Automatic polishing apparatus and method thereof

Abstract

The present application discloses an automatic polishing apparatus and method thereof, comprising: a workpiece loading unit having at least one workpiece loading position for loading a workpiece, the workpiece loading position having a window portion for exposing a polishing area of the workpiece; a transfer unit having a receiving position at one end for receiving the workpiece loading unit and a picking position at the other end for picking the workpiece loading unit by a picking unit, the transfer unit transferring the workpiece loading unit at the receiving position to the picking position; a polishing unit having a polishing portion for polishing the polishing area exposed at the window portion; the picking unit configured to pick the workpiece loading unit at the picking position and transfer it to the polishing unit, and pick the workpiece loading unit at the polishing unit and transfer it to a destination position; and a control unit for receiving and processing data from each unit and scheduling the operation of each unit.

Description

TECHNICAL FIELD

[0001] The present application relates to the polishing technical field, in particular to an automatic polishing equipment and a method thereof. BACKGROUND

[0002] In the field of workpiece polishing, there are various polishing methods, such as manual polishing, mechanical hand polishing, fluid polishing, etc. As the most original polishing method, manual polishing is suitable for polishing a single or a small number of products, which has low efficiency and high labor cost. The mechanical hand polishing can only polish a single product at the same time, which has the problems of low efficiency and high production cost. The fluid polishing method has the problems of low production efficiency due to small clamping amount and long processing time. In addition, the automation degree of each of the above polishing methods is low, and for the semi-enclosed workpiece with an inner cavity, the collapse problem is easy to occur due to excessive removal. Therefore, how to improve the efficiency of the polishing process and realize a series of automatic processes such as workpiece loading, transmission, polishing and unloading has become a technical problem to be solved. SUMMARY

[0003] In view of the above problems of the prior art, the present application aims to provide an automatic polishing equipment and a method thereof to improve production efficiency.

[0004] To solve the above technical problems, one technical scheme of the present application is to provide an automatic polishing equipment, comprising:

[0005] a workpiece loading unit having at least one workpiece loading position for loading a workpiece, the workpiece loading position having a window portion for exposing a polishing area of the workpiece to the outside;

[0006] a transmission unit having a receiving position at one end for receiving the workpiece loading unit and a picking position at the other end for picking the workpiece loading unit by a picking unit, the transmission unit conveying the workpiece loading unit at the receiving position to the picking position;

[0007] a polishing unit having a polishing portion for polishing the polishing area exposed at the window portion;

[0008] a picking unit configured to pick the workpiece loading unit at the picking position and transfer it to the polishing unit, and to pick the workpiece loading unit at the polishing unit and transfer it to a destination position; and

[0009] a control unit configured to be electrically connected to the transmission unit, the polishing unit and the picking unit, for receiving data from each unit and scheduling the work of each unit to realize the transmission, picking, polishing and unloading of the workpiece.

[0010] Further, the workpiece loading position is configured as a loading slot for loading at least one workpiece, and the window portion is formed on a slot bottom surface of the loading slot and penetrates through the workpiece loading unit;

[0011] The workpiece to be polished region includes a first surface to be polished, and when the workpiece is loaded into the workpiece loading slot, the first surface to be polished is exposed outside the workpiece loading unit through the window portion; when the workpiece loading unit is placed at the polishing unit, the window portion faces the polishing portion, and the first surface to be polished is in contact with the polishing portion through the window portion.

[0012] Further, the workpiece to be polished region further includes a second surface to be polished arranged opposite to the first surface to be polished; the automatic polishing device further includes:

[0013] The transfer area is placed with a spare workpiece loading unit, and the spare workpiece loading unit is used to be buckled on top of the workpiece loading unit;

[0014] The turnover unit is configured to turn the buckled spare workpiece loading unit and the workpiece loading unit by 180 degrees, exchange the spare workpiece loading unit and the workpiece loading unit, turn the spare workpiece loading unit to the bottom of the workpiece loading unit, so that the workpiece in the workpiece loading unit is turned by 180 degrees and falls into the loading slot of the spare workpiece loading unit; at this time, the identities of the spare workpiece loading unit and the workpiece loading unit are exchanged, and the workpiece loading unit on top is regarded as the spare workpiece loading unit;

[0015] The pickup unit is further used to move the workpiece loading unit to the turnover unit after the first surface to be polished of the workpiece is polished, move the spare workpiece loading unit of the transfer area and buckle it on top of the workpiece loading unit, move the spare workpiece loading unit on top after turnover to the transfer area, and move the workpiece loading unit with the workpiece on the bottom after turnover to the polishing unit;

[0016] The polishing unit is further used to polish the second surface to be polished which is not polished.

[0017] Further, it further includes:

[0018] The counterweight pressing block is configured to press the workpiece loading unit at the polishing portion of the polishing unit and limit its rotation with the polishing portion when the workpiece loading unit is placed at the polishing portion, and the counterweight pressing block is placed in the transfer area when it is idle; the counterweight pressing block includes:

[0019] a pressing block body having a pressing surface for pressing the workpiece loading unit;

[0020] a limiting protrusion configured to be disposed at a position on the pressing surface corresponding to the loading slot, the limiting protrusion being capable of extending into the loading slot from a slot opening of the loading slot when the pressing block body is pressed on the workpiece loading unit, and limitingly engaging with a sidewall of the loading slot to prevent the workpiece loading unit from rotating with the polishing portion; and

[0021] a self-limiting portion for being positioned at the polishing portion under the limitation of a polishing unit to prevent the weight pressing block from rotating with the polishing portion.

[0022] Further, the self-limiting portion is configured as a limiting rod disposed on the pressing block body; the polishing unit has a blocking portion capable of being blocked at the limiting rod.

[0023] Further, the workpiece has an inner cavity extending through the workpiece along a length direction of the workpiece, and further extending through a side surface of the workpiece along a width direction of the workpiece to make the workpiece have a side opening; the automatic polishing device further comprises a workpiece carrier, the workpiece carrier comprising:

[0024] a carrier block having a loading portion, the workpiece being sleeved at the loading portion through the side opening;

[0025] a lock hole configured to be coaxially disposed with the through hole and extending through the loading portion along a height direction of the loading portion;

[0026] a first positioning hole configured to be disposed on the carrier block away from the workpiece along a width direction of the loading portion and communicating with the lock hole;

[0027] a plug block configured to be disposed in the lock hole and the through hole along the height direction of the loading portion, the plug block having a second positioning hole disposed along the width direction of the loading portion, the first positioning hole and the second positioning hole being coaxially communicated when the plug block is disposed in the lock hole; and

[0028] a lock block configured to be movably disposed on the carrier block away from the workpiece, the lock block having a first positioning column capable of being movably inserted into the first positioning hole and the second positioning hole.

[0029] Further, the workpiece carrier further comprises:

[0030] a first hole distributed on the carrier block in parallel with and spaced apart from the first positioning hole, the first hole extending through a side surface of the carrier block toward the lock block along the width direction of the loading portion; and

[0031] A column is arranged on the lock block in a manner matched with the first hole, and is movably inserted into the first hole.

