Grinding machine and control method, medium and computer device thereof

Abstract

The application relates to the technical field of hard and brittle material processing equipment, and particularly discloses a grinding machine, a control method thereof, a medium and computer equipment. The grinding machine comprises a clamping jaw assembly, the clamping jaw assembly comprises a first clamping jaw assembly and a second clamping jaw assembly, at least one of the first clamping jaw assembly and the second clamping jaw assembly is an adjusting clamping jaw assembly, the adjusting clamping jaw assembly comprises a first adjusting clamping jaw and a second adjusting clamping jaw, and the control method comprises the following steps: according to the axis state of a workpiece clamped between the first clamping jaw assembly and the second clamping jaw assembly, at least one of the first adjusting clamping jaw and the second adjusting clamping jaw is relatively independently moved to approach or move away from the other. Through the above structure, in the case that the axis position of the workpiece has a deviation that can be overcome by the adjusting clamping jaw assembly, the deviation can be inhibited or eliminated through the movement of the first adjusting clamping jaw and / or the second adjusting clamping jaw.

Description

Technical Field

[0001] This invention relates to the field of equipment technology for processing hard and brittle materials, specifically providing a grinding machine, a control method for the grinding machine, a computer-readable storage medium, and a computer device. Background Technology

[0002] Equipment for processing hard and brittle materials typically includes cutting machines, squaring machines, grinding machines, and slicing machines. Taking silicon rods, which are hard and brittle materials, as an example, the cutting machine is mainly used to cut long silicon rods into shorter ones (such as round rods with a circular cross-section) through methods such as wire cutting. The squaring machine is mainly used to cut round rods into rectangular (such as square) silicon rods (referred to as square rods; if the square rods at this stage have not undergone grinding, they are usually called rough rods). The grinding machine is mainly used to make the surface precision of the rough rods meet the standards through grinding operations (if the square rods at this stage meet the surface precision standards after grinding, they are usually called finished rods). The slicing machine is mainly used to obtain thin silicon wafers for use from the finished rods through methods such as multi-wire cutting (wire mesh cutting).

[0003] Grinding machines mainly include horizontal grinding machines and vertical grinding machines. For horizontal grinding machines, their structure typically includes a loading / unloading device, a feed slide device, and a grinding device. The grinding process for silicon rods is generally as follows: First, the squared silicon rod (the aforementioned rough rod) is fixed to the loading device. After preliminary adjustment of the rod's posture, the rod is fed between the two chucks of the feed slide device. The feed slide device moves along the silicon rod's axial direction (feed direction) to deliver the rod to the position corresponding to the grinding device. Based on this, by bringing the grinding device close to the silicon rod and causing the rod to reciprocate along the feed direction, one set of grinding surfaces or a pair of edges can be ground. Then, by rotating the rod, it moves to the second set of grinding surfaces or another pair of edges, and so on, thus processing the rough rod into a finished rod as described above.

[0004] It can be seen that current horizontal grinding machines mainly rely on the reciprocating motion of the silicon rod along the feed direction to complete their grinding operations. Since the reciprocating motion of the silicon rod requires a large travel distance, the corresponding linear movement will have a certain impact on the accuracy of the ground silicon rod (e.g., the straightness of the linear guide matching the linear motion direction has a significant impact on the accuracy of the silicon rod). This impact will result in a large grinding allowance, leading to substandard grinding accuracy of the silicon rod. Therefore, those skilled in the art need a new solution to change or adjust the current grinding machine processing method. Summary of the Invention

[0005] The present invention aims to provide a structure and a corresponding control method, which, by adapting the structure therein to a grinding assembly, enables a form in which the silicon rod remains stationary while the grinding assembly reciprocates during the processing of a workpiece by the grinding assembly.

[0006] It should be noted that the above background description is merely to introduce the invention in conjunction with the inventor's conception and product ideas; that is, it provides a specific application scenario in which the invention can be applied, and should not be construed as meaning that the technical solution of the invention can only be applied to this scenario. For example, in the scenario of this invention, the grinding machine is a horizontal grinding machine, and the silicon rod does not require reciprocating motion in the horizontal grinding zone but instead uses a grinding assembly to reciprocate along the axis of the silicon rod. When using the gripper assembly of this invention, the silicon rod can be basically clamped using a pair of grippers, and the orientation of the silicon rod can be finely adjusted laterally / vertically by adjusting the gripper assembly.

[0007] In view of this, the present invention provides a grinding machine including a jaw assembly, the jaw assembly comprising: a first jaw assembly; and a second jaw assembly; wherein both the first jaw assembly and the second jaw assembly are capable of clamping a workpiece, and at least one of the first jaw assembly and the second jaw assembly is an adjusting jaw assembly, the adjusting jaw assembly comprising: a first adjusting jaw; and a second adjusting jaw; the first adjusting jaw and the second adjusting jaw are at least capable of approaching / moving away from each other in a relatively independent manner.

[0008] With this configuration, it is possible to reliably clamp the workpiece by means of the cooperation between the two gripper assemblies.

[0009] It is understood that those skilled in the art can determine the structural form of the first / second gripper assembly, the number of adjusting gripper assemblies in the two, the structural form of the two adjusting grippers in the adjusting gripper assembly, and the specific implementation method of the relative movement of the two adjusting components of the adjusting gripper assembly according to actual needs. For example, the first adjusting gripper and the second adjusting gripper can use the same or different drive transmission mechanisms to realize their movement, and the relative movement generated by the two can be asynchronous / equal amplitude movement or only one movement, etc.

[0010] In one possible implementation of the above-described grinding machine, the adjusting jaw assembly includes an adjusting jaw drive component capable of driving one of the first adjusting jaw and the second adjusting jaw corresponding thereto to move closer to or further away from the other.

[0011] This configuration provides a possible implementation for the adjusting jaw assembly to clamp or release the workpiece. Similar to the aforementioned fixed jaw drive component, the adjusting jaw drive component can be directly driven (e.g., a power cylinder, linear module, etc.) or indirectly driven by a transmission mechanism such as a lead screw and nut pair. For example, the first and second adjusting jaws are each equipped with a drive motor, which is connected to the corresponding first / second fixed jaw via a lead screw and nut pair.

[0012] Furthermore, since the two adjusting jaws in the adjusting jaw assembly can move relatively independently in directions toward / away from each other, fine-tuning of the lateral position of the workpiece can also be achieved. For example, after clamping the workpiece, the two adjusting jaws can be moved synchronously in the same direction, or the two adjusting jaws can be moved differently in direction, magnitude, or timing before clamping the workpiece.

[0013] In one possible implementation of the above-described grinding machine, the adjusting jaw assembly includes an adjusting gear rack pair, and the adjusting jaw drive component is capable of driving one of the first adjusting jaw and the second adjusting jaw corresponding to the adjusting gear rack pair to move closer to / away from the other.

[0014] This configuration provides a specific structural form for adjusting the gripper assembly.

[0015] In one possible implementation of the above-described grinding machine, the adjusting jaw assembly includes an adjusting guide structure, wherein the first adjusting jaw and the second adjusting jaw are movable along the adjusting guide structure.

[0016] This configuration ensures the reliability of the first / second adjusting grippers during lateral movement. The adjusting guide structure can be a guide rail, guide groove, guide shaft, etc.

[0017] In one possible implementation of the above-described grinding machine, the first gripper assembly and the second gripper assembly may include a fixed gripper assembly, the fixed gripper assembly comprising: a first fixed gripper; and a second fixed gripper; the first fixed gripper and the second fixed gripper are capable of relative movement in a synchronous manner toward / away from each other.

[0018] In one possible implementation of the above-mentioned grinding machine, the fixed jaw assembly includes a fixed jaw drive component, which can directly drive or drive the first fixed jaw and the second fixed jaw to move synchronously toward / away from each other through a fixed jaw transmission mechanism.

[0019] This configuration provides possible implementations for the fixed gripper assembly to clamp or release the workpiece. For example, the fixed gripper drive component can directly drive (e.g., a power cylinder, linear module, etc.) or indirectly drive the first / second fixed gripper movement via a transmission mechanism such as a rack and pinion. Exemplarily, the first and second fixed grippers are each equipped with a drive motor, which is connected to the corresponding first / second fixed gripper via a rack and pinion.

[0020] In one possible implementation of the above-mentioned grinding machine, the fixed jaw transmission mechanism is a fixed jaw screw and nut mechanism.

[0021] This configuration provides a specific structural form for the fixed gripper assembly. For example, the lead screw has two threaded sections corresponding to the first / second fixed gripper, and the two threaded sections have opposite directions of rotation.

[0022] In one possible implementation of the above-mentioned grinding machine, there is a jaw lateral movement mechanism that can drive at least one of the first jaw assembly and the second jaw assembly to move; and a switching component that can be fixedly mounted to the jaw lateral movement mechanism or move relative to the jaw lateral movement mechanism by means of the switching component.

[0023] This configuration provides a specific structural form for the first / second gripper assembly to achieve relative movement between them. For example, by adjusting whether the first / second gripper assembly is fixed to the gripper lateral movement mechanism, relative movement between them can be achieved in different ways.

[0024] It is understood that those skilled in the art can determine the specific drive transmission method by which the first / second gripper assemblies move closer to / away from each other according to actual needs, such as through gear pairs, lead screw and nut pairs, belt drives, etc.

[0025] It is understood that those skilled in the art can determine the structural form of the gripper lateral movement mechanism, its cooperation with the gripper assembly, and the range of directions in which it can drive the gripper assembly to change position, etc., according to actual needs.

[0026] This configuration provides one possible movement mode for the first / second gripper assembly disposed on the gripper lateral movement mechanism. In this way, by switching the switching mode of the components, the first / second gripper assembly can be fixedly disposed on the gripper lateral movement mechanism or movably disposed on the gripper lateral movement mechanism.

[0027] In one possible implementation of the above-mentioned grinding machine, the switching component includes a switching drive component and a switching component. The switching drive component can drive the switching component to change its state and cause the lateral movement transmission structure of the gripper to establish a fixed constraint or release the constraint between the gripper assembly and / or the second gripper assembly.

[0028] This configuration presents a possible structural form for the switching component.

[0029] It is understood that those skilled in the art can determine the structural form of the switching component, its state switching method under the drive of the switching drive component, and the specific implementation method for establishing / removing constraints with the first / second gripper assembly, etc., according to the actual situation. For example, the switching component can be a plate-like structure, a rod-like structure, etc., which can change its state under the drive of the switching drive component through movements such as extension, rotation, etc.

[0030] In one possible implementation of the above-mentioned grinding machine, the switching component is a clamping structure, and the switching drive component can drive the clamping structure to extend and establish a fixed constraint between the lateral movement transmission structure of the gripper and the first gripper assembly and / or the second gripper assembly.

[0031] This configuration presents one possible structural form for the switching structure.

[0032] In one possible implementation of the above-described grinding machine, the switching assembly includes a reset structure so that, when the fixed constraint between the jaw lateral movement transmission structure and the first jaw assembly and / or the second jaw assembly is released, the first jaw assembly and / or the second jaw assembly can be positioned in a set position on the grinding machine by means of the reset structure.

