Feeding and discharging device and guillotine shear

Abstract

The feeding and discharging device comprises a mechanical arm assembly and a material receiving trolley, the mechanical arm assembly comprises a driving assembly and a clamping assembly connected to the tail end of the driving assembly, the driving assembly is used for driving the clamping assembly to move among a feeding area, a machining area and a discharging area, and the material receiving trolley is arranged in the discharging area. The material receiving trolley comprises a body, a material receiving box is placed on the body, the clamping assembly comprises a first clamping side wall and a second clamping side wall, the first clamping side wall is used for clamping materials, and the second clamping side wall is used for clamping the material receiving box. The feeding and discharging device can achieve automatic feeding and discharging of the guillotine shear, and the working efficiency of the guillotine shear is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of crystal rod processing, in particular to a loading and unloading device and a cutting machine. Background Art

[0002] At present, crystalline silicon solar cells are widely used in the field of photovoltaic power generation due to their high conversion efficiency. Crystalline silicon solar cells are made on high-quality silicon wafers, which are made from pulled crystal rods through a series of processing procedures such as wire saw cutting. Among them, the pulled raw crystal rods need to be cut off at both ends, a sample piece is cut from the raw crystal rod for testing, and the longer columnar raw crystal rods are cut into shorter lengths of primary processed raw crystal rods, and then subsequent operations such as squaring, flat grinding, and slicing are carried out.

[0003] Since the flow direction of the cut head and tail materials and samples is different from that of the initially processed raw crystal bars in the process of automated production, the existing cutter only realizes automatic loading and unloading for the raw crystal bars to be cut and the initially processed raw crystal bars after cutting. Usually, the raw crystal bars are transported to the processing station through a roller conveyor system, and after the cutting is completed, the initially processed crystal bars are transported to the next processing step through a roller conveyor system. However, the cut head and tail materials and samples cannot be automatically unloaded, which reduces the working efficiency of the cutter. Utility Model Content

[0004] The utility model aims to provide a loading and unloading device and a cutting machine, so as to solve the problem in the prior art that the head and tail materials and samples cut from the raw crystal rod cannot be automatically unloaded, thereby reducing the working efficiency of the cutting machine.

[0005] The utility model provides a loading and unloading device, including a manipulator assembly and a material receiving trolley, the manipulator assembly including a driving assembly and a clamping assembly connected to the end of the driving assembly, the driving assembly is used to drive the clamping assembly to move between a loading area, a processing area and a unloading area, the material receiving trolley is arranged in the unloading area, the material receiving trolley includes a chassis and a main body, the chassis drives the main body to move, a material receiving box is placed on the main body, the clamping assembly includes a first clamping side wall and a second clamping side wall, the first clamping side wall is used to clamp the material, and the second clamping side wall is used to clamp the material receiving box.

[0006] Furthermore, the driving assembly includes a first direction guide rail, a second direction guide rail and a third direction guide rail arranged along different directions. The first direction guide rail is a relatively arranged cross beam, the second direction guide rail is a longitudinal beam arranged between the cross beams, there are at least two second direction guide rails, and the third direction guide rail is a vertical beam arranged on the longitudinal beam. The longitudinal beam reciprocates along the cross beam, the vertical beam reciprocates along the axial direction of the longitudinal beam, and reciprocates along the vertical direction of the longitudinal beam, and the end of the vertical beam is connected to the clamping assembly.

[0007] Furthermore, the clamping assembly includes a first clamping assembly, and a visual assembly is arranged on the first clamping assembly, and the visual assembly is used for visual scanning.

[0008] Furthermore, the clamping assembly includes a second clamping assembly, and a suction cup assembly is rotatably provided on the second clamping assembly.

[0009] Furthermore, the clamping assembly includes a jaw assembly, the jaw assembly includes relatively arranged jaws, the jaws include a first clamping side wall, and the first clamping side wall is connected in sequence by multiple clamping side plates at preset angles so that the first clamping side wall provides multi-angle clamping force to the material.

[0010] Furthermore, the clamping jaw includes a second clamping side wall, which is arranged closer to the end of the clamping jaw than the first clamping side wall, and the second clamping side wall is composed of two clamping side plates that are perpendicular to each other, so that the second clamping side wall can provide vertical clamping force for the docking material box.

[0011] Furthermore, the main body of the material receiving trolley is provided with a first material receiving area, a second material receiving area and a third material receiving area. The first material receiving area is used to receive cylindrical materials; the second material receiving area is provided with a sample box, which is used to receive sheet materials; and the third material receiving area is used to place the material receiving box.

[0012] Furthermore, a plurality of stoppers are arranged on the first material receiving area. The stoppers are arranged opposite to each other in pairs. The stoppers arranged opposite to each other in pairs are arranged in sequence to form a first material receiving space. The first material receiving space is used to receive cylindrical materials.

[0013] Furthermore, the sample box includes partitions arranged at intervals, and two adjacent partitions form a second material receiving space, and the second material receiving space is used to receive the sheet material.

[0014] Furthermore, the material receiving box includes a box body, the top of the box body is provided with an opening, a supporting pad and a pad driving device are provided in the material receiving box, the supporting pad includes a first working state and a second working state, in the first working state, the supporting pad supports the first end of the material in the material box so that the first end of the material in the material box is located at the top opening of the box body, in the second working state, the supporting pad is displaced relative to the first working state so that the first end of the material in the material box falls into the interior of the box body, and the pad driving device can drive the supporting pad to switch between the first working state and the second working state.

[0015] Furthermore, the support pads are relatively arranged in the box body, and in a first working state, the support pads are located near the top opening of the box body, and the relatively arranged support pads are close to each other to support the first end of the material in the material box; in a second working state, the support pads are away from each other, or the support pads are away from the top opening of the box body, so that the first end of the material in the material box falls from the top opening of the box body into the receiving space inside the box body.

[0016] Furthermore, a receiving pad is also provided on one side of the relatively arranged supporting pad, and a side wall opening is provided on the box body close to the side of the receiving pad. The receiving pad and the side wall opening are used to accommodate the second end of the material in the material box.

[0017] Furthermore, the pad driving device includes a pressure plate and a transmission device connected to the pressure plate, the transmission device is connected to the support pad, the pressure plate is arranged on the outside of the side wall of the box body, when no external force is applied to the pressure plate, the support pad is in a first working state, when the external force squeezes the pressure plate close to the side wall of the box body, the support pad is in a second working state.

[0018] Furthermore, the transmission device is a reverse transmission device, which includes a pad block rack fixedly connected to the supporting pad, a pressure plate rack fixedly connected to the pressure plate, and a material receiving box gear arranged between the pad block rack and the pressure plate rack. The pad block rack and the pressure plate rack are arranged relatively to each other and are respectively engaged with the material receiving box gear. The reverse transmission device causes the supporting pad and the pressure plate to move in opposite directions to achieve the support pad moving closer or farther away.

[0019] Furthermore, the transmission device is a vertical transmission device, which includes a vertical limit groove and a transmission hinge movably connected to two vertical side walls of the vertical limit groove, one end of the transmission hinge is fixedly connected to the support pad, and the other end of the transmission hinge is fixedly connected to the pressure plate. The vertical transmission device enables the support pad and the pressure plate to move vertically to each other to realize the rising or falling of the support pad.

[0020] Furthermore, the pad block driving device also includes a pad block resetting device, which provides power for the supporting pad block to return to the first working state.

[0021] Another aspect of the present invention provides a cutting machine, comprising a cutting machine body and the loading and unloading devices described in the above items.

[0022] Furthermore, the loading and unloading device is installed outside the cutting machine body.

