Crystal transferring mechanism, automatic crystal feeding and discharging device and crystal processing system

Abstract

The utility model provides a crystal transfer mechanism, an automatic crystal feeding and discharging device and a crystal processing system, the crystal transfer mechanism comprises a support, a transfer driver, a clamping unit and a grabbing and releasing driver, and the support is movably arranged on an external machine body; the transferring driver is connected with the support and used for driving the support to move back and forth between the holding station and the machining station. The clamping unit is arranged on the support, can move back and forth relative to an external machine body along with the support and comprises a first clamping jaw and a second clamping jaw, and a clamping jaw channel used for being coaxially matched with a crystal is arranged between the first clamping jaw and the second clamping jaw. The grabbing and releasing driver is connected with the clamping unit and used for driving the first clamping jaw and the second clamping jaw to move relatively so as to clamp and release the crystal.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductor device production, in particular to a crystal transfer mechanism, an automatic crystal loading and unloading device and a crystal processing system. Background Art

[0002] After the growth of silicon carbide crystals is completed, grinding is required. The crystal preparation process includes crystal loading and unloading and crystal grinding. Crystal loading and unloading is the process of transporting the crystal to be ground to the processing station where the crystal grinding device is located to grind the crystal to be ground, and taking away the ground crystal. The crystal to be ground is also called crystal rough material, and the ground crystal is the intermediate product obtained after grinding and removing the material from the crystal to be ground.

[0003] At present, crystal loading and unloading is a manual operation. The operator needs to hold the crystal to be ground with both hands and send the crystal to be ground to the headstock chuck of the crystal grinding device, and then control the tailstock of the crystal grinding device to be close to the headstock until the crystal to be ground is clamped and fixed by the headstock chuck and the tailstock chuck before releasing the crystal to be ground with both hands. Obviously, manual loading and unloading of crystals is not only inefficient but also prone to safety accidents. In addition, manual loading and unloading of crystals is difficult to meet the positioning accuracy requirements of crystal grinding processing. Utility Model Content

[0004] In view of this, the utility model provides a crystal transfer mechanism, an automatic crystal loading and unloading device and a crystal processing system which can grasp and carry crystals to replace manual loading and unloading.

[0005] The crystal transfer mechanism provided by the utility model comprises

[0006] A bracket, movably disposed on the external body;

[0007] A transfer driver connected to the bracket is used to drive the bracket to move back and forth between the holding station and the processing station;

[0008] The clamping unit is arranged on the bracket and can follow the bracket to move back and forth relative to the external body, and includes a first clamping jaw and a second clamping jaw, and a clamping jaw channel for coaxially adapting the crystal is provided between the first clamping jaw and the second clamping jaw;

[0009] The pick-and-place driver is connected to the clamping unit and is used to drive the first clamping jaw and the second clamping jaw to move relative to each other to clamp and release the crystal.

[0010] Compared with the prior art, the crystal transfer mechanism of the utility model can clamp the crystal through the clamping unit, and control the size of the clamping claw channel through the grasping and releasing driver so that the size of the clamping claw channel matches the size of the crystal to be clamped. When the crystal is clamped by the clamping unit, the clamping unit and the clamped crystal can be controlled by the transfer driver to follow the bracket from the holding station to the processing station to load the crystal, and the clamping unit and the clamped crystal can be controlled to follow the bracket from the processing station to the holding station to unload the crystal. Therefore, the crystal transfer mechanism of the utility model can replace manual crystal grasping and crystal loading and unloading and carrying, thereby eliminating potential safety hazards, reducing labor costs and improving production efficiency.

[0011] In one embodiment, a movable connection is formed between the bracket and the external body along a preset transfer track, so that the bracket can move back and forth between the holding station and the processing station along the preset transfer track.

[0012] With this arrangement, the clamping unit and the clamped crystal can move precisely along the preset transfer track following the bracket. Whether the crystal to be polished moves from the holding station to the processing station, or the polished crystal moves from the processing station to the holding station, the posture of the crystal will not be affected.

[0013] In one embodiment, the transfer drive includes a transfer drive source disposed on an external body and a transfer screw connected to the transfer drive source. The transfer screw is rotatably mounted on the external body and threadedly connected to the bracket so that the bracket moves along the axial direction of the transfer screw as the transfer drive drives the transfer screw to rotate.

[0014] With this arrangement, the transfer screw provides a larger transmission ratio, thereby being able to more accurately control the accuracy of the axial movement of the bracket, the clamping unit and the clamped crystal along the transfer screw, ensuring that the crystal can accurately reach the processing station and accurately return to the holding station.

[0015] In one embodiment, the extension direction of the preset transfer track is parallel to the axial direction of the transfer screw.

[0016] With such arrangement, the bracket can smoothly drive the clamping unit and the clamped crystal to translate steadily along the preset transfer trajectory under the drive of the transfer driver, and jamming is not likely to occur between the bracket and the external body, or between the bracket and the transfer screw.

[0017] In one embodiment, the clamping unit also includes a grab and release screw connected to the grab and release drive, the grab and release screw is rotatably mounted on the bracket, at least one of the first clamp and the second clamp is threadedly connected to the grab and release screw, and is movably connected to the bracket along the axial direction of the grab and release screw.

[0018] With this arrangement, the gripping and releasing screw can provide a larger transmission ratio, thereby being able to more accurately control the amplitude of the relative movement between the first jaw and the second jaw, and further more accurately control the size of the jaw channel, ensuring that the size of the jaw channel better matches the crystal to be clamped.

[0019] In one embodiment, the first jaw and the second jaw are both movably connected to the bracket along the axial direction of the grasping and releasing screw rod, and the grasping and releasing screw rod includes a first screw segment and a second screw segment arranged coaxially, and the first jaw and the second jaw are respectively threadedly connected to the first screw segment and the second screw segment, and the thread rotation direction of the first screw segment is opposite to the thread rotation direction of the second screw segment.

[0020] With this arrangement, the composition, structure and actuation of the transfer device are further simplified. Only one grab and release driver and one grab and release screw are required to simultaneously drive the first clamping jaw and the second clamping jaw to move toward and away from each other along the axial direction of the grab and release screw.

[0021] In one embodiment, the first clamping jaw and the second clamping jaw are symmetrical about the crystal clamping mid-plane, the first screw segment and the second screw segment are symmetrical about the crystal clamping mid-plane, and the crystal clamping mid-plane is perpendicular to the axis of the gripping screw.

[0022] With such arrangement, within the same period of time, the stroke of the axial movement of the first jaw along the first screw segment is equal to the stroke of the axial movement of the second jaw along the second screw segment, and the axial position of the jaw channel can remain fixed. No matter the first jaw and the second jaw move toward or away from each other, the axis of the jaw channel is always located within the mid-plane of the crystal clamp, so that the first jaw and the second jaw can contact the crystal to be clamped at the same time.

[0023] In one embodiment, the clamping unit also includes at least one end clamp, the first clamp and / or the second clamp include an end support portion, and the end clamp is arranged on the first clamp and / or the second clamp; along the axial direction of the clamp channel, any end clamp and any end support portion are respectively at different positions.

[0024] With such an arrangement, the clamping unit can clamp the crystal in a variety of clamping methods. When clamping the crystal to be ground, the end clamping jaws and the end support portion can be used to respectively press the flat end and the curved end of the crystal to be ground. After the crystal grinding process is completed, the first clamping jaw and the second clamping jaw can be used to clamp the peripheral side of the ground crystal, thereby ensuring that both the crystal to be ground and the ground crystal can be firmly clamped.

[0025] In one embodiment, each end clamp includes a flip shaft rotatably connected to the first clamp or the second clamp, a trigger portion connected to the flip shaft, and an end surface pressing portion connected to the flip shaft;

[0026] For any end clamping jaw: the triggering portion is located on the side of the first clamping jaw close to the second clamping jaw or on the side of the second clamping jaw close to the first clamping jaw, and the end surface pressing portion is bent relative to the triggering portion in a direction close to the center of the clamping jaw channel.

[0027] With such arrangement, as the grasping and releasing driver controls the first jaw and the second jaw to approach each other and thus approach the crystal to be ground, the circumferential side of the crystal to be ground will apply pressure to the trigger part. After the trigger part is subjected to the force, it will immediately cause the end jaw to flip relative to the first jaw or the second jaw, thereby driving the end face clamping part to gradually approach the curved end of the crystal to be ground. Therefore, the driving of the first jaw and the second jaw by the grasping and releasing driver can be converted into the end face clamping part gradually approaching and thereby clamping the crystal to be ground, and finally the crystal to be ground is clamped by the end face clamping part and the end support part.

[0028] In one embodiment, the clamping unit further comprises at least one side pushing portion, the side pushing portion corresponds to the end clamping jaws one by one, each side pushing portion is slidably provided on the first clamping jaw or the second clamping jaw along a side pushing direction, and the side pushing direction is parallel to a speed direction when the first clamping jaw moves relative to the second clamping jaw;

[0029] Each side pushing portion includes a first force-bearing portion and a second force-bearing portion. The first force-bearing portion is located at one end of the side pushing portion away from the center of the clamping jaw channel and abuts against the triggering portion. The second force-bearing portion is located at one end of the side pushing portion close to the center of the clamping jaw channel for abutting against the crystal.

[0030] In this arrangement, as the grasping and releasing driver controls the first jaw and the second jaw to approach each other and thus approach the crystal to be ground, the circumferential side of the crystal to be ground indirectly applies pressure to the triggering part through the side pushing part, the circumferential side of the crystal to be ground applies pressure to the second force-bearing part, and the first force-bearing part applies pressure to the triggering part, thereby causing the end jaw to flip and drive the end face clamping part to approach the curved end of the crystal to be ground.

[0031] In one embodiment, the clamping unit further includes at least one fixed seat, which corresponds to the side push portion one by one. Each fixed seat is installed on the first clamping jaw or the second clamping jaw. The fixed seat is provided with a side push guide groove, and the side push portion can be slidably installed in the side push guide groove.

[0032] With such arrangement, the side push portion can accurately translate along the side push guide groove, thereby accurately triggering the end clamping jaw to flip, ensuring that the end clamping jaw quickly presses the curved end of the crystal to be ground.

[0033] In one embodiment, the clamping unit also includes at least one fixed seat, which corresponds to the side thrust part one by one, and each fixed seat is installed on the first clamping jaw or the second clamping jaw. The clamping unit also includes a rolling body rotatably arranged on the fixed seat, and the side thrust part is rollingly connected to the rolling body.

[0034] With such arrangement, rolling friction is generated between the side thrust part and the rolling element when the side thrust part moves, which means that the side thrust part is subjected to less resistance, thereby alleviating the wear of the side thrust part and thus extending the service life of the clamping unit.

[0035] In one embodiment, the first jaw includes a first circumferential support portion facing the second jaw, the second jaw includes a second circumferential support portion facing the first jaw, and a jaw channel is formed between the first circumferential support portion and the second circumferential support portion; along the axial direction of the jaw channel, the first circumferential support portion and the second circumferential support portion are in the same position.

[0036] With such an arrangement, the clamping unit can clamp the crystal in a variety of clamping methods. After obtaining the polished crystal, it is only necessary to place the polished crystal in the clamping jaw channel. The first clamping jaw and the second clamping jaw are then controlled by the grasping and releasing driver to approach each other, so that the peripheral side of the polished crystal can be clamped through the first peripheral side support part and the second peripheral side support part.

