Automatic material conveying device

Abstract

The utility model provides an automatic conveying device which is used for achieving feeding and discharging during outer circle barreling of silicon carbide crystals, the automatic conveying device comprises a mechanical arm assembly and a containing assembly, the containing assembly is used for containing materials, and the materials comprise the silicon carbide crystals and a mounting disc fixedly connected with the silicon carbide crystals; the manipulator assembly grabs materials through the mounting disc; the material containing assembly comprises a first supporting piece and a second supporting piece, the first supporting piece and the second supporting piece are fixedly connected, a containing space is formed between the first supporting piece and the second supporting piece and used for containing the materials, and the first supporting piece and the second supporting piece are matched to clamp, fix and limit the materials. Silicon carbide is stably placed on the material containing assembly, the placing position and the placing direction of the installation disc where the silicon carbide crystals are fixed are matched with the clamping direction of the mechanical arm assembly, the mechanical arm assembly can accurately and stably clamp the installation disc, and transportation of the silicon carbide crystals is completed.

Description

Technical Field

[0001] The present application relates to the field of automatic feeding equipment, and in particular to an automatic feeding device in a crystal rounding process. Background Art

[0002] Silicon carbide crystal rounding is to grind and polish the crystal surface mechanically to remove tiny cracks, impurities and uneven areas on the crystal surface, thereby improving the integrity and optical quality of the crystal. This process involves the loading operation of placing the silicon carbide crystal between the rounding head and tailstock chucks, and the unloading operation of retrieving the silicon carbide crystal from between the rounding head and tailstock chucks.

[0003] Since the shape of silicon carbide crystals is irregular, there is a conical structure on the circumference of the crystal, and the thickness of the processed silicon carbide crystals is generally only 10mm to 50mm, which is relatively thin. These factors make it difficult for the robot arm to accurately and firmly clamp the silicon carbide crystals, and it is impossible to realize the automatic feeding of silicon carbide crystals. In the related technology, the process of silicon carbide crystal rounding mainly relies on manual loading and unloading, but this method is not only inefficient, but also has the risk of worker injury during operation. Summary of the invention

[0004] The purpose of this application is to provide an automatic feeding device in the process of silicon carbide crystal rounding to solve the problems of low loading and unloading efficiency and risk of injury in the prior art. Through the automated loading and unloading device, an efficient and safe crystal processing process can be achieved.

[0005] In order to achieve the above-mentioned purpose, the present application provides an automatic feeding device, which includes a manipulator component and a material holding component.

[0006] The material holding component is used to place materials, including silicon carbide crystals and a mounting plate fixedly connected to the silicon carbide crystals, and the manipulator component grabs the materials through the mounting plate;

[0007] The material holding assembly includes a first support member and a second support member, the first support member is fixedly connected to the second support member, a holding space is formed between the first support member and the second support member, the holding space is used to place materials, the first support member and the second support member cooperate to clamp and limit the materials, and limit the pitch freedom of the materials and the translational freedom of the materials along the axis of the mounting plate.

[0008] Furthermore, a movable head is provided on one side of the second supporting member close to the first supporting member, and the movable head can move relative to the first supporting member to adjust the size of the accommodating space.

[0009] Furthermore, the movable head moves relative to the first support member in a form of elastic telescopic or driven telescopic movement.

[0010] Furthermore, the movable head includes a roller seat and a roller, wherein the roller is mounted on the roller seat, and when the material is placed in the accommodating space, the roller abuts against the end surface of the silicon carbide crystal away from the mounting plate.

[0011] Furthermore, the first support member is a plate-like structure, provided with a mounting plate placing portion and a mounting plate rest surface, the mounting plate placing portion is used to place the mounting plate, the mounting plate rest surface is parallel to a preset plane, and is used to cooperate with the second support member to limit the pitch freedom of the mounting plate and the translational freedom along the axis of the mounting plate, when the mounting plate is placed in the mounting plate placing portion, the mounting plate rest surface abuts against the end face of the mounting plate facing away from the silicon carbide crystal.

[0012] Furthermore, the mounting plate placement portion is provided with a positioning groove.