[0023] The loading and unloading device of the utility model has the following advantages:

[0024] 1. The manipulator assembly cooperates with the material receiving trolley to realize the automatic unloading of conical head and tail materials by clamping the material receiving box, thereby improving the overall working efficiency of the cutting machine;

[0025] 2. The clamping jaw assembly has two clamping spaces, which can meet the needs of clamping the material to be processed and the receiving box at the same time;

[0026] 3. A visual component is arranged on the first clamping component, so that the material to be processed can be scanned as a whole as the clamping component moves;

[0027] 4. A rotatable suction cup assembly is arranged on the second clamping assembly. When the object to be clamped needs to be sucked, the suction cup is put down, and when the object to be clamped does not need to be sucked, the suction cup is put away, thereby meeting the requirements of suction and clamping at the same time;

[0028] 5. The first receiving area, the second receiving area and the third receiving area are respectively arranged on the receiving trolley, which can simultaneously receive cylindrical tail materials, conical head materials or tail materials and sheet samples, and realize the unloading of head and tail materials and samples;

[0029] 6. An opening is set on the top of the receiving box, so that the receiving box can be placed under the conical head and tail materials, and a support pad is used to support the conical head of the head and tail materials to prevent the head and tail materials from falling directly into the receiving box and causing collision of the materials;

[0030] 7. A pressure plate is arranged on the outside of the box body. When the clamping assembly clamps the pressure plate, the two supporting pads move under the drive of the transmission device, so that the conical head of the conical head and tail material slowly falls into the inside of the material receiving box. In the process of clamping the material receiving box and transferring, the conical head and tail material are kept stable in the material receiving box. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A three-dimensional diagram of a cutting machine according to an embodiment of the utility model;

[0032] Figure 2 A top view of a cutting machine according to an embodiment of the utility model;

[0033] Figure 3 A top view of the overall structure of the manipulator assembly of an embodiment of the utility model;

[0034] Figure 4 A three-dimensional diagram of the overall structure of the manipulator assembly of an embodiment of the utility model;

[0035] Figure 5 It is a partial enlarged view of the connection structure between the longitudinal beam and the cross beam of the embodiment of the utility model;

[0036] Figure 6 This is a schematic diagram of the connection structure between the longitudinal beam and the vertical beam of an embodiment of the utility model;

[0037] Figure 7 It is a front view of the vertical beam and the clamping assembly of the embodiment of the utility model;

[0038] Figure 8 A three-dimensional diagram of a vertical beam and a clamping assembly according to an embodiment of the present utility model;

[0039] Fig. 9 It is a front view of the clamping jaw assembly of the embodiment of the utility model;

[0040] Fig.10 It is a three-dimensional diagram of the clamping jaw assembly of the embodiment of the utility model;

[0041] Fig.11 A three-dimensional diagram of a visual clamping assembly according to an embodiment of the utility model;

[0042] Fig.12 It is a side view of the visual clamping assembly of the embodiment of the utility model;

[0043] Fig.13 A three-dimensional diagram of a suction cup clamping assembly according to an embodiment of the utility model;

[0044] Fig.14 It is a side view of the suction cup assembly of the embodiment of the utility model;

[0045] Fig.15 This is a three-dimensional diagram of the material receiving trolley of the embodiment of the utility model when the head and tail materials are placed;

[0046] Fig.16 This is a three-dimensional diagram of the material receiving trolley of the embodiment of the utility model when the head and tail materials and the material receiving box are not placed;

[0047] Fig.17 This is a three-dimensional diagram of the material receiving box of the embodiment of the utility model when it is placed on the cutting machine body;

[0048] Fig.18 It is a partial enlarged view of the E area when the receiving box of the embodiment of the utility model is placed on the cutting machine body;

[0049] Fig.19 This is a schematic structural diagram of the bottom support of the cutting machine body according to an embodiment of the utility model;

[0050] Fig. 20 A three-dimensional diagram of a material receiving box according to an embodiment of the utility model;

[0051] Fig.21 A top view of a material receiving box according to an embodiment of the utility model;

[0052] Fig. 22 This is a schematic structural diagram of a vertical transmission device according to another embodiment of the utility model;

[0053] Fig.23 This is a three-dimensional diagram of a material receiving box with material placed in it according to an embodiment of the utility model. DETAILED DESCRIPTION

[0054] In order to better understand the purpose, structure and function of the utility model, the loading and unloading device and the cutting machine of the utility model are further described in detail below in conjunction with the accompanying drawings.

[0055] Figure 1 , Figure 2It is a schematic diagram of the overall structure of the cutter of the embodiment of the utility model. The cutter as a whole includes a raw material crystal rod loading area A, a cutter processing area B, a primary processing raw material crystal rod unloading area C, and a head, tail and sample unloading area D.

[0056] Furthermore, a cutter body 3 is provided on the cutter processing area B, and the cutter body 3 is used to perform a cutting operation on the raw crystal rod to obtain head material, tail material, sample and pre-processed raw crystal rod respectively, wherein a preferred embodiment of the cutter body 3 is a ring wire cutter, which includes a processing station and a plurality of cutting heads 31. When the raw crystal rod is placed on the processing station, each cutting head 31 is moved to a suitable position to perform a cutting operation for the raw crystal rod.

[0057] Furthermore, a manipulator assembly 1 is mounted above the cutter body 3, and the manipulator assembly 1 includes a driving assembly and a clamping assembly 14 connected to the end of the driving assembly, wherein the driving assembly can drive the clamping assembly 14 to move between the loading area, the processing area and the unloading area, and the clamping assembly 14 includes a first clamping side wall 14111 and a second clamping side wall 14112, wherein the first clamping side wall 14111 is used to clamp the material and the second clamping side wall 14112 is used to clamp the material receiving box 21. It should be noted that the present invention refers to the material to be processed and processed as the material, wherein the material can be a raw crystal rod or a truncated cylindrical tail material, a conical head material or tail material, a sample, etc.

[0058] When the cutter is performing the cutting process, the raw crystal rod is first placed in the raw crystal rod loading area A, and then the manipulator assembly 1 clamps the raw crystal rod to the processing station of the cutter body 3, and the multiple cutting heads 31 of the cutter body 3 are arranged at a preset spacing. At this time, the clamping assembly 14 is required to clamp the material receiving box 21 from the material receiving trolley 2 to the processing station and insert it under the conical head and tail materials. After the multiple cutting heads 31 of the cutter body 3 work to cut off the head material, tail material, sample pieces and the initially processed raw crystal rod, the manipulator assembly 1 will transfer the material receiving box 21 with the conical head and tail materials or the conical tail material and the sample pieces to the material receiving trolley 2, and the initially processed raw crystal rod will be transferred to the next processing step by the unloading track of the initially processed raw crystal rod unloading area C. The loading and unloading device provided in the embodiment of the utility model can realize the unloading of conical head materials, tail materials, cylindrical tail materials and sheet-shaped samples through the mutual cooperation of the manipulator assembly 1 and the material receiving trolley 2, and assist the cutter body 3 to realize the full-automatic loading and unloading of the cutter, thereby improving the overall working efficiency of the cutter.

[0059] Figure 3 , Figure 4It is a schematic diagram of the overall structure of the manipulator assembly 1 of the embodiment of the utility model. It can be seen from the accompanying drawings that the manipulator assembly 1 provided in the embodiment of the utility model includes a driving assembly, and the driving assembly includes a first direction guide rail, a second direction guide rail and a third direction guide rail arranged in different directions. The clamping assembly 14 can move along the first direction guide rail, the second direction guide rail and the third direction guide rail. It can be understood that the first direction guide rail, the second direction guide rail and the third direction guide rail enable the clamping assembly 14 at the end of the manipulator assembly to have three degrees of freedom in three directions. In the specific embodiment of the utility model, the first direction can be the X-axis direction in the Cartesian coordinate system, the second direction can be the Y-axis direction in the Cartesian coordinate system, and the third direction can be the Z-axis direction in the Cartesian coordinate system. Of course, this embodiment is only a preferred embodiment of the utility model. In actual application, the first direction guide rail, the second direction guide rail and the third direction guide rail can also be set to other angles to meet the loading and unloading requirements of the cutting machine body 3.