[0033] This configuration ensures the positional reliability of the first / second gripper assembly when its position is relatively fixed, and thus guarantees the gripping reliability of the workpiece when it is configured as a gripper assembly in different states.

[0034] In one possible implementation, the reset structure is a reset spring and / or the lateral movement transmission structure of the gripper is a transmission chain.

[0035] In a second aspect, the present invention provides a control method for a grinding machine, the grinding machine including a gripper assembly, the gripper assembly including a first gripper assembly and a second gripper assembly, wherein at least one of the first gripper assembly and the second gripper assembly is an adjusting gripper assembly, the adjusting gripper assembly including a first adjusting gripper and a second adjusting gripper, the control method including: according to the axial state of the workpiece clamped between the first gripper assembly and the second gripper assembly, causing at least one of the first adjusting gripper and the second adjusting gripper to move closer to / away from the other in a relatively independent manner.

[0036] With this configuration, it is possible to suppress or eliminate deviations in the axial position of the workpiece that can be overcome by adjusting the gripper assembly, through the movement of the first adjusting gripper and / or the second adjusting gripper. For example, only the first adjusting gripper or the second adjusting gripper may move, or both may move but asynchronously or with different amplitudes.

[0037] It is understood that the structural forms of the relevant components mentioned here and in the control methods below may include, but are not limited to, the specific forms mentioned above.

[0038] In one possible implementation of the above control method, the adjusting gripper assembly includes an adjusting gripper drive component, and the phrase "making at least one of the first adjusting gripper and the second adjusting gripper move closer to / away from the other in a relatively independent manner" includes: causing the adjusting gripper drive component to drive the first adjusting gripper and / or the second adjusting gripper to move in a direction closer to / away from each other.

[0039] This configuration provides a possible form for the relative motion between the first and second adjusting jaws. For example, each of the first and second adjusting jaws may be equipped with an adjusting jaw drive component, and the adjusting jaw drive component may be able to drive either the first or the second adjusting jaw in a switchable manner.

[0040] In one possible implementation of the above control method, the adjusting gripper assembly includes an adjusting gear rack pair, and the phrase "causing the adjusting gripper driving component to drive the first adjusting gripper and / or the second adjusting gripper to move in a direction closer to / away from each other" includes: causing the adjusting gripper driving component to drive the first adjusting gripper and / or the second adjusting gripper to move in a direction closer to / away from each other via the adjusting gear rack pair.

[0041] This configuration provides a specific drive transmission method for adjusting the gripper assembly.

[0042] In one possible implementation of the above control method, the first gripper assembly and the second gripper assembly may include a fixed gripper assembly, which includes a first fixed gripper and a second fixed gripper. In the step of "according to the axial state of the workpiece held between the first gripper assembly and the second gripper assembly, causing at least one of the first adjusting gripper and the second adjusting gripper to move closer to / away from the other in a relatively independent manner", the workpiece is held between the first gripper assembly and the second gripper assembly by moving the first fixed gripper and the second fixed gripper relative to each other in a synchronous manner to hold the workpiece between the first fixed gripper and the second fixed gripper.

[0043] In one possible implementation of the above control method, the fixed gripper assembly includes a fixed gripper drive component. The phrase "causing the first fixed gripper and the second fixed gripper to move relative to each other in a synchronous manner to clamp the workpiece between the first fixed gripper and the second fixed gripper" includes: causing the fixed gripper drive component to directly drive or drive the first fixed gripper and the second fixed gripper to move synchronously closer to / away from each other through a fixed gripper transmission mechanism.

[0044] This configuration provides a possible form for the fixed gripper assembly to clamp the workpiece.

[0045] In one possible implementation of the above control method, the fixed gripper transmission mechanism is a fixed gripper screw and nut mechanism.

[0046] This configuration provides a specific drive transmission method for the fixed gripper assembly to clamp the workpiece.

[0047] In one possible implementation of the above control method, the grinding machine includes a jaw lateral movement mechanism and a switching component. The control method includes: during the process of moving at least one of the first jaw assembly and the second jaw assembly through the jaw lateral movement mechanism, causing the switching component to switch the connection state of at least one of the first jaw assembly and the second jaw assembly with the jaw lateral movement mechanism, so that: at least one of the first jaw assembly and the second jaw assembly can switch the connection state between being fixedly disposed in the jaw lateral movement mechanism and being able to move relative to the jaw lateral movement mechanism by means of the switching component.

[0048] With this configuration, it is possible to adjust the relative position between the two jaw components by switching the switching components, thereby better clamping workpieces of different lengths or clamping the same workpiece at different positions.

[0049] In one possible implementation of the above control method, the switching component includes a switching drive component and a switching component. The step of "switching the connection state of at least one of the first gripper assembly and the second gripper assembly with the gripper lateral movement mechanism" includes: causing the switching drive component to drive the switching component to change its state, thereby establishing or removing a fixed constraint between the gripper lateral movement transmission structure and at least one of the first gripper assembly and the second gripper assembly.

[0050] This structure provides a possible form for the switching component to implement state switching.

[0051] In one possible implementation of the above control method, the switching component is a clamping structure, and the "causing the switching drive component to drive the switching component to change its state" includes: causing the switching drive component to drive the clamping structure to extend and causing the lateral movement transmission structure of the gripper to establish a fixed constraint with at least one of the first gripper assembly and the second gripper assembly.

[0052] This structure provides a specific form for implementing the switching function using a switching component.

[0053] In a third aspect, the present invention provides a computer-readable storage medium including a memory adapted to store a plurality of program codes adapted to be loaded and executed by a processor to perform the control method of the cutting machine described in any of the preceding claims.

[0054] It is understood that the computer-readable storage medium has all the technical effects of the control method for the cutting machine described in any of the foregoing claims, and will not be repeated here.

[0055] Those skilled in the art will understand that all or part of the processes in the control method of the cutting machine of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which includes, but is not limited to, program code for executing the control method of the cutting machine described above. For ease of explanation, only the parts relevant to the present invention are shown. The computer program code can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0056] In a fourth aspect, the present invention provides a computer device including a memory and a processor, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and executed by the processor to perform the control method of the cutting machine described in any of the preceding claims.

[0057] It is understood that this device possesses all the technical effects of the control method for the cutting machine described in any of the foregoing claims, and will not be elaborated further here. This device can be a computer-controlled device comprising various electronic devices. Attached Figure Description

[0058] The preferred embodiments of the present invention are described below using a silicon rod (hereinafter referred to as a silicon rod, including the blank rod to be processed and the finished rod after processing) as an example, and a horizontal grinding machine as an example, with reference to the accompanying drawings. In the drawings:

[0059] Figure 1 This diagram illustrates the structure of a transfer mechanism in a grinding machine according to an embodiment of the present invention. Figure 1 The figure shows the support component, the lateral movement component, and the longitudinal movement component;

[0060] Figure 2 This diagram illustrates the structure of a transfer mechanism in a grinding machine according to an embodiment of the present invention. Figure 1 The figure mainly shows the support components and the lateral movement components;

[0061] Figure 3 This diagram illustrates the structure of a transfer mechanism in a grinding machine according to an embodiment of the present invention. Figure 3 The figure mainly shows the support assembly, the lateral movement assembly, and the slide table;

[0062] Figure 4 This diagram illustrates the state of the longitudinal moving component in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 1 In this state, the sliding platform is located at a higher position;

[0063] Figure 5 This diagram illustrates the state of the longitudinal moving component in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 2 In this state, the sliding platform is located at a lower position;

[0064] Figure 6 A schematic diagram of the gripper assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention is shown.

[0065] Figure 7 This diagram illustrates the state of a switching component in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 1 ;

[0066] Figure 8 This diagram illustrates the state of a switching component in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 1 In this state, the fixed gripper assembly can move synchronously with the adjusting gripper assembly;

[0067] Figure 9 This diagram illustrates the state of a switching component in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 2 In this state, only the movement of the gripper assembly is adjusted;

[0068] Figure 10 A schematic diagram of the fixed jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention is shown.

[0069] Figure 11 This diagram illustrates the state of the fixed jaw assembly corresponding to the first clamping space in the transfer mechanism of a grinding machine according to an embodiment of the present invention.

[0070] Figure 12 This diagram illustrates the state of the fixed jaw assembly corresponding to the second clamping space in the transfer mechanism of a grinding machine according to an embodiment of the present invention.

[0071] Figure 13 This diagram illustrates the clamping and alignment state of the fixed jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the first clamping space. Figure 1 The silicon rod in the figure is in a state of being to be aligned before it is clamped in the first clamping space;

[0072] Figure 14This diagram illustrates the clamping and alignment state of the fixed jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the first clamping space. Figure 2 ;

[0073] Figure 15 This diagram illustrates the state of the fixed jaw assembly corresponding to the second clamping space in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 1 ;

[0074] Figure 16 This diagram illustrates the state of the fixed jaw assembly corresponding to the first clamping space in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 2 In the diagram, the anti-fall component abuts against the silicon rod;

[0075] Figure 17 This diagram illustrates the structure of the adjusting jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 1 ;

[0076] Figure 18 This diagram illustrates the structure of the adjusting jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 2 The figure mainly shows the first adjustment component used to achieve lateral fine-tuning;

[0077] Figure 19 This diagram illustrates the structure of the adjusting jaw assembly in the transfer mechanism of a grinding machine according to an embodiment of the present invention. Figure 3 The figure mainly shows the second adjustment component used to achieve vertical fine-tuning;

[0078] Figure 20 This diagram illustrates the state of the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the first adjustment component. Figure 1 The figure shows the actual position (solid line) of the silicon rod before adjustment (lateral fine-tuning) by the first adjustment component and the theoretical position (dashed line) of the silicon rod when it is clamped in the second clamping space.

[0079] Figure 21 This diagram illustrates the state of the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the first adjustment component. Figure 2 The figure shows the position of the silicon rod after lateral fine-tuning, at which point the silicon rod is in the theoretical position;

[0080] Figure 22 This diagram illustrates the state of the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the second adjustment component. Figure 1 The figure shows the actual position (solid line, tilted downwards from left to right) of the silicon rod axis before adjustment (vertical fine adjustment) by the second adjustment component, and the theoretical position (dashed line, horizontal) of the silicon rod axis.

[0081] Figure 23This diagram illustrates the state of the transfer mechanism of a grinding machine according to an embodiment of the present invention, corresponding to the second adjustment component. Figure 2 The figure shows the position of the silicon rod axis after longitudinal fine-tuning, at which point the silicon rod axis is in the theoretical position;

[0082] Figure 24 This diagram illustrates the measurement principle of a grinding machine's transfer mechanism for measuring a short silicon rod, according to an embodiment of the present invention.

[0083] Figure 25 This diagram illustrates the measurement principle of a grinding machine's transfer mechanism for measuring a long silicon rod according to an embodiment of the present invention.