[0032] Further, the carrier block is made of a material capable of being magnetically attracted, and the workpiece carrier further comprises:

[0033] A second hole is arranged on the carrier block in a manner parallel to and spaced from the first positioning hole, and the second hole penetrates through the carrier block along the width direction of the loading part to the side of the lock block; and

[0034] A magnetic attraction part is arranged on the lock block in a manner matched with the second hole, and is movably inserted into the second hole and magnetically attracts the carrier block, so as to prevent the lock block from being separated from the carrier block in a working state.

[0035] Further, a transmission supporting plate is arranged on the transmission unit, and the transmission supporting plate is configured to support the workpiece loading unit; the receiving position and the pickup position are both provided with:

[0036] A detection part is configured to detect whether the transmission supporting plate is located at the corresponding receiving position or pickup position;

[0037] A jacking unit is configured to jack up the transmission supporting plate to make it suspended on the transmission unit when the transmission supporting plate is located at the corresponding receiving position or pickup position, and the jacking unit is also configured to be lowered based on the corresponding control instruction sent by the control unit, so as to make the transmission supporting plate return to the transmission unit;

[0038] The transmission unit is also configured to transmit the transmission supporting plate supporting the workpiece loading unit to the pickup position, and transmit the empty transmission supporting plate at the pickup position to the receiving position.

[0039] To solve the above technical problems, another technical solution adopted by the present application is to provide an automatic polishing method, comprising the following steps:

[0040] Workpiece transmission: transmitting the workpiece loading unit loaded with workpieces at the receiving position of the transmission unit to the pickup position;

[0041] Workpiece pickup and transfer: picking up the workpiece loading unit and transferring it to the polishing unit when the workpiece loading unit is transmitted to the pickup position;

[0042] Workpiece polishing: making the polishing part of the polishing unit polish the area to be polished of the workpiece;

[0043] Workpiece unloading: picking up the workpiece polished by the polishing unit and transferring it to the destination position.

[0044] The automatic polishing device and the automatic polishing method have the following beneficial effects: (1) The control unit is signal connected with each controlled unit, receives signals from each controlled unit, and schedules each controlled unit linkage to realize the automatic process of the workpiece from feeding transmission, transfer, polishing, and discharging. (2) The special workpiece carrier is configured with a loading part shaped with the inner cavity of the workpiece, and the inner surface of the workpiece is attached to the loading part to prevent the problem of edge collapse deformation caused by excessive polishing removal. (3) The special workpiece carrier is designed with a lock hole based on the original hole of the workpiece, and the plug is arranged in the lock hole and the through hole in the height direction, so that the horizontal limiting of the workpiece is realized, and the workpiece is prevented from separating from the loading part. (4) The special workpiece carrier is provided with coaxial first and second positioning holes on the plug and the carrier block, and the first positioning column is arranged in the first and second positioning holes on the lock block to prevent the plug from exiting the carrier block in the height direction. (5) The lock block is magnetically attracted to the carrier block by the magnetic attraction piece to prevent the lock block from separating from the carrier block during work, prevent the plug from separating from the carrier block, and prevent the workpiece from separating from the carrier block. (6) The workpiece loading unit is provided with a plurality of loading grooves, each of which can load two workpiece carriers, and the structure of each loading groove is correspondingly arranged with the workpiece carrier, so that after the workpiece carrier is loaded in the loading groove, the first or second polishing surface can be exposed outside the workpiece loading unit through the window part of the groove bottom, so that the corresponding polishing surface can be in contact with the polishing part. (7) The slot opening of the loading groove does not need to be provided with a blocking part, which facilitates the operator to quickly place the workpiece carrier in the loading groove. (8) After one of the polishing surfaces is completed, the spare workpiece loading unit is buckled with the workpiece loading unit and turned over by 180 degrees, so that the other polishing surface faces the window part of the groove bottom, so that the other polishing surface is in contact with the polishing part through the window part, and the polishing of multiple polishing surfaces is realized. Compared with the traditional polishing method, the degree of automation is high, multiple workpieces can be polished at the same time, the workpiece is prevented from collapsing and deforming, and the yield is improved. BRIEF DESCRIPTION OF DRAWINGS

[0045] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 is a structural schematic diagram of an embodiment of the automatic polishing machine of the present application.

[0047] Figure 2Figure 1 is an assembly view of a workpiece and a workpiece loading unit in an embodiment of the automatic polishing machine of the present application.

[0048] Figure 3 Figure 2 is a disassembly view of a workpiece and a workpiece loading unit in an embodiment of the automatic polishing machine of the present application. Figure 2

[0049] Figure 4 Figure 3

[0050] Figure 5 Figure 4 Figure 5 is a structural view of a carrier block in an embodiment of the automatic polishing machine of the present application.

[0051] Figure 6 Figure 1 Figure 6 is a structural view of a transmission unit in an embodiment of the automatic polishing machine of the present application.

[0052] Figure 7 Figure 1 Figure 7 is a structural view of a pick-up unit in an embodiment of the automatic polishing machine of the present application.

[0053] Figure 8 Figure 1 Figure 8 is a structural view of a polishing unit in an embodiment of the automatic polishing machine of the present application.

[0054] Figure 9 Figure 8 Figure 9 is a structural view of a counterweight pressing block in an embodiment of the automatic polishing machine of the present application.

[0055] Figure 10 Figure 8 Figure 10 is a structural view of a counterweight pressing block from another perspective in an embodiment of the automatic polishing machine of the present application.

[0056] Figure 11 Figure 1 Figure 11 is an enlarged view of a partial B in an embodiment of the automatic polishing machine of the present application.

[0057] Figure 12 Figure 12 is a flow chart of an embodiment of the automatic polishing method of the present application.

[0058] Figure 13 Figure 13 is a sub-flow chart of a workpiece transmission step in an embodiment of the automatic polishing method of the present application.

[0059] Figure 14 Figure 14 is a sub-flow chart of a pre-polishing step of a workpiece in an embodiment of the automatic polishing method of the present application.

[0060] Figure 15 Figure 15 is a sub-flow chart of a polishing step of a workpiece in an embodiment of the automatic polishing method of the present application.

[0061] The reference signs in the description are as follows:

[0062] ​​​​​​​​​​Workpiece A; inner cavity A10; through hole A20; first wall A301; first surface to be polished A3011; second wall A302; second surface to be polished A3021; third wall A303;

[0063] Workpiece carrier C; carrier block C10; loading part C11; first concave surface C111; second concave surface C112; third concave surface C113; limiting surface C114; lock hole C12; support block C13; first positioning hole C14; first hole C15; second hole C16; plug block C20; second positioning hole C21; lock block C30; first positioning column C31; column body C32; magnetic attraction part C33;

[0064] Workpiece loading unit 100; spare workpiece loading unit 100'; window part 110; loading groove 120; loading area 121; bearing surface 122; loading disc 130; first surface 131;

[0065] Transmission unit 200; receiving position 210; picking position 220; frame body 230; transmission belt assembly 240; detection part 250;

[0066] Polishing unit 300; polishing part 310; positioning mechanism 320; blocking part 321; driving unit 322; second mounting part 323; counterweight pressing block 330; pressing block body 331; pressing surface 331a; limiting convex part 332; self-limiting part 333; pressing surface 331a; second rod part 333b; rotating wheel 340;

[0067] Picking unit 400; first picking part 410; suction head 411; mechanical hand 420; mounting frame 430; first mounting part 431; third mounting part 432; connecting part 433; second picking part 440; air cylinder 441; fixed claw 442; movable claw 443; fulcrum 444;

[0068] Transfer area 510; turnover unit 520; platform 521; turnover part 522; vertical rotation driving part 522a; clamping part 522b; lifting platform 523;

[0069] Feeding position 610; discharging position 620. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below in combination with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0071] It is to be understood that where an element such as a layer, region or substrate is described as being "on" another element, it can be directly on the other element or intervening elements can also be present. Where an element such as a layer, region or substrate is described as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present.

