921 through bolts, one end of the first L plate 912 is fixedly connected with the second L plate 919 through bolts, the other side of the first L plate 912 is fixedly connected with the first sliding block 911 through bolts, the cylinder suction disc mounting plate 917 is fixedly connected with the first L plate 912 through bolts, the first straight cylinder 513 is fixedly connected with the cylinder suction disc mounting plate 917 through bolts, the clamping L plate 916 is fixedly connected at the end of the first straight cylinder 513 through bolts, the first vacuum suction disc 914 and the second vacuum suction disc 939 are symmetrically fixedly connected on the cylinder suction disc mounting plate 917 through bolts, the third L plate 913 and the fourth L plate 915 are respectively fixedly connected on both sides of the cylinder suction disc mounting plate 917 through bolts, the fifth L plate 930 is fixedly connected with the second flange type linear bearing 928 through bolts, one end of the sixth L plate 931 is fixedly connected with the fifth L plate 930 through bolts, the other side of the sixth L plate 931 is fixedly connected with the second sliding block 934 through bolts, the finger cylinder 932 is fixedly connected with the sixth L plate 931 through bolts, the first clamping claw 933 and the second clamping claw 937 are symmetrically connected with the finger cylinder 932 through bolts;

[0133] In the end gripping device 9, a damping structure is composed of a linear guide rail and a sliding block and a spring, and the damping structure has the following effects: ① when the specimen sample is gripped, the spring is in an elongated state, which can provide tension to the suction cup or the gripper, and the mechanical hand can ensure that the suction cup or the gripper is completely pressed down when gripping, so as to realize mechanical positioning and gripping; ② when the specimen sample to be polished is gripped by the mechanical hand, the specimen sample may be thinned, so that the distance from the sandpaper or the grinding disc is increased, which affects the polishing effect, and the spring can indirectly provide tension to the specimen sample, so that the specimen sample can be attached to the sandpaper or the grinding disc at any time; ③ the spring can provide certain damping effect for the polishing process.

[0134] The safety protection device 10 comprises a profile frame 1001, an acrylic plate 1002, a profile rotating door, a magnetic lock safety door switch 1004, a safety grating sensor 1005, a protective fence reinforcing plate 1007, and a profile anchor bolt 1006, wherein the profile anchor bolt 1006 is fixedly connected with the ground through bolts, the profile frame 1001 is fixedly connected with the profile anchor bolt 1006 through bolts, the acrylic plate 1002 is fixedly connected with the profile frame 1001 through bolts, the protective fence reinforcing plate 1007 is fixedly connected with the four corners of the profile frame 1001 through bolts, the profile rotating door is fixedly connected with the profile frame 1001 in the form of a rotating hinge, the magnetic lock safety door switch 1004 is fixedly connected with the profile rotating door through bolts, and the safety grating sensor 1005 is fixedly connected with the profile frame 1001 through bolts.

[0135] The first bottom plate 101, the second bottom plate 102 and the third bottom plate 103 are made of channel steel 104 and steel plates by welding, and the cross-section type support 407 and the sheet type support 405 can be made of nylon blocks or metal materials by stamping, wherein the upper surface of the cross-section type support 407 is provided with a countersunk screw hole at each corner, so as to be fixedly connected with the portable panel, and a circular groove is milled in the center of the upper surface, so as to embed and fixedly connect the cross-section type porcelain specimen 406 and the sample laterally downward; the upper surface of the sheet type support 405 is provided with a countersunk screw hole at each corner, so as to be fixedly connected with the portable panel, and two square grooves with different lengths are symmetrically milled in the center, the length of the square groove with a larger depth is greater than that of the square groove with a smaller depth, so as to embed and fixedly connect the sheet type porcelain specimen 404 and the sample laterally downward;

[0136] The sheet type porcelain specimen 404 is a porcelain specimen adhered on the surface of a glass sheet by an adhering method, and the cross-section type porcelain specimen 406 is a porcelain specimen inlaid in a cylinder formed of resin or the like by an inlaying method;

[0137] The water supply tank 413, the first wastewater tank 414, the second wastewater tank 607, and the third wastewater tank 608 are all equipped with water level sensors to provide early warnings when the water level is insufficient or full.

