An automatic feeding and discharging device, a polishing machine system and a polishing method

Abstract

The application discloses an automatic feeding and discharging device, a polishing machine system and a polishing method, wherein 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 mechanical hand, the telescopic arm assembly is telescopically arranged on the rack assembly, and the module mechanical hand is movably arranged on the rack assembly; the polishing machine system comprises a polishing machine and the automatic feeding and discharging device; and the polishing method is suitable for the polishing machine system. The automatic feeding and discharging of workpieces are realized by cooperation of the telescopic arm assembly and the module mechanical hand, the traditional feeding and discharging mode is changed, the manual operation strength is reduced, the feeding and discharging speed is improved, the standby time of the polishing machine is reduced, 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] Smartphones are rapidly evolving, with rapid iterations and a massive market. The smartphone body is an essential component, the sturdy core of the device, supporting thousands of components and tightly packaging them together. Therefore, its stability, finish, and dimensional accuracy are crucial. To ensure sufficient stability, finish, and accuracy, high-strength materials and high-quality, high-precision processing techniques are essential. Within this process, the body polishing process is crucial, ensuring the smooth finish and precise dimensions of the entire body.

[0003] Five-axis polishing machines can be used to polish mobile phone bodies, but existing five-axis polishing machines rely on manual loading and unloading, which is extremely inefficient and delays production time. Currently, there is no automated loading and unloading equipment suitable for five-axis polishing machines for 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 that 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:

[0006] An automatic loading and unloading device comprises a frame assembly, on which are provided 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 hand claw 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 to the clinker stacking assembly, the telescopic arm assembly being telescopically arranged on the frame assembly, and the module manipulator being movably arranged on the frame assembly.

[0007] 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 provided 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 being extended. When a pair of telescopic arm assemblies are used, 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 also need to be staggered and not in the same straight line in order to interact 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 it will not be beautiful. 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 the figure). Figure 2 ), so that the telescopic arm assembly installed on it can move back and forth. 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 moved to the appropriate position through the displacement mechanism. This ensures that the left and right polishing machines are aligned, ensuring the beauty of the entire line, and at the same time can realize loading and unloading of the two polishing machines.

[0008] In the above-mentioned automatic loading and unloading device, preferably, the shifting 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 perpendicular to the telescopic direction of the telescopic arm assembly). Figure 2 the front-to-back direction).

[0009] 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. This layout improves the spatial flexibility of the automatic loading and unloading device, and at the same time optimizes the mechanical structure to ensure that it can realize loading and unloading of the left and right polishing machines at the same time.

[0010] 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.

[0011] The above design uses a first drive source to drive the first synchronous wheel to rotate. Since the first synchronous belt is connected to the telescopic arm mounting plate via a first synchronous belt connecting plate, the rotation of the first synchronous belt can drive the telescopic arm mounting plate to move, ensuring that the telescopic arm mounting plate can move smoothly in a direction perpendicular to the telescopic direction of the telescopic arm assembly. This achieves precise control of the position of the telescopic arm assembly and improves the flexibility and stability of the automatic loading and unloading device. The above-mentioned first drive source, first synchronous wheel, first synchronous belt, and first synchronous belt connecting plate can all adopt conventional devices in the prior art.

[0012] In the aforementioned automatic loading and unloading device, the telescopic arm assembly preferably includes a mounting base, a mounting base, a primary travel plate, a secondary travel plate, a second drive assembly, and a third drive assembly. The mounting base is mounted on the mounting base, a second guide rail slider assembly is mounted on the mounting base, and a third guide rail slider assembly is mounted on the primary travel plate. Driven by the second drive assembly, the primary travel plate is slidably mounted on the mounting base via the second guide rail slider assembly, and the secondary travel plate is slidably mounted on the primary travel plate via the third guide rail slider assembly, driven by the third drive assembly. The mounting base and mounting base are fixed components, while the primary and secondary travel plates are movable components. The mounting base is mounted on the telescopic arm mounting plate. By providing multiple travel plates and guide rail slider assemblies, multi-level sliding and precise control of the telescopic arm assembly are achieved, improving the operational flexibility and space utilization of the device. The second drive assembly and the third drive assembly respectively drive the movement of the primary and secondary travel plates, enabling the telescopic arm assembly to flexibly extend and retract. Both the second and third guide rail slider assemblies can employ conventional devices in the prior art.