[0013] Furthermore, the second support member further comprises a guide structure, a support plate and a bottom plate, the bottom plate is fixedly connected to the first support member, and the bottom plate is fixedly connected to the support plate.

[0014] The guide structure is fixedly connected to the support plate, and a side of the guide structure close to the first support member is connected to the movable head. The guide structure is used to guide the movable head to move in a direction perpendicular to the surface of the mounting plate.

[0015] Furthermore, the manipulator assembly includes a support frame, a lateral movement portion, a rotation portion, a radial motion portion and a manipulator.

[0016] The traverse portion includes a first guide rail and a base disposed on the first guide rail, and the base can move along the first guide rail;

[0017] The rotating part is fixedly connected to the base through a supporting frame;

[0018] The radial motion part includes a second guide rail and a gripper mounting seat. The second guide rail is fixedly connected to the rotating part. The second guide rail rotates with the rotating part. The gripper mounting seat is arranged on the second guide rail. The gripper mounting seat can move along the second guide rail. The gripper mounting seat is fixedly connected to the manipulator.

[0019] Furthermore, the rotating part comprises a pneumatic indexing plate, and a rotation plane of the pneumatic indexing plate is substantially perpendicular to the horizontal direction.

[0020] Further, the direction of the first guide rail is parallel to the rotation plane of the pneumatic indexing plate.

[0021] The material holding component, the mounting plate and the manipulator component work together, wherein the mounting plate is used to be fixedly connected to the silicon carbide crystal, the material holding component is used to place the mounting plate with the silicon carbide crystal fixed thereon, and the placement position and direction of the mounting plate are adapted to the clamping direction of the manipulator component, so that the manipulator component can accurately and stably clamp the mounting plate to complete the transportation of the silicon carbide crystal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the automatic feeding device provided in an embodiment of the present application.

[0023] Figure 2 It is a schematic diagram of the structure of the material holding component.

[0024] Figure 3 It is a schematic diagram of the structure of the material holding component in which the silicon carbide crystal is placed.

[0025] Figure 4 Schematic diagram of the robot assembly structure.

[0026] Figure 5 This is the front view of the robot assembly.

[0027] icon:

[0028] 100. Automatic feeding device; 11. Material holding assembly; 111. First support member; 1111. Mounting plate placement portion; 1112. Mounting plate backing surface; 112. Second support member; 1121. Movable head; 1121a. Roller seat; 1121b. Roller; 1122. Guide structure; 1122a. Guide rod; 1122b. Sleeve; 1122c. Spring; 1122d. Adjusting nut; 1122e. Sleeve locking nut; 1123. Support plate; 1124. Bottom plate; 12. Manipulator assembly; 121. Manipulator; 122. Support frame; 123. Transverse moving portion; 1231. First guide rail; 1232. Base; 124. Rotating portion; 1241. Pneumatic indexing plate; 125. Radial moving portion; 1251. Second guide rail; 1252. Gripper mounting seat.

[0029] 200. Installation disk.

[0030] 300. Silicon carbide crystal. DETAILED DESCRIPTION

[0031] The present application will be described in detail below in conjunction with the specific implementation modes shown in the accompanying drawings, but these implementation modes do not limit the present application. Structural, methodological, or functional changes made by ordinary technicians in the field based on these implementation modes are included in the protection scope of the present application.

[0032] For ease of understanding and description, the embodiments of the present application are described in Figure 1 The directions of up, down, left, right, front, and back are set in the embodiment. It should be noted that these directions are only used for explanation and are not intended to limit the scope of the embodiment. In actual applications, the directions can be adjusted according to specific needs and environments.

[0033] The embodiment of the present application discloses an automatic feeding device 100, which is used to realize the loading and unloading operation when the outer cylindrical grinding process of the silicon carbide crystal 300 is performed. Figure 1As shown, the automatic feeding device 100 includes a robot assembly 12 and a material holding assembly 11 .

[0034] The material holding component 11 is used to place materials, and the materials include a silicon carbide crystal 300 and a mounting plate 200 fixedly connected to the silicon carbide crystal 300 . The manipulator component 12 grabs the materials through the mounting plate 200 .