[0037] In one embodiment, a first V-shaped groove opening toward the second clamping jaw is provided on a side of the first circumferential support portion close to the second clamping jaw; and / or a second V-shaped groove opening toward the first clamping jaw is provided on a side of the second circumferential support portion close to the first clamping jaw.

[0038] With such an arrangement, any one of the first V-shaped groove and the second V-shaped groove can form two contact points with the peripheral side of the polished crystal. For example, the side wall of the first V-shaped groove forms two contact points with the peripheral side of the polished crystal. In this way, the second clamp forms at least one contact point with the peripheral side of the crystal and the polished crystal, and the peripheral side of the polished crystal can be supported and fixed at three points, thereby improving the clamping stability of the polished crystal.

[0039] In one embodiment, at least one end jaw is disposed at the bottom of the first V-shaped groove and extends toward the center of the jaw channel; and / or, at least one end jaw is disposed at the bottom of the second V-shaped groove and extends toward the center of the jaw channel.

[0040] With this arrangement, the position of the end clamp is more suitable for the end clamp and the end support to clamp and fix the crystal from both ends of the crystal respectively, thereby increasing the upper limit of the pressure that the end clamp can apply to the crystal and improving the stability of the crystal after being clamped by the end clamp and the end support.

[0041] In one embodiment, the first clamping jaw includes a first guide rail and a first clamping arm, the first guide rail and the second clamping jaw are arranged side by side and spaced apart on the bracket, and the first clamping arm is movably arranged along the first guide rail on a side of the first guide rail close to the second clamping jaw; and / or,

[0042] The second clamping jaw comprises a second guide rail and a second clamping arm. The second guide rail and the first clamping jaw are arranged side by side and at intervals on the bracket. The second clamping arm is movably arranged on one side of the second guide rail close to the first clamping jaw along the second guide rail.

[0043] With such an arrangement, by moving the first clamping arm along the first guide rail and / or the second clamping arm along the second guide rail, the height position of the clamping channel can be changed so that the clamping channel better matches and adapts to the crystal to be clamped, ensuring that the clamping unit can smoothly obtain the crystal to be ground from the holding station, and ensuring that the clamping unit can smoothly release the ground crystal at the holding station, preventing the crystal at the holding station and the clamping channel from being unable to coaxially fit together, resulting in failure to clamp the crystal, and reducing the risk of the crystal falling.

[0044] In one embodiment, the first clamping jaw further comprises a first support and a first self-aligning screw, the first support is arranged on the bracket and carries the first guide rail, the first self-aligning screw is rotatably arranged on the first support and is threadedly connected to the first clamping arm, and the length direction of the first guide rail is consistent with that of the first self-aligning screw; and / or,

[0045] The second clamping jaw also includes a second support and a second self-aligning screw. The second support is arranged on the bracket and carries the second guide rail. The second self-aligning screw is rotatably arranged on the second support and is threadedly connected to the second clamping arm. The length direction of the second guide rail is consistent with that of the second self-aligning screw.

[0046] With such a configuration, the movement of the first clamp arm along the first guide rail can be achieved by driving the first self-aligning screw to rotate relative to the first support, and the first self-aligning screw can provide a larger transmission ratio, thereby accurately controlling the movement range of the first clamp arm along the first guide rail; the movement of the second clamp arm along the second guide rail can be achieved by driving the second self-aligning screw to rotate relative to the second support, and the second self-aligning screw can provide a larger transmission ratio, thereby accurately controlling the movement range of the second clamp arm along the second guide rail, and ultimately achieving precise adjustment of the height position of the clamping jaw channel.

[0047] In one embodiment, the first clamping jaw further includes a first support and a first self-aligning elastic member, the first support is arranged on the bracket and carries the first guide rail, the first self-aligning elastic member connects the first support and the first clamping arm, and is used to drive the first clamping arm to move along the first guide rail through elastic deformation; and / or,

[0048] The second clamping jaw also includes a second support and a second self-aligning elastic member. The second support is arranged on the bracket and carries the second guide rail. The second self-aligning elastic member connects the second support and the second clamping arm and is used to drive the second clamping arm to move along the second guide rail through elastic deformation.

[0049] In this way, the movement of the first clamp arm along the first guide rail is achieved by the elastic deformation of the first centering elastic part, and the movement of the second clamp arm along the second guide rail is achieved by the elastic deformation of the second centering elastic part. The movement of the first clamp arm and the movement of the second clamp arm are both adaptive. The first clamp arm automatically compresses the first centering elastic part or automatically stretches the first centering elastic part under the pressure of the crystal. The second clamp arm automatically compresses the second centering elastic part or automatically stretches the second centering elastic part under the pressure of the crystal. Finally, the height position of the clamping jaw channel is adaptively changed to coaxially adapt to the crystal.

[0050] In one embodiment, the bracket includes a sliding frame and a mounting frame, the sliding frame is movably arranged on the external body and includes a reversing shaft, the mounting frame is rotatably connected to the sliding frame around the reversing shaft, the clamping unit is arranged on the mounting frame, and the axial direction of the reversing shaft is perpendicular to the axis of the clamping claw channel.

[0051] With such an arrangement, on the one hand, the mounting frame can drive the clamping unit to move relative to the external body along with the sliding frame, and on the other hand, the mounting frame can drive the clamping unit to rotate around the reversing axis to change the posture of the crystal clamped by the clamping unit. During the crystal grinding process, when one end of the crystal is ground by the grinding wheel, the clamping unit can be used to clamp the crystal to temporarily remove the crystal from the crystal grinding device, and then the mounting frame is controlled to rotate around the reversing axis to make the other end of the crystal face the grinding wheel, and then the crystal is positioned by the crystal grinding device to allow the other end of the crystal to be ground.

[0052] In one embodiment, the crystal transfer mechanism further includes a reversing driver connected to the mounting frame, and the reversing driver is used to drive the mounting frame to rotate around the reversing axis relative to the sliding frame.

[0053] With this arrangement, when one end of the crystal is ground by the grinding wheel, the crystal transfer mechanism can automatically control the mounting frame, the clamping unit and the crystal to rotate around the reversing axis through the reversing drive, thereby automatically rotating the other end of the crystal to face the grinding wheel, further improving the degree of automation.

[0054] The automatic crystal loading and unloading device provided by the utility model comprises a machine body, a transmission part, a crystal holding part and a crystal transfer mechanism.

[0055] The machine body includes a material channel defining a conveying track, and the material channel includes a loading section and a unloading section connected to a holding station and a processing station;

[0056] The conveying part is movably arranged on the material channel, and is used to bring the crystal to be ground along the material loading section to the holding station, and to bring the ground crystal away from the holding station along the material loading section;

[0057] The support is movably arranged on the machine body and can be driven by the transfer driver to move back and forth between the holding station and the processing station;

[0058] The crystal holding member is arranged at the holding station, and is used to transport the crystal to be ground from the loading section to the clamping unit, and to transport the ground crystal from the clamping unit to the unloading section.

[0059] The automatic crystal loading and unloading device of the present invention can transport the crystal to be ground to the holding station through the loading section, and the crystal holding part will move the crystal to be ground that arrives at the holding station to the clamping unit waiting at the holding station, and then the transfer driver drives the bracket to transport the clamping unit and the crystal to be ground to the processing station for crystal grinding. After the crystal grinding is completed, the clamping unit clamps and obtains the ground crystal, and the transfer driver drives the bracket to transport the clamping unit and the ground crystal back to the holding station, and then the crystal holding part moves the ground crystal that arrives at the holding station to the unloading section, and finally the unloading section transports the ground crystal off the production line. Therefore, the automatic crystal loading and unloading device of the present invention can replace manual labor and eliminate potential safety hazards. The higher degree of automation can reduce labor costs and improve production efficiency.

[0060] The crystal processing system provided by the utility model comprises a crystal grinding device and an automatic crystal loading and unloading device located at a processing station. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic diagram of the structure of an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0062] Figure 2 This is a schematic diagram of the structure of an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0063] Figure 3 for Figure 2 A partial enlarged schematic diagram of the automatic crystal loading and unloading device shown;

[0064] Figure 4 This is a partial structural schematic diagram of an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0065] Figure 5 This is a partial structural schematic diagram of an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0066] Figure 6 It is a structural schematic diagram of a crystal holding member of an automatic crystal loading and unloading device according to an embodiment of the utility model in a first state;

[0067] Figure 7 It is a schematic structural diagram of a crystal holding member of an automatic crystal loading and unloading device according to an embodiment of the utility model in a second state;

[0068] Figure 8 A schematic diagram of the structure of a positioning member in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0069] Fig. 9 This is a partial structural schematic diagram of an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0070] Fig.10 It is a partial structural schematic diagram of a transfer device in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0071] Fig.11 It is a partial structural schematic diagram of a transfer device in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0072] Fig.12 for Fig.11 A schematic diagram of a part of the structure of the transfer device shown in another perspective;

[0073] Fig.13 It is a partial structural schematic diagram of a clamping unit in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0074] Fig.14 It is a partial structural schematic diagram of a clamping unit in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0075] Fig.15 It is a partial structural schematic diagram of a clamping unit in an automatic crystal loading and unloading device according to an embodiment of the utility model;

[0076] Fig.16 It is a schematic diagram of the operating principle of the end clamp in the automatic crystal loading and unloading device according to one embodiment of the utility model;

[0077] Fig.17 This is a schematic structural diagram of an automatic crystal loading and unloading device according to another embodiment of the utility model;

[0078] Fig.18 for Fig.17 A partial structural schematic diagram of an automatic crystal loading and unloading device shown;

[0079] Fig.19 for Fig.17 A schematic diagram of the structure of a clamping unit in an automatic crystal loading and unloading device;

[0080] Fig. 20 for Fig.17 A schematic diagram of the partial structure of the clamping unit in the automatic crystal loading and unloading device shown.

[0081] Description of reference numerals:

[0082] 10. Machine body; 11. Material channel; 1101. First material guide rack; 1102. Second material guide rack; 1103. Avoidance slot; 1104. Lifting and placing channel; 111. Loading section; 112. Unloading section; 12. Transfer guide rack; 13. Column; 14. Stand;

[0083] 20. Conveying part; 201. Loading conveying part; 202. Unloading conveying part; 21. Roller; 22. Avoidance gap;

[0084] 30. carrier; 31. bracket; 311. sliding frame; 312. mounting frame; 32. clamping unit; 321. first clamping jaw; 3211. first support; 3212. first guide rail; 3213. first clamping arm; 3214. first clamping block; 3214a. first end support; 3214b. first circumferential support; 3214c. first V-shaped groove; 3215. first self-aligning screw rod; 3216. first self-aligning elastic member; 322. second clamping jaw; 3221. second support; 3222. second guide rail; 3223. second clamping arm; 3224. second clamping block; 3224a. second ... 3224b, second peripheral support portion; 3224c, second V-shaped groove; 3225, second self-aligning screw; 3226, second self-aligning elastic member; 323, clamping jaw channel; 324, clamping jaw opening; 325, grasping and releasing screw; 3251, first screw segment; 3252, second screw segment; 326, end clamping jaw; 3261, turning shaft; 3262, triggering portion; 3263, end face pressing portion; 327, side pushing portion; 3271, first force bearing portion; 3272, second force bearing portion; 328, fixing seat; 3281, side pushing guide groove; 3282, rolling element; 33, grasping and releasing driver;

[0085] 40. Crystal holding part; 41. Pick-and-place driving part; 42. Turning part; 43. Crystal holding part;

[0086] 50, positioning member; 51, stopper; 511, correction end; 512, positioning V-shaped groove; 52, clamping part; 53, positioning drive part; 54, lifting drive part;

[0087] 60. Transfer driver; 61. Transfer drive source; 62. Transfer lead screw; 70. Reversing driver; 200. Crystal. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0089] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0090] The utility model provides a crystal transfer mechanism, an automatic crystal loading and unloading device including the crystal transfer mechanism, and a crystal processing system including the automatic crystal loading and unloading device. The crystal transfer mechanism is used to replace manual labor to grasp, carry and transport crystals. The automatic crystal loading and unloading device is used to replace manual labor to complete the crystal loading link of transferring crystals to a processing station where a crystal grinding device is located, and the crystal unloading link of taking the crystal back from the processing station. The crystal processing system also includes a crystal grinding device, which is used to automatically load, grind and unload crystals.