[0060] Furthermore, in the driving assembly, the first direction guide rail is two parallel and oppositely arranged beams 11, each beam 11 is supported by a plurality of beam columns 112 installed on the ground, and the plane space formed by the axial length of the two beams 11 and the spacing between the beams 11 covers the loading area, the processing area and the unloading area, wherein the unloading area can be the initial processing raw material crystal rod unloading area C and the head and tail material and sample unloading area D, or it can only include the head and tail material and sample unloading area D, thereby simultaneously meeting the clamping requirements of loading and unloading in different directions.

[0061] Further, the second direction guide rail is a longitudinal beam 12 mounted between the cross beams 11, and the third direction guide rail is a vertical beam 13 arranged on the longitudinal beam 12. The longitudinal beam 12 reciprocates along the cross beam 11, and the vertical beam 13 reciprocates along the axial direction of the longitudinal beam axis 12 and reciprocates along the vertical direction of the longitudinal beam 12. The end of the vertical beam 13 is connected to the clamping assembly 14. There are at least two second direction guide rails, so that the end of the driving assembly is connected to at least two clamping assemblies 14, so that each clamping assembly 14 can independently or cooperate with each other to complete the loading and unloading of the cutting machine.

[0062] It should be noted that, as a preferred embodiment, the horizontal beam 11, the longitudinal beam 12 and the vertical beam 13 shown in the accompanying drawings are perpendicular to each other, and this specific embodiment is not used as a basis for limiting the protection scope of the utility model. In actual applications, the angles between the horizontal beam 11, the longitudinal beam 12 and the vertical beam 13 can be set separately according to the site environment and needs, and it is only necessary to satisfy that the end of the vertical beam 13 has three degrees of freedom.

[0063] Figure 3-Figure 5The connection structure of the longitudinal beam 12 and the cross beam 11 in the embodiment of the utility model is shown. Referring to the attached drawings, it can be seen that a cross beam rack 111 is provided on the cross beam 11 along the axial direction of the cross beam 11, and a longitudinal beam rotating rod 121 is provided on the longitudinal beam 12 along the axial direction of the longitudinal beam 12. Longitudinal beam gears 122 are provided at both ends of the longitudinal beam rotating rod 121. The longitudinal beam gear 122 and the cross beam rack 111 are meshed with each other. The longitudinal beam gear 122 is driven to rotate by controlling the rotation of the longitudinal beam rotating rod 121, so as to drive the longitudinal beam 12 to reciprocate in the axial direction of the cross beam 11. In the utility model, the longitudinal beam 12 and the cross beam 11 are meshed with each other in the form of gear racks, and the longitudinal beam gears 122 at both ends of the longitudinal beam 12 are synchronously driven to rotate by a driving device, so as to ensure that the two ends of the longitudinal beam 12 are synchronized in the axial movement of the cross beam 11.

[0064] Further, the longitudinal beam rotation rod 121 driving assembly is arranged on the longitudinal beam 12, preferably arranged at the center of the longitudinal beam 12, and the longitudinal beam rotation rod 121 driving assembly includes a longitudinal beam rotation rod driving motor 123 and a longitudinal beam rotation rod reducer 124, and the longitudinal beam rotation rod driving motor 123 is connected to the longitudinal beam rotation rod 121 through the longitudinal beam rotation rod reducer 124 to drive the longitudinal beam rotation rod 121 to rotate. The utility model arranges the longitudinal beam rotation rod 121 driving assembly on the longitudinal beam 12, which can move synchronously with the movement of the longitudinal beam 12, does not occupy the space at both ends of the longitudinal beam 12, and does not hinder the movement in other directions.

[0065] Furthermore, a crossbeam 11 guide rail (not shown in the drawings) is provided on the crossbeam 11, and the longitudinal beam 12 is slidably connected to the crossbeam 11 guide rail via a longitudinal beam 12 slider (not shown in the drawings) to strengthen the supporting force of the crossbeam 11 on the longitudinal beam 12, avoid the simple engagement of the longitudinal beam gear 122 and the crossbeam rack 111 so that the longitudinal beam gear 122 and the crossbeam rack 111 are under excessive pressure, and can play a guiding role in the movement of the longitudinal beam 12.

[0066] It should be noted that, since the embodiment of the utility model includes two longitudinal beams 12, in order to avoid collision between the two longitudinal beams 12, the two longitudinal beams 12 are respectively provided with limit devices 128, and the two limit devices 128 are arranged opposite to each other to reserve space for the longitudinal beams 12 and the driving components on the longitudinal beams 12. The longitudinal beam rotating rod 121 driving component and the longitudinal beam rotating rod 121 are arranged on both sides of the longitudinal beam 12 to avoid interference between the vertical beam 13 and the longitudinal beam rotating rod 121 driving component and the longitudinal beam rotating rod 121.

[0067] Figure 6-Figure 8 The connecting structure of the longitudinal beam 12 and the vertical beam 13 of the utility model embodiment is shown. Figure 6-Figure 8It can be seen that a longitudinal beam lead screw 125 is provided on the longitudinal beam 12 extending along the axial direction of the longitudinal beam 12, and a vertical beam lead screw nut 133 is provided on the vertical beam 13, and the vertical beam 13 is driven to reciprocate along the axial direction of the longitudinal beam 12 by controlling the rotation of the longitudinal beam lead screw 125. In the preferred embodiment of the utility model, the longitudinal beam lead screw 125 is provided at the top of the longitudinal beam 12, and the vertical beam lead screw nut 133 protrudes from the vertical beam 13, so that when the vertical beam 13 reciprocates along the axial direction of the longitudinal beam 12, it will not interfere with other components. In addition, a longitudinal beam guide rail 126 is also provided on the longitudinal beam 12, and a vertical beam 13 slider is provided on the vertical beam 13, and the vertical beam 13 slider is slidably connected with the longitudinal beam guide rail 126 to improve the supporting force and guiding effect of the longitudinal beam 12 on the vertical beam 13.

[0068] Furthermore, the longitudinal beam screw 125 driving assembly is arranged at one axial end of the longitudinal beam 12, and specifically can be a longitudinal beam servo motor 127, and the longitudinal beam screw 125 driving assembly is used to drive the longitudinal beam screw 125 to rotate. Arranging the longitudinal beam screw 125 driving assembly at one end of the longitudinal beam 12 can avoid interference between the longitudinal beam screw 125 driving assembly and other components.

[0069] Furthermore, the vertical beam 13 includes a vertical beam connecting seat 131 and a vertical beam frame 132. The vertical beam screw nut 133 is fixedly connected to the vertical beam connecting seat 131, and the vertical beam frame 132 is connected to the vertical beam connecting seat 131. That is, when the longitudinal beam screw 125 is driven to rotate, the vertical beam connecting seat 131 reciprocates in the axial direction of the longitudinal beam 12, thereby driving the vertical beam frame 132 to reciprocate in the axial direction of the longitudinal beam 12.

[0070] Furthermore, a beam gear (not shown in the drawings) is provided on the beam connection seat 131, and a beam rack 134 is provided on the beam frame 132. By controlling the rotation of the beam gear, the beam frame 132 is driven to reciprocate along the axial direction of the beam 13. In addition, a beam gear driving assembly 136 is also provided on the beam connection seat 131, and the beam gear driving assembly 136 is used to drive the beam gear to rotate. The beam gear driving assembly 136 is driven by a motor.

[0071] Furthermore, a vertical beam guide rail 135 is also provided on the vertical beam frame 132, and a vertical beam connecting seat slider (not shown in the drawings) is also provided on the vertical beam connecting seat 131. The vertical beam connecting seat slider is slidably connected to the vertical beam guide rail 135 to increase the supporting force of the vertical beam connecting seat 131 on the vertical beam frame 132 and limit the movement direction of the vertical beam frame 132.

[0072] The driving assembly provided in the embodiment of the utility model makes the overall structure of the driving assembly compact by rationally arranging the cross beam 11 , the longitudinal beam 12 and the vertical beam 13 , which is beneficial to the movement control of the clamping assembly 14 .