[0084] Figure 26 This diagram shows a structural schematic of the loading and unloading assembly of a grinding machine according to an embodiment of the present invention;

[0085] Figure 27 This diagram shows a structural schematic of the loading and unloading assembly of a grinding machine according to an embodiment of the present invention;

[0086] Figure 28 This diagram shows a structural schematic of the loading and unloading assembly of a grinding machine according to an embodiment of the present invention, specifically a table tilting component.

[0087] Figure 29 This diagram illustrates the state of a material platform tilting assembly according to an embodiment of the present invention. Figure 1 ;

[0088] Figure 30 This diagram illustrates the state of a material platform tilting assembly according to an embodiment of the present invention. Figure 2 ;

[0089] Figure 31 This diagram shows a structural schematic of the material storage platform assembly in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention.

[0090] Figure 32 This diagram illustrates the structure of the connecting component in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention.

[0091] Figure 33 This diagram shows a structural schematic of the material storage table tilting assembly in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention.

[0092] Figure 34 This diagram illustrates the state of the storage table tilting assembly in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention. Figure 1 ;

[0093] Figure 35 This diagram illustrates the state of the storage table tilting assembly in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention. Figure 1 ;

[0094] Figure 36 This diagram illustrates the arrangement of a detection component on a storage platform assembly in the loading and unloading assembly of a grinding machine according to an embodiment of the present invention.

[0095] Figure 37 A schematic diagram of the structure of a grinding machine according to an embodiment of the present invention is shown;

[0096] Figure 38 A schematic diagram of the grinding apparatus of a grinding machine according to an embodiment of the present invention is shown; and

[0097] Figure 39 A schematic diagram of the grinding assembly of a grinding machine according to an embodiment of the present invention is shown.

[0098] List of reference numerals in the attached diagram:

[0099] 1. Grinding equipment;

[0100] 11. Loading and unloading components;

[0101] 111. Storage platform assembly;

[0102] 1111, Storage platform frame; 1112, Casters; 1113, Foot cups;

[0103] 112. Material platform assembly;

[0104] 1221. Material platform support base; 1222. Material platform frame; 1223. Shaft support base; 1224. Support shaft; 1225. Synchronous pulley; 1226. Material platform drive motor;

[0105] 113. Connecting components;

[0106] 1131. Connecting bracket; 1132. First transition wheel; 1133. Driven sprocket; 1134. Second transition wheel;

[0107] 114. Storage platform tilting assembly;

[0108] 1141. Storage platform tilting plate; 1142. Protective block; 1143. Mounting plate; 1144. Mounting block; 11451. Elongated hole; 11452. Slotted hole; 11461. First rotating shaft; 11462. Second rotating shaft;

[0109] 115. Material table tilting assembly;

[0110] 1151. Material table tilting drive component; 1152. Material table tilting bracket; 1153. Tilting shaft; 1154. Material table tilting clamping assembly;

[0111] 116. Photoelectric switch;

[0112] 12. Chuck assembly;

[0113] 13. Grinding assembly; 131. Fine grinding wheel; 132. Coarse grinding wheel; 133. Bearing housing; 134. First drive shaft; 135. Second drive shaft; 136. Motor; 137. Pulley mechanism;

[0114] 2. Transshipment agencies;

[0115] 211. Basic support components;

[0116] 212. Gantry frame;

[0117] 213. Connecting bars;

[0118] 221. Lateral movement component;

[0119] 2211. Lateral movement drive motor;

[0120] 222. Vertical movement component;

[0121] 2221. Longitudinal moving slide;

[0122] 2222, Longitudinal movement drive motor;

[0123] 2223. Longitudinal moving gear and rack pair;

[0124] 2224. Longitudinal linear guide;

[0125] 223. Slide;

[0126] 2231. Mounting components for longitudinal movement drive motor;

[0127] 23. Gripper assembly;

[0128] 230. Gripper substrate;

[0129] 231. Fixed gripper assembly;

[0130] 2311. Fixing the gripper base;

[0131] 2312. Fixed gripper drive motor;

[0132] 2313. Fixed gripper screw nut mechanism;

[0133] 23141. First fixed gripper;

[0134] 23142. Second fixed gripper;

[0135] 23151, First clamping position;

[0136] 23152, Second clamping position;

[0137] 2316. Fall protection components;

[0138] 23161. Anti-fall and anti-disengagement hook;

[0139] 231611, First hook; 231612, Second hook;

[0140] 232. Adjust the gripper assembly;

[0141] 2321. Adjust the gripper base;

[0142] 23211. Main body of the support frame; 23212. Connecting support frame; 232121. Reserved space;

[0143] 23221, First adjusting jaw; 23222, Second adjusting jaw;

[0144] 2323, First Adjustment Component;

[0145] 23231. First adjustment drive motor; 23232. First adjustment gear rack pair; 23233. First adjustment linear guide rail;

[0146] 2324. Second adjustment component;

[0147] 23241. Second adjusting gripper drive motor; 23242. Cam; 23243. Second adjusting guide structure;

[0148] 2325. Through-beam photoelectric switch;

[0149] 233. Gripper lateral movement mechanism;

[0150] 2331. Gripper lateral movement drive motor;

[0151] 2332. Gear and chain pair;

[0152] 23331, First mounting position; 23332, Second mounting position;

[0153] 2334. Switch components;

[0154] 23341, Cylinder; 23342, Clamping block; 23343, Mounting bracket; 23344, Spring;

[0155] 3. Silicon rod. Detailed Implementation

[0156] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0157] It should be noted that in the description of this invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0158] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0159] Furthermore, to better illustrate the present invention, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that the present invention can be practiced even without certain specific details. In some instances, the principles of grinding machines and other familiar to those skilled in the art are not described in detail in order to highlight the main points of the present invention. The following will refer to... Figures 1 to 39 The invention may be described in whole or in part by way of the following.

[0160] In one possible implementation, the grinding machine of the present invention includes a grinding device 1 and a transfer mechanism 2. The grinding device 1 mainly includes a loading assembly 11, a unloading assembly 12, and a grinding assembly 13. The transfer mechanism 2 mainly includes a support assembly, a moving assembly, and a gripper assembly 23. In this example, the support assembly includes a gantry assembly, such as a base support portion 211 and two gantry frames 212 disposed on the base support portion. The moving assembly includes a transverse moving assembly 221 that can move along the length direction of the gantry and a longitudinal moving assembly 222 that can move along the vertical direction. The moving assembly is provided with a gripper assembly. When the workpiece is clamped in the gripper assembly (the gripper assembly holds the workpiece), the transfer of the raw bar from the loading device to the grinding device and the transfer of the finished bar from the grinding device to the unloading device can be realized by the moving assembly.

[0161] [Horizontal Movement Component]

[0162] In one possible implementation, the lateral movement assembly 221 includes a lateral movement drive motor 2211, a lateral movement lead screw and nut mechanism, and a lateral movement linear guide. If one of the two gantry frames is equipped with a drive motor (and lead screw and nut mechanism, lateral movement linear guide, etc.), it is called the main frame, while the other does not have a drive mechanism (including the lateral movement linear guide, etc.) and is therefore called the auxiliary frame.

[0163] In one possible implementation, the base support portion 211 includes gantry columns for mounting a gantry frame on the gantry columns. A main frame and a secondary frame are mounted on the gantry frame, and reinforcing structures such as connecting ribs 213 are provided between the main frame and the secondary frame to make the gantry assembly structure more stable. The gantry assembly is mainly used to support the transfer mechanism, which serves as a transfer device.

[0164] In one possible implementation, the moving component includes a slide 223, with a gripper assembly 23 disposed on the slide. A lateral movement drive motor drives the slide to move on a lateral movement linear guide rail via a lateral movement screw and nut mechanism, thereby causing the slide to move the gripper assembly along the lateral movement linear guide rail of the gantry. In this way, precise movement of the slide in the lateral movement direction can be achieved through servo control of the lateral movement drive motor. For example, limit switches can be installed on both sides of the slide along its lateral movement direction to ensure that the slide can move accurately within its effective stroke.

[0165] [Vertical Movement Component]

[0166] In one possible implementation, the longitudinal movement assembly 222 includes a longitudinal movement slide 2221 (disposed between the main frame and the sub-frame), a longitudinal movement drive motor 2222, and a longitudinal movement rack and pinion pair 2223. The longitudinal movement rack and pinion pair includes a longitudinal movement gear driven by the longitudinal movement drive motor and a longitudinal movement rack disposed on the longitudinal movement slide. The longitudinal movement drive motor is mounted on the slide, thus enabling the slide to move vertically on the longitudinal movement slide. Based on this, the longitudinal movement drive motor can achieve longitudinal movement synchronously with the slide on the longitudinal movement slide by means of the longitudinal movement rack and pinion pair. In this way, precise movement of the slide in the longitudinal movement direction can be achieved through servo control of the longitudinal movement drive motor. By transmitting power from the longitudinal movement drive motor through the meshing of the gear and rack, the arrangement space of the longitudinal movement assembly including the longitudinal movement rack and pinion pair can be effectively saved.

[0167] In one possible implementation, a longitudinal linear guide 2224 is further provided on the longitudinal moving slide to ensure stability during movement. For example, a longitudinal linear guide is provided on each of a pair of opposing surfaces of the longitudinal moving slide near the two side edges, resulting in a total of four longitudinal linear guides, thus achieving better stability when the slide moves in the longitudinal direction. Exemplarily, the aforementioned longitudinal moving rack is fixedly disposed between two longitudinal linear guides.

[0168] In one possible implementation, a longitudinal movement drive motor mounting component 2231 is provided on the slide. This component may be an annular shell that can be fitted onto the outside of the aforementioned longitudinal movement slide. The inner side of the annular shell may have guide grooves that mate with the two pairs of longitudinal movement linear guides. The longitudinal movement drive motor is mounted on a longitudinal movement drive motor mounting bracket. The annular shell may include a vertical portion and a transverse portion extending outward from the bottom of the vertical portion. The transverse portion may be fixed to the top of the slide by means of fasteners such as screws. To ensure the strength of the annular shell, a reinforcing structure such as a reinforcing plate may be added between the vertical and transverse portions.

[0169]

Gripper Components

[0170] In one possible implementation, the main functions of the gripper assembly 23 include:

[0171] 1) It can clamp silicon rods in two orientations. For example, in this example, the gripper assembly can clamp the silicon rod in a V-shape with a 45° face and in a regular clamp with a 0° face.

[0172] 2) By switching components, the single action of the adjustment gripper assembly can be realized (the fixed gripper assembly is in the first state) as well as the linkage between the fixed gripper assembly and the adjustment gripper assembly (the fixed gripper assembly is in the second state).

[0173] 3) By adjusting the gripper assembly, the central axis of the silicon rod can be finely adjusted, thereby better adapting to the silicon rod (raw rod) from the feeding assembly side, or in other words, compensating for the incoming deviation of the raw rod.

[0174] 4) Grabbing the silicon rod at a 45° angle from the feeding assembly can better achieve center alignment.

