Edge leather line production system

Abstract

The invention discloses an edge leather line production system which comprises a cutting device arranged in a first operation area and used for cutting edge leather to form a plurality of edge leather cut sections; the first cutting equipment is arranged in the second operation area and is used for carrying out ear part cutting operation on the cut-off edge leather section to cut off an ear part of the edge leather section so as to form an edge leather section with an arc top part; the second cutting equipment is arranged in the second operation area and is used for carrying out arc top cutting operation on the edge piece sections subjected to the lug cutting operation so as to cut off arc tops of the edge piece sections, and silicon blocks with rectangular sections are formed; the silicon block end face grinding equipment is arranged in the third operation area and used for conducting end face grinding operation on the four end faces of the silicon block; wherein a cut-off transfer table is arranged between the first operation area and the second operation area for area separation, and the second operation area and the third operation area are connected through a first conveying belt used for conveying silicon blocks completing arc top cutting operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of silicon workpiece processing, and particularly relates to a side skin flow operation system. BACKGROUND

[0002] At present, with the attention and opening of society to green renewable energy utilization, the photovoltaic solar power generation field is paid more and more attention and development. In the field of photovoltaic power generation, the common crystalline silicon solar cell is made of high-quality silicon wafer, which is formed by multi-wire saw cutting and subsequent processing after being cut from a pulled or cast silicon ingot.

[0003] The existing silicon wafer manufacturing process takes a single crystal silicon product as an example. Generally, the approximate operation procedure can include: first, using a silicon rod cutting device to perform slicing operation on the original long silicon rod to form multiple short silicon rods; after cutting, using a silicon rod squaring device to perform cutting and squaring operation on the cut short silicon rod to form a silicon rod with a (similar) rectangular cross section; then performing grinding operation such as surface grinding, chamfering / rounding on each silicon rod after cutting and squaring to shape the surface of the silicon rod to meet the corresponding flatness and dimensional tolerance requirements; and then using a slicer to perform slicing operation on the silicon rod to obtain a silicon wafer.

[0004] In the single crystal silicon rod cutting and squaring operation, side skins composed of arc top and two side ears are generated. Most manufacturers continue to use side skin processing equipment such as cutting-off equipment and cutting equipment to perform cutting-off, ear removal, arc top removal and other operations on the side skins to achieve full utilization of the side skins. However, the independent arrangement of each side skin processing equipment such as cutting-off equipment and cutting equipment increases the transfer time of the side skins between the equipment, resulting in low processing efficiency of the side skins. Therefore, how to reasonably arrange each side skin processing equipment to improve the processing efficiency of the side skins is a technical problem to be solved by those skilled in the art. SUMMARY

[0005] In view of the above-mentioned shortcomings of the related art, the purpose of the present application is to provide a side skin flow operation system to solve the technical problem of low processing efficiency of side skins caused by independent arrangement of each side skin processing equipment.

[0006] To achieve the above object and other related objects, the present application provides a side skin flow operation system for processing a side skin, the cross section of the side skin being arc-shaped, including a rectangular bottom surface and a poor arc surface opposite to the bottom surface, the side skin flow operation system comprising: a cutting device arranged in a first operation area and used for cutting the side skin in a width direction of the side skin to form a plurality of side skin segments; a first cutting device arranged in a second operation area and used for cutting off ear portions of the side skin segments to form side skin segments with arc top portions; a second cutting device arranged in the second operation area and used for cutting off arc top portions of the side skin segments to form silicon blocks with rectangular cross sections; and a silicon block end surface grinding device arranged in a third operation area and used for grinding four end surfaces of the silicon blocks.

[0007] To sum up, the side skin flow operation system provided by the present application realizes the cutting of the side skin in the first operation area to form a plurality of side skin segments. The first cutting device arranged in the second operation area realizes the ear portion cutting of the side skin segments to form side skin segments with arc top portions. The second cutting device arranged in the second operation area realizes the arc top portion cutting of the side skin segments to form silicon blocks. The silicon block end surface grinding device arranged in the third operation area realizes the end surface grinding of the silicon blocks. The cutting transfer table arranged between the first operation area and the second operation area for separation and the first conveying belt arranged between the second operation area and the third operation area for connection realize the conveying of the silicon blocks after the arc top portion cutting. The reasonable arrangement of the cutting device, the first cutting device, the second cutting device and the silicon block end surface grinding device in the respective processing areas realizes the continuous processing of the side skin, thereby improving the processing efficiency of the side skin. BRIEF DESCRIPTION OF DRAWINGS

[0008] The specific features involved in the present application are shown in the appended claims. The features and advantages of the invention involved in the present application can be better understood by referring to the exemplary embodiments described in detail below and the accompanying drawings. The drawings are briefly described as follows:

[0009] Figure 1 Fig. 1 shows a schematic diagram of the side skin flow operation system in an embodiment of the present application when performing related operations on the side skin.

[0010] Figure 2 Fig. 2 shows a schematic diagram of the side skin flow operation system in an embodiment of the present application from a different perspective. Figure 3 Fig. 3 shows a schematic diagram of the side skin flow operation system in an embodiment of the present application from a different perspective.

[0011] Figure 4A schematic view of a state of the first robot transferring the edge skin in an embodiment of the present application is shown.

[0012] Figure 5 A schematic view of a structure of the first robot in an embodiment of the present application is shown.

[0013] Figure 6 A schematic view of a structure of the cutting-off device in an embodiment of the present application is shown.

[0014] Figure 7 A schematic view of Figure 6 A schematic view of a structure of the cutting-off device omitting the frame in the shown embodiment from another perspective is shown.

[0015] Figure 8 A schematic view of a structure of the edge skin carrying device in an embodiment of the present application is shown.

[0016] Figure 9 A schematic view of a structure of the cutting-off unit in an embodiment of the present application is shown.

[0017] Figure 10 A schematic view of a structure of the cutting-off transfer station in an embodiment of the present application is shown.

[0018] Figure 11 A schematic view of Figure 12 A schematic view of a structure of the first carrying device in an embodiment of the present application from different perspectives is shown.

[0019] Figure 13 A schematic view of Figure 14 A schematic view of a structure of the first cutting-off device in an embodiment of the present application is shown.

[0020] Figure 15 A schematic view of a structure of the first cutting-off device in an embodiment of the present application is shown.

[0021] Figure 16 A schematic view of a structure of the second cutting-off device in an embodiment of the present application is shown.

[0022] Figure 17 A schematic view of Figure 18 A schematic view of a structure of the second carrying device in an embodiment of the present application from different perspectives is shown.

[0023] Figure 19 A schematic view of a structure of the second cutting-off device in an embodiment of the present application is shown.

[0024] Figure 20 A schematic view of a structure of the silicon block end face grinding device in an embodiment of the present application is shown.

[0025] Figure 21A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0026] Figure 22 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown. Figure 21 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0027] Figure 23 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0028] Figure 24 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0029] Figure 25 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown. Figure 26 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0030] Figure 27 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0031] Figure 28 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0032] Figure 29 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0033] Figure 30 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0034] Figures 31-34 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0035] Figure 35 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown. Figure 36 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0036] Figure 37 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0037] Figure 38 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0038] Figure 39 A structural schematic diagram of the silicon block end face grinding device of the present application in an embodiment is shown.

[0039] Figure 40A schematic view of the first carrying device in the embodiment shown in the present application Figure 39 A schematic view of the first carrying device in the embodiment shown in the present application

[0040] Figure 41 A schematic view of the second carrying device in another embodiment shown in the present application

[0041] Figure 42 A schematic view of the second carrying device in the embodiment shown in the present application Figure 41 A schematic view of the second carrying device in the embodiment shown in the present application DETAILED DESCRIPTION

[0042] The present application now will be described by specific reference to certain specific embodiments, examples of which are illustrated in the accompanying drawings. Understanding that these drawings depict only certain embodiments of the application and are not therefore required to be drawn to scale, it will be apparent to those of ordinary skill in the art that other embodiments can be employed, and that changes can be made without departing from the spirit and scope of the application. The following detailed description is not intended to limit the application, as claimed, but merely to explain the embodiments of the application in a sufficient detail to enable others skilled in the art to practice the application. The description of the embodiments of the application is not intended to be exhaustive or to be limited to the precise form disclosed. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0043] In the following description, reference is made to the accompanying drawings that form a part hereof, and in which it is shown by way of illustration various embodiments of the present application. It is to be understood that other embodiments can be used and structural or operational changes can be made without departing from the scope of the present application. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the embodiments of the present application is defined by the appended claims. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0044] It will be understood that, although the terms first, second, etc. can be used herein to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another. For example, a first cutting device could be termed a second cutting device, and, similarly, a second cutting device could be termed a first cutting device, without departing from the scope of the various described embodiments. The first cutting device, the second cutting device are all one single toothed piece, but they are not the same cutting device unless the context clearly indicates otherwise. Similar cases include first work area and second work area, first carrying device and second carrying device, first conveyor belt and second conveyor belt, first machine stand and second machine stand, first waiting area and second waiting area, first turntable and second turntable, first cutting device and second cutting device, first robot and second robot, etc. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

[0045] It will be understood that when a component or element is referred to as being "on" or extending "onto" another component or element, it can be directly on or extend directly onto the other component or element or intervening components or elements can also be present. In contrast, when a component or element is referred to as being "directly on" or extending "directly onto" another component or element, there are no intervening components or elements present. It will also be understood that when a component or element is referred to as being "connected" or "coupled" to another component or element, it can be directly connected or coupled to the other component or element or intervening components or elements can be present. In contrast, when a component or element is referred to as being "directly connected" or "directly coupled" to another component or element, there are no intervening components or elements present.

[0046] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" can be used herein to describe a relationship of one element, layer, or region to another element, layer, or region as illustrated in the Figures. It will be understood that these terms are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. In the present application, the terms "vertical", "horizontal", "parallel", "perpendicular" are defined with respect to the normal operational orientation of the device. For example, vertical typically refers to a relative angle of 90° with respect to a reference line, but in the present application, vertical refers to a relative angle of 80° to 100°.

[0047] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0048] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0049] Comparative quantitative terms such as "above" and "below" are intended to encompass the concept of equality unless expressly stated otherwise. As an example, "above" can mean not only "greater than" in a mathematical sense, but also "equal to".

[0050] In view of the technical problems mentioned in the background art, the present application discloses a side skin flow production system. A cutting device is arranged in a first production area to achieve cutting of the side skin to form a plurality of side skin segments. A first cutting device is arranged in a second production area to achieve ear cutting of the side skin segments to form a side skin segment with an arc top. A second cutting device is arranged in the second production area to achieve arc top cutting of the side skin segment after the ear cutting to form a silicon block. A silicon block end face grinding device is arranged in a third production area to achieve end face grinding of the silicon block. A cutting transfer station is arranged between the first production area and the second production area to separate the cutting device from the first cutting device. A first conveying belt is arranged between the second production area and the third production area to connect the second cutting device and the silicon block end face grinding device. The cutting device, the first cutting device, the second cutting device, and the silicon block end face grinding device are reasonably arranged in the respective production areas to achieve continuous processing of the side skin, thereby improving the processing efficiency of the side skin.

[0051] To define the directions and the operation modes between different structures, a three-dimensional space defined by a horizontal direction, a vertical direction, and a longitudinal direction is defined in the embodiments of the present application. The horizontal direction, the vertical direction, and the longitudinal direction are all straight lines and perpendicular to each other. The horizontal direction and the vertical direction can form a horizontal plane, and the vertical direction is a vertical direction perpendicular to the horizontal plane, which can also be referred to as a radial direction, an up-down direction, or a lifting direction.

[0052] In any embodiment provided in the present application, the side skin flow production system is used for processing side skin. Please refer to Figure 1 , which shows a state diagram of the side skin flow production system performing related operations on the side skin in an embodiment of the present application. As shown in Figure 1 , the side skin A refers to the excess material formed after cutting and squaring a cylindrical long silicon rod by a silicon rod squaring device. The cross section of the side skin A is arc-shaped, including a rectangular bottom surface and a poor arc surface opposite to the bottom surface, that is, the side skin A includes an arc top and ears (or sharp corner portions) on both sides of the arc top. The cutting device performs cutting operation along the dashed line position of the side skin A to form a plurality of side skin segments B. The first cutting device performs ear cutting operation along the dashed line position of the side skin segment B to remove the ears to form a side skin segment C with an arc top. The second cutting device performs arc top cutting operation along the dashed line position of the side skin segment C to remove the arc top to form a silicon block D with a rectangular cross section. Of course, in some examples, the side skin segment B can be first subjected to arc top cutting operation and then subjected to ear cutting operation to obtain the silicon block D. The specific processing can be determined according to actual processing requirements.

[0053] The silicon block D is in the shape of a cuboid, having a top surface, a bottom surface, and four end surfaces between the top surface and the bottom surface. The silicon block end surface grinding device disclosed in some embodiments of the present application is suitable for grinding of a cuboid-shaped silicon block, in particular, for end surface grinding (or surface grinding) of the four end surfaces of the silicon block D, but is not limited thereto. For example, based on the disclosure of the present application, the silicon block end surface grinding device can also be used for other long and hard materials requiring grinding in some examples. The end surface grinding refers to rough grinding and then fine grinding of the four end surfaces of the silicon block by using a grinding wheel with a specific shape. The specific structures of the cutting-off device, the first cutting device, the second cutting device, and the silicon block end surface grinding device can be referred to the description in subsequent embodiments.

[0054] In some embodiments provided by the present application, the edge skin flow production system can be divided into a plurality of work areas, which can be divided according to the specific work content of the edge skin working. For example, as shown in Figure 3 In some examples, the edge skin flow production system is provided with a first work area W1, a second work area W2, and a third work area W3, wherein the first work area W1 is used for cutting-off work of the edge skin, the second work area W2 is used for ear cutting work and arc top cutting work, and the third work area W3 is used for end surface grinding work of the silicon block. In some other examples, the edge skin flow production system is further provided with a fourth work area W4, which is used for stacking the silicon block after the end surface grinding work. It should be noted that in the examples provided by the present application, the work area is determined by the working range of the edge skin processing device in the work area. For example, the first work area W1 is determined by the working range of the cutting-off device, the second work area W2 is determined by the working range of the first cutting device and the second cutting device, and the third work area W3 is determined by the working range of the silicon block end surface grinding device.

[0055] The edge skin flow production system of the present application will be described in detail below. Figures 2-38 The edge skin flow production system of the present application will be described in detail below.

[0056] Please refer to Figure 2 and Figure 3 , which respectively show the schematic views of the edge skin flow production system of the present application in different views in an embodiment. As shown in Figure 2 and Figure 3 , the edge skin flow production system includes a cutting-off device 1, a first cutting device 2, a second cutting device 3, and a silicon block end surface grinding device 4.

[0057] In order to transfer the edge skin A to the cutting-off device 1, in an embodiment, as shown in Figure 3As shown, a first robot 5 is arranged in the first working area W1, which is used to transfer the logs A from the log supply table 6 to the cutting device 1, and to transfer the cut log segments B after the cutting operation to the cutting transfer table 7. The structure of the cutting transfer table 7 will be described later and will not be described here.

[0058] As shown in Figure 4 and Figure 5 , wherein, Figure 4 a state diagram of the first robot transferring the logs in an embodiment of the present application is shown, Figure 5 a structure diagram of the first robot in an embodiment of the present application is shown. As Figure 4 and Figure 5 shown, the first robot 5 includes a first articulated arm 51, a first end effector 52, and a first base 53. The first articulated arm 51 has opposite proximal and distal ends, the proximal end of which is connected to the first base 53, and the distal end of which is configured with the first end effector 52. In this embodiment, the first articulated arm 51 provides the first end effector 52 with the freedom of movement in space, so that the first end effector 52 can achieve the transfer of the logs A.

[0059] In an embodiment, the first base 53 is used to carry the first articulated arm 51, so that the first articulated arm 51 can rotate in space with the support surface as the base point, so that the first end effector 52 can be freely oriented and positioned near the log supply table 6, the cutting device 1, and the cutting transfer table 7. In an example, the first base 53 can be fixedly connected to the support surface by bolts. The support surface may, for example, be the ground.

[0060] In an embodiment, as shown in Figure 5 , the first articulated arm 51 includes a first arm member 511, a second arm member 512, and six axis assemblies, wherein the six axis assemblies can be arranged on the first base 53, the first arm member 511, the second arm member 512, and the first end effector 52 individually or in combination. Each axis assembly can provide rotational movement about its axis or hinged movement perpendicular to its axis.

[0061] In some embodiments, the axis assemblies that jointly combine together to connect the first arm member 511 to the first base 53 are collectively referred to as a first joint mechanism, similarly, the axis assemblies that jointly combine together to connect the first arm member 511 to the second arm member 512 are collectively referred to as a second joint mechanism, and the axis assemblies that jointly combine together to connect the first end effector 52 to the second arm member 512 are collectively referred to as a third joint mechanism. Of course, the axis assemblies can be combined in any manner, which is not limited by the present application.

[0062] AsFigure 5 The first articulated arm 51 in the illustrated embodiment is provided with six axis assemblies to provide six-axis rotation. In other embodiments, the articulated arm can provide more or less than six-axis rotation, i.e., the first robot 5 can also be configured as a five-axis robot, or a seven-axis robot, etc.

[0063] In an embodiment, the arm members in the first articulated arm 51 can be configured as elongated cylinders, which can be made of suitable rigid materials, such as light-weight high-strength metal alloys, e.g., aluminum alloys, magnesium alloys, etc., or carbon composite materials.

[0064] In an embodiment, the first end effector 52 is configured at the end of the second arm member 512 to determine the first robot 5 to perform a certain specific task or operation. In Figure 4 And Figure 5 In the illustrated example, the first end effector 52 is configured as a vacuum suction device for suctioning the concave surface of the edge skin A. In an implementation, the first robot 5 is further provided with a vacuum air source, which can be connected to the vacuum suction device through an air pipe to control the vacuum suction device to generate a predetermined pressure to realize suction or release of the edge skin A. In actual applications, the vacuum air source can be configured as a vacuum pump.

[0065] In an example, the vacuum suction device is configured in two rows, and each row of vacuum suction devices can be configured to include four suction pads 521 to suction one edge skin, as Figure 4 And Figure 5 As shown, the first end effector 52 of the first robot 5 can simultaneously suction and transport two edge skins. Of course, in other examples, the vacuum suction device can be configured in one row or more than two rows, and each row of vacuum suction devices can also be configured with any number of suction pads as long as it can realize the transportation of at least one edge skin, which is not limited in the present application.

[0066] It should be noted that the articulated arm part and the base part of the first robot 5 in the present embodiment and the second robot 8, the third robot 102, and the fourth robot 107 in subsequent embodiments can have the same configuration, i.e., the end effectors of the four robots can be adapted according to the shape of the workpiece to be transported. For example, when the edge skin needs to be transported, the end effector can be configured as a vacuum suction device, and when the silicon block needs to be transported, the end effector can be configured as a fork arm or a clamping arm. Of course, the first robot 5, the second robot 8, the third robot 102, and the fourth robot 107 can also be configured to be completely the same, and those skilled in the art can determine the specific structure of the robot according to actual production needs under the inspiration of the present application.

[0067] In an embodiment, as Figure 4As shown, the preparation table 6 is used for temporarily storing and carrying a plurality of edge skins, which can be configured as a table structure or a rack structure. In some examples, the preparation table 6 can be made of stainless steel, aluminum or other metal materials to provide sufficient support stability so as to be able to carry a plurality of edge skins with relatively large weight. It should be noted that, Figure 4 This is only an exemplary illustration and should not be construed as a limitation of the structure of the preparation table 6 in the present application. In actual applications, the preparation table 6 can take any form as long as it can carry edge skins.

[0068] In an embodiment, the edge skin flow production system further comprises a marking device (not shown), which is used for marking on the plane of the edge skin A, and the number of markings corresponds to the number of edge skin sections B formed by cutting. Specifically, there is a corresponding marking on each edge skin section B, so that in the subsequent unqualified detection process, it can cooperate with the detection device to realize the screening of unqualified silicon blocks. The detection device can refer to the description in the subsequent embodiments, which will not be described here. In some other embodiments, the marking device is used to mark the position where the edge skin A needs to be cut, so as to facilitate the accurate cutting of the cutting equipment in the subsequent cutting operation. In an example, the marking device is configured as a laser marking machine. For example, the laser marking machine can laser mark a barcode, a two-dimensional code, or a serial number corresponding to the number of edge skin sections B formed by cutting on the edge skin A.

[0069] In another embodiment, the marking device can mark on the edge skin sections B after the edge skin A completes the cutting operation to form a plurality of edge skin sections B, but it is not limited thereto, and those skilled in the art can adjust the marking time and specific marking form of the marking device according to the inspiration of the present application.

[0070] The cutting equipment 1 is arranged in the first working area W1 and is used for cutting the edge skin A in the width direction of the edge skin A to form a plurality of edge skin sections B. Please refer to Figure 6 and Figure 7 wherein, Figure 6 which shows the structure schematic diagram of the cutting equipment in an embodiment of the present application, Figure 7 which shows Figure 6 which shows the structure schematic diagram of the cutting equipment without frame in another view in the embodiment shown. As Figure 6 and Figure 7 As shown, the cutting equipment 1 comprises a feeding table 11, a cutting device 12, and a discharging conveying device 13.