[0138] Furthermore, the following implementation method is provided for the structure described in this solution:

[0139] like Figure 13 As shown, this solution uses four non-contact displacement sensors. Three are arranged in a triangular pattern for measuring the tilt adjustment of cross-sections and thin-plate polished surfaces; the other three are arranged in a straight line at equal intervals for measuring the height of thin-plate surface-bonded porcelain fragments. Specifically, P1, P2, and P3 are arranged in a triangular pattern for measuring the tilt adjustment of cross-sections and thin-plate polished surfaces; P2, P3, and P4 are arranged in a straight line at equal intervals for measuring the height of thin-plate surface-bonded porcelain fragments. The following are the usage methods:

[0140] ①Methods for measuring height:

[0141] The following formula is used to measure the height Δh of porcelain fragments bonded to the surface of a thin sheet:

[0142] △h=P3-(P2+P4) / 2

[0143] ② Automatic leveling and calibration method

[0144] The robot's tool coordinate system is established on the end effector. All processes are performed through teaching points. To ensure the accuracy of grinding and polishing, a calibration process must be performed after gripping and before grinding and polishing. Calibration can be completed by correcting the pose of each teaching point and correcting the pose of the tool coordinate system. Obviously, correcting the pose of the tool coordinate system is more convenient. Therefore, the automatic leveling calibration method of this invention is completed by correcting the relative relationship between the tool coordinate system and the robot's end effector.

[0145] Because there is no rotation around the z-axis, Method 1 is simpler and faster to calculate in practice.

[0146] Method 1: Using equivalent relative projection relationships

[0147] The xoy plane is established on the displacement sensor with the parallel plane of the sand disc plane. They are all installed in the fixed position designed. Therefore, the coordinates of the three points formed by the three contact displacement sensors P1, P2, and P3 are known, namely P1(x1,y1,△Z1), P2(x2,y2,△Z2), and P3(x3,y3,△Z3).

[0148] By subtracting each pair of the three points, we can obtain two vectors (P1P2, P1P3);

[0149] The plane normal vector n is obtained by the cross product of the vector P1P2 and the vector P1P3, and is normalized as n=(nx,ny,nz);

[0150] Since there is no Z rotation in the design, the normal vector is equivalent to the vector with the coordinate origin as the starting point, and the end of the vector is the point n(nx,ny,nz);

[0151] On this basis, rx, ry can be obtained by projection method, rx=arctan(nz / ny), ry=arctan(nz / nx);

[0152] According to the positive and negative values and the direction of the tool coordinate system, the final rx ry can be obtained, that is, the angle of counter-rotation around the tool coordinate system;

[0153] In this way, the adjustment of the tool coordinate system is realized, and the subsequent unified adjustment of the teaching points is avoided.

[0154] Method two: solve by constructing a matrix through quaternion method

[0155] The parallel plane of the sand disc plane is established in the xoy plane of the displacement sensor, which is designed to be installed in a fixed position, so the three-point coordinates formed by the three contact displacement sensors P1, P2 and P3 are known, that is, P1(x1,y1,△Z1), P2(x2,y2,△Z2), P3(x3,y3,△Z3)(x y is fixed, z is variable)

[0156] The current polishing surface normal vector V1 can be obtained by the cross product method;

[0157] The normal vector of the target parallel plane (i.e. the current xoy plane) is expressed, and the normal vector of the xoy plane V2=(0,0,1) is taken here;

[0158] The rotation axis is obtained, that is, the vector perpendicular to the original plane normal vector n1 and the target plane normal vector n2 (this step is obtained by the cross product method);

[0159] The angle φ between n1 and n2 is solved;

[0160] The rotation matrix R is solved according to the rotation axis and the angle φ;

[0161] Those skilled in the art can understand that the units and method steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0162] In several embodiments provided in the present application, it should be understood that the disclosed method and system can be implemented in other ways. For example, the division of the above-described units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The above units can be or can not be physically separated, and the components displayed as units can be or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment of the present application.

[0163] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application.

