A double-sided polishing device and method for sheet-shaped workpieces

Abstract

This invention discloses a double-sided grinding and polishing equipment and method for sheet-like workpieces, including a carrier conveying assembly, a first grinding and polishing assembly, a second grinding and polishing assembly, a flipping assembly, a detection assembly, and a controller. The carrier is capable of reciprocating movement. The two grinding and polishing assemblies perform grinding and polishing respectively. After grinding or polishing, the carrier can return while avoiding the grinding head. A first adsorption mechanism picks up the workpiece and flips it over, where it is received by a second adsorption mechanism above. The first adsorption mechanism releases its adsorption and retreats to avoid the second adsorption mechanism, which then moves down to place the workpiece back onto the carrier. Both surfaces are processed in the order of grinding followed by polishing. After double-sided processing, the carrier returns to its original loading position. A movable first camera first detects the upper surface of the workpiece, and a robotic arm picks up the workpiece and moves it above the second camera to detect the lower surface. This invention connects double-sided processing and sorting through grinding head avoidance, adsorption handover, and time-sharing detection.

Description

Technical Field

[0001] This invention relates to the field of sheet workpiece surface processing technology, specifically to a double-sided grinding and polishing equipment and method capable of continuously grinding and polishing both surfaces of a sheet workpiece, particularly suitable for graphene sheets and other sheet workpieces with small thickness that are easily curled or damaged by mechanical clamping. Background Technology

[0002] After forming, graphene sheets and similar sheet-like workpieces may require grinding and polishing of both surfaces to remove local protrusions, burrs, or other surface defects and improve surface quality. These workpieces are typically thin and flexible, and direct clamping with grippers can easily cause bending, indentation, or edge damage. Manual flipping and handling can also easily contaminate or scratch the processed surfaces.

[0003] Existing grinding and polishing equipment typically arranges grinding heads around a single machining surface. After one side of the workpiece is machined, it needs to be removed and repositioned by an operator or a separate handling device, making it difficult to maintain consistent reference positions before and after the workpiece is flipped over. If the grinding and polishing processes are completed on different equipment or in different clamping positions, the transfer of the workpiece between multiple stations will increase positioning errors and waiting time.

[0004] Therefore, there is a need for a double-sided grinding and polishing device for sheet-like workpieces that allows both the front and back sides of the workpiece to be ground by a first grinding and polishing component and polished by a second grinding and polishing component, and then returned to its original position for inspection after double-sided processing. Summary of the Invention

[0005] The main objective of this invention is to provide a double-sided grinding and polishing equipment and method for sheet-like workpieces. Through the cooperation of the carrying and conveying component, two grinding and polishing components that respectively undertake grinding and polishing, and the adsorption-type flipping component, both surfaces of the sheet-like workpiece are processed in the order of grinding first and then polishing. The carrier is allowed to return after grinding or polishing is completed by avoiding the grinding head. After double-sided processing is completed, the workpiece returns to its original loading position for inspection.

[0006] To solve the above-mentioned technical problems, on the one hand, the present invention provides a double-sided grinding and polishing equipment for sheet-like workpieces, including a frame, a carrying and conveying assembly, a first grinding and polishing assembly, a second grinding and polishing assembly, a flipping assembly, a detection assembly, and a controller.

[0007] The conveying assembly includes at least one conveying line arranged along a first direction and a carrier disposed on the conveying line and capable of reciprocating along the first direction. The conveying line has a loading position for the carrier to receive the sheet-like workpiece to be processed. A first grinding and polishing assembly and a second grinding and polishing assembly are arranged sequentially along the first direction. The first grinding and polishing assembly includes a grinding unit for rough grinding, and the second grinding and polishing assembly includes a polishing unit for fine grinding. A flipping assembly is disposed on the side of the second grinding and polishing assembly opposite to the first grinding and polishing assembly, and is used to flip the sheet-like workpiece after the first surface processing is completed and return it to the carrier. An inspection assembly is used to inspect the sheet-like workpiece after double-sided processing is completed after the carrier returns to the loading position.

[0008] The controller controls the first and second grinding and polishing components to sequentially grind and polish the first surface of the sheet-like workpiece. After the workpiece is flipped over, the controller controls the carrier to return to the grinding starting position of the first grinding and polishing component, so that the first and second grinding and polishing components sequentially complete the grinding and polishing of the second surface. After grinding or polishing is completed, the controller can control the grinding head on the return path of the carrier to move to an avoidance position and drive the carrier back. After both surfaces have been ground and polished, the carrier returns to the loading position for inspection by the detection component.