[0013] In the above-mentioned automatic loading and unloading device, preferably, the second drive assembly includes a second drive source, a gear and a rack, the rack is provided on the first-stage stroke plate, the second drive source is provided on the mounting base plate, and the gear is connected to the second drive source and meshes with the rack. When the second drive 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 drive source, gear and rack can all adopt conventional devices in the prior art.

[0014] In the above-mentioned automatic loading and unloading device, preferably, the third drive assembly includes a third synchronous wheel and a third synchronous belt, the third synchronous wheel is provided 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 the 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.

[0015] By configuring a third drive assembly, employing a third synchronous wheel and a third synchronous belt, precise control and drive of the secondary travel plate are achieved. The operating principle of the third drive assembly is as follows: Because the third synchronous belt is connected to the mounting base via the third synchronous belt lower connecting plate, and to the secondary travel plate via the third synchronous belt upper connecting plate, and the third synchronous wheel is fixed to the primary travel plate, the third synchronous belt does not move relative to the mounting base. When the primary travel plate slides outward under the drive of the second drive source, the third synchronous belt drives the secondary travel plate outward as well. This design requires only a single drive source (i.e., the second drive source) to achieve the movement of both travel plates, resulting in a simpler structure.

[0016] 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 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.

[0017] 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.

[0018] 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 is 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.

[0019] 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 fixtures being provided with coarse positioning protrusions and fine positioning protrusions, the coarse positioning protrusions being higher than the fine positioning protrusions, the coarse positioning protrusions being blocks with chamfered upper ends, and the fine positioning protrusions being tapered pins, the positioning fixtures also being provided with position adjustment holes and a photoelectric detection module for detecting whether a workpiece is being processed. The above-mentioned photoelectric detection module can be a conventional device in the prior art.

[0020] By arranging multiple positioning fixtures on the secondary stroke plate, and providing the positioning fixtures with a coarse positioning protrusion with a chamfered upper end and a fine positioning protrusion in the shape of a tapered pin, the two cooperate to achieve coarse and fine positioning of the workpiece, 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, enhancing the applicability of the positioning fixture. In addition, the positioning fixture is also equipped with a photoelectric detection module for detecting whether there is a workpiece being processed on the positioning fixture. It can detect whether there is a workpiece being processed on the positioning fixture in real time, which is conducive to the accurate placement or grasping of the workpiece, and improves the working efficiency and reliability of the entire automatic loading and unloading device.

[0021] In the above-mentioned automatic loading and unloading device, preferably, the module robot includes a mounting support frame, a rotating platform, and a clamping claw assembly for loading and unloading processed products and transporting carriers. The mounting support frame is mounted on the frame assembly, and the clamping claw assembly is located below the rotating platform. The rotating platform is mounted on the mounting support frame via an XYZ module for driving it to move in the XYZ directions. The rotating platform is connected to a rotary drive source for driving its rotation. The above-mentioned XYZ module and rotary drive source can both adopt conventional devices in the prior art.

[0022] By providing a rotating platform and gripper assembly, loading and unloading of processed products and handling of carriers are achieved. 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. However, for successful loading, the telescopic arm assemblies must be relatively parallel to the polishing machines. Therefore, the two telescopic arm assemblies may not be parallel in practice. Therefore, when the modular robot loads and unloads the telescopic arm assemblies, it can simultaneously load and unload the two telescopic arm assemblies by swinging the rotation drive source. And because the rotating platform is mounted on the support frame via the XYZ module, it can flexibly move along the three coordinate axes (X, Y, and Z), and the rotation drive source allows the platform to rotate, thereby expanding the operating range and flexibility of the gripper 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 modular robot.

[0023] 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. Each of the above-mentioned cylinders, vacuum suction cups, carrier handling assembly, etc. can adopt conventional devices in the existing technology.

