Cutting and grinding all-in-one machine and control method thereof

Abstract

The invention relates to the field of crystal bar machining, in particular to a cutting and grinding all-in-one machine and a control method thereof.The cutting and grinding all-in-one machine comprises a machine body, a feeding assembly, a discharging assembly, a cutting assembly, a grinding assembly and a transferring assembly, and the cutting assembly, the feeding assembly, the grinding assembly and the discharging assembly are arranged in the machine body side by side in the width direction of the machine body; the grinding assembly comprises a plane grinding assembly and a chamfer grinding assembly, the chamfer grinding assembly and the plane grinding assembly are integrally arranged, and the feeding assembly and the discharging assembly can move in the length direction of the machine body; the transferring assembly comprises a manipulator which can move in the machine body width direction and the machine body height direction. The invention further discloses a control method of the cutting and grinding all-in-one machine. The related moving structure of the manipulator is simplified, can be compactly arranged and is convenient for subsequent maintenance; and the design that the chamfer grinding assembly and the plane grinding assembly are integrally arranged is adopted, and the structural compactness can be improved.

Description

Technical Field

[0001] The present invention relates to the field of crystal rod processing, and in particular to a cutting and grinding integrated machine and a control method thereof. Background Art

[0002] Equipment for processing silicon rods usually includes cutting machines, square machines and slicers, which are used for cutting, squaring and slicing of silicon rods. Among them, the cutting machine is mainly used to cut the longer silicon rods into shorter silicon rods (usually round rods), the square machine is mainly used to cut the cut round rods into square rods along the length direction, and the slicer is mainly used to slice the square rods after cutting, and finally obtain thin silicon wafers to be used. With the development of the photovoltaic industry, there is also a demand for silicon wafer products corresponding to half rods (usually rods formed by cutting the above square rods in half along the length direction).

[0003] In the processing of the above-mentioned half-rod products, the prior art usually uses a half-rod processing equipment, which requires the crystal rod to be processed to pass through the loading component, cutting component, grinding component and unloading component in sequence, and respectively perform the processes of loading, cutting, grinding and unloading to complete the processing of the half-rod product. In the arrangement of the processing components of each process of the equipment, taking the grinding component as an example, it includes a chamfering grinding component and a surface grinding component, two processing parts, usually chamfering grinding and surface grinding are designed independently of each other, and need to be processed through a longer grinding platform and the chamfering grinding component and surface grinding component arranged at intervals on the grinding platform, resulting in a larger overall equipment size, more structures, and more cumbersome maintenance; in addition, the existing processing equipment mostly adopts a transfer design of three-axis movement of the manipulator, and the corresponding arrangement of the manipulator moving structure also leads to an increase in the overall equipment size, which is not compact enough, and the corresponding processing moving path of each process is also increased, and the processing time is increased, which also has a certain impact on the processing efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a cutting and grinding integrated machine and a control method thereof which can reduce the equipment volume and improve the structural compactness.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a cutting and grinding machine, comprising a machine body, a loading assembly, a unloading assembly, a cutting assembly, a grinding assembly and a transfer assembly, wherein the cutting assembly, the loading assembly, the grinding assembly and the unloading assembly are arranged side by side in the machine body along the width direction of the machine body; the grinding assembly comprises a surface grinding assembly and a chamfering grinding assembly, and the chamfering grinding assembly and the surface grinding assembly are arranged integrally, and the loading assembly and the unloading assembly are both movable along the length direction of the machine body; the transfer assembly comprises a manipulator, and the manipulator is movable along the width direction and the height direction of the machine body, and the unloading position of the loading assembly, the loading position of the unloading assembly, and the processing positions of the cutting assembly and the grinding assembly are all located on the moving path of the manipulator.

