Automatic feeding and discharging device, polishing machine system and polishing method

Abstract

The invention discloses an automatic feeding and discharging device, a polishing machine system and a polishing method.The automatic feeding and discharging device comprises a rack assembly, a raw material stacking assembly, a clinker stacking assembly, a telescopic arm assembly and a module manipulator are arranged on the rack assembly, the telescopic arm assembly is telescopically arranged on the rack assembly, and the module manipulator is arranged on the rack assembly; the module manipulator is movably arranged on the rack assembly; the polishing machine system comprises a polishing machine and the automatic feeding and discharging device. The polishing method is suitable for the polishing machine system. Automatic feeding and discharging of workpieces are achieved through cooperation of the telescopic arm assembly and the module mechanical arm, a traditional feeding and discharging mode is changed, the manual operation intensity is reduced, the feeding and discharging speed is increased, the standby time of the polishing machine is shortened, and the production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of grinding and polishing, and in particular relates to a loading and unloading device, a polishing machine and a polishing method. Background Art

[0002] With the rapid development of smartphones, the iteration and update of smartphones are extremely fast, and the market scale is huge. The body of a smartphone is an indispensable component. It is the solid core of the whole machine, supporting thousands of components and tightly packaging them together, so its stability, finish, and dimensional accuracy are very important. In order to make it stable, smooth and accurate enough, high-strength materials and high-finish and high-precision processing technology must be selected. In this processing technology, the polishing process of the body is extremely important, which ensures the finish and accurate body size of the entire body.

[0003] Five-axis polishing machines can be used for polishing mobile phone bodies, but the loading and unloading of existing five-axis polishing machines is done manually, which is extremely inefficient and delays the production time of the host. Currently, there is no automatic loading and unloading equipment for five-axis polishing machines suitable for polishing mobile phone bodies. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology and provide an automatic loading and unloading device, a polishing machine system and a polishing method of the polishing machine system which can realize automatic loading and unloading and greatly improve processing production efficiency.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is: An automatic loading and unloading device comprises a frame assembly, on which a raw material stacking assembly, a clinker stacking assembly, a telescopic arm assembly for loading raw material onto a polishing machine or unloading clinker from the polishing machine (the loading and unloading processes are completed in cooperation with an internal gripper in the polishing machine), and a module manipulator for loading raw material from the raw material stacking assembly onto the telescopic arm assembly or unloading clinker from the telescopic arm assembly onto the clinker stacking assembly, wherein the telescopic arm assembly is telescopically arranged on the frame assembly, and the module manipulator is movably arranged on the frame assembly.

[0006] In the above-mentioned automatic loading and unloading device, preferably, the telescopic arm assembly is staggered with a pair, which are respectively used for loading and unloading to the two polishing machines on both sides of the frame assembly, and the telescopic arm assembly is arranged on the frame assembly through a displacement mechanism for changing the outward extension position of the telescopic arm assembly. The above-mentioned misalignment of the pair of telescopic arm assemblies means that the two telescopic arm assemblies are not in the same straight line after the pair of telescopic arm assemblies are extended. When a pair of telescopic arm assemblies are adopted, the two need to be staggered in order to be installed in a smaller space and realize their functions. At this time, the two polishing machines that cooperate with the two respectively need to be staggered and not in the same straight line in order to realize interaction with the telescopic arm assembly. However, if the two polishing machines are not in the same straight line, the floor space will be increased and the appearance will not be good. The present invention realizes the forward and backward movement of the telescopic arm mounting plate by adopting a displacement mechanism (the direction of the forward and backward movement is referred to in Figure 2 ), so that the telescopic arm assembly installed on it can move forward and backward. When it is necessary to load and unload materials to a certain polishing machine, the telescopic arm assembly that matches the polishing machine can be driven to move to the appropriate position through the displacement mechanism. This ensures that the left and right polishing machines are aligned, ensures the beauty of the entire line, and can also realize loading and unloading of the two polishing machines.

[0007] In the above-mentioned automatic loading and unloading device, preferably, the displacement mechanism includes a telescopic arm mounting plate and a first driving assembly, the telescopic arm assembly is mounted on the telescopic arm mounting plate, the frame assembly is provided with a first guide rail slider assembly, the telescopic arm mounting plate is driven by the first driving assembly and is slidably arranged on the frame assembly through the first guide rail slider assembly, and the installation direction of the first guide rail slider assembly is perpendicular to the telescopic direction of the telescopic arm assembly (that is, the installation direction of the first guide rail slider assembly is Figure 2 in the front-to-back direction).

[0008] By setting up the telescopic arm mounting plate and the first drive assembly, the telescopic arm assembly can slide on the frame assembly along the first guide rail slider assembly perpendicular to its telescopic direction. Such a layout improves the spatial flexibility of the automatic loading and unloading device, while optimizing the mechanical structure to ensure that it can realize loading and unloading of the left and right polishing machines at the same time.

[0009] In the above-mentioned automatic loading and unloading device, preferably, the first driving assembly includes a first driving source, a first synchronous wheel and a first synchronous belt, the first driving source and the first synchronous wheel are arranged on the frame assembly, the first synchronous belt is sleeved on the first synchronous wheel, the first driving source drives the first synchronous wheel to rotate, the first synchronous wheel drives the first synchronous belt to rotate, and the first synchronous belt is connected to the telescopic arm mounting plate through a first synchronous belt connecting plate.

[0010] The above design drives the first synchronous wheel to rotate through the first driving source. Since the first synchronous belt is connected to the telescopic arm mounting plate through the first synchronous belt connecting plate, when the first synchronous belt rotates, it can drive the telescopic arm mounting plate to move, ensuring that the telescopic arm mounting plate can move smoothly in the telescopic direction perpendicular to the telescopic arm assembly, realizing precise control of the position of the telescopic arm assembly, and improving the flexibility and stability of the automatic loading and unloading device. The above first driving source, first synchronous wheel, first synchronous belt and first synchronous belt connecting plate can all adopt conventional devices in the prior art.

[0011] In the above-mentioned automatic loading and unloading device, preferably, the telescopic arm assembly includes a mounting seat, a mounting base plate, a primary stroke plate, a secondary stroke plate, a second drive assembly and a third drive assembly, the mounting base plate is arranged on the mounting seat, the mounting base plate is provided with a second guide rail slider assembly, the primary stroke plate is provided with a third guide rail slider assembly, the primary stroke plate is driven by the second drive assembly and is slidably arranged on the mounting base plate through the second guide rail slider assembly, and the secondary stroke plate is driven by the third drive assembly and is slidably arranged on the primary stroke plate through the third guide rail slider assembly. The above-mentioned mounting seat and mounting base plate are fixed parts, the primary stroke plate and the secondary stroke plate are movable parts, and the mounting seat is arranged on the telescopic arm mounting plate. By setting a multi-stage stroke plate and a guide rail slider assembly, multi-level sliding and precise control of the telescopic arm assembly are realized, and the operational flexibility and space utilization of the device are improved. The second drive assembly and the third drive assembly respectively drive the primary stroke plate and the secondary stroke plate to move, so that the telescopic arm assembly can be flexibly extended and retracted. The above-mentioned second guide rail slider assembly and the third guide rail slider assembly can both adopt conventional devices in the prior art.