[0035] The material holding assembly 11 includes a first support member 111 and a second support member 112, and the first support member 111 and the second support member 112 are fixedly connected to form a holding space between the first support member 111 and the second support member 112, and the holding space is used to place materials. The first support member 111 and the second support member 112 cooperate to clamp and limit the materials, thereby limiting the pitch freedom of the materials and the translational freedom of the materials along the axis of the mounting plate 200.

[0036] Specifically, in the present embodiment, the material includes a silicon carbide crystal 300 and a mounting plate 200, and the manipulator assembly 12 completes the transportation of the material by grabbing the mounting plate 200, wherein the thickness and shape of the mounting plate 200 need to be set to allow the manipulator assembly 12 to firmly clamp the material to prevent it from falling off due to unstable clamping during movement. In addition, the mounting plate 200 and the silicon carbide crystal 300 are temporarily fixedly connected, for example, the mounting plate 200 and the silicon carbide crystal 300 can be fixedly connected by waxing, so that it can be ensured that the silicon carbide crystal 300 will not fall off the mounting plate 200 during material feeding, and the mounting plate 200 can be easily removed from the silicon carbide crystal 300 after the rounding process is completed. Through the above-mentioned setting, the manipulator assembly 12 can firmly clamp the mounting plate 200 to realize the transportation of the silicon carbide crystal 300.

[0037] After the mounting plate 200 and the silicon carbide crystal 300 are fixedly connected, they can be placed on the material holding assembly 11. Figure 1 As shown, a holding space is formed between the first support member 111 and the second support member 112 of the material holding assembly 11. When the material is placed in the holding space, the first support member 111 and the second support member 112 can cooperate to limit the pitch freedom of the material and the translation freedom of the material along the axis of the mounting plate 200. Figure 1 From the perspective of the direction set in the drawing, the pitch freedom refers to the ability of the material to rotate around a preset straight line, where the preset straight line is parallel to the straight line in the front-to-back direction; the translation freedom refers to the ability of the material to move in the left-right direction between the first support member 111 and the second support member 112.

[0038] Through the above-mentioned settings, the mounting plate 200, the material holding assembly 11 and the manipulator assembly 12 work together to realize the automatic feeding of the silicon carbide crystal 300. When loading is required, the manipulator assembly 12 can accurately and firmly clamp the mounting plate 200 with the silicon carbide crystal 300 fixed on the material holding assembly 11, and move it between the head and tail seats of the rounding machine. The mounting plate 200 and the silicon carbide crystal 300 are regarded as a whole and are clamped by the head and tail seats of the rounding machine to complete the loading operation. After the silicon carbide crystal 300 completes the rounding operation, the manipulator assembly 12 can retrieve the silicon carbide crystal 300 from the rounding machine by clamping the mounting plate 200, and place it on the idle material holding assembly 11 to complete the unloading operation.

[0039] As an optional implementation, Figure 2 As shown, the first support member 111 is a plate-like structure, and is provided with a mounting plate placing portion 1111 and a mounting plate rest surface 1112. The mounting plate placing portion 1111 is used to place the mounting plate 200, and the mounting plate rest surface 1112 is parallel to the preset plane, and is used to cooperate with the second support member 112 to limit the pitch freedom of the mounting plate 200 and the translational freedom along the axis of the mounting plate 200. When the mounting plate 200 is placed on the mounting plate placing portion 1111, the mounting plate rest surface 1112 abuts against the end face of the mounting plate 200 facing away from the silicon carbide crystal 300.