[0006] A control method for a cutting and grinding machine, which is applied to the above-mentioned cutting and grinding machine, comprises the following steps: after placing a crystal rod on the loading assembly, the loading assembly is moved along the length direction of the machine body to deliver the crystal rod to the unloading position of the loading assembly; then the manipulator is moved transversely along the width direction of the machine body to the unloading position of the loading assembly to grab the crystal rod, and then is moved transversely again to the processing position of the cutting assembly, and the cutting assembly performs the cutting process; after the cutting process is completed, the manipulator grabs the cut crystal rod and moves transversely to the processing position of the grinding assembly, and the chamfering grinding assembly and the surface grinding assembly perform the chamfering grinding process and the surface grinding process on the crystal rod in turn; after the chamfering grinding process and the surface grinding process are completed, the manipulator grabs the ground crystal rod and moves transversely to the loading position of the unloading assembly, and the crystal rod is transported out of the machine body through the unloading assembly.

[0007] The beneficial effects of the present invention are as follows: through the cooperation of the cutting assembly, loading assembly, grinding assembly and unloading assembly arranged side by side with the manipulator, the manipulator can move along a single body width direction to respectively complete the taking and placing of the crystal rods on the loading assembly, cutting assembly, grinding assembly and unloading assembly; correspondingly, the relevant moving structure of the manipulator is simpler than the traditional three-axis manipulator, the weight is reduced, the overall structure is reduced in volume, the layout is compact, and subsequent maintenance is convenient; the design of the integrated arrangement of the chamfering grinding assembly and the surface grinding assembly can achieve a reduction in the overall volume and improve the compactness of the structure compared to the traditional split-and-spaced arrangement; in addition, by arranging the loading assembly between the cutting assembly and the grinding assembly, the cutting and grinding processes can be spaced apart to avoid waste materials from splashing to the other component during the two processing steps and affecting the processing accuracy.

[0008] The crystal rod is grabbed by the manipulator and passed through the loading assembly, cutting assembly, grinding assembly and unloading assembly to complete the cutting and grinding operations. The control of the manipulator's horizontal movement can simplify the structure, reduce the size of the equipment, improve the control stability, and facilitate the subsequent maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a structural schematic diagram of a cutting and grinding machine according to a specific embodiment of the present invention;

[0010] Figure 2 It is a structural schematic diagram of a feeding assembly of a cutting and grinding integrated machine according to a specific embodiment of the present invention;

[0011] Figure 3 It is a structural schematic diagram of a bearing platform of a cutting and grinding machine according to a specific embodiment of the present invention;

[0012] Figure 4 It is a structural schematic diagram of a transfer assembly of a cutter-grinding machine according to a specific embodiment of the present invention;

[0013] Figure 5 It is a schematic structural diagram of a surface grinding assembly and a chamfering grinding assembly of a cutting and grinding machine according to a specific embodiment of the present invention;

[0014] Figure 6 It is a schematic structural diagram of a grinding platform of a cutting and grinding machine according to a specific embodiment of the present invention;

[0015] Figure 7 It is a schematic structural diagram of a blanking assembly of a cutting and grinding machine according to a specific embodiment of the present invention.

[0016] Description of labels:

[0017] 1. Machine body; 2. Loading assembly; 21. Loading conveyor belt; 22. First cleaning nozzle; 23. First cleaning brush; 3. Unloading assembly; 31. Unloading conveyor belt; 4. Cutting assembly; 41. Carrying platform; 42. Cutting device; 5. Grinding assembly; 51. Grinding platform; 52. Grinding seat; 53. Mounting base; 54. Grinding fixed cylinder; 55. Oilstone assembly; 56. Calibration assembly; 57. Surface grinding assembly; 58. Chamfering grinding assembly; 6. Transfer assembly; 61. Manipulator; 62. Mobile frame. DETAILED DESCRIPTION