[0012] In the above-mentioned automatic loading and unloading device, preferably, the second driving assembly includes a second driving source, a gear and a rack, the rack is arranged on the first-stage stroke plate, the second driving source is arranged on the mounting base plate, and the gear is connected to the second driving source and meshes with the rack. When the second driving source rotates, it can drive the gear to rotate, and the gear in turn drives the rack to rotate, thereby realizing the sliding of the first-stage stroke plate. The meshing transmission of the gear and the rack provides a high-torque and high-efficiency driving force, ensuring the stable and precise movement of the first-stage stroke plate on the mounting base plate, thereby improving the operating accuracy and reliability of the automatic loading and unloading device, while simplifying the mechanical structure and reducing maintenance costs. The above-mentioned second driving source, gear and rack can all adopt conventional devices in the prior art.

[0013] In the above-mentioned automatic loading and unloading device, preferably, the third driving assembly includes a third synchronous wheel and a third synchronous belt, the third synchronous wheel is arranged on the first-level stroke plate, the third synchronous belt is sleeved on the third synchronous wheel, and the first-level stroke plate is provided with an avoidance hole for connecting the third synchronous belt with the mounting base plate, the avoidance hole is located below the third synchronous belt, the third synchronous belt is connected to the mounting base plate through a third synchronous belt lower connecting plate, and is connected to the second-level stroke plate through a third synchronous belt upper connecting plate. The avoidance hole can be a long strip hole, which is equivalent to a hollow design on a first-level stroke plate, so that the entire third synchronous belt can interact with the mounting base plate, so that the third synchronous belt does not move relative to the mounting base plate. The above-mentioned third synchronous wheel and third synchronous belt can adopt conventional devices in the prior art.

[0014] By setting up the third drive component, using the third synchronous wheel and the third synchronous belt, the precise control and drive of the secondary stroke plate are realized. The operating principle of the third drive component is as follows: since the third synchronous belt is connected to the mounting base plate through the third synchronous belt lower connecting plate, and is connected to the secondary stroke plate through the third synchronous belt upper connecting plate, and the third synchronous wheel is fixed on the primary stroke plate, the third synchronous belt will not be displaced relative to the mounting base. When the primary stroke plate slides outward under the drive of the second drive source, the third synchronous belt will drive the secondary stroke plate to slide outward. The above design only requires one drive source (i.e., the second drive source) to realize the movement of the two-stage stroke plate, and the structure is simpler.

[0015] The above design not only improves the operating accuracy and reliability of the automatic loading and unloading device, but also makes the layout of the synchronous belt more reasonable through the clever setting of the avoidance holes and the connecting plates, reduces space occupancy, and facilitates installation and maintenance, thereby improving the space utilization and operating efficiency of the entire automatic loading and unloading device.

[0016] In the above-mentioned automatic loading and unloading device, preferably, the end of the secondary stroke plate away from the mounting seat is provided with a positioning wheel for cooperating with the positioning block in the polishing machine to prevent the telescopic arm assembly from collapsing, the positioning wheel is provided with a V-shaped groove, the positioning block is provided with an inverted V-shaped protrusion, and the end of the positioning block close to the secondary stroke plate is provided with a chamfered engaging portion, and the positioning block is provided on the polishing machine through a positioning block height adjustment assembly.

[0017] By providing a positioning wheel at the end of the secondary stroke plate away from the mounting seat and cooperating with the positioning block in the polishing machine, the telescopic arm assembly can be effectively prevented from collapsing due to being too long, thereby improving the stability of the entire structure. The V-shaped groove on the positioning wheel matches the inverted V-shaped protrusion on the positioning block, ensuring enhanced positioning accuracy. The chamfered fitting design of the positioning block makes the cooperation between the positioning block and the secondary stroke plate smoother. In addition, the height adjustment assembly of the positioning block allows the positioning block to be adjusted in height as needed to adapt to different working conditions, thereby improving the adaptability and reliability of the automatic loading and unloading device. The specific structural form of the above-mentioned positioning block height adjustment assembly is not limited, for example, an adjustment screw can be used.

[0018] In the above-mentioned automatic loading and unloading device, preferably, the secondary stroke plate is provided with a plurality of positioning fixtures for positioning the workpiece to be processed, the positioning fixture is provided with a coarse positioning protrusion and a fine positioning protrusion, the coarse positioning protrusion is higher than the fine positioning protrusion, the coarse positioning protrusion is a block with an upper chamfer, the fine positioning protrusion is a cone pin, and the positioning fixture is also provided with a position adjustment hole and a photoelectric detection module for detecting whether there is a workpiece to be processed. The above-mentioned photoelectric detection module can adopt a conventional device in the prior art.

[0019] By setting multiple positioning fixtures on the secondary stroke plate, and the positioning fixture is provided with a rough positioning protrusion with a chamfered upper end and a fine positioning protrusion in the shape of a cone pin, the two cooperate with each other to achieve rough positioning and fine positioning of the workpiece, thereby improving the positioning efficiency and positioning accuracy of the workpiece. The fixture is also provided with a position adjustment hole, which is a waist-shaped hole. The position of the positioning fixture on the secondary stroke plate can be flexibly adjusted according to needs, thereby enhancing the applicability of the positioning fixture. In addition, the positioning fixture is also provided with a photoelectric detection module for detecting whether there is a workpiece being processed on the positioning fixture. It can detect in real time whether there is a workpiece being processed on the positioning fixture, which is conducive to accurately placing or grabbing the workpiece being processed, thereby improving the working efficiency and reliability of the entire automatic loading and unloading device.

[0020] In the above-mentioned automatic loading and unloading device, preferably, the module manipulator includes a mounting support frame, a rotating platform and a clamping claw assembly for loading and unloading processed products and for carrier handling, the mounting support frame is arranged on the frame assembly, the clamping claw assembly is arranged below the rotating platform, the rotating platform is arranged on the mounting support frame through an XYZ module for driving it to move along the XYZ direction, and the rotating platform is connected to a rotating driving source for driving it to rotate. The above-mentioned XYZ module and rotating driving source can both adopt conventional devices in the prior art.