[0073] Furthermore, in the embodiment of the utility model, the clamping assembly 14 connected to the end of the driving assembly, that is, the end of the vertical beam 13, includes a first clamping assembly and a second clamping assembly. The first clamping assembly can be also called a visual clamping assembly, on which a visual assembly 142 is arranged, which can perform visual scanning on the to-be-clamped part in the process of moving with the first clamping assembly. The second clamping assembly can be also called a suction cup clamping assembly, on which a suction cup assembly 143 is arranged, which can be used to absorb the to-be-clamped part. The first clamping assembly and the second clamping assembly can cooperate with each other or operate separately. The first clamping assembly and the second clamping assembly are both provided with a clamping claw assembly 141. The clamping claw assembly 141 itself includes a first clamping space and a second clamping space. The first clamping space and the second clamping space are used to clamp parts to be clamped of different shapes, wherein the first clamping space is used to clamp materials, and the second clamping space is used to clamp the material receiving box 21. The embodiment of the utility model can simultaneously meet the clamping requirements of various shapes of parts to be clamped through two clamping assemblies 14, and can fully meet the clamping requirements of a plurality of parts to be clamped on a cutting machine, thereby improving the overall processing efficiency of the cutting machine. It should be noted that the parts to be clamped described in the embodiment of the utility model are materials that need to be clamped, and the parts to be clamped can be the materials described in the above embodiment or can be a material receiving box. The clamping assembly 14 provided in the embodiment of the utility model is described in detail below in conjunction with the accompanying drawings.

[0074] Figure 9-10 The structure of the clamping jaw assembly 141 of the utility model embodiment is shown. Figure 9-10 It can be known that the clamping jaw assembly 141 provided in the embodiment of the utility model includes relatively arranged clamping jaws 1411, the clamping jaws 1411 are connected to the driving base 1412, the driving base 1412 drives the clamping jaws 1411 to reciprocate in the opening and closing direction of the clamping jaws, the clamping jaws 1411 are extended outward from the driving base 1412, and a first clamping side wall 14111 and a second clamping side wall 14112 are arranged along the extension direction of the clamping jaw 1411, a first clamping space is formed between the first clamping side walls 14111 of the relatively arranged clamping jaws 1411, and a second clamping space is formed between the second clamping side walls 14112, wherein the clamping spacing of the second clamping space is greater than or equal to the clamping spacing of the first clamping space.

[0075] The first clamping space and the second clamping space of the clamping jaw assembly 141 provided in the embodiment of the utility model can be used to clamp parts to be clamped of different shapes. In a specific embodiment of the utility model, the first clamping space is used to clamp conical materials, such as cylindrical crystal rods, and the second clamping space is used to clamp the material receiving box 21, wherein the material receiving box 21 is placed with the head material or tail material of the conical structure. Since the shape structure of the head material or tail material of the conical structure is irregular, it is not stable to directly clamp it with the clamping jaw 1411. Usually, the material receiving box is placed under the head material or tail material before the raw material crystal rod is cut off, so that the head material or tail material can fall into the material receiving box 21 after cutting. The material receiving box 21 is generally square. In addition, it should be noted that since the shape of the head and tail materials of the raw material crystal rod is not a regular cone during the preparation process, the utility model collectively refers to such irregular head and tail materials as conical head and tail materials, and the acceptance of conical head and tail materials is not the basis for limiting the protection scope of the material receiving box 21 in the utility model.

[0076] Furthermore, the first clamping side wall 14111 of the clamping jaw 1411 is connected in sequence by a plurality of clamping side plates at a preset angle, so that the first clamping side wall 14111 provides a multi-angle clamping force to the clamped part. In a specific embodiment of the utility model, the first clamping space of the clamping jaw assembly 141 is adapted to clamp a cylindrical part to be clamped, such as a cylindrical crystal rod. Since the circular crystal rod is not easy to clamp, the utility model embodiment sets the first clamping side wall 14111 in a manner that a plurality of clamping side plates are connected in sequence at a preset angle, so that when clamping the circular crystal rod, it can provide clamping forces at different angles for the crystal rod, thereby stably clamping the circular crystal rod. In a specific embodiment of the utility model, three clamping side plates are connected in sequence at a preset angle, so that the first clamping space is an octagonal structure, wherein the first clamping side wall 14111 provides a three-point or two-point clamping force to the cylindrical part to be clamped, thereby stably clamping the cylindrical crystal rod. It should be noted here that when all three clamping side plates are in contact with the cylindrical crystal ingot, a three-point clamping force can be provided for the crystal ingot, and when only the upper and lower clamping side plates are in contact with the cylindrical crystal ingot, a two-point clamping force can be provided for the crystal ingot.

[0077] Furthermore, the second clamping side wall 14112 of the clamping jaw 1411 is composed of two clamping side plates perpendicular to each other, so that the second clamping side wall provides a vertical clamping force to the clamped part. Specifically, the clamping side plate of the second clamping side wall 14112 close to the driving base 1412 is parallel to the opening and closing direction of the clamping jaw 1411, and the clamping side plate close to the end of the clamping jaw 1411 is perpendicular to the opening and closing direction of the clamping jaw 1411, so as to form a second clamping space with an open end, which can be used to clamp square clamped parts of different heights.

[0078] In a specific embodiment of the utility model, the second clamping space is used to clamp the material receiving box 21. Since the outer diameter of the material receiving box 21 is larger than the outer diameter of the crystal rod, the clamping spacing of the second clamping space is greater than or equal to the clamping spacing of the first clamping space due to the travel limit of the clamping jaws 1411 when opening and closing. In addition, since the height of the material receiving box 21 is not fixed, the second clamping space is a clamping space with an open bottom, which can be adapted to clamp material receiving boxes 21 of different heights. In addition, the clamping jaws 1411 also include a clamping jaw connecting seat, which is connected to the driving base 1412. It can be understood that in the specific embodiment of the present utility model, when the second clamping side wall 14112 of the clamping jaw 1411 clamps the receiving box 21, the clamping side plate close to the driving base 1412 abuts against the top of the receiving box 21, and the clamping side plate close to the end of the clamping jaw 1411 clamps the side wall of the receiving box 21. The second clamping side wall 14112 of the clamping jaw 1411 can adapt to clamping receiving boxes 21 of different heights.

[0079] Furthermore, the driving base 1412 includes a guide rail base plate 14125 and a screw base plate 14126 connected to the axial ends of the guide rail base plate 14125. The screw base plate 14126 and the guide rail base plate 14125 are perpendicular to each other to form a relatively independent clamping driving space, and an accordion shield 14127 is connected between the clamping jaw connecting seat and the screw base plate 14126. The accordion shield 14127 can be opened and closed with the reciprocating motion of the clamping jaw connecting seat, which can protect the internal driving components of the clamping jaw assembly 141 from being polluted by the external environment, ensure the control accuracy of the driving base 1412, and can improve the service life of the driving base 1412.

[0080] Furthermore, a jaw lead screw 14121 is arranged opposite to the jaw 1411 in the opening and closing direction, a jaw lead screw nut 14113 is arranged on the jaw connecting seat, the jaw connecting seat is connected to the jaw lead screw 14121 through the jaw lead screw nut 14113, and the jaw connecting seat is driven to slide on the jaw lead screw 14121 by driving the two jaw lead screws 14121 to rotate. One end of the jaw lead screw 14121 is connected to the lead screw base plate 14126 through the lead screw support seat, and the other end is connected to the jaw lead screw driving assembly.

[0081] Furthermore, the driving base 1412 further includes a jaw guide rail 14122 arranged in parallel with the jaw lead screw 14121, the jaw guide rail 14122 is arranged on the guide rail bottom plate 14125, and a jaw slider 14114 is arranged on the jaw connecting seat, and the jaw connecting seat is slidably connected to the jaw guide rail 14122 through the jaw slider 14114. When the clamping connecting seat moves left and right with the jaw lead screw 14121, the jaw slider 14114 slides on the jaw guide rail 14122 to provide a stronger supporting force for the jaw 1411 and limit the movement direction of the jaw 1411.