[0040] Specifically, in the present embodiment, the mounting plate backing surface 1112 is arranged perpendicular to the horizontal plane. When the material is placed on the mounting plate placement portion 1111, the second support member 112 can abut the end face of the silicon carbide crystal 300 of the material, ensuring that the end face of the mounting plate 200 facing away from the silicon carbide crystal 300 is in contact with the mounting plate backing surface 1112, and at this time, the axis of the mounting plate 200 is parallel to the horizontal plane. In this way, after the manipulator assembly 12 transports the silicon carbide crystal 300 between the rounding machine head and tailstock, the end face of the silicon carbide crystal 300 and the end face of the mounting plate 200 are directly opposite to the rounding machine head and tailstock, which can facilitate the rounding machine head and tailstock to abut against the end face of the silicon carbide crystal 300 and the end face of the mounting plate 200 respectively, and during the conveying process, the manipulator assembly 12 does not need to adjust the angle of the carbide crystal 300 fixedly connected to the mounting plate 200, thereby simplifying the structure and operation process of the manipulator assembly 12, enhancing the accuracy and stability of the manipulator assembly 12, and improving the processing efficiency.

[0041] In addition, the height of the mounting plate placement portion 1111 determines the radius of the silicon carbide crystal 300 that can be placed. Usually, the height of the mounting plate placement portion 1111 is set to be greater than the radius of the maximum silicon carbide crystal 300 that can be processed. In this way, the material holding component 11 can hold silicon carbide crystals 300 of various radii, thereby improving the flexibility and versatility of the material holding component 11. In addition, the width of the mounting plate placement portion 1111 can be set to be consistent with the thickness of the mounting plate 200 or slightly less than the thickness of the mounting plate 200, so that the mounting plate 200 can be smoothly docked on the mounting plate placement portion 1111, and the end face of the mounting plate 200 facing away from the silicon carbide crystal 300 can fit with the mounting plate support surface 1112, so that the mounting plate 200 is placed vertically on the horizontal plane.

[0042] As an optional implementation, Figure 2 As shown, the mounting plate placement portion 1111 is provided with a positioning groove. Specifically, the shape of the positioning groove can be set according to the shape of the mounting plate 200. For example, if the mounting plate 200 is cylindrical, the positioning groove can be designed to be V-shaped, which can effectively prevent the mounting plate 200 from rolling. In addition, the positioning groove can also be set to a semicircular shape, which can also prevent the mounting plate 200 from rolling.

[0043] As an optional implementation, Figure 3 As shown, a movable head 1121 is disposed on one side of the second support member 112 close to the first support member 111 , and the movable head 1121 can move relative to the first support member 111 to adjust the size of the accommodation space.

[0044] Specifically, the movable head 1121 is disposed between the first support member 111 and the second support member 112, and the movable head 1121 can move between the first support member 111 and the second support member 112 to move away from or close to the first support member 111, thereby adjusting the size of the accommodation space. In this way, the material holding assembly 11 can hold silicon carbide crystals 300 of various thicknesses, thereby improving the flexibility and versatility of the material holding assembly 11, without the need to customize different material holding assemblies 11 for crystals of different thicknesses. Furthermore, after placing the material, the second movable head 1121 can move close to the material to abut against the material to prevent the material from tipping over.

[0045] As an optional implementation, Figure 3 As shown, the movable head 1121 includes a roller seat 1121a and a roller 1121b. The roller 1121b is installed on the roller seat 1121a. When the material is placed in the accommodating space, the roller 1121b abuts against the end surface of the silicon carbide crystal 300 away from the mounting plate 200.

[0046] Specifically, the roller seat 1121a is provided with an installation notch, and the roller 1121b is installed between the installation notches. When the manipulator assembly 12 places the silicon carbide crystal 300 on the material holding assembly 11 or takes out the silicon carbide crystal 300 from the material holding assembly 11, the roller 1121b can roll with the silicon carbide crystal 300, thereby preventing the surface of the silicon carbide crystal 300 from being scratched. In addition, when placing the mounting plate 200 fixed with the silicon carbide crystal 300 on the material holding assembly 11, if the mounting plate 200 is not placed in place, after the mounting plate 200 is released, the mounting plate 200 can be smoothly placed on the material holding table assembly by rotating the roller 1121b.

[0047] As an optional implementation, Figure 3 As shown, the second support member 112 further includes a guide structure 1122, a support plate 1123 and a bottom plate 1124, the bottom plate 1124 is fixedly connected to the first support member 111, and the bottom plate 1124 is fixedly connected to the support plate 1123. The guide structure 1122 is fixedly connected to the support plate 1123, and the side of the guide structure 1122 close to the first support member 111 is connected to the movable head 1121, and the guide structure 1122 is used to guide the movable head 1121 to move in a direction perpendicular to the mounting plate surface 1112.