[0164] The above only describes the preferred embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot flexible sample preparation system for ancient ceramic genetic specimen, characterized in that: The device comprises a preparation and active grinding device (4), a measurement spraying and detection device (5), a passive grinding and cleaning and drying device (6), and an end grabbing device (9); The end grabbing device (9) is installed on the mechanical arm (8) of the robot, and the end grabbing device (9) is used to take and place the grinding and polishing parts; The preparation and active grinding device (4), the measurement spraying and detection device (5), and the passive grinding and cleaning and drying device (6) are arranged around the mechanical arm (8); The measurement spraying and detection device (5) comprises a plane measurement module, a polishing agent spraying module, and a scratch detection module; The plane measurement module is used to measure the level of the sample surface and the thickness of the sample; The polishing agent spraying module is used to spray the polishing agent (508) on the sample; The scratch detection module is used to detect the scratches on the sample surface; The plane measurement module comprises a second experimental table, a first mounting plate, a second mounting plate, a third mounting plate, a horizontal support, and a contact displacement sensor, wherein the first mounting plate is fixedly connected to the second experimental table by bolts, the second mounting plate is perpendicularly connected to the first mounting plate by bolts, the third mounting plate is perpendicularly connected to the second mounting plate by bolts, the horizontal support is fixedly connected to the first mounting plate by bolts, and the contact displacement sensor is fixedly connected to the horizontal support by bolts, and the measurement end of the contact displacement sensor is in contact with the lower surface of the third mounting plate; The contact displacement sensor comprises four branches, namely P1, P2, P3, and P4, wherein three branches are arranged in a triangular shape and are used for measuring the inclination of the cross-section and the polishing surface of the sheet; and the other three branches are arranged in a straight line and are used for measuring the height of the porcelain fragments adhered to the surface of the sheet, wherein P1, P2, and P3 are arranged in a triangular shape and are used for measuring the inclination of the cross-section and the polishing surface of the sheet; and P2, P3, and P4 are arranged in a straight line and are used for measuring the height of the porcelain fragments adhered to the surface of the sheet, and the device comprises the following use method: ① Height measurement method: The following formula is used to measure the height △h of the porcelain fragments adhered to the surface of the sheet: △h = P3 - (P2 + P4) / 2; ② Automatic leveling calibration method.

2. The robot flexible sample preparation system for ancient ceramic genetic specimen according to claim 1, characterized in that: The preparation and active grinding device (4) comprises a preparation area for placing the sample and a grinding area for grinding the sample; The grinding area is provided with not less than one sandpaper for grinding, and the sandpapers in the grinding area are the same or different in mesh size.

3. The robot flexible sample preparation system for ancient ceramic genetic specimen according to claim 2, characterized in that: The passive grinding and cleaning and drying device (6) is used to grind and polish the sample after spraying the polishing agent, and then clean and dry the sample.

4. The robot flexible sample preparation system for ancient ceramic genetic specimen according to claim 3, characterized in that, The end grabbing device (9) comprises: a suction cup for sucking the sheet-shaped porcelain sample (404); a clamping jaw for clamping the cross-section-shaped porcelain sample (406).

5. The ancient ceramic gene specimen robot flexible sample preparation system according to claim 4, characterized in that: The preparation and active grinding device (4) comprises a first experimental table (401), a portable panel (402), a handle one, a handle two, a sheet-shaped porcelain sample (404), a sheet-shaped support (405), a cross-section-shaped porcelain sample (406), a cross-section-shaped support (407), a first Z-shaped right-angle plate (411), a second Z-shaped right-angle plate (412), a square water tank (408), a few-shaped plate (410), sandpaper, a water supply bucket (413), and a first wastewater bucket (414). The water supply bucket (413) and the first wastewater bucket (414) are placed in the first experiment table (401), and the portable panel (402) is fixed on the upper surface of the first experiment table (401) by bolt connection; The handle one and the handle two are fixed on the two sides of the portable panel (402) by bolt connection respectively; The cross-section type support (407) and the sheet type support (405) are fixed on the portable panel (402) by bolt connection in sequence; The first Z-shaped right-angle plate (411) and the second Z-shaped right-angle plate (412) are fixed on the upper surface of the first experiment table (401) by bolt connection in symmetry; The two sides of the square water tank (408) are fixed on the upper surfaces of the first Z-shaped right-angle plate (411) and the second Z-shaped right-angle plate (412) by welding; The several-shaped plate (410) is fixed on the square water tank (408) by welding in sequence; The sandpaper is fixed on the several-shaped plate (410) by bolt connection; The square water tank (408) is fixed on the first wastewater bucket (414) by corrugated pipe.

6. The robot flexible sample preparation system for ancient ceramic gene specimens according to claim 5, characterized in that: The polishing agent spraying module comprises a second experiment table, an L-shaped mounting plate (507), a first positioning block (509), a polishing agent (508), a second positioning block (510), a first straight-line cylinder (513), a spraying plate (512), and a spraying protective cover (511), wherein the L-shaped mounting plate (507) is fixed on the upper surface of the second experiment table by bolt connection, the first positioning block (509) is fixed on the L-shaped mounting plate (507) by bolt connection, the polishing agent (508) is connected to the first positioning block (509) by arc abutment, the second positioning block (510) is fixed on the first positioning block (509) by bolt connection, the first straight-line cylinder (513) is fixed on the L-shaped mounting plate (507) by bolt connection, and the spraying plate (512) is fixed on the first straight-line cylinder (513) by bolt connection; The scratch detection module comprises an industrial camera (514), a universal rod support (515), and a support base (516), wherein the support base (516) is fixed on the second experiment table, the universal rod support (515) is fixed on the support base (516) by screw thread, and the industrial camera (514) is fixed on the universal rod support (515) by bolt connection.