[0082] Furthermore, the jaw lead screw drive assembly is arranged at the axial center position of the guide rail base plate 14125, and is connected to the jaw lead screw 14121 on both sides respectively, which can control the synchronous rotation of the jaw lead screw 14121 on the left and right sides, and then control the synchronous opening and closing of the two jaws 1411.

[0083] Specifically, the jaw screw drive assembly includes a jaw drive motor 14124 and a jaw reducer 14123. The jaw reducer 14123 is a right-angle reducer, including an input shaft and two coaxial output shafts arranged in opposite directions. The input shaft is connected to the jaw drive motor 14124, and the output shafts are respectively connected to the jaw screws 14121. The jaw assembly 141 provided in the embodiment of the utility model drives two jaw connecting seats to move in translation at the same time through a jaw screw drive assembly, so that the opening and closing movements of the jaws 1411 are kept synchronous.

[0084] The clamping jaw assembly of the utility model has the following advantages:

[0085] 1. The first clamping side wall 14111 of the clamping jaw 1411 constitutes a first clamping space, and the second clamping side wall 14112 constitutes a second clamping space, which can be adapted to clamping parts of different shapes or sizes;

[0086] 2. The jaw lead screws 14121 on both sides are driven to rotate by the jaw lead screw 14121 driving assembly at the same time, so as to control the synchronous opening and closing of the two jaws 1411;

[0087] 3. An accordion shield 14127 is connected between the clamping jaw connecting seat and the screw base plate 14126 to protect the internal transmission mechanism of the clamping jaw assembly.

[0088] Figure 11-Figure 12 This is a schematic diagram of the structure of the first clamping assembly of the embodiment of the utility model. The first clamping assembly is also called a visual clamping assembly, which includes a driving assembly, a clamping jaw assembly 141 and a visual assembly 142. The driving assembly is connected to the clamping jaw assembly 141 and is used to drive the clamping jaw assembly to move as a whole. The visual assembly 142 is connected to the clamping jaw assembly 141 and performs visual scanning during the movement of the clamping jaw assembly. The clamping jaw assembly 141 includes a first clamping side wall 14111 and a second clamping side wall 14112 for clamping the part to be clamped. It should be noted that the driving assembly provided in the embodiment of the utility model can be a driving assembly composed of the first direction guide rail, the second direction guide rail and the third direction guide rail of the above-mentioned embodiment, or it can be a driving assembly in other forms, as long as it can drive the clamping jaw assembly 141 and the visual assembly 142 to move as a whole.

[0089] In a specific embodiment of the utility model, since the length of the raw crystal ingot is long, it is necessary to visually scan the entire raw crystal ingot before loading it to identify the first cut line position, the center position of the crystal ingot (radial center), the position and shape of the head and tail materials, etc. The utility model sets the visual component 142 on the clamping jaw component 141, and can scan the raw crystal ingot as a whole as the clamping jaw component 141 moves, thereby improving the visual recognition accuracy.

[0090] Furthermore, the visual component 142 includes a visual bracket 1421, a camera 1422 and a light source 1423. One end of the visual bracket 1421 is connected to the clamping jaw component 141, and specifically can be connected to the guide rail bottom plate 14125 of the clamping jaw component 141 by a firmware, and the other end of the visual bracket 1421 is connected to the camera 1422 and the light source 1423. Among them, the visual bracket 1421 is composed of two bracket side arms perpendicular to each other, one bracket side arm is perpendicular to the clamping jaw component 141 and connected to the clamping jaw component 141, and the other bracket side arm is connected to the camera 1422, so that the camera lens is oriented toward the end direction of the clamping jaw component 141, so that the camera lens can be perpendicular to the object to be scanned, thereby improving the accuracy of visual recognition.

[0091] Furthermore, the light source 1423 is connected to the visual support 1421 through the light source support 1424, and a camera hole is provided in the middle position of the light source 1423. The lens of the camera 1422 passes through the light source 1423 through the camera hole to provide sufficient light source for the camera 1422 to shoot. In a specific embodiment of the utility model, the light source 1423 is a planar light source, and a camera hole is provided at the center position of the light source 1423 for the camera lens to pass through. Since the light source 1423 has a certain area in the plane, the visual support 1421 is composed of mutually perpendicular support side arms, and the end of the light source 1423 needs to be higher than the side wall 14111 of the first clamping jaw to avoid the visual component 142 affecting the opening, closing and clamping of the clamping jaw 1411.

[0092] Figure 13-14 This is a schematic diagram of the structure of the second clamping assembly of an embodiment of the utility model. The first clamping assembly is also called a suction cup clamping assembly. A suction cup assembly 143 is arranged on the clamping jaw assembly 141 provided in the embodiment of the utility model. The suction cup assembly 143 can be used to absorb sheet materials, such as samples of raw crystal rods.

[0093] In a specific embodiment of the present invention, while the head of the raw crystal rod is being cut off, a sample piece needs to be taken at the position of the head of the raw crystal rod for testing to determine whether the current raw crystal rod meets the requirements. Since the thickness of the sample piece is very thin, it is not easy for the general clamping assembly 14 to clamp the sample piece, so the embodiment of the present invention adopts a suction cup assembly 143 to suck the sample piece. The suction cup assembly 143 is set on the clamping claw assembly 141, and the same clamping assembly 14 can meet various clamping requirements.

[0094] Further, the suction cup assembly 143 includes a suction cup 1431 and a suction cup rotary arm 1433 connected to the suction cup 1431, and the suction cup rotary arm 1433 is rotatably connected to the clamping jaw assembly 141, specifically, connected to the guide rail bottom plate 14125 of the clamping jaw assembly 141. The suction cup rotary arm 1433 rotates between a direction parallel to the opening and closing direction of the clamping jaw 1411 and a direction perpendicular to the opening and closing direction of the clamping jaw 1411. When the suction cup rotary arm 1433 is parallel to the opening and closing direction of the clamping jaw 1411, the suction cup 1431 is in a retracted state, and when the suction cup rotary arm 1433 is perpendicular to the opening and closing direction of the clamping jaw 1411, the suction cup 1431 is in a lowered state, and at this time, the suction cup 1431 is in a working state. When the suction cup 143 is needed, the suction cup 143 is lowered to suck the material. When the suction cup 143 is not needed, the suction cup 143 is folded up. The height of the suction cup 143 when folded up needs to be higher than the height of the first clamping side wall 14111 to avoid affecting the opening and closing and clamping of the clamping jaws 1411.

[0095] Furthermore, the suction cup assembly 143 further includes a rotary cylinder 1434, and the suction cup arm 1433 is connected to the clamping jaw assembly 141 through the rotary cylinder 1434, and the rotary cylinder 1434 is used to control the rotation of the suction cup arm 1433. In addition, the suction cup assembly 143 further includes a vacuum generator not shown in the drawings, and the vacuum generator is connected to the suction cup 1431. When sucking the sample, the vacuum generator generates negative pressure on the suction cup 1431 to suck the sample tightly.

[0096] Furthermore, the suction cup 1431 is connected to the suction cup arm 1433 through the suction cup rod 1432, and the suction cup rod 1431 is movably connected to the outside of the suction cup arm 1433. The suction cup 1431 can move forward and backward along the axial direction of the suction cup rod 1432. An elastic member (not shown in the drawings) is provided between the suction cup 1431 and the suction cup arm 1433, and the elastic member is used to provide elastic force for the suction cup 1431 to move away from the suction cup arm 1433. In a specific embodiment of the utility model, the elastic member is a spring, and the spring is sleeved on the suction cup rod 1431 between the suction cup 1431 and the suction cup arm 1433. When sucking the sample, the elastic member can generate pressure on the suction cup 1431 to ensure that the suction cup 1431 is completely fitted with the end face of the sample. After the sample is placed, the elastic member can reset the suction cup 1431 to the initial position.