[0071] In an embodiment, the feeding table 11 is used for carrying the edge skin A and turning over the edge skin A to realize the switching in each processing position. As Figure 6 and Figure 7As shown, the feeding table 11 is configured as a horizontal cuboid structure, and four sides thereof form four processing zones. As mentioned above, the first robot 5 can simultaneously transfer two edge skins, and accordingly, each processing zone on the feeding table 11 can simultaneously carry two edge skins.

[0072] For example, in order to achieve the carrying of the edge skin A by the feeding table 11, in an embodiment, the feeding table 11 comprises an edge skin carrying device 111. Please refer to Figure 8 , which shows a schematic structural diagram of the edge skin carrying device in an embodiment of the present application. As shown in Figure 8 , the edge skin carrying device 111 comprises a partition plate 1111 and a lateral clamping assembly 1112. The partition plate 1111 is fixedly arranged at the central position of each processing zone of the feeding table 111 along the length direction of the edge skin A. In some examples, the partition plate 1111 is arranged as an elastic element, for example, a rubber material, for preventing mechanical contact with the edge skin A and thus preventing damage to the edge skin A. The lateral clamping assembly 1112 is arranged in two rows and rotatably arranged on the opposite sides of the partition plate 1111 along the length direction of the edge skin A, for laterally opening to release the carried edge skin A and laterally clamping to fix the edge skin A on each processing zone of the feeding table 111.

[0073] In some examples, the lateral clamping assembly 1112 comprises a clamping rod 11121 and a clamping driving unit. The clamping rod 11121 can be configured to comprise a clamping portion, a connecting portion, and a shaft connecting portion. The clamping portion is used to press against the concave surface of the edge skin A, and in some embodiments, an elastic element, for example, a rubber pad, is additionally arranged on the clamping portion. The elastic element can be attached to the concave surface of the edge skin A, and at the same time, it buffers the edge skin A to prevent damage to the edge skin A.

[0074] The connecting portion is used to connect the clamping driving unit, and the shaft connecting portion is located between the clamping portion and the connecting portion and is shaft-connected to the feeding table 111. The shaft connection manner between the clamping rod 11121 and the feeding table 111 includes but is not limited to a mandrel, a flexible shaft, a solid shaft, and a hollow shaft, and the materials thereof include but are not limited to cast iron and carbon structural steel.

[0075] The clamping driving unit can be arranged inside the feeding table 111 for driving the clamping rod 11121. In some embodiments, the clamping driving unit can be configured to comprise a driving cylinder with a telescopic rod or a driving hydraulic cylinder. Taking the driving cylinder as an example, the driving cylinder is fixedly arranged, and the telescopic rod is associated with the clamping rod 11121 of the lateral clamping assembly 1112. In this way, the driving cylinder can be used to drive the clamping rod 11121 to move along the width direction of the edge skin A, thereby achieving lateral opening to release the carried edge skin A and lateral clamping to fix the edge skin A on the feeding table 111.

[0076] In some embodiments, the clamping driving unit can include a screw rod and a driving motor, wherein the screw rod is associated with the clamping rod 11121 of the lateral clamping assembly 1112, and the driving motor is used to drive the screw rod to move the clamping rod 11121 along the width direction of the edge strip A. In some examples, the screw rod can be designed as a bidirectional screw rod, which can be referred to as a left-right screw rod or a positive-negative screw rod, one end of which is left-handed and the other end of which is right-handed. In this way, the driving motor is used to drive the bidirectional screw rod to move the baffle 1111 and the lateral clamping assembly 1112 along the width direction of the edge strip A in opposite directions, thereby achieving lateral opening to release the carried edge strip A and lateral clamping to fix the edge strip A on the feeding table 111.

[0077] In an embodiment, the number of lateral clamping assemblies 1112 in each row can be configured as at least one group, for example, in Figure 8 In the example shown, the lateral clamping assemblies 1112 are configured as seven groups, which are uniformly spaced along the length direction of the edge strip A and are driven by the clamping driving unit to laterally open to release the carried edge strip A and laterally clamp to fix the edge strip A on the feeding table 111. Correspondingly, the baffles 1111 can also be uniformly arranged as seven groups corresponding to the lateral clamping assemblies 1112.

[0078] In order not to affect the cutting operation of the cutting device 12 on the carried edge strip A, as Figure 8 shown, each group of lateral clamping assemblies 1112 can be configured to include two clamping rods arranged side by side, and the two clamping rods have a gap that can allow the cutting line of the cutting device 12 to pass through. Further, the height of each group of baffles 1111 is lower than the edge strip A, and the specific height of the baffle 1111 is not limited in this application, as long as it can play a spacing role on the two edge strips carried on each processing site. The specific structure of the cutting device 12 can be referred to the description in the subsequent embodiments.

[0079] In order to realize the overturning of the feeding table 11, in an embodiment, the feeding table 11 includes an overturning mechanism. The overturning mechanism includes a rotating shaft and an overturning driving source, the rotating shaft is arranged inside the feeding table 11 along the length direction of the edge strip A, so that the feeding table 11 can be rotated around the rotating shaft under the driving of the overturning driving source. Specifically, the overturning of the feeding table 11 drives the switching of the edge strip A on each processing site. In an example, as Figure 6As shown, the feeding table 11 rotates counterclockwise along the arrow direction shown by the dotted line under the driving of the turnover mechanism, and rotates 90° each time to realize the switching of the processing positions. In the example, a brake positioner can be configured on the feeding table 11, which is used to stop the rotating movement of the feeding table 11, and also prevents the feeding table 11 from rotating due to external forces when the movement is stopped, thereby ensuring the smooth progress of the cutting operation. In an implementation, the brake driver can be configured to include a brake driver and a locking pin, the brake driver moves the locking pin to lock on the feeding table 11, so as to stop the rotating movement of the feeding table 11. The brake driver can be, for example, a motor.

[0080] In the example where the processing positions are four, as shown in Figure 6 and Figure 7 The four processing positions include a feeding position 112, a cutting position 113, and a discharging position (not shown), wherein the feeding position 112 is located on the upper side of the feeding table 11 and is used to carry the edge skin A transferred by the first robot 5, the cutting position 113 is located on the side vertical surface of the feeding table 11 and is used to cooperate with the cutting device 12 to realize the cutting operation of the edge skin A, and the discharging position is located on the lower side of the feeding table 11 and cooperates with the discharging conveying device 13 to realize the discharging of the edge skin segment B.

[0081] It should be noted that the processing positions are divided according to the specific operation content of the edge skin A in the cutting device 1. Specifically, the first robot 5 always performs the feeding operation through the processing position located on the upper side of the feeding table 11, the cutting device 12 always performs the cutting operation through the processing position located on the side vertical surface of the feeding table 11, and the discharging conveying device 13 always performs the discharging operation through the processing position located on the lower side of the feeding table 11. Therefore, the feeding position 112 will always be located on the upper side of the feeding table 11, the cutting position 113 will always be located on the side vertical surface of the feeding table 11, and the discharging position will always be located on the lower side of the feeding table 11, and their positions will not change with the rotation of the feeding table 11. In the example, the processing position opposite to the cutting position 113 is always in an idle state without placing the edge skin.

[0082] In an embodiment, the cutting device 12 is used to cut the edge skin A carried by the feeding table 11 to form a plurality of edge skin segments B.

[0083] In an embodiment, as shown in Figure 7As shown, the cutting device 12 includes a cutting mounting structure 121 and a plurality of cutting units disposed on the cutting mounting structure 121. In this example, the cutting units correspond to the gaps between the two clamping rods of each set of lateral clamping assemblies 1112 to cut the edge skin A carried by the edge skin carrying device 111. In some examples, the cutting mounting structure 121 can be a mounting bracket, a mounting beam, a mounting column, or other structures.

[0084] Take one of the truncation units 122 as an example, see Figure 9 , which is a schematic structural diagram of a truncation unit in one embodiment of the present application, as shown in FIG. Figure 9 As shown, the cutting unit 122 includes a plurality of cutting wheels 1221 and a cutting wire 1222 provided on the cutting installation structure 121 . The cutting wire 1222 is sequentially wound around the plurality of cutting wheels 1221 to form at least one cutting wire saw 1223 .

[0085] In one embodiment, the cutting wheel 1221 is provided with at least one cutting wire groove for winding the cutting wire 1222. This cutting wire groove defines the position of the cutting wire, thereby controlling cutting accuracy. Each cutting wire saw 1223 is formed by winding the cutting wire 1222 between two cutting wheels 1221. The position of the cutting wheels 1221 can be used to determine the direction of the cutting wire saw 1223.

[0086] In one embodiment, if Figure 9 As shown, the multiple cutting wheels 1221 include cutting wheels 1221a, 1221b, 1221c, and 1221d. The wheel surfaces of the four cutting wheels 1221 are all arranged vertically and form a quadrilateral as a whole. Cutting wheels 1221a and 1221b are close to the cutting position 113 of the feeding table 11 and are arranged in parallel in a direction perpendicular to the cutting position 113. Cutting wheels 1221c and 1221d are away from the cutting position 113 and are arranged in parallel in a direction perpendicular to the cutting position 113. The cutting wire 1222 is sequentially wound around the cutting wheels 1221a, 1221b, 1221c, and 1221d to form the cutting wire saw 1223.

[0087] In an embodiment, the cutting line 1222 is wound between the cutting wheels 1221a, 1221b, 1221c and 1221d in a looped manner. In this embodiment, the cutting line 1222 can be driven by a cutting line driving device to maintain a high speed operation, so as to achieve the cutting operation on the edge skin A. In some examples, the cutting line driving device can be configured as a motor having a power output shaft and the power output shaft is connected to one of the cutting wheels, so that the cutting line 1222 can be driven to run in the winding direction by the cutting wheel. Of course, in specific implementations, the cutting line driving device can also be other driving sources such as a hydraulic motor, as long as the cutting line can be driven to run, which is not limited in the present application.

[0088] In an embodiment, the cutting device 12 can further include a transition wheel for reversing the cutting line 1222 or for adjusting the tension of the cutting line 1222, and the number thereof can be set to one or more according to the layout requirements in actual production. As shown in Figure 9 In an embodiment, the cutting device 12 can further include a transition wheel for reversing the cutting line 1222 or for adjusting the tension of the cutting line 1222, and the number thereof can be set to one or more according to the layout requirements in actual production. As shown in

[0089] In an embodiment, the cutting device 12 further includes a cutting installation structure driving mechanism for driving the cutting installation structure 121 and the plurality of cutting units arranged thereon to move towards the cutting area position 113 of the feeding table 11. In an example, the cutting installation structure driving mechanism includes a moving guide rail and a moving driving unit. The moving guide rail is parallel to the cutting line 1222 and is used to arrange the cutting installation structure 121. The moving driving unit is used to drive the cutting installation structure 121 and the at least one cutting unit arranged thereon to move along the moving guide rail, so that the cutting line saw on the cutting unit can be fed towards the edge skin A carried on the cutting area position 113.

[0090] In an embodiment, the moving driving unit comprises a moving rack, a driving gear and a driving source. The moving rack is arranged in parallel with the moving guide rail. The driving gear is arranged on the cutting installation structure 121 and engages with the moving rack to drive the cutting installation structure 121 to move along the moving guide rail. The driving gear is driven to rotate by the driving source. The teeth of the driving gear engage with the moving rack to move along the moving rack. The cutting installation structure 121 connected with the driving gear is thus driven to move along the moving guide rail. The driving source is for example a driving motor.

[0091] In some embodiments, the moving driving unit can be arranged on the cutting installation structure 121 and comprises a moving screw rod and a driving source. The moving screw rod is associated with the cutting installation structure 121. The driving source is used to drive the moving screw rod to rotate so as to drive the associated cutting installation structure 121 and the at least one cutting unit arranged thereon to move along the moving guide rail. The driving source is for example a driving motor.

[0092] In the cutting operation using the cutting apparatus 1, the cutting wire 1222 is driven by the cutting wire driving device to move in the winding direction. The cutting installation structure 121 and the at least one cutting unit arranged thereon are driven by the cutting installation structure driving mechanism to move along the moving guide rail. The cutting wire saw on the cutting unit is thus driven to advance towards the edge skin A carried on the cutting area 113 for the cutting operation by the cutting wire saw 1223.

[0093] In an embodiment, as shown in Figure 7 the plurality of cutting units can be configured into three groups. As shown in Figure 9 each group of cutting units comprises two cutting wire saws to cut each edge skin A into seven edge skin segments B. For the purpose of description, the two cutting wire saws are referred to as a first cutting wire saw and a second cutting wire saw respectively. In Figure 9In the shown example, the cutting unit 122 includes a first cutting wire saw 1223 and a second cutting wire saw 1224, and the cutting wheels forming the first cutting wire saw 1223 and the cutting wheels forming the second cutting wire saw 1224 are connected by connecting rods and fixed to the cutting mounting structure 121. In the example, the cutting device 12 includes six cutting wire saws, and the edge skin A can be cut into seven edge skin segments B. In some other examples, the edge skin A needs to be cut into samples (the samples can also be referred to as chips) to test the material properties of the edge skin A. In this case, the cutting device 12 can selectively cut the head or tail of the edge skin A into samples by using the cutting wire saws at the two ends of the cutting device 12. For example, when the cutting wire saws at one end of the cutting device 12 cut the head of the edge skin A into samples, the six cutting wire saws can cut the edge skin A into six edge skin segments and one head sample; when the cutting wire saws at one end of the cutting device 12 cut the tail of the edge skin A into samples, the six cutting wire saws can cut the edge skin A into six edge skin segments and one tail sample; when the cutting wire saws at the two ends of the cutting device 12 cut the head and tail of the edge skin A into samples, the six cutting wire saws can cut the edge skin A into five edge skin segments, one head sample, and one tail sample. Of course, the number and position of the cutting wire saws can be designed according to the actual production requirements, and the present application does not limit this.

[0094] In an embodiment, as shown in Figure 6 and Figure 7 The discharging conveying device 13 is used to discharge and convey the edge skin segments B cut by the cutting device 12.

[0095] The discharging conveying device 13 includes a bearing frame and a conveying belt arranged on the bearing frame to discharge the edge skin segments B. The conveying belt can be configured as two rows of roller groups arranged on opposite sides of the bearing frame, and the two rows of roller groups include a plurality of rollers arranged in sequence along the length of the bearing frame. Each roller is connected to the bearing frame by a bearing seat and protrudes from the bearing frame. The rollers in the two rows of roller groups form a supporting surface for supporting the edge skin segments B. After the edge skin segments B are placed on the two rows of roller groups in the longitudinal direction, the edge skin segments B can be directly pushed by the two rows of roller groups to convey the edge skin segments B and complete the discharging operation of the edge skin segments B.

[0096] In some embodiments, the conveying belt further comprises a side skin section pushing mechanism. The side skin section pushing mechanism is used to push the side skin section B alone or in cooperation with human force to move on the two rows of roller sets. In some embodiments, the side skin section pushing mechanism can also be configured as a chain driving mechanism, which comprises a ring chain, a pushing piece arranged on the ring chain, and a chain driving unit for the movement of the ring chain. The pushing piece can comprise a pushing block or a pushing rod, and the chain driving unit can comprise a driving gear engaged with the ring chain and a driving motor associated with the driving gear. In actual application, the driving motor drives the driving gear to rotate, which drives the ring chain and the pushing block or the pushing rod thereon to move, and the moving pushing block or the pushing rod pushes the side skin section B to move along the ring chain.

[0097] In some embodiments, in the width direction of the side skin section, the rollers in the first row of roller sets and the rollers in the second row of roller sets are arranged in pairs to form a roller pair, and the two rollers in a roller pair can be associated through a rotating shaft. The side skin section pushing mechanism comprises a cascaded chain driving mechanism, which comprises a plurality of cascaded chains and a driving motor. Specifically, the side skin section pushing mechanism is arranged on one side of the two rows of roller sets as a driving side, and one roller on the driving side in each roller pair is provided with a double driving gear. The cascaded chain driving mechanism is achieved by cascading all the rollers in the two rows of roller sets through cascaded chains (e.g., ring short chains) connected to the corresponding driving racks. The driving motor is also associated with the two rows of roller sets through the ring short chains and the driving gears. In actual application, the driving motor drives the driving gears to rotate, which drives all the rollers in the two rows of roller sets to roll through the cascaded chains, and drives the side skin section B to move by the friction between the rollers and the side skin section B. Compared with the ordinary chain driving mechanism, the cascaded chain driving mechanism can generate greater power, and all the rollers rotate synchronously, which can ensure that the side skin section B moves more smoothly and stably.

[0098] In an embodiment, the cutting device 1 is configured as two, as Figure 2 and Figure 3As shown, the two cutting-off devices are arranged on both sides of the first robot 5. Specifically, the first robot 5 sequentially transfers the two edges A placed on the preparation table 6 to the two cutting-off devices 1 on both sides, and simultaneously places the two edges A on the edge bearing device 111 of the loading area 112, and the baffle 1111 and the lateral clamping assembly 1112 clamp the two edges A laterally. Then, the feeding table 11 rotates 90° under the driving of the turnover mechanism, and switches the two edges A to be cut off to the cutting area 113. Then, the six cutting-off line saws included in the cutting-off device 12 respectively pass through the gap between the two clamping rods of the lateral clamping assembly 1112, and cut off each edge A to form seven edge segments B. While the cutting area 113 is performing the cutting-off operation, the first robot 5 can continue to transfer the edges to the loading area 112. After that, the multiple edge segments B cut off are switched to the unloading area under the fixation and bearing of the edge bearing device 111, and are unloaded by the unloading conveying device 13 connected to the unloading area. Finally, the first robot 5 sequentially transfers the edge segments B on the unloading conveying device 13 in the cutting-off devices 1 on both sides to the cutting-off transfer table 7.

[0099] In an embodiment, as shown in Figure 3 , a cutting-off transfer table 7 for vertically placing the edge segments B is arranged between the first working area W1 and the second working area W2. Please refer to Figures 10-12 , wherein, Figure 10 shows the structural schematic diagram of the cutting-off transfer table in an embodiment of the present application, Figure 11 and Figure 12 respectively show the structural schematic diagrams of the first bearing device in different viewing angles in an embodiment of the present application. As shown in Figure 10 , the cutting-off transfer table 7 includes a first bearing device 71 for realizing vertical placement of a pair of edge segments B, as shown in Figure 11 and Figure 12 , the first bearing device 71 includes a first backstop 711, a first side fixing structure 712, and a first arc surface pushing structure 713. The first backstop 711 is fixedly arranged between the pair of edge segments B, for bearing the plane of the pair of edge segments B, the height of the first side fixing structure 712 is greater than the length of the edge segment B, for fixing the ear part of the pair of edge segments B along the length direction of the edge segment B. The first arc surface pushing structure 713 is arranged on the arc surface of the edge segment B, for fixing the edge segment B on the first backstop 711.

[0100] In one embodiment, the length of the first backrest 711 is less than the width of the edge skin segment B. It should be noted that the first supporting device included in the cutting turntable 7 has the same configuration as the first supporting device included in the first cutting device 2 described in the subsequent embodiments. Therefore, the first supporting device should avoid affecting the first cutting device 2 in performing the ear cutting operation on the edge skin segment B. In this embodiment, the length of the first backrest 711 does not extend to a pair of ears of the edge skin segment B to avoid mechanical collision between the first cutting device 22 of the first cutting device 2 and the first backrest 711 during the ear cutting operation. Of course, the first backrest 711 can also be configured in other forms, as long as it does not affect the ear cutting operation of the edge skin segment B. For example, the first backrest 711 can be configured as a three-section structure with a gap, and the three-section structure can reserve space for the operation of the first cutting device 22.

[0101] In one embodiment, if Figure 11 As shown, the first side fixing structure 712 includes a first pressing portion 7121, which can move in the vertical direction to simultaneously press the two ears on one side of a pair of edge skin segments B from the upper side. In one example, a buffer portion such as a rubber member is provided on the lower side of the first pressing portion 7121 to prevent damage caused by mechanical contact between the first pressing portion 7121 and the edge skin segment B. Furthermore, the first side fixing structure 712 can be used to fix the ears cut off by the first cutting device 2 when performing the ear cutting operation to prevent it from overturning. In view of this, in some embodiments, the first supporting device 71 on the cutting turntable 7 may also not be provided with the first side fixing structure 712, and the pair of edge skin segments B only need to be fixed by the first backrest 711 and the first arc surface pushing structure 713 to achieve vertical placement on the cutting turntable 7.

[0102] In one embodiment, the first curved surface pushing structure 713 includes a curved surface pushing drive mechanism. In one example, the curved surface pushing drive mechanism may include a movable guide rail and a movable motor provided on the cutting turntable 7. A slider matching the movable guide rail is provided at the bottom of the first curved surface pushing structure 713. The movable motor may drive the first curved surface pushing structure 713 to move relative to the first backrest 711 along the movable guide rail until it contacts the curved surface of the edge skin segment B, thereby fixing the edge skin segment B between the first backrest 711 and the first curved surface pushing structure 713, thereby achieving vertical placement of the pair of edge skin segments B on the first supporting device 71.