[0175] In one possible implementation, the gripper assembly 23 mainly includes a gripper base (such as a fixing base) 230 and a fixed gripper assembly 231 and an adjusting gripper assembly 232 disposed on the gripper base. The fixed gripper assembly and the adjusting gripper assembly can cooperate to form a gripping space for gripping the silicon rod. A gripper lateral movement mechanism 233 is provided on the gripper base, enabling the fixed gripper assembly and the adjusting gripper assembly to move closer to or further away from each other.

[0176] In one possible implementation, the gripper lateral movement mechanism 233 includes a gripper lateral movement drive motor 2331 and a gear chain pair 2332. The gripper lateral movement drive motor is gear-driven connected to the gear chain pair, thereby driving the chain meshing with the gear to move along its axial direction. The chain has a first mounting position 23331 and a second mounting position 23332 along its axial direction. The gripper assembly can be fixed in the first mounting position, and the gripper assembly can be adjusted and fixed in the second mounting position, thus being able to move with the movement of the chain. Exemplarily, the first / second mounting positions are mounting seats fixed to the chain.

[0177] In one possible implementation, the gripper lateral movement mechanism is equipped with a switching component 2334 at a position corresponding to the first mounting position. When it is necessary for the fixed gripper assembly to move together with the adjusting gripper assembly, the switching component switches the fixed gripper assembly to a first state, specifically, fixing the fixed gripper assembly to the first mounting position. When it is not necessary for the fixed gripper assembly to move together with the adjusting gripper assembly, the switching component switches the fixed gripper assembly to a second state, specifically, releasing the fixed constraint relationship between the fixed gripper assembly and the first mounting position. In this way, through the cooperation of the switching component, the fixed gripper assembly can switch between the first and second states. Based on this, it is expected that the fixed gripper assembly and the adjusting gripper assembly can better meet the needs of the silicon rod during the transfer process.

[0178] In one possible implementation, the switching assembly 2334 includes a cylinder 23341 serving as a switching drive component. The power output end of the cylinder is connected to a clamping block 23342. When the power output end of the cylinder is pushed downwards, the clamping block is pushed downwards, causing it to abut against the first mounting position or a fixed gripper assembly located at the first mounting position, thereby locking the fixed gripper assembly with the chain. In this way, the fixed gripper assembly and the adjusting gripper assembly can move together with the chain. Correspondingly, when the position of the fixed gripper assembly needs to be relatively fixed, the clamping block can be separated from the first mounting position or the fixed gripper assembly located at the first mounting position simply by retracting the power output end of the cylinder upwards. Alternatively, if the switching assembly includes a mounting frame 23343, the cylinder, clamping block, and fixed gripper assembly are all mounted on the mounting frame. A reset structure, such as a return spring 23344, is provided between the mounting frame and the transfer mechanism. After separation, the fixed gripper assembly and other structures mounted on the mounting frame can return to the position set by the transfer mechanism under the action of the return spring. The reset structure can also be other structural forms such as a power cylinder or a linear module containing a motor, which can provide tension in a set direction.

[0179] It is understood that the above structure is only one exemplary description of the switching component. Those skilled in the art can determine the structural form, first state, second state, and switching method between the two of the switching component according to actual needs. For example, the constraint relationship between the clamping block and the first mounting position can be changed from abutment to other mating relationships such as insertion, engagement, or tenon joint, and the switching drive component can be changed from a cylinder to other power cylinders such as hydraulic cylinders or electric cylinders, or a linear module with equivalent function. In addition to the above-mentioned cylinder and clamping block assembly, any form of clutch device can be reasonably modified to serve as the switching component of the present invention.

[0180]

Fixed gripper assembly

[0181] In one possible implementation, the fixed gripper assembly mainly includes a fixed gripper base 2311 (such as a connecting seat), a fixed gripper drive motor 2312, a fixed gripper screw and nut mechanism 2313, and a fixed gripper group. The fixed gripper group includes a first fixed gripper 23141 and a second fixed gripper 23142. For example, the fixed gripper base is roughly a U-shaped connecting seat. The screw of the fixed gripper screw and nut mechanism is located between two vertical sections of the connecting seat. The fixed gripper drive motor is located on the horizontal section of the connecting seat. The screw of the fixed gripper screw and nut mechanism has two threaded sections with opposite directions of rotation. The first and second fixed grippers are respectively fixed to two nuts of the fixed gripper screw and nut mechanism that mate with the two threaded sections. Based on this, by driving the screw in the fixed gripper screw and nut mechanism to rotate via the fixed gripper drive motor, the (first and second) fixed grippers can move simultaneously in directions closer to / away from each other, thereby completing the centering and clamping function of the silicon rod. In addition, while the fixed gripper drives the motor to complete the feeding and clamping, the cross-sectional dimensions of the silicon rod can also be directly calculated, saving time in the feeding and transfer process.

[0182] It is understood that the fixed gripper drive motor and the fixed gripper screw and nut mechanism are merely exemplary descriptions of the relative movement between the first and second fixed grippers. Those skilled in the art can make reasonable selections based on actual needs. For example, while keeping the drive transmission form unchanged, the fixed gripper drive motor can be replaced with a rotary module capable of movement, the fixed gripper screw and nut mechanism can be replaced with a gear and rack pair, or a separate fixed gripper screw and nut mechanism can be configured for each of the two fixed grippers (allowing the two fixed grippers to move relatively independently). When adjusting the drive transmission form, the fixed gripper drive motor can be replaced with a power cylinder (pneumatic cylinder, electric cylinder, hydraulic cylinder, etc.) or other linear modules, and the fixed gripper screw and nut mechanism can be replaced with other component forms capable of achieving the corresponding transmission.

[0183] In one possible implementation, the first and second fixed grippers have first clamping positions 23151 and 23152 respectively on their clamping portions facing each other, thus enabling a first clamping space to be formed by a pair of first clamping positions and a second clamping space to be formed by a pair of second clamping positions. The first clamping space can clamp a silicon rod at a 45° angle (first posture, V-shaped clamping, or tilted clamping), and the second clamping space can clamp a silicon rod at a 0° angle (second posture, vertical clamping, or 0° conventional clamping). This allows for clamping silicon rods in two different postures using the same set of fixed gripper assemblies. In this example, the first clamping space is mainly used to clamp the silicon rod (finished rod) after grinding using a V-shaped clamping method, and the second clamping space is mainly used to clamp the silicon rod (raw rod) before grinding using a vertical clamping method. The first clamping space is located below the second clamping space.

[0184] In cases requiring vertical clamping, the two fixed jaws move closer together until they are in close contact with the sides of the silicon ingot, thus clamping it. For the same specifications (size), in cases requiring V-clamping, the two fixed jaws need to move further closer together to clamp the silicon ingot in a V-clamp manner. Compared to vertical clamping, V-clamping allows the diagonal of the silicon ingot to coincide with the center of the first clamping space, thus enabling simultaneous centering of the silicon ingot during clamping. Furthermore, the cross-sectional dimensions of the silicon ingot can be accurately calculated based on the opening and closing distance between the two fixed jaws.

[0185] In one possible implementation, the fixed gripper assembly further includes an anti-fall component 2316. The reason for adding the anti-fall component is that when the fixed gripper assembly is clamping the silicon rod at the 0° plane, the clamping stability of the silicon rod is ensured by the friction between a pair of clamping mating surfaces corresponding to the second clamping space and a pair of side surfaces of the silicon rod. Since the surface of the silicon rod after grinding is very smooth (with a very small coefficient of friction), if the friction between the clamping mating surfaces and the side surfaces of the silicon rod is insufficient, there may be a risk of the rod slipping or even dragging.

[0186] In one possible implementation, referring to the orientation of the first clamping space being located below the second clamping space in this example, anti-fall components can be configured near the bottom of the two fixed grippers. In this way, when the silicon rod is clamped vertically, the anti-fall components can provide a certain auxiliary supporting force to the silicon rod, thereby reliably clamping the silicon rod within the second clamping space. This anti-fall component can be referred to as supporting the clamping reliability of the gripper assembly during vertical clamping of the silicon rod.

[0187] In one possible implementation, the fall arrestor assembly includes a pair of pivotally mounted fall arrest hooks 23161 corresponding to a pair of fixed jaws. When the silicon rod is clamped vertically, the fall arrest hooks can provide auxiliary clamping force and / or supporting force by rotating them. Exemplarily, the fall arrest hooks include a first hook portion and a second hook portion arranged at an angle, with the junction of the first hook portion 231611 and the second hook portion 231612 pivotally connected to the corresponding first or second fixed jaw. Thus, when the silicon rod is clamped vertically, the fall arrest hooks are rotated relative to the corresponding first or second fixed jaw to a state where the end of the first hook portion abuts against the side wall of the silicon rod, and the chamfered surface (a narrow surface formed after grinding and chamfering the edges) between the bottom and side surfaces of the silicon rod abuts against the wall of the second hook portion (where the second hook portion hooks the bottom of the silicon rod). With this dual protection (increased clamping force on the sides and increased support force at the bottom), the clamping stability of the silicon rod can be effectively guaranteed, thus ensuring the reliability and safety of the operation during the process of the fixed gripper assembly grasping the silicon rod.

[0188] Since the silicon rod being held at this time is a finished rod with a surface precision that has been ground, a buffer structure such as a polyurethane layer can be provided at least at the end of the first hook and the side of the second hook to prevent scratches on the sides and chamfered surfaces of the finished rod.

[0189] Obviously, the above-described structure, number, and pivoting method of the anti-fall hooks are merely exemplary descriptions. Those skilled in the art can flexibly modify them according to actual needs. For example, the end of the first hook may have a multi-claw structure (similar to an octopus) or a deformable structure (such as silicone) to better achieve contact with the silicone rod; the side of the second hook may be concave outwards while the end may have a structure similar to the first hook, thus providing support through double-end support; only the first hook or the second hook may be included; the first hook and / or the second hook may include multiple hooks; the angle between the first hook and the second hook may be fixed or adjustable; the anti-fall hook may be pivotally mounted on the fixed claw or positioned at any reasonable location that allows for rotation of the anti-fall hook without interference and without interfering with the movement of other components.

[0190] Furthermore, a pair of rotatable anti-fall hooks is only an exemplary description of an anti-fall component. Those skilled in the art can choose any reasonable structural form according to actual needs to ensure the clamping stability of the second clamping space, such as providing a contact structure that can extend and retract along the clamping direction on the two clamping surfaces of the second clamping space, or configuring a clamping structure on the outside that can provide upward support for the silicon rod, etc.

[0191] Furthermore, although this example demonstrates that the fall arrestor only plays an auxiliary role when the second clamping space is in operation, it is clear that the fall arrestor can also provide some auxiliary role when the first clamping space is in operation.

[0192] Adjust the gripper assembly.

[0193] In one possible implementation, the adjusting gripper assembly 232 mainly includes an adjusting gripper base 2321 (such as a connecting seat) and an adjusting gripper group disposed on the adjusting gripper base. The adjusting gripper group includes a first adjusting gripper 23221 and a second adjusting gripper 23222. In this example, the first / second adjusting grippers have a similar structure and function to the aforementioned first / second fixed grippers, mainly forming a first clamping space and a second clamping space through the cooperation between a pair of grippers, thus completing the V-shaped clamping and vertical clamping of the silicon rod.