[0021] By setting up a rotating platform and a clamping claw assembly, the loading and unloading of processed products and the handling of carriers are realized. When the left and right telescopic arm assemblies are loading the left and right polishing machines, the polishing machines cannot be placed in absolute parallelism, but the telescopic arm assembly needs to be relatively parallel to the polishing machine for successful loading, so the two telescopic arm assemblies may not be parallel in practice. Therefore, when the module manipulator loads and unloads the telescopic arm assembly, the two telescopic arm assemblies can be loaded and unloaded at the same time by rotating the swing angle of the driving source. And because the rotating platform is installed on the support frame through the XYZ module, it can move flexibly along the three coordinate axes (X, Y, Z), and the rotating driving source allows the platform to rotate, thereby expanding the operating range and flexibility of the clamping claw assembly. The above design not only improves the efficiency and accuracy of automated loading and unloading, but also enhances the adaptability and flexibility of the module manipulator.

[0022] In the above-mentioned automatic loading and unloading device, preferably, the clamping jaw assembly includes a clamping jaw mounting plate, a horizontal cylinder, upper and lower cylinders, a clamping cylinder, a vacuum suction cup for loading and unloading processed products, and a carrier handling assembly for carrier handling, the clamping jaw mounting plate is arranged below the rotating platform, the horizontal cylinder and the clamping cylinder are arranged on the clamping jaw mounting plate, the upper and lower cylinders are arranged on the horizontal cylinder, the vacuum suction cup is arranged below the upper and lower cylinders, and the carrier handling assembly is arranged below the clamping cylinder. The above-mentioned cylinders, vacuum suction cups, carrier handling assemblies, etc. can all adopt conventional devices in the prior art.

[0023] Through the coordinated work of the horizontal cylinder, the upper and lower cylinders and the clamping cylinder, the movement of the vacuum suction cup and the carrier handling assembly is precisely controlled to meet different loading and unloading and handling requirements. The above-mentioned horizontal cylinder increases the stroke in the Y-axis direction. Specifically, when the upper and lower cylinders come down, the vacuum suction cup picks up the product. When the upper and lower cylinders go up, the clamping cylinder clamps the carrier. The above design not only improves the flexibility and adaptability of the operation, but also integrates multiple functions into a single component, optimizes the spatial layout, enhances the compactness and operating efficiency of the device, and thus improves the practicality of the entire automatic loading and unloading device.

[0024] In the above-mentioned automatic loading and unloading device, preferably, a material discharge overheight detection component is provided on the mounting support frame at a side close to the raw material stacking component and the clinker stacking component.

[0025] The over-height discharge detection component can detect the height of the raw material stacking component and the clinker stacking component in real time, and can effectively prevent material collection failures caused by manual discharge or AGV material over-height.

[0026] In the above-mentioned automatic loading and unloading device, preferably, the raw material stacking assembly and the clinker stacking assembly both include a carrier receiving seat and a fourth driving assembly for driving the carrier receiving seat to move up and down, and the carrier receiving seat is provided with a positioning cylinder for matching the positioning feature on the carrier.

[0027] The fourth drive assembly can be a servo motor and a ball screw structure, and the servo motor drives the ball screw to move up and down, thereby realizing the precise up and down movement of the carrier holder. At the same time, the stacked multi-layer carriers can be accurately positioned through the positioning sleeve and the positioning features of the cone pin and the pin hole.

[0028] In the above-mentioned automatic loading and unloading device, preferably, the carrier is provided with a plurality of product accommodating areas for processing workpieces, each of the product accommodating areas is provided with a coarse positioning component and a fine positioning component for positioning the processed workpieces, the coarse positioning component is higher than the fine positioning component, the coarse positioning component is a block with a chamfered upper end, and the fine positioning component is a tapered pin, the bottom surface of the carrier is provided with a plurality of positioning columns, the upper surface of the carrier is provided with a plurality of positioning holes, when the upper and lower adjacent carriers are stacked, they are positioned by the positioning columns and the positioning holes, and the lowermost carrier is positioned by the positioning columns cooperating with the positioning cylinder on the carrier receiving seat.

[0029] By setting up multiple product accommodating areas on the carrier, work efficiency is improved. At the same time, the dual positioning mechanism of the coarse positioning component and the fine positioning component enables more precise adjustments to the workpiece after initial positioning, achieving fast and accurate positioning of the processed workpiece. In addition, the design of the positioning column on the bottom of the carrier and the positioning hole on the upper surface enables the upper and lower adjacent carriers to be accurately aligned when stacked, ensuring the stability of the carrier stacking. The bottom carrier is positioned by the positioning column and the positioning cylinder on the carrier holder, further enhancing the stability and accuracy of the carrier stacking.

[0030] As a general technical concept, the present invention also provides a polishing machine system, including a polishing machine and the above-mentioned automatic loading and unloading device, the automatic loading and unloading device has a side opening, the polishing machine is arranged on the side of the automatic loading and unloading device, the loading and unloading station of the polishing machine is provided with an in-machine gripper for loading and unloading, the telescopic arm assembly extends outward through the opening to the loading and unloading station of the polishing machine and retracts inward to the frame assembly to realize loading and unloading.

[0031] The side opening design of the automatic loading and unloading device allows the telescopic arm assembly to directly dock with the loading and unloading station of the polishing machine, so that the hand gripper inside the machine can work together with the automatic loading and unloading device to complete the rapid loading and unloading of workpieces. The above design not only improves the efficiency of the polishing operation, reduces manual intervention and labor intensity, but also ensures the stability and reliability of the loading and unloading process by precisely controlling the extension and retraction of the telescopic arm assembly. Overall, the system optimizes the automation level of the polishing production line, improves production efficiency and product quality, and reduces production costs.

[0032] As a general technical concept, the present invention also provides a polishing method of the above-mentioned polishing machine system, comprising the following steps: S1: placing the processed product on the raw material stacking assembly, and loading the processed product onto the telescopic arm assembly through the module manipulator; S2: The telescopic arm assembly extends outward to the loading and unloading station of the polishing machine, and cooperates with the internal gripper to load the material; at the same time, the internal gripper transfers the processed product to the telescopic arm assembly; S3: The telescopic arm assembly retracts inwardly to the frame assembly, and unloads the processed product to the clinker stacking assembly through the module robot, thus completing the unloading.