[0072] 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 to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0073] Please refer to Figure 1 , Figure 1 The structure diagram of an embodiment of the automatic polishing apparatus of the present application is shown. In Figure 1 In the embodiment shown, the automatic polishing apparatus of the present application comprises a workpiece loading unit 100 for loading workpieces A, a transfer unit 200 for transferring the workpiece loading unit 100 to a pickup position 220, a polishing unit 300 for polishing the workpieces A loaded in the workpiece loading unit 100, a pickup unit 400 for picking up the workpiece loading unit 100 and moving it to a desired position, and a control unit (not shown in the figure) electrically connected to the workpiece loading unit 100, the transfer unit 200, the polishing unit 300 and the pickup unit 400, which is used to receive and process data from each unit and schedule the work of each unit, so as to realize the automatic transfer, pickup and movement, polishing and unloading of the workpieces A.

[0074] The workpiece loading unit 100 is configured to have at least one workpiece loading position for loading workpieces A, which has a window portion 110 for exposing the area of the workpieces A to be polished; the workpiece loading position is configured as a loading slot 120 for loading at least one workpiece A, and the window portion 110 is formed on the slot bottom surface of the loading slot 120 and penetrates through the workpiece loading unit 100.

[0075] Please refer to Figure 2 and Figure 3 , Figure 2 is a structure diagram of the workpiece loading unit 100 in an embodiment of the present application. Figure 3 is Figure 2 is a split view of the workpiece and the workpiece loading unit in Figure 2 The workpiece loading unit 100 can be configured in a disc-like structure, and the plurality of loading slots 120 are arranged in a ring array with the center of the workpiece loading unit 100 as the center.

[0076] As understood by those skilled in the art, the workpiece loading unit 100 is configured based on the specific shape of the workpiece A, and the number of workpieces A required for each polishing based on the specific polishing process, for example, in one embodiment, eight workpieces A are required for each polishing, then the workpiece loading unit 100 can be configured to load eight workpieces A at the same time, for example, in one embodiment, two opposite surfaces of the workpiece A need to be polished, then the workpiece loading unit 100 can be configured to expose the two opposite surfaces of the workpiece A to be polished outside the workpiece A, so that the polishing part 310 of the polishing unit 300 can polish the two opposite surfaces of the workpiece A. Therefore, Figure 2 The structure of the workpiece loading unit 100 shown does not constitute a limitation on the structure of the workpiece loading unit 100, and can include more or fewer components than Figure 2 shown, or combine certain components, or different component arrangements.

[0077] Please refer to Figure 4 , Figure 4 is a split view of the workpiece and the workpiece carrier in an embodiment of the present application. Figure 4 In the embodiment shown, the workpiece A is configured in a C-shaped cross-section, which includes a C-shaped wall and an inner cavity A10 formed inside the wall, the inner cavity A10 penetrates the workpiece A along the length direction of the workpiece A, and the inner cavity A10 also penetrates one side of the workpiece A along the width direction of the workpiece A so that the workpiece A has a side opening, and the workpiece A also has a through hole A20 penetrating along the height direction of the workpiece A. The wall has a first wall A301, a second wall A302 opposite to the first wall A301, and a third wall A303 connected between the same side of the first wall A301 and the second wall A302, the first wall A301 and the second wall A302 can be configured to have a certain curvature, and the third wall A303 can be configured to be connected vertically between the first wall A301 and the second wall A302 and have a certain curvature, and the curvature of the third wall A303 can be greater than the curvature of the first wall A301 and / or the second wall A302. In Figure 4 In the state shown, the distribution direction of the first wall A301 and the second wall A302 is defined as the height direction of the workpiece A, that is, the first wall A301 and the second wall A302 are distributed along the height direction of the workpiece A, and correspondingly, the through hole A20 penetrates the first wall A301 and the second wall A302 along the height direction of the workpiece A. The inner cavity A10 is formed by the first wall A301, the second wall A302 and the third wall A303.

[0078] Figure 4In the embodiment shown, the polishing region of the workpiece A includes a first polishing surface A3011 and a second polishing surface A3021 disposed opposite the first polishing surface A3011. That is, the side of the first wall A301 facing away from the second wall A302 is configured as the first polishing surface A3011, and the side of the second wall A302 facing away from the first wall A301 is configured as the second polishing surface A3021. When the workpiece A is loaded into the workpiece loading slot 120, the first polishing surface A3011 is exposed outside the workpiece loading unit 100 through the window portion 110, and the second polishing surface is exposed outside the workpiece loading unit 100 through the slot of the loading slot 120. When the workpiece loading unit 100 is placed at the polishing unit 300, the window portion 110 faces the polishing portion 310, and the first polishing surface A3011 is in contact with the polishing portion 310 through the window portion 110. During polishing of the workpiece A, the first polishing surface A3011 is first brought into contact with the polishing portion 310 so that the polishing portion 310 polishes the first polishing surface A3011. After the first polishing surface A3011 is polished, the workpiece A is flipped over so that the second polishing surface A3021 is in contact with the polishing portion 310, and the polishing portion 310 polishes the second polishing surface A3021. Those skilled in the art will understand that, Figure 4 The description of the shape and polishing region of the workpiece A shown is an exemplary description, and thus, Figure 4 The structure of the workpiece A shown does not limit the present application.

[0079] By Figure 4 As can be seen, the workpiece A is a thin-walled workpiece having an inner cavity A10. During polishing of the workpiece A, Figure 4 During polishing of the workpiece A shown, the force applied by the polishing portion 310 to the polishing region of the workpiece A can cause deformation of the walls of the workpiece A, resulting in problems such as edge collapse of the workpiece A and reducing the yield of the workpiece. In order to prevent deformation of the workpiece A during polishing, a workpiece carrier C is provided for each workpiece A to support and fix the workpiece A, preventing deformation and edge collapse of the workpiece A during polishing. The workpiece carrier C includes a carrier block C10, a plug block C20, and a lock block C30. Among them,

[0080] Please refer to Figure 5The loading block C10 has a loading portion C11, and the workpiece A is sleeved at the loading portion C11. The loading portion C11 is formed at one lateral side of the loading block C10, and the other lateral side of the loading block C10 is used to assemble the locking block C30. The loading portion C11 has a first concave surface C111 which is profiled with the inner side surface of the first wall A301, a second concave surface C112 which is profiled with the inner side surface of the second wall A302, and a third concave surface C113 which is profiled with the inner side surface of the third wall A303. The first concave surface C111, the second concave surface C112, and the third concave surface C113 are recessed compared with other portions of the loading block C10, so that the entire loading portion C11 is recessed on the surface of the loading block C10 in a groove shape. The first concave surface C111, the second concave surface C112, and the third concave surface C113 form a stepped limiting surface C114 between the corresponding surface of the loading block C10. When the workpiece A is sleeved at the loading portion C11, the limiting surface C114 is used to limit the movement of the workpiece A.