[0024] The coordinated operation of the horizontal cylinder, upper and lower cylinders, and clamping cylinders precisely controls the movement of the vacuum suction cup and carrier handling assembly to accommodate diverse loading and unloading and handling requirements. The horizontal cylinders increase the travel range in the Y-axis. Specifically, when the upper and lower cylinders descend, the vacuum suction cups pick up the product. When the upper and lower cylinders ascend, the clamping cylinders clamp the carrier. This design not only improves operational flexibility and adaptability, but also integrates multiple functions into a single component, optimizing spatial layout, enhancing the compactness and operational efficiency of the device, and thus improving the practicality of the entire automatic loading and unloading device.

[0025] In the above-mentioned automatic loading and unloading device, preferably, a material discharge overheight detection component is provided on the mounting support frame on a side close to the raw material stacking component and the clinker stacking component.

[0026] 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 incoming materials being too high.

[0027] 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 drive 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.

[0028] The fourth drive assembly can be a servo motor and ball screw. The servo motor drives the ball screw up and down, thereby achieving precise vertical movement of the carrier holder. Furthermore, the positioning sleeves and the tapered pins and pin holes of the stacked carriers ensure precise positioning of the carriers.

[0029] In the above-mentioned automatic loading and unloading device, preferably, the carrier is provided with a plurality of product accommodating areas for processing workpieces, and each of the product accommodating areas is provided with a coarse positioning component and a fine positioning component for positioning the workpiece, 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, and the upper surface of the carrier is provided with a plurality of positioning holes, and when the upper and lower adjacent carriers are stacked, they are positioned by cooperation of the positioning columns and the positioning holes, and the bottommost carrier is positioned by cooperation of the positioning columns and the positioning cylinder on the carrier receiving seat.

[0030] The inclusion of multiple product storage areas on the carrier improves work efficiency. Furthermore, the dual positioning mechanism of coarse and fine positioning components allows for finer adjustments after initial workpiece positioning, enabling rapid and precise positioning of the workpiece. Furthermore, the positioning posts on the carrier's bottom surface and the positioning holes on its top surface ensure precise alignment of adjacent carriers when stacked, ensuring the stability of the stack. The bottommost carrier is positioned using the positioning posts and the positioning cylinders on the carrier holder, further enhancing the stability and accuracy of the stack.

[0031] 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.

[0032] The side opening design of the automatic loading and unloading mechanism allows the telescopic arm assembly to dock directly with the polishing machine's loading and unloading station, enabling the in-machine gripper to work in conjunction with the automatic loading and unloading mechanism to quickly load and unload workpieces. This design not only improves polishing efficiency, reduces manual intervention, and reduces labor intensity, but also ensures stability and reliability of the loading and unloading process by precisely controlling the extension and retraction of the telescopic arm assembly. Overall, this system optimizes the automation level of the polishing line, improving production efficiency and product quality while reducing production costs.

[0033] As a general technical concept, the present invention also provides a polishing method of the above-mentioned polishing machine system, comprising the following steps:

[0034] S1: placing the processed product on the raw material stacking assembly, and loading the processed product onto the telescopic arm assembly through the module robot;

[0035] S2: The telescopic arm assembly extends outward to the loading and unloading station of the polishing machine, and cooperates with the internal gripper to realize loading; at the same time, the internal gripper transfers the processed product to the telescopic arm assembly;

[0036] S3: The telescopic arm assembly retracts inwardly to the frame assembly, and the processed product is unloaded to the clinker stacking assembly through the module robot, thus completing the unloading.

[0037] The automatic loading and unloading device of this invention is compatible with the YH2M8590 CNC multi-surface polishing machine developed by Yuhuan Precision. It meets the processing characteristics of this polishing machine and the process route for mobile phone body processing. It is used to automatically load and unload materials into the five-axis polishing machine and is used for automated loading and unloading of mobile phone bodies. It is suitable for grinding and polishing mobile phone frames, front and back covers in the 3C industry. The automatic loading and unloading device of this invention has functions such as carrier depalletizing, handling, automatic positioning, and automatic raw and cooked material exchange, realizing the automation, intelligence, and informationization of the mobile phone body polishing process.