[0033] The automatic loading and unloading device of the present invention can match the YH2M8590 CNC multi-surface polishing machine developed by Yuhuan Precision, which meets the processing characteristics of this polishing machine and the process route of mobile phone body processing. It is used to automatically load and unload materials for the five-axis polishing machine and for the automatic loading and unloading of mobile phone bodies. It is suitable for grinding and polishing the middle frame, front and back covers of mobile phones in the 3C industry. The automatic loading and unloading device of the present invention has the functions of carrier disassembly and stacking, transportation, automatic positioning, automatic raw and cooked material exchange, etc., which realizes the automation, intelligence and informatization of the mobile phone body polishing process.

[0034] In the polishing machine system of the present invention, the telescopic arm assembly, the module manipulator, and the internal gripper are the key components for loading and unloading the system. The telescopic arm assembly and the internal gripper affect the accuracy of loading and unloading, and the module manipulator affects the beat of the whole machine. The device can load or unload 5 sheets of material to the polishing machine at the same time, greatly increasing the effective production time of the polishing machine, and can achieve one loading and unloading device for loading and unloading two polishing machines at the same time, which doubles the processing efficiency.

[0035] The specific working process of the polishing system of the present invention can be as follows: first, manually put the material into the raw material stacking assembly or the AGV docks the raw material stacking assembly, and then the module robot takes the material piece by piece from the raw material stacking assembly and puts it into the positioning fixture on the telescopic arm assembly. The telescopic arm assembly extends into the polishing machine and interacts with the internal gripper of the polishing machine, putting five pieces of raw material on the upper side and five pieces of clinker on the lower side. Then the telescopic arm assembly with the clinker is retracted, and the internal gripper with the raw material loads the processing fixture of the polishing machine. Finally, the module robot takes the clinker piece by piece from the retracted telescopic arm assembly and puts it into the clinker stacking assembly, and then puts the raw material onto the positioning fixture on the telescopic arm assembly, and the cycle continues. Finally, manually take the material from the clinker stacking assembly or the AGV docks the clinker stacking assembly to realize the automatic loading and unloading of the mobile phone body polishing.

[0036] During the loading process of the product, the product goes from the carrier to the telescopic arm assembly, from the telescopic arm assembly to the gripper inside the machine, and the gripper inside the machine to the polishing machine tooling. Unloading is in the opposite order. During this transportation process, the positioning accuracy is guaranteed by positioning blocks, positioning pins, vacuum suction cups, flexible platforms, etc. This structure is simple, stable, and low-cost, which greatly guarantees the stability of the equipment.

[0037] The automatic loading and unloading device of the present invention is connected to the incoming AGV or manually loading and unloading a stack of materials (80 pieces), which greatly improves the work efficiency and saves labor compared to the previous manual loading of 5 pieces of materials to the main machine each time. Secondly, the automatic loading and unloading device of the present invention is perfectly combined with the polishing machine main machine. The left and right telescopic arm assemblies extend into the left and right polishing machines respectively, interact with the claws inside the machine, and load five pieces of raw materials and five pieces of clinker at the same time. Then the telescopic arm assembly with clinker is retracted. Compared with manual loading one piece at a time, the loading and unloading efficiency is improved by five times, which greatly improves the production efficiency.

[0038] In the present invention, the module robot takes the product from the raw material stacking assembly and puts it into the telescopic arm assembly, and then puts the empty carrier into the position of the clinker stacking assembly. If the loading station on the carrier is less than 5 (for example, there are 4 products on the carrier), the polishing machine processes 5 pieces of material at a time. In order to balance the beat, an empty carrier buffer position can be set, and the carrier can be clamped from the empty carrier buffer position when unloading.

[0039] Compared with the prior art, the advantages of the present invention are: The automatic loading and unloading device, polishing machine system and polishing method of the present invention realize automatic loading and unloading of workpieces by cooperating with a telescopic arm assembly and a module manipulator, which changes the traditional loading and unloading method, reduces the intensity of manual operation, greatly improves the efficiency of loading and unloading, and at the same time optimizes the automation level of the polishing production line, reduces the standby time of the polishing machine, and improves the production efficiency of the polishing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 Schematic diagram of the structure of the automatic loading and unloading device in the embodiment.

[0042] Figure 2 Schematic diagram of the structure of the displacement mechanism in the embodiment (top view).

[0043] Figure 3 for Figure 2 main view.

[0044] Figure 4 Schematic diagram of the structure of the telescopic arm assembly in the extended state in the embodiment (top view).

[0045] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0046] Figure 6 for Figure 4 Schematic diagram of the cross-section of the AA surface in the middle.

[0047] Figure 7 for Figure 6 A partial enlarged view of point B in the middle.

[0048] Figure 8 Schematic diagram of the structure of the telescopic arm assembly in the retracted state in the embodiment (top view).

[0049] Fig. 9 for Figure 8 Schematic diagram of the cross-section of the BB surface.

[0050] Fig.10 It is a structural schematic diagram (stereoscopic diagram) of the telescopic arm assembly in the extended state in the embodiment.

[0051] Fig.11 for Figure 4 Schematic diagram of the structure of the positioning tooling.

[0052] Fig.12 Schematic diagram of the structure of the module robot in the embodiment.

[0053] Fig.13 Schematic diagram of the structure of the clamping jaw assembly in the embodiment.

[0054] Fig.14 for Fig.13 Side view of.

[0055] Fig.15 Schematic diagram of the structure of the raw material / cooked material stacking assembly in the embodiment.

[0056] Fig.16 Schematic diagram of the structure of the carrier in the embodiment.

[0057] Fig.17 Schematic diagram of the structure of the protection component in the embodiment.

[0058] Fig.18 Schematic diagram of the structure of the automatic loading and unloading device with protective components in the embodiment.

[0059] Fig.19 Schematic diagram of the structure of the polishing machine system in the embodiment.

[0060] Fig. 20 It is a structural schematic diagram of the telescopic arm assembly extending to the loading and unloading station of the polishing machine in the embodiment (part of the outer shell of the polishing machine is omitted).

[0061] Fig.21 for Fig. 20 Schematic diagram of the structure of the positioning block.

[0062] Fig. 22 It is a structural schematic diagram of the working state of the positioning wheel and the positioning block in the embodiment.

[0063] Fig.23 for Fig. 22 Side view of.