[0081] The loading block C10 is provided with a locking hole C12 at a position corresponding to the through hole A20 of the workpiece A. The locking hole C12 penetrates the loading portion C11 along the height direction of the loading portion C11. When the workpiece A is sleeved at the loading portion C11, the locking hole C12 is coaxially arranged with the through hole A20. The loading block C10 is provided with two supporting blocks C13 at both ends. The two supporting blocks C13 are formed at both lateral sides of the loading block C10. The height (thickness) of the supporting block C13 is smaller than the height of the loading block C10, so that the lower surface of the supporting block C13 is higher than the lower surface of the loading block C10, and the upper surface of the supporting block C13 is lower than the upper surface of the loading block C10. It can be understood by those skilled in the art that the number of the supporting blocks C13 is not limited to two. The supporting blocks C13 are used to abut against the bottom surface of the loading groove 120 when the loading block C10 is placed in the loading groove 120 of the workpiece loading unit 100.

[0082] The carrier block C10 is provided with a first positioning hole C14, which is configured to be arranged on the carrier block C10 away from the workpiece A along the width direction of the loading part C11 (also the width direction of the carrier block C10) and communicate with the lock hole C12. The carrier block C10 is also provided with two first holes C15 and two second holes C16. The two first holes C15 are distributed on the carrier block C10 in parallel with the first positioning hole C14 and spaced from each other, and each of the two first holes C15 penetrates the carrier block C10 along the width direction of the loading part C11 to the side surface of the lock block C30. The two second holes C16 are distributed on the carrier block C10 in parallel with the first positioning hole C14 and spaced from each other, and each of the two second holes C16 penetrates the carrier block C10 along the width direction of the loading part C11 to the side surface of the lock block C30. Those skilled in the art can understand that the number of the first holes C15 and the second holes C16 is not limited to two, and they can be one or more. The first holes C15 are configured as guide positioning holes, which are used to guide and stabilize the lock block C30 when the lock block C30 is inserted. The second holes C16 are configured as magnetic attraction part accommodating holes, which are used to accommodate the magnetic attraction part (to be described in detail below) on the lock block C30 when the lock block C30 is inserted, so as to prevent the lock block C30 from being separated from the carrier block C10. It can be seen that the first holes C15 and the second holes C16 are more preferred features based on solving the basic technical problems of the present application, and they are optional but not essential.

[0083] The plug block C20 is configured to be arranged in the lock hole C12 and the through hole A20 of the workpiece A along the height direction of the loading part C11, and has a second positioning hole C21 arranged along the width direction of the loading part C11. When the plug block C20 is placed in the lock hole C12, the first positioning hole C14 and the second positioning hole C21 coaxially communicate.

[0084] The lock block C30 is configured to be movably arranged on the carrier block C10 away from one side of the workpiece A. The lock block C30 has a first positioning column C31 that can be movably inserted into the first positioning hole C14 and the second positioning hole C21. The lock block C30 is provided with a column C32 on the side facing the carrier block C10. The column C32 is arranged on the lock block C30 in a manner matched with the first hole C15, and is used to be movably inserted into the first hole C15. The side of the lock block C30 facing the carrier block C10 is also provided with a magnetic attraction part C33, which can be columnar or block-shaped. The magnetic attraction part C33 is arranged on the lock block C30 in a manner matched with the second hole C16, and is used to be movably inserted into the second hole C16 and magnetically attract the carrier block C10 (the carrier block C10 is made of a material that can be magnetically attracted), so as to prevent the lock block C30 from being separated from the carrier block C10 in the working state.

[0085] Please continue to see Figure 2 The workpiece loading unit 100 includes a loading disc 130 and a plurality of loading slots 120 arranged in a ring shape on the loading disc 130. The loading slot 120 penetrates the first surface 131 (the upper surface in Figure 2 ) of the loading disc 130 along the thickness direction of the loading disc 130 to form a slot opening of the loading slot 120. Part of the bottom surface (the middle region) of the loading slot 120 penetrates the second surface 132 (the lower surface in Figure 2 ) of the loading disc 130.

[0086] Each loading slot 120 is configured to load a pair of workpiece carriers C. Since the workpiece carrier C has a relatively regular rectangular structure, the loading slot 120 is configured as a rectangular slot capable of simultaneously loading two workpiece carriers C. Two workpiece carriers C can be loaded in the loading slot 120 with a mutual interval (for example, side by side). When two workpiece carriers C are loaded in the loading slot 120, two workpieces A are located at two adjacent sides of the two workpiece carriers C, respectively.

[0087] Each loading slot 120 is divided into two workpiece loading areas 121, and the rest of the corresponding slot bottom surface, except for the corner position, forms a window portion 110 along the height direction through the workpiece loading unit 100. The planar size and position of the slot bottom surface at the corner of each loading area 121 correspond to the supporting blocks C13 at both ends of the carrier block C10, forming four bearing surfaces 122 corresponding to the number and position of the supporting blocks C13 of the carrier block C10. When the workpiece carrier C is placed in the loading area 121 of the loading slot 120, the supporting blocks C13 at both ends of the carrier block C10 are placed on the bearing surfaces 122 at the corner. Those skilled in the art can understand that the position and number of the bearing surfaces 122 can be determined according to the needs of different embodiments, and are usually arranged at the edge or corner position.

[0088] In the present embodiment, in order to facilitate the quick loading and unloading of the workpiece carrier C10, the slot opening surface of the loading slot 120 does not need to be provided with any blocking portion, and only the above-mentioned bearing surface 122 is provided on the slot bottom surface. Since the workpiece A in the present embodiment has two polishing surfaces, when one of the polishing surfaces is polished, the workpiece A needs to be flipped by 180 degrees so that the polishing unit 300 can polish the other polishing surface. If the slot opening surface of the loading slot 120 is not provided with any blocking portion, the workpiece A will inevitably be separated from the loading slot 120 during flipping. Based on this, the automatic polishing equipment of the present embodiment is further provided with a transfer area 510 and a flipping unit 520, the transfer area 510 is provided with a spare workpiece loading unit 100', and the spare workpiece loading unit 100' is used to be inverted on the top of the workpiece loading unit 100.

[0089] The various units of the present embodiment will be described below in conjunction with the accompanying drawings.

[0090] Please refer to Figure 6 , the transmission unit 200 includes a frame 230 and a transmission belt assembly 240 arranged on the frame 230, one end of the transmission belt assembly 240 is provided with a receiving position 210 for receiving the workpiece loading unit 100, and the other end is provided with a pickup position 220 for picking up the workpiece loading unit 100 by the pickup unit 400, and the transmission unit 200 transports the workpiece loading unit 100 at the receiving position 210 to the pickup position 220. An upper loading position 610 can be arranged beside the receiving position 210, which can be an upper loading table. The operator first manually assembles the workpiece A on the workpiece carrier C, then places the workpiece carrier C one by one at the workpiece loading position of the workpiece loading unit 100, and then places the workpiece loading unit 100 at the receiving position 210.