[0091] For the convenience of description, the crystal that has not been ground by the crystal grinding device before being transported to the processing station is referred to as the crystal to be ground 200, and the crystal that has been ground by the crystal grinding device is referred to as the ground crystal 200. Taking silicon carbide crystal as an example, both the crystal to be ground 200 and the ground crystal 200 are in the shape of flat discs, and the shape of the ground crystal 200 is closer to a regular cylinder, and one end of the crystal to be ground 200 is a plane, and the other end is a curved surface that arches outward, so the two ends of the crystal to be ground 200 are respectively called the flat end and the curved surface end. In addition, the peripheral side of the crystal to be ground 200 is not a cylindrical surface, but has a certain taper, that is, the peripheral side of the crystal to be ground 200 is similar to the outer cylindrical surface of a truncated cone. The ground crystal 200 is obtained by grinding at least the curved surface end and the peripheral side of the crystal to be ground 200 by the crystal grinding device.

[0092] Combination Figure 1-2 The automatic crystal loading and unloading device of the utility model is briefly introduced. The automatic crystal loading and unloading device comprises a machine body 10 , a transmission part 20 , a crystal transfer mechanism and a crystal holding member 40 .

[0093] The machine body 10 includes a material channel 11 defining a conveying track. The material channel 11 includes a loading section 111 and a unloading section 112 connected to a holding station. The conveying track includes a loading track defined by the loading section 111 and a unloading track defined by the unloading section 112. One end of the loading section 111 away from the unloading section 112 extends to an upper work area, and one end of the unloading section 112 away from the loading section 111 extends to a lower work area. The crystal 200 to be ground goes on line from the upper work area, and the ground crystal 200 goes off line in the lower work area.

[0094] The conveying part 20 includes a loading conveying part 201 movably arranged at the loading section 111 and a unloading conveying part 202 movably arranged at the unloading section 112. The loading conveying part 201 is used to bring the crystal 200 to be ground along the loading track defined by the loading section 111 to the holding station to prepare for loading the crystal 200 to be ground to the crystal grinding device. The unloading conveying part 202 is used to bring the ground crystal 200 away from the holding station along the unloading track defined by the unloading section 112 to make the ground crystal 200 unloaded.

[0095] The crystal transfer mechanism includes a transfer device 30 and a transfer driver 60. The transfer device 30 includes a support 31 movably arranged on the body 10 along a preset transfer trajectory, a clamping unit 32 arranged on the support 31 and capable of following the movement of the support 31 relative to the body 10, and a grabbing and placing driver 33 connected to the clamping unit 32; the transfer driver 60 is connected to the support 31 and is used to drive the support 31, the clamping unit 32 and the clamped crystal to move back and forth between the holding station and the processing station where the crystal grinding device is located; the clamping unit 32 is connected to the support 31 and is used to drive the support 31, the clamping unit 32 and the clamped crystal to move back and forth between the holding station and the processing station where the crystal grinding device is located; The element 32 includes a first clamping jaw 321 and a second clamping jaw 322, and a clamping jaw channel 323 for coaxially adapting the crystal is provided between the first clamping jaw 321 and the second clamping jaw 322. After the crystal is clamped by the first clamping jaw 321 and the second clamping jaw 322, the axis of the clamping jaw channel 323 coincides or approximately coincides with the axis of the crystal; the grasping and releasing driver 33 is used to drive the first clamping jaw 321 and the second clamping jaw 322 to move relatively close to and away from each other to change the shape and size of the clamping jaw channel 323 so as to clamp and release the crystal;

[0096] The crystal holding member 40 is arranged at the holding station, and is used to transport the crystal 200 to be polished that arrives at the holding station along the loading track from the loading section 111 to the clamping unit 32 waiting at the holding station, and to transport the polished crystal 200 that returns to the holding station from the clamping unit 32 of the return value holding station to the unloading section 112.

[0097] The operation process of the crystal transfer mechanism for crystal clamping and carrying, and the automatic crystal loading and unloading device for crystal automatic loading and unloading is as follows:

[0098] The crystal 200 to be ground is put on line from the loading area to the loading section 111 - the loading section 111 transports the crystal 200 to be ground along the loading track to the holding station - the crystal holding member 40 transports the crystal 200 to be ground that has arrived at the holding station from the loading section 111 to the clamping unit 32 waiting at the holding station - the clamping unit 32 clamps the crystal 200 to be ground and the crystal holding member 40 releases the crystal 200 to be ground - the transfer driver 60 drives the clamping unit 32 and the crystal 200 to be ground to move synchronously with the bracket 31 along the preset transfer track to the processing station - the crystal grinding device grinds the crystal 200 to be ground And obtain the polished crystal 200 - the clamping unit 32 clamps the polished crystal 200 at the processing station - the transfer driver 60 drives the clamping unit 32 and the polished crystal 200 to synchronously follow the bracket 31 along the preset transfer trajectory to return to the holding station - the crystal holding part 40 obtains the polished crystal 200 and the clamping unit 32 releases the polished crystal 200 - the crystal holding part 40 transports the polished crystal 200 returned to the holding station to the unloading section 112 - the unloading section 112 transports the polished crystal 200 to the unloading area along the unloading trajectory - the polished crystal 200 arrives at the unloading area and is unloaded from the unloading section 112.

[0099] In some embodiments, the body 10 includes a transfer guide frame 12 that defines a preset transfer trajectory, and a sliding fit is formed between the bracket 31 and the transfer guide frame 12 to allow the bracket 31 to reciprocate relative to the transfer guide frame 12 along the preset transfer trajectory, thereby achieving reciprocating movement between the holding station and the processing station.

[0100] Figure 1-2 , Fig. 9 In the illustrated embodiment, the machine body 10 further includes a column 13 extending in the vertical direction, the transfer guide frame 12 is fixed to the column 13 and suspended above the material channel 11, the extension direction of the preset transfer track is the length direction of the transfer guide frame 12, the transfer guide frame 12 extends in the horizontal straight direction, the loading section 111 and the unloading section 112 are connected at the holding station to form a connecting section extending in the horizontal straight direction, and the connecting section is perpendicular to the transfer guide frame 12. The transfer driver 60 drives the bracket 31 to reciprocate horizontally and linearly along the transfer guide frame 12, and the clamping unit 32 and the clamped crystal follow the bracket 31 to move back and forth horizontally between the holding station and the processing station.

[0101] Further, see Figure 1-2 , Fig. 9The transfer driver 60 includes a transfer drive source 61 disposed on the machine body 10 and a transfer screw 62 connected to the transfer drive source 61. The transfer screw 62 is rotatably mounted on the machine body 10 and is threadedly connected to the bracket 31. The axial direction of the transfer screw 62 is parallel to the preset transfer track and is also parallel to the extension direction of the transfer guide frame 12. When the transfer drive source 61 drives the transfer screw 62 to rotate relative to the machine body 10, the bracket 31 is driven by the thread of the transfer screw 62 to translate along the axial direction of the transfer screw 62. By adjusting the rotation direction of the transfer screw 62, the bracket 31 and the clamping unit 32 are moved closer to the holding station or the processing station.

[0102] Fig.17 The material channel 11 is omitted in the automatic crystal loading and unloading device shown, and the transfer guide frame 12 can be configured to be suspended relative to the material channel 11, or to be arranged at the same height as the material channel 11, or to be lower than the material channel 11 in the vertical direction. In other embodiments, the connection section formed by the connection between the loading section 111 and the unloading section 112 does not have to be perpendicular to the transfer guide frame 12, and the connection section does not have to be perpendicular to the transfer screw 62; in addition, the transfer driver 60 can also be a driving cylinder, a push rod motor, etc. that can drive the bracket 31 to move along the transfer guide frame 12. When the transfer driver 60 is a driving cylinder or a push rod motor, the transfer screw 62 can be omitted.

[0103] In some embodiments, the crystal holding member 40 includes a pick-and-place drive unit 41, a flipping unit 42 connected to the pick-and-place drive unit 41, and a crystal holding unit 43 provided on the flipping unit 42. The pick-and-place drive unit 41 is used to generate power for holding and placing the crystal. The flipping unit 42 rotates around a preset flipping axis under the drive of the pick-and-place drive unit 41, and the crystal holding unit 43 rotates synchronously around the flipping axis following the flipping unit 42 to move the crystal 200 to be polished away from the loading section 111 and to the clamping unit 32 waiting at the holding station, and to move the polished crystal 200 from the clamping unit 32 returning to the holding station to the lower section 112.

[0104] See 1~ Figure 2 , Figure 4-5 and Figure 6-7The machine body 10 also includes a stand 14 arranged at the bottom of the material channel 11, and the pick-up and placement drive part 41 is installed on the stand 14. The flip axis for the flip part 42 to rotate extends horizontally and is parallel to the connecting section formed by the upper material section 111 and the lower material section 112. The conveying part 20 is a roller 21 rotatably arranged on the material channel 11, so that the polished crystal 200 is prevented from being deflected when the crystal holding part 43 returns the polished crystal 200 to the conveying part 20, thereby reducing the risk of the polished crystal 200 falling from the conveying gap formed between the rollers 21; the crystal holding part 43 can be a suction cup for adsorbing the end of the crystal, and the crystal holding part 43 is formed with an adsorption cavity. The crystal holding part 40 also includes a negative pressure generating part and a negative pressure channel. The negative pressure channel is connected to the negative pressure generating part and extends to the crystal holding part 43, thereby penetrating the cavity wall of the adsorption cavity. When the crystal holding part 43 is attached to the end of the crystal, the end face of the crystal and the crystal holding part 43 close the adsorption cavity, and then the negative pressure generating part is started, and the gas in the adsorption cavity is sucked through the negative pressure channel. Thus, the crystal holding part 43 adsorbs and fixes the crystal to achieve the holding of the crystal. The crystal holding part 40 can release the crystal by simply replenishing the gas into the adsorption cavity.

[0105] In some embodiments, the crystal holding portion 43 is configured to be able to move back and forth between a first stop position and a second stop position. Figure 6 The state of the crystal holding member 40 when the crystal holding portion 43 is in the first stop position is shown. Figure 7 The state of the crystal holding member 40 when the crystal holding portion 43 is in the second stop position is shown. Figure 3 The crystal holding portion 43 is indicated by a mark 43a when it is in the first stop position, and the crystal holding portion 43 is indicated by a mark 43b when it is in the second stop position. When the crystal holding portion 43 is in the first stop position, the axis of the crystal holding portion 43 extends vertically and is perpendicular to the flip axis and the extension direction of the preset transfer track. At this time, the crystal holding portion 43 can fit the end of the crystal and adsorb and fix the crystal; when the crystal holding portion 43 is in the second stop position, the axis of the crystal holding portion 43 extends horizontally and is perpendicular to the flip axis. At this time, the axis of the crystal holding portion 43 is parallel to the extension direction of the preset transfer track. The transfer device 30 directly obtains the crystal 200 to be polished from the crystal holding portion 43 in the second stop position, and then it can approach the processing station under the drive of the transfer driver 60. After the transfer device 30 carries the polished crystal 200 back to the holding station, the crystal holding portion 43 in the second stop position can directly obtain the polished crystal 200 from the transfer device 30. Optionally, when the crystal holding portion 43 moves back and forth between the first stop position and the second stop position, the pick-and-place driving portion 41 drives the flipping portion 42 to rotate 90° around the flip axis.