[0064] Legend 1. Frame assembly; 11. Positioning mechanism; 12. First guide rail slider assembly; 111. Telescopic arm mounting plate; 112. First drive assembly; 1121. First drive source; 1122. First synchronous wheel; 1123. First synchronous belt; 1124. First synchronous belt connecting plate; 13. Empty vehicle cache position; 14. Water tank; 15. Protection assembly; 2. Raw material stacking components; 3. Clinker stacking components; 4. Telescopic arm assembly; 41. Mounting seat; 42. Mounting base plate; 421. Second guide rail slider assembly; 43. Primary travel plate; 431. Third guide rail slider assembly; 432. Avoidance hole; 44. Secondary travel plate; 442. Positioning tooling; 4421. Coarse positioning protrusion; 4422. Fine positioning protrusion; 4423. Position adjustment hole; 4424. Photoelectric detection module; 45. Second drive assembly; 451. Second drive source; 452. Gear; 453. Rack; 46. Third drive assembly; 461. Third synchronous wheel; 462. Third synchronous belt; 463. Third synchronous belt lower connecting plate; 464. Third synchronous belt upper connecting plate; 47. Positioning wheel; 471. V-shaped groove; 5. Module manipulator; 51. Mounting support frame; 511. Material discharge over-height detection component; 52. Rotating platform; 521. XYZ module; 522. Rotating drive source; 53. Gripper assembly; 531. Gripper mounting plate; 532. Horizontal cylinder; 533. Up and down cylinder; 534. Clamping cylinder; 535. Vacuum suction cup; 536. Carrier handling component; 6. Carrier support seat; 7. Fourth drive assembly; 8. Carrier; 81. Coarse positioning component; 82. Fine positioning component; 83. Positioning column; 84. Positioning hole; 9. Polishing machine; 91. Hand claw inside the machine; 92. Positioning block; 921. Inverted V-shaped protrusion; 922. Chamfering and meeting part; 923. Positioning block height adjustment component. DETAILED DESCRIPTION

[0065] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0066] It should be noted that when an element is described as being "fixed, fixed, connected or connected to" another element, it can be directly fixed, fixed, connected or connected to the other element, or it can be indirectly fixed, fixed, connected or connected to the other element through other intermediate connectors.

[0067] Unless otherwise defined, all the professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0068] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0069] Example: like Figure 1 As shown, the automatic loading and unloading device of this embodiment includes a frame assembly 1, on which is provided a raw material stacking assembly 2, a clinker stacking assembly 3, a telescopic arm assembly 4 for loading the raw material onto the polishing machine 9 or unloading the clinker from the polishing machine 9, and a module manipulator 5 for loading the raw material from the raw material stacking assembly 2 onto the telescopic arm assembly 4 or unloading the clinker from the telescopic arm assembly 4 to the clinker stacking assembly 3; the telescopic arm assembly 4 is telescopically arranged on the frame assembly 1, and the module manipulator 5 is movably arranged on the frame assembly 1.

[0070] like Figure 1 and Figure 2As shown, in this embodiment, a pair of telescopic arm assemblies 4 are staggered, respectively used for loading and unloading materials to the two polishing machines 9 on both sides of the frame assembly 1, and the telescopic arm assembly 4 is arranged on the frame assembly 1 through a displacement mechanism 11 for changing the outward extension position of the telescopic arm assembly 4. The displacement mechanism 11 drives the telescopic arm assembly 4 to move forward and backward along a direction perpendicular to the telescopic direction of the telescopic arm assembly 4, ensuring that the staggered telescopic arm assembly 4 can load and unload materials to the two polishing machines 9 on both sides of the frame assembly 1.

[0071] like Figure 2 and Figure 3 As shown, in this embodiment, the displacement mechanism 11 includes a telescopic arm mounting plate 111 and a first driving assembly 112. The telescopic arm assembly 4 is mounted on the telescopic arm mounting plate 111. The frame assembly 1 is provided with a first guide rail slider assembly 12. The telescopic arm mounting plate 111 is slidably mounted on the frame assembly 1 through the first guide rail slider assembly 12 under the drive of the first driving assembly 112. The mounting direction of the first guide rail slider assembly 12 is perpendicular to the telescopic direction of the telescopic arm assembly 4. Specifically, the first driving assembly 112 drives the telescopic arm mounting plate 111 to move along the first guide rail slider assembly 12 on the frame assembly 1, thereby changing the position of the telescopic arm assembly 4 extending outward, ensuring that the telescopic arm assembly 4 can extend outward into the two polishing machines 9 on both sides of the frame assembly 1 to complete the loading and unloading work.

[0072] like Figure 2-Figure 3 As shown, in this embodiment, the first driving assembly 112 includes a first driving source 1121, a first synchronous wheel 1122 and a first synchronous belt 1123. The first driving source 1121 and the first synchronous wheel 1122 are arranged on the frame assembly 1, and the first synchronous belt 1123 is sleeved on the first synchronous wheel 1122. The first driving source 1121 drives the first synchronous wheel 1122 to rotate, and the first synchronous wheel 1122 drives the first synchronous belt 1123 to rotate. The first synchronous belt 1123 is connected to the telescopic arm mounting plate 111 through a first synchronous belt 1123 connecting plate. Specifically, the first driving source 1121 drives the first synchronous wheel 1122 to rotate, and the first synchronous wheel 1122 drives the first synchronous belt 1123 to rotate, and the telescopic arm mounting plate 111 is connected to the first synchronous belt 1123 through the first synchronous belt connecting plate 1124, so the rotation of the first synchronous belt 1123 can drive the telescopic arm mounting plate 111 connected thereto to slide to change its position.

[0073] like Figure 4-Figure 10As shown, in this embodiment, the telescopic arm assembly 4 includes a mounting seat 41, a mounting base plate 42, a primary stroke plate 43, a secondary stroke plate 44, a second drive assembly 45 and a third drive assembly 46. The mounting base plate 42 is arranged on the mounting seat 41, and a second guide rail slider assembly 421 is arranged on the mounting base plate 42. The primary stroke plate 43 is provided with a third guide rail slider assembly 431. The primary stroke plate 43 is slidably arranged on the mounting base plate 42 through the second guide rail slider assembly 421 under the drive of the second drive assembly 45, and the secondary stroke plate 44 is slidably arranged on the primary stroke plate 43 through the third guide rail slider assembly 431 under the drive of the third drive assembly 46.

[0074] like Figure 7 As shown, in this embodiment, the second driving assembly 45 includes a second driving source 451, a gear 452 and a rack 453. The rack 453 is arranged on the primary travel plate 43, the second driving source 451 is arranged on the mounting base plate 42, and the gear 452 is connected to the second driving source 451 and meshes with the rack 453. The second driving source 451 drives the gear 452 to rotate, and the gear 452 drives the rack 453 to move, so that the primary travel plate 43 can be driven to slide on the second guide rail slider assembly 421.

