A feeding and discharging mechanism for processing brittle materials

Abstract

The application relates to a feeding and discharging mechanism for processing hard and brittle materials, which comprises a box, a first transfer table for vertically storing a plurality of workpieces, a first mechanical hand and a second mechanical hand, the first mechanical hand is used for picking up the vertically placed workpieces and switching the placing position between the box of the feeding and discharging mechanism for processing hard and brittle materials and the first transfer table of the feeding and discharging mechanism for processing hard and brittle materials, the second transfer table is used for horizontally placing the workpieces, and the second mechanical hand is used for overturning the workpieces so as to switch the placing position between the first transfer table of the feeding and discharging mechanism for processing hard and brittle materials and the second transfer table of the feeding and discharging mechanism for processing hard and brittle materials. The application can improve the protection level, reduce the equipment area and lower the equipment price.

Description

Technical Field

[0001] This invention relates to a loading and unloading mechanism for processing hard and brittle materials, belonging to the field of mechanical equipment. Background Technology

[0002] Brittle and hard materials possess characteristics such as high strength, high hardness, high brittleness, wear resistance, and corrosion resistance, which are unmatched by general metal materials. Among them, ceramics, cemented carbide, microcrystalline glass, ruby, sapphire, and artificial stone are just a few examples, widely used in electronics, automobiles, aerospace, and military fields. For instance, wafers, as brittle and hard materials, are the fundamental raw materials for manufacturing semiconductor devices. Their manufacturing process requires CNC machining of the wafer substrate, including grinding and chamfering. Specifically, silicon ingots, formed through crystal pulling, undergo grinding, polishing, and slicing processes to create silicon wafers, or wafers. Then, a series of processes are used to form circuit structures on the wafers, which are ultimately packaged into chips for use in various electronic devices. However, the technological barriers to manufacturing brittle and hard materials like wafers are very high, especially during the loading and unloading processes, where contact with particles, dust, and other contaminants can easily introduce defects, affecting the quality of subsequent processing steps. Currently, there are no dedicated automated loading and unloading mechanisms for wafer substrates and similar materials on the market. CNC machining in these areas primarily relies on manual loading and unloading, which is not only prone to large deviations but also inefficient and fails to meet customer needs. Some robotic arms used for brittle and hard materials have low protection levels, short reach, and significant limitations, also failing to meet the demands of automated loading and unloading in data processing. Summary of the Invention

[0003] This invention provides a loading and unloading mechanism for processing hard and brittle materials, aiming to at least solve one of the technical problems existing in the prior art. To this end, the invention proposes a loading and unloading mechanism for processing hard and brittle materials that can improve the protection level, reduce the equipment footprint, and lower the equipment price.

[0004] The technical solution of the present invention relates, in one aspect, to a loading and unloading mechanism for processing hard and brittle materials, comprising: Material box, used to vertically store multiple workpieces; The first transfer platform is used for vertically placing workpieces; The first robotic arm is used to pick up vertically placed workpieces and switch their placement positions between the material box and the first transfer table; The second transfer platform is used for horizontal placement of workpieces; The second robotic arm is used to flip the workpiece so that the workpiece can be switched between the first and second transfer tables.

[0005] Furthermore, the material box includes multiple material storage slots for vertically placing workpieces.

[0006] Furthermore, the material storage tank is provided with a first groove section and a second groove section and a third groove section that allow contact with the workpiece from top to bottom. The first groove section and the third groove section are vertically arranged, and the second groove section is inclined inward from top to bottom.

[0007] Furthermore, the first transfer platform is equipped with a transfer trough for vertically placing workpieces.

[0008] Furthermore, the transfer trough is provided with a fourth trough section from bottom to top, as well as a fifth and sixth trough section that allow contact with the workpiece. The fourth trough section is horizontally arranged, the sixth trough section is vertically arranged, and the fifth trough section is inclined inward from top to bottom.

[0009] Furthermore, it also includes a transfer track, on which both the first robotic arm and the second robotic arm are movably mounted.

[0010] Furthermore, the first robotic arm includes a first suction cup for picking up a workpiece and a rotating plate for changing the orientation of the first suction cup.

[0011] Furthermore, the second robotic arm includes a second suction cup for picking up a workpiece and a rotating shaft for flipping the workpiece, the second suction cup being disposed on the rotating shaft.

[0012] Furthermore, two sets of the second suction cups are symmetrically arranged on the rotating shaft.

[0013] Another aspect of the technical solution of the present invention relates to a loading and unloading method for a loading and unloading mechanism for processing hard and brittle materials, applied to the loading and unloading mechanism described in the above embodiments; the method includes the following steps: A110. When a blank workpiece loading instruction is received, the first robotic arm rotates so that the first suction cup faces the first direction, and the first robotic arm moves down to pick up the blank workpiece located on the first side of the material box; the first robotic arm moves the blank workpiece to the top of the first transfer platform and makes the first suction cup face the second direction; according to the first positioning recognition result, the first robotic arm moves down so that the blank workpiece enters the transfer trough, and then according to the second positioning recognition result, the relative position between the blank workpiece and the transfer trough is obtained, the pose of the blank workpiece is adjusted, and then the blank workpiece is placed on the first transfer platform; A200. When a finished workpiece unloading instruction is received, the first robotic arm rotates so that the first suction cup faces the second direction, and the first robotic arm moves down to pick up the finished workpiece located on the first transfer table; the first robotic arm moves the finished workpiece to the top of the material box; according to the third positioning recognition result, the first robotic arm moves down to make the finished workpiece enter the storage slot, and then according to the fourth positioning recognition result, the relative position between the finished workpiece and the storage slot is obtained. After adjusting the pose of the finished workpiece, the finished workpiece is placed in the storage slot on the second side of the material box.