[0091] The receiving position 210 and the picking position 220 are each provided with a detection unit 250 and a lifting unit (not shown in the figure). The detection unit 250 at the receiving position 210 is configured to detect whether the transport tray is located at the receiving position 210 and send a detected-to-position signal to a control unit. The control unit sends a lifting signal to the lifting unit at the receiving position 210 based on the transport tray-to-position signal. The lifting unit at the receiving position 210 is configured to lift the transport tray upward to suspend it over the transport unit 200 after receiving the lifting signal (i.e. after the transport tray is located at the receiving position 210). After the workpiece A is loaded on the transport tray, an operator can press a button to send a control instruction for lowering the lifting unit. The lifting unit lowers based on the control instruction, and the transport tray is thus returned to the transport belt assembly 240 of the transport unit 200. The detection unit 250 at the picking position 220 is configured to detect whether the transport tray is located at the picking position 220 and send a detected-to-position signal to a control unit. The control unit sends a lifting signal to the lifting unit at the picking position 220 based on the transport tray-to-position signal. The lifting unit at the picking position 220 is configured to lift the transport tray upward to suspend it over the transport unit 200 after receiving the lifting signal. After the workpiece loading unit 100 is picked up, an operator can press a corresponding button to make the transport unit 200 transport the transport tray to the receiving position 210.

[0092] Referring to Figure 7 The picking unit 400 is configured to pick up the workpiece loading unit 100 at the picking position 220 and move it to the polishing unit 300, and to pick up the workpiece loading unit 100 after polishing at the polishing unit 300 and move it to a destination position. The destination position can be configured as a discharging position 620 or a storage position. In the scheme of polishing both sides of the workpiece A described above, the picking unit 400 is also configured to, after the first polishing surface A3011 of the workpiece A is polished, move the workpiece loading unit 100 to the turnover unit 520, move the standby workpiece loading unit 100' of the transfer area 510 and engage it above the workpiece loading unit 100, move the standby workpiece loading unit 100' above after turnover to the transfer area 510, and move the workpiece loading unit 100 loaded with the workpiece A below after turnover to the polishing unit 300.

[0093] The pickup unit 400 can be configured to include a first pickup portion 410 and a robot 420 (or a three-axis movement module), and the first pickup portion 410 is mounted at the end of the robot 420 or the output end of the three-axis movement module. The first pickup portion 410 can be configured to adsorb the surface of the workpiece loading unit 100 by using the adsorption method, and the first pickup portion 410 includes a plurality of adsorption heads 411 mounted at a first mounting portion 431 connected with the robot 420 or the three-axis movement module.

[0094] Referring to Figure 8 , the polishing unit 300 has a polishing portion 310 for polishing the exposed area of the workpiece A at the window portion 110, and the polishing portion 310 is configured as a rotating polishing table on which the workpiece loading unit 100 is placed. The polishing unit 300 can adopt any known polishing table structure capable of polishing the surface of the workpiece A.

[0095] In this embodiment, in order to prevent the workpiece loading unit 100 from rotating with the polishing table, a positioning mechanism 320 is arranged at the outer periphery of the polishing table, and in order to cooperate with the positioning mechanism 320 to position the workpiece loading unit 100, a counterweight pressing block 330 is further included, which is configured to press the workpiece loading unit 100 at the polishing portion 310 (polishing table) of the polishing unit 300 and limit its rotation with the polishing portion 310 when the workpiece loading unit 100 is placed at the polishing portion 310, and the counterweight pressing block 330 is placed in the transfer area 510 when idle.

[0096] Referring to Figure 9 and Figure 10 , the counterweight pressing block 330 includes a pressing block body 331, a limiting protrusion 332, and a self-limiting portion 333. The pressing block body 331 has a cylindrical structure, and its planar shape is matched with the workpiece loading unit 100. The pressing block body 331 is provided with a plurality of weight-reducing holes, and has a pressing surface 331a (lower surface in the figure) for pressing the workpiece loading unit 100; the pressing surface 331a is provided with a second positioning column or a third positioning hole for positioning cooperation with the workpiece loading unit 100, and correspondingly, the workpiece loading unit 100 is provided with a third positioning hole or a second positioning column.

[0097] The limiting protrusions 332 are configured to be arranged at positions on the pressing surface 331a corresponding to the loading slots 120. When the pressing block body 331 is pressed on the workpiece loading unit 100, the limiting protrusions 332 can extend into the loading slots 120 from the slot openings of the loading slots 120, and limit the workpiece loading unit 100 from rotating with the polishing part 310 by limiting cooperation with the side walls of the loading slots 120. Specifically, the limiting protrusions 332 correspond one-to-one to the loading areas 121 of the loading slots 120, and have a half-frame structure, with the outer side edges embedded in the loading areas 121 and abutting against the side walls of the loading slots 120.

[0098] The self-limiting parts 333 are used to be positioned at the polishing part 310 under the limitation of the polishing unit 300, so as to prevent the counterweight pressing block 330 from rotating with the polishing part 310. The self-limiting parts 333 can be configured as limiting rods arranged on the pressing block body 331. Preferably, the limiting rods have an L shape, with a first rod part 333a connected to a side of the pressing block body 331 away from the pressing surface 331a, and a second rod part 333b bent from the first rod part 333a (used as a picked part described below), which can extend outward beyond the outer side of the pressing block body 331 in the radial direction of the pressing block body 331.

[0099] In the embodiment, the limiting rods also serve as picked parts for the picking unit 400 to pick, and are clamped by the picking unit 400. Under the function, the limiting rods need to be configured as multiple rods, for example, four rods, to ensure that the counterweight pressing block 330 is stably picked and transferred.

[0100] The positioning mechanism 320 includes a blocking part 321 capable of blocking the limiting rods (self-limiting parts 333). The blocking part 321 is controlled by a driving unit 322 to extend toward the limiting rods and return, so as to block one side of the limiting rods in the rotating direction, limit the counterweight pressing block 330 from rotating with the polishing part 310, and limit the workpiece loading unit 100 from rotating with the polishing part 310 by the limiting protrusions 332 of the counterweight pressing block 330. The driving unit 322 is arranged on a second mounting part 323, and a rotating wheel 340 is also arranged on the second mounting part 323 and rotates with the outer circumferential surface of the counterweight pressing block 330.

[0101] Please continue to see Figure 7The counterweight block 330 can be picked up and transferred by the picking unit 400, which is also used to transfer the counterweight block 330 from the transfer area 510 to the workpiece loading unit 100, and to transfer the counterweight block 330 from the polishing part 310 to the transfer area 510 after polishing is completed. To this end, the picking unit 400 is also provided with a second picking part 440 mounted at a third mounting part 432, and the third mounting part 432 and the first mounting part 431 above are connected by a connecting part 433 to form a mounting frame 430, which is connected to the end of the mechanical hand 420. The mechanical hand 420 can make the mounting frame 430 overturn, and when picking up the counterweight block 330, the second picking part 440 is directed towards the counterweight block 330, and when picking up the workpiece loading unit 100, the first picking part 410 is directed towards the workpiece loading unit 100.