[0048] Specifically, the first support member 111 is fixedly connected to the bottom plate 1124, and the bottom plate 1124 is fixedly connected to the support plate 1123. One end of the guide structure 1122 is connected to the support plate 1123, and the other end is connected to the movable head 1121. The movable head 1121 can follow the guide rod 1122a to move between the first support member 111 and the support plate 1123, so that the movable head 1121 is away from or close to the mounting plate surface 1112 to adjust the size of the accommodation space between the two. The accommodation space can accommodate silicon carbide crystals 300 of various thicknesses.

[0049] As an optional implementation, the movable head 1121 moves relative to the first support member 111 in a form of elastic expansion and contraction.

[0050] Specifically, in this embodiment, Figure 3As shown, the guide structure 1122 may include a sleeve 1122b, a guide rod 1122a and a spring 1122c, the sleeve 1122b is fixedly connected to the support plate 1123, and the sleeve 1122b is sleeved on the guide rod 1122a; one end of the guide rod 1122a is connected to the movable head 1121, and the other end is arranged through the sleeve 1122b, the spring 1122c is sleeved on the guide rod 1122a, and the spring 1122c is arranged between the movable head 1121 and the sleeve 1122b. The movable head 1121 can follow the displacement of the guide rod 1122a to realize the extension and retraction of the spring 1122c. The spring 1122c provides support for the supporting head, so that the movable head 1121 can better abut the end face of the silicon carbide crystal 300 away from the mounting plate 200. This can not only prevent the mounting plate 200 with the silicon carbide crystal 300 fixed thereon from tipping over, but also enable the material holding assembly 11 to hold silicon carbide crystals 300 of various thicknesses, thereby improving the flexibility and versatility of the equipment.

[0051] As an optional implementation, Figure 3 As shown, one end of the guide rod 1122a passing through the sleeve 1122b is provided with a thread and is locked by the adjusting nut 1122d, and the other end is fixedly connected to the movable head 1121. Through the above arrangement, the movable head 1121 can move with the guide rod 1122a, so that the material assembly can adapt to the placement requirements of silicon carbide crystals 300 of different thicknesses. In addition, the initial compression degree of the spring 1122c can be increased by tightening the adjusting nut 1122d, so that the supporting force of the movable head 1121 on the material can be increased to prevent the material placed on the material holding assembly 11 from tipping over.

[0052] As an optional implementation, Figure 3 As shown, the sleeve 1122b is inserted into the support plate 1123 and is fixedly connected to the support plate 1123 via a sleeve locking nut 1122e.

[0053] Specifically, a through hole is provided on one side of the support plate 1123 away from the bottom plate 1124, and the sleeve 1122b is installed through the through hole; and a screw hole is provided at a position of the support plate 1123 close to the through hole, the screw hole is connected to the through hole, and the sleeve locking nut 1122e is screwed into the screw hole, and the sleeve locking nut 1122e can be tightened to resist the sleeve 1122b to achieve the fixation of the sleeve 1122b. Through the above arrangement, the length of the sleeve 1122b between the first support member 111 and the support plate 1123 can be adjusted, and then the distance between the movable head 1121 and the first support member 111 can be adjusted. The material holding assembly 11 can be used to place silicon carbide crystals 300 of different thicknesses, thereby improving the flexibility and versatility of the material holding assembly 11.

[0054] As another optional implementation, the movable head 1121 can also be movable relative to the first support member 111 in a driven telescopic manner. Specifically, the movable head 1121 can be moved relative to the first support member 111 by a hydraulic drive device, a pneumatic drive device, an electric drive device, and the like. For example, a hydraulic drive device can be connected behind the movable head 1121, and when in use, the movable head 1121 can be controlled to reciprocate by the drive device.