[0009] In one embodiment, two conveyor lines are provided, arranged side by side and each equipped with a carrier. A first and a second polishing assembly spans both conveyor lines, enabling parallel processing of sheet-like workpieces on both lines. In other embodiments, the conveyor assembly may consist of only one conveyor line.

[0010] In one embodiment, the carrier is provided with a plurality of vacuum adsorption holes communicating with a vacuum source to adsorb and fix the sheet-like workpiece onto the carrier.

[0011] In one embodiment, the equipment further includes a loading assembly, a unloading assembly, and a pick-and-place robot. The loading assembly and the unloading assembly are both located at the first end of the frame, the flipping assembly is located at the second end opposite to the first end, and the pick-and-place robot is used to transfer sheet-like workpieces between the magazine, carrier, detection assembly, and defective product collection box.

[0012] In one embodiment, the flipping assembly includes a first adsorption mechanism and a second adsorption mechanism located above the first adsorption mechanism. The first adsorption mechanism is used to pick up the sheet-like workpiece from the carrier and flip it to the junction position. The second adsorption mechanism is used to adsorb and temporarily store the sheet-like workpiece at the junction position. The first adsorption mechanism is also used to release the adsorption after the second adsorption mechanism adsorbs the sheet-like workpiece and retreat to a position that avoids the second adsorption mechanism and the descending path of the sheet-like workpiece. The second adsorption mechanism is used to move the sheet-like workpiece downward and place it on the carrier with the second surface facing upward, and release the adsorption after placement.

[0013] In one embodiment, both the feeding assembly and the unloading assembly include a magazine mounting base and a magazine removably mounted on the magazine mounting base. The magazine has a vertical hopper surrounded by multiple limiting posts, and at least some of the limiting posts are detachably connected to the magazine base. The feeding assembly also includes a lifting mechanism located below the vertical hopper, which drives a lifting plate to move up and down along the guide posts via an electric cylinder.

[0014] In one embodiment, the pick-and-place robot is a four-axis robot, with a first pick-up component and a second pick-up component spaced apart at the end of the four-axis robot. Each pick-up component includes a suction cup and a floating buffer mechanism. The floating buffer mechanism includes a linear guide rail and an elastic element. At least a portion of the multiple suction holes provided by the suction cup are arranged near the outer periphery of the suction cup.

[0015] In one embodiment, each grinding unit and polishing unit has a rotary drive, a transverse drive mechanism, and a lifting mechanism. The carrier moves along a first direction, and the grinding head moves along a second direction intersecting the first direction, thereby forming a two-dimensional grinding and polishing trajectory covering the surface of the sheet-like workpiece; grinding heads not participating in the current processing stroke are driven to a clearance position by the corresponding lifting mechanism. When the carrier needs to return, the grinding heads located on their return path are lifted to a clearance position by the corresponding lifting mechanism, keeping the grinding head separated from the workpiece before driving the carrier back.

[0016] In one embodiment, the device includes a grinding head calibration assembly, which comprises a displacement sensor and a calibration reference. After replacing the grinding head, the controller determines a height compensation amount based on the relative position difference between the replaced grinding head and the reference grinding head detected by the displacement sensor, and applies the height compensation amount to the Z-axis mounting position of the replaced grinding head.

[0017] In one embodiment, the detection assembly includes a first camera movably mounted on the frame and a second camera fixedly mounted on the frame. After the carrier completes double-sided processing and returns to its original loading position, the first camera moves above the workpiece to detect the second surface still on the carrier. After the first camera completes its detection, a pick-and-place robot picks up the workpiece, maintaining its orientation, and moves it above the second camera, which then detects the first surface from below. The controller controls the pick-and-place robot to complete the sorting based on the results of the two detections.

[0018] On the other hand, the present invention provides a method for double-sided grinding and polishing of a sheet-like workpiece, comprising: fixing the sheet-like workpiece to a carrier located at the original loading position; driving the carrier to sequentially transfer the first surface of the sheet-like workpiece to a first grinding and polishing component and a second grinding and polishing component for grinding and polishing; when it is necessary to return after grinding or polishing, controlling the grinding head on the return path of the carrier to move to an avoidance position and driving the carrier to return, wherein the second grinding and polishing component polishes the surface of the sheet-like workpiece after grinding before flipping it over; a first adsorption mechanism picks up the sheet-like workpiece whose first surface has been ground and polished and flips it to the handover position; a second adsorption mechanism located above adsorbs the sheet-like workpiece; the first adsorption mechanism releases the adsorption and moves backward to avoid the handover; the second adsorption mechanism moves the sheet-like workpiece downward and places it with the second surface facing upward. The carrier releases its adsorption, positioning the grinding head on the return path in the avoidance position and driving the carrier back to the grinding start position of the first grinding and polishing assembly. The first and second grinding and polishing assemblies then grind and polish the second surface sequentially. During the processing of the second surface, if a return is required after grinding or polishing, the process follows the method of grinding head avoidance and carrier return. After both surfaces have been ground and polished, the grinding head on the return path is positioned in the avoidance position, and the carrier is driven back to the original loading position. A movable first camera detects the second surface of the sheet-like workpiece facing upwards on the carrier. After detection, a pick-and-place robot picks up the sheet-like workpiece while maintaining its orientation, and moves it above the second camera. The second camera then detects the first surface from below.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The first grinding and polishing assembly performs grinding on both surfaces of the workpiece, while the second assembly performs polishing on both surfaces. Their functions do not change with the direction of the carrier's movement. When the carrier needs to return after grinding or polishing, the grinding head on the return path first avoids it, allowing the carrier to return without contacting the grinding head. After the workpiece is flipped over, the first grinding and polishing assembly restarts the processing of the second surface, ensuring that the process sequence for both surfaces remains consistent.