[0194] Unlike the aforementioned fixed gripper assembly, the adjusting gripper assembly also includes a first adjusting component 2323 (lateral clamping, lateral fine adjustment) for realizing the relative movement between the two adjusting grippers and a second adjusting component 2424 (longitudinal fine adjustment) for realizing the movement of the two adjusting grippers in the vertical direction.

[0195] In one possible implementation, the two adjusting jaws in the adjusting jaw assembly are each equipped with a first adjusting component, so that the two can move along the clamping direction in a relatively independent manner. That is, the first adjusting jaw and the second adjusting jaw can move closer to each other / away from each other in a relatively independent manner. For example, to achieve the goal of the first adjusting jaw and the second adjusting jaw moving closer, they can move closer synchronously, move closer asynchronously, or move closer while one is stationary and the other moves.

[0196] In one possible implementation, the structure of the first adjustment component corresponding to the first / second adjustment gripper is substantially the same. In this example, the first adjustment component 2323 includes a first adjustment drive motor 23231 and a first adjustment gear rack pair 23232. The adjustment gripper base 2321 includes a support body 23211 as a fixed part and a connecting bracket 23212 as a movable part. Exemplarily, the support body is generally L-shaped, and the connecting bracket is generally a connecting plate parallel to the vertical part of the support body. The first adjustment drive motor is fixedly mounted on the support body of the adjustment gripper base. The power output end of the first adjustment drive motor is driven to the gear of the first adjustment gear rack pair. The rack of the first adjustment gear rack pair is fixedly connected to the first / second adjustment gripper. For example, the first / second adjustment gripper includes a mounting plate and a gripper portion mounted on the mounting plate, and the rack is mounted on the mounting plate. In this way, under the driving force of the first adjustment drive motor, the corresponding first / second adjustment gripper can be moved (laterally) through the transmission of the first adjustment gear rack pair.

[0197] To ensure the reliability of the lateral movement of the first / second adjusting jaws, a first adjusting linear guide rail 23233 can be provided on the connecting bracket of the adjusting jaw base. The first / second adjusting jaws can move closer to / away from each other along the first adjusting linear guide rail under the driving transmission of the first adjusting component. For example, the first / second adjusting jaws share a single first adjusting linear guide rail, and correspondingly, a groove-shaped structure matching the first adjusting linear guide rail is provided on the mounting plate.

[0198] In this way, the first and second adjusting jaws can respectively center and clamp the silicon rod through their respective first adjusting components. Since the two first adjusting components can move relatively independently, a pair of first adjusting components can also be used to achieve lateral fine-tuning of the silicon rod as a whole after clamping it. That is, the first adjusting components can achieve lateral movement corresponding to the silicon rod clamping operation and lateral fine-tuning corresponding to the silicon rod axis position. (Longitudinal movement corresponding to the silicon rod feeding / retracting operation is achieved through the aforementioned longitudinal movement component, and longitudinal fine-tuning corresponding to the silicon rod axis position is achieved through the second adjusting component). Specifically, if the silicon rod's central axis is offset in the horizontal direction when it is clamped, the first / second adjusting jaws can be driven synchronously by the two first adjusting component drive motors to move in a direction that can suppress the offset, thus ensuring the accuracy of the silicon rod's horizontal position.

[0199] It is understood that the aforementioned structural form of the first adjustment component is merely an exemplary description, and those skilled in the art can flexibly modify it according to actual needs. For example, the structures of the two first adjustment components may be partially or completely different, such as a combination of a drive motor and a lead screw and nut mechanism, a power cylinder, a linear module, etc. Provided that the two first adjustment components can achieve relatively independent movement, the components constituting them may be completely different or partially shared. For example, the same drive motor may be selectively (switchably) connected to the transmission mechanism corresponding to the first adjustment gripper or the second adjustment gripper.

[0200] In one possible implementation, the first and second adjusting jaws are configured with a second adjusting assembly, through which the first / second adjusting jaws can move along their longitudinal direction (vertical direction).

[0201] In one possible implementation, the second adjustment assembly 2324 includes a second adjustment drive motor 23241, a cam 23242, and a second adjustment guide structure 23243. The connecting bracket 23212 of the adjustment gripper base has a reserved space 232121. The power output shaft of the second adjustment drive motor is driven and connected to the cam, and the cam is accommodated in the reserved space and thus can abut against the connecting bracket (e.g., in line contact). The second adjustment guide structure is disposed on the bracket body of the adjustment gripper base and only allows the first / second adjustment gripper to move in the vertical direction. For example, in this example, the reserved space is a circular hole, and the cam abuts against the connecting bracket near the top of the circular hole. If the second adjustment guide structure is a second adjustment linear slide rail, a groove-shaped structure matching the second adjustment linear slide rail is correspondingly provided on the connecting bracket of the adjustment gripper base. The reserved space can also be a square hole or a slot with an open bottom side, or other structural forms. The second adjustment guide structure can also be other structures such as an optical axis. In this way, under the driving action of the second adjustment drive motor, the cam abuts against the reserved space near the top, thereby driving the connecting bracket of the adjustment claw base to move in the vertical direction, and thus driving the first / second adjustment claw to move (the first / second adjustment claw is connected to the first adjustment linear guide rail provided on the connecting bracket of the adjustment claw base). At the same time, due to the constraint of the second adjustment guide structure, the first / second adjustment claw can achieve fine adjustment of its position in the longitudinal direction.

[0202] In this way, when the central axis of the silicon rod in the clamped state is slightly offset from the horizontal direction (in the vertical direction), the two adjusting claws of the adjusting claw assembly can be driven by the second adjusting component to move along the longitudinal direction, so that a certain height difference is generated between the clamping position of the fixed claw assembly and the clamping position corresponding to the adjusting claw assembly. This height difference can effectively suppress the amount of displacement.

[0203] It is understood that the aforementioned structural form of the second adjustment component is merely an exemplary description, and those skilled in the art can flexibly modify it according to actual needs. For example, the cam can be changed to an eccentric shaft or other eccentric structure. Furthermore, a second adjustment component can be configured for each of the first and second adjustment grippers, or a portion of the second adjustment components of both can be shared. Also, provided that height lifting is achievable, other drive transmission methods can be used, such as changing the drive motor to a power cylinder, linear module, rotary module, etc., and changing the cam to a lead screw and nut mechanism, worm gear pair, gear and rack mechanism, sprocket and chain mechanism, etc. Exemplarily, the power cylinder pushes a pair of inclined connecting blocks to move, and each of the inclined surfaces of the pair of connecting blocks is provided with a lifting wheel capable of rolling along it. The axle of the lifting wheel is mounted on the connecting bracket of the adjustment gripper base.

[0204] In one possible implementation, the first and second adjusting jaws of the adjusting jaw assembly each have a through-beam photoelectric switch 2325 mounted on both sides along the axial direction of the silicon rod. The two pairs of through-beam photoelectric switches are mainly used to measure the length of the silicon rod before loading. The determination of the silicon rod length is explained below using a pair of through-beam photoelectric switches (denoted as the first through-beam photoelectric switch and the second through-beam photoelectric switch) configured on the first adjusting jaw.

[0205] The process of clamping a silicon rod using a fixed gripper assembly and an adjusting gripper assembly typically involves the following steps: First, the fixed gripper assembly clamps one side of the silicon rod. Then, the adjusting gripper assembly moves from its initial clamping position along the length of the silicon rod. The distance *a* from the initial clamping position of the adjusting gripper assembly to the front end (left side) of the silicon rod is known; the distance *n* from the center of the first pair of photoelectric switches on the left side to the center of the first adjusting gripper is known; and the distance *m* from the center of the second pair of photoelectric switches on the right side to the center of the first adjusting gripper is known.

[0206] Based on this, for a long silicon rod, both the first and second photoelectric switches can receive signals, allowing the first and second adjusting jaws to move along the axis of the silicon rod until the second photoelectric switch on the right no longer receives a signal. At this point, the length of the silicon rod, L = a + m + x, can be determined based on the detected distance x that the first and second adjusting jaws have moved to the right. For a short silicon rod, the first photoelectric switch on the left can receive a signal while the second photoelectric switch on the right cannot. The first and second adjusting jaws can move along the axis of the silicon rod until the first photoelectric switch on the left no longer receives a signal. At this point, the length of the silicon rod, L = a + xn, can be determined based on the detected distance x that the first and second adjusting jaws have moved to the right.

[0207] Both directions can be expanded to multiple grinding stations.

[0208] In this embodiment, the description is based on an example of a gantry assembly configured with only one grinding station (e.g., mainly including a grinding work area, a loading area, and a unloading area). Where necessary, because the grinding machine of this invention is relatively compact in structure, the movement space corresponding to the transverse moving component itself has a certain degree of expandability. Therefore, multiple grinding stations can be arranged along the movement direction corresponding to the transverse moving component. For example, each grinding station can be structurally relatively independent, meaning each grinding station includes a grinding work area, a loading area, and a unloading area. Where necessary, the structures of the loading area and / or unloading area can be shared or partially shared, meaning the number of loading areas and / or unloading areas is less than the number of grinding work areas.

[0209] Furthermore, since the clamping assembly remains relatively fixed after clamping the silicon rod, it significantly saves space along the length of the silicon rod. Where necessary, the movement space corresponding to the lateral moving assembly can also have some expandable space. Therefore, multiple grinding work areas can be arranged along the movement direction corresponding to the lateral moving assembly. For example, when the multiple grinding work areas are substantially collinear, they can share a single loading and unloading area; when they are not collinear (e.g., staggered), the multiple grinding work areas can share or have their respective loading and unloading areas configured separately.

[0210] Based on the above structure, in one possible implementation, the main operation of the transfer mechanism in the grinding machine of the present invention includes four steps: V-shaped gripping of the blank bar, V-shaped feeding, 0° gripping of the finished bar, and 0° placement of the finished bar (unloading).

[0211] 1. V-shaped gripper for hair:

[0212] In one possible implementation, when the transfer mechanism is preparing to load and clamp the silicon rod to be ground, the slide moves horizontally along the gantry assembly by means of a lateral moving component, thereby driving the gripper assembly mounted on the slide to move above the loading assembly. The gripper assembly moves downward by means of a longitudinal moving component to a loading clamping position that can grip the V-shaped silicon rod placed on the loading assembly. The two fixed / adjustable grippers of the fixed / adjustable gripper assembly move away from each other (releasing the first clamping space so that the silicon rod can be smoothly clamped on this basis).

[0213] The typical clamping process is as follows: First, the two fixed jaws of the fixed jaw assembly clamp the silicon rod using the first clamping space corresponding to the V-shaped clamping. Since the first clamping space and the silicon rod at this time have a matching V-shaped orientation, the centering operation of the silicon rod can be completed while it is being clamped. After the clamping operation of the fixed jaw assembly is completed, the adjusting jaw assembly is moved along the length direction of the silicon rod (by means of a switching component to put the fixed jaw assembly into a second state) to a set position, and the two adjusting jaws are brought closer to each other to clamp the silicon rod. During this process, the length of the silicon rod can be measured by two pairs of through-beam photoelectric switches configured on the adjusting jaw assembly.