[0103] In an embodiment, the first arc-shaped pushing structure 713 includes three pushing arms arranged along the arc surface of the edge strip section B. For the convenience of description and illustration, the three pushing arms included in the first arc-shaped pushing structure 713 are described as a first pushing arm 7131, a second pushing arm 7132, and a third pushing arm 7133, respectively. There is a gap between the first pushing arm 7131 and the second pushing arm 7132, and between the second pushing arm 7132 and the third pushing arm 7133, which can allow the first cutting device 22 of the first cutting apparatus 2 to pass through, thereby avoiding mechanical collision between the first arc-shaped pushing structure 713 and the first cutting device during ear cutting operation. In some examples, the first pushing arm 7131, the second pushing arm 7132, and the third pushing arm 7133 can be configured in any form as long as they do not affect the ear cutting operation, and the present application does not make any limitation in this regard.

[0104] Please refer to Figure 39 and Figure 40 wherein, Figure 39 shows the structural schematic diagram of the first bearing device in another embodiment of the present application from a viewing angle, Figure 40 shows the first bearing device in the present application Figure 39 shows the schematic diagram of the first bearing device in the embodiment shown in the present application without clamping the edge strip section. In this embodiment, Figure 39 and Figure 40 the first bearing device 71 shown in the present application can be replaced by Figure 11 and Figure 12 the first bearing device 71 shown in the present application is arranged on the cutting transfer table 7 or the first cutting device 2 in the subsequent embodiment to realize the transfer of the edge strip section B or to perform ear cutting operation, respectively.

[0105] In an embodiment, as shown in Figure 39 and Figure 40 the first bearing device 71 includes a first backstop 711, a first side fixing structure 712, and a first arc-shaped pushing structure 713. The first backstop 711 is fixedly arranged between the pair of edge strip sections B for bearing the plane of the pair of edge strip sections B. The height of the first side fixing structure 712 is greater than the length of the edge strip section B for fixing the ears of the pair of edge strip sections in the length direction of the edge strip section B. The first arc-shaped pushing structure 713 is arranged on the arc surface of the edge strip section B for fixing the edge strip section B on the first backstop 711.

[0106] In an embodiment, as shown in Figure 39 and Figure 40 the first bearing device 71 further includes a first clamp seat 710, which includes a bearing table on which the first backstop 711 is arranged. The bearing table forms a first bearing surface 7101 and a second bearing surface 7102 for bearing two edge strip sections B arranged vertically. As shown inFigure 40 As shown, the first bearing surface 7101 and the second bearing surface 7102 are respectively located on opposite sides of the first abutment 711. Further, the first clamp seat 710 can be fixedly connected to the table top of the cutting transfer table 7 by screwing or the like, and the first abutment 711 can be fixedly arranged on the bearing table by mortise and tenon connection or one-piece forming or the like, so that the edge skin segment B can be kept stable in the subsequent ear cutting operation to ensure the cutting quality.

[0107] In an embodiment, as shown in Figure 39 and Figure 40 The first side fixing structure 712 includes a first rod portion 7121 and a first pressing portion 7122, the first pressing portion 7122 is connected to the top end of the first rod portion 7121, and is used to fix the two edge skin segments B in the first clamping space 7103 and the second clamping space 7104.

[0108] In an embodiment, the position where the first pressing portion 7122 contacts the top surface of the edge skin segment B is provided with a first elastic portion 7123, the material of the first elastic portion 7123 includes but is not limited to elastic materials such as rubber, silicone, polyurethane, etc. The first elastic portion 7123 plays a buffering role while pressing and fixing the edge skin segment B, preventing mechanical damage to the edge skin segment B and the first pressing portion 7122, and ensuring the cutting quality. In some examples, the number of first elastic portions 7123 can vary depending on the number of fixed edge skin segments B, for example, in the example of Figure 39 two first elastic portions 7123 are provided to provide buffering for two edge skin segments B at the same time. The above examples are only illustrative and should not be understood as limiting the present application.

[0109] In order to realize the clamping and releasing of the edge skin segment B, in an embodiment, as shown in Figure 39 The first side fixing structure 712 further includes a first lifting driving mechanism 7124, which can drive the first rod portion 7121 to move up and down, so that the first pressing portion 7122 fixes or releases the edge skin segment B in the first clamping space 7103 and the second clamping space 7104. Specifically, the first lifting driving mechanism of the first side fixing structure 712 can drive the first rod portion to descend to simultaneously realize the fixation of the two edge skin segments B in the first clamping space 7103 and the second clamping space 7104, and drive the respective first rod portions to ascend to simultaneously realize the release of the two edge skin segments B in the first clamping space 7103 and the second clamping space 7104.

[0110] In an implementation, the first lifting driving mechanism 7124 includes, but is not limited to, a cylinder with a telescopic rod, in which the first rod part 7121 can be configured as the telescopic rod and associated with the cylinder, and the cylinder drives the telescopic rod to perform telescopic movement to drive the first pressing part 7122 to move. Specifically, when the cylinder drives the telescopic rod to perform telescopic movement, the first pressing part 7122 is pulled by the telescopic rod to move downward to contact the top surface of the edge strip section B. When the cylinder drives the telescopic rod to perform telescopic movement, the first pressing part 7122 is pushed by the telescopic rod to move upward to move away from the top surface of the edge strip section B.

[0111] In another implementation, the first lifting driving mechanism 7124 can be configured to include a lifting driving guide rail and a lifting driving unit, in which the lifting driving guide rail is arranged on the first clamp base 710 along the lifting direction, and the lifting driving unit can include a lifting motor and a lifting screw rod associated with the first pressing part 7122. The lifting motor and the lifting screw rod can be used to drive the first pressing part 7122 to move along the first rod part 7121. For example, the lifting motor drives the lifting screw rod to rotate forward to drive the first pressing part 7122 to move upward along the lifting driving guide rail to release the edge strip section B; the lifting motor drives the lifting screw rod to rotate reversely to drive the first pressing part 7122 to move downward along the lifting driving guide rail to fix the edge strip section B. However, the specific structure of the first lifting driving mechanism is not limited to this, and those skilled in the art can select the specific structure of the first lifting driving mechanism according to the disclosure.

[0112] In an embodiment, the first side fixing structure 712 includes a first rotating driving mechanism for driving the first pressing part 7122 to rotate to selectively approach or move away from the top side of the edge strip section B. It should be understood that the edge strip section B needs to be fixed by the first pressing part of the first side fixing structure 712 during the cutting operation to enable the edge strip section B to be stably cut. After the cutting operation is completed, the cut edge strip needs to be transported to other equipment by a transfer device such as a robot for subsequent processing, and therefore, in order not to hinder the transfer, the first pressing part needs to be rotated to a position away from the edge strip section B after the cutting operation is completed, thereby reserving space for the transfer of the edge strip section B before and after the cutting operation. In an example, the first rotating driving mechanism can drive the first pressing part to rotate 90° clockwise or counterclockwise, but the disclosure is not limited to this.

[0113] In an implementation, the first rotating driving mechanism can be configured to include a rotating shaft and a rotating driving source, the rotating shaft can be connected between the first rod part 7121 and the first pressing part 7122, and the rotating driving source is associated with the rotating shaft to drive the first pressing part 7122 to rotate by a predetermined angle. In an example, the rotating driving can be configured as a rotating motor.

[0114] In an embodiment, the first arc-shaped pushing structure 713 is arranged on the first clamp seat 710 and located at opposite sides of the first backstop 711, and forms the first clamping space 7103 and the second clamping space 7104 with the first bearing surface 7101 and the second bearing surface 7102 and the first backstop 711 for placing the two edge skin segments B.

[0115] In an embodiment, the first arc-shaped pushing structure 713 is used to limit the two edge skin segments B in the first clamping space 7103 and the second clamping space 7104. Specifically, the first arc-shaped pushing structure 713 can fix the two edge skin segments B on the first backstop 711, so as to ensure that the ear cutting operation can be stably performed.

[0116] In an embodiment, as shown in Figure 39 and Figure 40 , the first arc-shaped pushing structure 713 is configured as an elastic limiting mechanism. In an implementation, the elastic limiting mechanism is arranged at opposite sides of the first clamp seat 710 and includes a mounting part 7131, a first elastic part 7132, and a limiting part 7133. The mounting part 7131 is arranged on the first clamp seat 710, the first elastic part 7132 is arranged at a top end of the mounting part 7131, and the limiting part 7133 is arranged at a top end of the first elastic part 7132. In an example, the limiting part 7133, the top end of the first elastic part 7132, the bottom end of the first elastic part 7132 and the top end of the mounting part 7131, and the mounting part 7131 and the first clamp seat 710 can be connected by bolt fixing respectively.

[0117] In an embodiment, the mounting part 7131 is used to ensure the stable connection of the elastic limiting mechanism with the first clamp seat 710 and provide a fulcrum for the elastic action of the first elastic part 7132. In the example shown in Figure 39 and Figure 40 , the mounting part 7131 is in an “L” shape, and both ends thereof are provided with a plurality of mounting holes for realizing the connection of the mounting part 7131 with the first clamp seat 710 and the connection with the first elastic part 7132. In some other examples, the mounting part 7131 is provided with reinforcing ribs to enhance the bending resistance and deformation resistance, so as to enhance the rigidity of the whole elastic limiting mechanism. The material of the mounting part 7131 includes but is not limited to steel, aluminum alloy, and other high-strength durable materials.

[0118] In an embodiment, the first elastic part 7132 is configured to provide an elastic effect when being elastically deformed, and the elastic effect causes the first elastic part 7132 to generate a restoring force, which can be transmitted to the limiting part 7133 connected to the first elastic part 7132. In an example, the first elastic part 7132 can be configured as a spring sheet. Of course, it can also be configured in any other form, such as a gas spring, etc., which is not limited in this application.

[0119] In an embodiment, the limiting part 7133 is configured to provide a sustained pressure on the arc surface of the edge segment B under the elastic effect of the first elastic part 7132, so as to abut the edge segment B against the first abutment 711. This sustained pressure can achieve stable fixation of the edge segment B, thereby preventing displacement of the edge segment B during cutting, and further ensuring the accuracy of cutting. In addition, due to the elastic effect of the first elastic part 7132, when different thicknesses of edges need to be clamped, the limiting part 7133 can be adaptively adjusted and can keep the fixation of the edge segment B, so as to achieve clamping of different edge segments. In an example, as shown in Figure 39 and Figure 40 The limiting part 7133 is configured as a roller structure. The roller structure can provide a smooth contact surface, thereby reducing friction with the edge segment B, preventing damage, and ensuring product quality. Of course, the limiting part 7133 can be configured in any other structure as long as it can abut the edge segment B against the first abutment 711, which is not limited in this application.

[0120] When the first bearing device 71 is used to clamp the edge segment B, as shown in Figure 40 and Figure 39 first, the first side fixing structure 712 is controlled by the first lifting driving mechanism to drive the first rod part to rise, thereby driving the first pressing part to rise. Secondly, the first side fixing structure 712 is controlled by the first rotating driving mechanism to drive the respective first pressing part to rotate and move away from the first clamping space 7103 and the second clamping space 7104. At this time, the two edge segments B can be simultaneously transferred to the first bearing surface 7101 and the second bearing surface 7102. Subsequently, the first side fixing structure 712 presses the top surface of the edge segment B under the action of the first lifting driving mechanism and the first rotating driving mechanism. Then, the first arc pushing top structure 713 elastically abuts the edge segment B against the first abutment 711. In this way, the two edge segments B can be stably clamped for subsequent ear cutting operations.

[0121] In an embodiment, as shown in Figure 40 , the first bearing device 71 on the cutting transfer platform 7 is configured as 12, so as to achieve vertical placement of 24 edge segments. In Figure 39In the shown example, the 12 first bearing devices can be divided into two groups, and the two groups of first bearing devices are arranged in parallel on the cutting transfer table 7, each group including 6 first bearing devices to realize the vertical placement of 6 pairs of edge skins. Of course, any number and any group of first bearing devices can be arranged on the cutting transfer table 7, which is determined according to actual production needs, and the present application does not make any limitation in this regard.

[0122] In order to transfer each edge skin segment B on the cutting transfer table 7 to the first cutting device 2, the second robot 8 is arranged in the second working area W2. Figure 40 As shown, the second robot 8 is arranged in the second working area W2. In an embodiment, the second robot 8 can be configured to include a second joint arm, a second end effector, and a second base, wherein the second joint arm can be configured in the same manner as the first joint arm 51 included in the first robot 5 in the foregoing embodiment, and the second base can be configured in the same manner as the first base 53 in the foregoing embodiment, which can be referred to the foregoing description and will not be described here again.

[0123] In an embodiment, the second end effector can be configured to include a clamp mechanism capable of simultaneously clamping a pair of edge skin segments B on the first bearing device 71 of the cutting transfer table 7 and transferring them to the first bearing device of the first cutting device 2.

[0124] In an embodiment, as shown, Figure 10 the second robot 8 can also be used to transfer each edge skin segment C that has completed the ear cutting operation to the second cutting device 3 and transfer the cut-off ear to the waste frame 9.

[0125] In an embodiment, as shown, Figure 10 and Figure 3 the first cutting device 2 is arranged in the second working area W2 to perform ear cutting operation on the edge skin segment B that has completed the cutting operation to cut off the ear of the edge skin segment B, thereby forming an edge skin segment C with an arc top.

[0126] In an embodiment, please refer to Figure 3 and Figure 2 , respectively showing the structural schematic diagram of the first cutting device in an embodiment of the present application, as shown in Figure 3 and Figure 13 the first cutting device 2 includes a first base 21, a first bearing device 71, and a first cutting device 22.

[0127] In an embodiment, the first machine base 21 is provided with a first standby area 211 and an ear cutting area 212, and a first rotating table 213 rotatable between the first standby area 211 and the ear cutting area 212. In the present embodiment, the first standby area 211 is used to temporarily park the rim strip segment B before performing the ear cutting operation, and the ear cutting area 212 is used to perform the ear cutting operation. In Figure 14 and Figure 13 In the example shown, the first rotating table 213 is configured in a square shape, and of course, it can also be configured in other shapes, such as a circular shape, etc.

[0128] In an embodiment, the first bearing device 71 on the first cutting device 2 is configured as a plurality of first bearing devices, including a first group of first bearing devices and a second group of first bearing devices, which are symmetrically arranged on the first rotating table 213. Please refer to Figure 14 , the first group of first bearing devices corresponds to the first standby area 211, and the second group of first bearing devices corresponds to the ear cutting area 212.

[0129] In an embodiment, the first rotating table 213 switches the first group of first bearing devices located in the first standby area 211 to the ear cutting area 212 and switches the second group of first bearing devices located in the ear cutting area 212 to the first standby area 211 by rotating 180° in the forward or reverse direction. That is, the first rotating table 213 can realize rotation between the first standby area 211 and the ear cutting area 212, which is achieved by rotating 180° in the clockwise or counterclockwise direction to exchange the positions of the first group of first bearing devices and the second group of first bearing devices.

[0130] In an implementation, the first rotating table 213 can be configured with a first rotating shaft, the first rotating shaft is provided with a servo motor and a grating encoder (not shown), the servo motor is used to provide power for the forward or reverse rotation of the first rotating shaft, and the grating encoder is used to provide measurement and feedback of the rotation angle of the first rotating table 213. In some examples, the servo motor can be replaced by a hydraulic motor.

[0131] In an embodiment, the grating encoder includes a grating encoder shell, a grating encoder disc and a reading head. The grating encoder shell is arranged around the first rotating shaft and contains the grating encoder disc and the reading head. The grating encoder disc has grating bars thereon, when the first rotating shaft rotates, the grating bars on the grating encoder disc will be blocked and generate corresponding optical signals, the reading head can include optical measuring devices such as cameras, the rotation information of the first rotating shaft is obtained by interpreting the generated optical signals, and the information is fed back to a control device, thereby realizing real-time control of the rotation of the first rotating table 213.

[0132] In an embodiment, a brake positioner is arranged on the first rotary table 213, which is used to stop the rotation of the first rotary table 213, so as to control the angle of the forward rotation or reverse rotation of the first rotary table 213 to 180°, and also prevent the first rotary table 213 from rotating due to external force when it is stopped, so as to further ensure the accuracy of the ear cutting operation. In an implementation, the brake positioner can be configured to include a brake driver and a locking pin, the brake driver controls the movement of the locking pin, and the locking pin is locked on the first rotary table 213, so as to stop the rotation of the first rotary table 213. The brake driver can be, for example, a motor.

[0133] In an embodiment, as shown in Figure 13 The first set of first bearing devices and the second set of first bearing devices each include six first bearing devices 71, and every three first bearing devices 71 are arranged in parallel. The specific structure of the first bearing device can refer to the description in the foregoing embodiments, which will not be described here.

[0134] In an embodiment, the first cutting device 22 is configured as a plurality of first cutting devices 22, which are arranged in the ear cutting area 212 of the first machine base 21 and can move vertically, and are used to cut the ears of the edge skin section B. Please refer to Figure 14 and in combination with Figure 14 , wherein, Figure 14 The structure of the first cutting device in an embodiment of the present application is shown in the structural schematic diagram of the first cutting device, as shown in Figure 15 The first cutting device 22 includes a first cutting mounting structure 221, a first cutting unit 222, and a first lifting mechanism, the first cutting unit 222 is arranged on the first cutting mounting structure 221, and the first lifting mechanism is used to drive at least one first cutting unit 222 to move vertically relative to the first cutting mounting structure 221. In some examples, the first cutting device 22 can be, for example, a mounting bracket, a mounting beam, a mounting column, or the like.

[0135] In an embodiment, the first cutting device 22 further comprises a first cutting base for providing the first cutting mounting structure 221 and the first cutting unit 222. The first cutting base serves as a main component of the first cutting device 22. In some examples, the first cutting base has a large volume and weight to provide a large mounting surface and a firm stability of the whole machine. It should be understood that the first cutting base can serve as a seat for different structures or components in the first cutting device 22 that perform cutting operations, and the specific structure of the first cutting base can be changed based on different functional requirements or structural requirements. In some examples, the first cutting base comprises a fixing structure or a limiting structure such as a base, a rod, a column, a rack, etc. for receiving different components in the first cutting device. Meanwhile, in some examples, the first cutting base can be an integrated base, and in some examples, the first cutting base can comprise a plurality of independent bases.

[0136] In an embodiment, as shown in Figure 14 the first cutting unit 222 comprises a first cutting wire rack 2221, a plurality of first cutting wheels 2222 and a first cutting wire 2223. The first cutting wire rack 2221 is arranged on the first cutting mounting structure 221, the plurality of first cutting wheels 2222 and the first cutting wire 2223 are arranged on the first cutting wire rack 2221, and the first cutting wire 2223 is sequentially wound around the plurality of first cutting wheels 2222 to form at least one first cutting wire saw. The first cutting wire saw is arranged along the thickness direction of the edge piece B carried by the first carrying device 71.

[0137] In an embodiment, at least one cutting wire groove for winding the first cutting wire 2223 is arranged in the first cutting wheel 2222, which can define the position of the first cutting wire to control the cutting accuracy. Any first cutting wire saw is formed by winding the first cutting wire 2223 between two first cutting wheels 2222, and the position of the first cutting wheel 2222 can be used to determine the direction of the first cutting wire saw.

[0138] In an embodiment, as shown in Figure 15 the plurality of first cutting wheels 2222 comprises four first cutting wheels, wherein the wheel surfaces of the four first cutting wheels 2222 are vertically arranged and form a quadrilateral as a whole, wherein two first cutting wheels for performing ear cutting operations are arranged in parallel along a direction perpendicular to the ear cutting area 212 close to the ear cutting area 212, and the other two first cutting wheels are arranged in parallel along a direction perpendicular to the ear cutting area 212 away from the ear cutting area 212. The first cutting wire 2223 is sequentially wound around the four first cutting wheels to form a first cutting wire saw.

[0139] In an embodiment, the first cutting line 2223 is wound between the four first cutting wheels 2222 in a head-to-tail looped manner. In this embodiment, the first cutting line 2223 can be driven by a first cutting line driving device to keep a high speed operation, so as to achieve the ear cutting operation on the edge section B. In some examples, the first cutting line driving device can be configured as a motor having a power output shaft and the power output shaft is connected to one of the first cutting wheels, so that the first cutting line 2223 can be driven to run in the winding direction by the first cutting wheel wound thereon. Of course, in specific implementations, the first cutting line driving device can also be other driving sources such as a hydraulic motor, as long as the first cutting line can be driven to run, which is not limited in the present application.

[0140] In an embodiment, the first cutting device 22 can further include a transition wheel for reversing the first cutting line 2223 or for adjusting the tension of the first cutting line 2223, and the number thereof can be set to one or more according to the layout requirements in actual production. In an example, the transition wheel can simultaneously serve as a tensioning wheel for adjusting the tension of the first cutting line 2223 when it is used to guide and pull the first cutting line 2223, so as to reduce the probability of breakage of the first cutting line 2223 and reduce the consumption. In this example, the first cutting device 22 can further include a tension adjusting mechanism, which can detect the tension of the first cutting line 2223 and adjust the tension to a certain threshold value and keep a constant value or a certain range allowed by the constant value in the ear cutting operation, so as to ensure the accuracy of the ear cutting operation. Further, the tension adjusting mechanism can be associated with the transition wheel, so that the transition wheel can simultaneously serve as a tensioning wheel for adjusting the tension of the first cutting line 2223 when it is used to guide and pull the first cutting line 2223.