[0014] The beneficial effects of this invention are as follows.

[0015] The automated equipment for processing hard and brittle materials according to embodiments of the present invention can improve the protection level, reduce the equipment footprint, and lower the equipment price.

[0016] The first robotic arm removes the workpiece from the material box, and the second robotic arm flips and switches the workpiece's position. By using two simple robotic arms in cooperation, the traditional, expensive, and space-consuming multi-degree-of-freedom robotic arms can be replaced, realizing the automated loading and unloading of workpieces placed vertically side by side in the material box. This can effectively reduce the equipment's footprint, reduce equipment price, and thus reduce production costs.

[0017] This invention, by setting up a first robotic arm that can rotate along the Z-axis, combined with two positioning recognitions, enables the robotic arm to vertically place workpieces in a transfer trough and multiple storage troughs. This effectively prevents workpieces from breaking during placement, and achieves automated loading and unloading of vertically placed workpieces, effectively reducing the floor space required. It also allows the material box to be placed in a corner of the equipment, facilitating the expansion of the production line. Furthermore, the invention is combined with a second robotic arm that can switch the position of workpieces between horizontal and vertical placement, replacing the traditional multi-degree-of-freedom robotic arm loading and unloading method, effectively reducing the equipment floor space and lowering the equipment cost.

[0018] By dividing the functional areas and adopting a transfer cleaning method, the impact of cutting fluid and grinding powder on the positioning device's recognition accuracy can be reduced. By setting up a first automatic door and a second automatic door, and cooperating with the transfer of the robotic arm component, it can effectively prevent cutting fluid and grinding powder from the processing area from falling onto the positioning device, which is conducive to improving the positioning accuracy of automatic loading and unloading. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a top view of the structure of an automated device according to an embodiment of the present invention.

[0020] Figure 2 This is a front view of the structure of an automated device according to an embodiment of the present invention.

[0021] Figure 3 This is a structural side view of an automated device according to an embodiment of the present invention.

[0022] Figure 4 This is a rear view of the structure of the storage area according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of the storage area according to an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the material box according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the structural movement direction of an automated device according to an embodiment of the present invention.

[0026] Figure 8 This is a flowchart of the workpiece processing of an automated device according to an embodiment of the present invention.

[0027] Figure 9 This is a flowchart of the loading and unloading process of the robotic arm in an automated device according to an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures: 100. Material box; 110. Material storage trough; 111. First trough section; 112. Second trough section; 113. Third trough section; 120. Moving device; 121. Moving block; 122. Moving guide rail; 123. Moving motor; 130. Side plate; 140. Partition plate; 200. First robotic arm; 210. First moving plate; 220. First guide rail; 230. First suction cup assembly; 231. First suction cup; 232. First connecting block; 233. Rotating plate; 234. First mounting plate; 300. Second robotic arm; 310. Second moving plate; 320. Second guide rail; 330. Second suction cup assembly; 331. Second suction cup; 332. Second connecting block; 333. Connecting bracket; 334. Rotating shaft; 335. Second mounting plate; 400. Third robotic arm; 410. Rotary table; 420. Telescopic guide rail; 430. Robotic arm; 440. Positioning device; 500. Transfer track; 600. First transfer platform; 610. Shelf; 620. Transfer trough; 621. Fourth trough section; 622. Fifth trough section; 623. Sixth trough section; 700. Second transfer station; 710. Cleaning equipment; 720. Storage platform; 810 Storage area; 820 Processing area; 830 Positioning area; 840 First automatic door; 850 Second automatic door; 860 CNC machine tool; 870 Wafer. Detailed Implementation

[0029] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0030] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0031] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0032] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0033] See Figures 1 to 9 The present invention provides a loading and unloading mechanism for processing hard and brittle materials, comprising a material box 100, a first transfer platform 600 for vertically storing multiple workpieces and for vertically placing the workpieces, a first robotic arm 200, and a second robotic arm 300. The first robotic arm 200 is used to pick up the vertically placed workpieces and switch their placement positions between the material box 100 and the first transfer platform 600 of the loading and unloading mechanism for processing hard and brittle materials. The second transfer platform 700 is used to horizontally place the workpieces, and the second robotic arm 300 is used to flip the workpieces so that the workpieces of the loading and unloading mechanism for processing hard and brittle materials can switch their placement positions between the first transfer platform 600 and the second transfer platform 700 of the loading and unloading mechanism for processing hard and brittle materials.

[0034] See Figure 1The automated equipment in this embodiment of the invention is provided with a processing area 820, a storage area 810 and a positioning area 830. The two areas are separated by an automatic door. By opening the automatic door, the workpiece can move between different areas. When the workpiece is being CNC machined, the automatic door can be closed to reduce the contamination of the positioning device 440 by processing dust particles, etc. This achieves automated loading and unloading while ensuring the recognition effect of the positioning device 440. Specifically, the storage area 810 and the positioning area 830 are located at the front and rear ends of the same side of the processing area 820. The storage area 810 is equipped with a material box 100 for storing workpieces and a cleaning device 710 for cleaning workpieces, as well as a first transfer table 600 and a second transfer table 700 for placing workpieces and switching workpiece positions. The processing area 820 is a CNC machine tool 860 for processing brittle and hard materials. The positioning area 830 is equipped with a positioning device 440. A first automatic door 840 is provided between the storage area 810 and the processing area 820, and a second automatic door 850 is provided between the storage area 810 and the positioning area 830. The workpieces are transferred between different areas through the robotic arm assembly.