[0038] In the polishing machine system of the present invention, the telescopic arm assembly, modular manipulator, and in-machine gripper are key components for loading and unloading. The telescopic arm assembly and in-machine gripper influence loading and unloading accuracy, while the modular manipulator influences the overall machine cycle time. This device can simultaneously load or unload five sheets of material onto a polishing machine, significantly increasing the polishing machine's effective production time. Furthermore, a single loading and unloading device can simultaneously load and unload material onto two polishing machines, exponentially increasing processing efficiency.

[0039] The specific working process of the polishing system of the present invention can be as follows: first, the raw material is manually placed into the raw material stacking assembly or the AGV is docked with the raw material stacking assembly, and then the module robot takes the material piece by piece from the raw material stacking assembly and places it on 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, loading five pieces of raw material and five pieces of clinker. 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 places it on the clinker stacking assembly, and then places the raw material on the positioning fixture on the telescopic arm assembly, and the cycle continues. Finally, the material is manually taken from the clinker stacking assembly or the AGV is docked with the clinker stacking assembly to realize the automatic loading and unloading of the mobile phone body.

[0040] During the loading process, the product moves from the carrier to the telescopic arm assembly, from the telescopic arm assembly to the gripper inside the machine, and then 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 ensures the stability of the equipment.

[0041] The automatic loading and unloading device of the present invention interfaces with the incoming AGV or manual loading and unloading of a stack of 80 pieces. This significantly improves work efficiency and saves labor compared to the previous manual loading of five pieces at a time. Furthermore, the automatic loading and unloading device of the present invention is perfectly integrated with the polishing machine mainframe. The left and right telescopic arm assemblies extend into the left and right polishing machines respectively, interacting with the grippers inside the machines to simultaneously load five pieces of raw material and unload five pieces of clinker. The telescopic arm assembly carrying the clinker then retracts. Compared to manual loading of pieces one by one, this increases loading and unloading efficiency by five times, significantly improving production efficiency.

[0042] In this invention, the modular robot removes products from the raw material stacking assembly and places them into the telescopic arm assembly, which then places an empty carrier into the clinker stacking assembly. If the carrier has fewer than five loading stations (for example, four products on a carrier), the polishing machine processes five products at a time. To balance the cycle, an empty carrier buffer can be provided, from which carriers can be picked up during unloading.

[0043] Compared with the prior art, the advantages of the present invention are:

[0044] The automatic loading and unloading device, polishing machine system and polishing method of the present invention use a telescopic arm assembly and a module robot to cooperate to realize automatic loading and unloading of workpieces, changing the traditional loading and unloading method, reducing the intensity of manual operation, greatly improving the efficiency of loading and unloading, and at the same time optimizing the automation level of the polishing production line, reducing the standby time of the polishing machine, and improving the production efficiency of the polishing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0046] Figure 1 Schematic diagram of the structure of the automatic loading and unloading device in the embodiment.

[0047] Figure 2 Schematic diagram of the structure of the displacement mechanism in the embodiment (top view).

[0048] Figure 3 for Figure 2 main view.

[0049] Figure 4 Schematic diagram of the structure of the telescopic arm assembly in the extended state in the embodiment (top view).

[0050] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0051] Figure 6 for Figure 4 Schematic diagram of the cross-section of the AA surface in the middle.

[0052] Figure 7 for Figure 6 A partial enlarged view of point B in the middle.

[0053] Figure 8 Schematic diagram of the structure of the telescopic arm assembly in the retracted state in the embodiment (top view).

[0054] Figure 9 for Figure 8 Schematic diagram of the cross-section of the middle BB surface.

[0055] Figure 10 Schematic diagram of the structure of the telescopic arm assembly in the extended state in the embodiment (stereoscopic diagram).

[0056] Figure 11 for Figure 4 Schematic diagram of the structure of the positioning tooling.

[0057] Figure 12 Schematic diagram of the structure of the module robot in the embodiment.

[0058] Figure 13 Schematic diagram of the structure of the clamping jaw assembly in the embodiment.

[0059] Figure 14 for Figure 13 side view.

[0060] Figure 15 Schematic diagram of the structure of the raw material / clinker stacking assembly in the embodiment.

[0061] Figure 16 Schematic diagram of the structure of the carrier in the embodiment.

[0062] Figure 17 Schematic diagram of the structure of the protection component in the embodiment.