[0018] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0019] Please refer to Figures 1 to 7 A cutting and grinding machine comprises a machine body 1, a loading assembly 2, a unloading assembly 3, a cutting assembly 4, a grinding assembly 5 and a transfer assembly 6, wherein the cutting assembly 4, the loading assembly 2, the grinding assembly 5 and the unloading assembly 3 are arranged side by side in the machine body 1 along the width direction of the machine body 1; the grinding assembly 5 comprises a surface grinding assembly 57 and a chamfering grinding assembly 58, and the chamfering grinding assembly 58 and the surface grinding assembly 57 are arranged integrally, and the loading assembly 2 and the unloading assembly 3 are both movable along the length direction of the machine body 1; the transfer assembly 6 comprises a manipulator 61, and the manipulator 61 is movable along the width direction and the height direction of the machine body 1, and the unloading position of the loading assembly 2, the loading position of the unloading assembly 3 and the processing positions of the cutting assembly 4 and the grinding assembly 5 are all located on the moving path of the manipulator 61.

[0020] From the above description, it can be seen that the beneficial effects of the present invention are: through the cooperation of the cutting component 4, loading component 2, grinding component 5 and unloading component 3 arranged side by side with the manipulator 61, the manipulator 61 can move along the width direction of the single body 1 to complete the loading component 2, the cutting component 4, the grinding component 5 and the crystal rod on the unloading component 3 respectively; correspondingly, the relevant moving structure of the manipulator 61 is simpler than the traditional three-axis manipulator 61, the weight is reduced, the overall structure is reduced in volume, the layout is compact, and subsequent maintenance is convenient; the design of the integrated arrangement of the chamfering grinding component 58 and the surface grinding component 57 can achieve a reduction in the overall volume and improve the compactness of the structure compared to the traditional split-type spacing arrangement; in addition, the arrangement of the loading component 2 between the cutting component 4 and the grinding component 5 can space the cutting and grinding processes, thereby avoiding the waste material splashing to the other component during the two processing steps and affecting the processing accuracy.

[0021] Furthermore, the grinding assembly 5 also includes a grinding platform 51, which is movable along the length direction of the body 1; two inclined grinding seats 52 are symmetrically arranged on the grinding platform 51 along the length direction of the body 1, and the grinding seats 52 are used to place the crystal rod processed by the cutting assembly 4; the surface grinding assembly 57 and the chamfering grinding assembly 58 are arranged on the moving path of the grinding platform 51.

[0022] As can be seen from the above description, the design of the grinding platform 51 with an inclined grinding seat 52 can reduce the space occupied in the width direction of the equipment, and use the space in the height direction of the equipment for grinding operations, compared with the traditional flat grinding seat 52; the surface grinding component 57 and the chamfering grinding component 58 can also be arranged in the height direction of the equipment to cooperate with the grinding seat 52, thereby reducing its size in the width direction of the equipment and allowing other components to be arranged more compactly.

[0023] Furthermore, the grinding platform 51 includes a mounting base 53 , the grinding seat 52 is disposed on the mounting base 53 , and the mounting base 53 is movable along the length direction of the machine body 1 ; a hollow portion is disposed in the middle of the mounting base 53 .

[0024] From the above description, it can be seen that the grinding platform 51 realizes the grinding of the crystal rod by moving the mounting base 53 in the length direction of the machine body 1 in cooperation with the surface grinding component 57 and the chamfering grinding component 58; the hollow part design on the mounting base 53 can reduce the weight of the equipment, improve the movement accuracy, and also serve as the layout space of other components.

[0025] Furthermore, the grinding assembly 5 also includes a grinding fixed cylinder 54 , a fixed end of which is fixed in a hollow portion of the mounting base 53 , and a driving end of which protrudes from the mounting base 53 and is opposite to the grinding seat 52 .

[0026] It can be seen from the above description that after the crystal rod is placed on the grinding seat 52 of the grinding platform 51, the driving end of the grinding fixing cylinder 54 is moved to press the crystal rod onto the grinding seat 52 to ensure that the crystal rod is fixed during processing; the fixed end of the grinding fixing cylinder 54 is arranged at the hollow part of the mounting base 53, and the components are reasonably arranged using the space of the hollow part to reduce the occupied volume, while also playing a certain hidden protection role.