[0075] like Figure 5 , Figure 6 As shown, in this embodiment, the third driving assembly 46 includes a third synchronous wheel 461 and a third synchronous belt 462. The third synchronous wheel 461 is arranged on the primary stroke plate 43, and the third synchronous belt 462 is sleeved on the third synchronous wheel 461. The primary stroke plate 43 is provided with an avoidance hole 432 for connecting the third synchronous belt 462 with the mounting base plate 42. The avoidance hole 432 is located below the third synchronous belt 462. The third synchronous belt 462 is connected to the mounting base plate 42 through a third synchronous belt lower connecting plate 463, and is connected to the secondary stroke plate 44 through a third synchronous belt upper connecting plate 464. Since the third synchronous belt 462 is connected to the mounting base plate 42 and the secondary stroke plate 44 through the third synchronous belt lower connecting plate 463 and the third synchronous belt upper connecting plate 464, respectively, the third synchronous wheel 461 is arranged on the primary stroke plate 43. When the primary stroke plate 43 slides, it will drive the third synchronous belt 462 to move, thereby driving the secondary stroke plate 44 to slide on the third guide rail slider assembly 431. That is, one driving source (the second driving source 451 ) drives the two-stage travel plates to slide.

[0076] In this embodiment, in actual use, the arrangement and driving method of the telescopic arm assembly 4 can achieve a telescopic stroke of up to 1900 mm.

[0077] like Figure 6 , Figure 21-23As shown, in this embodiment, the end of the secondary stroke plate 44 away from the mounting seat 41 is provided with a positioning wheel 47 for cooperating with the positioning block 92 in the polishing machine 9 to prevent the telescopic arm assembly 4 from collapsing, the positioning wheel 47 is provided with a V-shaped groove 471, the positioning block 92 is provided with an inverted V-shaped protrusion 921, and the end of the positioning block 92 close to the secondary stroke plate 44 is provided with a chamfered engaging portion 922, and the positioning block 92 is arranged on the polishing machine 9 through a positioning block height adjustment assembly 923.

[0078] like Fig.11 As shown, in this embodiment, a plurality of positioning fixtures 442 for positioning the workpiece to be processed are provided on the secondary stroke plate 44, and a coarse positioning protrusion 4421 and a fine positioning protrusion 4422 are provided on the positioning fixture 442, the coarse positioning protrusion 4421 is higher than the fine positioning protrusion 4422, the coarse positioning protrusion 4421 is a block with a chamfered upper end, and the fine positioning protrusion 4422 is a tapered pin, and a position adjustment hole 4423 and a photoelectric detection module 4424 for detecting whether there is a workpiece to be processed are also provided on the positioning fixture 442.

[0079] like Fig.12 As shown, in this embodiment, the module manipulator 5 includes a mounting support frame 51, a rotating platform 52, and a clamping claw assembly 53 for loading and unloading processed products and carrying the carrier 8. The mounting support frame 51 is arranged on the frame assembly 1, and the clamping claw assembly 53 is arranged below the rotating platform 52. The rotating platform 52 is arranged on the mounting support frame 51 through an XYZ module 521 for driving it to move along the XYZ direction. The rotating platform 52 is connected to a rotating driving source 522 for driving it to rotate. The XYZ module 521 drives the rotating platform 52 to move along the XYZ direction, driving the clamping claw assembly 53 connected thereto to move to correspond to the position of the telescopic arm assembly 4. The rotating driving source 522 can drive the clamping claw assembly 53 to rotate to match the angle of the telescopic arm assembly 4.

[0080] like Fig.13 , Fig.14 As shown, in this embodiment, the clamping jaw assembly 53 includes a clamping jaw mounting plate 531, a horizontal cylinder 532, an upper and lower cylinders 533, a clamping cylinder 534, a vacuum suction cup 535 for loading and unloading processed products, and a carrier transporting assembly 536 for transporting the carrier 8. The clamping jaw mounting plate 531 is arranged below the rotating platform 52, the horizontal cylinder 532 and the clamping cylinder 534 are arranged on the clamping jaw mounting plate 531, the upper and lower cylinders 533 are arranged on the horizontal cylinder 532, the vacuum suction cup 535 is arranged below the upper and lower cylinders 533, and the carrier transporting assembly 536 is arranged below the clamping cylinder 534. Specifically, when the upper and lower cylinders 533 are down, the suction cup sucks the product. When the upper and lower cylinders 533 are up, the clamping cylinder 534 clamps the carrier 8.

[0081] like Fig.12As shown, in this embodiment, a material discharge overheight detection component 511 is provided on the mounting support frame 51 on one side close to the raw material stacking component 2 and the clinker stacking component 3. The overheight detection prevents manual discharge or AGV incoming material from being overheight, resulting in material collection failure.

[0082] like Fig.15 As shown, in this embodiment, the raw material stacking assembly 2 and the clinker stacking assembly 3 both include a carrier receiving seat 6 and a fourth driving assembly 7 for driving the carrier receiving seat 6 to move up and down, and the carrier receiving seat 6 is provided with a positioning cylinder for matching the positioning feature on the carrier 8.

[0083] like Fig.16 As shown, in this embodiment, a plurality of product accommodating areas for processing workpieces are provided on the carrier 8, and each product accommodating area is provided with a coarse positioning component 81 and a fine positioning component 82 for positioning the processed workpieces. The coarse positioning component 81 is higher than the fine positioning component 82, and the coarse positioning component 81 is a block with a chamfered upper end, and the fine positioning component 82 is a tapered pin. A plurality of positioning columns 83 are provided on the bottom surface of the carrier 8, and a plurality of positioning holes 84 are provided on the upper surface of the carrier 8. When upper and lower adjacent carriers 8 are stacked, they are positioned by the positioning columns 83 and the positioning holes 84, and the lowermost carrier 8 is positioned by the positioning columns 83 cooperating with the positioning cylinder on the carrier receiving seat 6.

[0084] like Fig.17 , Fig.18 As shown, the automatic loading and unloading device of this embodiment also includes a protection component 15 arranged outside the frame component 1, including an upper door, a lower door, a display screen and other components, which are arranged outside the frame component 1 to play a protective role. The upper door and the lower door are located at the raw material stacking component 2 and the clinker stacking component 3, and are used to exchange materials with the outside. The upper door and the lower door are matched with the upper cylinder and the lower cylinder respectively, and the upper cylinder and the lower cylinder respectively pull the upper door and the lower door to realize the opening and closing of the door, and the three-position five-way drain valve and the check valve are used to control the extension and retraction of the cylinder to ensure that the upper door and the lower door will not fall suddenly when the electricity and gas are suddenly disconnected, thereby ensuring the safety of personnel and equipment.