[0102] The second picking part 440 is configured to include a plurality of jaw units (such as pneumatic jaws) corresponding to the plurality of limiting rods, each jaw unit including a pneumatic cylinder 441 provided on the third mounting part 432 and a jaw provided on the third mounting part 432 towards one side of the limiting rod. The output end of the pneumatic cylinder 441 passes through the third mounting part 432 to be directed towards the limiting rod. The jaw includes a fixed jaw 442 fixedly provided on the third mounting part 432 towards one side of the limiting rod, and a movable jaw 443 having one end connected to the output end of the pneumatic cylinder 441. The third mounting part 432 also has a fulcrum 444 corresponding to the middle part of the movable jaw 443, and the other end of the movable jaw 443 is in cooperation with the fixed jaw 442 under the action of the fulcrum 444 to be in a clamping state and a loosening state. When clamping the limiting rod, the second rod part 333b is inserted between the fixed jaw 442 and the movable jaw 443, and the movable jaw 443 is driven to move towards the fixed jaw 442 to clamp the second rod part 333b.

[0103] Please refer to Figure 11, the turnover unit 520 is configured to turn over the clamped together spare workpiece loading unit 100' and the workpiece loading unit 100 by 180 degrees, interchange the spare workpiece loading unit 100' and the workpiece loading unit 100, turn over the spare workpiece loading unit 100' to the lower side of the workpiece loading unit 100, so that the workpiece A in the workpiece loading unit 100 is turned over by 180 degrees and falls into the loading groove 120 of the spare workpiece loading unit 100'; at this time, the identities of the spare workpiece loading unit 100' and the workpiece loading unit 100 are interchanged, and the workpiece loading unit 100 on the upper side is regarded as the spare workpiece loading unit 100'; the polishing unit 300 is also used for grinding and polishing the second to-be-polished surface A3021 which has not been ground and polished.

[0104] The turnover unit 520 comprises two turnover parts 522 arranged on a platform 521 and a lifting table 523 between the two turnover parts 522. The two turnover parts 522 can be configured to have the same structure and function, for example, each comprising a vertical rotation driving part 522a and a clamping part 522b connected to the output end of the vertical rotation driving part 522a. The two turnover parts 522 can also be respectively configured as a driving turnover part and a driven turnover part, the clamping part 522b of the driving turnover part is driven to rotate by the rotation driving part thereof, and the clamping part 522b of the driven turnover part is turned over by following the driving turnover part through the force transmitted by the clamped workpiece loading unit 100. The lifting table 523 is used to rise to a predetermined position to support the workpiece loading unit 100 and the spare workpiece loading unit 100' inverted on the workpiece loading unit 100 before the workpiece loading unit 100 moves thereto, and the lifting table 523 is also used to descend to a predetermined position to avoid after the two turnover parts 522 clamp the workpiece loading unit 100 and the spare workpiece loading unit 100'.

[0105] Please refer to Figure 12 The automatic polishing method of the present application utilizes the automatic polishing equipment described above to transport, load, polish and unload the workpiece A, comprising the following steps:

[0106] S101, workpiece A transmission: transmitting the workpiece loading unit 100 loaded with the workpiece A at the receiving position 210 of the transmission unit 200 to the pickup position 220. Wherein, please refer to Figure 13 This step comprises the following sub-steps:

[0107] S1011, the control unit receives the transmission tray in place signal detected by the detection part 250 at the receiving position 210;

[0108] S1012, based on the transmission pallet in place signal, send the lifting control instruction to the lifting unit at the receiving position 210, otherwise, keep the lifting unit in the descending state;

[0109] S1013, the lifting unit at the receiving position 210 receives the lifting control instruction sent from the control unit, and lifts the transmission pallet upward;

[0110] S1014, the lifting unit at the receiving position 210 receives the descending control instruction sent from the control unit, and lowers the transmission pallet to return to the transmission belt assembly 240;

[0111] S1015, the control unit receives the transmission pallet in place signal detected by the detection part 250 at the pickup position 220;

[0112] S1016, based on the transmission pallet in place signal, send the lifting control instruction to the lifting unit at the pickup position 220, otherwise, keep the lifting unit in the descending state;

[0113] S1017, the lifting unit at the pickup position 220 receives the lifting control instruction sent from the control unit, and lifts the transmission pallet upward;

[0114] S1018, the lifting unit at the pickup position 220 receives the descending control instruction sent from the control unit, and lowers the transmission pallet to return to the transmission belt assembly 240, and the driving mechanism of the transmission belt assembly 240 returns the transmission pallet to the receiving position 210 based on the reverse rotation instruction sent by the control unit.

[0115] S102, workpiece A pickup and transfer: when the workpiece loading unit 100 is transported to the pickup position 220, pick up the workpiece loading unit 100 and transfer to the polishing unit 300. Wherein, please refer to Figure 14 , this step includes the following sub-steps:

[0116] S1021, the control unit sends the first moving instruction and the first pickup instruction, the second moving instruction and the second pickup instruction, the third moving instruction, the overturning instruction and the third pickup instruction, and the fourth moving instruction and the fourth pickup instruction to the pickup unit 400 based on the transmission pallet in place signal sensed at the pickup position 220;

[0117] S1022, the pickup unit 400 moves to the pickup position 220 based on the first moving instruction, and the first pickup part 410 adsorbs the surface of the workpiece loading unit 100 based on the first pickup instruction;

[0118] S1023, the picking unit 400 also moves to the polishing part 310 of the polishing unit 300 based on the second movement instruction, and releases the workpiece loading unit 100 based on the second picking instruction (release instruction);

[0119] S1024, the picking unit 400 moves to the transfer area 510 based on the third movement instruction, flips the mounting frame 430 based on the flipping instruction so that the second picking part 440 faces the direction of the counterweight block, and moves the second picking part 440 (pneumatic gripper) to the picked part (second rod part 333b) of the counterweight pressing block 330 based on the third picking instruction, and moves the movable gripper to the direction of the fixed gripper to clamp the picked part;

[0120] S1025, the picking unit 400 also moves to the polishing part 310 based on the fourth movement instruction, and releases the second picking part 440 from the counterweight pressing block 330 based on the fourth picking instruction (release instruction).

[0121] S103, workpiece A polishing: the polishing part 310 of the polishing unit 300 polishes the to-be-polished area of the workpiece A.