[0027] Furthermore, the grinding assembly 5 also includes an oilstone assembly 55, which is opposite to the chamfering grinding assembly 58 and the surface grinding assembly 57; the oilstone assembly 55 includes a grinding oilstone and a rotating motor, the grinding oilstone is rotatably arranged on the mounting base 53, and the rotating motor is arranged in the hollow part of the mounting base 53 and is transmission-connected to the grinding oilstone.

[0028] As can be seen from the above description, the oilstone assembly 55 is used as a component for grinding the tools of the chamfer grinding assembly 58 and the surface grinding assembly 57. The grinding oilstone is rotatably arranged on the mounting base 53 by a rotating motor, which can improve the grinding efficiency of the tools of the chamfer grinding assembly 58 and the surface grinding assembly 57. The design of the rotating motor in the hollow part of the mounting base 53 utilizes the space of the hollow part for reasonable arrangement, reduces the occupied volume, and also plays a certain role in concealment and protection.

[0029] Furthermore, the cutting assembly 4 includes two supporting platforms 41 and a cutting device 42. The body 1 is provided with a movable slide rail along its length direction. The two supporting platforms 41 are respectively arranged on both sides of the movable slide rail, and the cutting device 42 moves along the movable slide rail; the two supporting platforms 41 can move toward or away from each other; the supporting platforms 41 are located on the moving path of the manipulator 61.

[0030] As can be seen from the above description, during the cutting operation, after the crystal rod is grabbed and transferred to the carrying platform 41 by the manipulator 61, the carrying platforms 41 move toward each other so that the crystal rod placed between the two carrying platforms 41 can be clamped and fixed, and then the crystal rod on the carrying platform 41 is cut by the cutting assembly. The design of the carrying platforms 41 moving toward or away from each other can adapt to the size of the polycrystalline rod on the one hand, and on the other hand, it also plays a certain role in the withdrawal of the cutting assembly and the structural layout; when the cutting assembly withdraws, the carrying platforms 41 move away from each other so that the cutting interval between the crystal rods is increased, and the withdrawal can be carried out quickly and can reduce the wire saw of the cutting assembly from bouncing and scratching the crystal rod due to spraying or other external shaking during the withdrawal process; in terms of structural layout, if it is to avoid scratching the crystal rod due to withdrawal at a fixed cutting interval, the cutting assembly can also be moved out of the crystal rod as a whole along the cutting direction, which causes the machine structure to be lengthened, and the above design can ensure withdrawal while reducing the machine design of this part and optimizing the structural size.

[0031] Furthermore, the transfer assembly 6 also includes a mobile frame 62, which is arranged above the body 1, and the length direction of the mobile frame 62 is perpendicular to the length direction of the body 1, and the manipulator 61 moves in coordination with the mobile frame 62; the surface grinding assembly 57 and the chamfering grinding assembly 58 are arranged on one side of the mobile frame 62 corresponding to the length direction of the body 1.

[0032] From the above description, it can be seen that the cooperation between the manipulator 61 and the mobile frame 62 is used to perform mobile grasping in the width direction of the body 1, which simplifies the movement operation of the manipulator 61. Compared with the design of the multi-axis manipulator 61, it can simplify the control, improve the operation stability, and reduce the space occupied in the structure; at the same time, the single-direction movement of the manipulator 61 makes it possible for the arranged surface grinding assembly 57 and chamfering grinding assembly 58 to be designed to be low without being limited by the height of the mobile frame 62 when the multi-axis manipulator 61 moves, thereby increasing the space occupied in the width direction of the equipment.