[0020] Two conveyor lines are arranged side by side and each is equipped with a carrier. The first and second grinding and polishing components span the two conveyor lines, enabling parallel processing of sheet-like workpieces on the two conveyor lines, thereby increasing the processing quantity per unit time.

[0021] After the first adsorption mechanism picks up and flips the workpiece, it is received by the second adsorption mechanism above. The first adsorption mechanism releases its grip and retracts to make room for descent, and the second adsorption mechanism directly places the workpiece back onto the carrier. The workpiece is continuously held by adsorption during the handover and descent, reducing damage caused by directly clamping the edge of the sheet. The adsorption holes and floating buffer mechanism of the robotic arm's suction cup help maintain the sheet's posture and reduce contact impact during handling.

[0022] After replacing the grinding head, the grinding head calibration component detects the relative position difference between the replaced grinding head and the reference grinding head through a displacement sensor, and compensates the relative position difference to the Z-axis mounting position of the replaced grinding head, so that the machining depth before and after replacement is consistent, which can reduce the time required for repeated trial grinding.

[0023] After the workpiece returns to its original loading position, the first camera detects the upward-facing second surface while the workpiece is still supported by the carrier. After the robot arm picks up the workpiece, the second camera below detects the downward-facing first surface. The two cameras acquire images of the corresponding surfaces in a time-sharing manner, so that the upper surface is detected before the robot arm picks it up, and the lower surface is detected after the workpiece is removed from the carrier, reducing the obstruction of the carrier and the picking and suction components on the surface to be detected. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the double-sided grinding and polishing equipment for sheet-like workpieces according to the present invention.

[0025] Figure 2 This is a side view of the overall structure of the double-sided grinding and polishing equipment for sheet-like workpieces according to the present invention.

[0026] Figure 3 This is a schematic diagram of the structure of the picking and placing robot and the picking component of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of the first camera of the present invention.

[0028] Figure 5 This is a schematic diagram of the feeding assembly of the present invention.

[0029] Figure 6 This is a top view schematic diagram of the overall structure of the double-sided grinding and polishing equipment for sheet-like workpieces according to the present invention.

[0030] Figure 7 This is a schematic diagram of the structure of the conveying component of the present invention.

[0031] Figure 8This is a schematic diagram of the structure of the grinding and polishing assembly and the grinding head calibration assembly of the present invention.

[0032] Figure 9 This is a schematic diagram of the structure of the second grinding and polishing component of the present invention.

[0033] Figure 10 This is a schematic diagram of the structure of the polishing and turning assembly and the flipping assembly of the present invention.

[0034] Figure 11 This is a schematic diagram of the structure of the flipping detection component of the present invention.

[0035] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention.

[0036] Explanation of main component symbols 100. Rack; 200. Feeding assembly; 210. Magazine; 211. Base; 212. Limiting post; 213. Vertical hopper; 222. Lifting plate; 223. Guide post; 300. Picking and placing robot; 320. First picking assembly; 323. Linear guide rail; 324. Elastic element; 330. Second picking assembly; 340. Vacuum generator; 400. Carrying conveyor assembly; 410. Carrying conveyor line; 420. Carrier; 423. Vacuum suction port; 500. Grinding and polishing assembly; 501. First grinding and polishing component; 502. Second grinding and polishing component; 510. Grinding unit; 511. Grinding head; 512. First rotary drive component; 513. First transverse drive mechanism; 514. First lifting mechanism; 520. Polishing unit; 521. Polishing head; 522. Second rotary drive component; 523. Second transverse drive mechanism; 524. Second lifting mechanism; 531. Displacement sensor; 600. Flipping assembly; 610. First adsorption mechanism; 611. First adsorption element; 612. First lifting drive element; 613. Third rotation drive element; 620. Second adsorption mechanism; 621. Second adsorption element; 622. Transfer drive element; 700. Detection component; 710. First camera; 720. Second camera; 730. Defective product collection box; 800. Unloading component; 810. Unloading magazine; 900. Dust removal component; 920. Suction pipe; 930. Suction port. Detailed Implementation