[0141] In an embodiment, the first cutting device 22 further includes a first lifting mechanism for driving the first cutting mounting structure 221 and the plurality of first cutting units arranged thereon to move up and down towards the ear cutting area 212. In an example, the first lifting mechanism includes a first lifting guide rail and a first lifting driving unit. The first lifting guide rail is parallel to the first cutting line 2223 and is used to arrange the first cutting mounting structure 221. The first lifting driving unit is used to drive the first cutting mounting structure 221 and the at least one first cutting unit arranged thereon to move along the first lifting guide rail, so that the first cutting line saw on the first cutting unit can be fed towards the edge section B on the ear cutting area 212.

[0142] In an embodiment, the first lifting driving unit comprises a first lifting rack, a driving gear and a driving source. The first lifting rack is arranged in parallel with the first lifting guide. The driving gear is arranged on the first cutting mounting structure 221 and engages with the first lifting rack to drive the first cutting mounting structure 221 to move along the first lifting guide. The driving gear is driven to rotate by the driving source. The teeth of the driving gear engage with the first lifting rack to move along the first lifting rack. The first cutting mounting structure 221 connected with the driving gear is thus driven to move along the first lifting guide. The driving source is for example a driving motor.

[0143] In some embodiments, the first lifting driving unit can be arranged on the first cutting mounting structure 221 and comprises a first lifting screw and a driving source. The first lifting screw is associated with the first cutting mounting structure 221. The driving source is configured to drive the first lifting screw to rotate so as to drive the first cutting mounting structure 221 and the at least one first cutting unit arranged thereon to move along the first lifting guide. The driving source is for example a driving motor.

[0144] In the ear cutting operation using the first cutting device 2, the first cutting wire 2223 is driven by the first cutting wire driving device to move in the winding direction. The first cutting mounting structure 221 and the at least one first cutting unit arranged thereon are driven by the first lifting mechanism to move along the first lifting guide, so that the first cutting wire saw on the first cutting unit can advance towards the skin segments B carried on the ear cutting area 212 to perform ear cutting operation on the skin segments B by the first cutting wire saw.

[0145] In an embodiment, as shown in Figure 15 each group of first cutting units 222 can simultaneously cut four ears of two pairs of skin segments arranged in parallel on the ear cutting area 212. As mentioned above, the second group of first bearing devices arranged on the ear cutting area 212 comprises six first bearing devices, and every three first bearing devices are arranged in parallel, i.e. taking one group of first cutting units as an example, the first cutting wire saw on the first cutting units can simultaneously perform ear cutting operation on two pairs of skin segments (four skin segments B) arranged in parallel on two first bearing devices, and further, the first cutting wire saw can simultaneously cut four ears on the same side of the four skin segments B.

[0146] The working process of the first cutting device 2 in the ear cutting operation is described below.

[0147] Firstly, the second robot 8 transfers the edge strip sections B located on the cutting intermediate transfer table 7 to the first standby area 211 of the first cutting device 2 and places them on the first carrying devices 71. Then, the first rotary table surface 213 switches the first group of first carrying devices located on the first standby area 211 to the ear cutting area 212 by rotating 180° in the forward or reverse direction, and switches the second group of first carrying devices located on the ear cutting area 212 to the first standby area 211. Subsequently, the six first cutting units 222 included in the first cutting device 22 are fed to the plurality of edge strips B in the ear cutting area 212 under the action of the first lifting mechanism to complete the ear cutting operation of the edge strip sections B carried on the first group of first carrying devices, and form a plurality of edge strip sections C with an arc top. The second robot 8 can transfer each of the edge strip sections C that have completed the ear cutting operation to the second cutting device 3 to perform the arc top cutting operation, and transfer the cut-off ear parts to the waste frame 9. Then, the first rotary table surface 213 continues to rotate 180° to switch the second group of first carrying devices located on the first standby area 211 to the ear cutting area 212, and switch the first group of first carrying devices located on the ear cutting area 212 to the first standby area 211. At this time, the second robot 8 can continue to transfer the edge strip sections B located on the cutting intermediate transfer table 7 to the first group of first carrying devices in the first standby area 211, and the first cutting device 22 can continue to perform the ear cutting operation on each of the edge strip sections B carried by the second group of first carrying devices in the ear cutting area 212. In this way, each device or mechanism works in a cycle until all the edge strip sections B have completed the ear cutting operation.

[0148] In an embodiment, as shown in Figure 15 and Figure 15 , the second cutting device 3 is arranged in the second working area W2, and is used to perform the arc top cutting operation on the edge strip sections C that have completed the ear cutting operation to cut off the arc top of the edge strip sections C, thereby forming silicon blocks D with a rectangular cross section.

[0149] In an embodiment, please refer to Figure 14 , which shows the structural schematic diagram of the second cutting device in an embodiment of the present application, as shown in Figure 2 , the second cutting device 3 includes a second base 31, a second carrying device 32, and a second cutting device 33.

[0150] In an embodiment, the second base 31 is provided with a second standby area 311 and an arc top cutting area 312, and a second rotary table surface 313 that can rotate between the second standby area 311 and the arc top cutting area 312. In this embodiment, the second standby area 311 is used to temporarily park the edge strip sections C before performing the ear cutting operation, and the arc top cutting area 312 is used to perform the ear cutting operation. Figure 3In the shown example, the second rotary table 313 is configured as a square, and can also be configured as other shapes, such as a circle, etc.

[0151] Please refer to Figure 16 and Figure 16 , which respectively show the structural schematic diagrams of the second bearing device in different viewing angles in an embodiment of the present application. As shown in Figure 16 and Figure 17 , the second bearing device 32 is used to realize the vertical placement of a pair of edge skin sections C, and includes a second backstop 321, a second side fixing structure 322, and a second arc surface pushing structure 323. The second backstop 321 is oppositely arranged along the thickness direction of the edge skin section C, and is used to bear the plane of the edge skin section C. The second side fixing structure 322 is arranged along the width direction of the edge skin section C, and is used to simultaneously fix the end faces of a pair of edge skin sections C. The second arc surface pushing structure 323 is arranged on the arc surface of the edge skin section C, and has a height greater than the length of the edge skin section C, and can clamp the removed arc top part while fixing the edge skin section C on the second backstop 321.

[0152] In an embodiment, the height of the second backstop 321 is lower than the length of the edge skin section C, so as to reserve a clamping space for the second robot 8 to clamp the edge skin section C.

[0153] In an embodiment, the length of the second side fixing structure 322 does not exceed the edge skin section C, so as to avoid mechanical collision with the second cutting device 33 which performs the arc top part cutting operation.

[0154] In an embodiment, the second arc surface pushing structure 323 is provided with a second pressing part 3231, which can move in the vertical direction under the driving of the second arc surface pushing structure 323, so as to press and fix the arc top part of an edge skin section C from the upper side, so as to prevent the arc top part from being overturned after being cut off. In an example, the lower side of the second pressing part 3231 is provided with a buffer part, such as a rubber part, which is used to prevent damage caused by mechanical contact between the second pressing part 3231 and the edge skin section C.

[0155] In an embodiment, the second arc surface pushing structure 323 includes an arc surface pushing lifting mechanism. In an example, the arc surface pushing lifting mechanism can include a lifting guide rail and a lifting motor, and the second arc surface pushing structure 323 is further provided with a sliding block matched with the lifting guide rail, and the lifting motor can drive the second arc surface pushing structure 323 to move up and down along the lifting guide rail, so as to realize the clamping or releasing of the arc top part.

[0156] Please refer to Figure 18 and Figure 17 , wherein, Figure 18Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 41 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 42 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 41 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 42 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 41 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 41 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective,

[0157] In an embodiment, as shown in Figure 42 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 17 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective,

[0158] In an embodiment, the height of the second abutment 321 is lower than the length of the edge segment C, so as to reserve a clamping space for the second robot 8 to clamp the edge segment C.

[0159] In an embodiment, the length of the second side fixing structure 322 does not exceed the edge segment C, so as to avoid mechanical collision with the second cutting device 33 performing the arc top cutting operation.

[0160] In an embodiment, as shown in Figure 18 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 41 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective, Figure 42 Fig. 2 shows a schematic view of the structure of the second bearing device in another embodiment of the present application from a perspective,

[0161] In an embodiment, as shown in Figure 41 and Figure 42 The second side fixing structure 322 is arranged on opposite sides of the second backstop 321 to fix the two edge skin segments C in the third clamping space 3203 and the fourth clamping space 3204. In an implementation, as shown in Figure 40 The second side fixing structure 322 is arranged on the second clamp base 320 and includes a first clamping part 3221 and a second clamping part 3222, which are movable relative to or away from each other to clamp or release the two edge skin segments C. In an example, the second side fixing structure 322 further includes a clamping driving mechanism to drive at least one of the first clamping part 3221 and the second clamping part 3222 to move to adjust the spacing between the two clamping parts. The clamping driving mechanism can include a lead screw arranged along the length direction of the second backstop 321 and associated with at least one of the first clamping part 3221 and the second clamping part 3222, and a driving source to drive the lead screw to rotate to move the associated at least one clamping part along the length direction of the second backstop 321.

[0162] In some examples, the second side fixing structure 322 can include a bidirectional lead screw arranged along the length direction of the second backstop 321 and associated with the first clamping part 3221 and the second clamping part 3222, and a driving source to drive the bidirectional lead screw to rotate to move the first clamping part 3221 and the second clamping part 3222 along the length direction of the second backstop 321 towards or away from each other. Of course, the second side fixing structure 322 can also be configured in other structures, for example, it can also use a telescopic rod and a driving cylinder or a driving hydraulic cylinder, etc., which are not limited in the present application.

[0163] In an embodiment, as shown in Figure 41 and Figure 42 The second arc-shaped pushing structure 323 includes a second rod part 3231 and a second pressing part 3232 connected to the top end of the second rod part 3231 to press the arc top of the edge skin segment C.

[0164] In an embodiment, as shown in Figure 42 and Figure 41 The second pressing part 3232 is provided with a second elastic part 3233 at the position where it contacts the top surface of the edge skin segment C.

[0165] In an embodiment, in order to achieve the clamping and releasing of the edge strip section C, the second camming structure 323 further comprises a second lifting driving mechanism 3234, which can drive the second rod portion 3231 to perform lifting movement, so that the second pressing portion 3232 fixes or releases the edge strip section C in the third clamping space 3203 and the fourth clamping space 3204.

[0166] In an embodiment, the second camming structure 323 further comprises a second rotating driving mechanism, which is used to drive the second pressing portion 3232 to rotate to selectively approach or move away from the upper side of the edge strip section C.

[0167] It should be noted that the specific functions and structures of the second rod portion 3231, the second pressing portion 3232, the second elastic portion 3233, the second lifting driving mechanism 3234 and the second rotating driving mechanism can be referred to the descriptions of the first rod portion 7121, the first pressing portion 7122, the first elastic portion 7123, the first lifting driving mechanism 7124 and the first rotating driving mechanism in the foregoing embodiments, which will not be described here.

[0168] In the clamping of the edge strip section C by the second bearing device 32 shown in Figure 42 and Figure 41 , firstly, the second camming structure 323 is controlled by the second lifting driving mechanism to drive the second rod portion 3231 to rise, thereby driving the second pressing portion 3232 to rise. Secondly, the second camming structure 323 is controlled by the second rotating driving mechanism to drive the second pressing portion 3232 to rotate and move away from the third clamping space 3203 and the fourth clamping space 3204, and the second side fixing structure 322 is driven by the clamping driving mechanism to open the first clamping portion 3221 and the second clamping portion 3222. At this time, the two edge strip sections C can be simultaneously transferred to the third bearing surface 3201 and the fourth bearing surface 3202. Subsequently, the second camming structure 323 is pressed against the top surface of the two edge strip sections C under the action of the second lifting driving mechanism and the second rotating driving mechanism. Then, the second side fixing structure 322 fixes the side surface of the two edge strip sections C under the action of the clamping driving mechanism and limits them in the third clamping space 3203 and the fourth clamping space 3204. In this way, the two edge strip sections C can be stably clamped to perform subsequent camming cutting operation.

[0169] In an embodiment, the second bearing device 32 on the second cutting device 3 is configured as a plurality of devices, including a first group of second bearing devices and a second group of second bearing devices, which are symmetrically arranged on the second rotary table 313. Please refer to Figure 42The first group of second carrying devices corresponds to the second waiting area 311 , and the second group of second carrying devices corresponds to the arc top cutting area 312 .

[0170] In one embodiment, the second turntable 313 rotates 180° forward or counterclockwise to switch the first group of second carrying devices located in the second waiting area 311 to the arc top cutting area 312, and to switch the second group of second carrying devices located in the arc top cutting area 312 to the second waiting area 311. In other words, the second turntable 313 can rotate between the second waiting area 311 and the arc top cutting area 312, specifically by rotating 180° clockwise or counterclockwise to swap the positions of the first group of second carrying devices and the second group of second carrying devices.

[0171] In one implementation, a second rotating shaft can be configured on the second turntable 313. A servo motor and a grating encoder (not shown) are provided on the second rotating shaft. The servo motor is used to provide power for forward or reverse rotation of the second rotating shaft, and the grating encoder is used to measure and provide feedback on the rotation angle of the second turntable 313. In some examples, the servo motor can be replaced by a hydraulic motor.

[0172] In one embodiment, the grating encoder includes a grating encoder housing, a grating encoder disk, and a read head. The grating encoder housing is positioned around the second rotating shaft and accommodates the grating encoder disk and read head. The grating encoder disk has grating strips. When the second rotating shaft rotates, the grating strips on the grating encoder disk are subsequently blocked, generating corresponding optical signals. The read head may include an optical measurement device, such as a camera, to interpret the generated optical signals to obtain rotation information of the second rotating shaft and feed this information back to a control device, thereby achieving real-time control of the rotation of the second turntable 313.

[0173] In one embodiment, a brake locator is provided on the second turntable 313. The brake locator is used to stop the rotation of the second turntable 313, thereby controlling the angle of forward or reverse rotation of the second turntable 313 to 180°. At the same time, the brake locator prevents the second turntable 313 from rotating due to external forces when it stops, thereby further ensuring the accuracy of the ear cutting operation. In one implementation, the brake locator can be configured to include a brake actuator and a locking pin. The brake actuator controls the movement of the locking pin, causing the locking pin to lock on the second turntable 313, thereby stopping the rotation of the second turntable 313. The brake actuator can be, for example, a motor.

[0174] In one embodiment, if Figure 41As shown, the first group of second bearing devices and the second group of second bearing devices each include six second bearing devices 32, and every three second bearing devices 32 are arranged in parallel.

[0175] In an embodiment, the second cutting device 33 is configured as a plurality of second cutting devices 33, which are vertically movable and arranged at the arc top cutting area 312 of the second machine base 31, for cutting the arc top of the edge skin section C. Please refer to Figure 42 , which shows a schematic structural diagram of the second cutting device in an embodiment of the present application, as Figure 16 As shown, the second cutting device 33 includes a second cutting mounting structure 331, a second cutting unit 332 arranged on the second cutting mounting structure 331, and a second lifting mechanism for driving at least one second cutting unit 332 to move vertically relative to the second cutting mounting structure 331. In some examples, the second cutting device 33 can be, for example, a mounting bracket, a mounting beam, a mounting column, or the like.

[0176] In an embodiment, the second cutting device 33 further includes a second cutting machine base for arranging the second cutting mounting structure 331 and the second cutting unit 332. The second cutting machine base serves as the main component of the second cutting device 33. In some examples, the second cutting machine base has a large volume and weight to provide a large mounting surface and firm overall stability. It should be understood that the second cutting machine base can serve as a seat for different structures or components that perform cutting operations in the second cutting device 33, and the specific structure of the second cutting machine base can be changed based on different functional or structural requirements. In some examples, the second cutting machine base includes a fixing structure or a limiting structure such as a base, a rod, a column, a rack, or the like for receiving different components in the second cutting device. Meanwhile, in some examples, the second cutting machine base can be an integrated base, and in some examples, the second cutting machine base can include multiple independent bases.

[0177] In an embodiment, as shown in Figure 16 The second cutting unit 332 includes a second cutting wire rack 3321, a plurality of second cutting wheels 3322, and a second cutting wire 3323. The second cutting wire rack 3321 is arranged on the second cutting mounting structure 331, the plurality of second cutting wheels 3322 and the second cutting wire 3323 are arranged on the second cutting wire rack 3321, the second cutting wire 3323 is sequentially wound around the plurality of second cutting wheels 3322 to form at least one second cutting wire saw, and the second cutting wire saw is arranged along the width direction of the edge skin section C carried by the second bearing device 32.

[0178] In one embodiment, at least one cutting wire groove is formed in the second cutting wheel 3322 for winding the second cutting wire 3323, and the cutting wire groove can define the position of the second cutting wire to control the cutting accuracy. Any second cutting wire saw is formed by winding the second cutting wire 3323 between two second cutting wheels 3322, and the position of the second cutting wheels 3322 can be used to determine the direction of the second cutting wire saw.

[0179] In one embodiment, as shown in FIG. 33, the plurality of second cutting wheels 3322 includes four second cutting wheels, wherein the wheel faces of the four second cutting wheels 3322 are vertically arranged and form a quadrilateral, and two second cutting wheels for performing the arc top cutting operation are arranged in parallel near the arc top cutting area 312 and in a direction perpendicular to the arc top cutting area 312, and the other two second cutting wheels are arranged in parallel away from the arc top cutting area 312 and in a direction perpendicular to the arc top cutting area 312. The second cutting wire 3323 is wound around the four second cutting wheels in sequence to form a second cutting wire saw. Figure 19

[0180] In one embodiment, the second cutting wire 3323 is wound around the four second cutting wheels 3322 in a ring shape with the beginning and end connected. In this embodiment, the second cutting wire 3323 can be driven by a second cutting wire driving device to keep high-speed operation to achieve the arc top cutting operation on the edge skin segment C. In some examples, the second cutting wire driving device can be configured as a motor having a power output shaft connected to one of the second cutting wheels, so that the second cutting wire 3323 can be driven by the second cutting wheel to run in the winding direction. Of course, in specific implementations, the second cutting wire driving device can also be another driving source such as a hydraulic motor, as long as it can drive the second cutting wire to run, which is not limited in the present application.

[0181] ​In an embodiment, the second cutting device 33 can further comprise a transition wheel for reversing the second cutting wire 3323 or for adjusting the tension of the second cutting wire 3323, the number of which can be set to one or more according to the layout requirements in actual production. In an example, the transition wheel can simultaneously serve as a tensioning wheel for adjusting the tension of the second cutting wire 3323 while achieving the guiding traction of the second cutting wire 3323, so as to reduce the probability of breakage of the second cutting wire 3323 and reduce the consumption of materials. In this example, the second cutting device 33 can further comprise a tension adjusting mechanism that can detect the tension of the second cutting wire 3323 and adjust the tension to a certain threshold value set for the second cutting wire 3323 and maintain a constant value or a certain range allowed by the constant value in the top arc cutting operation, so as to ensure the accuracy of the top arc cutting operation. Further, the tension adjusting mechanism can be associated with the transition wheel, so that the transition wheel can simultaneously serve as a tensioning wheel for adjusting the tension of the second cutting wire 3323 while achieving the guiding traction of the second cutting wire 3323.

[0182] In an embodiment, the second cutting device 33 further comprises a second lifting mechanism for driving the second cutting mounting structure 331 and the plurality of second cutting units arranged thereon to move up and down towards the top arc cutting area 312. In an example, the second lifting mechanism comprises a second lifting guide rail and a second lifting driving unit. The second lifting guide rail is parallel to the second cutting wire 3323 and is used to arrange the second cutting mounting structure 331. The second lifting driving unit is used to drive the second cutting mounting structure 331 and the at least one second cutting unit arranged thereon to move along the second lifting guide rail, so that the second cutting wire saw on the second cutting unit can feed towards the rim segment C on the top arc cutting area 312.

[0183] In an embodiment, the second lifting driving unit comprises a second lifting rack, a driving gear and a driving source. The second lifting rack is arranged in a direction parallel to the second lifting guide rail. The driving gear is arranged on the second cutting mounting structure 331 and engages with the second lifting rack to drive the second cutting mounting structure 331 to move along the second lifting guide rail. The driving gear is driven to rotate by the driving source, the teeth of the driving gear engage with the second lifting rack to move along the second lifting rack, and the second cutting mounting structure 331 connected with the driving gear thus moves on the second lifting guide rail. The driving source is, for example, a driving motor.

[0184] In some embodiments, the second lifting driving unit can be arranged on the second cutting mounting structure 331, comprising a second lifting screw rod and a driving source, wherein the second lifting screw rod is associated with the second cutting mounting structure 331, and the driving source is used to drive the second lifting screw rod to rotate so as to drive the associated second cutting mounting structure 331 and the at least one second cutting unit arranged thereon to move along the second lifting guide rail. The driving source is, for example, a driving motor.