[0035] See Figure 1 and Figure 2 The blank workpiece is placed vertically in the storage area 810. The robot arm assembly first takes the blank workpiece out of the material box 100, and then switches its position through the first transfer table 600 and the second transfer table 700. After cleaning is completed on the second transfer table 700, the second automatic door 850 is opened. The robot arm assembly transfers the horizontally placed blank workpiece to the positioning area 830. The second automatic door 850 is then closed. After the blank workpiece is positioned by the positioning device 440, the second automatic door 850 is opened again, and the workpiece is transferred back to the second transfer table 700 before the second automatic door 850 is closed. After the CNC machine tool 860 completes the machining of the current workpiece, the first automatic door 840 opens, and the robotic arm assembly transfers the blank workpiece from the second transfer table 700 into the CNC machine tool 860 and closes the first automatic door 840. After the CNC machining of the workpiece is completed, the first automatic door 840 opens again, the finished workpiece is transferred to the first transfer table 600, and the first automatic door 840 closes again. Finally, the robotic arm assembly places the workpiece back into the material box 100, thus completing the automated loading and unloading of one workpiece. By setting the first automatic door 840 and the second automatic door 850, and coordinating with the robotic arm assembly for transfer, cutting fluid and grinding powder from the machining area 820 can be effectively prevented from falling onto the positioning device 440, which helps improve the positioning accuracy of automatic loading and unloading. Furthermore, by dividing the functional areas and adopting a transfer cleaning method, the impact of cutting fluid and grinding powder on the recognition accuracy of the positioning device 440 can be reduced.

[0036] In some embodiments, the storage area 810 is provided with a material box 100, a cleaning device 710, a first transfer table 600, and a second transfer table 700. See also Figure 2 and Figure 4The first transfer station 600 and the material box 100 are respectively located on the left and right sides of the second transfer station 700. The cleaning device 710 is located on the front side of the second transfer station 700. The positioning area 830 is located on the rear side of the second transfer station 700. The processing area 820 is located on the left side of the first transfer station 600. The material box 100, which is used to store blank workpieces and finished workpieces, is located in one corner of the equipment, such as the upper left corner of the equipment. This facilitates manual loading and unloading of materials and allows for easy connection to equipment in other processes, thereby expanding the production line.

[0037] Specifically, the operator first places multiple workpieces into the material box 100, and then places the material box 100 into the storage area 810. The multiple workpieces are placed vertically in the material box 100. The robotic arm assembly removes one workpiece from the material box 100 and, via the first transfer table 600 and the second transfer table 700, changes the workpiece from vertical to horizontal placement. Simultaneously, on the second transfer table 700, the horizontally placed workpiece is cleaned by the cleaning device 710, transferred to the positioning device 440 for positioning, and then returned to the second transfer table 700, ready for processing by the CNC machine tool 860.

[0038] In some specific embodiments, the material box 100 is provided with a material storage slot 110, and the workpiece can be vertically inserted into the material storage slot 110 from above the material box 100. This allows the workpiece to be placed vertically within the material box 100, effectively saving space occupied by the storage area within the equipment and reducing the equipment's footprint. For example, if the brittle and hard material to be processed is a thin and brittle wafer 870, see [reference needed]. Figure 3 , Figure 5 and Figure 6 The material box 100 has a hollow structure and is roughly square in shape. It includes two side plates 130 and two partition plates. One side plate 130 has two sides connected to one side of each of the two partition plates 140, and the other side plate 130 has two sides connected to the other side of each of the two partition plates 140. A storage trough 110 is located inside the partition plate 140, with symmetrical arrangements on both sides. The upper opening of the storage trough 110 is located above the partition plate 140. The width of the storage trough 110 is slightly greater than the thickness of the workpiece, and the depth is slightly less than its width. This design ensures that when the robotic arm vertically inserts the workpiece into the storage trough 110, it is less likely to break due to contact with the material box 100. Simultaneously, it allows the workpiece to remain vertical at the designated position in the material box 100, facilitating automated loading and unloading by the robotic arm.