[0085] like Fig.19 , Fig. 20 As shown, the polishing machine system of this embodiment includes a polishing machine 9 and the above-mentioned automatic loading and unloading device, the side of the automatic loading and unloading device is open, the polishing machine 9 is arranged on the side of the automatic loading and unloading device, the loading and unloading station of the polishing machine 9 is provided with an in-machine gripper 91 for loading and unloading, and the telescopic arm assembly 4 extends outward through the opening to the loading and unloading station of the polishing machine 9 and retracts inward to the frame assembly 1 to realize loading and unloading. Through the cooperation of the in-machine gripper 91 and the telescopic arm assembly 4, the automatic loading and unloading device can realize automatic loading and unloading of materials into the polishing machine 9.

[0086] The polishing method of this embodiment is applicable to the above-mentioned polishing machine system, comprising the following steps: S1: Place the processed product on the raw material stacking assembly 2, and load the processed product to the telescopic arm assembly 4 through the module robot 5; specifically, the module robot 5 sucks the product to be processed on the raw material pile from the carrier 8 and places it on the positioning tooling 442 of the telescopic arm assembly 4.

[0087] S2: The telescopic arm assembly 4 extends outward to the loading and unloading station of the polishing machine 9, and cooperates with the internal gripper 91 to realize loading; at the same time, the internal gripper 91 transfers the processed product to the telescopic arm assembly 4; specifically, the displacement mechanism 11 drives the telescopic arm assembly 4 to move to a suitable position along the first guide rail slider assembly 12 (the telescopic arm assembly 4 and the loading and unloading station of the polishing machine 9 are flush), the telescopic arm assembly 4 extends outward to the loading and unloading station of the polishing machine 9, and the internal gripper 91 grabs the product to be processed and places it in the processing area of ​​the polishing machine 9 to complete loading; at the same time, the internal gripper 91 grabs the processed product and places it on the telescopic arm assembly 4.

[0088] S3: The telescopic arm assembly 4 retracts inwardly to the frame assembly 1, and unloads the processed product to the clinker stacking assembly 3 through the module robot 5, thus completing the unloading.

[0089] More specifically, the loading and unloading process is described in detail by taking two five-axis polishing machines 9 as an example: the two five-axis polishing machines 9 are respectively arranged on both sides of the automatic loading and unloading device, each carrier 8 is provided with 4 workstations, and the telescopic arm assembly 4 is provided with a positioning fixture 442. Specifically, each secondary stroke plate 44 is provided with 10 positioning fixtures 442, of which 5 positioning fixtures 442 are used to place clinker, and the other 5 positioning fixtures 442 are used to place raw material. During the initial loading, the vacuum suction cup 535 on the module manipulator 5 sucks the products on the raw material stacking assembly 2 one by one to the raw material placement area of ​​the positioning fixture 442. When the products of each workstation on the carrier 8 are placed on the positioning fixture 442, the carrier transport assembly 536 on the module manipulator 5 transports the empty carrier 8 to the clinker stacking assembly 3. Subsequently, the vacuum suction cup 535 again sucks the products on the next layer of the carrier 8 and places them on the positioning fixture 442 until the raw material area of ​​the positioning fixture 442 is fully filled (i.e., filled with 5 pieces). After that, the displacement mechanism 11 drives the telescopic arm assembly 4 to move along the first guide rail slider assembly 12, so that it is flush with the loading and unloading station of the polishing machine 9, and the telescopic arm assembly 4 extends outward to the loading and unloading station of the polishing machine 9, and the internal hand claw 91 grabs the product in the raw material placement area on the telescopic arm assembly 4 and places it on the processing station of the polishing machine 9, and the loading work is completed. At this time, the telescopic arm assembly 4 can return to the frame assembly 1 and continue to put 5 pieces of raw material on the positioning tool 442 on the telescopic arm assembly 4.

[0090] After the product processing is completed, the telescopic arm assembly 4 moves into the polishing machine 9 to exchange raw and clinker. Specifically, the gripper 91 inside the machine grabs the 5 processed products and places them in the clinker placement area on the telescopic arm assembly 4. After the telescopic arm assembly 4 moves, the 5 raw materials on the telescopic arm assembly 4 are loaded to the loading station of the polishing machine 9 through the gripper 91 inside the machine, and the exchange of raw and clinker is completed. The telescopic arm assembly 4 with 5 pieces of clinker is retracted to the frame assembly 1, and the vacuum suction cup 535 on the module manipulator 5 sucks the clinker one by one and puts it into the water pool 14 in the frame assembly 1 for soaking, and then puts it on the clinker stacking assembly 3, and the unloading is completed. Repeat the above process to complete automatic loading and unloading.

[0091] Considering that there are only 4 pieces of products on a carrier 8, when loading or unloading from the raw material stacking assembly 2 to the clinker stacking assembly 3, there may be a problem of excess or shortage of carriers 8. For example, when loading raw materials, there are only 4 pieces of raw materials in a carrier 8, which cannot meet the demand for 5 pieces of raw materials on the telescopic arm assembly 4. At this time, it is necessary to take 1 piece of raw material from the next carrier 8, and it is necessary to first move the carrier 8 that has taken the raw materials from this layer to the clinker stacking assembly 3. If the carrier 8 at the clinker stacking assembly 3 just has 4 pieces of clinker at this time, the carrier 8 can be directly placed at the clinker stacking assembly 3. If the carrier 8 at the clinker stacking assembly 3 is not yet full of 4 pieces of clinker, the carrier 8 cannot be directly placed at the clinker stacking assembly 3, and there is an excess carrier 8. For example, when unloading clinker, if one carrier 8 cannot meet the demand for 5 pieces of clinker, then one carrier 8 is missing. In order to balance the difference between the number of raw and clinker processing pieces and the number of pieces loaded on the carrier 8, the automatic loading and unloading device in this embodiment is provided with an empty carrier cache position 13, which can be used to temporarily store the carrier 8. When the clinker stacking assembly 3 lacks a carrier 8, it can also be directly clamped from the empty carrier cache position 13 to meet the requirements of loading and unloading.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that: The invention comprises a frame assembly (1), on which are provided a raw material stacking assembly (2), a clinker stacking assembly (3), a telescopic arm assembly (4) for loading raw material onto a polishing machine (9) or unloading clinker from the polishing machine (9), and a module manipulator (5) for loading raw material from the raw material stacking assembly (2) onto the telescopic arm assembly (4) or unloading clinker from the telescopic arm assembly (4) onto the clinker stacking assembly (3), wherein the telescopic arm assembly (4) is telescopically arranged on the frame assembly (1), and the module manipulator (5) is movably arranged on the frame assembly (1).