[0185] In the arc top cutting operation by the second cutting device 3, the second cutting wire 3323 is driven by the second cutting wire driving device to run in the winding direction, and the second cutting mounting structure 331 and the at least one second cutting unit arranged thereon are driven by the second lifting mechanism to move along the second lifting guide rail, so that the second cutting wire saw on the second cutting unit can advance towards the edge strip section C carried on the arc top cutting area 312 to perform the arc top cutting operation on the edge strip section C by the second cutting wire saw.

[0186] In an embodiment, as shown in Figure 19 The second cutting unit 332 is configured as six groups, and each group of second cutting unit can simultaneously cut off the arc top portions of two edge strip sections C arranged in parallel on the second carrying device. As described above, the second group of second carrying devices located in the arc top cutting area 312 comprises six second carrying devices, and every three second carrying devices are arranged in parallel, that is, taking one group of second cutting unit as an example, the second cutting wire saw on the second cutting unit can simultaneously perform the arc top cutting operation on two edge strip sections C arranged in parallel on two second carrying devices, and further, the second cutting wire saw can simultaneously cut off two arc top portions located on the same side of the two edge strip sections C.

[0187] In an embodiment, as shown in Figure 19 The second working area W2 and the third working area W3 are connected by the first conveying belt 10 for conveying the silicon blocks D on which the arc top cutting operation is completed. In this embodiment, the second robot 8 can transfer each silicon block D on which the arc top cutting operation is completed to the first conveying belt 10, and transfer the arc top portions cut off to the waste frame 9.

[0188] The working process of the arc top cutting operation by the second cutting device 3 is described below.

[0189] Firstly, the second robot 8 transfers the kerf sections C which have completed the ear cutting operation from the first cutting device 2 to the second standby area 311 of the second cutting device 3 and places them on the second carrying devices 32. Then, the second rotary table 313 switches the first group of second carrying devices located in the second standby area 311 to the arc top cutting area 312 by rotating 180° in the forward or reverse direction, and switches the second group of second carrying devices located in the arc top cutting area 312 to the second standby area 311. Subsequently, the six second cutting units 332 included in the second cutting device 33 are fed to the plurality of kerf sections C in the arc top cutting area 312 under the action of the second lifting mechanism to complete the arc top cutting operation of the kerf sections C carried on the first group of second carrying devices and form a plurality of silicon blocks D. The second robot 8 can transfer each silicon block D which has completed the arc top cutting operation to the first conveying belt 10 for subsequent end face grinding operation, and transfer the cut-off arc top to the waste frame 9. Then, the second rotary table 313 continues to rotate 180° to switch the second group of second carrying devices located in the second standby area 311 to the arc top cutting area 312, and switch the first group of second carrying devices located in the arc top cutting area 312 to the second standby area 311. At this time, the second robot 8 can continue to transfer the kerf sections C from the first cutting device 2 to the first group of second carrying devices in the second standby area 311, and the second cutting device 33 can continue to perform the arc top cutting operation on each kerf section C carried by the second group of second carrying devices in the arc top cutting area 312. In this way, each device or mechanism works in a cycle until all the kerf sections C have completed the arc top cutting operation.

[0190] In an embodiment, the silicon block end face grinding device 4 is arranged in the third working area W3 and is used for performing end face grinding operation on the four end faces of the silicon block D.

[0191] Please refer to Figure 19 and Figure 19 , wherein, Figure 3 shows the structural schematic diagram of the silicon block end face grinding device in an embodiment of the present application, Figure 20 shows the structural schematic diagram of the silicon block end face grinding device omitting the frame in an embodiment of the present application. As Figure 21 and Figure 20 shown, the silicon block end face grinding device 4 includes a grinding base 41, a grinding table 42, and a grinding spindle 43.

[0192] The grinding machine base 41 is a main component of the silicon block end face grinding device 4, and is used to provide a workpiece processing platform and to support the working components. In actual applications, the grinding machine base 41 has a large volume and weight to provide a large mounting surface and a firm stability of the whole machine. It should be understood that the grinding machine base 41 can be a base of different structures or components in the silicon block end face grinding device 4 that perform different grinding operations, and the specific structure of the grinding machine base can be changed based on different functional requirements or structural requirements. In some examples, the grinding machine base includes a fixing structure or a limiting structure such as a base, a column, a rack, etc. for supporting different components in the silicon block end face grinding device 4, which are all grinding machine bases described in the present application. Meanwhile, in some examples, the grinding machine base 41 can be an integrated base. In some examples, the grinding machine base can include a plurality of independent bases.

[0193] The grinding machine base 41 has a silicon block processing platform, which can be divided into a plurality of functional areas according to the specific operation content of the silicon block grinding operation. For example, in an embodiment, please refer to Figure 21 , which shows a structural schematic view of the silicon block end face grinding device in another view of the embodiment shown in the present application. Figure 20 As shown in Figure 21 , the grinding machine base 41 is provided with a grinding standby area 411 and a grinding area 412. In the present embodiment, the grinding standby area 411 is used to temporarily park the silicon block before the grinding operation is performed, and the grinding area 412 is used to perform the grinding operation. The grinding standby area 411 and the grinding area 412 are defined by the stroke path and range of the processing device at each area, for example, the surface grinding device of the silicon block end face grinding device 4 is arranged at the grinding area 412, and the range of the grinding area 412 is the range occupied by the surface grinding device during the completion of the surface grinding operation. In some examples, the grinding standby area 411 and the grinding area 412 together constitute the silicon block processing platform. In some other examples, the silicon block processing platform can further include a feeding area and a discharging area for feeding and discharging, respectively. It should be noted that in the examples provided in the present application, the functional areas are determined by the shape of the silicon block processing platform at the functional areas, which can be determined according to the grinding machine base, or can be determined together according to the processing needs of the grinding machine base, the surface grinding device, etc.

[0194] In one embodiment, a protective plate (not shown) is vertically arranged between the grinding waiting area 411 and the grinding area 412 of the grinding machine base 41 to form a relatively open grinding waiting area 411 and a relatively closed grinding area 412. It should be understood that the relatively closed grinding area 412 means that the protective plate and the grinding device at the grinding area 412 together constitute an area that can be isolated to a certain extent from the grinding waiting area 411. Correspondingly, the grinding waiting area 411 is not provided with a grinding device, and thus constitutes a relatively open area. In this example, the relatively open grinding waiting area 411 facilitates the positioning and clamping of the silicon block; the relatively closed grinding area 412 can effectively prevent debris, dust, or grinding fluid generated by the silicon block grinding operation from splashing into the grinding waiting area 411, while improving the grinding environment. It can also reduce the interference of the environment outside the grinding area 412 on the grinding operation, thereby ensuring the grinding quality. In some examples, the protective plate can be configured as a stainless steel plate, an aluminum plate, etc., which has a strong resistance to the impact of grinding debris and the chemical corrosion of the grinding fluid.

[0195] In one embodiment, if Figure 22 As shown, the grinding machine base 41 may also be provided with a frame 413, the shape of which is adapted to the shape of the grinding machine base 41, and is used to prevent outsiders from contacting the various devices, components, or mechanisms within the silicon block end surface grinding device 4, thereby reducing the occurrence of safety accidents. At the same time, the frame 413 can protect the various devices, components, or mechanisms within the silicon block end surface grinding device 4 from being affected by the external environment, thereby ensuring the life of the silicon block end surface grinding device 4. In one example, a transparent observation window 4131 is provided on the frame 413, which facilitates the operator to monitor the grinding process in real time and ensure the smooth progress of the grinding operation. In other examples, a radiator is provided within the frame 413 to prevent excessive temperature from affecting the performance of the silicon block end surface grinding device 4.

[0196] Furthermore, a control device 4132 may be configured on the frame 413 , and the control device 4132 is used to operate, control and monitor the real-time status of the silicon block end surface grinding device 4 performing the grinding operation.

[0197] In one embodiment, the control device 4132 is configured with a button for operating the silicon ingot end surface grinding apparatus 4 to perform a specific function. For example, the button can be an on / off button for starting or stopping the silicon ingot end surface grinding apparatus 4, an emergency stop button for stopping the grinding operation in an emergency, a fault diagnosis button for initiating a self-test program of the silicon ingot end surface grinding apparatus 4, or a program selection button for performing a specific task such as loading or unloading operations, but the functions are not limited thereto and can be determined based on operational requirements.

[0198] In an embodiment, the control device 4132 can further be configured with a processing unit, a storage unit, and a plurality of interface units, which are respectively connected to the devices or components or mechanisms in the silicon block end face grinding equipment 4 that are independently packaged and transmit data through interfaces. The interface units determine their interface types according to the connected devices or components or mechanisms, which include but are not limited to: a universal serial bus, a video interface, an industrial control interface, a wireless communication port, etc. The storage unit is used to store a grinding program, and the processing unit is connected to the storage unit and used to control the components or components or structures in the silicon block end face grinding equipment 4 to coordinate the grinding of the silicon block when the grinding program is executed.

[0199] In an embodiment, the grinding machine base 41 is provided with a grinding rotary table 414 that can rotate between the grinding standby area 411 and the grinding area 412. Figure 21 and Figure 22 In the example shown, the grinding rotary table 414 is configured as a circle, and of course it can also be configured as other shapes, such as a hexagon, etc.

[0200] In an embodiment, please refer to Figure 20 and Figure 21 and in combination with Figure 22 , wherein, Figure 23 shows the structural schematic diagram of the plurality of grinding table surfaces in an embodiment of the present application, Figure 24 shows the schematic diagram of the plurality of grinding table surfaces in another view in an embodiment of the present application. As shown in Figure 21 and Figure 23 , the grinding table surfaces 42 are configured as a plurality of grinding table surfaces, including a first set of grinding table surfaces 421 and a second set of grinding table surfaces 422, as shown in Figure 24 , the first set of grinding table surfaces 421 and the second set of grinding table surfaces 422 are mirror-symmetrically arranged on the grinding rotary table 414, please refer to Figure 23 , the first set of grinding table surfaces 421 corresponds to the grinding standby area 411, and the second set of grinding table surfaces 422 corresponds to the grinding area 412.

[0201] In an embodiment, the grinding rotary table 414 switches the first set of grinding table surfaces 421 located in the grinding standby area 411 to the grinding area 412 and switches the second set of grinding table surfaces 422 located in the grinding area 412 to the grinding standby area 411 by rotating 180° in the forward or reverse direction. That is, the grinding rotary table 414 can realize rotation between the grinding standby area 411 and the grinding area 412, which is specifically realized by rotating 180° in the clockwise or counterclockwise direction to exchange the positions of the first set of grinding table surfaces 421 and the second set of grinding table surfaces 422.

[0202] In an implementation, as Figure 24As shown, the grinding rotary table 414 is configured with a rotating shaft 4141, a servo motor 4142 and a grating encoder (not shown) are arranged on the rotating shaft 4141, the servo motor 4142 is used to provide power for the forward rotation or reverse rotation of the rotating shaft 4141, and the grating encoder is used to provide measurement and feedback of the rotation angle of the grinding rotary table 414. In some examples, the servo motor 4142 can be replaced by a hydraulic motor.

[0203] In an embodiment, the grating encoder includes a grating encoder shell, a grating encoder disc and a reading head. The grating encoder shell is arranged around the rotating shaft 4141 and houses the grating encoder disc and the reading head. The grating encoder disc has grating bars thereon, when the rotating shaft 4141 rotates, the grating bars on the grating encoder disc will be blocked and generate corresponding optical signals, the reading head can include an optical measurement device such as a camera, the rotation information of the rotating shaft 4141 is obtained by interpreting the generated optical signals, and the information is fed back to the control device 4132, thereby realizing real-time control of the rotation of the grinding rotary table 414.

[0204] In an embodiment, the grinding rotary table 414 is provided with a brake positioner, which is used to stop the rotation of the grinding rotary table 414, so as to control the angle of the forward rotation or reverse rotation of the grinding rotary table 414 to 180°, and also prevent the grinding rotary table 414 from rotating due to external forces when the movement is stopped, thereby further ensuring the accuracy of the grinding operation. In an implementation, the brake positioner can be configured to include a brake driver and a locking pin, the brake driver moves the locking pin to lock on the grinding rotary table 414, so as to stop the rotation of the grinding rotary table 414. The brake driver can be, for example, a motor.

[0205] In an embodiment in which the grinding table is configured as multiple grinding tables, each grinding table is used to clamp the top surface and the bottom surface of a silicon block to switch the end surface to be ground by rotation. Figure 24 or Figure 22 In the example shown, the first set of grinding tables 421 and the second set of grinding tables 422 each include three grinding tables. As shown, Figure 23 In order to facilitate distinction, the three grinding tables included in the first set of grinding tables 421 are referred to as the first grinding table 4211, the second grinding table 4212 and the third grinding table 4213, and the three grinding tables included in the second set of grinding tables 422 are referred to as the fourth grinding table 4221, the fifth grinding table 4222 and the sixth grinding table 4223. In this embodiment, the line connecting the centers of two adjacent grinding tables and the center of the grinding rotary table 414 forms an equilateral triangle, in other words, asFigure 22 As shown in the figures, the first grinding table 4211, the second grinding table 4212, the third grinding table 4213, the fourth grinding table 4221, the fifth grinding table 4222, and the sixth grinding table 4223 are evenly distributed along the circumference of the grinding rotary table 414, i.e., the angle a between the line connecting the axis of each grinding table and the axis of the grinding rotary table 414 and the line connecting the axis of the adjacent grinding table and the axis of the grinding rotary table 414 is 60°.

[0206] It should be noted that the first grinding table 4211, the second grinding table 4212, and the third grinding table 4213 included in the first group of grinding tables 421 and the fourth grinding table 4221, the fifth grinding table 4222, and the sixth grinding table 4223 included in the second group of grinding tables 422 can all be configured as the same grinding table, and the structure of the grinding table will be described in detail below by taking the first grinding table 4211 as an example.

[0207] Please refer to Figure 24 and Figure 24 , which respectively show the structure of the first grinding table in an embodiment of the present application, as shown in Figure 24 and Figure 25 , the first grinding table 4211 includes a support 42111, a top table 42112, and a bottom table 42113, wherein the support 42111 is arranged on the grinding rotary table 414, the top table 42112 is arranged on the top of the support 42111 and can move up and down to release or press the top surface of the silicon block D, and the bottom table 42113 is arranged at the bottom of the support 42111 corresponding to the axis of the top table 42112 to carry the silicon block D, and the top table 42112 and the bottom table 42113 form a clamping space for clamping the silicon block D.

[0208] In the embodiment, the silicon block D can rotate 90° clockwise or counterclockwise around the axis L1 of the top table 42112 under the clamping of the top table 42112 and the bottom table 42113 to switch the end face to be ground. For example, the silicon block D rotates 90° along the direction of the arrow in Figure 26 under the clamping of the top table 42112 and the bottom table 42113, so that the silicon block D is switched from the short end face to the long end face.

[0209] In an embodiment, in order to realize the lifting movement of the top layer table top 42112 relative to the support 42111, and further realize the pressing or releasing of the top surface of the silicon block D, the first grinding table top 4211 further comprises a lifting driving unit, which can comprise a lifting screw and a lifting motor, and the lifting screw is associated with the top layer table top 42112. The lifting motor and the lifting screw can be used to drive the top layer table top 42112 to move up and down in the vertical direction. For example, the lifting motor drives the lifting screw to rotate forward, thereby driving the top layer table top 42112 to move upward, and further realizing the releasing of the top surface of the silicon block D; the lifting motor drives the lifting screw to reverse, thereby driving the top layer table top 42112 to move downward, and further realizing the pressing of the top surface of the silicon block D.

[0210] In an embodiment, as shown in Figure 25 and Figure 26 The top of the support 42111 is provided with a driving mechanism 42114 for driving the top layer table top 42112 to rotate to switch the end surface of the clamped silicon block D, and the bottom side table top 42113 is configured as a passive rotating table top. In some examples, the driving mechanism 42114 can comprise a rotating shaft, a motor, and a grating encoder. In some other examples, the driving mechanism 42114 can further comprise a brake positioner for stopping the rotating movement of the top layer table top 42112, so as to control the angle of the clockwise rotation or counterclockwise rotation of the top layer table top 42112 to 90°. The specific structure and function of the rotating shaft, the motor, the grating encoder, and the brake positioner can be referred to the foregoing description, and will not be described here again.

[0211] In the embodiment in which the bottom side table top is configured as a passive rotating table top, the bottom side table top 42113 can comprise a fixed base and a rotating table top, the fixed base is fixedly connected with the support 42111, and is connected with the rotating table top through a bearing. Specifically, the driving mechanism 42114 drives the top layer table top 42112 to rotate, the top layer table top 42112 drives the silicon block D to rotate, further, the silicon block D drives the bottom side table top 42113 to rotate, and further makes the silicon block D realize the switching of the end surface under the clamping of the top layer table top 42112 and the bottom side table top 42113.

[0212] In an embodiment, as shown in Figure 25 and Figure 24As shown, three of the first set of grinding table surfaces 421 or the second set of grinding table surfaces 422 include a clamping space longitudinally open grinding table surface and two clamping space transversely open grinding table surfaces respectively located on opposite sides of the clamping space longitudinally open grinding table surface. As mentioned previously, the first set of grinding table surfaces 421 and the second set of grinding table surfaces 422 are mirror-symmetrically arranged on the grinding rotary table 414. Therefore, the following description will be made by taking the first set of grinding table surfaces 421 as an example. It should be understood that the clamping space of a certain grinding table surface refers to the area between the top table surface and the bottom side table surface of the grinding table surface for clamping a silicon block. For example, as shown in Figure 25 and Figure 20 As shown, the clamping space of the first grinding table surface 4211 refers to the area between the top table surface 42112 and the bottom side table surface 42113 for clamping the silicon block D.

[0213] The open direction of the clamping space refers to the direction opposite to the support. For example, in the example shown in Figure 23 As shown, the open direction of the clamping space of the first grinding table surface 4211 refers to the direction opposite to the support 42111, i.e., the direction indicated by the dotted arrow in Figure 25 As shown, the clamping space of the first grinding table surface 4211 refers to the area between the top table surface 42112 and the bottom side table surface 42113 for clamping the silicon block D. Figure 26 and Figure 25 As shown, the clamping space of the first grinding table surface 4211 refers to the area between the top table surface 42112 and the bottom side table surface 42113 for clamping the silicon block D.

[0214] In order to realize the grinding operation on the silicon block clamped by each grinding table surface, as shown in Figure 25 and Figure 20As shown, the surface grinding spindles 43 are arranged in multiple numbers and are arranged in the grinding area 412 of the grinding base 41, each of the surface grinding spindles is arranged to perform end surface grinding operation on the silicon block clamped on each of the second group of grinding tables 422. In this embodiment, in order to perform end surface grinding operation on the fourth grinding table 4221, the fifth grinding table 4222 and the sixth grinding table 4223 included in the second group of grinding tables 422, the surface grinding spindles 43 are arranged in three numbers, which can be referred to as the first surface grinding spindle 431, the second surface grinding spindle 432 and the third surface grinding spindle 433 for the sake of description. In the subsequent embodiments, the second surface grinding spindle 432 is referred to as the transverse surface grinding spindle, and the first surface grinding spindle 431 and the third surface grinding spindle 433 are referred to as the longitudinal surface grinding spindles, and the transverse surface grinding spindle and the longitudinal surface grinding spindles will not be described in detail hereinafter.

[0215] In an embodiment, the plurality of surface grinding spindles 43 includes one transverse surface grinding spindle (i.e. the second surface grinding spindle 432) corresponding to the grinding table with the clamping space longitudinally open, and two longitudinal surface grinding spindles (i.e. the first surface grinding spindle 431 and the third surface grinding spindle 433) corresponding to the grinding tables with the clamping space transversely open respectively on the opposite sides of the transverse surface grinding spindle. In other words, as shown in Figure 23 and Figure 21 As shown, the first surface grinding spindle 431 corresponds to the fourth grinding table 4221, the second surface grinding spindle 432 corresponds to the fifth grinding table 4222, and the third surface grinding spindle 433 corresponds to the sixth grinding table 4223.

[0216] The direction of the surface grinding spindle refers to the movement direction of the surface grinding spindle when performing end surface grinding operation. For example, the transverse surface grinding spindle refers to the second surface grinding spindle 432 moving towards the transverse direction when performing end surface grinding operation on the silicon block clamped on the fifth grinding table 4222, and the longitudinal surface grinding spindles refer to the first surface grinding spindle 431 and the third surface grinding spindle 433 moving towards the longitudinal direction when performing end surface grinding operation on the silicon block clamped on the fourth grinding table 4221 and the sixth grinding table 4223 respectively. It should be understood that when the clamping space is longitudinally open, the clamped silicon block is towards the longitudinal direction, and the end surface of the silicon block is towards the transverse direction, and the corresponding surface grinding spindle needs to move towards the transverse direction to perform grinding on the end surface. Correspondingly, when the clamping space is transversely open, the clamped silicon block is towards the transverse direction, and the end surface of the silicon block is towards the longitudinal direction, and the corresponding surface grinding spindle needs to move towards the longitudinal direction to perform grinding on the end surface.