[0097] Fig.15 , Fig.16 This is a schematic diagram of the overall structure of the material receiving trolley 2 of an embodiment of the utility model. As can be seen from the accompanying drawings, the material receiving trolley 2 provided in the embodiment of the utility model includes a main body 22 and a chassis, and the chassis drives the material receiving trolley 2 to move as a whole, wherein the chassis can be the wheels located at the bottom of the material receiving trolley 2 as shown in the accompanying drawings, or it can be an AGV trolley structure.

[0098] The main body 22 is provided with a first receiving area a, a second receiving area b and a third receiving area c, wherein the first receiving area a is used to receive materials of the first form; the second receiving area b is provided with a sample box 24, which is used to receive materials of the second form; the third receiving area c is provided with a receiving box 21, which can be transferred between the processing station and the receiving trolley 2, and is used to receive the processed materials. The first form of material is a cylindrical material, such as the cylindrical tailings cut by the cutting machine body, and the second form of material is a sheet material, such as the sample sheets cut by the cutting machine body, and the receiving box 21 is used to receive conical head materials or tailings. It should be noted that, since the shape of the head and tail materials of the raw crystal rod is not a regular cone during the preparation process, the utility model collectively refers to such irregularly shaped head and tail materials as conical head and tail materials, and receiving conical head and tail materials is not used as the basis for limiting the protection scope of the material receiving box 21 of the utility model. For the convenience of description, the head or tail materials placed in the material receiving box 21 will also be referred to as material box materials in subsequent embodiments.

[0099] Furthermore, a plurality of stoppers 23 are arranged on the first material receiving area a, and the stoppers 23 are arranged opposite to each other in pairs, and the stoppers 23 arranged opposite to each other in pairs are arranged in sequence to form a first material receiving space, and each first material receiving space receives a cylindrical tailing, and the stoppers 23 arranged opposite to each other prevent the cylindrical material from rolling on the first material receiving area a. In the embodiment of the utility model, the opposite surfaces of the stoppers 23 arranged opposite to each other are inclined surfaces, and each stopper 23 forms a V-shaped block as shown in the accompanying drawings, and two or more stopper 23 combinations can be arranged on the material receiving trolley 2 to place multiple cylindrical tailings at the same time.

[0100] Furthermore, in the embodiment of the utility model, the sample box 24 includes spacers arranged at intervals, and two adjacent spacers form a second material receiving space, and the second material receiving space is used to receive sheet materials. The spacers are arranged at a preset distance, and the sheet materials are placed between the two spacers, and the spacers are used to prevent the sheet materials from falling on the second material receiving area b. Specifically, the middle position of the spacers of the sample box 24 is provided with a circular groove, and the circular groove provides an escape space for the suction cup for sucking the sample.

[0101] In the embodiment of the utility model, the first material receiving area a is arranged on one side of the body 22, the second material receiving area b is arranged inside the first material receiving area a, and the third material receiving area c is arranged on the other side of the body 22. Since the head and tail materials can be clamped at the same time when clamping the head and tail materials, the first material receiving area a and the third material receiving area c are arranged on both sides of the material receiving trolley 2, which is convenient for the operation of the clamping components for clamping the head and tail materials and avoids collision between the two clamping components. When clamping the sample, the head and tail materials have been placed on the material receiving trolley, and the operating space of the second material receiving area b is not limited, and it can be placed inside the less compact first material receiving area a.

[0102] In a specific embodiment of the utility model, the first receiving area a includes two first receiving spaces, which can hold two cylindrical tailings, and the third receiving area c can hold four receiving boxes 21, and the sample box 24 can hold more than a dozen samples at the same time. Therefore, one receiving trolley 2 can meet the cutting operation of the cutting machine body 2 twice or more, and there is no need to frequently transfer the receiving trolley 2.

[0103] Furthermore, in the embodiment of the utility model, the material receiving box 21 is transferred between the material receiving trolley 2 and the processing station of the cutting machine body, and is used to transfer the conical material processed at the processing station to the third material receiving area c of the material receiving trolley 2. Fig.17 , Fig.18 As shown, when the cutter cuts the raw crystal rod, the material receiving box 21 is placed under the conical head or tail material. When the cutter body 3 cuts the conical head and tail materials, the conical head and tail materials are retained in the material receiving box 21.

[0104] It should be noted that after the raw crystal ingot is placed on the processing station, the support device 33 (as shown in the attached figure) at the bottom of the cutting machine body 3 is Figure 6 The raw crystal rod is lifted up as a whole, the avoidance opening at the bottom of the receiving box 21 is inserted into the support bracket 331 of the supporting device 33, and the roller transmission device 32 on both sides of the processing station of the cutting machine body 3 supports both sides of the bottom end of the receiving box 21 at the same time, so that the receiving box 21 can be stably placed on the processing station of the cutting machine body 3. Among them, the roller transmission device 32 can also be used to transport the crystal rod along the axial direction of the cutting machine processing station. Since this part is not the focus of the utility model, it will not be repeated here.

[0105] Furthermore, in the embodiment of the utility model, a support beam (not shown in the accompanying drawings) is also provided at the bottom of the material receiving trolley 2, which constitutes the supporting space of the AGV trolley and is used to transport the material receiving trolley 2 through the AGV, thereby realizing the automated transportation of the material receiving trolley 2.

[0106] Figure 20-23The schematic diagram of the overall structure of the material receiving box 21 of the embodiment of the utility model, as shown in the accompanying drawings, the material receiving box 21 provided by the embodiment of the utility model includes a box body 211, and the top of the box body 211 is provided with an opening to receive the conical head and tail materials through the top of the box body 211. The top of the box body 211 is provided with an opening, and a support pad 213 and a pad driving device are provided in the material receiving box 21. The support pad 213 includes a first working state and a second working state. The first working state is a material supporting state, and the support pad 213 supports the first end of the material in the material box so that the first end of the material in the material box is located at the top opening of the box body. The second working state is a material storage state, and the support pad 213 is displaced relative to the first working state so that the first end of the material in the material box falls into the box body. The pad driving device can drive the support pad 213 to switch between the first working state and the second working state.

[0107] Specifically, the first end of the material in the material box can be a conical head of a conical head or tail material. When the material receiving box 21 is placed on the processing station of the cutting machine body 3, the support pad 213 is in the first working state, at which time the support pad 213 supports the conical head of the conical head or tail material. When the material receiving box 21 is transported, the support pad 213 is in the second working state, so that the conical head of the conical head or tail material falls into the inside of the material receiving box 21.

[0108] Furthermore, the support pads 213 are relatively arranged in the box body 211, and the first working state is that the support pads 213 are located near the top opening of the box body 211, and the relatively arranged support pads 213 are close to each other to support the material box placed at the top opening of the box body 211. Fig.10 As shown, in the first working state, the support pad 213 supports the conical head of the conical head material or the tail material.

[0109] Furthermore, the second working state is that the supporting blocks 213 arranged opposite to each other are moved away from each other, so that the first end of the material in the material box falls from the top opening of the box body 211 into the receiving space inside the box body 211. That is, the two supporting blocks 213 are opened from both sides, so that the conical head of the conical head material or the conical head of the tail material falls into the receiving box.

[0110] Furthermore, when the second working state is that the relatively arranged support blocks 213 are away from each other, in order to more stably support the conical head material or tail material, a support bar 216 is also arranged in the box body 211. The support bar 216 is used to support the first end of the material in the material box when the support block 213 is in the second working state.

[0111] In a specific embodiment of the utility model, both ends of the support bar 216 are respectively connected to a side wall of the box body, and the distance between the support bar 216 and the bottom end of the material receiving box 21 is less than the distance between the support pad 213 and the bottom end of the material receiving box 21 when the support pad 213 is in the first working state. As shown in the accompanying drawings, a downward groove is also provided in the middle of the support bar 216, and when the support pad 213 is opened to both sides, the support bar 216 is used to support the conical head of the conical head and tail material to prevent the conical head and tail material from falling through the avoidance opening at the bottom of the material receiving box 21.