[0106] Further, see Figure 3 , Figure 5The material channel 11 is provided with an avoidance groove 1103 and a lifting and placing channel 1104 connected to the avoidance groove 1103. The avoidance groove 1103 penetrates at least one side of the material channel 11 toward the processing station where the crystal grinding device is located. The conveying part 20 includes a plurality of rollers 21 arranged in sequence into a conveying queue along the conveying track. The rollers 21 can carry the crystal placed on the rollers 21. The rollers 21 convey the crystal along the conveying track by rotating relative to the material channel 11. Optionally, whether the crystal 200 to be ground or the crystal 200 has been ground, the crystal can be placed flat on the rollers 21, and the axis of the crystal placed flat on the rollers 21 extends vertically. There is an avoidance gap 22 connected to the avoidance groove 1103 formed between two adjacent rollers 21. The avoidance groove 1103 and the avoidance gap 22 can be turned over by the flipping part 42 under the drive of the pick-and-place drive part 41, thereby allowing the crystal holding part 43 to go back and forth between the first stop position and the second stop position. When the crystal holding portion 43 follows the turning portion 42 to turn over and move back and forth between the first stop position and the second stop position, the crystal holding portion 43 passes through the lifting and placing channel 1104 .

[0107] It should be noted that when the crystal is placed on the roller 21, the flat end of the crystal faces the ground and contacts the roller 21, and the curved end of the crystal is away from the ground. When the crystal holding part 43 adsorbs and fixes the crystal, the crystal holding part 43 fits the flat end of the crystal. Compared with fitting and adsorbing the curved end, fitting and adsorbing the flat end can enhance the adsorption reliability between the crystal holding part 43 and the crystal, thereby avoiding the failure of the negative pressure environment in the adsorption cavity and causing the crystal to fall.

[0108] See also Figure 2-Figure 3 , Figure 5 The material channel 11 includes a first material guide frame 1101 and a second material guide frame 1102 arranged side by side and spaced apart, a lifting and placing channel 1104 is formed between the first material guide frame 1101 and the second material guide frame 1102, both of which extend along the conveying track, and a avoidance groove 1103 is provided at one of the first material guide frame 1101 and the second material guide frame 1102 that is relatively close to the processing station where the crystal grinding device is located. When the crystal holding portion 43 is in the first stop position, the crystal holding portion 43 is not higher than the conveying portion 20 and the material channel 11 in the vertical direction. When the material channel 11 and the conveying portion 20 are viewed from above, one end of the crystal holding portion 43 used for adsorbing the crystal is located at the end of the crystal holding portion 43 that is away from the ground and is visible through the lifting and placing channel 1104; when the crystal holding portion 43 is in the second stop position, the crystal holding portion 43 is higher than the conveying portion 20 and the material channel 11 in the vertical direction.

[0109] Specifically, the first guide rack 1101 includes a first loading guide rack and a first unloading guide rack sequentially arranged along the conveying track, the second guide rack 1102 includes a second loading guide rack and a second unloading guide rack sequentially arranged along the conveying track, the loading section 111 includes a first loading guide rack and a second loading guide rack, and the unloading section 112 includes a first unloading guide rack and a second unloading guide rack. The conveying part 20 is divided into two columns, one column of conveying parts 20 is movably arranged on the side of the first guide rack 1101 facing the second guide rack 1102, and the column of conveying parts 20 includes a plurality of rollers 21 sequentially arranged in a queue along the conveying track, and the other column of conveying parts 20 is movably arranged on the side of the second guide rack 1102 facing the first guide rack 1101, and the column of conveying parts 20 also includes a plurality of rollers 21 sequentially arranged in a queue along the conveying track. In some embodiments, the avoidance groove 1103 is formed between the first loading guide rack and the first unloading guide rack. In other embodiments, the avoidance groove 1103 is formed between the second loading guide rack and the second unloading guide rack.

[0110] Furthermore, the multiple loading conveying parts 201 are further divided into two groups, and the two groups of loading conveying parts 201 are respectively movably arranged on the first loading material guide frame and the second loading material guide frame, and the unloading conveying parts 202 are divided into two groups, and the two groups of unloading conveying parts 202 are respectively movably arranged on the first unloading material guide frame and the second unloading material guide frame, and the interval between the two groups of loading conveying parts 201 and the interval between the two groups of unloading conveying parts 202 are connected to form a lifting and placing channel 1104, and the minimum width of the lifting and placing channel 1104 is not less than the maximum width of the crystal holding part 43, so that the crystal holding part 43 can smoothly go back and forth between the first stop position and the second stop position without interfering with the conveying part 20. The minimum width of the lifting and placing channel 1104 is taken from the smaller value of the minimum spacing between the two groups of loading conveying parts 201 and the minimum spacing between the two groups of unloading conveying parts 202.

[0111] Therefore, when the crystal 200 to be ground arrives at the holding station along the loading section 111, the crystal holding part 43 waiting at the first stop position can absorb the flat end of the crystal 200 to be ground, and the absorption position is the part where the flat end of the crystal 200 to be ground is exposed by the lifting and placing channel 1104 and faces the crystal holding part 43, and then the pick-up and placement drive part 41 drives the flipping part 42 to flip through the avoidance groove 1103 and the avoidance gap 22, and the crystal holding part 43 passes through the lifting and placing channel 1104 to realize that the crystal holding part 43 switches from a state not higher than the conveying part 20 to a state higher than the conveying part 20, and then the crystal holding part 43 drives the crystal 200 to be ground to move synchronously until the crystal holding part 43 arrives at the second stop position. The transfer device 30 obtains the crystal 200 to be ground from the crystal holding part 43 that arrives at the second stop position, and then sends the crystal 200 to be ground to the processing station for grinding. After the crystal 200 to be ground is processed into a polished crystal 200, the transfer device 30 returns the polished crystal 200 from the processing station to the holding station, waiting for the crystal holding part 43 at the second stop position to stick to and adsorb the flat end of the polished crystal 200 again, and then the pick-and-place drive part 41 drives the flipping part 42 to flip through the avoidance groove 1103 and the avoidance gap 22 again, and the crystal holding part 43 holding the polished crystal 200 passes through the lifting and placing channel 1104 again, and the crystal holding part 43 switches from a state higher than the conveying part 20 to a state not higher than the conveying part 20. After returning to the first stop position, the crystal holding part 43 places the polished crystal 200 on the unloading conveying part 202 and releases the adsorption of the polished crystal 200, and then the polished crystal 200 can be brought to the lower part area by the unloading section 112.

[0112] In some embodiments, the crystal holding member 40 further includes a pressure sensing module connected to the crystal holding portion 43. The pressure sensing module is used to sense the pressure of the crystal reacting to the crystal holding portion 43 when the crystal holding portion 43 adsorbs and fixes the crystal. The pressure value measured by the pressure sensing module can be used as a basis for judging whether the crystal holding portion 43 has sufficiently adsorbed and fixed the crystal, and also as a release signal for releasing the polished crystal 200 after the clamping unit 32 returns to the holding station. When the pressure value measured by the pressure sensing module is greater than a preset critical value, it indicates that the air pressure in the adsorption cavity meets the level of firmly adsorbing the crystal on the crystal holding portion 43, thereby controlling the crystal holding portion 43 to move from the first stop position to the second stop position to move the to-be-polished crystal 200 away from the material channel 11 and the conveying portion 20, and controlling the clamping unit 32 to release the polished crystal 200 so that the crystal holding portion 43 moves from the second stop position to the first stop position and moves the polished crystal 200 away from the clamping unit 32.

[0113] In some embodiments, the crystal holding member 40 further includes an air pressure sensing module disposed in the adsorption cavity, and the air pressure sensing module is used to sense the air pressure in the adsorption cavity when the crystal holding portion 43 adsorbs and fixes the crystal. The air pressure value measured by the air pressure sensing module can be used as a basis for judging whether the crystal holding portion 43 has sufficiently adsorbed and fixed the crystal, and also as a release signal for the clamping unit 32 to release the polished crystal 200 after returning to the holding station. When the air pressure value measured by the air pressure sensing module is greater than a preset critical value, it indicates that the air pressure in the adsorption cavity meets the level for firmly adsorbing the crystal to the crystal holding portion 43, thereby controlling the crystal holding portion 43 to move from the first stop position to the second stop position to move the to-be-polished crystal 200 away from the material channel 11 and the conveying portion 20, and controlling the clamping unit 32 to release the polished crystal 200 so that the crystal holding portion 43 moves from the second stop position to the first stop position and moves the polished crystal 200 away from the clamping unit 32.

[0114] As mentioned above, the shapes of the crystal to be ground 200 and the ground crystal 200 are in the shape of a flat cylindrical disk cover. In order to make the clamping unit 32 adapt to the clamping and carrying of the crystal, the space area defined by the clamping jaw channel 323 is roughly in the shape of a flat column. When the crystal is clamped between the first clamping jaw 321 and the second clamping jaw 322 by the clamping unit 32, the axis of the crystal coincides or approximately coincides with the axis of the clamping jaw channel 323, and the axis of the clamping jaw channel 323 is also the center of the clamping jaw channel 323. In some embodiments, the first clamping jaw 321 and the second clamping jaw 322 have the same morphological structure. Under the drive of the pick-and-place driver 33, the first clamping jaw 321 and the second clamping jaw 322 can move simultaneously so as to approach or move away from each other, that is, the first clamping jaw 321 and the second clamping jaw 322 simultaneously approach or move away from the axis of the clamping jaw channel 323.

[0115] See also Figure 2-Figure 3 In some embodiments, the axis of the clamping channel 323 is a horizontal straight line parallel to the transfer guide frame 12, which means that when the crystal is clamped by the clamping unit 32 between the first clamping jaw 321 and the second clamping jaw 322, the axis of the crystal extends horizontally and is parallel to the axis of the transfer screw 62 and the transfer guide frame 12, so that the crystal always maintains a fixed posture when it is moved by the transfer device 30 between the holding station and the processing station. When the crystal holding part 43 is driven by the pick-and-place driving part 41 to the second stop position, the crystal holding part 43 is higher than the conveying part 20 and the material channel 11 in the vertical direction, and at this time, the crystal holding part 43 and the clamping channel 323 are arranged in sequence along the axial direction of the clamping channel 323. Such an arrangement can ensure that: when the crystal holding part 43 reaches the second stop position, the crystal 200 to be ground is directly placed in the clamping claw channel 323 and thus clamped by the clamping unit 32; it can also ensure that: when the clamping unit 32 returns from the processing station to the holding station, the flat end of the ground crystal 200 is directly attached to the crystal holding part 43 waiting at the second stop position.