[0217] It should be noted that the present application is illustrated by taking the configuration of three first and second grinding tables 421 and 422 and three grinding spindles 43 as an example, which should not be understood as a limitation of the present application. Those skilled in the art can adjust the number according to the inspiration of the present application.

[0218] In one embodiment, each grinding spindle approaches the end face of the silicon block by feeding motion to perform the grinding operation. The feeding motion refers to each grinding spindle moving in a direction close to the end face of the silicon block until the grinding spindle is in contact with the end face of the silicon block, so as to facilitate the subsequent end face grinding operation. Figure 22 , which is a schematic diagram showing the grinding spindle approaching the end face of the silicon block through feeding motion in one embodiment of the present application. Figure 21 In the figure, the grinding rotary table 414 is indicated by a large circle, each grinding table is indicated by a small circle in the large circle, the silicon block clamped by each grinding table is indicated by a rectangle in the small circle, and each grinding spindle is indicated by a rectangle outside the large circle. Figure 22 As shown, the first grinding spindle 431 , the second grinding spindle 432 , and the third grinding spindle 433 are fed in the directions of arrows in the figure respectively to approach the silicon block clamped by the first grinding table 4211 , the second grinding table 4212 , and the third grinding table 4213 .

[0219] In one embodiment, each of the grinding spindles moves away from the end face of the silicon block through a retraction movement to wait for the silicon block to switch the end face. The retraction movement refers to the movement of each grinding spindle in the direction away from the end face of the silicon block until the grinding spindle is in contact with the end face of the silicon block, so as to facilitate the subsequent end face switching of the silicon block. It should be understood that when the silicon block switches the end face, it needs to rotate 90° under the clamping of the top table and the bottom table of the grinding table. During this process, in order to prevent the grinding spindle from colliding with the silicon block to cause damage to the grinding spindle or the silicon block, the grinding spindle needs to perform the retraction movement after completing the grinding operation of one of the end faces of the silicon block. That is, in Figure 27 In the example shown, the first grinding spindle 431, the second grinding spindle 432, and the third grinding spindle 433 respectively move in directions opposite to the directions of the arrows in the figure to move away from the silicon blocks clamped by the first grinding table 4211, the second grinding table 4212, and the third grinding table 4213, thereby providing space for the rotation of each silicon block when the end face is switched.

[0220] See also Figure 27 , which is a schematic diagram of the structure of the transverse grinding spindle in one embodiment of the present application. Figure 27As shown, the transverse grinding spindle (i.e., the second grinding spindle 432) realizes transverse grinding of the end face of the silicon block through a transverse guide rail 4321 provided on the grinding machine base 41. Specifically, the transverse guide rail 4321 is provided on the grinding machine base 41 in the transverse direction. Furthermore, the second grinding spindle 432 also includes a grinding tool mounting seat 4323 and a transverse drive mechanism. The bottom of the grinding tool mounting seat 4323 is provided with a slider that matches the transverse guide rail 4321. The transverse drive mechanism may include a transverse rack, a transverse drive gear, and a transverse gear drive motor. The transverse rack may be arranged in parallel with the transverse guide rail 4321, the transverse drive gear is meshed with the transverse rack, and the transverse gear drive motor is associated with the transverse drive gear and is provided on the grinding tool mounting seat 4323. The transverse gear drive motor drives the connected transverse drive gear to rotate, and through the engagement of the transverse drive gear with the transverse rack, the mold mounting seat 4323 is driven to move on the transverse guide rail 4321 along the transverse direction.

[0221] For example, when the transverse gear drive motor drives the connected transverse drive gear to rotate forward, the grinding tool mounting seat 4323 drives the second grinding spindle 432 to move in the transverse direction on the transverse guide rail 4321 from the proximal end to the distal end, thereby achieving a first rough grinding of the silicon block clamped by the fifth grinding table 4222. When the transverse gear drive motor drives the connected transverse drive gear to rotate counterclockwise, the grinding tool mounting seat 4323 drives the second grinding spindle 432 to move in the transverse direction on the transverse guide rail 4321 from the distal end to the proximal end, thereby achieving a first fine grinding of the silicon block clamped by the fifth grinding table 4222.

[0222] In one embodiment, if Figure 27 As shown, the transverse grinding spindle (i.e., the second grinding spindle 432) is fed or retracted by a longitudinal guide rail 4322 provided on the grinding machine base 41. Specifically, the longitudinal guide rail 4322 is provided on the grinding machine base 41 along the longitudinal direction. Furthermore, the second grinding spindle 432 also includes a grinding tool support 4324 and a longitudinal drive mechanism. The bottom of the grinding tool support 4324 is provided with a slider that matches the longitudinal guide rail 4322. The longitudinal drive mechanism may include a longitudinal rack, a longitudinal drive gear, and a longitudinal gear drive motor. The longitudinal rack may be arranged in parallel with the longitudinal guide rail 4322, the longitudinal drive gear is meshed with the longitudinal rack, and the longitudinal gear drive motor is associated with the longitudinal drive gear and is provided on the grinding tool support 4324. The longitudinal gear drive motor drives the connected longitudinal drive gear to rotate, and through the engagement of the longitudinal drive gear with the longitudinal rack, the mold support 4324 is driven to move on the longitudinal guide rail 4322 along the longitudinal direction.

[0223] For example, when the longitudinal gear drive motor drives the longitudinal drive gear connected thereto in the forward direction, the grinding tool support 4324 drives the second grinding surface spindle 432 to move in the longitudinal direction on the longitudinal guide rail 321 to achieve the feeding motion. When the longitudinal gear drive motor drives the longitudinal drive gear connected thereto in the reverse direction, the grinding tool support 4324 drives the second grinding surface spindle 432 to move in the longitudinal direction on the longitudinal guide rail 321 to achieve the retracting motion.

[0224] In an embodiment, the longitudinal grinding surface spindles (i.e., the first grinding surface spindle 431 and the third grinding surface spindle 433) achieve the longitudinal travel grinding of the end surface of the silicon block through the longitudinal guide rails provided on the grinding machine base 41 and achieve the feeding or retracting motion through the transverse guide rails provided on the grinding machine base 41. In a specific implementation, the first grinding surface spindle 431 and the third grinding surface spindle 433 can be rotated by 90° from the second grinding surface spindle 432 and correspond to the respective grinding table surfaces, and the structures thereof can be the same as that of the second grinding surface spindle 432. For details, please refer to the description in the foregoing embodiments, which will not be described here again.

[0225] In an embodiment, the end surface of each of the grinding surface spindles is provided with a fine grinding wheel and a coarse grinding wheel telescopically sleeved in the fine grinding wheel. Still taking the second grinding surface spindle 432 as an example, as shown in Figure 28 , the end surface of the second grinding surface spindle 432 is provided with a fine grinding wheel 4325 and a coarse grinding wheel 4326, and the coarse grinding wheel 4326 is telescopically sleeved in the fine grinding wheel 4325. In this example, the coarse grinding wheel 4326 and the fine grinding wheel 4325 are concentrically arranged on the spindle end surface and arranged in the longitudinal direction on the grinding machine base 41, which makes the structure of the second grinding surface spindle 432 more compact.

[0226] In an embodiment, the second grinding surface spindle 432 can include a first transmission shaft (shaft sleeve) in a cylindrical structure and a second transmission shaft accommodated in the cylindrical structure, wherein the shaft sleeve is connected with the fine grinding wheel 4325 so as to drive the fine grinding wheel 4325 to rotate when the shaft sleeve rotates, and the second transmission shaft is connected with the coarse grinding wheel 4326 so as to drive the coarse grinding wheel 4326 to rotate when the second transmission shaft rotates. The principle of the second grinding surface spindle 432 to achieve the end surface grinding operation is that, when the coarse grinding of the silicon block is needed, the second transmission shaft is moved in the axial direction to make the coarse grinding wheel 4326 extend out of the fine grinding wheel 4325, so that the coarse grinding wheel 4326 reaches the grinding position, thereby driving the coarse grinding wheel 4326 to rotate by rotating the second transmission shaft. When the fine grinding of the silicon block is needed, the second transmission shaft is telescopically moved to make the coarse grinding wheel 4326 not interfere with the fine grinding wheel 4325, so that the fine grinding wheel 4325 reaches the grinding position, thereby driving the fine grinding wheel 4325 to rotate by rotating the first transmission shaft.

[0227] In another embodiment, the coarse grinding wheel 4326 is concentrically arranged with the fine grinding wheel 4325, and the fine grinding wheel 4325 is nested in the coarse grinding wheel 4326. In some implementations, the second grinding wheel spindle 432 further comprises a first transmission shaft (a shaft sleeve) in a cylindrical structure and a second transmission shaft accommodated in the cylindrical structure. The shaft sleeve is connected with the coarse grinding wheel 4326 so as to drive the coarse grinding wheel 4326 when the shaft sleeve rotates. The second transmission shaft is connected with the fine grinding wheel 4325 so as to drive the fine grinding wheel 4325 when the second transmission shaft rotates. The second grinding wheel spindle 432 implements the grinding operation in the following manner: when the fine grinding operation is required, the second transmission shaft is moved along the axial direction so that the fine grinding wheel 4325 extends out of the coarse grinding wheel 4326, and the fine grinding wheel 4325 reaches the grinding position, so that the fine grinding wheel 4325 is driven to rotate by rotating the second transmission shaft. When the coarse grinding operation is required, the second transmission shaft is moved so that the fine grinding wheel 4325 is in a position not interfering with the coarse grinding wheel 4326, and the coarse grinding wheel 4326 reaches the grinding position, so that the coarse grinding wheel 4326 is driven to rotate by rotating the first transmission shaft.

[0228] In some embodiments of the present application, the coarse grinding wheel 4326 is circular and has a through hole in the middle. The coarse grinding wheel 4326 is formed by consolidating abrasive grains and a binder, and has a surface with abrasive grains in contact with the surface of the silicon block to be ground. The coarse grinding wheel 4326 has a certain abrasive grain size and abrasive grain density, and has air holes in the coarse grinding wheel 4326. The abrasive of the coarse grinding wheel 4326 can be aluminum oxide, silicon carbide, diamond, cubic boron nitride, or other abrasive grains having a hardness greater than that of the silicon block, according to the grinding requirements of the silicon block. The abrasive grain size of the fine grinding wheel 4325 is smaller than that of the coarse grinding wheel 4326, and the rest of the grinding wheel configuration is basically the same as that of the coarse grinding wheel 4326.

[0229] In some other embodiments, the second grinding wheel spindle 432 further comprises a cooling device to cool the coarse grinding wheel 4326 and the fine grinding wheel 4325, reduce the damage to the surface layer of the silicon block during grinding, and improve the grinding efficiency and service life of the grinding wheel. In one implementation, the cooling device comprises a cooling water pipe, a flow guide groove, and a flow guide hole.

[0230] In another implementation, the outer circumferential edge of the grinding wheel is provided with a protective cover for placing a cooling water inlet into the rotating driving motor of the grinding wheel. The cooling water pipe is connected to a cooling water source at one end and to the surface of the protective cover of the grinding wheel at the other end. The flow guide groove is provided on the protective cover as the contact point of the protective cover and the cooling water pipe, and the flow guide hole is provided in the cooling groove. The coolant of the cooling device can be common cooling water. The cooling water pipe is connected to the cooling water source. The cooling water sucked through the cooling water pipe is guided to the flow guide groove and the flow guide hole on the surface of the grinding wheel, and is guided to the contact surface between the grinding wheel and the ground silicon block for cooling. In the grinding of the grinding wheel, the cooling water in the flow guide hole is guided into the interior of the grinding wheel by centrifugal force for sufficient cooling.

[0231] In an embodiment, the distal end of the second grinding surface spindle 432 is provided with a detection device for real-time detection of the flatness of the silicon block being ground. In an implementation, the detection device is associated with the second grinding surface spindle 432, and calculates the number of remaining processes according to the flatness of the top surface of the silicon block. When the number of remaining processes is zero, the detection device controls the second grinding surface spindle 432 to stop working and move away from the silicon block by a retracting movement, thereby ending the grinding work of one end surface of the silicon block.

[0232] In an embodiment, as shown in Figure 28 and Figure 28 , the third working area W3 is also provided with a cleaning device 101 for cleaning the silicon blocks D that have completed the end surface grinding work. In this embodiment, a third robot 102 is provided in the third working area W3 for transferring the silicon blocks D on the first conveying belt 10 to the silicon block end surface grinding device 4, and transferring the silicon blocks D that have completed the end surface grinding work to the cleaning device 101.

[0233] In an embodiment, the third robot 102 can sequentially place the silicon blocks D from the first conveying belt 10 into the first grinding table surface 4211, the second grinding table surface 4212, and the third grinding table surface 4213 of the first set of grinding table surfaces 421.

[0234] Please refer to Figure 28 , which shows a schematic diagram of the third robot sequentially placing the silicon blocks into each grinding table surface of the first set of grinding table surfaces in an embodiment. As shown in Figure 2 , the third robot 102 sequentially places the silicon blocks into the first grinding table surface 4211, the second grinding table surface 4212, and the third grinding table surface 4213 of the grinding standby area 411. Each grinding table surface clamps each silicon block in the clamping space formed by the top surface and the bottom surface of each grinding table surface. Subsequently, the grinding rotary table 414 rotates around the vertical axis of the grinding rotary table 414, and the grinding rotary table 414 rotates the first grinding table surface 4211, the second grinding table surface 4212, and the third grinding table surface 4213 of the grinding standby area 411 to the grinding position of the grinding device 4. Figure 3The direction of the middle dotted arrow is rotated 180°, switching the first set of grinding table surfaces 421 to the grinding area 412 and the second set of grinding table surfaces 422 to the grinding standby area 411, to present Figure 29 the state shown, after which each silicon block can perform end face grinding under the operation of each grinding surface main shaft. At the same time, the third robot 102 can continue to place the silicon blocks in the fourth grinding table surface 4221, the fifth grinding table surface 4222, and the sixth grinding table surface 4223 of the second set of grinding table surfaces 422 in the grinding standby area 411 in sequence.

[0235] Please refer to Figure 29 , which shows the structural schematic diagram of the third robot in an embodiment of the present application. As Figure 29 shown, the third robot 102 includes a third articulated arm 1021, a third end effector 1022, and a third base 1023. Among them, the third articulated arm 1021 can be configured the same as the first articulated arm 51 included in the first robot 5 in the foregoing embodiments, and the third base 1023 can be configured the same as the first base 53 in the foregoing embodiments. For details, please refer to the foregoing description, which will not be repeated here.

[0236] In Figure 27 the embodiment shown, the third end effector 1022 of the third robot 102 includes a pair of fork arms 10221, 10222 for clamping the top and bottom surfaces of the silicon block, each fork arm having a space 10223 for avoiding the grinding table surface. As Figure 30 shown, the fork arms 10221, 10222 are in a "U" shape, and the middle of the "U" shape forms a space 10223 for avoiding the grinding table surface, so that when the fork arms 10221, 10222 clamp the two sides of the silicon block, they will not interfere with the grinding table surface.

[0237] In an embodiment, the surface of the fork arm 10221 in contact with the top surface of the silicon block and the surface of the fork arm 10222 in contact with the bottom surface of the silicon block are configured with a buffer layer, which can be made of flexible materials such as rubber or polyurethane, which can increase the friction between the silicon block to ensure stable clamping while protecting the silicon block from mechanical damage.

[0238] In one embodiment, the fork arms 10221, 10222 are capable of opening and closing movement in the vertical direction to achieve clamping or releasing of the silicon block. In one implementation, the third end effector 1022 further comprises a fork arm driving mechanism for driving at least one of the fork arms 10221, 10222 to move in the vertical direction to adjust the clamping spacing between the two fork arms 10221, 10222. In some examples, the fork arm driving mechanism can comprise a screw rod arranged in the vertical direction and associated with at least one of the fork arms 10221, 10222. A driving source is used to drive the screw rod to rotate so as to move the associated at least one fork arm in the vertical direction. In some examples, the fork arm driving mechanism can comprise a bidirectional screw rod arranged in the vertical direction and associated with the fork arms 10221, 10222, and a driving source is used to drive the bidirectional screw rod to rotate so as to move the associated fork arms 10221, 10222 in the vertical direction towards or away from each other. The fork arm driving mechanism is not limited thereto, and can also employ structures such as telescopic rods and driving cylinders or driving hydraulic cylinders. In some examples, the clamping or releasing of the silicon block by the fork arms 10221, 10222 is controlled by the control device 4132 as described in the foregoing embodiments.

[0239] In one embodiment, force sensors and position sensors are arranged on the fork arms 10221, 10222. The force sensors can monitor the clamping force of the fork arms on the silicon block to avoid the silicon block from falling off due to too small clamping force, and to avoid damage to the silicon block due to too large clamping force. The position sensors are used to monitor the real-time position of the silicon block to indicate that the fork arms 10221, 10222 clamp the silicon block until it is placed on the corresponding grinding table surface. In some examples, the real-time information of the force sensors and the position sensors is fed back to the control device 4132, and the next operation of the end effector is controlled by the control device 4132.

[0240] In another embodiment, the end effector of the third robot 102 comprises a clamping arm for clamping the end faces on both sides of the silicon block in the length direction of the silicon block. It should be understood that the clamping arm is capable of opening and closing movement in the length direction of the silicon block to achieve clamping or releasing of the silicon block. In one example, the clamping arm is configured as two clamping arms parallel to the length direction of the silicon block to facilitate clamping of the end faces on both sides of the silicon block.

[0241] In order to realize the opening and closing movement of the two clamping arms on the end surfaces on both sides of the silicon block, in one embodiment, the third end effector 1022 may include a clamping arm driving mechanism, which is used to drive at least one of the two clamping arms to move in the longitudinal direction of the silicon block to adjust the clamping distance between the two clamping arms. In some examples, the clamping arm driving mechanism may include a screw and a driving source, wherein the screw is arranged along the longitudinal direction of the silicon block and is associated with at least one of the two clamping arms, and the driving source is used to drive the screw to rotate so that the associated at least one clamping arm moves along the longitudinal direction of the silicon block. In other examples, the clamping arm driving mechanism may include a bidirectional screw and a driving source, wherein the bidirectional screw is arranged along the longitudinal direction of the silicon block and is associated with the two clamping arms, and the driving source is used to drive the bidirectional screw to rotate so that the associated two clamping arms move toward or away from each other along the longitudinal direction of the silicon block.

[0242] In some embodiments, the clamp arm may also be configured with at least one of a buffer layer, a force sensor, and a position sensor. The specific configuration and function of the buffer layer, force sensor, and position sensor can be found in the previous description and will not be repeated here.

[0243] In one embodiment, the first conveyor belt 10 includes a detection mechanism configured to detect when the third robot 102 is performing an object removal operation and to cause the first conveyor belt 10 to stop feeding. It should be understood that when the third robot 102 sequentially places the silicon blocks to be ground on the first conveyor belt 10 onto the respective grinding tables, the first conveyor belt 10 ceases to convey the silicon blocks to the six-axis robot. For example, the first conveyor belt 10 is stopped to prevent the third robot 102 from being unable to accurately remove the silicon blocks due to continued conveyance, and to prevent mechanical collision between the silicon blocks and the end effector of the third robot 102.

[0244] In one example, the detection mechanism can be configured to include a sensor for detecting the position and movement of the third robot 102, such as an ultrasonic sensor or an infrared sensor. For example, when the detection mechanism detects that the third robot 102 is performing an operation to remove a silicon block to be ground, it sends a signal to the control device 4132, which controls the first conveyor belt 10 to stop feeding. When the detection mechanism detects that the third robot 102 has completed the operation to remove the current silicon block, the control device 4132 controls the first conveyor belt 10 to continue feeding, so that the next silicon block on the first conveyor belt 10 continues to move toward the third robot 102, allowing the third robot 102 to place the silicon blocks to be ground on each grinding table in sequence. Overall, with the cooperation of the detection mechanism and the control device 4132, the first conveyor belt 10 performs intermittent feeding, and the interval between each feeding is adapted to the time it takes for the third robot 102 to transport the silicon blocks to be ground.

[0245] Please refer to Figure 30 and in combination with Figure 30 and Figure 30 wherein, Figures 31-34 respectively show the process of grinding operation of the silicon block end face grinding device in an embodiment of the present application. The working process of the silicon block end face grinding device of the present application will be described in detail below in combination with Figure 27 , Figure 29 , Figures 31-34 .

[0246] Firstly, the third robot 102 places the silicon blocks to be ground conveyed by the first conveying belt 10 into the first group of grinding table surfaces 421 including the first grinding table surface 4211, the second grinding table surface 4212, and the third grinding table surface 4213 of the grinding standby area 411 in sequence, and each grinding table surface clamps each silicon block in the clamping space formed by the top table surface and the bottom table surface of each grinding table surface to present the state shown in Figure 27 . Secondly, the third rotating table surface 414 rotates 180° around the direction of the dashed arrow in Figure 29 , switches the first group of grinding table surfaces 421 to the grinding area 412, and switches the second group of grinding table surfaces 422 to the grinding standby area 411 to present the state shown in Figures 31-34 .