[0037] The embodiments of the present invention will be further described below with reference to the accompanying drawings. The term "first direction" refers to the direction along the carrying conveyor line from the first polishing assembly toward the second polishing assembly, and the carrier reciprocates along this direction and its opposite direction; "second direction" refers to the transverse direction intersecting the first direction. In this embodiment, the extending direction of the carrying conveyor line is the Y-axis direction, the transverse direction is the X-axis direction, and the Z-axis direction is the lifting direction towards or away from the carrier's bearing surface.

[0038] Example 1: Dual-station double-sided grinding and polishing equipment like Figure 1-2 and Figure 6 As shown, the double-sided grinding and polishing equipment for sheet-like workpieces provided in this embodiment includes a frame 100, a feeding assembly 200, a picking and placing robot 300, a carrying and conveying assembly 400, a grinding and polishing assembly 500, a flipping assembly 600, a detection assembly 700, a discharging assembly 800, a dust removal assembly 900, and a controller. The feeding assembly 200 and the discharging assembly 800 are arranged at the first end of the frame 100, the flipping assembly 600 is arranged at the second end of the frame 100, and the grinding and polishing assembly 500 is located between the first end and the second end.

[0039] like Figure 7 and 10 As shown, the carrier conveyor assembly 400 includes two carrier conveyor lines 410 arranged side by side. Each carrier conveyor line 410 is equipped with a carrier 420 and can drive the corresponding carrier 420 to reciprocate along the Y-axis. The carrier conveyor line 410 can be a linear module, a lead screw module, or a synchronous belt module. Each carrier 420 is provided with multiple vacuum adsorption holes 423, which are connected to a vacuum generator through vacuum pipelines. After the sheet-like workpiece is placed on the carrier 420, it is adsorbed and fixed. The two carrier conveyor lines 410 can drive the corresponding carrier 420 synchronously, or they can drive the corresponding carrier 420 separately according to the processing cycle.

[0040] like Figure 8-10As shown, the grinding and polishing assembly 500 includes a first grinding and polishing component 501 and a second grinding and polishing component 502 arranged sequentially along the outgoing direction of the carrier 420. Both the first grinding and polishing component 501 and the second grinding and polishing component 502 span two carrier conveyor lines 410. The first grinding and polishing component 501 is equipped with a grinding unit 510, and the second grinding and polishing component 502 is equipped with a polishing unit 520. The grinding heads of the first grinding and polishing component 501 corresponding to the two carrier conveyor lines 410 are used for grinding, and the grinding heads of the second grinding and polishing component 502 are used for polishing. The processing functions of the two are not interchanged due to workpiece flipping or carrier return. The grinding unit 510 uses a grinding head 511 to remove protrusions or obvious defects on the workpiece surface, and the polishing unit 520 uses a polishing head 521 to further process the ground surface to improve the surface quality. Grinding and polishing correspond to consecutive surface processing stages. Polishing is used to further refine the ground surface. The processing media of the grinding head is selected according to the sheet workpiece material and surface processing requirements.

[0041] Each grinding head 511 is driven to rotate by its corresponding first rotary drive 512, moved along the X-axis by its corresponding first transverse drive mechanism 513, and moved up and down along the Z-axis by its corresponding first lifting mechanism 514. Each polishing head 521 is driven to rotate by its corresponding second rotary drive 522, moved along the X-axis by its corresponding second transverse drive mechanism 523, and moved up and down along the Z-axis by its corresponding second lifting mechanism 524. The carrier 420 moves along the Y-axis, and the grinding heads participating in the current processing stroke move along the X-axis, thereby covering the surface of the sheet-like workpiece to be processed; the grinding heads not participating in the current processing stroke are driven to a clearance position by their corresponding lifting mechanisms.

[0042] The dust removal assembly 900 includes a vacuum cleaner, a suction pipe 920, and a suction port 930. The suction port 930 is located near the grinding head 511 or the polishing head 521 and faces the processing area where the grinding head contacts the sheet-like workpiece. Dust generated during the grinding and polishing process enters the vacuum cleaner through the suction port 930 and the suction pipe 920. The suction port 930 can move with the corresponding grinding head or be fixed in a position that can cover the processing area.