[0039] Further, see Figure 6The material storage tank 110 is arranged from top to bottom as a first tank section 111, a second tank section 112, and a third tank section 113. The first tank section 111 and the third tank section 113 are arranged vertically, and the third tank section 113 is located inside the first tank section 111. The second tank section 112 is arranged downward from the outside to the inside. It can be understood that the second tank section 112 can be parallel to a certain tangent line of the wafer 870. Specifically, the distance between the bottom walls of the two symmetrically arranged first slot sections 111 is slightly larger than the diameter of the wafer 870. When the robotic arm assembly moves above the material box 100 and determines the position of the storage slot for the workpiece in the tray through the first identification and positioning, it moves the workpiece down to place it into the material box 100. At this time, the lower side of the wafer 870 enters the material box 100. At this time, the wafer 870 is not in contact with the slot wall of the storage slot 110. At this time, a visual positioning system can be set above the material box 100 to take pictures of the wafer 870 and the material box 100 vertically. The second identification and positioning is performed to identify in real time whether the two sides of the wafer 870 are already inside the two symmetrically arranged material storage trays 110, and whether the two planes of the wafer 870 are between the two side walls of the material storage tray 110. If not, the posture of the wafer 870 can be adjusted in time. By performing an extra positioning before the wafer 870 enters the material box 100 but before contacting the material box 100, the risk of the wafer 870 being broken due to low positioning accuracy can be effectively reduced, thereby realizing the automated loading and unloading of the vertically placed robotic arm of the wafer 870. As the robotic arm assembly moves the wafer 870 further downward, both sides of the wafer 870 can contact the walls of the first slot 111, and the lower side of the wafer 870 can contact the walls of the second slot 112. The lowest side of the wafer 870 is suspended, meaning that the third slot 113 does not contact the wafer 870. By setting the first slot 111, the second slot 112, and the third slot 113, the wafer 870 can be stored in the material box 100 in a preset position, and the probability of the wafer 870 being broken is reduced.

[0040] In some specific embodiments, see Figure 2 and Figure 5Multiple material boxes 100 are provided in the storage area 810, and the material boxes 100 are placed on the moving device 120. For example, there may be two material boxes 100 in the storage area 810, so that multiple material boxes 100 can be loaded and unloaded alternately, so that the loading and unloading of the material boxes 100 by the operator will not affect the loading and unloading of the robot arm components. Specifically, the moving device 120 includes a moving block 121, a moving guide rail 122, and a moving motor 123. The material box 100 is set on the moving block 121, and the moving block 121 is set on the moving guide rail 122. The moving motor 123 causes the moving block 121 to drive the material box 100 to move along the moving guide rail 122. Furthermore, the equipment's external protective structure is equipped with a manual loading / unloading gate. The moving device 120 moves the material box 100 away from or towards the manual loading / unloading gate. When a finished workpiece is loaded into a material box 100 on one of the moving devices 120, the moving device 120 moves the material box 100 to the manual loading / unloading gate. The operator opens the gate, removes the material box 100 containing the finished workpiece, places a material box 100 containing the blank workpiece on top, and then closes the gate. The moving device 120 then moves the newly loaded material box 100 away from the automatic manual loading / unloading gate, awaiting retrieval by the robotic arm assembly. Furthermore, the moving block 121 may be equipped with a positioning part. The material box 100 is positioned on the moving block 121 with the assistance of the positioning part, thus achieving positioning of the material box 100 on the moving block 121. Furthermore, the moving block 121 may be equipped with a locking part. After the material box 100 is positioned, it is fixed to the moving block 121 by the locking part.

[0041] In some embodiments, see Figure 4 and Figure 5 The first transfer platform 600 has a transfer trough 620 on its upper side. The first robot arm 200 adjusts the workpiece's position so that the workpiece can be inserted into the transfer trough 620 from above, allowing the workpiece to be placed vertically on the first transfer platform 600. Specifically, the first transfer platform 600 includes a shelf 610, which is vertically arranged, and the transfer trough 620 is located on its upper side. The transfer trough 620 includes a fourth trough segment 621, two fifth trough segments 622, and two sixth trough segments 623. The fourth trough segment 621 can be horizontally positioned, with both ends connected to the lower ends of the two fifth trough segments 622. The upper ends of the two fifth trough segments 622 are connected to the lower ends of the two sixth trough segments 623. The upper opening of the sixth trough segment 623 is located on the upper side of the shelf 610. The sixth trough segment 623 can be vertically positioned, and the fifth trough segments 622 are inclined inward from top to bottom. It should be noted that the first transfer table 600 has a positioning function. After the workpiece is processed, the first robot arm 200 first places the workpiece on the first transfer table 600 for positioning, and then transfers the workpiece from the first transfer table 600 to the material box 100 (see...). Figure 8 and Figure 9 ).

[0042] In some specific embodiments, for example, if the brittle and hard material to be processed is wafer 870, the bottom wall distance between the two fifth groove segments 622 can be slightly greater than the distance between wafers 870. When wafer 870 is placed on the first transfer stage 600, the center line of wafer 870 is parallel to the transfer track 500, the two sides of wafer 870 are respectively embedded in the two sixth groove segments 623, the lower side of wafer 870 is in contact with the fifth groove segment 622, and the lowest side of wafer 870 is suspended.

[0043] Specifically, after the first robotic arm 200 moves above the first transfer platform 600 and determines the position of the transfer trough 620 for placing the workpiece in the first transfer platform 600 through the first identification and positioning, it moves the workpiece down to place it into the shelf 610. During this process, the lower side of the wafer 870 enters the shelf 610 without contacting the wall of the transfer trough 620. At this time, a visual positioning system can be set above the first transfer platform 600 to take pictures of the wafer 870 and the first transfer platform 600 vertically above it for a second positioning. The system identifies and positions the wafer 870 in real time to determine whether both sides of the wafer 870 are inside the two transfer trays 620, and whether the two planes of the wafer 870 are between the two side walls of the transfer trays 620. If not, the posture of the wafer 870 can be adjusted in time. By performing a second positioning before the wafer 870 enters the first transfer station 600 but before it contacts the placement plate 610, the system can effectively reduce the risk of the wafer 870 being broken due to low positioning accuracy, thereby realizing automated loading and unloading of the vertically placed wafer 870 by the robotic arm. As the robotic arm assembly moves the wafer 870 further downward, both sides of the wafer 870 can contact the walls of the sixth slot 623, and the lower side of the wafer 870 can contact the wall of the fifth slot 622. The lowest side of the wafer 870 is suspended, meaning that the fourth slot 621 does not contact the wafer 870. By setting the fourth slot 621, the fifth slot 622, and the sixth slot 623, the wafer 870 can be stored in the first transfer station 600 in a preset position, and the probability of the wafer 870 being broken is reduced.