[0112] Furthermore, in an optional embodiment of the utility model, the second working state of the support block 213 is that the support block 213 is located away from the top opening of the box body 211, so that the first end of the material in the material box falls from the top opening of the box body 211 into the internal receiving space of the box body 211.

[0113] Furthermore, a receiving pad 215 is also provided on one side of the supporting pad 213, and a side wall opening is provided on the box body 211 near the receiving pad 215. The receiving pad 215 and the side wall opening are used to accommodate the second end of the material in the material box, and the supporting pad 213 is used to support the other end of the material in the material box. The second end of the material in the material box is the bottom of the conical head or tail material, that is, the circular ground position of the conical shape. Fig.10 As shown, the bottom of the conical head material or tail material is supported by the receiving pad 215 through the side wall opening, and the conical head is supported by the supporting pad 213.

[0114] Furthermore, the distance between the receiving pad 215 and the bottom end of the material receiving box 21 is less than or equal to the distance between the supporting pad 213 and the bottom end of the material receiving box 21. Since the material receiving box 21 needs to be inserted into the bottom end of the conical head and tail material when receiving the head and tail material, in order to enable the material receiving box 21 to better receive the conical head and tail material, a side wall opening is provided to insert the bottom end of the conical head and tail material through the side wall opening (such as Figure 4 , Figure 5 As shown), at this time, the receiving pad 215 contacts the bottom surface of the conical head and tail materials, and the supporting pad 213 contacts the conical head of the conical head and tail materials. In this way, even if the conical head and tail materials are cut off, they will not fall into the material receiving box 21, thereby avoiding collision with the conical head and tail materials.

[0115] Furthermore, in the embodiment of the utility model, the support pad 213 has a pad bevel 2131, and the pad bevel 2131 faces the side wall opening and the other support pad 213. Specifically, the pad bevel 2131 makes the thickness of the support pad 213 close to the side wall opening and the other support pad 213 the lowest, and the thickness gradually increases in the direction away from the side wall opening and the other support pad 213. Providing the support pad 213 with a bevel can, on the one hand, make the support pad 213 better contact with the conical surface of the conical head and tail material, and on the other hand, when the clamping jaws 1411 of the clamping assembly 14 leave the pressure plate 212 (described in the following embodiment), it is also convenient for the support pad 213 to be reset under the action of the reset device without causing damage to the conical head and tail material.

[0116] The supporting pad 213 in the embodiment of the utility model is preferably made of nylon material, which can buffer and reduce shock on the conical head of the conical head and tail materials, and has polyurethane. The receiving pad 215 is preferably made of polyurethane material. The polyurethane material not only can buffer and reduce shock, but also has good thermal insulation. When the head and tail materials are cut off, the bottom surface of the conical head and tail materials will generate heat during the cutting process. Using polyurethane material as the receiving pad can play a certain thermal insulation role.

[0117] Furthermore, the pad drive device includes a pressing plate 212 and a transmission device connected to the pressing plate 212, the transmission device is connected to the support pad 213, the pressing plate 212 is arranged on the outer side of the side wall of the box body 211, when no external force is applied to the pressing plate 212, the support pad 213 is in a first working state, and when the external force squeezes the pressing plate 212 close to the side wall of the box body 211, the support pad 213 is in a second working state. The pressing plate 212 in the embodiment of the utility model is the clamping surface of the material receiving box 21. Since the clamping assembly 14 clamps the pressing plate 212 to move slowly during the clamping process, the support pad 213 also slowly transitions from the first working state to the second working state, thereby ensuring that the conical head of the conical head and tail material slowly falls into the box body 211 to avoid bumping the material in the material box.

[0118] Furthermore, in a specific embodiment of the present invention, the transmission device is a reverse transmission device, which causes the support pad 213 and the pressure plate 212 to move in the opposite direction to achieve the approach or distance of the relatively arranged support pad 213. When the clamping assembly 14 clamps the pressure plates 212 on both sides, the pressure plates 212 move toward the side wall of the box body 211, that is, the two pressure plates 212 move toward each other, and at this time, the two relatively arranged support pads 213 move away from each other, so that the support pad 213 is converted to the second working state, and the conical head of the conical material box material sinks into the inside of the material receiving box 21. At this time, when the material receiving box 21 is transported, the stability of the conical material box material in the material receiving box 21 can be guaranteed to prevent the conical material box material from falling from the material receiving box 21.

[0119] Furthermore, a reverse transmission device according to a specific embodiment of the present invention is as follows: Fig.21 As shown, the reverse transmission device includes a pad rack 2142 fixedly connected to the support pad 213, a plate rack 2141 fixedly connected to the pressure plate 212, and a material receiving box gear 2143 arranged between the pad rack 2142 and the plate rack 2141. The pad rack 2142 and the plate rack 2141 are arranged parallel to each other and mesh with the material receiving box gear 2143. When the clamping jaws 1411 of the clamping assembly 14 clamp the pressure plate 212, under the action of the clamping force of the clamping jaws 1411, the pressure plates 212 on both sides move closer to each other. At this time, the pressure plate rack 2141 moves toward the inner center position of the box body 211 under the drive of the pressure plate 212, and the material receiving box gear 2143 drives the pad rack 2142 to move away from the inner center position of the box body 211, thereby driving the support pad 213 to open to both sides.

[0120] Furthermore, the reverse transmission device of the embodiment of the utility model further includes a corresponding supporting structure. Specifically, a pressure plate rack mounting seat 2144 is provided in the material receiving box 21, a pressure plate rack slider is provided on the pressure plate rack mounting seat 2144, a pressure plate rack guide rail 2141 is provided on the pressure plate rack 2141, and the pressure plate rack 2141 guide rail is slidably connected with the pressure plate rack slider so that the pressure plate rack 2141 can slide back and forth on the pressure plate rack slider. In a specific embodiment of the utility model, the pressure plate rack mounting seat 2144 is fixedly connected to the side wall of the box body 211, the pressure plate rack 2141 is arranged below the pressure plate rack mounting seat 2144, the pressure plate 212 is extended along the outer diameter of the side wall of the box body 211, and the side walls of the box body 211 at both ends of the pressure plate 212 are connected by the pressure plate guide shaft 2121. The pressing plate 212 of the utility model is extended along the outer diameter of the side wall of the box body 211 to facilitate the clamping assembly 14 to clamp the receiving box 21 , and the pressing plate guide shafts 2121 on both sides play a role in further stabilizing the pressing plate 212 .

[0121] Furthermore, a pad rack mounting seat is provided in the material receiving box 21, a pad rack slider is provided on the pad rack mounting seat, a pad rack guide rail is provided on the pad rack 2142, and the pad rack guide rail is slidably connected with the pad rack slider, so that the pad rack 2142 can slide back and forth on the pad rack slider. In a specific embodiment of the utility model, the pad rack 2142 is relatively parallel to the pressure plate rack 2141, so that the pad rack 2142 is arranged directly below the pressure plate rack 2141. Since the support pad 213 will bear downward pressure, the pad rack mounting seat is preferably fixedly connected to the bottom of the material receiving box 21.

[0122] Furthermore, a gear support seat 2145 is also provided in the material receiving box 21, and the gear support seat 2145 is used to support the axial ends of the material receiving box gear 2143, so that the circumferential space of the material receiving box gear 2143 is reserved for the pad rack 2142 and the pressure plate rack 2141 to move, that is, the pad rack 2142 and the pressure plate rack 2141 can realize reciprocating motion on both sides of the circumferential direction of the material receiving box gear 2143. In a specific embodiment of the present invention, the gear support seat 2145 is two columns fixedly connected to the bottom end of the material receiving box 21, and the upper end surface of the column is connected to the gear shaft of the material receiving box gear 2143 through a bearing. At this time, the material receiving box gear 2143 can rotate freely on the gear support seat 2145, and the space below the material receiving box gear 2143 can also be used for the pad rack 2142 to pass through, so the pad rack mounting seat and the pad rack 2142 pass through the gap between the gear support seat 2145 and the material receiving box gear 2143. In a preferred embodiment of the present invention, the pad rack mounting seat is fixedly connected to the gear support seat 2145, so that the entire reverse transmission device has a compact structure and strong stability.