[0043] like Figure 10-11As shown, after the grinding and polishing of the first surface is completed, the carrier 420 moves to the flipping assembly 600. The first adsorption mechanism 610 includes a first adsorption member 611, a first lifting drive member 612, and a third rotation drive member 613. The second adsorption mechanism 620 is located above the first adsorption mechanism 610 and includes a second adsorption member 621 and a transfer drive member 622. The first adsorption member 611 adsorbs the first surface of the workpiece facing upward from above. After the carrier 420 releases the adsorption, the first adsorption mechanism 610 lifts the workpiece away from the carrier, and the third rotation drive member 613 drives the workpiece to flip to the transfer position, so that the second surface faces upward. The second adsorption member 621 adsorbs the second surface from above and holds the workpiece. The first adsorption member 611 releases the adsorption, and the first adsorption mechanism 610 retracts to outside the workpiece descent path. The transfer drive member 622 drives the second adsorption member 621 and the workpiece to move downward, placing the workpiece in the carrier 420 with the second surface facing upward. After the carrier 420 re-establishes adsorption and retention, the second adsorption element 621 releases adsorption and moves upward, completing the flipping and return.

[0044] The first adsorption mechanism 610 has a retraction drive mechanism that drives it backward. The retraction stroke causes the first adsorption element 611 and related supporting components to exit the descending path of the second adsorption element 621 and the workpiece. After the second adsorption mechanism 620 clears the path, it moves downward. The first adsorption mechanism 610 can be reset after the second adsorption mechanism 620 exits the corresponding space. The reset is used to prepare for the next flipping and will no longer pick up the workpiece that has been handed over. The first adsorption mechanism 610 and the second adsorption mechanism 620 can flip the workpieces on the two carrying conveyor lines 410 sequentially, or two sets of adsorption elements can be set to flip two workpieces simultaneously. The first lifting drive 612, the retraction drive mechanism, and the transfer drive 622 can be cylinders or electric linear modules, and the third rotary drive 613 can be a rotary cylinder or a motor-driven rotary mechanism.

[0045] During the first surface processing, the carrier 420 delivers the workpiece to the first grinding and polishing assembly 501, where the grinding unit 510 completes the grinding. The surface is then delivered to the second grinding and polishing assembly 502, where the polishing unit 520 completes the polishing. After grinding, the carrier 420 continues to move towards the polishing position, where the surface is delivered to the second grinding and polishing assembly 502 for polishing. After both grinding and polishing of the first surface are completed, the carrier 420 delivers the workpiece to the flipping assembly 600, which turns the second surface upwards and returns the workpiece to the carrier. The carrier 420 returns to the grinding starting position of the first grinding and polishing assembly 501 while avoiding the grinding head. The second surface is again processed first by the grinding unit 510 and then by the polishing unit 520. After both surfaces of the workpiece are processed, the carrier 420 returns to its loading position. The first camera 710 first inspects the second surface, and then the pick-and-place robot 300 picks up the workpiece and moves it above the second camera 720 to inspect the first surface. The loading position is the position where the carrier 420 receives the workpiece to be processed, and the grinding starting position is the position where the carrier 420 can begin to accept the grinding process of the first grinding and polishing component 501.

[0046] Example 2: Flexible feeding and unloading structure like Figure 1 and Figure 5 As shown, the feeding assembly 200 includes two magazine mounting positions, each capable of mounting a drawer-type magazine 210. Multiple limiting posts 212 are provided on the base 211 of the magazine 210, forming a vertical hopper 213 for accommodating stacked sheet-like workpieces. The limiting posts 212, at least located in the middle of the hopper or at adjacent size boundaries, are detachably connected. By selecting the mounting position or removing some of the limiting posts 212, the vertical hopper 213 can accommodate sheet-like workpieces of different sizes, such as 50mm×50mm, 80mm×80mm, and 120mm×120mm. The above dimensions are for illustrative purposes only; the limiting range of the magazine can be adjusted according to the workpiece specifications.

[0047] A lifting mechanism is installed below the vertical hopper 213. The electric cylinder of the lifting mechanism drives the lifting plate 222 to rise and fall along the guide column 223, supporting the stack of workpieces from the bottom. A positioning sensor located near the picking height detects the position of the top layer of workpieces. The controller controls the electric cylinder to gradually rise based on the positioning signal, keeping the top layer of sheet-like workpieces at a fixed picking height. The unloading assembly 800 can adopt a clip structure similar to or the loading assembly 200, allowing qualified workpieces to be stacked and collected in the loading and unloading directions.

[0048] like Figure 3As shown, the pick-and-place robot 300 is a four-axis robot with a first picking component 320 and a second picking component 330 spaced apart at the end of the robot. The first picking component 320 first picks up the first sheet-like workpiece. After the end of the robot rotates to the position of the second picking component 330 corresponding to the loading clip, it picks up the second sheet-like workpiece. The robot then places the two sheet-like workpieces onto the carriers 420 of the two carrying conveyor lines 410 respectively.