[0063] Figure 18 Schematic diagram of the structure of the automatic loading and unloading device with protective components in the embodiment.

[0064] Figure 19 Schematic diagram of the structure of the polishing machine system in the embodiment.

[0065] Figure 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).

[0066] Figure 21 for Figure 20 Schematic diagram of the structure of the positioning block.

[0067] Figure 22 Schematic diagram of the structure of the positioning wheel and the positioning block in the embodiment in the working state.

[0068] Figure 23 for Figure 22 side view.

[0069] Legend

[0070] 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 pulley; 1123. First synchronous belt; 1124. First synchronous belt connecting plate; 13. Empty vehicle buffer; 14. Water tank; 15. Protective assembly;

[0071] 2. Raw material stacking components;

[0072] 3. Clinker stacking components;

[0073] 4. Telescopic arm assembly; 41. Mounting seat; 42. Mounting base plate; 421. Second guide rail slider assembly; 43. First-stage travel plate; 431. Third guide rail slider assembly; 432. Avoidance hole; 44. Second-stage travel plate; 442. Positioning fixture; 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 pulley; 462. Third synchronous belt; 463. Third synchronous belt lower connecting plate; 464. Third synchronous belt upper connecting plate; 47. Positioning pulley; 471. V-groove;

[0074] 5. Module robot; 51. Mounting support frame; 511. Unloading overheight detection assembly; 52. Rotating platform; 521. XYZ module; 522. Rotation drive source; 53. Gripper assembly; 531. Gripper mounting plate; 532. Horizontal cylinder; 533. Upper and lower cylinders; 534. Clamping cylinder; 535. Vacuum suction cup; 536. Carrier handling assembly;

[0075] 6. Carrier holder;

[0076] 7. Fourth drive assembly;

[0077] 8. Carrier; 81. Coarse positioning component; 82. Fine positioning component; 83. Positioning column; 84. Positioning hole;

[0078] 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 assembly. DETAILED DESCRIPTION

[0079] To facilitate understanding of the present invention, the present invention will be described in more comprehensive and detailed form below in conjunction with the accompanying drawings and preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0080] It should be noted that when an element is described as being "fixed, fixed, connected or communicated with" another element, it can be directly fixed, fixed, connected or communicated with the other element, or it can be indirectly fixed, fixed, connected or communicated with the other element through other intermediate connectors.

[0081] Unless otherwise defined, all technical terms used hereinafter have the same meanings as those generally understood by those skilled in the art. The technical 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.

[0082] 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.

[0083] Example:

[0084] 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.

[0085] like Figure 1 and Figure 2 As shown, in this embodiment, a pair of telescopic arm assemblies 4 are staggered, one for loading and unloading materials to the two polishing machines 9 on either side of the frame assembly 1. The telescopic arm assemblies 4 are mounted on the frame assembly 1 via a shifting mechanism 11 for varying the outward extension position of the telescopic arm assemblies 4. The shifting mechanism 11 drives the telescopic arm assemblies 4 to move back and forth in a direction perpendicular to the telescopic extension of the telescopic arm assemblies 4, ensuring that the staggered telescopic arm assemblies 4 can load and unload materials to the two polishing machines 9 on either side of the frame assembly 1.

[0086] like Figure 2 and Figure 3 As shown, in this embodiment, the shifting mechanism 11 includes a telescopic arm mounting plate 111 and a first drive 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. Driven by the first drive assembly 112, the telescopic arm mounting plate 111 is slidably mounted on the frame assembly 1 via the first guide rail slider assembly 12. 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 drive 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 outward extension position of the telescopic arm assembly 4, ensuring that the telescopic arm assembly 4 can extend into the two polishing machines 9 on both sides of the frame assembly 1 to complete the loading and unloading work.

[0087] like Figure 2-Figure 3As shown, in this embodiment, the first drive assembly 112 includes a first drive source 1121, a first synchronous wheel 1122, and a first synchronous belt 1123. The first drive source 1121 and the first synchronous wheel 1122 are provided on the frame assembly 1, and the first synchronous belt 1123 is sleeved on the first synchronous wheel 1122. The first drive 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 via a first synchronous belt 1123 connecting plate. Specifically, the first drive 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 telescopic arm mounting plate 111 is connected to the first synchronous belt 1123 via the first synchronous belt connecting plate 1124. Therefore, the rotation of the first synchronous belt 1123 can drive the telescopic arm mounting plate 111 connected thereto to slide to change its position.