[0122] Wherein, please refer to Figure 15 , this step includes the following sub-steps:

[0123] S1031, after the picking unit 400 releases the counterweight pressing block 330, the control unit sends an output shaft extension instruction to the driving unit 322 of the positioning mechanism 320, and sends a working instruction to the polishing part 310; after the polishing part 310 finishes working (i.e., after the first to-be-polished surface A3011 is polished), the control unit sends an output shaft retraction instruction to the driving unit 322, and sends a fifth movement instruction and a fifth picking instruction, a sixth movement instruction and a sixth picking instruction, a seventh movement instruction, a flipping instruction and a seventh picking instruction, an eighth movement instruction and an eighth picking instruction, a ninth movement instruction and a ninth picking instruction, and a tenth movement instruction and a tenth picking instruction to the picking unit 400;

[0124] S1032, the driving unit 322 of the positioning mechanism 320 extends the blocking part 321 to one side of the limiting rod (limiting part) based on the extension instruction;

[0125] S1033, the polishing part 310 polishes the first to-be-polished surface A3011 of the workpiece A based on the working instruction;

[0126] SS1034, the driving unit 322 of the positioning mechanism 320 retracts the blocking part 321 to the initial position based on the retraction instruction;

[0127] S1035, the picking unit 400 moves to the weight block 330 of the polishing part 310 based on the fifth movement instruction, picks up the weight block 330 based on the fifth picking instruction, moves the weight block 330 to the transfer area 510 based on the sixth movement instruction, and releases the weight block 330 to the transfer area 510 based on the sixth picking instruction (release instruction);

[0128] S1036, the picking unit 400 moves to the workpiece loading unit 100 of the polishing part 310 based on the seventh movement instruction, flips the mounting rack 430 to make the first picking part 410 face the workpiece loading unit 100 based on the flipping instruction, and makes the first picking part 410 pick up the workpiece loading unit 100 based on the seventh picking instruction; the workpiece loading unit 100 is moved to the flipping unit 520 based on the eighth movement instruction, and the workpiece loading unit 100 is released based on the eighth picking instruction (release instruction);

[0129] S1037, the picking unit 400 also moves to the standby workpiece loading unit 100' of the transfer area 510 based on the ninth movement instruction, picks up the standby workpiece loading unit 100' based on the ninth picking instruction, moves the standby workpiece loading unit to above the workpiece loading unit 100 loaded with the workpiece A based on the tenth movement instruction, and releases the standby workpiece loading unit 100' based on the tenth picking instruction (release instruction), so that the standby workpiece loading unit 100' is buckled on the workpiece loading unit 100;

[0130] S1038, the control unit sends a clamping instruction, a flipping instruction, a release instruction, an eleventh movement instruction and an eleventh picking instruction, a twelfth movement instruction and a twelfth picking instruction, a thirteenth movement instruction and a thirteenth picking instruction, a fourteenth movement instruction and a fourteenth picking instruction, and a fifteenth movement instruction and a fifteenth picking instruction to the flipping unit 520;

[0131] S1039, the flipping unit 520 clamps the workpiece loading unit 100 and the standby workpiece loading unit 100' buckled together based on the clamping instruction, flips the workpiece loading unit 100 and the standby workpiece loading unit 100' buckled together by 180 degrees based on the flipping instruction, so that the positions and identities of the workpiece loading unit 100 and the standby workpiece loading unit 100' are exchanged, and the workpiece loading unit 100 above is used as the standby workpiece loading unit 100'; the flipping unit 520 also releases the standby workpiece loading unit 100' and the workpiece loading unit 100 loaded with the workpiece A after the identity exchange based on the release instruction;

[0132] S103a, the picking unit 400 also moves to above the standby workpiece loading unit 100' based on the eleventh movement instruction, picks up the standby workpiece loading unit 100' based on the eleventh picking instruction, moves the standby workpiece loading unit 100' to the transfer area 510 based on the twelfth movement instruction, releases the standby workpiece loading unit 100' based on the twelfth picking instruction (release instruction), and places the standby workpiece loading unit 100' in the transfer area 510; moves to the workpiece loading unit 100 of the turnover unit 520 based on the thirteenth movement instruction, picks up the workpiece loading unit 100 at the turnover unit 520 based on the thirteenth picking instruction; moves the workpiece loading unit 100 to the polishing part 310 based on the fourteenth movement instruction, and releases the workpiece A workpiece loading unit 100 based on the fourteenth picking instruction, with the second polishing surface A3021 of the workpiece A facing the polishing part 310;

[0133] S103b, the polishing unit 300 polishes the second polishing surface A3021 in the same way (i.e., places the counterweight pressing block 330 at the workpiece loading unit 100, positions the counterweight pressing block 330), polishes the workpiece A (removes the counterweight pressing block 330 from the workpiece loading unit 100, and moves the counterweight pressing block 330 to the transfer area 510).

[0134] S104, the workpiece A is unloaded, and the workpiece A polished by the polishing unit 300 is picked up and transferred to a destination position. The picking unit 400 moves the workpiece loading unit 100 loaded with the workpiece A polished on both sides to the unloading position 620 based on the corresponding movement instruction and picking instruction sent by the control unit, removes the workpiece carrier C in the workpiece loading unit 100 by hand, and then removes the workpiece A from the workpiece carrier C.

[0135] In summary, the automatic polishing equipment and the automatic polishing method have the following beneficial effects: (1) By configuring the transmission mechanism, the pickup unit 400, the polishing unit 300 and the control unit, the control unit is signal connected with each controlled unit, receives signals from each controlled unit, and schedules each controlled unit linkage to realize the automatic process of the workpiece from feeding transmission, transfer, polishing and discharging. (2) The specially designed workpiece carrier C is configured with a loading part C11 shaped with the inner cavity A10 of the workpiece, and the inner surface of the workpiece is attached to the loading part C11, so as to prevent the problem of edge collapse deformation caused by excessive polishing removal. (3) The specially designed workpiece carrier C is designed with a lock hole C12 based on the original hole (through hole A20) of the workpiece, and the plug C20 is arranged in the lock hole C12 and the through hole A20 in the height direction, so as to realize the horizontal limiting of the workpiece and prevent the workpiece from separating from the loading part C11. (4) The specially designed workpiece carrier C is provided with a coaxial first positioning hole C14 and a second positioning hole C21 on the plug C20 and the carrier C10 respectively, and a lock block C30 is arranged, and the first positioning column C31 is arranged in the first positioning hole C14 and the second positioning hole C21 on the lock block C30, so as to prevent the plug C20 from exiting the carrier C10 in the height direction. (5) The lock block C30 is magnetically attracted to the carrier C10 by the magnetic attraction part, so as to prevent the lock block C30 from separating from the carrier C10 during work, prevent the plug C20 from separating from the carrier C10, and prevent the workpiece from separating from the carrier C10. (6) The workpiece loading unit 100 is provided with a plurality of loading grooves 120, each of which can load two workpiece carriers C, and the structure of each loading groove 120 is correspondingly arranged with the workpiece carrier C, so that after the workpiece carrier C is loaded in the loading groove 120, the first polishing surface A3011 or the second polishing surface A3021 can be exposed outside the workpiece loading unit 100 through the window part 110 at the bottom of the groove, so that the corresponding polishing surface can be in contact with the polishing part 310. (7) The slot opening of the loading groove 120 does not need to be provided with a blocking part, which facilitates the operator to quickly place the workpiece carrier C in the loading groove 120. (8) By using the spare workpiece loading unit 100 and the turnover unit 520, after one of the polishing surfaces is completed, the spare workpiece loading unit 100' is buckled with the workpiece loading unit 100 and turned over by 180 degrees, so that the other polishing surface faces the window part 110 at the bottom of the groove, so that the other polishing surface is in contact with the polishing part 310 through the window part 110, and the polishing of multiple polishing surfaces is realized. Compared with the traditional polishing method, the degree of automation is high, multiple workpieces can be polished at the same time, the workpiece edge collapse deformation is prevented, and the yield is improved.