[0055] As another optional implementation, the second support member 112 can be moved as a whole relative to the first support member 111 to adjust the accommodation space between the two, so that the accommodation space can accommodate silicon carbide crystals 300 of various thicknesses. In this way, the movement of the second support member 112 can be similar to the movement of the movable head 1121 described above, and will not be repeated here.

[0056] As an optional implementation, the automatic feeding device 100 provided in the embodiment of the present application includes a plurality of material holding components 11, so that the silicon carbide crystals 300 can be prepared in advance and placed on the material holding components 11 to improve work efficiency.

[0057] The automatic feeding device provided in the embodiment of the present application also includes a manipulator component, such as Figure 4 , Figure 5 As shown, the manipulator assembly 12 includes a support frame 122, a transverse moving part 123, a rotating part 124, a radial motion part 125 and a manipulator 121. The transverse moving part 123 includes a first guide rail 1231 and a base 1232 arranged on the first guide rail 1231, and the base 1232 can move along the first guide rail 1231; the rotating part 124 is fixedly connected to the base 1232 through the support frame 122; the radial motion part 125 includes a second guide rail 1251 and a gripper mounting seat 1252, the second guide rail 1251 is fixedly connected to the rotating part 124, the second guide rail 1251 rotates with the rotating part 124, the gripper mounting seat 1252 is arranged on the second guide rail 1251, the gripper mounting seat 1252 can move along the second guide rail 1251, and the gripper mounting seat 1252 is fixedly connected to the manipulator 121.

[0058] Specifically, the base 1232 is mounted on the first guide rail 1231, and the base 1232 can move along the first guide rail 1231. Specifically, the first guide rail 1231 is provided with two slide rails, and the base 1232 is provided with a slide groove. The base 1232 is mounted on the two slide rails of the first guide rail 1231 through the slide groove. The two slide rails can provide a more uniform support force for the base 1232 at different positions, so that the base 1232 can move smoothly on the slide rail. The base 1232 is fixedly connected to the support frame 122, and the side of the support frame 122 away from the base 1232 is fixedly connected to the rotating part 124. In addition, the rotating part 124 is fixedly connected to the second guide rail 1251, and the gripper mounting seat 1252 is mounted on the second guide rail 1251. Specifically, the second guide rail 1251 can rotate with the rotating part 124, thereby changing the direction of the second guide rail. The second guide rail 1251 is provided with two slide rails, and the gripper mounting seat 1252 is provided with a slide groove, and the gripper mounting seat 1252 is mounted on the two slide rails of the second guide rail 1251 through the slide groove. Through the above arrangement, the gripper mounting seat 1252 can move along the two slide rails of the second guide rail 1251 in the radial direction of the rotating surface of the rotating part 124. The manipulator 121 is connected to the gripper mounting seat 1252, and is responsible for the gripping and placing operations of the mounting plate 200, and the manipulator 121 can change the gripping direction as the second guide rail 1251 rotates, and the gripping is more flexible.

[0059] Through the above arrangement, the robot arm 121 can achieve multi-dimensional movement capabilities such as lateral movement and radial movement on the rotating surface of the rotating part 124, thereby completing the precise grasping and stable conveying operations of the silicon carbide crystal 300.

[0060] In addition, the shape of the manipulator 121 needs to be set according to the shape of the mounting plate 200. For example, when the shape of the mounting plate 200 is set to be cylindrical, the clamping part of the manipulator 121 also needs to be set to a groove that can stably clamp the cylinder, so that the manipulator 121 can clamp the mounting plate 200 more firmly, preventing the mounting plate 200 from falling off when the manipulator 121 moves, thereby improving the clamping stability and ensuring the reliability and safety of the silicon carbide crystal 300 during transportation.

[0061] As an optional implementation, the rotating portion 124 includes a pneumatic indexing plate 1241 , and a rotation plane of the pneumatic indexing plate 1241 is substantially perpendicular to the horizontal direction.