[0033] Further, the loading component 2 includes a loading conveyor belt 21 and a first cleaning component, a first cleaning component is provided at one end of the loading conveyor belt 21, the first cleaning component includes a first cleaning nozzle 22 and a first cleaning brush 23, the first cleaning nozzle 22 is opposite to the loading conveyor belt 21, and the first cleaning brush 23 is against the loading conveyor belt 21; the unloading component 3 includes a unloading conveyor belt 31 and a second cleaning component, a second cleaning component is provided at one end of the unloading conveyor belt 31, the second cleaning component includes a second cleaning nozzle and a second cleaning brush, the second cleaning nozzle is opposite to the unloading conveyor belt 31, and the second cleaning brush is against the unloading conveyor belt 31.

[0034] From the above description, it can be seen that the first cleaning nozzle 22 is used to spray the loading conveyor belt 21 and the first cleaning brush 23 is used to further remove the waste remaining on the loading conveyor belt 21 to ensure the placement of the crystal rod; similarly, the second cleaning nozzle and the second cleaning brush are used to remove waste at the unloading conveyor belt 31.

[0035] Furthermore, the transfer assembly 6 also includes a third cleaning assembly, which is disposed on the robot 61 . The third cleaning assembly includes a third cleaning nozzle, which is opposite to the crystal rod to be processed.

[0036] It can be seen from the above description that, by means of the third cleaning assembly arranged on the manipulator 61 , the crystal rod can be cleaned during the grasping and transfer, so as to prevent the grasping surface from scratching the crystal rod during the grasping and clamping due to residual waste.

[0037] A control method for a cutting and grinding machine, which is applied to the above-mentioned cutting and grinding machine, comprises the following steps: after placing a crystal rod on the loading assembly 2, the loading assembly 2 is moved along the length direction of the machine body 1 to deliver the crystal rod to the unloading position of the loading assembly 2; then the manipulator 61 is moved transversely along the width direction of the machine body 1 to the unloading position of the loading assembly 2 to grab the crystal rod, and then is moved transversely again to the processing position of the cutting assembly 4, and the cutting assembly 4 performs the cutting process; after the cutting process is completed, the manipulator 61 grabs the cut crystal rod and moves transversely to the processing position of the grinding assembly 5, and the chamfering grinding assembly 58 and the surface grinding assembly 57 perform the chamfering grinding process and the surface grinding process on the crystal rod in turn; after the chamfering grinding process and the surface grinding process are completed, the manipulator 61 grabs the ground crystal rod and moves transversely to the loading position of the unloading assembly 3, and the crystal rod is transported out of the machine body 1 through the unloading assembly 3.

[0038] As can be seen from the above description, the crystal rod is grasped by the manipulator 61 through transverse movement, and the cutting and grinding operations are completed through the cooperation of the loading assembly 2, the cutting assembly 4, the grinding assembly 5 and the unloading assembly 3. The control of the transverse movement of the manipulator 61 can simplify the structure, reduce the size of the equipment, improve the control stability, and facilitate the subsequent maintenance operations.

[0039] Embodiment 1

[0040] like Figures 1 to 7 As shown, the cutting and grinding machine of this embodiment includes a machine body 1, a loading assembly 2, a unloading assembly 3, a cutting assembly 4, a grinding assembly 5 and a transfer assembly 6.

[0041] The cutting assembly 4, the feeding assembly 2, the grinding assembly 5 and the unloading assembly 3 are arranged side by side in the machine body 1 along the width direction of the machine body 1; the grinding assembly 5 includes a surface grinding assembly 57, a chamfering grinding assembly 58, a grinding platform 51, a grinding fixed cylinder 54, an oilstone assembly 55 and a calibration assembly 56, the chamfering grinding assembly 58 and the surface grinding assembly 57 are arranged in one piece, the feeding assembly 2 and the unloading assembly 3 are movable along the length direction of the machine body 1; the transfer assembly 6 includes a manipulator 61 and a movable frame 62, the manipulator 61 is arranged along the width direction and the height direction of the machine body 1 The movable frame 62 is movable in the degree direction. Specifically, the movable frame 62 is arranged above the machine body 1, and the length direction of the movable frame 62 is perpendicular to the length direction of the machine body 1. The manipulator 61 moves and cooperates with the movable frame 62; the manipulator 61 is provided with a rotating structure so that the crystal rod can be rotated after being grasped; the unloading position of the loading component 2, the loading position of the unloading component 3, and the processing positions of the cutting component 4 and the grinding component 5 are all located on the moving path of the manipulator 61; the surface grinding component 57 and the chamfering grinding component 58 are arranged on the side of the movable frame 62 corresponding to the length direction of the machine body 1.