[0088] like Figures 4-10 As shown, in this embodiment, the telescopic arm assembly 4 includes a mounting seat 41, a mounting base plate 42, a first-level stroke plate 43, a second-level 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 provided on the mounting base plate 42. The first-level stroke plate 43 is provided with a third guide rail slider assembly 431. The first-level 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. The second-level stroke plate 44 is slidably arranged on the first-level stroke plate 43 through the third guide rail slider assembly 431 under the drive of the third drive assembly 46.

[0089] like Figure 7 As shown, in this embodiment, the second drive assembly 45 includes a second drive source 451, a gear 452, and a rack 453. The rack 453 is provided on the primary travel plate 43. The second drive source 451 is provided on the mounting base 42. The gear 452 is connected to the second drive source 451 and meshes with the rack 453. The second drive source 451 drives the gear 452 to rotate, which in turn drives the rack 453 to move, thereby driving the primary travel plate 43 to slide on the second guide rail slider assembly 421.

[0090] like Figure 5 、 Figure 6As shown, in this embodiment, the third drive assembly 46 includes a third synchronous wheel 461 and a third synchronous belt 462. The third synchronous wheel 461 is provided on the first stroke plate 43, and the third synchronous belt 462 is sleeved on the third synchronous wheel 461. The first stroke plate 43 is provided with a relief hole 432 for connecting the third synchronous belt 462 to the mounting base plate 42. The relief 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 to the second stroke plate 44 via a third synchronous belt upper connecting plate 464. Since the third synchronous belt 462 is connected to the mounting base plate 42 and the second stroke plate 44 via the third synchronous belt lower connecting plate 463 and the third synchronous belt upper connecting plate 464, respectively, the third synchronous wheel 461 is provided on the first stroke plate 43. When the first stroke plate 43 slides, it drives the third synchronous belt 462 to move, thereby driving the second 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.

[0091] 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.

[0092] like Figure 6 、 Figure 21-23 As 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, and 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 provided on the polishing machine 9 through a positioning block height adjustment assembly 923.

[0093] like Figure 11 As shown, in this embodiment, the secondary stroke plate 44 is provided with a plurality of positioning fixtures 442 for positioning the workpiece to be processed, and 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 a chamfered upper end, and the fine positioning protrusion 4422 is a tapered 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.

[0094] like Figure 12As shown, in this embodiment, the module robot 5 includes a mounting support frame 51, a rotating platform 52, and a gripper assembly 53 for loading and unloading processed products and transporting the carrier 8. The mounting support frame 51 is mounted on the frame assembly 1, and the gripper assembly 53 is located below the rotating platform 52. The rotating platform 52 is mounted on the mounting support frame 51 via an XYZ module 521 for driving it to move in the XYZ direction. The rotating platform 52 is connected to a rotary drive source 522 for driving it to rotate. The XYZ module 521 drives the rotating platform 52 to move in the XYZ direction, driving the gripper assembly 53 connected thereto to move to correspond to the position of the telescopic arm assembly 4. The rotary drive source 522 can drive the gripper assembly 53 to rotate to match the angle of the telescopic arm assembly 4.

[0095] like Figure 13 、 Figure 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 handling assembly 536 for handling the carrier 8. The clamping jaw mounting plate 531 is located below the rotating platform 52, the horizontal cylinder 532 and the clamping cylinder 534 are located on the clamping jaw mounting plate 531, the upper and lower cylinders 533 are located on the horizontal cylinder 532, the vacuum suction cup 535 is located below the upper and lower cylinders 533, and the carrier handling assembly 536 is located below the clamping cylinder 534. Specifically, when the upper and lower cylinders 533 are lowered, the suction cups pick up the product. When the upper and lower cylinders 533 are raised, the clamping cylinder 534 clamps the carrier 8.