[0044] Further, see Figure 4 and Figure 5The first transfer platform 600 may be equipped with multiple transfer troughs 620 of different widths, depths, and bottom heights. Specifically, the first transfer platform 600 includes multiple shelf plates 610 with different specifications of transfer troughs 620. The shelf plates 610 are vertically arranged and placed side by side along the transfer track 500. The transfer troughs 620 are located on the upper side of the shelf plates 610, thereby accommodating the placement requirements of workpieces of different specifications and avoiding frequent replacement of the first transfer platform 600. For example, the first transfer platform 600 is equipped with multiple shelf plates 610, and the opening width of the multiple transfer troughs 620 (i.e., the distance between two sixth trough segments 623) increases sequentially from left to right, thereby allowing workpieces with progressively larger diameters to be placed from left to right.

[0045] In some embodiments, see Figure 4 and Figure 5 The second transfer table 700 is equipped with a shelf 720 on which workpieces can be placed horizontally. It should be noted that vacuum adsorption and electrostatic adsorption methods can be used to fix the workpieces to the second transfer table 700. A cleaning device 710 is located on the side of the second transfer table 700 and can clean the workpieces on the second transfer table 700. For example, the cleaning device 710 may include an air knife to clean the workpieces by blowing air through the air knife.

[0046] In some embodiments, see Figure 1 and Figure 2 The robotic arm assembly includes a first robotic arm 200, a second robotic arm 300, and a third robotic arm 400. The first robotic arm 200 is used to take a workpiece from the material box 100 and place it on the first transfer table 600. The second robotic arm 300 is used to pick up the workpiece on the first transfer table 600 and change it from a vertical setting to a horizontal setting. After the workpiece is placed horizontally on the second transfer table 700, the second automatic door 850 opens. The third robotic arm 400 transfers the workpiece on the second transfer table 700 to the positioning device 440. After positioning by the positioning device 440, the third robotic arm 400 puts the workpiece back on the second transfer table 700. After the CNC machine tool 860 completes the processing of the current workpiece, the first automatic door 840 opens. The second robotic arm 300 transfers the workpiece in the processing area 820 to the first transfer table 600 and transports the workpiece on the second transfer table 700 to the CNC machine tool 860 for processing.

[0047] In some specific embodiments, both the first robotic arm 200 and the second robotic arm 300 are movably mounted on the transfer track 500, with the two sides of the transfer track 500 respectively located in the storage area 810 and the processing area 820. The second robotic arm 300 is positioned on the side of the first robotic arm 200 closer to the processing area 820. The first transfer table 600, the second transfer table 700, the material box 100, and the worktable of the CNC machine tool 860 can all be located below the transfer track 500, allowing the first robotic arm 200 and the second robotic arm 300 to switch workpiece placement positions. Specifically, when the second robotic arm 300 is loading and unloading workpieces onto the CNC machine tool 860, the first robotic arm 200 can simultaneously load workpieces onto the first transfer table 600, the third robotic arm 400 can simultaneously transfer workpieces from the second transfer table 700 for workpiece positioning, and the operator can simultaneously load and unload one of the material boxes 100, thereby enabling multiple processes to be performed simultaneously and reducing downtime.

[0048] See Figure 4 , Figure 5 and Figure 7 The first robotic arm 200 is equipped with a first movable plate 210, a first guide rail 220, and a first suction cup assembly 230. The first movable plate 210 is horizontally movable on the transfer track 500, the first guide rail 220 is vertically movable on the first movable plate 210, and the first suction cup assembly 230 can move vertically with the first guide rail 220. The first suction cup assembly 230 is equipped with multiple first suction cups 231, which are arranged on the same plane, allowing the first robotic arm 200 to pick up vertically placed workpieces. For example, multiple wafers 870 are arranged side by side along the transfer track 500, with the center lines of the wafers 870 parallel to the transfer track 500. The first robotic arm 200 moves to the right side of the material box 100 and picks up the rightmost wafer 870 in the material box 100.

[0049] Furthermore, the first suction cup assembly 230 also includes a first connecting block 232, a rotating plate 233, and a first mounting plate 234. The first connecting block 232 is fixed to the lower side of the first guide rail 220. The rotating plate 233 is rotatably disposed at the lower end of the first connecting block 232. The upper and lower ends of the first mounting plate 234 are respectively connected to the rotating plate 233 and the first suction cup 231. The rotating plate 233 can drive the workpiece to rotate around the Z-axis, and the first connecting block 232 can drive the workpiece to move up and down, so that the workpiece's position can be changed by the first robot arm 200 during the process of transferring the workpiece from the material box 100 to the first transfer table 600. It is understood that four first suction cups 231 can be provided on the first mounting plate 234.