[0049] Both the first and second picking components 320 and 330 include a suction cup and a floating buffer mechanism. The linear guide 323 of the floating buffer mechanism defines the floating direction of the suction cup, and the elastic element 324 undergoes elastic deformation when the suction cup contacts the sheet-like workpiece, preventing the rigid movement of the robot arm from causing the suction cup to impact the workpiece. Multiple suction holes on the suction cup can cover the entire suction surface, with the suction holes near the outer periphery preferentially adsorbing the edge areas of the workpiece to reduce sagging or curling of the sheet edges. The vacuum generator 340 provides an adjustable suction force to the suction cup via a regulating valve.

[0050] The vision positioning component acquires the position or edge information of the workpiece before it is placed into the carrier 420. The controller corrects the robot's placement position based on the positioning results. The photoelectric sensor can distinguish the current workpiece specifications based on the position of the workpiece edge, the occlusion status of preset detection points, or the magazine recognition mark. The controller calls the pick-and-place parameters and polishing formula corresponding to the recognition results.

[0051] Example 3: Grinding head height calibration The grinding head calibration assembly includes a displacement sensor 531 and a calibration reference. The displacement sensor 531 can be a laser displacement sensor or a contact displacement sensor that meets the required detection accuracy. Each grinding head 511 and polishing head 521 can move to the calibration position under the drive of the corresponding transverse drive mechanism and lifting mechanism, establishing a predetermined detection relationship between the grinding head detection area and the displacement sensor 531 or calibration reference. A single displacement sensor 531 can be shared by multiple grinding heads, or separate displacement sensors can be provided for different grinding heads.

[0052] For each grinding and polishing head, a corresponding calibration benchmark is established. After the benchmark grinding head is installed and mechanically adjusted, the controller moves the benchmark grinding head to the calibration position and records the benchmark detection value H0 output by the displacement sensor 531. After replacing the grinding head and completing the mechanical installation, the controller moves the replaced grinding head to the same calibration position and obtains the current detection value H1, calculating the relative position difference ΔH = H1 - H0 between the replaced grinding head and the benchmark grinding head. The controller determines the compensation sign based on the measurement direction of the displacement sensor and the positive direction of the Z-axis coordinate, incorporates the height compensation amount corresponding to the relative position difference ΔH into the Z-axis installation position parameters of the replaced grinding head, and executes the compensated position command through the corresponding lifting mechanism to keep the working surface of the grinding head before and after replacement in the same position relative to the carrier bearing surface, thereby maintaining consistent machining depth.

[0053] When the relative position difference exceeds the preset allowable range, the controller can output a prompt to reinstall the grinding head and pause the corresponding grinding head's processing action; when the relative position difference is within the allowable range, the controller saves the Z-axis installation position compensation amount and calls the compensated Z-axis installation position in subsequent processing.

[0054] Example 4: Double-sided inspection and sorting like Figure 1 and Figure 4 As shown, the detection assembly 700 includes a first camera 710 movable along a linear module on the frame 100 and a second camera 720 fixedly mounted on the frame 100. After double-sided grinding and polishing, the carrier 420 returns to its original loading position with the grinding head avoiding it, and the workpiece remains adsorbed on the carrier 420 with the second surface facing up and the first surface facing down. The first camera 710 moves above the workpiece and acquires an image of the second surface. After completing the detection, it moves to a position that does not obstruct the robot arm from picking up the workpiece. The robot arm 300 adsorbs the second surface from above. After the carrier 420 releases the adsorption, the robot arm 300 lifts the workpiece off the carrier while keeping its upper and lower surfaces facing the same direction, and moves the workpiece above the second camera 720. The second camera 720, facing upwards, acquires an image of the exposed first surface. The detection by the first camera 710 is completed before the robot arm picks it up, and the detection by the second camera 720 is completed after the workpiece is removed from the carrier. The two cameras do not perform double-sided detection on the same workpiece simultaneously.

[0055] The controller identifies damaged areas, unpolished areas, scratches, or other preset defects based on the second surface image acquired by the first camera 710 and the first surface image acquired by the second camera 720, and generates corresponding inspection results for the workpiece. After the inspection of both surfaces is completed, if at least one surface does not meet the preset acceptance criteria, the pick-and-place robot 300 places the workpiece into the defective product collection box 730; if both surfaces meet the preset acceptance criteria, the pick-and-place robot 300 places the workpiece into the unloading magazine 810 of the unloading assembly 800. Visual inspection can also be performed by an independent vision controller, which then sends the inspection results to the controller.