[0116] See also Figure 3 Optionally, the clamping unit 32 is always higher than the material channel 11 and the conveying part 20 in the vertical direction. A clamping jaw opening 324 connected to the clamping jaw channel 323 is formed between the end of the first clamping jaw 321 and the end of the second clamping jaw 322. The clamping jaw opening 324 is vertically open to the ground. The gripping and placing driver 33 can change the opening width of the clamping jaw opening 324 by driving the first clamping jaw 321 and the second clamping jaw 322 to move relative to each other, and the size of the clamping jaw channel 323 also changes accordingly. During the movement of the crystal holding part 43 to the second stop position, the clamping jaw opening 324 open to the ground allows the flipping part 42 to be placed in the clamping jaw opening 324, thereby eliminating the risk of interference between the crystal holding part 40 and the clamping unit 32.

[0117] In other embodiments, the jaw opening 324 may also be opened vertically upward, such as Fig.17 In the automatic crystal loading and unloading device shown, the pick-up and placement drive unit 41 and the transfer guide frame 12 are both arranged on the stage 14 .

[0118] In some embodiments, the clamping unit 32 further includes a gripping screw 325 connected to the gripping driver 33, the gripping screw 325 is rotatably mounted on the bracket 31, at least one of the first clamping jaw 321 and the second clamping jaw 322 is threadedly connected to the gripping screw 325, and one of the first clamping jaw 321 and the second clamping jaw 322 that is threadedly connected to the gripping screw 325 is movably connected to the bracket 31 along the axial direction of the gripping screw 325. In this way, the gripping driver 33 drives the gripping screw 325 to rotate, thereby driving at least one of the first clamping jaw 321 and the second clamping jaw 322 to move along the axial direction of the gripping screw 325, thereby achieving relative movement between the first clamping jaw 321 and the second clamping jaw 322 and changing the size of the clamping jaw channel 323. Optionally, the first clamping jaw 321 and the second clamping jaw 322 are sequentially spaced and arranged on the bracket 31 along the axial direction of the gripping screw 325.

[0119] See also Figure 10-11 , Fig.19Optionally, the first clamping jaw 321 and the second clamping jaw 322 are both movably connected to the bracket 31 along the axial direction of the grab and release screw rod 325, and the grab and release screw rod 325 includes a first screw segment 3251 and a second screw segment 3252 that are coaxially connected. The first clamping jaw 321 is threadedly connected to the first screw segment 3251, and the second clamping jaw 322 is threadedly connected to the second screw segment 3252. The grab and release driver 33 drives the grab and release screw rod 325 to rotate, so that the first screw segment 3251 and the second screw segment 3252 can rotate synchronously, wherein the thread rotation direction of the first screw segment 3251 is opposite to the thread rotation direction of the second screw segment 3252. In this way, no matter in which direction the grab and release drive 33 drives the grab and release screw rod 325 to rotate, the speed direction of the first jaw 321 moving along the axial direction of the grab and release screw rod 325 is opposite to the speed direction of the second jaw 322 moving along the axial direction of the grab and release screw rod 325, thereby controlling the first jaw 321 and the second jaw 322 to move towards each other or away from each other at the same time.

[0120] Furthermore, the first clamping jaw 321 and the second clamping jaw 322 are symmetrically arranged with respect to the crystal clamping mid-plane, the first screw segment 3251 and the second screw segment 3252 are symmetrically arranged with respect to the crystal clamping mid-plane, the crystal clamping mid-plane is an imaginary plane, the crystal clamping mid-plane is perpendicular to the axial direction of the gripping and releasing screw rod 325 and cuts the gripping and releasing screw rod 325 into two equal parts, the first screw segment 3251 protrudes from one side of the crystal clamping mid-plane, and the second screw segment 3252 protrudes from the other side of the crystal clamping mid-plane. With such an arrangement, within the same period of time, the travel of the first clamping jaw 321 along the first screw segment 3251 and the travel of the second clamping jaw 322 along the second screw segment 3252 are equal, so that the axis of the clamping jaw channel 323 can be kept fixed, that is, the axis of the clamping jaw channel 323 is always within the crystal clamping mid-plane, and the first clamping jaw 321 and the second clamping jaw 322 can contact the crystal at the same time.

[0121] In some embodiments, the automatic crystal loading and unloading device further includes a positioning member 50 disposed at the holding station, and the positioning member 50 includes at least a stopper 51 movably disposed relative to the material channel 11, and the stopper 51 can move relative to the material channel 11 to a state protruding from the conveying portion 20, and can also move relative to the material channel 11 to a state lower than the conveying portion 20. When the stopper 51 protrudes relative to the conveying portion 20, the stopper 51 can abut and stop the crystal 200 to be polished that has arrived at the holding station and perform posture correction on the crystal 200 to be polished. After the posture deviation of the crystal 200 to be polished is corrected, the crystal holding portion 43 waiting at the first stop position can obtain the crystal 200 to be polished and move closer to the second stop position.

[0122] As mentioned above, the conveying unit 20 includes a plurality of rollers 21 arranged in sequence along the conveying track to form a conveying queue. Figure 2-Figure 3 , Figure 5Along the extension direction of the conveying track, a conveying gap is formed between any two adjacent rollers 21. The function of the conveying gap is that the stopper 51 originally lower than the conveying part 20 is able to protrude from the conveying part 20 by passing through the conveying gap. Specifically, the stopper 51 protrudes from the side of the conveying queue away from the ground. The stopper 51 protruding from the conveying part 20 can abut against the peripheral side of the crystal 200 to be ground, thereby stopping the crystal 200 to be ground. The stopper 51 protruding from the conveying part 20 can also pass through the conveying gap again to switch to a state lower than the conveying part 20, thereby allowing the crystal placed on the conveying part 20 to pass.

[0123] In addition, since the peripheral side of the crystal 200 to be polished has a taper, assuming that the diameter of the flat end of the crystal 200 to be polished is D1, and the diameter of the circular edge between the peripheral side and the curved end of the crystal 200 to be polished is D2, then D1 is usually smaller than D2, which is the case for silicon carbide crystals. Therefore, the force of the stopper 51 acting on the peripheral side of the crystal 200 to be polished includes a radial component perpendicular to the axial direction of the crystal 200 to be polished. The stopper 51 drives the crystal 200 to be polished to move slightly radially on the conveying part 20 by means of this radial component, thereby achieving the purpose of correcting the posture deviation of the crystal 200 to be polished.

[0124] Furthermore, in some embodiments, the positioning member 50 further includes a clamping portion 52 movably disposed relative to the material channel 11 and a positioning driving portion 53 connecting at least one of the stopper portion 51 and the clamping portion 52. Figure 4 , Figure 17-18 , similar to the stopper 51, the clamping part 52 can move relative to the material channel 11 to a state protruding from the conveying part 20, and can also move relative to the material channel 11 to a state lower than the conveying part 20. When the stopper 51 and the clamping part 52 both protrude relative to the side of the conveying part 20 away from the ground, the positioning drive part 53 can drive at least one of the stopper 51 and the clamping part 52 to make the two approach each other and clamp the crystal 200 to be ground that has arrived at the holding station. The stopper 51 and the clamping part 52 cooperate to clamp the surrounding side of the crystal 200 to be ground, which can more thoroughly eliminate or reduce the posture deviation of the crystal 200 to be ground. After the crystal 200 to be ground is moved away from the material channel 11 by the crystal holding part 40, the stopper 51 and the clamping part 52 move to a state lower than the conveying part 20, so that the loading section 111 can transport the remaining crystal 200 to be ground. Likewise, the clamping portion 52 switches between two states of protruding from the conveying portion 20 and being lower than the conveying portion 20 by moving movably through the conveying gap.

[0125] Optionally, the positioning driving portion 53 connects the stop portion 51 and the clamping portion 52 , and can drive the stop portion 51 and the clamping portion 52 to move toward each other and away from each other at the same time.

[0126] Furthermore, the positioning member 50 further includes a lifting driving portion 54 connected to the positioning driving portion 53, see Figure 1-2 , Figure 4 , Figure 8 , Figure 17-18 The lifting drive part 54 is installed on the platform 14 and is located below the material channel 11 and the conveying part 20. The stop part 51 and the clamping part 52 are both connected to the positioning drive part 53. The positioning drive part 53 is used to drive the stop part 51 and the clamping part 52 to move horizontally closer to each other or horizontally away from each other. The lifting drive part 54 is used to drive the positioning drive part 53 to rise and fall in the vertical direction. The stop part 51 and the clamping part 52 can move up and down in the vertical direction together with the positioning drive part 53, thereby realizing the vertical movement of the stop part 51 and the clamping part 52 in the conveying gap, so that the stop part 51 and the clamping part 52 can switch between the two states of protruding from the conveying part 20 and being lower than the conveying part 20.

[0127] Further, see Figure 4-5 , Figure 8 , Fig.18 At least one of the stopper 51 and the clamping part 52 includes a correction end 511. The correction end 511 may be the end of a positioning pin formed on the body of the stopper 51 or the body of the clamping part 52. When the stopper 51 and the clamping part 52 protrude from the conveying part 20, the positioning pin extends out of the conveying gap. The correction end 511 is the end of the positioning pin farthest from the conveying part 20. The correction end 511 may be provided with a chamfer. When the lifting drive part 54 drives the positioning drive part 53 to rise, the correction end 511 can rise together with the positioning drive part 53 to abut against the peripheral side of the crystal 200 to be polished. The setting of the chamfer makes the pressure of the correction end 511 on the crystal 200 to be polished have a component perpendicular to the axis of the crystal 200 to be polished. Therefore, the correction end 511 can drive the crystal 200 to be polished to move slightly horizontally in a direction perpendicular to the axis of the crystal 200 to be polished, thereby eliminating the posture deviation of the crystal 200 to be polished. After the crystal 200 to be polished is positioned and corrected in posture, the crystal holding portion 43 can directly bring the crystal 200 to be polished to a position coaxial with the clamping jaw channel 323 when it reaches the second stop position, so that the clamping unit 32 can more easily obtain the crystal 200 to be polished.

[0128] Optionally, see Figure 5Specifically, under the drive of the lifting drive part 54, the stopper part 51 extends from the conveying gap formed between the unloading conveying parts 202 and protrudes upward relative to the unloading conveying part 202, and the clamping part 52 extends from the conveying gap formed between the loading conveying parts 201 and protrudes upward relative to the loading conveying part 201. With such arrangement, the stop portion 51 and the clamping portion 52 can clamp the crystal 200 to be ground carried by the loading conveyor portion 201 and the unloading conveyor portion 202, which is equivalent to the crystal 200 to be ground being positioned and corrected in posture deviation by the positioning member 50 at the junction of the loading section 111 and the unloading section 112. The crystal holding portion 43 waiting in the first stop position can directly absorb the crystal 200 to be ground carried by the loading conveyor portion 201 and the unloading conveyor portion 202, and the crystal holding portion 43 waiting in the second stop position can directly move the polished crystal 200 back to the conveying portion 20, and finally the polished crystal 200 is jointly carried by the loading conveyor portion 201 and the unloading conveyor portion 202.

[0129] Further, see Figure 4-5 , Figure 8 , Fig.18 In some embodiments, a positioning V-shaped groove 512 is provided on one side of the stopper 51 relatively close to the clamping portion 52; and / or a positioning V-shaped groove 512 is provided on one side of the clamping portion 52 relatively close to the stopper 51. The setting of the positioning V-shaped groove 512 enables the stopper 51 and the clamping portion 52 to not only clamp the crystal 200 to be ground, but also to position and center the crystal 200 to be ground on the conveying portion 20 through the groove wall of the positioning V-shaped groove 512, so that the crystal 200 to be ground can be more easily coaxially adapted to the clamping jaw channel 323.