[0062] Specifically, the pneumatic dividing plate 1241 can accurately control the rotation angle of the second guide rail 1251. The rotation plane of the pneumatic dividing plate 1241 is basically perpendicular to the horizontal direction. Through this arrangement, the manipulator 121 can clamp the installation disk 200 placed vertically or horizontally on the tray 11 from top to bottom, and rotate the angle of the second guide rail 1251 after completing the clamping of the installation disk 200, so that the manipulator 121 can approach the rolling machine along the second guide rail 1251, and place the silicon carbide crystal 300 between the head and tail stock of the rolling machine to realize loading.

[0063] As an optional implementation manner, the direction of the first guide rail 1231 is parallel to the rotation plane of the pneumatic indexing plate 1241 .

[0064] Specifically, the rotation plane of the pneumatic indexing plate 1241 is parallel to the direction of the first guide rail 1231. When the manipulator 121 clamps the silicon carbide crystal 300 on the tray 11, when the manipulator 121 transports the silicon carbide crystal 300 to the head and tail of the rolling machine, the pneumatic indexing plate 1241 only needs to rotate the second guide rail 1251 to a preset angle, and then control the manipulator 121 to move on the second guide rail 1251 and control the base 1232 to move on the first guide rail 1231, so that the silicon carbide crystal 300 can be transported to the head and tail of the rolling machine with the end face facing the head and tail of the rolling machine. In this process, the manipulator 121 does not need to adjust the angle of the silicon carbide crystal 300, thereby simplifying the structure and operation process of the manipulator assembly 12, and enhancing the accuracy and stability of the manipulator assembly 12.

[0065] In order to better illustrate the working method of the automatic feeding device 100 provided in the embodiment of the present application, the collaborative working process of the automatic feeding device 100 and the rounding machine will be described below.

[0066] Step S1, fix the silicon carbide crystal 300 to the mounting plate 200, usually by waxing, and place the mounting plate 200 with the silicon carbide crystal 300 fixed on the material holding component 11.

[0067] Step S2 , the manipulator 121 adjusts the clamping direction of the manipulator 121 to be perpendicular to the bottom plate 1124 of the material holding assembly 11 by rotating the pneumatic indexing plate 1241 .

[0068] Step S3 : The robot arm 121 descends in the vertical direction along the second guide rail 1251 to clamp the mounting plate 200 on which the silicon carbide crystal 300 is fixed and located on the material holding assembly 11 .

[0069] Step S4, after ensuring that the robot 121 stably clamps the mounting plate 200, the robot rises in the vertical direction along the second guide rail 1251, lifts the mounting plate 200 out of the material holding assembly 11, and moves it to a sufficient height to avoid the silicon carbide crystal 300 from touching the material holding assembly 11 during feeding.

[0070] Step S5, the pneumatic indexing plate 1241 rotates the second guide rail 1251 to a preset angle, the base moves along the first guide rail 1231 to approach the head and tail clamping seats of the rolling machine, and the manipulator 121 moves along the second guide rail 1251 to transport the silicon carbide crystal 300 between the head and tail clamping seats of the rolling machine. At this time, the end face of the silicon carbide crystal 300 and the end face of the mounting plate 200 are facing the head and tail clamping seats of the rolling machine. After the head and tail clamping seats of the rolling machine clamp the silicon carbide crystal 300, the manipulator 121 releases the clamping and returns to complete the loading operation.

[0071] Step S6, after the silicon carbide crystal 300 completes the rounding process, the manipulator 121 moves toward the direction of the rounding machine to clamp the mounting plate 200 between the head and tail stock of the rounding machine. Afterwards, the head and tail stock of the rounding machine release the clamping, and the manipulator 121 moves the mounting plate 200 fixed with the silicon carbide crystal 300 and places it on the idle material holding component 11 to complete the unloading operation.

[0072] The above disclosure is only the preferred embodiment of the present application, but it is not intended to limit the scope of rights of the present application. A person of ordinary skill in the art can understand that without departing from the spirit and scope of the present application and the appended claims, changes, modifications, substitutions, combinations, and simplifications should all be equivalent replacement methods and still fall within the scope of the invention.