[0042] The grinding platform 51 is movable along the length direction of the machine body 1; two inclined grinding seats 52 are symmetrically arranged on the grinding platform 51 along the length direction of the machine body 1, and the grinding seats 52 are used to place the crystal rod processed by the cutting assembly 4; the surface grinding assembly 57 and the chamfering grinding assembly 58 are arranged on the moving path of the grinding platform 51. The grinding platform 51 includes a mounting base 53, and the grinding seats 52 are arranged on the mounting base 53. The mounting base 53 is movable along the length direction of the machine body 1; a hollow portion is provided in the middle of the mounting base 53.

[0043] The fixed end of the grinding fixed cylinder 54 is fixed in the hollow portion of the mounting base 53 , and the driving end of the grinding fixed cylinder 54 protrudes from the mounting base 53 and is opposite to the grinding seat 52 .

[0044] The oilstone assembly 55 is opposite to the chamfer grinding assembly 58 and the surface grinding assembly 57; the oilstone assembly 55 includes a grinding oilstone and a rotating motor. The grinding oilstone is rotatably arranged on the mounting base 53, and the rotating motor is arranged in the hollow part of the mounting base 53 and is transmission-connected to the grinding oilstone.

[0045] The calibration assembly 56 is arranged on the mounting base 53, and the calibration assembly 56 includes a calibration block, a tool setting instrument, a shielding cover, a control connecting rod and a driving cylinder. The calibration block is opposite to the surface grinding assembly 5, and the tool setting instrument is respectively provided with a surface grinding tool setting instrument and a chamfer grinding tool setting instrument corresponding to the surface grinding assembly 5 and the chamfer grinding assembly 5. The shielding cover is rotatably arranged on the mounting base 53 and shields and covers the calibration block and the tool setting instrument. The driving cylinder and the shielding cover are connected by a control connecting rod, so that the calibration block and the tool setting instrument can be shielded and protected during the grinding operation to prevent waste from falling in.

[0046] Specifically, the surface grinding assembly 57 and the chamfering grinding assembly 58 are both arranged at the front and rear sides of a gantry, the opening of the gantry serves as a moving space for the grinding platform 51, and a cleaning assembly is arranged on the gantry.

[0047] The cutting assembly 4 includes two supporting platforms 41, a positioning cylinder, a clamping cylinder and a cutting device 42. The machine body 1 is provided with a movable slide rail along its length direction. The two supporting platforms 41 are respectively arranged on both sides of the movable slide rail, and the cutting device 42 moves along the movable slide rail; the two supporting platforms 41 can move toward or away from each other; specifically, the two supporting platforms 41 are controlled to move by a bidirectional screw rod; the supporting platforms 41 are located on the moving path of the manipulator 61.

[0048] A clamping cylinder is provided on the supporting platform 41, and the clamping cylinder presses against the top of the crystal rod to limit the up and down shaking of the crystal rod; a positioning cylinder is also arranged on one supporting platform 41, and the driving end of the positioning cylinder moves toward the other supporting platform 41, which can cooperate with the movement control of the bidirectional screw to further adapt and clamp the crystal rod.

[0049] The loading component 2 includes a loading conveyor belt 21 and a first cleaning component. The first cleaning component is provided at one end of the loading conveyor belt 21. The first cleaning component includes a first cleaning nozzle 22 and a first cleaning brush 23. The first cleaning nozzle 22 is opposite to the loading conveyor belt 21, and the first cleaning brush 23 is against the loading conveyor belt 21; the unloading component 3 includes a unloading conveyor belt 31 and a second cleaning component. The second cleaning component is provided at one end of the unloading conveyor belt 31. The second cleaning component includes a second cleaning nozzle and a second cleaning brush. The second cleaning nozzle is opposite to the unloading conveyor belt 31, and the second cleaning brush is against the unloading conveyor belt 31.