[0130] In some embodiments, the clamping unit 32 further includes at least one end jaw 326, at least one of the first jaw 321 and the second jaw 322 includes an end support portion, and the end jaw 326 is provided at least one of the first jaw 321 and the second jaw 322. In the extension direction of the axis of the jaw channel 323, any end jaw 326 and any end support portion are respectively located at different positions, so that the end jaw 326 and the end support portion can respectively press the axial ends of the crystal to clamp the crystal. Optionally, the end jaw 326 is used to press the curved end of the crystal, and the end support portion is used to press the flat end of the crystal. The purpose of providing the end jaw 326 and the end support portion is to better clamp the crystal 200 to be ground. The peripheral side of the crystal 200 to be ground has a taper, so it is not suitable to clamp the crystal 200 to be ground by clamping the peripheral side of the crystal 200 to be ground by the first jaw 321 and the second jaw 322.

[0131] It can be understood that in other embodiments, the end clamp 326 can also be used to press the flat end of the crystal, and the end support portion can also be used to press the curved end of the crystal; when clamping the polished crystal 200, the polished crystal 200 can be clamped by pressing the end clamp 326 and the end support portion on the axial ends of the polished crystal 200 respectively, or the polished crystal 200 can be clamped on the peripheral side of the polished crystal 200 by the first clamp 321 and the second clamp 322. The peripheral side of the polished crystal 200 is a cylindrical surface, and there is no risk of falling when the first clamp 321 and the second clamp 322 clamp the peripheral side of the polished crystal 200.

[0132] Specifically, see Figure 9-10 , Fig.11 , Fig.13 , Figure 19-20 The first clamping jaw 321 includes a first support 3211 and a first clamping arm 3213 connected to each other, and the second clamping jaw 322 includes a second support 3221 and a second clamping arm 3223 connected to each other; the first support 3211 is threadedly connected to the catch and release screw rod 325, and the second support 3221 is threadedly connected to the catch and release screw rod 325. Specifically, the first support 3211 is threadedly connected to the first screw segment 3251, and the second support 3221 is threadedly connected to the second screw segment 3252. In addition, the first support 3211 and the second support 3221 are both movably connected to the axial direction of the catch and release screw rod 325. Bracket 31; the first clamp arm 3213 and the second clamp arm 3223 both extend outwardly relative to the same side of the bracket 31, and the clamping claw channel 323 is formed between the first clamp arm 3213 and the second clamp arm 3223, so that the first support 3211 moves relative to the bracket 31 along the axial direction of the grab and release screw rod 325 and can drive the first clamp arm 3213 to move relative to the bracket 31 along the axial direction of the grab and release screw rod 325, and the second support 3221 moves relative to the bracket 31 along the axial direction of the grab and release screw rod 325 and can drive the second clamp arm 3223 to move relative to the bracket 31 along the axial direction of the grab and release screw rod 325.

[0133] Further, in some embodiments, the number of the end clamps 326 is two, and the two end clamps 326 have the same shape and structure, one of the end clamps 326 is rotatably disposed on a side of the first clamp arm 3213 close to the second clamp arm 3223, and the other end clamp 326 is rotatably disposed on a side of the second clamp arm 3223 close to the first clamp arm 3213, and each end clamp 326 includes a flip shaft 3261 rotatably connected to the first clamp arm 3213 or the second clamp arm 3223, a trigger portion 3262 connected to the flip shaft 3261, and an end face pressure portion 3262 connected to the flip shaft 3261. The tightening portion 3263, the axis of the flip shaft 3261 and the axis of the clamping jaw channel 323 are skewed and perpendicular; for the end clamping jaw 326 rotatably connected to the first clamping arm 3213, its triggering portion 3262 is located on the side of the first clamping arm 3213 close to the second clamping arm 3223; for the end clamping jaw 326 rotatably connected to the second clamping arm 3223, its triggering portion 3262 is located on the side of the second clamping arm 3223 close to the first clamping arm 3213; for any one of the end clamping jaws 326, the end face clamping portion 3263 is bent relative to the triggering portion 3262 in a direction close to the center of the clamping jaw channel 323.

[0134] Furthermore, the first clamping jaw 321 and the second clamping jaw 322 both include end support portions, see Figure 10-11 , Fig.13 , Figure 19-20 The first clamping jaw 321 includes a first clamping block 3214 fixed to the first clamping arm 3213, the second clamping jaw 322 includes a second clamping block 3224 fixed to the second clamping arm 3223, a first end support portion 3214a is formed on the side of the first clamping block 3214, and a second end support portion 3224a is formed on the side of the second clamping block 3224. Optionally, the first end support portion 3214a and the second end support portion 3224a are used to press the flat end of the crystal 200 to be polished, and both are planes perpendicular to the axis of the clamping jaw channel 323.

[0135] Furthermore, the first clamping jaw 321 further includes a first circumferential side support portion 3214b facing the second clamping jaw 322, and the second clamping jaw 322 further includes a second circumferential side support portion 3224b facing the first clamping jaw 321. The clamping jaw channel 323 is formed between the first circumferential side support portion 3214b and the second circumferential side support portion 3224b. The first circumferential side support portion 3214b and the second circumferential side support portion 3224b are used to abut against the circumferential side of the polished crystal 200. The first clamping jaw 321 and the second clamping jaw 322 clamp the polished crystal 200 through the first circumferential side support portion 3214b and the second circumferential side support portion 3224b. Figure 10-11 , Fig.19The first circumferential side support portion 3214b is formed on a side of the first clamping block 3214 close to the second clamping jaw 322, and the second circumferential side support portion 3224b is formed on a side of the second clamping block 3224 close to the first clamping jaw 321. In the axial direction along the clamping jaw channel 323, the first circumferential side support portion 3214b and the second circumferential side support portion 3224b are in the same position.

[0136] Furthermore, a first V-shaped groove 3214c with an opening toward the second clamping jaw 322 is provided on a side of the first circumferential side support portion 3214b close to the second clamping jaw 322, and a second V-shaped groove 3224c with an opening toward the first clamping jaw 321 is provided on a side of the second circumferential side support portion 3224b close to the first clamping jaw 321. The first circumferential side support portion 3214b can form two contact positions with the circumferential side of the polished crystal 200, and the two contact positions are respectively located at two groove walls of the first V-shaped groove 3214c, and the second circumferential side support portion 3224b can form two contact positions with the circumferential side of the polished crystal 200, and the two contact positions are respectively located at two groove walls of the second V-shaped groove 3224c. The first circumferential side support portion 3214b cooperates with the second circumferential side support portion 3224b to clamp the polished crystal 200 more firmly.

[0137] Further, one end jaw 326 is rotatably connected to the first clamp arm 3213 and protrudes relative to the bottom of the first V-shaped groove 3214c, and the other end jaw 326 is rotatably connected to the second clamp arm 3223 and protrudes relative to the bottom of the second V-shaped groove 3224c.

[0138] The operation mode of the end clamping jaw 326 and the end supporting portion for clamping the crystal 200 to be ground is as follows: when the crystal holding portion 43 reaches the second stop position and brings the crystal 200 to be ground into the clamping jaw channel 323, the grasping and releasing driver 33 drives the grasping and releasing screw rod 325 to rotate, driving the first support 3211 and the second support 3221 to move closer to each other along the axial direction of the grasping and releasing screw rod 325, and indirectly driving the first clamping arm 3213 and the second clamping arm 3223 to move closer to each other along the axial direction of the grasping and releasing screw rod 325, the first clamping arm 3213 and the second clamping arm 3223 gradually approach the peripheral side of the crystal 200 to be ground, and then the peripheral side of the crystal 200 to be ground applies pressure to the triggering portion 3262 of the end clamping jaw 326 provided on the first clamping arm 3213, and the crystal 200 to be ground Pressure is applied to the trigger portion 3262 of the end clamp 326 of the second clamp arm 3223 in the circumferential direction to trigger the two end clamps 326 to rotate around their respective flip axes 3261, and also to make the end pressing portions of the two end clamps 326 approach one end of the crystal 200 to be polished; while the first clamp arm 3213 and the second clamp arm 3223 approach each other, the first clamp block 3214 and the second clamp block 3224 also gradually approach each other, and when the first end support portion 3214a and the second end support portion 3224a abut against the flat end of the crystal 200 to be polished, the pressure of the crystal 200 to be polished on the two end clamps 326 makes the end face pressing portions 3263 of the two end clamps 326 abut against the curved end of the crystal 200 to be polished.

[0139] Furthermore, the clamping unit 32 further includes at least one side push portion 327, the number of side push portions 327 is equal to and corresponds to the end clamping jaws 326, and each side push portion 327 is slidably disposed on the first clamping jaw 321 or the second clamping jaw 322 along the side push direction, wherein the side push direction is parallel to the speed direction of the first clamping jaw 321 when it moves relative to the second clamping jaw 322, that is, the side push direction is parallel to the axial direction of the gripping and releasing screw rod 325. Figure 10 to Figure 12 , Fig.14 , Fig.19 The number of the side pushers 327 is two, and the clamping unit 32 further includes two fixing seats 328, which are respectively fixed to the first clamping arm 3213 and the second clamping arm 3223. The two side pushers 327 are respectively slidably arranged on the two fixing seats 328, and the two end clamping jaws 326 are respectively rotatably connected to the two fixing seats 328 through their respective flip shafts 3261. Each side pusher 327 includes a first force-bearing portion 3271 and a second force-bearing portion 3272, the first force-bearing portion 3271 is located at one end of the side pusher 327 away from the center of the clamping jaw channel 323 and abuts against the contact portion 3262, and the second force-bearing portion 3272 is located at the other end of the side pusher 327 close to the center of the clamping jaw channel 323 to abut against the peripheral side of the crystal.

[0140] With such arrangement, when the crystal holding portion 43 reaches the second stop position and places the crystal 200 to be ground in the jaw channel 323, as the grasping and releasing driver 33 controls the first jaw 321 and the second jaw 322 to approach the crystal 200 to be ground, the crystal 200 to be ground applies pressure to the side push portion 327 on the first jaw 321 and the side push portion 327 on the second jaw 322 through the circumferential side, and the crystal 200 to be ground pushes the second force-bearing portion 3272 of the side push portion 327, so that the side push portion 327 is driven to slide relative to the fixed seat 328, that is, as the first jaw 321 and the second jaw 322 approach each other, the two side push portions 327 slide away from each other, and then the side push portion 327 pushes the trigger portion 3262 through the first force-bearing portion 3271, thereby the two end jaws 326 are driven to rotate.

[0141] Optionally, see Figure 15-16 The number of the fixed seats 328 and the side pushers 327 is equal and one-to-one corresponding, and each fixed seat 328 is fixedly installed on one of the first clamping arm 3213 and the second clamping arm 3223. In some embodiments, the fixed seat 328 is provided with a side push guide groove 3281, and the side pusher 327 is slidably disposed in the side push guide groove 3281, and the side push guide groove 3281 defines the side push direction of the side pusher 327 sliding under the pressure of the crystal 200 to be polished; in other embodiments, the clamping unit 32 further includes a rolling body 3282 rotatably disposed on the fixed seat 328, and the side pusher 327 is rollingly connected to the rolling body 3282, and the provision of the rolling body 3282 can reduce the resistance of the side pusher 327 sliding under the pressure of the crystal 200 to be polished. Fig.16 The side push direction is indicated by a double-headed arrow S. When the first clamping jaw 321 and the second clamping jaw 322 are close to each other, the pressure of the crystal 200 to be polished on the side push portion 327 causes the side push portion 327 to move leftward along the arrow S. The side push portion 327 applies force to the trigger portion 3262 through the first force receiving portion 3271 to make the side push portion 3262 move leftward along the arrow S. Fig.16 The end jaw 326 is shown rotating clockwise about the tilt axis 3261 .