Claims

1. An automatic feeding device (100) for loading and unloading silicon carbide crystals (300) during external cylindrical rolling, characterized in that: The device comprises: A manipulator component (12), a material holding component (11), The material holding component (11) is used to place materials, the materials comprising silicon carbide crystals (300) and a mounting plate (200) fixedly connected to the silicon carbide crystals (300), and the manipulator component (12) grabs the materials through the mounting plate (200); The material holding assembly (11) comprises a first support member (111) and a second support member (112); the first support member (111) is fixedly connected to the second support member (112); a holding space is formed between the first support member (111) and the second support member (112); the holding space is used to place the material; the first support member (111) and the second support member (112) cooperate to clamp and limit the material, thereby limiting the pitch freedom of the material and the translation freedom of the material along the axis of the mounting plate (200).

2. The automatic feeding device (100) according to claim 1, characterized in that: A movable head (1121) is provided on one side of the second support member (112) close to the first support member (111), and the movable head (1121) can move relative to the first support member (111) to adjust the size of the accommodation space.

3. The automatic feeding device (100) according to claim 2, characterized in that: The movable head (1121) moves relative to the first support member (111) in the form of elastic telescopic or driven telescopic movement.

4. The automatic feeding device (100) according to claim 2, characterized in that: The movable head (1121) comprises a roller seat (1121a) and a roller (1121b), wherein the roller (1121b) is mounted on the roller seat (1121a), and when the material is placed in the accommodating space, the roller (1121b) abuts against the end surface of the silicon carbide crystal (300) that is away from the mounting plate (200).

5. The automatic feeding device (100) according to claim 1, characterized in that: The first support member (111) is a plate-shaped structure, and is provided with a mounting plate placement portion (1111) and a mounting plate support surface (1112); the mounting plate placement portion (1111) is used to place the mounting plate (200); the mounting plate support surface (1112) is parallel to a preset plane, and is used to cooperate with the second support member (112) to limit the pitch freedom of the mounting plate (200) and the translation freedom along the axis of the mounting plate (200); when the mounting plate (200) is placed on the mounting plate placement portion (1111), the mounting plate support surface (1112) abuts against the end surface of the mounting plate (200) that is away from the silicon carbide crystal (300).

6. The automatic feeding device (100) according to claim 5, characterized in that: The installation plate placement portion (1111) is provided with a positioning groove.

7. The automatic feeding device (100) according to claim 5, characterized in that: The second support member (112) further comprises a guide structure (1122), a support plate (1123) and a bottom plate (1124), wherein the bottom plate (1124) is fixedly connected to the first support member (111), and the bottom plate (1124) is fixedly connected to the support plate (1123). The guide structure (1122) is fixedly connected to the support plate (1123), and a movable head (1121) is provided on a side of the guide structure (1122) close to the first support member (111), and the guide structure (1122) is used to guide the movable head (1121) to move in a direction perpendicular to the mounting plate support surface (1112).

8. The automatic feeding device (100) according to claim 1, characterized in that: The robot assembly (12) comprises a support frame (122), a lateral movement portion (123), a rotation portion (124), a radial movement portion (125), and the robot (121). The transverse movement portion (123) comprises a first guide rail (1231) and a base (1232) arranged on the first guide rail (1231), and the base (1232) is capable of moving along the first guide rail (1231); The rotating part (124) is fixedly connected to the base (1232) via the support frame (122); The radial motion part (125) includes a second guide rail (1251) and a gripper mounting seat (1252), wherein the second guide rail (1251) is fixedly connected to the rotating part (124), and the second guide rail (1251) rotates following the rotating part (124), and the gripper mounting seat (1252) is arranged on the second guide rail (1251), and the gripper mounting seat (1252) can move along the second guide rail (1251), and the gripper mounting seat (1252) is fixedly connected to the manipulator (121).

9. The automatic feeding device (100) according to claim 8, characterized in that: The rotating part (124) comprises a pneumatic indexing plate (1241), and the rotation plane of the pneumatic indexing plate (1241) is substantially perpendicular to the horizontal direction.

10. The automatic feeding device (100) according to claim 9, characterized in that: The direction of the first guide rail (1231) is parallel to the rotation plane of the pneumatic indexing plate (1241).

Images