7. The ancient ceramic gene specimen robot flexible sample preparation system according to claim 6, characterized in that: The passive grinding, polishing, cleaning, drying device (6) comprises a third experiment table (601), a first grinding and polishing machine (602), a second grinding and polishing machine (603), a fourth experiment table (604), a drying fan (605), an ultrasonic cleaning machine (606), a second wastewater bucket (607), and a third wastewater bucket (608); The first grinding and polishing machine (602) and the second grinding and polishing machine (603) are fixed on the upper surface of the third experiment table (601) by bolt connection. One side of the corrugated pipe one is fixedly connected with the first polishing machine (602) through a clamp, one side of the corrugated pipe two is fixedly connected with the second polishing machine (603) through a clamp, the other side of the corruggated pipe one is fixedly connected with the second wastewater bucket (607) through a clamp, the other side of the corrugated pipe two is fixedly connected with the third wastewater bucket (608) through a clamp, the ultrasonic cleaner (606) and the drying fan (605) are both fixedly connected on the upper surface of the fourth experimental table (604) through bolts.

8. The ancient ceramic gene specimen robot flexible sample preparation system according to claim 7, characterized in that: The end gripping device (9) comprises a mounting flange (901), a flange mounting plate (902), a first electromagnetic valve (903), a first support plate (904), a vacuum generator (905), a second electromagnetic valve (906), a second support plate (907), a first hose mounting block (908), a mounting main plate (909), a first linear guide rail (910), a first sliding block (911), a first L-shaped plate (912), a third L-shaped plate (913), a first vacuum chuck (914), a fourth L-shaped plate (915), a clamping L-shaped plate (916), a cylinder chuck mounting plate (917), a second linear cylinder (918), a second L-shaped plate (919), a first shaft support (920), a first flange type linear bearing (921), a first spring (922), a first optical shaft (923), a second shaft support (924), a third shaft support (925), a second spring (926), a second optical shaft (927), a second flange type linear bearing (928), a fourth shaft support (929), a fifth L-shaped plate (930), a sixth L-shaped plate (931), a finger clamping cylinder (932), a first clamping claw (933), a second sliding block (934), a second linear guide rail (935), a second hose mounting block (936), a second clamping claw (937), a protective shell (938), and a second vacuum chuck (939); The mounting flange (901) is fixedly connected with the end of the mechanical arm (8) through bolts, and the flange mounting plate (902) is fixedly connected with the mounting flange (901) through bolts. The vacuum generator (905) is fixedly connected on both sides of the flange mounting plate (902) through bolts. The first support plate (904) and the second support plate (907) are respectively connected on both sides of the flange mounting plate (902) through bolts. The mounting main plate (909) is fixedly connected with the first support plate (904) and the second support plate (907) through bolts. The vacuum generator (905) is fixedly connected with the mounting main plate (909) through bolts. The protective shell (938) is fixedly connected with the mounting main plate (909) through bolts. The first shaft support (920), the second shaft support (924), the third shaft support (925), the fourth shaft support (929), the first linear guide rail (910), and the second linear guide rail (935) are fixedly connected with the mounting main plate (909) through bolts. The first sliding block (911) and the second sliding block (934) are respectively arranged on the first linear guide rail (910) and the second linear guide rail (935). The first optical axis (923) and the second optical axis (927) are respectively connected to the first shaft support (920), the second shaft support (924), the third shaft support (925) and the fourth shaft support (929) by threads; The first flange type linear bearing (921) and the second flange type linear bearing (928) are connected to the first optical axis (923) and the second optical axis (927) respectively through shaft holes; The first spring (922) and the second spring (926) are respectively connected to the first optical axis (923) and the second optical axis (927) through a nesting method; The first spring (922) is connected to the first shaft support (920) and the first flange-type linear bearing (921) on both sides respectively; The two sides of the second spring (926) are connected to the third shaft support (925) and the second flange type linear bearing (928) respectively; The second L-plate (919) is fixedly connected to the first flange-type linear bearing (921) by bolts; One end of the first L plate (912) is fixedly connected to the second L plate (919) by bolts, and the other side of the first L plate (912) is fixedly connected to the first slider (911) by bolts; The cylinder suction cup mounting plate (917) is fixedly connected to the first L plate (912) by bolts, the second straight cylinder (918) is fixedly connected to the cylinder suction cup mounting plate (917) by bolts, and the clamping L plate (916) is fixedly connected to the end of the second straight cylinder (918) by bolts. The first vacuum suction cup (914) and the second vacuum suction cup (939) are symmetrically fixed to the cylinder suction cup mounting plate (917) by bolts. The third L plate (913) and the fourth L plate (915) are fixed to both sides of the cylinder suction cup mounting plate (917) by bolts. The fifth L plate (930) is fixedly connected to the second flange-type linear bearing (928) by bolts. One end of the sixth L plate (931) is fixedly connected to the fifth L plate (930) by bolts, and the other side of the sixth L plate (931) is fixedly connected to the second slider (934) by bolts. The finger-clamping cylinder (932) is fixedly connected to the sixth L plate (931) by bolts. The first clamping claw (933) and the second clamping claw (937) are symmetrically connected to the finger-clamping cylinder (932) by bolts.