[0142] Optionally, there are two side pushers 327, one of which protrudes relative to the bottom of the first V-shaped groove 3214c and extends toward the axis of the clamping jaw channel 323, and the other side pusher 327 protrudes relative to the bottom of the second V-shaped groove 3224c and extends toward the axis of the clamping jaw channel 323. In this arrangement, as the first clamping jaw 321 and the second clamping jaw 322 approach each other, the peripheral side of the crystal 200 to be polished can first contact the second force-bearing parts 3272 of the two side pushers 327, thereby first driving the two end clamping jaws 326 to rotate through the two side pushers 327.

[0143] In other embodiments, the side-pushing direction of the side-pushing portion 327 when sliding relative to the first clamping jaw 321 or the second clamping jaw 322 does not necessarily have to be parallel to the axial direction of the gripping and releasing screw rod 325, but can be perpendicular to the axial direction of the clamping jaw channel 323; in addition, the side-pushing portion 327 can be eliminated, and the trigger portion 3262 can be directly abutted and pushed by the peripheral side of the crystal, so as to achieve the purpose of rotating the end clamping jaw 326 relative to the first clamping arm 3213 and the second clamping arm 3223.

[0144] In some embodiments, the first support 3211 is fixedly connected to the first clamping arm 3213, and the second support 3221 is fixedly connected to the second clamping arm 3223. Fig.17 , Figure 19-20 In other embodiments, the first support 3211 and the first clamp arm 3213 are movably connected, and the second support 3221 and the second clamp arm 3223 are movably connected. Specifically, the first clamping jaw 321 further includes a first guide rail 3212 fixedly arranged on the first support 3211, and the second clamping jaw 322 further includes a second guide rail 3222 fixedly arranged on the second support 3221. The first guide rail 3212 and the second guide rail 3222 are arranged side by side on the same side of the bracket 31, and the clamping jaw channel 323 is located between the first guide rail 3212 and the second guide rail 3222. The first clamping arm 3213 is movably arranged along the first guide rail 3212 on a side of the first guide rail 3212 close to the second clamping jaw 322, and the second clamping arm 3223 is movably arranged along the second guide rail 3222 on a side of the second guide rail 3222 close to the first clamping jaw 321. The first guide rail 3212 allows the first clamping arm 3213 to move relative to the first support 3211 , and the second guide rail 3222 allows the second clamping arm 3223 to move relative to the second support 3221 .

[0145] Optionally, the direction in which the first clamp arm 3213 moves relative to the first support 3211 along the first guide rail 3212 is perpendicular to the axial direction of the clamping jaw channel 323, and is also perpendicular to the axial direction of the catch and release wire rod 325, and the direction in which the second clamp arm 3223 moves relative to the second support 3221 along the second guide rail 3222 is perpendicular to the axial direction of the clamping jaw channel 323, and is also perpendicular to the axial direction of the catch and release wire rod 325. In this way, the first clamp arm 3213 and the second clamp arm 3223 can move relative to the first support 3211 and the second support 3221 at the same time, respectively, so as to change the position of the axis of the clamping jaw channel 323, and the axis of the clamping jaw channel 323 can thus be translated in the crystal clamping center plane to change the height position, and the distance from the axis of the clamping jaw channel 323 to the catch and release wire rod 325 is changed accordingly.

[0146] The purpose of the first guide rail 3212 and the second guide rail 3222 is that: when the crystal holding part 43 reaches the second stop position, if the height of the axis of the crystal 200 to be ground does not match the height of the axis of the jaw channel 323, the height of the jaw channel 323 can be changed by driving the first clamp arm 3213 and the second clamp arm 3223 to move along the first guide rail 3212 and the second guide rail 3222 respectively, until the axis of the jaw channel 323 and the axis of the crystal 200 to be ground match in height; when the crystal grinding process is completed and the ground crystal 200 needs to be transported back to the holding station, if the height of the ground crystal 200 in the crystal grinding device does not match the height of the jaw channel 323, the height of the jaw channel 323 can also be changed by driving the first clamp arm 3213 and the second clamp arm 3223 to move along the first guide rail 3212 and the second guide rail 3222 respectively, until the axis of the jaw channel 323 and the axis of the ground crystal 200 are at the same height.

[0147] Optionally, see Figure 10-11 , Fig.13 In some embodiments, the first clamping jaw 321 further includes a first self-aligning screw 3215, which is rotatably disposed on the first support 3211 and is threadedly connected to the first clamping arm 3213, and the extension direction of the first guide rail 3212 is parallel to the axial direction of the first self-aligning screw 3215. The second clamping jaw 322 further includes a second self-aligning screw 3225, which is rotatably disposed on the second support 3221 and is threadedly connected to the second clamping arm 3223, and the extension direction of the second guide rail 3222 is parallel to the axial direction of the second self-aligning screw 3225. Therefore, the first clamping arm 3213 and the second clamping arm 3223 can be driven to move along the first guide rail 3212 and the second guide rail 3222 respectively by manually rotating the first self-aligning screw 3215 and the second self-aligning screw 3225, so as to accurately adjust the height of the clamping jaw channel 323 and the axial position thereof.

[0148] Optionally, see Fig.12In some other embodiments, the first clamping jaw 321 also includes a first centering elastic member 3216, which connects the first support 3211 and the first clamping arm 3213, and can specifically be a first telescopic spring whose two ends are respectively connected to the first support 3211 and the first clamping arm 3213, and the first telescopic spring can undergo elastic telescopic deformation along the length direction of the first guide rail 3212, and the first centering elastic member 3216 is used to drive the first clamping arm 3213 to move along the first guide rail 3212 through its own elastic deformation, and the second clamping jaw 322 also includes a second centering elastic member 3226, which connects the second support 3221 and the second clamping arm 3223, and can specifically be a second telescopic spring whose two ends are respectively connected to the second support 3221 and the second clamping arm 3223, and the second telescopic spring can undergo elastic telescopic deformation along the length direction of the second guide rail 3222, and the second centering elastic member 3226 is used to drive the second clamping arm 3223 to move along the second guide rail 3222 through its own elastic deformation.

[0149] See also Fig.12 When the polished crystal 200 needs to be clamped by the clamping unit 32, if the axis height of the polished crystal 200 is inconsistent with the axis height of the clamping jaw channel 323, only one of the two groove walls of the first V-shaped groove 3214c on the first peripheral side support portion 3214b abuts against the peripheral side of the polished crystal 200, and only one of the two groove walls of the second V-shaped groove 3224c on the second peripheral side support portion 3224b abuts against the peripheral side of the polished crystal 200, then F1 and F2 represent the first peripheral side support portion 3214b respectively. The first and second peripheral support parts 3224b respectively act on the peripheral side of the polished crystal 200, F1' and F2' respectively represent the reaction forces applied by the polished crystal 200 to the first and second peripheral support parts 3214b and 3224b, and F1' and F2' can drive the first and second centering elastic members 3216 and 3226 to elastically deform, so that the first clamping arm 3213 and the second clamping arm 3223 can move relative to the first guide rail 3212 and the second guide rail 3222, respectively, and finally Fig.11 As shown, the two groove walls of the first V-shaped groove 3214c on the first circumferential side support portion 3214b are both in contact with the circumferential side of the polished crystal 200, and the two groove walls of the second V-shaped groove 3224c on the second circumferential side support portion 3224b are both in contact with the circumferential side of the polished crystal 200. In this way, the first clamping arm 3213 and the second clamping arm 3223 can firmly and reliably clamp the polished crystal 200, thereby realizing the adaptive change of the height of the clamping jaw channel 323.

[0150] By setting the first V-groove 3214c and the second V-groove 3224c, and controlling the axial relative movement of the first clamping jaw 321 and the second clamping jaw 322 along the grasping and releasing screw rod 325 through the grasping and releasing driver 33, the size of the clamping jaw channel 323 can be adjusted, and the clamping jaw channel 323 can coaxially adapt to crystals of different diameters, so that the clamping unit 32 can clamp crystals of various sizes and specifications, thereby improving the versatility of the crystal transfer mechanism.

[0151] In other embodiments, only one of the first V-groove 3214c and the second V-groove 3224c may be retained, so that the first clamp 321 and the second clamp 322 can still clamp the peripheral side of the polished crystal 200, so that the first clamp arm 3213, the second clamp arm 3223 and the peripheral side of the polished crystal 200 form three contact positions; in addition, only one end clamp 326, one side push portion 327 and one end support portion may be set, as long as the pressure exerted by one end clamp 326 and one end support portion on the two ends of the crystal respectively is sufficient to firmly clamp the crystal.

[0152] In other embodiments, the number of the grab and release screw rods 325 can also be two, the two grab and release screw rods 325 are arranged axially in parallel, and both can be rotatably installed on the bracket 31, the first support 3211 of the first clamp 321 is threadedly connected to one of the grab and release screw rods 325 and is movably adapted to the bracket 31 along the axial direction of the grab and release screw rod 325, the second support 3221 of the second clamp 322 is threadedly connected to the other grab and release screw rod 325 and is movably adapted to the bracket 31 along the axial direction of the grab and release screw rod 325, the grab and release driver 33 connects the two grab and release screw rods 325 and can drive the two grab and release screw rods 325 to rotate at the same time, thereby synchronously driving the first clamp 321 and the second clamp 322 to move closer to or away from each other. The thread rotation directions of the two grab and release screw rods 325 can be the same or opposite. Observe the ends of the two grab and release screw rods 325 respectively. If the two grab and release screw rods 325 rotate clockwise or counterclockwise, the thread rotation directions of the two are set to be opposite; conversely, if the rotation directions of the two grab and release screw rods 325 are opposite, the thread rotation directions of the two are set to be the same.

[0153] See also Figure 2 and Fig. 9In some embodiments, the support 31 includes a sliding frame 311 and a mounting frame 312, the sliding frame 311 is movably mounted on the transfer guide frame 12 of the machine body 10 along a preset transfer track, and the sliding frame 311 includes a reversing shaft, the mounting frame 312 is rotatably connected to the sliding frame 311 around the reversing shaft, and the clamping unit 32 is mounted on the mounting frame 312, wherein the axis of the reversing shaft is perpendicular to the axis of the clamping jaw channel 323, that is, when the crystal is clamped by the clamping unit 32 in the clamping jaw channel 323, the axis of the crystal and the axis of the reversing shaft are perpendicular to each other. Optionally, the axis of the reversing shaft is not only perpendicular to the axis of the clamping jaw channel 323, but also perpendicular to the axial direction of the gripping screw 325, Figure 1-2 , Fig. 9 In the illustrated embodiment, the axis of the reversing shaft extends in the vertical direction.

[0154] With such arrangement, on the one hand, the mounting frame 312 can drive the clamping unit 32 to follow the sliding frame 311 and translate relative to the transfer guide frame 12 along the preset transfer track, so that the clamping unit 32 can go back and forth between the holding station and the processing station, and on the other hand, the mounting frame 312 can drive the clamping unit 32 to rotate around the axis of the commutation shaft, and when the clamping unit 32 clamps the crystal, the position of the clamped crystal can be changed. When one end of the crystal located at the processing station is ground by the grinding wheel, the clamping unit 32 can temporarily clamp the crystal and temporarily remove the crystal from the crystal grinding device, and then control the mounting frame 312 to rotate around the commutation shaft, and the crystal rotates around the commutation shaft so that the other end of the crystal faces the grinding wheel, and then the crystal is positioned again by the crystal grinding device so that the grinding wheel can grind the other end of the crystal.