[0247] Then, the first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 move in the direction of the arrow in Figure 29 to approach the end faces of the silicon blocks, and at the same time, the third robot 102 places the silicon blocks to be ground conveyed by the first conveying belt 10 into the fourth grinding table surface 2421, the fifth grinding table surface 222, and the sixth grinding table surface 223 of the second group of grinding table surfaces 422 of the grinding standby area 411 in sequence to present the state shown in Figure 29 . Then, the first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 move in the direction of the arrow in Figure 27 to the dashed line position until one end face of each silicon block clamped by each grinding table surface completes a rough grinding operation.

[0248] Subsequently, the first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 move in the direction of the arrow in Figure 27 to retreat from the end faces of the silicon blocks, and each silicon block rotates 90° in the forward or reverse direction under the clamping of each grinding table surface to switch the end face to be ground, thereby presenting the state shown in Figure 31 . Further, the first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 move in the direction of the arrow in Figure 31 to approach the end faces of the silicon blocks again, thereby presenting the state shown in Figure 32The first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 are moved in the direction of the arrow to the dotted line position respectively along the direction of the arrow until the other end surface of each silicon block clamped by each grinding table is finished with the rough grinding operation. Figure 33 The first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 are moved in the direction of the arrow to the dotted line position respectively along the direction of the arrow until the other end surface of each silicon block clamped by each grinding table is finished with the rough grinding operation.

[0249] The first grinding surface spindle 431, the second grinding surface spindle 432, and the third grinding surface spindle 433 are moved in the direction of the arrow to the dotted line position respectively along the direction of the arrow until the other end surface of each silicon block clamped by each grinding table is finished with the rough grinding operation.

[0250] It should be noted that when each grinding surface spindle performs the end surface grinding operation of the silicon block, the four end surfaces of the silicon block can be finished with rough grinding, and then the four end surfaces of the silicon block can be finished with fine grinding, or the end surface of the silicon block can be finished with rough grinding and fine grinding, and then the end surface can be switched to perform rough grinding and fine grinding of the next end surface. The present application does not limit this, and the specific determination is based on the actual production needs.

[0251] Please refer to Figure 33 and Figure 34 , which respectively show the structural schematic diagram of the cleaning device in different viewing angles in an embodiment of the present application. As shown in Figure 34 and Figure 35 , the cleaning device 101 includes at least one cleaning conveyor belt 1011, at least one cleaning piece 1012, a water spraying assembly (not shown), and a rotating assembly (not shown). In Figure 36 and Figure 35 the embodiment shown, the cleaning device 101 includes two cleaning conveyor belts 1011 and three cleaning pieces 1012. Taking one of the cleaning conveyor belts 1011 as an example, the cleaning conveyor belt 1011 includes a first cleaning conveyor belt 10111 and a second cleaning conveyor belt 10112, and the three cleaning pieces 1012 are used to clean the first pair of end surfaces of the silicon block located on the first cleaning conveyor belt 10111 and the second pair of end surfaces of the silicon block located on the second cleaning conveyor belt 10112. The water spraying assembly is used to cooperate with the cleaning piece 1012 to clean the four end surfaces of the silicon block. The rotating assembly is arranged at the end of the first cleaning conveyor belt 10111 and is used to rotate the silicon block by 90° in the forward direction or the reverse direction so that the silicon block can switch the end surface to be cleaned. Figure 36 and Figure 35The structure of the cleaning device 101 is only schematically shown, but is not limited thereto, as long as the four end surfaces of the silicon block can be cleaned.

[0252] In an embodiment, the cleaning member 1012 is configured as a roller brush. In an example, the roller brush is vertically arranged, such that when the end surface of the silicon block moves on the cleaning conveyor belt 1011 and passes through the roller brush, the end surface of the silicon block can be in contact with the bristles on the roller brush, thereby achieving cleaning of the end surface of the silicon block. The material of the roller brush can be determined according to the hardness of the silicon block, as long as no scratches are left on the surface of the silicon block.

[0253] In an embodiment, the cleaning member 1012 further comprises a drying assembly (not shown in the figure), which is arranged at the end of the second cleaning conveyor belt 10112, for drying the moisture on the surface of the silicon block. In some examples, the drying assembly can be configured as a hair dryer, which can deliver hot air or cold air, so as to increase the air flow speed on the surface of the silicon block, thereby removing the moisture on the surface of the silicon block.

[0254] When the third robot 102 transfers the silicon blocks with completed grinding work carried by the first set of grinding tables 421 to the cleaning device 101, the first cleaning conveyor belt 10111 drives the silicon blocks to move towards the second cleaning conveyor belt 10112, in the process, the water spraying assembly sprays water on the surface of the silicon block, and the cleaning member 1012 cleans the first pair of end surfaces of the silicon block. When the silicon block moves to the end of the first cleaning conveyor belt 10111, the rotating assembly rotates the silicon block by 90° in the forward or reverse direction. Then, the silicon block is moved by the second cleaning conveyor belt 10112 towards the first cleaning conveyor belt 10111, in the process, the water spraying assembly sprays water on the surface of the silicon block, and the cleaning member 1012 cleans the second pair of end surfaces of the silicon block. Finally, the moisture on the surface of the silicon block is dried by the drying assembly.

[0255] In an embodiment, as shown in Figure 36 The edge skin flow process system further comprises a fourth working area W4 for stacking qualified silicon blocks, and the third working area W3 and the fourth working area W4 are connected through a second conveyor belt 103 for conveying the cleaned silicon blocks.

[0256] In an embodiment, in order to save the floor space of the edge skin flow process system, the second conveyor belt 103 has a plurality of angles to adapt to the layout of the third working area W3 and the fourth working area W4.

[0257] In an embodiment, a first robot 104 is arranged at the connection between the cleaning device 101 and the second conveyor belt 103, and the first robot 104 is used to transfer the cleaned silicon blocks to the second conveyor belt 103. Please refer to Figure 35, shows a structural schematic diagram of the first robot in an embodiment of the present application. As shown in Figure 36 The first robot 104 includes a first suction disc assembly 1041 for suction of the top surface of the silicon block and a first frame body 1042 arranged across the opposite sides of the second conveying belt 103, so that the first suction disc assembly 1041 can move in the front-rear direction and the lifting direction.

[0258] In an embodiment, the first suction disc assembly 1041 includes a first gas source and a first suction disc body, the first gas source is connected with the first suction disc body through a gas pipe, for controlling the first suction disc body to generate a predetermined pressure to implement suction or release of the silicon block. In actual application, the first gas source can be a vacuum pump, for example.

[0259] In an embodiment, to realize the front-rear movement of the first robot 104 on the first frame body 1042, the first frame body 1042 is provided with front-rear extending front-rear guide rails, and correspondingly, the first robot 104 is provided with front-rear translation sliders arranged on the first frame body 1042 corresponding to the front-rear guide rails. In some embodiments, the first robot 104 further includes a workpiece driving mechanism. The workpiece driving mechanism can include a workpiece translation rack, a workpiece translation gear and a workpiece translation driving motor, the workpiece translation rack is arranged on the first frame body 1042 in the front-rear direction, the workpiece translation gear is arranged on the first frame body 1042 and engaged with the workpiece translation rack, and the workpiece translation driving motor is used to drive the workpiece translation gear to rotate to move the associated first frame body 1042 along the workpiece translation rack, thereby realizing the front-rear movement of the first robot 104. For example, the workpiece translation driving motor drives the workpiece translation gear to rotate forward, to drive the first robot 104 to move forward along the workpiece translation rack; the workpiece translation driving motor drives the workpiece translation gear to rotate reversely, to drive the first robot 104 to move backward along the workpiece translation rack.

[0260] In an embodiment, to achieve the lifting movement of the first robot 104 on the first frame 1042, a vertical lifting rail is arranged on the first frame 1042, and a lifting translation slider is arranged on the first robot 104 and corresponds to the lifting rail on the first frame 1042. In some embodiments, the first robot 104 further comprises a workpiece lifting driving mechanism. The workpiece lifting driving mechanism can include a workpiece lifting rack, a workpiece lifting gear, and a workpiece lifting driving motor. The workpiece lifting rack is arranged on the first frame 1042, the workpiece lifting gear is arranged on the first frame 1042 and engages with the workpiece lifting rack, and the workpiece lifting driving motor is used to drive the workpiece lifting gear to rotate to move the associated first frame 1042 along the workpiece lifting rack, thereby achieving the lifting movement of the first robot 104. For example, the workpiece lifting driving motor drives the workpiece lifting gear to rotate forward, driving the first robot 104 to move upward along the workpiece lifting rack in the vertical direction; the workpiece lifting driving motor drives the workpiece lifting gear to rotate reversely, driving the first robot 104 to move downward along the workpiece lifting rack in the vertical direction.

[0261] As mentioned above, the first robot 104 will transfer the silicon blocks that have completed the cleaning operation to the second conveying belt 103. In an embodiment, as shown in Figure 3 and Figure 37 The second conveying belt 103 is provided with a detection device 105 for detecting unqualified silicon blocks and recording information of the unqualified silicon blocks, so as to transmit the information to the second robot 106. The unqualified silicon blocks refer to silicon blocks that do not meet the quality standards or specification requirements in the processing of the edge skin A in the edge skin flow production line. In some examples, the unqualified silicon blocks may have the problem of unqualified size, for example, the size of the silicon blocks does not meet the specified tolerance range, which may be too large or too small. In some other examples, the surface of the unqualified silicon blocks has cracks, pores, depressions, or scratches. In contrast, the qualified silicon blocks in subsequent embodiments refer to silicon blocks that meet all quality standards and technical requirements in the edge skin flow production line, which do not have the defects of the unqualified silicon blocks, and the qualified silicon blocks will not be described again.

[0262] As mentioned above, the marking device marks each edge piece section B, and correspondingly, each silicon block formed after the ear cutting operation, the arc top cutting operation, the silicon block end face grinding operation, and the cleaning operation is marked with the mark. Therefore, the detection device 105 can screen out unqualified silicon blocks, and transmit information of the unqualified silicon blocks to the second mechanical hand 106. Then, the silicon blocks continue to be transported by the second conveying belt 103, and when the unqualified silicon blocks move to the position of the second mechanical hand 106, the second mechanical hand 106 takes the unqualified silicon blocks from the second conveying belt 103, so that the silicon blocks transported to the fourth working area W4 are all qualified silicon blocks.

[0263] In an embodiment, the detection device 105 is configured as a CCD camera. The CCD camera can capture a high-resolution image of the silicon block transported to the position, and then detect whether the silicon block is qualified through the high-resolution image, and identify and read the mark on the unqualified silicon block through an image processing algorithm.

[0264] In an embodiment, the unqualified silicon blocks can also be manually detected and the information of the unqualified silicon blocks is recorded to be transmitted to the second mechanical hand. In an example, the detection device 105 can first screen the unqualified silicon blocks on the second conveying belt 103, an operator can second screen the silicon blocks screened by the detection device 105, and transmit the information of the unqualified silicon blocks to the second mechanical hand 106. The second mechanical hand 106 can take the unqualified silicon blocks screened by the detection device 105 and the manual detection from the second conveying belt 103, so that the strictness of the silicon block quality detection can be ensured, and the quality of the silicon blocks entering the fourth working area W4 can be ensured. In some other embodiments, the manual detection link can be located downstream of the second mechanical hand 106. Specifically, the operator can remove the silicon blocks still having quality problems from the second conveying belt 103 after the second mechanical hand 106 takes the unqualified silicon blocks screened by the detection device 105 from the second conveying belt 103.

[0265] Please refer to Figure 37 , which shows a structural schematic diagram of the second mechanical hand in an embodiment of the present application. As shown in Figure 2 , the second mechanical hand 106 includes a second suction disc assembly 1061 and a second frame body 1062. The second suction disc assembly 1061 is used to suck the top surface of the unqualified silicon block, and the second frame body 1062 is located on one side of the second conveying belt 103, so that the second suction disc assembly 1061 can move in the front-rear direction, the left-right direction, and the up-down direction.

[0266] In an embodiment, the second chuck assembly 1061 comprises a second air source and a second chuck body, the second air source is connected with the second chuck body through an air pipe for controlling the second chuck body to generate a predetermined pressure to implement the suction or release of the unqualified silicon block. In practical application, the second air source may, for example, be a vacuum pump.

[0267] In an embodiment, to realize the forward and backward movement of the second manipulator 106 on the second frame body 1062, the second frame body 1062 is provided with forward and backward extending forward and backward guide rails, and correspondingly, the second manipulator 106 is provided with forward and backward translation sliders, which are arranged on the second frame body 1062 corresponding to the forward and backward guide rails. In some embodiments, the second manipulator 106 further comprises a workpiece driving mechanism. The workpiece driving mechanism may comprise a workpiece translation rack, a workpiece translation gear and a workpiece translation driving motor, the workpiece translation rack is arranged on the second frame body 1062, the workpiece translation gear is arranged on the second frame body 1062 and engaged with the workpiece translation rack, and the workpiece translation driving motor 524 is used to drive the workpiece translation gear to rotate to move the associated second frame body 1062 along the workpiece translation rack, thereby realizing the forward and backward movement of the second manipulator 106. For example, the workpiece translation driving motor drives the workpiece translation gear to rotate forward, driving the second manipulator 106 to move forward along the workpiece translation rack; the workpiece translation driving motor drives the workpiece translation gear to rotate reversely, driving the second manipulator 106 to move backward along the workpiece translation rack.

[0268] In an embodiment, to realize the forward and backward movement of the second manipulator 106 on the second frame body 1062, the second frame body 1062 is provided with forward and backward extending forward and backward guide rails, and correspondingly, the second manipulator 106 is provided with forward and backward translation sliders, which are arranged on the second frame body 1062 corresponding to the forward and backward guide rails. In some embodiments, the second manipulator 106 further comprises a workpiece driving mechanism. The workpiece driving mechanism may comprise a workpiece translation rack, a workpiece translation gear and a workpiece translation driving motor, the workpiece translation rack is arranged on the second frame body 1062, the workpiece translation gear is arranged on the second frame body 1062 and engaged with the workpiece translation rack, and the workpiece translation driving motor 524 is used to drive the workpiece translation gear to rotate to move the associated second frame body 1062 along the workpiece translation rack, thereby realizing the forward and backward movement of the second manipulator 106. For example, the workpiece translation driving motor drives the workpiece translation gear to rotate forward, driving the second manipulator 106 to move forward along the workpiece translation rack; the workpiece translation driving motor drives the workpiece translation gear to rotate reversely, driving the second manipulator 106 to move backward along the workpiece translation rack.

[0269] In one embodiment, to enable the second manipulator 106 to move up and down on the second frame 1062, a vertically extending lifting guide rail is provided on the second frame 1062. Correspondingly, a lifting and translating slider is provided on the second manipulator 106. The lifting and translating slider is provided on the second frame 1062 and corresponds to the lifting guide rail. In some embodiments, the second manipulator 106 further includes a transport lifting drive mechanism. The transport lifting drive mechanism may include: a transport lifting rack, a transport lifting gear, and a transport lifting drive motor. The transport lifting rack is arranged to be lifted and lowered on the second frame 1062. The transport lifting gear is provided on the second frame 1062 and meshes with the transport lifting rack. The transport lifting drive motor 524 is used to drive the transport lifting gear to rotate so that the associated second frame 1062 moves along the transport lifting rack, thereby achieving the lifting and lowering movement of the second manipulator 106. For example, the transport lifting drive motor drives the transport lifting gear to rotate forward, driving the second manipulator 106 to move vertically upward along the transport lifting rack; the transport lifting drive motor drives the transport lifting gear to rotate reversely, driving the second manipulator 106 to move vertically downward along the transport lifting rack.

[0270] In one embodiment, if Figure 3 and Figure 38 As shown, the fourth work area W4 is equipped with a fourth robot 107, which is used to stack the qualified silicon blocks. Specifically, based on production requirements, qualified silicon blocks can be sorted by processing batches and automatically stacked by the fourth robot 107. This avoids manual handling of the silicon blocks and prevents uneven stacking of the silicon blocks due to human factors, thereby reducing the risk of unstable or collapsed silicon blocks. The fourth robot 107 can have the same configuration as the first robot 5. For details, please refer to the description in the previous embodiment and will not be repeated here.

[0271] The following combination Figure 37 The working process of the edge skin assembly line system of this application is described in detail.

[0272] Firstly, the marking device is used to mark the plane of the edge skin A, so that each edge skin section B formed by subsequent cutting has corresponding marks. The marked edge skin A is placed on the preparation table 6. Then, the first robot 5 sequentially transfers the edge skin A placed on the preparation table 6 to the two cutting devices 1, and simultaneously places the two edge skins A on the edge skin bearing device 111 of the upper feeding area 112. The partition 1111 and the lateral clamping assembly 1112 clamp the two edge skins A laterally. Then, the feeding table 11 rotates 90° under the drive of the turnover mechanism, and switches the two edge skins A to be cut to the cutting area 113. Then, the six cutting line saws included in the cutting device 12 respectively pass through the gap between the two clamping rods of the lateral clamping assembly 1112, and cut each edge skin A to form seven edge skin sections B. While the cutting area 113 is performing the cutting operation, the first robot 5 can continue to transfer the edge skin to the upper feeding area 112. After that, the plurality of edge skin sections B formed by cutting are switched to the lower feeding area under the fixation and bearing of the edge skin bearing device 111, and are unloaded by the unloading conveying device 13 connected with the lower feeding area. Finally, the first robot 5 sequentially transfers the edge skin sections B on the unloading conveying device 13 in the two cutting devices 1 to the cutting transfer table 7.

[0273] Then, the second robot 8 sequentially transfers each edge skin section B to the second working area W2 to perform subsequent ear cutting and arc top cutting operations.

[0274] Specifically, when ear cutting operation is performed, the second robot 8 first transfers the edge cut segments B on the cutting intermediate table 7 to the first standby area 211 of the first cutting device 2 and places them on the first carrying devices 71. Then, the first rotary table 213 switches the first group of first carrying devices on the first standby area 211 to the ear cutting area 212 by rotating 180° in the forward or reverse direction, and switches the second group of first carrying devices on the ear cutting area 212 to the first standby area 211. Subsequently, the six first cutting units 222 included in the first cutting device 22 are fed to the plurality of edge cut segments B on the ear cutting area 212 under the action of the first lifting mechanism to complete the ear cutting operation of the edge cut segments B carried on the first group of first carrying devices, and form a plurality of edge cut segments C with an arc top. The second robot 8 can transfer each of the edge cut segments C that have completed the ear cutting operation to the second cutting device 3 to perform arc top cutting operation, and transfer the cut-off ear parts to the waste frame 9. Then, the first rotary table 213 continues to rotate 180° to switch the second group of first carrying devices on the first standby area 211 to the ear cutting area 212, and switch the first group of first carrying devices on the ear cutting area 212 to the first standby area 211, at this time, the second robot 8 can continue to transfer the edge cut segments B on the cutting intermediate table 7 to the first group of first carrying devices on the first standby area 211, and the first cutting device 22 can continue to perform ear cutting operation on each of the edge cut segments B carried by the second group of first carrying devices on the ear cutting area 212. In this way, each device or mechanism works in a cycle until all the edge cut segments B have completed the ear cutting operation.

[0275] During the arc top cutting operation, the second robot 8 first transfers the edge skin segments C, which have completed the ear cutting operation, from the first cutting device 2 to the second waiting area 311 of the second cutting device 3 and places them on the second carrying device 32. The second turntable 313 then rotates 180° forward or reverse to switch the first set of second carrying devices in the second waiting area 311 to the arc top cutting area 312, and switches the second set of second carrying devices in the arc top cutting area 312 to the second waiting area 311. Subsequently, the six second cutting units 332 of the second cutting device 33, under the action of the second lifting mechanism, feed the multiple edge skin segments C in the arc top cutting area 312 to complete the arc top cutting operation on the edge skin segments C carried by the first set of second carrying devices, forming multiple silicon blocks D. The second robot 8 then transfers each arc top-cut silicon block D to the first conveyor belt 10 for subsequent end face grinding, and transfers the removed arc tops to the waste bin 9. Next, the second turntable 313 rotates 180° further, switching the second set of second carrying devices located in the second waiting area 311 to the arc-top cutting area 312, and switching the first set of second carrying devices located in the arc-top cutting area 312 to the second waiting area 311. At this point, the second robot 8 can continue to transfer the edge skin segments C from the first cutting device 2 to the first set of second carrying devices in the second waiting area 311, and the second cutting device 33 can continue to perform arc-top cutting on each edge skin segment C carried by the second set of second carrying devices in the arc-top cutting area 312. In this manner, each device or mechanism operates cyclically until all edge skin segments C have completed arc-top cutting.

[0276] Then, the first conveyor belt 10 sequentially transfers the silicon blocks D to the third working area W3 for subsequent silicon block end surface grinding and cleaning operations.