[0214] If the silicon ingot's orientation is slightly off while clamped, its position can be adjusted by adjusting the gripper assembly. Specifically, if there is a certain displacement (lateral deviation) between the silicon ingot's central axis and its ideal position (vertical plane) when clamped, this deviation can be suppressed / eliminated by the two first adjustment components driving the two independently movable adjustment jaws to move in the same direction. Furthermore, if there is a certain angle (longitudinal deviation) between the silicon ingot's central axis and the horizontal plane when clamped, this deviation can be suppressed / eliminated by the second adjustment component driving the two adjustment jaws of the adjustment gripper assembly to move longitudinally.

[0215] II. V-shaped feeding:

[0216] After the silicon rod is clamped, the longitudinal moving component drives the jaw assembly holding the silicon rod to move vertically upward, and the lateral moving component drives the slide, which includes the longitudinal moving component and the jaw assembly, to move along the gantry assembly to above the clamping position corresponding to the grinding device. From there, the longitudinal moving component drives the jaw assembly holding the silicon rod to move vertically downward to the clamping position of the grinding device. When the clamping component of the grinding device begins to clamp the silicon rod, the potential energy of the jaw assembly is removed, allowing the jaw assembly to move with the silicon rod. Once the clamping component of the grinding device has firmly clamped the silicon rod, the two pairs of jaws of the jaw assembly release each other, thereby releasing the first clamping space (the jaw assembly releases the silicon rod).

[0217] After the gripper assembly releases the constraint on the silicon rod, the gripper assembly can be moved to a position that does not interfere with grinding (waiting for grinding position) by the aforementioned lateral and longitudinal moving components. At this time, the grinding device can grind the sides and edges of the silicon rod.

[0218] III. Grasp the finished bar at 0°:

[0219] After the grinding operation of the silicon rod is completed, a finished rod with the required surface finish is obtained. At this point, the gripper assembly (second gripping space) can be moved to the post-grinding gripping position of the silicon rod via the lateral and longitudinal moving components. Then, the two pairs of grippers are brought close together and gripped in a 0° conventional gripping manner. Furthermore, the two pairs of anti-fall hooks pivot to a position that provides auxiliary clamping / supporting force to the finished rod (hooking the silicon rod) to prevent the silicon rod with the required surface finish from falling.

[0220] After the silicon rod is gripped, the vertical moving component drives the gripper assembly to move vertically upward, and the horizontal moving component drives the gripper assembly, which includes the vertical moving component and the slide, to the unloading position of the unloading component.

[0221] IV. 0° feeding:

[0222] The longitudinal moving component drives the gripper assembly to move vertically downwards to the unloading position corresponding to the unloading component. Then, the two pairs of grippers on the gripper assembly release each other, and the two pairs of anti-fall hooks pivot and release, thereby releasing the second clamping space. At this point, the silicon rod can fall onto the unloading table of the unloading component, thus completing one full operation. The finished rod can be transferred to a location such as a slicing machine station by connecting it to the unloading component via an AGV or similar device.

[0223] Afterwards, the gripper assembly, which includes the slide and longitudinal movement components, can be moved back to the aforementioned loading position to prepare for the second loading and gripping.

[0224] In one specific embodiment, the operation process of the grinding machine corresponding to the present invention generally includes the following steps:

[0225] S1. Place the silicon rod (the blank rod to be processed) on the feeding assembly.

[0226] S2. The lateral movement component is activated, and the gripper component is thus moved laterally to the feeding position corresponding to the feeding component.

[0227] S3. The gripper assembly opens to a position that can freely accommodate the silicon rod, such as opening to the maximum position.

[0228] S4. The gripper assembly clamps the silicon rod.

[0229] S5. The vertical moving component is activated, and the gripper component picks up the silicon rod upwards.

[0230] S6. The lateral movement component is activated, and the gripper component moves laterally to the position corresponding to the grinding device (machining area).

[0231] S7. The longitudinal moving component is activated, and the gripper component retracts to the waiting position. At this point, the silicon rod can be ground.

[0232] S8. After the grinding operation is completed, the longitudinal moving component is activated, and the gripper component moves longitudinally to the position of the grinding device (processing area) and clamps the silicon rod.

[0233] S9. The lateral movement component is activated, and the gripper component moves laterally to the unloading position corresponding to the unloading component.

[0234] S10, the gripper assembly releases, thereby transferring the silicon rod to the unloading area of ​​the unloading assembly.

[0235] S11, The lateral movement component is activated, causing the transfer mechanism to retract laterally back to the waiting state.

[0236] At this point, the grinding operation, including the transfer of the silicon rod, is complete.

[0237] A grinding device in which the chuck assembly and the silicon rod it holds remain stationary, while the grinding assembly reciprocates.

[0238] Currently, the main structure of a grinding machine includes a movable slide that can move along the length of a silicon rod, a clamping assembly mounted on the movable slide to clamp the silicon rod, and a grinding assembly that performs grinding operations on the silicon rod. Based on this structure, the existing grinding machine's workflow for grinding silicon rods is as follows: the clamping assembly clamps the silicon rod (the clamping assembly typically includes a moving chuck and a fixed chuck; the moving chuck moves relative to the fixed chuck to clamp the silicon rod); by driving the clamping assembly holding the silicon rod to slide on the movable slide, the grinding assembly, which is relatively fixed in position along the length of the silicon rod, can grind the sides and chamfers of the silicon rod along its entire length, thus completing the grinding operation.

[0239] Unlike existing grinding machines, the grinding machine of this invention employs a method where the grinding assembly 13 moves along the length of the silicon rod 3, while the chuck assembly 12 (typically including a fixed chuck and a movable chuck, or both movable chucks) remains relatively fixed in position after clamping the silicon rod. Specifically, the movement of the grinding assembly during the grinding operation on the silicon rod includes rotational motion and linear motion along the length of the silicon rod. The grinding assembly typically includes a coarse grinding wheel and a fine grinding wheel. The rotational motion primarily grinds the surface of the silicon rod by rotating the coarse and fine grinding wheels while maintaining a certain cutting depth and cutting force along the radial direction of the silicon rod. Accompanying the linear motion of the grinding assembly along the length of the silicon rod, the chamfers between the sides of the silicon rod and adjacent sides can be ground. For example, the linear motion of the grinding components along the length of the silicon rod is achieved as follows: the grinding machine includes a slide mechanism, and the grinding components arranged in pairs are slidably disposed on the slide mechanism. In this way, under the action of the corresponding drive transmission components, the grinding components can move along the length of the silicon rod.

[0240] In one possible implementation, the grinding assembly 13 mainly includes a fine grinding wheel 131 for fine grinding of the silicon rod and a coarse grinding wheel 132 for rough grinding of the silicon rod. In this invention, the coarse and fine grinding wheels are concentrically arranged in the same station, with the coarse grinding wheel freely accommodated within the space formed inside the fine grinding wheel. This allows the grinding assembly to perform both rough and fine grinding operations on the silicon rod in the same station.

[0241] In one possible embodiment, the grinding assembly further includes a composite shaft comprising a bearing housing 133. The bearing housing contains a first drive shaft (sleeve) 134 with a cylindrical structure and a second drive shaft 135 (inner shaft) housed within the cylindrical structure. The sleeve is connected to a fine grinding wheel so that it drives the fine grinding wheel when the sleeve rotates. The second drive shaft is connected to a coarse grinding wheel so that it drives the coarse grinding wheel when it rotates. The first and second drive shafts are connected by a guide key, allowing them to rotate synchronously via a drive component such as a motor. Exemplarily, a motor 136 is connected to the rear end of the composite shaft via a pulley mechanism 137, thereby driving the first and second drive shafts to rotate synchronously.

[0242] Based on this, a mechanism for extending and retracting the second drive shaft corresponding to the coarse grinding wheel is configured to enable switching between coarse and fine grinding operations. Specifically, when coarse grinding of the silicon rod is required, the drive shaft extends relative to the fine grinding wheel; when fine grinding of the silicon rod is required, it retracts relative to the fine grinding wheel (leaving space). For example, one way to achieve the switching between coarse and fine grinding operations is as follows: the extension mechanism includes a spring, and the second drive shaft is in a retracted state relative to the fine grinding wheel under the preload of the spring. In this way, when fine grinding of the silicon rod is required, no external force is applied. When coarse grinding of the silicon rod is required, an external force is applied to the spring to extend the associated coarse grinding wheel from the fine grinding wheel. External force can be applied to the pressure cap at the rear end of the bearing housing by means of external force mechanisms such as power cylinders, linear modules, or drive transmission mechanisms that can achieve telescopic movement, thereby causing the spring to deform under the action of the external force and thus causing the coarse grinding wheel to extend.

[0243] Compared to separate stations for coarse and fine grinding wheels, the grinding assembly of this invention integrates the coarse and fine grinding wheels into a single station using a bearing housing. This means the grinding machine only needs a single station to simultaneously perform coarse and fine grinding operations on silicon rods, resulting in a more compact structure and significantly reduced installation space for the grinding assembly. Correspondingly, this single-station setup reduces the number of support mechanisms required for the grinding assembly, saving on the number of components. Furthermore, since the grinding assembly of this invention needs to reciprocate along the length of the silicon rod, the integrated design effectively avoids problems such as reduced grinding accuracy caused by the movement of multiple components, making it more suitable for the operation of the grinding machine of this invention.

[0244] [A loading / unloading assembly that can be used as both a loading and unloading assembly]

[0245] In one possible implementation, the loading / unloading assembly 11 mainly includes a storage platform assembly 111, a platform assembly 112, and a platform tilting assembly 113. The platform assembly can transport silicon rods (raw rods) to a designated position for loading, or receive processed silicon rods (finished rods) for unloading. The storage platform assembly 112 can hold square rods awaiting loading / unloading and can transport the square rods along their length. The platform tilting assembly 113 is disposed within the platform assembly. According to loading / unloading requirements, the platform tilting assembly can tilt the square rods placed within it at a certain angle along the rod's axis, such as tilting them to a 45° angle between the side and the horizontal plane for the aforementioned loading requirement (first clamping space), or tilting them to a 0° angle between the side and the horizontal plane for the aforementioned unloading requirement (second clamping space).

[0246] In one possible implementation, a connecting component is provided between the storage platform assembly and the material platform assembly so that the square bars can be smoothly transferred between the storage platform assembly and the material platform assembly, and such a connection allows the loading and unloading assembly to better adapt to the transfer requirements of square bars of different lengths.

[0247] In one possible implementation, the storage platform assembly 111 and the material platform assembly 112 are equipped with detection components to detect the presence or absence of silicon rods, the length of the silicon rods, etc. In this example, the detection components include multiple pairs of photoelectric switches. Specifically, photoelectric switches 116 are provided at the front end of the material platform assembly and at the front, middle, and rear ends of the storage platform assembly.