[0050] See Figure 1The material box 100 is provided with multiple material storage slots 110. Multiple material storage slots 110 on one side hold blank workpieces, while multiple material storage slots 110 on the other side are empty. For example, the multiple material storage slots 110 on the right side of the material box 100 are used to hold blank workpieces, while the material storage slots 110 on the left side of the material box 100 are empty. Furthermore, the first transfer table 600 is used to hold multiple workpieces, the diameter of which decreases from right to left. When the first robotic arm 200 places a workpiece into the transfer slot 620, the workpiece is positioned to the right of the first suction cup 231.

[0051] Specifically, see Figure 8 and Figure 9 After the operator fixes the material box 100 containing the blank workpiece in half of the aforementioned material storage trough 110 to the moving device 120, the moving device 120 drives the material box 100 to move inwards towards the equipment, so that the material box 100 reaches below the transfer track 500. During the process of loading the blank workpiece from the material box 100 to the first transfer table 600 by the first robotic arm 200, the rotating block first rotates so that the suction end of the first suction cup 231 faces away from the processing area 820. The first suction cup 231 contacts the right side of the blank workpiece on the far right, thereby picking up the vertically placed blank workpiece. Then, the workpiece is moved along the transfer track 500 to the top of the first transfer table 600. The rotating block drives the vertically placed workpiece to rotate around the Z-axis, so that the blank workpiece is to the right of the first suction cup 231. After the first identification and positioning and the second identification and positioning, the workpiece is moved downwards so that the workpiece can be inserted into the first transfer table 600. During the process of transferring the finished workpiece from the first transfer station 600 to the material box 100 by the first robot arm 200, the first suction end of the first suction cup 231 is first turned away from the processing area 820 by the rotating block. After the first suction cup 231 reaches the left side of the finished workpiece, the first suction cup 231 contacts the left side of the finished workpiece, picks up the vertically placed finished workpiece and lifts it up. The first robot arm 200 moves along the transfer track 500 to the upper left side of the material box 100. Through the first identification and positioning and the second identification and positioning, the finished workpiece is placed into the empty storage slot 110 on the far right of the material box 100.

[0052] See Figure 4 , Figure 5 and Figure 7The second robotic arm 300 is provided with a second movable plate 310, a second guide rail 320 and a second suction cup assembly 330. The second movable plate 310 is horizontally movable on the transfer track 500, the second guide rail 320 is vertically movable on the second movable plate 310, and the second suction cup assembly 330 can move up and down with the second guide rail 320. Furthermore, the second suction cup assembly 330 includes a second connecting block 332, a connecting bracket 333, a rotating shaft 334, and a second mounting plate 335. The second connecting block 332 is fixed to the lower end of the second guide rail 320. The connecting bracket 333 is U-shaped, with its upper side connected to the second connecting block 332 and its lower sides rotatably connected to both ends of the rotating shaft 334. The second mounting plate 335 is fixed to the middle of the rotating shaft 334 and can rotate with the rotating shaft 334. Multiple second suction cups 331 are disposed on the second mounting plate 335, with multiple second suction cups 331 on the same side on the same plane. After the second robot arm 300 picks up the workpiece, it drives the second suction cups 331 and the second mounting plate 335 to rotate around the Y-axis via the rotating shaft 334, allowing the workpiece to be placed horizontally or vertically.

[0053] Further, see Figure 3 and Figure 5 Two second mounting plates 335 are provided, symmetrically arranged on the rotating shaft 334. Each second mounting plate 335 is provided with multiple second suction cups 331. Specifically, after the lower second suction cup 331 picks up the horizontally arranged blank workpiece on the second transfer table 700, the workpiece is flipped around the Y-axis by the rotating shaft 334 so that the workpiece is on top of another set of second suction cups 331. That is, the second suction cup 331 that was originally on the lower side with the blank workpiece is rotated to the upper side, and moved along the transfer track 500 to the worktable of the CNC machine tool 860. The finished workpiece on the worktable is picked up by the lower second suction cup 331 that is not holding the blank workpiece, and then flipped by the rotating shaft 334. The two sets of second suction cups 331 are rotated, and the second robot arm 300 moves up and down to make the blank workpiece lower. After the blank workpiece is placed on the worktable, the second robot arm 300 transports the finished workpiece out of the CNC machine tool 860 along the transfer track 500. After the workpiece is rotated by the rotating shaft 334, the finished workpiece is changed from horizontal to vertical placement and then placed on the first transfer table 600. The first robot arm 200 takes the finished workpiece off the first transfer table 600 and transfers it to the material box 100.

[0054] The robotic arm assembly of this invention includes a first robotic arm 200 and a second robotic arm 300, enabling automated transfer of workpieces between the material box 100 and the CNC machine tool 860. This allows for simultaneous, step-by-step loading and unloading of workpieces from both the manual loading / unloading of the material box 100 and the CNC machine tool, reducing downtime and allowing operators to load and unload multiple workpieces at once. The first robotic arm 200 removes workpieces from the material box 100, while the second robotic arm 300 rotates and switches the workpiece's position. This simple combination of two robotic arms replaces traditional, expensive, and space-consuming multi-degree-of-freedom robotic arms, achieving automated loading and unloading of vertically arranged workpieces within the material box 100. This effectively reduces the equipment's footprint, lowers equipment prices, and consequently reduces production costs.