[0155] Further, see Figure 2 and Fig. 9 The crystal transfer mechanism further includes a reversing driver 70 connected to the mounting frame 312. The reversing driver 70 can be fixed to the sliding frame 311 and is used to drive the mounting frame 312 to rotate relative to the sliding frame 311 around the reversing axis. With such a configuration, when one end of the crystal is ground by the grinding wheel, the crystal transfer mechanism can automatically control the mounting frame 312, the clamping unit 32 and the crystal to rotate around the reversing axis through the reversing driver 70, thereby automatically rotating the other end of the crystal to face the grinding wheel, further improving the degree of automation.

[0156] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection required by the present invention.

Claims

1. A crystal transfer mechanism, characterized in that: include A bracket (31) movably disposed on the external body (10); A transfer driver (60) connected to the support (31) and used to drive the support (31) to move back and forth between a holding station and a processing station; A clamping unit (32), which is arranged on the support (31) and can follow the support (31) to move back and forth relative to the external body (10), and comprises a first clamping jaw (321) and a second clamping jaw (322), wherein a clamping jaw channel (323) for fitting the crystal (200) is provided between the first clamping jaw (321) and the second clamping jaw (322); A gripping and releasing driver (33) is connected to the clamping unit (32) and is used to drive the first clamping jaw (321) and the second clamping jaw (322) to move relative to each other so as to clamp and release the crystal (200).

2. The crystal transfer mechanism according to claim 1, characterized in that: The support (31) and the external body (10) are movably connected along a preset transfer track, so that the support (31) can move back and forth between the holding station and the processing station along the preset transfer track; and / or, The transfer drive (60) comprises a transfer drive source (61) arranged on the external body (10) and a transfer screw (62) connected to the transfer drive source (61); the transfer screw (62) is rotatably mounted on the external body (10) and is threadedly connected to the bracket (31), so that the bracket (31) moves along the axial direction of the transfer screw (62) as the transfer drive (60) drives the transfer screw (62) to rotate.

3. The crystal transfer mechanism according to claim 2, characterized in that: The extension direction of the preset transfer track is parallel to the axial direction of the transfer screw rod (62).

4. The crystal transfer mechanism according to claim 1, characterized in that: The clamping unit (32) also includes a grab and release screw rod (325) connected to the grab and release driver (33), the grab and release screw rod (325) is rotatably mounted on the bracket (31), at least one of the first clamping jaw (321) and the second clamping jaw (322) is threadedly connected to the grab and release screw rod (325), and is movably connected to the bracket (31) along the axial direction of the grab and release screw rod (325).

5. The crystal transfer mechanism according to claim 4, characterized in that: The first clamping jaw (321) and the second clamping jaw (322) are both movably connected to the bracket (31) along the axial direction of the grasping and releasing screw rod (325), and the grasping and releasing screw rod (325) includes a first screw segment (3251) and a second screw segment (3252) arranged coaxially. The first clamping jaw (321) and the second clamping jaw (322) are respectively threadedly connected to the first screw segment (3251) and the second screw segment (3252), and the thread rotation direction of the first screw segment (3251) is opposite to the thread rotation direction of the second screw segment (3252).

6. The crystal transfer mechanism according to claim 5, characterized in that: The first clamping jaw (321) and the second clamping jaw (322) are symmetrical about the crystal clamping mid-plane, the first screw segment (3251) and the second screw segment (3252) are symmetrical about the crystal clamping mid-plane, and the crystal clamping mid-plane is perpendicular to the axis of the grasping and releasing screw rod (325).

7. The crystal transfer mechanism according to any one of claims 1 to 6, characterized in that: The clamping unit (32) also includes at least one end clamp (326), the first clamp (321) and / or the second clamp (322) include an end support portion, and the end clamp (326) is arranged on the first clamp (321) and / or the second clamp (322); along the axial direction of the clamp channel (323), any end clamp (326) and any end support portion are respectively at different positions.

8. The crystal transfer mechanism according to claim 7, characterized in that: Each of the end clamping jaws (326) comprises a flip shaft (3261) rotatably connected to the first clamping jaw (321) or the second clamping jaw (322), a triggering portion (3262) connected to the flip shaft (3261), and an end face pressing portion (3263) connected to the flip shaft (3261); the triggering portion (3262) is located on a side of the first clamping jaw (321) close to the second clamping jaw (322) or a side of the second clamping jaw (322) close to the first clamping jaw (321), and the end face pressing portion (3263) is bent relative to the triggering portion (3262) in a direction close to the center of the clamping jaw channel (323).

9. The crystal transfer mechanism according to claim 8, characterized in that: The clamping unit (32) further comprises at least one side pushing portion (327), each of the side pushing portions (327) being slidably disposed on the first clamping jaw (321) or the second clamping jaw (322) along a side pushing direction, wherein the side pushing direction is parallel to a speed direction of the first clamping jaw (321) when the first clamping jaw (321) moves relative to the second clamping jaw (322); Each of the side pushing portions (327) includes a first force-bearing portion (3271) and a second force-bearing portion (3272), wherein the first force-bearing portion (3271) is located at one end of the side pushing portion (327) away from the center of the clamping jaw channel (323) and abuts against the trigger portion (3262), and the second force-bearing portion (3272) is located at one end of the side pushing portion (327) close to the center of the clamping jaw channel (323) for abutting against the crystal (200).

10. The crystal transfer mechanism according to claim 9, characterized in that: The clamping unit (32) further comprises at least one fixing seat (328), wherein the fixing seat (328) corresponds to the side pushing portion (327) one by one, and each fixing seat (328) is mounted on the first clamping jaw (321) or the second clamping jaw (322), wherein: The fixing seat (328) is provided with a side pushing guide groove (3281), and the side pushing portion (327) is slidably mounted in the side pushing guide groove (3281); and / or, The clamping unit (32) further comprises a rolling body (3282) rotatably arranged on the fixing seat (328), and the side thrust portion (327) is rollingly connected to the rolling body (3282).

11. The crystal transfer mechanism according to claim 7, characterized in that: The first clamping jaw (321) includes a first circumferential side support portion (3214b) facing the second clamping jaw (322), the second clamping jaw (322) includes a second circumferential side support portion (3224b) facing the first clamping jaw (321), and the clamping jaw channel (323) is formed between the first circumferential side support portion (3214b) and the second circumferential side support portion (3224b); Along the axial direction of the clamping jaw channel (323), the first circumferential side support portion (3214b) and the second circumferential side support portion (3224b) are located at the same position.

12. The crystal transfer mechanism according to claim 11, characterized in that: A first V-shaped groove (3214c) opening toward the second clamping jaw (322) is provided on a side of the first circumferential side support portion (3214b) close to the second clamping jaw (322); and / or a second V-shaped groove (3224c) opening toward the first clamping jaw (321) is provided on a side of the second circumferential side support portion (3224b) close to the first clamping jaw (321).

13. The crystal transfer mechanism according to claim 12, characterized in that: At least one of the end clamping jaws (326) is protruding from the bottom of the first V-shaped groove (3214c); and / or at least one of the end clamping jaws (326) is protruding from the bottom of the second V-shaped groove (3224c).

14. The crystal transfer mechanism according to any one of claims 1 to 6, characterized in that: The first clamping jaw (321) comprises a first guide rail (3212) and a first clamping arm (3213), the first guide rail (3212) and the second clamping jaw (322) are arranged side by side and spaced apart on the bracket (31), and the first clamping arm (3213) is movably arranged along the first guide rail (3212) on a side of the first guide rail (3212) close to the second clamping jaw (322); and / or, The second clamping jaw (322) comprises a second guide rail (3222) and a second clamping arm (3223); the second guide rail (3222) and the first clamping jaw (321) are arranged side by side and at intervals on the bracket (31); the second clamping arm (3223) is movably arranged along the second guide rail (3222) on one side of the second guide rail (3222) close to the first clamping jaw (321).

15. The crystal transfer mechanism according to claim 14, characterized in that: The first clamping jaw (321) further comprises a first support (3211) and a first self-aligning screw (3215), wherein the first support (3211) is arranged on the bracket (31) and carries the first guide rail (3212), the first self-aligning screw (3215) is rotatably arranged on the first support (3211) and is threadedly connected to the first clamping arm (3213), and the length direction of the first guide rail (3212) is consistent with that of the first self-aligning screw (3215); and / or, The second clamping jaw (322) also includes a second support (3221) and a second self-aligning screw (3225), wherein the second support (3221) is disposed on the bracket (31) and carries the second guide rail (3222), and the second self-aligning screw (3225) is rotatably disposed on the second support (3221) and is threadedly connected to the second clamping arm (3223), and the length direction of the second guide rail (3222) is consistent with that of the second self-aligning screw (3225).

16. The crystal transfer mechanism according to claim 14, characterized in that: The first clamping jaw (321) further comprises a first support (3211) and a first self-aligning elastic member (3216), wherein the first support (3211) is arranged on the bracket (31) and carries the first guide rail (3212), and the first self-aligning elastic member (3216) connects the first support (3211) and the first clamping arm (3213) and is used for driving the first clamping arm (3213) to move along the first guide rail (3212) through elastic deformation; and / or, The second clamping jaw (322) also includes a second support (3221) and a second centering elastic member (3226), wherein the second support (3221) is disposed on the bracket (31) and carries the second guide rail (3222), and the second centering elastic member (3226) connects the second support (3221) and the second clamping arm (3223) and is used for driving the second clamping arm (3223) to move along the second guide rail (3222) through elastic deformation.

17. The crystal transfer mechanism according to any one of claims 1 to 6, characterized in that: The bracket (31) comprises a sliding frame (311) and a mounting frame (312); the sliding frame (311) is movably arranged on the external body (10) and comprises a reversing shaft; the mounting frame (312) is rotatably connected to the sliding frame (311) around the reversing shaft; the clamping unit (32) is arranged on the mounting frame (312); and the axial direction of the reversing shaft is perpendicular to the axis of the clamping jaw channel (323).

18. The crystal transfer mechanism according to claim 17, characterized in that: The crystal transfer mechanism also includes a reversing driver (70) connected to the mounting frame, and the reversing driver (70) is used to drive the mounting frame (312) to rotate around the reversing axis relative to the sliding frame (311).

19. An automatic crystal loading and unloading device, characterized in that: It comprises a machine body (10), a transmission part (20), a crystal holding member (40), and a crystal transfer mechanism according to any one of claims 1 to 18, The machine body (10) comprises a material channel (11) defining a conveying track, and the material channel (11) comprises a loading section (111) and a unloading section (112) connected to a holding station and a processing station; The conveying part (20) is movably arranged on the material channel (11), and is used to bring the crystal to be ground along the material loading section (111) to the holding station, and to bring the ground crystal away from the holding station along the material unloading section (112); The support (31) is movably arranged on the machine body (10), and can be driven by the transfer driver (60) to move back and forth between the holding station and the processing station; The crystal holding member (40) is arranged at the holding station, and is used to transport the crystal to be ground from the loading section (111) to the clamping unit (32), and to transport the ground crystal from the clamping unit (32) to the unloading section (112).

20. A crystal processing system, characterized in that: It comprises a crystal grinding device located at a processing station and the automatic crystal loading and unloading device as claimed in claim 19.

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