9. A robot polishing method for cross-section type porcelain specimen making, used for controlling the robot flexible specimen making system of claim 8, characterized in that, include: Polishing method for cross-sectional porcelain specimen (406): A1. A robot carrying an end effector gripper uses a finger-gripping cylinder (932) to grip cross-sectional samples in the material preparation area; A2. Leveling the cross-section of the surface to be ground is performed in the plane measurement module; A3. After completing the leveling work in step A2, perform pre-grinding on sandpaper, during which water droplets are supplied through the water supply module; A4. After completing the pre-grinding in step A3, perform fine grinding on the sandpaper of the active grinding device, proceeding from low to high grit, with water droplets supplied through the water supply module during the process. A5. After the fine grinding work in step A4 is completed, the robotic arm (8) carries the cross-sectional sample into the polishing agent (508) spray hole, and the polishing agent (508) is sprayed on the surface of the cross-sectional sample by the movement of the first linear cylinder (513). A6, the sample sprayed with polishing agent (508) is carried by the mechanical arm (8) to polish the cross-section sample on the polishing machine, and the polishing is completed for a set polishing time, and water droplets are provided by the water supply module during the polishing; A7, the polished cross-section sample is placed in the ultrasonic cleaner (606) by the mechanical arm (8) to complete cleaning, and after the cleaning is completed, the cross-section sample is placed in the drying area to complete the drying operation; A8, the cross-section sample is placed in the visual inspection area with the grinding surface perpendicular to the camera lens by the mechanical arm (8), and the scratch detection is completed, if there is no scratch, the cross-section sample is placed in the finished product area, if there is a scratch, secondary operation of grinding or polishing is carried out, and the cycle is repeated; A9, after the scratch detection meets the requirements, the cross-section finished product meets the finished product requirements, and the cross-section finished product is placed in the cross-section finished product area; and / or the grinding and polishing method for the thin slice porcelain sample (404); B1, the thin slice sample is grabbed in the material preparation area by the end gripper carried by the robot through the pinch cylinder (932) and the suction cup; B2, the leveling of the thin slice grinding surface is performed in the plane measurement module; B3, after the leveling in step B2 is completed, fine grinding is sequentially performed in the grinding machine, water droplets are provided by the water supply module during the fine grinding, the height of the porcelain sample is ensured after the fine grinding of one mesh is completed, and the fine grinding of the next mesh is performed, if it does not meet the requirements, it is returned to the current mesh fine grinding, and the cycle is repeated; B4, after the fine grinding in step B3 is completed, the thin slice sample is carried by the mechanical arm (8) to spray into the polishing agent (508) spraying hole, the polishing agent (508) spraying of the thin slice sample is realized by the movement of the first straight cylinder (513), and then the polishing is performed by the grinding and polishing machine; B5, the sample completed in step B4 is cleaned by the ultrasonic cleaner (606) and then dried; B6, the thin slice sample is placed in the visual inspection area with the grinding surface perpendicular to the camera lens by the mechanical arm (8), and the scratch detection is completed, if there is no scratch, the thin slice sample is placed in the finished product area, if there is a scratch, secondary operation of grinding or polishing is carried out, and the cycle is repeated; B7, after the scratch detection meets the requirements, the thin slice finished product meets the finished product requirements, and the thin slice finished product is placed in the thin slice finished product area.

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