[0055] In some embodiments, see Figure 1 and Figure 3 The third robotic arm 400 includes a rotating platform 410, a telescopic guide rail 420, and a robotic arm 430. The telescopic guide rail 420 is disposed on the upper side of the rotating platform 410, and the robotic arm 430 is movably disposed on the telescopic guide rail 420, allowing the robotic arm 430 to extend outside the telescopic guide rail 420 or retract above the telescopic guide rail 420. Specifically, see [link to documentation]. Figure 8 and Figure 9 The rotating platform 410 is located to the left of the positioning device 440 and behind the second transfer platform 700. The rotation of the rotating platform 410 allows the picking end of the robotic arm 430 to face either the positioning device 440 or the second transfer platform 700. When the second automatic door 850 opens, the rotating platform 410 drives the telescopic guide rail 420 and the robotic arm 430 to rotate, allowing the robotic arm 430 to enter the storage area. The robotic arm 430 extends along the telescopic guide rail 420, picks up the workpiece from the second transfer platform 700, and then retracts along the telescopic guide rail 420. The rotating platform 410 then rotates, causing the workpiece to enter the positioning area 830. After the turntable 410 rotates to the set position, the robotic arm 430 extends outward, places the workpiece on the positioning device 440, and then retracts. Once the workpiece is positioned, the robotic arm 430 extends to remove the positioned workpiece from the positioning device 440, and then retracts. The second automatic door 850 opens, and the turntable 410 rotates the robotic arm 430, causing it to extend and place the workpiece on the second transfer platform 700, thus completing the workpiece positioning. It can be understood that the third robotic arm 400 can be a Bernoulli robotic arm, utilizing Bernoulli's principle to adsorb workpieces such as wafers 870.

[0056] This invention utilizes functional partitioning, including a storage area 810, a processing area 820, and a positioning area 830, along with a transfer and cleaning system. This reduces the impact of particles, cutting fluid, and grinding powder during processing on the recognition accuracy of the positioning device 440. The robotic arm assembly includes a first robotic arm 200 for loading and unloading the material box 100, a second robotic arm 300 for loading and unloading the CNC machine tool 860, and a third robotic arm 400 for loading and unloading the positioning device 440. This improves the protection level of the robotic arm, solves the problem of limited extension in existing robotic arms, and enables automated loading and unloading of brittle and hard materials. Through the rotation of the first robotic arm 200 and the flipping of the second robotic arm 300, the workpiece can be placed vertically in the material box 100 and the first transfer table 600. This allows a simpler robotic arm to replace the multi-degree-of-freedom robotic arm 430, effectively reducing equipment area and cost.

[0057] See Figures 1 to 9 The control method for an automated equipment for processing hard and brittle materials according to the technical solution of the present invention is applied to the automated equipment for processing hard and brittle materials in the embodiments of the present invention, and the method includes at least the following steps: S100, the second robot arm 300 places the blank workpiece on the first transfer table 600 onto the second transfer table 700 for cleaning; S200, the first robot 200 places the finished workpiece on the first transfer table 600 into one of the material boxes 100 and takes out the blank workpiece from the other material box 100 and places it on the first transfer table 600. At the same time, the third robot 400 places the cleaned blank workpiece on the second transfer table 700 onto the positioning device 440 and puts the positioned blank workpiece back onto the second transfer table 700. S300. After receiving the completion instruction from the CNC machine tool 860, the second robot arm 300 moves the pre-positioned blank workpiece on the second transfer table 700 into the CNC machine tool 860. First, it picks up the finished workpiece on the CNC machine tool 860, and then places the blank workpiece on the CNC machine tool 860. S400, the second robot arm 300 moves the finished workpiece out of the CNC machine tool 860, picks up the blank workpiece at the first transfer table 600, and then places the finished workpiece taken out from the CNC machine tool 860 onto the first transfer table 600. S500. Repeat steps S100 to S400 until a completion instruction is received.

[0058] See Figures 1 to 9 The loading and unloading method of the loading and unloading mechanism for processing hard and brittle materials according to the technical solution of the present invention is applied to the automated equipment and its loading and unloading mechanism for processing hard and brittle materials in the embodiments of the present invention. The method includes at least the following steps: A110. When a blank workpiece loading instruction is received, the first robot arm 200 rotates so that the first suction cup 231 faces the first direction, and the first robot arm 200 moves down to pick up the blank workpiece located on the first side of the material box 100; the first robot arm 200 moves the blank workpiece to above the first transfer table 600 and makes the first suction cup 231 face the second direction; according to the first positioning recognition result, the first robot arm 200 moves down so that the blank workpiece enters the transfer trough 620, and then according to the second positioning recognition result, the relative position between the blank workpiece and the transfer trough 620 is obtained, the pose of the blank workpiece is adjusted, and then the blank workpiece is placed on the first transfer table 600. A200. When a finished workpiece unloading instruction is received, the first robot arm 200 rotates so that the first suction cup 231 faces the second direction, and the first robot arm 200 moves down to pick up the finished workpiece located on the first transfer table 600; the first robot arm 200 moves the finished workpiece to the top of the material box 100; according to the third positioning recognition result, the first robot arm 200 moves down so that the finished workpiece enters the storage trough 110, and then according to the fourth positioning recognition result, the relative position between the finished workpiece and the storage trough 110 is obtained, the pose of the finished workpiece is adjusted, and then the finished workpiece is placed in the storage trough 110 on the second side of the material box 100.