2. The automatic loading and unloading device according to claim 1 is characterized in that: A pair of telescopic arm assemblies (4) are staggered and respectively used for loading and unloading materials to two polishing machines (9) on both sides of the frame assembly (1), and the telescopic arm assembly (4) is arranged on the frame assembly (1) via a displacement mechanism (11) for changing the outwardly extending position of the telescopic arm assembly (4); The displacement mechanism (11) comprises a telescopic arm mounting plate (111) and a first driving assembly (112); the telescopic arm assembly (4) is mounted on the telescopic arm mounting plate (111); a first guide rail slider assembly (12) is provided on the frame assembly (1); the telescopic arm mounting plate (111) is slidably mounted on the frame assembly (1) via the first guide rail slider assembly (12) under the drive of the first driving assembly (112); the mounting direction of the first guide rail slider assembly (12) is perpendicular to the telescopic direction of the telescopic arm assembly (4).

3. The automatic loading and unloading device according to claim 2 is characterized in that: The first driving assembly (112) comprises a first driving source (1121), a first synchronous wheel (1122) and a first synchronous belt (1123); the first driving source (1121) and the first synchronous wheel (1122) are arranged on the frame assembly (1); the first synchronous belt (1123) is sleeved on the first synchronous wheel (1122); the first driving source (1121) drives the first synchronous wheel (1122) to rotate; the first synchronous wheel (1122) drives the first synchronous belt (1123) to rotate; the first synchronous belt (1123) is connected to the telescopic arm mounting plate (111) via a first synchronous belt connecting plate (1124).

4. The automatic loading and unloading device according to claim 1, characterized in that: The telescopic arm assembly (4) comprises a mounting seat (41), a mounting base plate (42), a primary stroke plate (43), a secondary stroke plate (44), a second driving assembly (45) and a third driving assembly (46); the mounting base plate (42) is arranged on the mounting seat (41); a second guide rail slider assembly (421) is arranged on the mounting base plate (42); a third guide rail slider assembly (431) is arranged on the primary stroke plate (43); the primary stroke plate (43) is slidably arranged on the mounting base plate (42) through the second guide rail slider assembly (421) under the drive of the second driving assembly (45); and the secondary stroke plate (44) is slidably arranged on the primary stroke plate (43) through the third guide rail slider assembly (431) under the drive of the third driving assembly (46).

5. The automatic loading and unloading device according to claim 4 is characterized in that: The second driving assembly (45) comprises a second driving source (451), a gear (452) and a rack (453); the rack (453) is arranged on the primary stroke plate (43); the second driving source (451) is arranged on the mounting base plate (42); the gear (452) is connected to the second driving source (451) and meshes with the rack (453); The third driving assembly (46) comprises a third synchronous wheel (461) and a third synchronous belt (462); the third synchronous wheel (461) is arranged on the primary stroke plate (43); the third synchronous belt (462) is sleeved on the third synchronous wheel (461); a avoidance hole (432) for connecting the third synchronous belt (462) with the mounting base plate (42) is opened on the primary stroke plate (43); the avoidance hole (432) is located below the third synchronous belt (462); the third synchronous belt (462) is connected to the mounting base plate (42) via a third synchronous belt lower connecting plate (463), and is connected to the secondary stroke plate (44) via a third synchronous belt upper connecting plate (464).

6. The automatic loading and unloading device according to claim 4, characterized in that: A positioning wheel (47) is provided at one end of the secondary stroke plate (44) away from the mounting seat (41) for cooperating with a positioning block (92) in the polishing machine (9) to prevent the telescopic arm assembly (4) from collapsing, the positioning wheel (47) being provided with a V-shaped groove (471), the positioning block (92) being provided with an inverted V-shaped protrusion (921), and a chamfered engaging portion (922) is provided at one end of the positioning block (92) close to the secondary stroke plate (44), and the positioning block (92) is arranged on the polishing machine (9) via a positioning block height adjustment assembly (923); The secondary stroke plate (44) is provided with a plurality of positioning fixtures (442) for positioning a workpiece to be processed. The positioning fixture (442) is provided with a coarse positioning protrusion (4421) and a fine positioning protrusion (4422). The coarse positioning protrusion (4421) is higher than the fine positioning protrusion (4422). The coarse positioning protrusion (4421) is a block with an upper chamfer, and the fine positioning protrusion (4422) is a taper pin. The positioning fixture (442) is also provided with a position adjustment hole (4423) and a photoelectric detection module (4424) for detecting whether there is a workpiece to be processed.

7. The automatic loading and unloading device according to any one of claims 1 to 6, characterized in that: The module robot (5) comprises a mounting support frame (51), a rotating platform (52) and a clamping claw assembly (53) for loading and unloading processed products and transporting a carrier (8), wherein the mounting support frame (51) is arranged on the frame assembly (1), the clamping claw assembly (53) is arranged below the rotating platform (52), the rotating platform (52) is arranged on the mounting support frame (51) via an XYZ module (521) for driving it to move along the XYZ direction, and the rotating platform (52) is connected to a rotating driving source (522) for driving it to rotate.

8. The automatic loading and unloading device according to claim 7, characterized in that: The clamping jaw assembly (53) comprises a clamping jaw mounting plate (531), a horizontal cylinder (532), an upper and lower cylinders (533), a clamping cylinder (534), a vacuum suction cup (535) for loading and unloading processed products, and a carrier transporting assembly (536) for transporting a carrier (8), wherein the clamping jaw mounting plate (531) is arranged below the rotating platform (52), the horizontal cylinder (532) and the clamping cylinder (534) are arranged on the clamping jaw mounting plate (531), the upper and lower cylinders (533) are arranged on the horizontal cylinder (532), the vacuum suction cup (535) is arranged below the upper and lower cylinders (533), and the carrier transporting assembly (536) is arranged below the clamping cylinder (534).

9. A polishing machine system, characterized in that: The invention comprises a polishing machine (9) and an automatic loading and unloading device according to any one of claims 1 to 8, wherein the automatic loading and unloading device has a side opening, the polishing machine (9) is arranged on the side of the automatic loading and unloading device, the loading and unloading station of the polishing machine (9) is provided with an in-machine gripper (91) for loading and unloading, and the telescopic arm assembly (4) extends outwardly through the opening to the loading and unloading station of the polishing machine (9) and retracts inwardly to the frame assembly (1) to realize loading and unloading.

10. A polishing method for the polishing machine system according to claim 9, characterized in that: The following steps are involved: S1: placing the processed product on the raw material stacking assembly (2), and loading the processed product onto the telescopic arm assembly (4) through the module robot (5); S2: the telescopic arm assembly (4) extends outward to the loading and unloading station of the polishing machine (9), and cooperates with the internal gripper (91) to realize loading; at the same time, the internal gripper (91) transfers the processed product to the telescopic arm assembly (4); S3: the telescopic arm assembly (4) retracts inwardly to the frame assembly (1), and unloads the processed product to the clinker stacking assembly (3) through the module robot (5), thus completing the unloading.

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