[0277] Specifically, when performing the end face grinding operation of the silicon block, the third robot 102 places the silicon block to be ground conveyed by the first conveyor belt 10 into the first group of grinding tables 421 of the grinding waiting area 411, including the first grinding table 4211, the second grinding table 4212, and the third grinding table 4213. Each grinding table clamps each silicon block in the clamping space formed by its own top table and bottom table to present Figure 2 Next, the third turntable 414 rotates around Figure 3 The direction of the dotted arrow is rotated 180 degrees, the first group of grinding tables 421 are switched to the grinding area 412, and the second group of grinding tables 422 are switched to the grinding waiting area 411, so as to present Figures 1-38 Then, the first grinding spindle 431, the second grinding spindle 432, and the third grinding spindle 433 are respectively Figure 29The third robot 102 places the silicon blocks to be ground in the second group of grinding tables 422 in sequence, and the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 29

[0278] Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 27 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 27 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 31 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 31 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 32 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure. Figure 33 Figure 33 Figure 34 Figure 34 Then, the first grinding surface main shaft 431, the second grinding surface main shaft 432, and the third grinding surface main shaft 433 move in the direction of the arrows to the position shown in the figure.

[0279] ​When the third robot 102 transfers the silicon blocks with completed grinding work carried by the first set of grinding table 421 to the cleaning device 101 for cleaning work, the first cleaning conveyor belt 10111 moves the silicon blocks towards the second cleaning conveyor belt 10112, during which the water spraying assembly sprays water on the surface of the silicon blocks, and the cleaning member 1012 cleans the first pair of end faces of the silicon blocks. When the silicon blocks move to the end of the first cleaning conveyor belt 10111, the rotating assembly rotates the silicon blocks by 90° in the forward or reverse direction. Then, the silicon blocks are moved by the second cleaning conveyor belt 10112 towards the first cleaning conveyor belt 10111, during which the water spraying assembly sprays water on the surface of the silicon blocks, and the cleaning member 1012 cleans the second pair of end faces of the silicon blocks. Finally, the moisture on the surface of the silicon blocks is dried by the drying assembly.

[0280] Subsequently, the first robot 104 is used to transfer the cleaned silicon blocks to the second conveyor belt 103, and the unqualified silicon blocks are detected by manual detection and detection device 105, and the information of the unqualified silicon blocks is recorded according to the mark, and the information is transmitted to the second robot 106, the second robot 106 takes out the unqualified silicon blocks from the second conveyor belt 103, so that the silicon blocks conveyed to the fourth working area W4 are all qualified silicon blocks. Finally, the qualified silicon blocks are stacked by the fourth robot 107 located in the fourth working area W4.

[0281] In summary, in order to overcome the technical problem of low efficiency of edge skin processing caused by independent setting of each edge skin processing device in the related art, the edge skin flow operation system provided by the present application realizes the cutting operation of the edge skin by setting the cutting device in the first working area, to form a plurality of edge skin segments. The ear cutting operation of the edge skin segment is realized by setting the first cutting device in the second working area, to form an edge skin segment with an arc top. The arc top cutting operation of the edge skin segment with completed ear cutting operation is realized by setting the second cutting device in the second working area, to form a silicon block. The end face grinding operation of the silicon block is realized by setting the silicon block end face grinding device in the third working area. The cutting transfer table for separation is set between the first working area and the second working area, and the first conveyor belt for connection is set between the second working area and the third working area, to realize the conveying of the silicon block with completed arc top cutting operation. The reasonable layout of the cutting device, the first cutting device, the second cutting device, and the silicon block end face grinding device in each processing area realizes the continuous processing of the edge skin, thereby improving the processing efficiency of the edge skin.

[0282] Further, by setting a fourth operation area for stacking qualified silicon blocks in the edge skin flow operation system, setting a second conveying belt for connection between the third operation area and the fourth operation area, and setting a detection device and a second robot on the second conveying belt, the unqualified silicon blocks are screened, so as to ensure the quality of the edge skin. By setting a first robot, a second robot, a third robot and a fourth robot in each operation area respectively, the edge skin is transferred in each operation area, and the full automation of the edge skin processing is realized, the manual error is avoided, and the edge skin processing efficiency is further improved.

[0283] In addition, the silicon block end face grinding device provided in some embodiments of the present application ensures the continuous supply of silicon blocks, reduces the time required for loading and unloading of silicon blocks, and improves the processing efficiency, by setting a grinding standby area for temporarily placing silicon blocks before performing grinding operation, a grinding area for performing grinding operation, and a grinding rotary table that can rotate between the grinding standby area and the grinding area on the grinding base. By setting a plurality of grinding tables including a first set of grinding tables and a second set of grinding tables on the grinding rotary table, the clamping of multiple silicon blocks can be realized at the same time. Further, each grinding table can switch the end face to be ground by rotation, so that each silicon block can realize the grinding of four end faces under the clamping of the corresponding grinding table. By setting a plurality of grinding spindles corresponding to each grinding table in the grinding area of the grinding base, the grinding operation of multiple silicon blocks can be realized at the same time, so as to further improve the processing efficiency.

[0284] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed in the present application should be covered by the claims of the present application.

Claims

1. A side skin assembly line system, characterized in that: Used for processing edge skin, the cross section of the edge skin is arched, including a rectangular bottom surface and a lower arc surface opposite to the bottom surface, the edge skin flow processing system includes: A cutting device is provided in the first operation area and is used for cutting the edge skin along the width direction of the edge skin to form a plurality of edge skin segments; a first cutting device, disposed in the second operation area, for performing an ear cutting operation on the edge leather segment that has completed the cutting operation to remove the ear portion of the edge leather segment to form an edge leather segment having an arc top; A second cutting device is provided in the second operation area, and is used for performing an arc top cutting operation on the edge skin segment after the ear cutting operation is completed, so as to remove the arc top of the edge skin segment to form a silicon block with a rectangular cross section; A silicon block end surface grinding device is provided in the third operation area and is used for performing end surface grinding operations on the four end surfaces of the silicon block; Among them, a cutting turntable for vertically placing the edge skin segments is set between the first working area and the second working area for separation, and the second working area and the third working area are connected by a first conveyor belt for transporting the silicon blocks that have completed the arc top cutting operation.

2. The edge skin assembly line system according to claim 1, characterized in that: A first robot is provided in the first operation area for transferring the edge skin from the material preparation table to the cutting device for cutting operation, and for transferring each edge skin segment after the cutting operation is completed to the cutting transfer table.

3. The edge skin assembly line system according to claim 1, characterized in that: The cutting device comprises: A feeding table is used to carry the edge skin and drive the edge skin to turn over to achieve switching between various processing positions; A cutting device, used for cutting the edge skin carried by the feeding platform to form the plurality of edge skin segments; The unloading and conveying device is used for unloading and conveying the multiple edge skin segments formed by truncation.

4. The edge skin assembly line system according to claim 3, characterized in that: There are four processing locations, including: A loading area, located on the upper side of the feeding platform, for carrying the edge skins transferred by the first robot; A cutting area, located on the side of the feeding platform, is used to cooperate with the cutting device to achieve the cutting operation of the edge skin; The unloading area is located at the lower side of the feeding platform and is connected to the unloading conveying device to realize the unloading of the edge skin segments.

5. The edge skin assembly line system according to claim 4, characterized in that: Each processing area can carry two side skins.

6. The edge skin assembly line system according to claim 3, characterized in that: The cutting device includes a cutting installation structure and a plurality of cutting units arranged on the cutting installation structure.

7. The edge skin assembly line system according to claim 6, characterized in that: The cutting unit includes a plurality of cutting wheels and a cutting wire arranged on the cutting installation structure. The cutting wire is sequentially wound around the plurality of cutting wheels to form at least one cutting wire saw.

8. The edge skin assembly line system according to claim 7, characterized in that: The cutting line is wound between the cutting wheels in an annular winding manner with the ends connected.

9. The edge skin assembly line system according to claim 6, characterized in that: The cutting device further comprises: a cutting installation structure driving mechanism for driving the cutting installation structure and a plurality of cutting units provided therewith to move toward the cutting position of the feeding table.

10. The edge skin assembly line system according to claim 7, characterized in that: The plurality of cutting units may be configured into three groups, each group of cutting units including two cutting wire saws to cut each edge skin into seven edge skin segments.

11. The edge skin assembly line system according to claim 3, characterized in that: There are two cutting devices.

12. The edge skin assembly line system according to claim 1, characterized in that: The cutting transfer platform includes a first carrying device for vertically placing a pair of edge skin segments, including: A first backrest is fixedly disposed between the pair of side skin sections and is used to support the plane of the pair of side skin sections; A first side fixing structure, the height of which is greater than the length of the side leather segment, is used to simultaneously fix the ears of a pair of side leather segments along the length direction of the side leather segment; The first arc surface pushing structure is provided on the arc surface of the edge skin segment and can move along the thickness direction of the edge skin segment to fix the edge skin segment on the first backer.

13. The edge skin assembly line system according to claim 12, characterized in that: The first arc surface pushing structure includes three pushing arms arranged along the arc surface of the edge skin segment.

14. The edge skin assembly line system according to claim 12, characterized in that: The number of the first carrying devices is 12, so as to realize the vertical placement of 24 edge skin segments.

15. The edge skin assembly line system according to claim 1, characterized in that: A second robot is provided in the second working area for transferring each of the edge skin segments on the cutting transfer table to the first cutting device, transferring each of the edge skin segments that have completed the ear cutting operation to the second cutting device, transferring each of the silicon blocks that have completed the arc top cutting operation to the first conveyor belt, and transferring the ears and arc tops that have been cut and removed to the waste box.

16. The edge skin assembly line system according to claim 1, characterized in that: The first cutting device comprises: A first machine base is provided with a first waiting area and an ear cutting area, and a first rotary table capable of rotating between the first waiting area and the ear cutting area; A plurality of first carrying devices, including a first group of first carrying devices symmetrically arranged on the first turntable and corresponding to the first waiting area and a second group of first carrying devices corresponding to the ear cutting area; and A plurality of first cutting devices are vertically movably arranged in the ear cutting area of ​​the first machine base and are used for cutting off the ears of the edge leather segment.

17. The edge skin assembly line system according to claim 16, characterized in that: The first turntable switches the first group of first carrying devices located in the first waiting area to the ear cutting area and switches the second group of first carrying devices located in the ear cutting area to the first waiting area by rotating 180 degrees forward or reverse.

18. The edge skin assembly line system according to claim 16, characterized in that: The first group of first carrying devices and the second group of first carrying devices each include six first carrying devices, and every three first carrying devices are arranged in parallel.

19. The edge skin assembly line system according to claim 16, characterized in that: The first cutting device includes a first cutting installation structure, a first cutting unit arranged on the first cutting installation structure, and a first lifting mechanism for driving the at least one first cutting unit to move vertically relative to the first cutting installation structure.

20. The edge skin assembly line system according to claim 19, characterized in that: The first cutting unit comprises: a first cutting wire rack provided on the first cutting mounting structure, a plurality of first cutting wheels and a first cutting wire provided on the first cutting wire rack, wherein the first cutting wire is sequentially wound around the plurality of first cutting wheels to form at least one first cutting wire saw; The first cutting wire saw is arranged along a thickness direction of the edge skin segment carried by the first carrying device.

21. The edge skin assembly line system according to claim 20, characterized in that: The first cutting units are configured into six groups, and each group of first cutting units can simultaneously cut off four ears of two pairs of side skin segments placed parallel to the ear cutting area.

22. The edge skin assembly line system according to claim 1, characterized in that: The second cutting device comprises: The second machine base is provided with a second waiting area and an arc top cutting area, and a second rotary table which can be used in the second waiting area and the arc top cutting area; A plurality of second carrying devices, including a first group of second carrying devices symmetrically arranged on the second turntable and corresponding to the second waiting area and a second group of second carrying devices corresponding to the ear cutting area; and A plurality of second cutting devices are longitudinally movably arranged in the arc top cutting area of ​​the second machine base, and are used for cutting off the arc top of the edge skin segment.

23. The edge skin assembly line system according to claim 22, characterized in that: The second turntable switches the first group of second carrying devices located in the second waiting area to the arc top cutting area and switches the second group of second carrying devices located in the arc top cutting area to the second waiting area by rotating 180° forward or reverse.

24. The edge skin assembly line system according to claim 22, characterized in that: The second carrying device is used to realize the vertical placement of a pair of edge leather segments, including: A second backrest is arranged opposite to the side skin segment in the thickness direction and is used to support the plane of the side skin segment; A second side fixing structure is provided along the width direction of the side skin segment and is used to simultaneously fix the end faces of a pair of side skin segments; The second arc surface pushing structure is provided on the arc surface of the edge skin segment and has a height greater than the length of the edge skin segment. It can clamp the removed arc top portion while fixing the edge skin segment on the second backer.

25. The edge skin assembly line system according to claim 21, characterized in that: The first group of second carrying devices and the second group of second carrying devices each include six second carrying devices, and every three second carrying devices are arranged in parallel.

26. The edge skin assembly line system according to claim 22, characterized in that: The second cutting device includes a second cutting installation structure, a second cutting unit arranged on the second cutting installation structure, and a second lifting mechanism for driving the at least one second cutting unit to move upward and downward toward the arc top cutting area.

27. The edge skin assembly line system according to claim 26, characterized in that: The second cutting unit includes a second cutting wire rack arranged on the second cutting mounting structure, a plurality of second cutting wheels and a second cutting wire arranged on the second cutting wire rack, and the second cutting wire is sequentially wound around the plurality of second cutting wheels to form at least one second cutting wire saw; the second cutting wire saw is arranged along the width direction of the edge skin segment carried by the second carrying device.

28. The edge skin assembly line system according to claim 27, characterized in that: The second cutting units are configured into six groups, and each group of second cutting units can simultaneously cut off the arc tops of two edge skin segments placed parallel to each other on the second carrying device.

29. The edge skin assembly line system according to claim 1, characterized in that: The third operation area is further provided with a cleaning device for cleaning each silicon block that has completed the end surface grinding operation.

30. The edge skin assembly line system according to claim 29, characterized in that: A third robot is provided in the third operating area for transferring each silicon block on the first conveyor belt to the silicon block end surface grinding device, and transferring each silicon block after the end surface grinding operation is completed to the cleaning device.

31. The edge skin assembly line system according to claim 1, characterized in that: The silicon block end surface grinding equipment comprises: The grinding machine base is provided with a grinding waiting area and a grinding area, and a grinding rotary table capable of rotating between the grinding waiting area and the grinding area; A plurality of grinding tables, including a first group of grinding tables mirror-symmetrically arranged on the grinding rotary table and corresponding to the grinding waiting areas and a second group of grinding tables corresponding to the grinding areas, each of the grinding tables being used to clamp the top and bottom surfaces of a silicon block to switch the end surface to be ground by rotation; and A plurality of grinding spindles are arranged in the grinding area of ​​the grinding machine base, and each grinding spindle is respectively arranged corresponding to each grinding table in the second group of grinding tables for performing end surface grinding operations on the silicon blocks clamped by each grinding table.

32. The edge skin assembly line system according to claim 31, characterized in that: A protective plate is vertically arranged between the grinding waiting area and the grinding area of ​​the grinding machine base to form a relatively open grinding waiting area and a relatively closed grinding area.

33. The edge skin assembly line system according to claim 31, characterized in that: The grinding rotary table switches the first group of grinding tables located in the grinding waiting area to the grinding area and switches the second group of grinding tables located in the grinding area to the grinding waiting area by rotating 180 degrees in a forward or reverse direction.

34. The edge skin assembly line system according to claim 31, characterized in that: The first group of grinding tables and the second group of grinding tables each include three grinding tables, and the line connecting the axis of two adjacent grinding tables and the axis of the grinding rotary table forms an equilateral triangle.

35. The edge skin assembly line system according to claim 34, characterized in that: Each of the grinding tables in the first group of grinding tables or the second group of grinding tables includes a bracket arranged on the grinding turntable, a top table arranged on the top of the bracket and capable of moving up and down to release or press the top surface of the silicon block, a bottom table arranged at the bottom of the bracket corresponding to the axis of the top table for supporting the silicon block, and a clamping space for clamping the silicon block is formed between the top table and the bottom table.

36. The edge skin assembly line system according to claim 35, characterized in that: A driving mechanism for driving the top table to rotate so as to switch the end face of the clamped silicon block is provided on the top of the bracket, and the bottom table is configured as a passive rotating table.

37. The edge skin assembly line system according to claim 34, characterized in that: The three grinding tables in the first group of grinding tables or the second group of grinding tables include a grinding table with a longitudinally open clamping space and two grinding tables with transversely open clamping spaces located on opposite sides of the longitudinally open clamping space grinding table.

38. The edge skin assembly line system according to claim 37, characterized in that: The multiple grinding spindles include a transverse grinding spindle corresponding to the longitudinally open grinding table of the clamping space, and two longitudinal grinding spindles located on opposite sides of the transverse grinding spindle and corresponding to the transversely open grinding table of the clamping space.

39. The edge skin assembly line system according to claim 38, characterized in that: Each of the grinding spindles approaches the end face of the silicon block through a feeding motion to perform a grinding operation, and moves away from the end face of the silicon block through a retracting motion to wait for the end face of the silicon block to be switched.

40. The edge skin assembly line system according to claim 39, characterized in that: The transverse grinding spindle realizes transverse movement grinding of the end face of the silicon block through the transverse guide rail arranged on the grinding machine base, and realizes feeding movement or retraction movement through the longitudinal guide rail arranged on the grinding machine base; the longitudinal grinding spindle realizes longitudinal movement grinding of the end face of the silicon block through the longitudinal guide rail arranged on the grinding machine base, and realizes feeding movement or retraction movement through the transverse guide rail arranged on the grinding machine base.

41. The edge skin assembly line system according to claim 31 or 39, characterized in that: The end surface of each grinding spindle is respectively provided with a fine grinding wheel and a retractable coarse grinding wheel sleeved in the fine grinding wheel.

42. The edge skin assembly line system according to claim 31, characterized in that: The silicon block end surface grinding equipment is configured in three pieces.

43. The edge skin assembly line system according to claim 30, characterized in that: The third robot may further sequentially place the silicon blocks from the first conveyor belt onto each of the first group of grinding tables.

44. The edge skin assembly line system according to claim 43, characterized in that: The end effector of the third robot includes a pair of fork arms for clamping the top surface and the bottom surface of the silicon block, and each fork arm has a space for avoiding the grinding table.

45. The edge skin assembly line system according to claim 43, characterized in that: The end effector of the third robot includes a clamping arm for clamping both end surfaces of the silicon block in the length direction.

46. ​​The edge skin assembly line system according to claim 30, characterized in that: The first conveyor belt includes a detection mechanism for detecting that the third robot is performing a picking operation and causing the first conveyor belt to stop feeding.

47. The edge skin assembly line system according to claim 29, characterized in that: The cleaning equipment comprises: At least one cleaning conveyor belt, including a first cleaning conveyor belt and a second cleaning conveyor belt connected to each other; At least one cleaning member, for cleaning a first pair of end surfaces of the silicon blocks on the first cleaning conveyor belt and a second pair of end surfaces of the silicon blocks on the second cleaning conveyor belt; a water spray assembly, used for cooperating with the cleaning member to clean the four end faces of the silicon block; The rotating assembly is arranged at the end of the first cleaning conveyor belt and is used to rotate the silicon block 90 degrees in a forward or reverse direction so that the end face of the silicon block to be cleaned can be switched.

48. The edge skin assembly line system according to claim 47, characterized in that: The cleaning element is configured as a roller brush.

49. The edge skin assembly line system according to claim 47, characterized in that: The cleaning device further includes a drying component, which is arranged at the end of the second cleaning conveyor belt and is used to dry moisture on the surface of the silicon block.

50. The edge skin assembly line system according to claim 29, characterized in that: The system further comprises a fourth operating area for stacking qualified silicon blocks. The third operating area and the fourth operating area are connected by a second conveyor belt for conveying the cleaned silicon blocks.

51. The edge skin assembly line system according to claim 50, characterized in that: A first robot is provided at the junction of the cleaning device and the second conveyor belt, for transferring the cleaned silicon blocks to the second conveyor belt.

52. The edge skin assembly line system according to claim 51, characterized in that: The first manipulator comprises: a first suction cup assembly, used for sucking the top surface of the silicon block; The first frame is arranged across two opposite sides of the second conveyor belt, so that the first suction cup assembly can move in the front-back direction and the lifting direction.

53. The edge skin assembly line system according to claim 1, characterized in that: It also includes a marking device for making marks on the plane of the edge skin, and the number of the marks corresponds to the number of edge skin segments formed by truncation.

54. The edge skin assembly line system according to claim 53, characterized in that: The marking device is configured as a laser coding machine.

55. The edge skin assembly line system according to claim 50, characterized in that: The second conveyor belt is provided with a detection device for detecting unqualified silicon blocks and recording information of the unqualified silicon blocks so as to transmit the information to the second robot.

56. The edge skin assembly line system according to claim 55, characterized in that: Unqualified silicon blocks may also be manually inspected and information of the unqualified silicon blocks may be recorded so as to transmit the information to the second robot.

57. The edge skin assembly line system according to claim 55, characterized in that: The detection device is configured as a CCD camera.

58. The edge skin assembly line system according to claim 50, characterized in that: The fourth operating area is equipped with a fourth robot for stacking the qualified silicon blocks.

59. The edge skin assembly line system according to claim 55, characterized in that: The second manipulator is used to screen and remove unqualified silicon blocks, including: a second suction cup assembly, configured to absorb the top surface of the unqualified silicon block; The second frame is located on one side of the second conveyor belt, so that the second suction cup assembly can move in the front-back direction, the left-right direction and the lifting direction.

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