[0056] Work process When the equipment is in operation, the operator places the sheet-like workpieces to be processed into the loading clips 210 corresponding to the workpiece specifications. The lifting mechanism lifts the top layer of workpieces to a fixed picking height. Photoelectric sensors identify the workpiece specifications, and the vision positioning component obtains the position of the workpieces. The picking and placing robot 300 uses the first picking component 320 and the second picking component 330 to sequentially pick up two workpieces and place them onto the carriers 420 of the two carrying conveyor lines 410 respectively.

[0057] Two carriers 420 move along the Y-axis from their original loading position, where the grinding unit 510 of the first grinding and polishing assembly 501 grinds the first surfaces of the two sheet-like workpieces. After grinding, the carriers 420 continue to the second grinding and polishing assembly 502 for polishing. After the first surface polishing is completed, the workpiece is sent to the flipping assembly 600 to complete the flipping before proceeding to the second surface processing. The first adsorption mechanism 610 picks up the workpiece and flips it over, while the second adsorption mechanism 620 above it adsorbs and temporarily stores the workpiece. The first adsorption mechanism 610 releases its adsorption and moves back to make way for the descent path. The second adsorption mechanism 620 then moves the workpiece down and places it on the carrier 420 with the second surface facing upwards. After the carrier 420 establishes adsorption and holding, the second adsorption mechanism 620 releases its adsorption and moves upwards. After the grinding head avoids the carrier on the return path, the carrier 420 returns to the grinding starting position of the first grinding and polishing assembly 501, so that the second surface is first processed by the grinding unit 510, then processed by the polishing unit 520, and then the carrier 420 is driven back.

[0058] After double-sided grinding and polishing, the grinding head on the return path rises to avoid obstruction, and the carrier 420 returns to its original loading position. The first camera 710 moves above the workpiece still on the carrier 420 and detects the second surface. After detection, it clears the space for the robot arm to pick up the workpiece. The pick-and-place robot arm 300 picks up the second surface from above, the carrier 420 releases the pick-and-place robot arm 300 lifts the workpiece while maintaining its orientation, and moves it above the second camera 720, where the second camera 720 detects the downward-facing first surface. The controller sorts the workpieces based on the two detection results. Qualified workpieces enter the unloading magazine 810, and unqualified workpieces enter the defective product collection box 730. When the grinding head needs to be replaced, the equipment enters calibration mode. The displacement sensor 531 detects the relative position difference between the replaced grinding head and the corresponding reference grinding head. The controller incorporates the compensation amount corresponding to this difference into the Z-axis installation position parameters of the replaced grinding head and resumes processing.

[0059] The above embodiments are used to illustrate the technical concept of the present invention and do not limit the scope of protection of the present invention. Without departing from the technical concept defined in the claims, the type of grinding head, the form of the drive mechanism, the number of load-bearing conveyor lines, the type of sensor, and the arrangement of the camera can be adjusted accordingly based on the material, size, and processing requirements of the sheet-like workpiece.

Claims

1. A double-sided grinding and polishing equipment for sheet-like workpieces, characterized in that, include: frame; A carrying conveying assembly includes at least one carrying conveying line arranged along a first direction and a carrier arranged on the carrying conveying line and capable of reciprocating along the first direction. The carrying conveying line has a loading position for the carrier to receive the sheet-like workpiece to be processed. A first grinding and polishing assembly and a second grinding and polishing assembly are arranged sequentially along the first direction. The first grinding and polishing assembly includes a grinding unit for coarse grinding of the sheet-like workpiece carried by the carrier, and the second grinding and polishing assembly includes a polishing unit for fine grinding of the ground sheet-like workpiece. A flipping assembly is disposed on the side of the second grinding and polishing assembly opposite to the first grinding and polishing assembly, and is used to flip the sheet-like workpiece that has completed the first surface processing and put it back into the carrier. The detection component is used to detect the sheet-like workpiece that has undergone double-sided processing after the carrier returns to its original loading position; as well as The controller is connected to the carrying and conveying assembly, the first grinding and polishing assembly, the second grinding and polishing assembly, the flipping assembly, and the detection assembly. The controller is used to control the first grinding and polishing assembly and the second grinding and polishing assembly to grind and polish the first surface of the sheet workpiece in sequence, and to control the carrier to return to the grinding starting position of the first grinding and polishing assembly after the sheet workpiece is flipped, so that the first grinding and polishing assembly and the second grinding and polishing assembly can grind and polish the second surface of the sheet workpiece in sequence. The controller is also used to control the grinding head on the return path of the carrier to move to the avoidance position after grinding or polishing is completed, and drive the carrier to return. After grinding and polishing are completed on both surfaces, the controller controls the carrier to return to the loading position for detection by the detection assembly.

2. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 1, characterized in that, The carrying conveyor line is provided in two places, and the two carrying conveyor lines are arranged side by side and each is provided with a carrier. The first grinding and polishing component and the second grinding and polishing component both span the two carrying conveyor lines.

3. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 1, characterized in that, The carrier is provided with multiple vacuum adsorption holes that are connected to a vacuum source to adsorb and fix the sheet-like workpiece onto the carrier.

4. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 1, characterized in that, Both the grinding unit and the polishing unit include a grinding head, a rotary drive for driving the grinding head to rotate, a transverse drive mechanism for driving the grinding head to move along a second direction intersecting the first direction, and a lifting mechanism for driving the grinding head to rise and fall. The lifting mechanism is used to drive the corresponding grinding head to rise to the avoidance position that is separated from the sheet-like workpiece.

5. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 1, characterized in that, The flipping assembly includes a first adsorption mechanism and a second adsorption mechanism located above the first adsorption mechanism. The first adsorption mechanism is used to pick up the sheet-like workpiece from the carrier and flip it to the junction position. The second adsorption mechanism is used to adsorb and temporarily store the sheet-like workpiece at the junction position. The first adsorption mechanism is also used to release the adsorption after the second adsorption mechanism adsorbs the sheet-like workpiece and retreat to a position that avoids the second adsorption mechanism and the descending path of the sheet-like workpiece. The second adsorption mechanism is used to move the sheet-like workpiece down and place it on the carrier with the second surface facing up, and release the adsorption after placement.

6. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 1, characterized in that, It also includes a loading assembly, a unloading assembly, and a pick-and-place robot, wherein the pick-and-place robot is used to transfer the sheet workpiece in the loading assembly to the carrier, and to transfer the sheet workpiece that has been double-sided polished from the carrier to the unloading assembly.

7. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 6, characterized in that, The feeding assembly includes a retractable magazine, which has a vertical hopper surrounded by multiple limiting posts, and at least some of the limiting posts are detachably connected to the base of the magazine.

8. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 4, characterized in that, It also includes a grinding head calibration component, which includes a displacement sensor. The controller is used to compensate the Z-axis mounting position of the replaced grinding head based on the relative position difference between the replaced grinding head and the reference grinding head detected by the displacement sensor after the grinding head is replaced, so as to make the machining depth consistent before and after the replacement.

9. The double-sided grinding and polishing equipment for sheet-like workpieces according to claim 6, characterized in that, The detection assembly includes a first camera movably mounted on the frame and a second camera fixedly mounted on the frame and facing the lower surface of the sheet-like workpiece held by the pick-and-place robot. The first camera is used to detect the upward-facing second surface of the sheet-like workpiece on the carrier after the carrier returns to its original loading position. The pick-and-place robot is used to pick up the sheet-like workpiece after the first camera completes its detection, keeping the second surface facing upward, and move the sheet-like workpiece above the second camera so that the second camera can detect the downward-facing first surface of the sheet-like workpiece. The controller is used to control the pick-and-place robot to sort the sheet-like workpieces based on the detection results of the first camera and the second camera.

10. A method for double-sided grinding and polishing of a sheet-like workpiece, characterized in that, include: A sheet-like workpiece is fixed to a carrier located at its original loading position. The carrier is driven to sequentially transfer the first surface of the sheet-like workpiece to the first and second grinding and polishing components for grinding and polishing. When the workpiece needs to return after grinding or polishing, the grinding head on the return path of the carrier is moved to a clearance position and the carrier is driven to return. Before flipping, the second grinding and polishing component polishes the surface of the sheet-like workpiece after grinding. The first adsorption mechanism picks up the sheet-like workpiece whose first surface has been ground and polished and flips it to the handover position. The second adsorption mechanism located above then adsorbs the sheet-like workpiece. The first adsorption mechanism releases its adsorption and moves backward to clear the way. The second adsorption mechanism moves the sheet-like workpiece downward, placing it on the carrier with its second surface facing upward and releasing its adsorption, allowing it to return. The grinding head on the path is in the avoidance position and drives the carrier back to the grinding start position of the first grinding and polishing component. The first grinding and polishing component and the second grinding and polishing component grind and polish the second surface in sequence. During the processing of the second surface, if it needs to return after grinding or polishing, it is executed in the manner of grinding head avoidance and carrier return. After both surfaces have been ground and polished, the grinding head on the return path is placed in the avoidance position and the carrier is driven back to the loading position. The movable first camera detects the second surface of the sheet workpiece facing upward on the carrier. After the detection is completed, the pick-and-place robot picks up the sheet workpiece and keeps its orientation unchanged. The sheet workpiece is moved above the second camera, and the second camera detects the first surface from below.

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