[0136] The above examples only express the preferred embodiments of the present application, which are described in a more specific and detailed manner, but should not be understood as a limitation to the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within the scope of protection of the present application. Therefore, the scope of protection of the present application patent should be subject to the appended claims.

Claims

1. An automatic polishing device, characterized in that, include: A workpiece loading unit having at least one workpiece loading position for loading a workpiece, the workpiece loading position having a window portion for exposing the polishing area of ​​the workpiece to the outside; The transmission unit has a receiving position at one end for receiving the workpiece loading unit and a picking position at the other end for picking up the workpiece loading unit. The transmission unit transports the workpiece loading unit from the receiving position to the picking position. The polishing unit has a polishing section for grinding and polishing the area to be polished exposed at the window portion; A pickup unit is configured to pick up the workpiece loading unit at the pickup position and transfer it to the polishing unit, and to pick up the workpiece loading unit at the polishing unit and transfer it to the destination position. The transit area contains a spare workpiece loading unit, which is used to be placed upside down on top of the workpiece loading unit. A flipping unit is configured to flip both the interlocked spare workpiece loading unit and the workpiece loading unit by 180 degrees, thereby interchangeping the spare workpiece loading unit and the workpiece loading unit, and flipping the spare workpiece loading unit to the bottom of the workpiece loading unit, so that the workpiece in the workpiece loading unit is flipped 180 degrees and falls into the loading slot of the spare workpiece loading unit; at this time, the roles of the spare workpiece loading unit and the workpiece loading unit are interchanged, and the workpiece loading unit located above is regarded as the spare workpiece loading unit. as well as The control unit is configured to be electrically connected to the transmission unit, polishing unit, and pickup unit, and to receive and process data from each unit and schedule the work of each unit to realize the transmission, pickup, polishing, and unloading of the workpiece.

2. The automatic polishing equipment as described in claim 1, characterized in that: The workpiece loading position is configured as a loading slot for loading at least one workpiece, and the window portion is formed on the bottom surface of the loading slot and extends through the workpiece loading unit; The workpiece has a first surface to be polished in the polishing area. When the workpiece is loaded into the workpiece loading slot, the first surface to be polished is exposed outside the workpiece loading unit through the window. When the workpiece loading unit is placed in the polishing unit, the window faces the polishing unit, and the first surface to be polished contacts the polishing unit through the window.

3. The automatic polishing equipment as described in claim 2, characterized in that, The area to be polished of the workpiece also includes a second surface to be polished that is opposite to the first surface to be polished; The picking unit is also used to, after the first polishing surface of the workpiece has been polished, move the workpiece loading unit to the flipping unit, move the spare workpiece loading unit in the transfer area and fasten it above the workpiece loading unit, move the spare workpiece loading unit that is flipped and located above to the transfer area, and move the workpiece loading unit loaded with the workpiece that is flipped and located below to the polishing unit. The polishing unit is also used to polish a second surface that has not been polished.

4. The automatic polishing equipment as described in claim 3, characterized in that, Also includes: A counterweight block is configured to press the workpiece loading unit against the polishing section of the polishing unit and restrict its rotation with the polishing section when the workpiece loading unit is placed thereon; the counterweight block is placed in the transfer area when not in use; the counterweight block includes: The pressure block body has a pressure surface for pressing the workpiece loading unit; A limiting protrusion, configured to be located on the pressing surface at a position corresponding to the loading groove, extends from the opening of the loading groove into the loading groove when the pressing block body presses against the workpiece loading unit, and engages with the side wall of the loading groove to limit and prevent the workpiece loading unit from rotating with the polishing part; and The self-limiting part is used to position the counterweight block at the polishing part under the constraint of the polishing unit, so as to prevent the counterweight block from rotating with the polishing part.

5. The automatic polishing equipment as described in claim 4, characterized in that, The self-limiting part is configured as a limiting rod provided on the pressing block body; the polishing unit has a holding part that can be held at the limiting rod.

6. The automatic polishing equipment as described in claim 1, characterized in that, The workpiece has an inner cavity extending through it along its length and also extending through one side of it along its width, giving the workpiece a side opening. The workpiece also has a through hole extending through it along its height. The automatic polishing equipment further includes a workpiece carrier, which comprises: A carrier block having a loading portion, wherein the workpiece is fitted onto the loading portion through the side opening; A lock hole is configured to be coaxially arranged with the through hole and to extend through the loading part along the height direction of the loading part; A first positioning hole is configured to be located on the side of the carrier block away from the workpiece along the width direction of the loading part and to communicate with the locking hole; A plug, configured to pass through the locking hole and through hole along the height direction of the loading part, the plug having a second positioning hole disposed along the width direction of the loading part, wherein when the plug is placed in the locking hole, the first positioning hole and the second positioning hole are coaxially connected; and A locking block, configured to be movably disposed on the side of the carrier block away from the workpiece, the locking block having a first positioning pin movably insertable into the first positioning hole and the second positioning hole.

7. The automatic polishing equipment as described in claim 6, characterized in that, The workpiece carrier also includes: A first hole, distributed parallel to and spaced apart from the first positioning hole, is located on the carrier block, penetrating one side of the carrier block facing the locking block along the width direction of the loading portion; and A column is mounted on the locking block in a manner that matches the first hole, and is used to be movably inserted into the first hole.

8. The automatic polishing equipment as described in claim 6, characterized in that, The carrier block is configured to be made of a magnetically attractive material, and the workpiece carrier further includes: The second hole is distributed on the carrier block in a manner parallel to and spaced apart from the first positioning hole, and the second hole penetrates one side of the carrier block facing the locking block along the width direction of the loading part; and A magnetic suction part is provided on the lock block in a manner that matches the second hole, and is used to be movably inserted into the second hole and magnetically suction the carrier block to prevent the lock block from detaching from the carrier block in the working state.

9. The automatic polishing equipment as described in any one of claims 1 to 8, characterized in that, The transmission unit is provided with a transmission tray, which is configured to carry the workpiece loading unit; both the receiving position and the picking position are provided with: A detection unit is configured to detect whether the transmission tray is located at the corresponding receiving or picking position. A lifting unit is configured to lift the transmission tray upwards to suspend it above the transmission unit when the transmission tray is located at the corresponding receiving or picking position. The lifting unit is also configured to descend based on a corresponding control command sent by the control unit to return the transmission tray to the transmission unit. The transmission unit is also configured to transmit the transmission pallet carrying the workpiece loading unit to the pickup position, and to transmit the empty transmission pallet at the pickup position to the receiving position.

10. An automatic polishing method for an automatic polishing apparatus as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Workpiece transfer: The workpiece loading unit, which is loaded with the workpiece, is transferred from the receiving position of the transfer unit to the picking position; Workpiece picking and transfer: When the workpiece loading unit is transferred to the picking position, the workpiece loading unit is picked up and transferred to the polishing unit; Workpiece polishing: The polishing part of the polishing unit grinds and polishes the area of ​​the workpiece to be polished. Workpiece unloading, picking up the workpiece polished by the polishing unit and transferring it to the destination position.

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