[0059] This invention, by setting up a first robotic arm 200 that can rotate along the Z-axis, and cooperating with two positioning recognitions, enables the robotic arm to vertically place workpieces in the transfer trough 620 and multiple storage troughs 110. While effectively preventing workpiece breakage during placement, it realizes automated loading and unloading of vertically placed workpieces, effectively reducing the floor space occupied, and allowing the material box 100 to be set in a corner of the equipment, facilitating the expansion of the production line. In addition, it is combined with a second robotic arm 300 that can switch the posture of workpieces between horizontal and vertical placement, replacing the traditional multi-degree-of-freedom robotic arm 430 loading and unloading method, effectively reducing the equipment floor space and lowering the equipment cost.

[0060] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A loading and unloading mechanism for processing hard and brittle materials, characterized in that, include: The facility includes a processing area (820), a storage area (810), and a positioning area (830). A first automatic door (840) is provided between the storage area (810) and the processing area (820), and a second automatic door (850) is provided between the storage area (810) and the positioning area (830). The storage area (810) is provided with a material box (100), a cleaning device (710), a first transfer station (600) and a second transfer station (700). The first transfer station (600) and the material box (100) are respectively located on the left and right sides of the second transfer station (700). The cleaning device (710) is located on the front side of the second transfer station (700). The positioning area (830) is located on the rear side of the second transfer station (700). The processing area (820) is located on the left side of the first transfer station (600). The material box (100) for storing blank workpieces and finished workpieces is located in one corner of the equipment. Material box (100) is used to vertically store multiple workpieces; The first transfer station (600) is used for vertically placing workpieces; The first robotic arm (200) is used to pick up vertically placed workpieces and switch their placement positions between the material box (100) and the first transfer table (600); The second transfer station (700) is used for horizontal placement of workpieces; The second robotic arm (300) is used to flip the workpiece so that the workpiece can be switched between the first transfer table (600) and the second transfer table (700); The first robotic arm (200) and the second robotic arm (300) are movably mounted on the transfer track (500); the first transfer platform (600), the second transfer platform (700), the material box (100) and the worktable of the CNC machine tool (860) are all located below the transfer track (500).

2. The loading and unloading mechanism for processing hard and brittle materials according to claim 1, characterized in that, The material box (100) includes a plurality of material storage slots (110) for vertically placing workpieces.

3. The loading and unloading mechanism for processing hard and brittle materials according to claim 2, characterized in that, The material storage tank (110) is provided with a first groove section (111) and a second groove section (112) and a third groove section (113) that allow contact with the workpiece from top to bottom. The first groove section (111) and the third groove section (113) are vertically arranged, and the second groove section (112) is inclined inward from top to bottom.

4. The loading and unloading mechanism for processing hard and brittle materials according to claim 1, characterized in that, The first transfer station (600) is provided with a transfer trough (620) for vertically placing workpieces.

5. The loading and unloading mechanism for processing hard and brittle materials according to claim 4, characterized in that, The transfer trough (620) is provided with a fourth trough section (621) from bottom to top, as well as a fifth trough section (622) and a sixth trough section (623) that allow contact with the workpiece. The fourth trough section (621) is horizontally arranged, the sixth trough section (623) is vertically arranged, and the fifth trough section (622) is inclined inward from top to bottom.

6. The loading and unloading mechanism for processing hard and brittle materials according to claim 5, characterized in that, The first robotic arm (200) includes a first suction cup (231) for picking up a workpiece and a rotating plate (233) for changing the orientation of the first suction cup (231).

7. The loading and unloading mechanism for processing hard and brittle materials according to claim 5, characterized in that, The second manipulator (300) includes a second suction cup (331) for picking up a workpiece and a rotating shaft (334) for flipping the workpiece, the second suction cup (331) being disposed on the rotating shaft (334).

8. The loading and unloading mechanism for processing hard and brittle materials according to claim 7, characterized in that, Two sets of second suction cups (331) are symmetrically arranged on the rotating shaft (334).

9. A loading / unloading method for a loading / unloading mechanism for processing hard and brittle materials, applied to the loading / unloading mechanism according to any one of claims 1 to 8; the method includes the following steps: A110. When a blank workpiece loading instruction is received, the first robot (200) rotates so that the first suction cup (231) faces the first direction, and the first robot (200) moves down to pick up the blank workpiece located on the first side of the material box (100); the first robot (200) moves the blank workpiece to the top of the first transfer platform (600) and makes the first suction cup (231) face the second direction; according to the first positioning recognition result, the first robot (200) moves down so that the blank workpiece enters the transfer trough (620), and then according to the second positioning recognition result, the relative position between the blank workpiece and the transfer trough (620) is obtained, the pose of the blank workpiece is adjusted, and then the blank workpiece is placed on the first transfer platform (600); A200. When the finished workpiece unloading instruction is received, the first robot (200) rotates so that the first suction cup (231) faces the second direction. The first robot (200) moves down to pick up the finished workpiece located on the first transfer table (600). The first robot (200) moves the finished workpiece to the top of the material box (100). According to the third positioning recognition result, the first robot (200) moves down so that the finished workpiece enters the storage trough (110). Then, according to the fourth positioning recognition result, the relative position between the finished workpiece and the storage trough (110) is obtained. After adjusting the pose of the finished workpiece, the finished workpiece is placed in the storage trough (110) on the second side of the material box (100).

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