[0050] Specifically, baffles are provided on both sides of the loading conveyor belt 21 and the unloading conveyor belt 31 to prevent waste materials generated during other processing steps from falling onto the loading conveyor belt 21 and the unloading conveyor belt 31 .

[0051] The transfer assembly 6 further includes a third cleaning assembly, which is disposed on the robot 61 and includes a third cleaning nozzle, which is opposite to the crystal rod to be processed.

[0052] Embodiment 2

[0053] The control method of the cutting and grinding machine of this embodiment is applied to the cutting and grinding machine of the above-mentioned embodiment 1, and includes the following steps: after placing the crystal rod on the loading component 2, the loading component 2 is moved along the length direction of the machine body 1 to send the crystal rod to the unloading position of the loading component 2; then the manipulator 61 is moved horizontally along the width direction of the machine body 1 to the unloading position of the loading component 2 to grab the crystal rod, and then it is moved horizontally again to the processing position of the cutting component 4, and the cutting component 4 performs the cutting process; after the cutting process is completed, the manipulator 61 grabs the cut crystal rod and moves horizontally to the processing position of the grinding component 5, and the chamfering grinding component 58 and the surface grinding component 57 perform the chamfering grinding process and the surface grinding process on the crystal rod in turn; after the chamfering grinding process and the surface grinding process are completed, the manipulator 61 grabs the ground crystal rod and moves horizontally to the loading position of the unloading component 3, and the crystal rod is transported out of the machine body 1 through the unloading component 3.

[0054] In summary, the cutting and grinding machine and its control method provided by the present invention, through the cooperation of the cutting assembly, feeding assembly, grinding assembly and unloading assembly arranged side by side and the manipulator, the manipulator can move along a single body width direction to complete the loading assembly, cutting assembly, grinding assembly and the crystal rod on the unloading assembly. Correspondingly, the relevant moving structure of the manipulator is simpler than the traditional three-axis manipulator, reducing weight, reducing the volume of the overall structure, and compactly arranged, which is convenient for subsequent maintenance. The design of the integrated arrangement of the chamfering grinding assembly and the surface grinding assembly can achieve the reduction of the overall volume and improve the compactness of the structure compared with the traditional split spacing arrangement. In addition, the arrangement of the feeding assembly between the cutting assembly and the grinding assembly can space the cutting and grinding processes, avoiding the waste materials from splashing to the other component during the two processes and affecting the processing accuracy. The crystal rod is grabbed by the manipulator through transverse movement, and the cutting and grinding operations are completed through the cooperation of the feeding assembly, the cutting assembly, the grinding assembly and the unloading assembly. The use of manipulator lateral movement control can simplify the structure, reduce the size of the equipment, improve control stability, and facilitate subsequent maintenance operations.

[0055] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A cutting and grinding machine, characterized in that: It includes a machine body, a loading assembly, a unloading assembly, a cutting assembly, a grinding assembly and a transfer assembly, wherein the cutting assembly, the loading assembly, the grinding assembly and the unloading assembly are arranged side by side in the machine body along the width direction of the machine body; the grinding assembly includes a surface grinding assembly and a chamfering grinding assembly, wherein the chamfering grinding assembly and the surface grinding assembly are arranged integrally, and the loading assembly and the unloading assembly are both movable along the length direction of the machine body; the transfer assembly includes a manipulator, and the manipulator is movable along the width direction and the height direction of the machine body, and the unloading position of the loading assembly, the loading position of the unloading assembly and the processing positions of the cutting assembly and the grinding assembly are all located on the moving path of the manipulator.