[0096] like Figure 12 As shown, in this embodiment, a material discharge overheight detection component 511 is provided on the mounting support frame 51 near the raw material stacking component 2 and the clinker stacking component 3. The overheight detection prevents manual discharge or AGV incoming material from being too high, resulting in material retrieval failure.

[0097] like Figure 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 drive 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.

[0098] like Figure 16As shown, in this embodiment, the carrier 8 is provided with a plurality of product accommodating areas for processing workpieces, and each product accommodating area is provided with a coarse positioning component 81 and a fine positioning component 82 for positioning the workpiece. The coarse positioning component 81 is higher than the fine positioning component 82. The coarse positioning component 81 is a block with a chamfered upper end, and the fine positioning component 82 is a tapered pin. The bottom surface of the carrier 8 is provided with a plurality of positioning columns 83, and the upper surface of the carrier 8 is provided with a plurality of positioning holes 84. When the upper and lower adjacent carriers 8 are stacked, they are positioned by the positioning columns 83 and the positioning holes 84. The bottommost carrier 8 is positioned by the positioning columns 83 and the positioning cylinder on the carrier receiving seat 6.

[0099] like Figure 17 、 Figure 18 As shown, the automatic loading and unloading device of this embodiment also includes a protective assembly 15 arranged outside the frame assembly 1, including an upper door, a lower door, a display screen and other components. It is arranged outside the frame assembly 1 to play a protective role. The upper door and the lower door are located at the raw material stacking assembly 2 and the clinker stacking assembly 3, and are used to exchange materials with the outside. The upper door and the lower door are matched with an upper cylinder and a lower cylinder respectively. 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 center 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 suddenly fall in the state of sudden power and gas disconnection, thereby ensuring the safety of personnel and equipment.

[0100] like Figure 19 、 Figure 20 As shown, the polishing machine system of this embodiment includes a polishing machine 9 and the automatic loading and unloading device described above. The automatic loading and unloading device has a side opening, and the polishing machine 9 is located on the side of the automatic loading and unloading device. The loading and unloading station of the polishing machine 9 is equipped with an internal machine gripper 91 for loading and unloading. 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 enable loading and unloading. Through the cooperation of the internal machine gripper 91 and the telescopic arm assembly 4, the automatic loading and unloading device can automatically load and unload materials into the polishing machine 9.

[0101] The polishing method of this embodiment is applicable to the above-mentioned polishing machine system, comprising the following steps:

[0102] 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.

[0103] S2: The telescopic arm assembly 4 extends outward to the loading and unloading station of the polishing machine 9, and cooperates with the hand gripper 91 inside the machine to realize loading; at the same time, the hand gripper 91 inside the machine transfers the processed product to the telescopic arm assembly 4; specifically, the shifting 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 hand gripper 91 inside the machine grabs the product to be processed and places it on the processing area of ​​the polishing machine 9 to complete loading; at the same time, the hand gripper 91 inside the machine grabs the processed product and places it on the telescopic arm assembly 4.

[0104] 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.

[0105] More specifically, the loading and unloading process is described in detail using two five-axis polishing machines 9 as an example: The two five-axis polishing machines 9 are positioned on either side of the automatic loading and unloading device. Each carrier 8 is equipped with four workstations, and the telescopic arm assembly 4 is equipped with positioning fixtures 442. Specifically, each secondary travel plate 44 is equipped with ten positioning fixtures 442, five of which are used to place clinker, and the remaining five are used to place raw material. During initial loading, the vacuum suction cups 535 on the module robot 5 draw products from the raw material stacking assembly 2 one by one onto the raw material placement area of ​​the positioning fixtures 442. Once all products at each workstation on the carrier 8 have been placed onto the positioning fixtures 442, the carrier transport assembly 536 on the module robot 5 moves the empty carrier 8 to the clinker stacking assembly 3. Subsequently, the vacuum suction cups 535 draw products from the next layer of carriers 8 and place them onto the positioning fixtures 442 until the raw material area of ​​the positioning fixtures 442 is completely filled (i.e., with five products). Afterwards, the shifting mechanism 11 drives the telescopic arm assembly 4 to move along the first guide rail slider assembly 12, aligning it with the loading and unloading station of the polishing machine 9. The telescopic arm assembly 4 then extends outward to the loading and unloading station of the polishing machine 9. The internal gripper 91 grabs the product from the raw material placement area on the telescopic arm assembly 4 and places it on the processing station of the polishing machine 9, completing the loading process. At this point, the telescopic arm assembly 4 can return to the frame assembly 1 and continue loading five pieces of raw material onto the positioning fixture 442 on the telescopic arm assembly 4.