[0248] In one possible implementation, the platform assembly 122 mainly includes a platform base and a platform transmission mechanism, such as the platform base including a platform support 1221 and a platform frame 1222 disposed on the platform support.

[0249] In one possible implementation, the feed platform drive mechanism conveys the silicon rods via belt drive. In this example, the top of the feed platform frame is provided with two pairs of shaft support seats 1223, each containing bearings. A support shaft 1224 is installed between each pair of shaft support seats, and a pair of synchronous pulleys 1225 are installed on each shaft. The synchronous pulleys can be fixed to the support shaft by means of set screws, expansion sleeves, keys, etc. One of the two support shafts is equipped with a feed platform drive motor 1226 and is therefore called the driving shaft, while the other is not equipped with a feed platform drive motor and is therefore called the driven shaft. The pair of synchronous pulleys at corresponding positions on the two shafts are connected by a synchronous mechanism, and thus, under the drive of the feed platform drive motor, the silicon rods placed on the synchronous belt move with the synchronous belt.

[0250] In this example, an adjusting screw can be provided at the end of the shaft support of the driven shaft, passing through the shaft support and threadedly connected to the driven shaft. This allows the distance between the driven shaft and the driving shaft to be increased and the timing belt to be tensioned by pulling the adjusting screw within the guide groove of the corresponding shaft support. A timing belt support plate can also be provided below the timing belt, with a flange at the top to guide the timing belt during transport. Furthermore, baffles can be provided on the platform frame corresponding to both sides of the timing belt to prevent silicon rods from falling during transport. These baffles can include multiple baffles spaced apart along the conveying direction of the timing belt or a single strip structure. For example, a long strip baffle is mounted on the platform frame by multiple support bars or ribs. Taking the long strip structure as an example, the baffle can be made of non-metallic material or have a buffer layer such as a polyurethane layer added to the inside to prevent damage to the silicon rods after successful interception.

[0251] In one possible implementation, the platform tilting assembly 115 mainly includes a platform tilting drive component 1151 and a platform tilting bracket 1152. The platform tilting bracket is pivotally mounted on the aforementioned platform frame 1222 and forms a carrying space capable of carrying silicon rods. The platform tilting drive component is used to drive the platform tilting bracket to tilt relative to the platform frame, thereby changing the orientation of the silicon rods carried thereon. In this example, the platform tilting bracket includes a bottom wall portion and a side wall portion.

[0252] In one possible implementation, the platform tilting bracket is pivotally mounted on the aforementioned platform frame as follows: the bottom of the platform tilting bracket 1152 is provided with two tilting shaft support seats equipped with bearings, and the tilting shaft support seats are fixedly mounted on the platform frame. For example, a tilting shaft guide seat can be provided between the two tilting shaft support seats, and the tilting shaft 1153 is pivotally mounted on the tilting shaft support seats and the tilting shaft guide seat. The platform tilting drive component drives the tilting shaft to rotate, thereby causing the platform tilting bracket to tilt.

[0253] In one possible implementation, since the material table tilting bracket needs to be in direct contact with the silicon rod, a material or structure with a buffer function can be provided on the material table tilting bracket, such as adding a non-metallic protective plate inside the material table tilting bracket.

[0254] In one possible implementation, the material table flipping bracket is provided with a material table flipping clamping assembly 1154 at a position opposite to the side wall portion of the flipping bracket near its end in the longitudinal direction, so as to clamp the silicon rod when it rotates, thereby ensuring the reliability of the flipping operation.

[0255] In one possible implementation, the material table tilting bracket is provided with a material table tilting guide wheel at a position near its length end, and a first material table tilting detection switch is provided near the material table guide wheel to detect whether the silicon rod has been delivered to the correct position.

[0256] In one possible implementation, the platform tilting drive component is a power cylinder (such as a pneumatic cylinder, hydraulic cylinder, electric cylinder, etc.; obviously, it can also be a linear module, a drive component, and a transmission component that can provide linear drive, or a motor, etc. If the platform tilting drive component is a motor, the motor's power output shaft should be connected to the tilting shaft). The power cylinder is fixed to the aforementioned platform support base, and the power output end of the power cylinder is fixed to the platform tilting bracket. In this way, by extending or retracting the power output end of the power cylinder, the platform tilting bracket can be rotated around the tilting shaft, thereby changing the posture of the silicon rod supported on it.

[0257] In one possible implementation, the platform tilting assembly further includes a platform tilting limiting component to determine the tilting range of the platform tilting assembly. Exemplarily, the platform tilting limiting component includes a platform tilting limiting base, a platform tilting limiting screw, and a platform tilting buffer disposed thereon. The tilting angle of the tilting assembly can be adjusted by adjusting the platform tilting limiting screw, while the platform tilting buffer is used to cushion the tilting motion when the assembly is tilted into place, thereby protecting the silicon rod. Furthermore, a platform tilting detection switch can be provided at the initial position and the tilted-in-place position of the platform tilting assembly, respectively, to detect whether the platform tilting assembly has returned to the initial position and whether it has tilted into place.

[0258] In one possible implementation, the storage platform assembly 111 mainly includes a storage platform frame 1111 and a storage platform transmission mechanism disposed on the storage platform frame. The storage platform transmission mechanism, similar to the aforementioned platform assembly, also uses belt drive to move the silicon rods; details will not be elaborated further here. Exemplarily, since the storage platform assembly needs to connect with the external environment, multiple casters 1112 and feet 1113 can be provided at the bottom of the storage platform frame. When the storage platform assembly needs to be moved, the feet are raised (at which point the casters are in contact with the ground). When the storage platform assembly needs to be fixed, the feet are lowered (at which point the feet are in contact with the ground). Alternatively, casters such as ferrules can be used instead of the combination of feet and casters.

[0259] It is understood that the above-described belt drive and its specific form are merely exemplary descriptions of the material platform / storage platform transmission mechanism. Those skilled in the art can use other structural forms of belt drive or other transmission methods besides belt drive to achieve the conveying of silicon rods according to actual needs. For example, in addition to belt drive, the silicon rods can also be conveyed through the cooperation of sprockets and chains, belts and pulleys, guide rails and lead screw and nut mechanisms, guide rails and gear rack pairs, power cylinders and guide rails, etc.

[0260] In one possible implementation, the connecting assembly 113 includes a connecting bracket 1131 and a transition wheel assembly disposed on the connecting bracket. The transition wheel assembly includes a pair of first transition wheels 1132 (such as radially larger rollers, hereinafter referred to as large rollers) pivotally disposed on the connecting bracket. Exemplarily, the large rollers are pivotally disposed on the connecting bracket in such a way that the large rollers are disposed on the transition wheel shaft, the transition wheel shaft is disposed between a pair of transition wheel supports fixedly disposed on the connecting bracket, as in this example, the connecting bracket is generally an L-shaped bracket, the transition wheel shaft support is disposed on the horizontal portion of the connecting bracket, and the vertical portion of the connecting bracket is installed at the front end of the storage platform frame of the aforementioned storage platform assembly.

[0261] In one possible implementation, a driven sprocket 1133 is provided on the transition wheel shaft, and a driving sprocket is provided on the driven shaft of the storage platform assembly. The driving and driven sprockets are connected by a chain. Multiple pairs of second transition wheels 1134 (such as smaller radial rollers, hereinafter referred to as small rollers) are also pivotally mounted on the connecting bracket. For example, in this example, a pair of small rollers are arranged on either side of a pair of large rollers along the conveying direction. The surfaces of the large and small rollers should be of a structure or material that will not damage the surface of the silicon rod (such as a non-metallic material). This arrangement ensures better connection between the silicon rods in the platform assembly and the storage platform assembly, and can accommodate the transmission needs of silicon rods of various lengths.

[0262] It is understandable that using a sprocket and chain to transfer silicon rods on the transition wheel assembly is just one implementation method. Those skilled in the art can flexibly modify it according to actual needs. For example, the drive sprocket can be set on the drive shaft of the material table assembly, and the sprocket and chain can be changed to a gear pair, a synchronous belt and a synchronous pulley, a belt and a pulley, a guide rail and a lead screw and nut mechanism, a guide rail and a gear and rack pair, a cylinder and a guide rail, and other methods.

[0263] Based on the above structure, in one possible implementation, when the loading and unloading assembly serves as the loading assembly of the grinding machine, its working process generally includes: placing the silicon rod (raw rod) to be loaded into the bearing space of the storage platform assembly by means of manual labor, robots, gantry robots, KBK, AGV, conveyor lines, etc., and determining the length of the silicon rod by the detection assembly. The storage platform drive motor starts to smoothly transport the silicon rod to the platform assembly via the connecting assembly through belt drive. The platform drive motor starts to transport the silicon rod into place via belt drive. The platform flipping and clamping assembly presses the silicon rod against the side wall of the flipping bracket. Under the action of the platform flipping drive component, the silicon rod flips 45° as required to meet the loading requirements adapted to the first clamping space mentioned above. The platform detection switch can detect whether the silicon rod has been flipped into place. After it has been flipped into place, the platform flipping and clamping assembly can release the silicon rod so that the gripper assembly can perform the next gripping action.

[0264] When the loading and unloading assembly is used as the unloading assembly of the grinding machine, its working process roughly includes: According to the unloading requirements, the table tilting assembly tilts to the 0° normal position to receive the vertically unloading silicon rod (finished rod). The table tilting clamping assembly presses the silicon rod against the inner side wall of the table tilting bracket. Under the action of the table tilting drive component, the table tilting assembly drives the silicon rod back to the 0° normal position. When the tilting detection switch detects that the silicon rod has returned to the 0° position, the table tilting clamping assembly releases the silicon rod to facilitate the next unloading and transfer action. It is understandable that if the unloading requirement does not require silicon rod tilting (e.g., its own posture is already at the 0° normal position), the tilting-related actions can be omitted. The table drive motor starts, and the silicon rod is output outward through belt drive. To ensure the effectiveness of the connecting assembly, the storage table drive component must also start before the silicon rod reaches the storage table assembly. If needed, silicon rods can be transported to any position on the storage platform assembly to ensure seamless integration with various unloading methods such as manual labor, robots, gantry robots, KBK, AGVs, and conveyor lines.

[0265] In one possible implementation, the storage platform assembly is provided with a storage platform flipping component 1114 at the end away from the storage platform assembly along the length direction of the silicon rod, so that when it is flipped open to the spliced ​​state of the storage platform assembly, it can meet the storage needs of longer silicon rods, and when it is flipped closed, it can meet the storage needs of shorter silicon rods.

[0266] In one possible implementation, the storage platform tilting assembly 114 mainly includes a storage platform tilting plate 1141. Similar to the aforementioned storage platform tilting plate, a non-metallic protective block 1142 is installed on the inner side (bottom wall and side wall) of the storage platform tilting plate. A pair of mounting plates 1143 extend downwards from the storage platform tilting plate. Each mounting plate has a vertically extending elongated hole 11451, and an arc-shaped slot 11452 is formed at the bottom end of the elongated hole. The non-metallic protective block is installed on the storage platform tilting plate. A pair of mounting blocks 1144 corresponding to the pair of mounting plates are also provided on the storage platform tilting plate. Each mounting block has a blocking screw, a first rotating shaft 11461 adapted to the elongated hole, and a second rotating shaft 11462 adapted to the slot. In this way, the state switching of the storage platform tilting plate can be achieved through the cooperation of these two sets of components.