2. The integrated cutting and grinding machine according to claim 1, characterized in that: The grinding assembly also includes a grinding platform, which is movable along the length direction of the machine body; two inclined grinding seats are symmetrically arranged on the grinding platform along the length direction of the machine body, and the grinding seats are used to place the crystal rods processed by the cut assembly; the surface grinding assembly and the chamfering grinding assembly are arranged on the moving path of the grinding platform.

3. The integrated cutting and grinding machine according to claim 2, characterized in that: The grinding platform comprises a mounting base, the grinding seat is arranged on the mounting base, and the mounting base is movable along the length direction of the machine body; a hollow part is arranged in the middle of the mounting base.

4. The integrated cutting and grinding machine according to claim 3, characterized in that: The grinding assembly further comprises a grinding fixed cylinder, a fixed end of which is fixed in a hollow portion of the mounting base, and a driving end of which protrudes from the mounting base and is opposite to the grinding seat.

5. The integrated cutting and grinding machine according to claim 3, characterized in that: The grinding assembly also includes an oilstone assembly, which is opposite to the chamfering grinding assembly and the surface grinding assembly; the oilstone assembly includes a grinding oilstone and a rotating motor, the grinding oilstone is rotatably arranged on a mounting base, and the rotating motor is arranged in a hollow portion of the mounting base and is transmission-connected to the grinding oilstone.

6. The integrated cutting and grinding machine according to claim 1, characterized in that: The cutting assembly includes two supporting platforms and a cutting device. The machine body is provided with a movable slide rail along its length direction. The two supporting platforms are respectively arranged on both sides of the movable slide rail. The cutting device moves along the movable slide rail. The two supporting platforms can move towards or away from each other. The supporting platforms are located on the moving path of the manipulator.

7. The integrated cutting and grinding machine according to claim 1, characterized in that: The transfer assembly also includes a moving frame, which is arranged above the machine body, and the length direction of the moving frame is perpendicular to the length direction of the machine body. The manipulator cooperates with the moving frame in movement; the surface grinding assembly and the chamfering grinding assembly are arranged on one side of the moving frame corresponding to the length direction of the machine body.

8. The integrated cutting and grinding machine according to claim 1, characterized in that: The loading assembly includes a loading conveyor belt and a first cleaning assembly, a first cleaning assembly is provided at one end of the loading conveyor belt, the first cleaning assembly includes a first cleaning nozzle and a first cleaning brush, the first cleaning nozzle is opposite to the loading conveyor belt, and the first cleaning brush is against the loading conveyor belt; the unloading assembly includes a unloading conveyor belt and a second cleaning assembly, a second cleaning assembly is provided at one end of the unloading conveyor belt, the second cleaning assembly includes a second cleaning nozzle and a second cleaning brush, the second cleaning nozzle is opposite to the unloading conveyor belt, and the second cleaning brush is against the unloading conveyor belt.

9. The integrated cutting and grinding machine according to claim 1, characterized in that: The transfer assembly further includes a third cleaning assembly, which is disposed on the robot arm and includes a third cleaning nozzle, which is opposite to the crystal rod to be processed.

10. A control method for a cutting and grinding machine, applied to the cutting and grinding machine according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: after placing the crystal rod on the loading assembly, the loading assembly is moved along the length direction of the machine body to deliver the crystal rod to the unloading position of the loading assembly; then the manipulator is moved transversely along the width direction of the machine body to the unloading position of the loading assembly to grab the crystal rod, and then is moved transversely again to the processing position of the cutting assembly, and the cutting assembly performs the cutting process; after the cutting process is completed, the manipulator grabs the cut crystal rod and moves transversely to the processing position of the grinding assembly, and the chamfering grinding assembly and the surface grinding assembly perform the chamfering grinding process and the surface grinding process on the crystal rod in turn; after the chamfering grinding process and the surface grinding process are completed, the manipulator grabs the ground crystal rod and moves transversely to the loading position of the unloading assembly, and the crystal rod is transported out of the machine body through the unloading assembly.

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