[0106] After the product processing is completed, the telescopic arm assembly 4 moves into the polishing machine 9 to exchange raw and clinker materials. Specifically, the internal gripper 91 grabs the five processed products and places them in the clinker placement area on the telescopic arm assembly 4. After the telescopic arm assembly 4 moves, the internal gripper 91 loads the five pieces of raw material on the telescopic arm assembly 4 to the loading station of the polishing machine 9, thus completing the exchange of raw and clinker materials. The telescopic arm assembly 4 with the five pieces of clinker materials is retracted to the frame assembly 1, and the vacuum suction cup 535 on the module manipulator 5 sucks the clinker materials one by one and places them into the water pool 14 in the frame assembly 1 for soaking, and then places them on the clinker stacking assembly 3, thus completing the unloading. Repeating the above process can complete automatic loading and unloading.

[0107] 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. The carrier 8 that has taken the raw materials from that layer needs to be moved to the clinker stacking assembly 3 first. 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 extra carrier 8. For example, when unloading clinker, if one carrier 8 cannot meet the demand for 5 pieces of clinker, then there is a shortage of carrier 8. 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. The empty carrier cache position 13 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.

[0108] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that: The invention comprises a frame assembly (1), wherein the frame assembly (1) is provided with 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) to 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); The telescopic arm assembly (4) comprises a mounting seat (41), a mounting base (42), a primary stroke plate (43), a secondary stroke plate (44), a second driving assembly (45) and a third driving assembly (46), wherein the mounting base (42) is arranged on the mounting seat (41), a second guide rail slider assembly (421) is provided on the mounting base (42), and a third guide rail slider assembly (431) is provided on the primary stroke plate (43), and the primary stroke plate (43) is slidably arranged on the mounting base (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); The second driving assembly (45) includes a second driving source (451), a gear (452) and a rack (453), wherein the rack (453) is provided on the first-stage stroke plate (43), the second driving source (451) is provided 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 third driving assembly (46) includes a third synchronous wheel (461) and a third synchronous belt (462), wherein the third synchronous wheel (461) is provided on the first-stage travel plate (43), and the third synchronous belt (462) is sleeved on the third synchronous wheel (461). The first-stage travel plate (43) is provided with a avoidance hole (432) for connecting the third synchronous belt (462) with the mounting base plate (42), and 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 second-stage travel plate (44) through a third synchronous belt upper connecting plate (464).

2. The automatic loading and unloading device according to claim 1, 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 outward extension 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 driven by the first driving assembly (112) and is slidably mounted on the frame assembly (1) via the first guide rail slider assembly (12); 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, 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 end of the secondary stroke plate (44) away from the mounting seat (41) is provided with a positioning wheel (47) 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) 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 provided on the polishing machine (9) through 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 for processing. The positioning fixtures (442) are 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 a chamfered upper end, and the fine positioning protrusion (4422) is a tapered pin. The positioning fixture (442) is also provided with a position adjustment hole (4423) and a photoelectric detection module (4424) for detecting whether a workpiece is being processed.

5. The automatic loading and unloading device according to any one of claims 1 to 4, characterized in that: The module robot (5) includes 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), and the rotating platform (52) is arranged on the mounting support frame (51) through an XYZ module (521) for driving it to move in the XYZ direction, and the rotating platform (52) is connected to a rotating drive source (522) for driving it to rotate.

6. The automatic loading and unloading device according to claim 5, characterized in that: The clamping jaw assembly (53) includes a clamping jaw mounting plate (531), a horizontal cylinder (532), 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).

7. 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 6, 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 hand 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.

8. A polishing method for the polishing machine system according to claim 7, 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 hand gripper (91) to realize loading; at the same time, the internal hand 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 manipulator (5), thus completing unloading.

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