[0267] When the storage platform assembly is too short and requires the use of a storage platform tilting assembly, the tilting plate is lowered, positioning the two pivots on the mounting block at the top of the two elongated holes in the tilting bracket. Using the locking screws, the tilting plate can be horizontally positioned, extending the storage platform assembly to accommodate rectangular bars. When the storage platform assembly is long enough, the tilting plate is raised, positioning the two pivots on the mounting block at the bottom of the two elongated holes in the tilting bracket. Rotating the tilting plate around the upper pivot position positions it vertically, saving space. In other words, when the silicon rod is too long for the storage platform assembly, the tilting plate is unfolded, extending the storage platform assembly to better accommodate longer rods. When the silicon rod is short and the storage platform assembly is long enough, the storage platform flip plate is in a retracted state, which can effectively save the space occupied by the storage platform assembly along the length of the silicon rod without interfering with the function of the storage platform assembly.

[0268] In one possible implementation, the loading and unloading assembly further includes a protective component, which is mainly used to protect the loading and unloading assembly. For example, the protective component can be a protective net or a light curtain.

[0269] It can be seen that the grinding machine of the present invention has the following main advantages:

[0270] 1) Based on the transfer mechanism, the grinding machine of the present invention can be compatible with the transfer operations of pre-grinding loading and post-grinding unloading, which can significantly reduce costs. Moreover, the transverse and longitudinal moving components of the transfer mechanism have high transmission accuracy, which can ensure the reliability of pre-grinding loading and post-grinding unloading.

[0271] 2) By differentiating the dual clamping spaces of the gripper assembly, the transfer mechanism can better meet the transport operations for pre-grinding loading and post-grinding unloading. Specifically, the gripper assembly uses a first clamping space and a second clamping space to clamp the silicon rod in a V-shape (for pre-grinding blank rods) and at 0° (for post-grinding finished rods), respectively. Furthermore, by configuring an anti-fall component for the second clamping space corresponding to the 0° clamping, phenomena such as the finished silicon rod falling can be effectively prevented.

[0272] 3) The gripper assembly can measure the length of the silicon rod during the feeding process (before clamping), saving time in the entire grinding operation. The fixed gripper assembly mainly achieves the gripping and centering of the silicon rod through the engagement of the threaded sections at both ends of the screw and nut mechanism. Furthermore, the fixed gripper drive motor can directly calculate the cross-sectional dimensions of the silicon rod while driving the screw and nut mechanism, saving time.

[0273] 4) The adjustment gripper assembly in the gripper assembly is equipped with a first adjustment component that can achieve lateral fine adjustment and a second adjustment component that can achieve longitudinal fine adjustment. Based on this, the grinding machine can grip silicon rods with certain deviations in size / or orientation, so the grinding machine has a stronger adaptability to silicon rods.

[0274] 5) During the process of the gripper assembly grabbing the material from the loading assembly or releasing the material from the unloading assembly, there will be no relative displacement between the silicon rod and the gripper assembly. Therefore, the risk of damage to the silicon rod caused by this can be reduced, thus ensuring the reliability of the grinding machine.

[0275] As can be seen, in the grinding machine of the preferred embodiment of the present invention, the silicon rod (the blank rod to be ground) can be transferred to the grinding device in a V-shaped clamping manner through the cooperation of the transfer mechanism and the loading assembly. On this basis, the grinding operation of the silicon rod is completed by fixing the silicon rod (fixing the chuck assembly) and reciprocating the grinding assembly. Through the cooperation of the transfer mechanism and the unloading assembly, the silicon rod (the finished rod that has been ground) can be transferred out of the grinding device in a conventional clamping manner with a 0° surface.

[0276] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

Claims

1. A grinding machine, characterized in that, The grinding machine includes a gripper assembly, the gripper assembly comprising: First gripper assembly; and Second gripper assembly; Both the first gripper assembly and the second gripper assembly are capable of clamping the workpiece, and At least one of the first gripper assembly and the second gripper assembly is an adjusting gripper assembly, the adjusting gripper assembly comprising: First adjusting gripper; and Second adjustment of the gripper; The first adjusting jaw and the second adjusting jaw are at least able to move closer to / away from each other in a relatively independent manner; The grinding machine also includes: A gripper lateral movement mechanism, capable of driving at least one of the first gripper assembly and the second gripper assembly to move; and The switching component allows at least one of the first gripper assembly and the second gripper assembly to be fixedly mounted to the gripper lateral movement mechanism or to move relative to the gripper lateral movement mechanism by means of the switching component. The switching component includes a switching drive component and a switching component. The switching drive component can drive the switching component to change its state and cause the gripper lateral movement mechanism to establish a fixed constraint or release the constraint with the first gripper assembly and / or the second gripper assembly. The switching component is a clamping structure, and the switching drive component can drive the clamping structure to extend and establish a fixed constraint between the gripper lateral movement mechanism and the first gripper assembly and / or the second gripper assembly. The switching component further includes a reset structure so that: When the fixed constraint between the lateral movement mechanism of the gripper and the first gripper assembly and / or the second gripper assembly is released, the first gripper assembly and / or the second gripper assembly can be positioned in the set position of the grinding machine by means of the reset structure.

2. The grinding machine according to claim 1, characterized in that, The adjusting gripper assembly includes an adjusting gripper drive component, which is capable of driving one of the first adjusting gripper and the second adjusting gripper corresponding thereto to move closer to or further away from the other.

3. The grinding machine according to claim 2, characterized in that, The adjusting gripper assembly includes an adjusting gear rack pair, and the adjusting gripper drive component is capable of driving one of the first adjusting gripper and the second adjusting gripper corresponding to the adjusting gear rack pair to move closer to or further away from the other.

4. The grinding machine according to claim 3, characterized in that, The adjusting gripper assembly includes an adjusting guide structure, and the first adjusting gripper and the second adjusting gripper are movable along the adjusting guide structure.

5. The grinding machine according to claim 1, characterized in that, The first gripper assembly and the second gripper assembly include a fixed gripper assembly, the fixed gripper assembly comprising: First fixed gripper; and Second fixed gripper; The first fixed gripper and the second fixed gripper are capable of moving relative to each other in a synchronous manner, moving closer to or further away from each other.

6. The grinding machine according to claim 5, characterized in that, The fixed gripper assembly includes a fixed gripper driving component, which can directly drive or drive the first fixed gripper and the second fixed gripper to move synchronously closer to / away from each other via a fixed gripper transmission mechanism.

7. The grinding machine according to claim 6, characterized in that, The fixed gripper transmission mechanism is a fixed gripper screw and nut mechanism.

8. A control method for a grinding machine as described in any one of claims 1 to 7, characterized in that, The grinding machine includes a jaw assembly, which comprises a first jaw assembly and a second jaw assembly. Wherein, at least one of the first gripper assembly and the second gripper assembly is an adjusting gripper assembly, the adjusting gripper assembly including a first adjusting gripper and a second adjusting gripper. The control method includes: Based on the axial state of the workpiece held between the first and second gripper assemblies, at least one of the first and second adjusting grippers is moved closer to or further away from the other in a relatively independent manner.

9. The control method for a grinding machine according to claim 8, characterized in that, The adjusting gripper assembly includes an adjusting gripper drive component. The phrase "to move at least one of the first adjusting jaws and the second adjusting jaws closer to / away from the other in a relatively independent manner" includes: The adjusting gripper drive component drives the first adjusting gripper and / or the second adjusting gripper to move in a direction closer to / away from each other.

10. The control method for a grinding machine according to claim 9, characterized in that, The adjusting gripper assembly includes an adjusting gear and rack pair. The phrase "causing the adjusting gripper driving component to drive the first adjusting gripper and / or the second adjusting gripper to move in a direction toward / away from each other" includes: The adjusting gripper drive component drives the first adjusting gripper and / or the second adjusting gripper to move in a direction closer to / away from each other via the adjusting gear rack pair.

11. The control method for a grinding machine according to claim 8, characterized in that, The first gripper assembly and the second gripper assembly may include a fixed gripper assembly, wherein the fixed gripper assembly includes a first fixed gripper and a second fixed gripper. In the step of "advancing / moving at least one of the first adjusting jaw and the second adjusting jaw towards / away from the other in a relatively independent manner, based on the axial state of the workpiece clamped between the first jaw assembly and the second jaw assembly," the workpiece is clamped between the first jaw assembly and the second jaw assembly in the following manner: The first fixed jaw and the second fixed jaw move relative to each other in a synchronous manner, thereby clamping the workpiece between the first fixed jaw and the second fixed jaw.

12. The control method for a grinding machine according to claim 11, characterized in that, The fixed gripper assembly includes a fixed gripper drive component. The phrase "causing the first fixed jaw and the second fixed jaw to move relative to each other in a synchronous manner to clamp the workpiece between the first fixed jaw and the second fixed jaw" includes: The fixed gripper drive component can directly drive or drive the first fixed gripper and the second fixed gripper through the fixed gripper transmission mechanism to move synchronously closer to / away from each other.

13. The control method for a grinding machine according to claim 12, characterized in that, The fixed gripper transmission mechanism is a fixed gripper screw and nut mechanism.

14. The control method for a grinding machine according to claim 8, characterized in that, The grinding machine includes a jaw lateral movement mechanism and a switching assembly. The control method includes: During the process of moving at least one of the first gripper assembly and the second gripper assembly through the gripper lateral movement mechanism, The switching component switches the connection state of at least one of the first gripper assembly and the second gripper assembly with the gripper lateral movement mechanism so as to: This enables at least one of the first gripper assembly and the second gripper assembly to switch the connection state between being fixedly mounted to the gripper lateral movement mechanism and being able to move relative to the gripper lateral movement mechanism by means of the switching component.

15. The control method for a grinding machine according to claim 14, characterized in that, The switching component includes a switching drive component and a switching component. The phrase "switching the connection state of at least one of the first gripper assembly and the second gripper assembly with the gripper lateral movement mechanism" includes: The switching drive component causes the switching component to change its state, thereby establishing or releasing a fixed constraint between the gripper lateral movement mechanism and at least one of the first gripper assembly and the second gripper assembly.

16. The control method for a grinding machine according to claim 15, characterized in that, The switching component is a clamping structure. The phrase "causing the switching drive component to drive the switching component to undergo a state change" includes: The switching drive component drives the clamping structure to extend and establishes a fixed constraint between the gripper lateral movement mechanism and at least one of the first gripper assembly and the second gripper assembly.

17. A computer-readable storage medium comprising a memory adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the control method for the grinding machine according to any one of claims 8 to 16.

18. A computer device, the device comprising a memory and a processor, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the control method for the grinding machine according to any one of claims 8 to 16.

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