[0123] Furthermore, in an optional embodiment of the present invention, the transmission device is a vertical transmission device, and the vertical transmission device enables the support block 213 and the pressure plate 212 to move vertically relative to each other to achieve the rise or fall of the support block 213.

[0124] refer to Fig. 22The vertical transmission device of this new embodiment includes a vertical limit groove 217 and a transmission hinge 218 movably connected to the two vertical side walls of the vertical limit groove 217, one end of the transmission hinge 218 is fixedly connected to the support pad 213, and the other end of the transmission hinge 218 is fixedly connected to the pressure plate 212. Specifically, the two ends of the transmission hinge 218 are connected to the two vertical side walls of the vertical limit groove 217 through rollers, wherein one end of the transmission hinge 218 connected to the horizontally arranged vertical side wall is connected to the pressure plate 212, and one end of the transmission hinge 218 connected to the vertically arranged vertical side wall is connected to the support pad 213. When the clamping assembly 14 clamps the pressure plate 212, one end of the transmission hinge 218 connected to the horizontally arranged vertical side wall moves toward the center direction of the box body 211, and one end of the transmission hinge 218 connected to the vertically arranged vertical side wall moves toward the bottom end of the box body 211. At this time, the support pad 213 can be driven to move toward the bottom end of the box body 211, and the support pad 213 is converted to the second working state.

[0125] Furthermore, the pad driving device in the utility model also includes a pad resetting device, which provides power for the support pad 213 to return to the first working state. Specifically, the pad resetting device is an elastic member arranged between the pressure plate 212 and the box body 211, and / or an elastic member is arranged between the support pad 213 and the box body 211.

[0126] Furthermore, Fig. 20 In a specific embodiment, the pad driving device also includes a reset guide shaft 2136 and a reset guide seat (not shown in the accompanying drawings) connected to the support pad 213, the reset guide seat is fixedly connected to the box body 211, specifically, it can be fixedly connected to the pad support seat or the gear support seat 2145, one end of the reset guide shaft is fixedly connected to the support pad 213, and the other end is slidably connected to the reset guide seat, and a spring is sleeved on the outer side of the reset guide shaft, the spring can provide the support pad 213 with an elastic force away from the side wall of the box body 211, thereby prompting the support pad 213 to reset to the first working state.

[0127] It should be noted that the attached Fig. 20 A specific embodiment of the reset device is schematically shown in the figure. The utility model can also simultaneously or separately set a spring on the outer side of the pressure plate guide shaft 2121 to achieve the reset of the support pad 213 and the pressure plate 212. It can be understood that when the transmission device is a vertical transmission device, the pad reset device can also be an elastic member connected to the support pad 213 and the bottom end of the box body 211, and the elastic member provides elastic force for the support pad 213 to move away from the bottom end of the box body 211.

[0128] Furthermore, an avoidance opening is provided in the middle of the bottom of the material receiving box 21, and the function of the avoidance opening is to avoid the support bracket 331 of the support device 33 of the cutter, so that the material receiving box 21 can be more stably inserted into the bottom of the conical head and tail material and cooperate with the cutter.

[0129] The control process of the cutting machine of the utility model embodiment is described in detail below:

[0130] S1, the manipulator assembly 1 drives the clamping assembly 14 to clamp the material to be processed from the loading area and transfer it to the processing area of ​​the cutting machine body 3;

[0131] S2, the manipulator assembly 1 drives the clamping assembly 14 to clamp the material receiving box 21 from the material receiving trolley 2, and transfers the material receiving box 21 to the bottom of the head or tail of the material to be processed in the processing area;

[0132] S3, the cutting head 31 of the cutting machine body 3 performs a cutting operation on the material to be processed;

[0133] S4, the manipulator assembly 1 drives the clamping assembly 14 to transfer the material receiving box 21 receiving the head material or tail material in the processing area to the third material receiving area c of the material receiving trolley 2.

[0134] Furthermore, the control method of the cutting machine of the embodiment of the utility model also includes a control process for the overall scanning of the material to be processed. Specifically, the manipulator assembly 1 drives the clamping assembly 14 to clamp the material to be processed from the loading area and transfer it to the processing area of ​​the cutting machine body 3, including:

[0135] S01, the manipulator assembly 1 drives the first clamping assembly to move to the loading area, and controls the visual assembly 142 on the first clamping assembly to perform a visual scan on the material to be processed in the loading area to identify the outer dimensions of the material to be processed, the position of the first knife line, and the shapes of the head and tail materials;

[0136] S02, the robot assembly 1 drives the second clamping assembly to move to the loading area, cooperates with the first clamping assembly, determines the clamping positions of the first clamping assembly and the second clamping assembly on the material to be processed according to the outer dimensions of the material to be processed, and coincides the first knife cutting position with the first knife cutting position in the processing area of ​​the cutting machine body according to the first knife marking position.

[0137] Furthermore, since the tailings are cylindrical or conical, the embodiment of the utility model determines the placement position of the receiving box 21 according to the shape of the tailings. Therefore, the manipulator assembly 1 drives the clamping assembly 14 to clamp the receiving box 21 from the receiving trolley 2, and transfers the receiving box 21 to the bottom of the head or tailings of the material to be processed in the processing area, including: judging the placement position of the receiving box 21 according to the shapes of the head and tailings, if the tailings are cylindrical, placing the receiving box 21 at the head position of the material to be processed in the processing area, and if the tailings are conical, placing the receiving box 21 at the head position and tail position of the material to be processed in the processing area.

[0138] Furthermore, if the tail material is cylindrical, the control method of the cutter in the embodiment of the utility model also includes: after the cutting head 31 of the cutter body 3 performs a cutting operation on the material to be processed, the robot assembly 1 drives the first clamping assembly to clamp the tail material in the processing area and transfer it to the first material receiving area a on the material receiving trolley 2.

[0139] Furthermore, the control method of the cutting machine of the embodiment of the utility model also includes a process of transferring the sample. Specifically, after the manipulator assembly 1 drives the clamping assembly 14 to transfer the material receiving box 21 containing the head material or tail material in the processing area to the material receiving trolley 2, the control method of the cutting machine of the embodiment of the utility model also includes: the manipulator assembly 1 drives the second clamping assembly to move to the head material position of the material to be processed in the processing area, controls the rotatable suction cup assembly 143 of the second clamping assembly to rotate to the working position, and controls the suction cup assembly 143 to absorb the sample; the manipulator assembly 1 drives the second clamping assembly to transfer the sample to the sample box 24 of the second material receiving area b on the material receiving trolley 2.

[0140] The loading and unloading device of the utility model has the following advantages:

[0141] 1. The manipulator assembly 1 cooperates with the material receiving trolley 2 to realize the automatic unloading of the head and tail materials of the conical shape by clamping the material receiving box 21, thereby improving the overall working efficiency of the cutting machine;

[0142] 2. The clamping jaw assembly 141 has two clamping spaces, which can clamp the material to be processed and the material receiving box 21 at the same time;

[0143] 3. A visual component 142 is arranged on the first clamping component, so as to perform an overall scan of the material to be processed as the clamping component moves;

[0144] 4. A rotatable suction cup assembly 143 is provided on the second clamping assembly. When the object to be clamped needs to be sucked, the suction cup 1431 is put down, and when the object to be clamped does not need to be sucked, the suction cup 1431 is folded up, thereby meeting the requirements of suction and clamping at the same time;

[0145] 5. The material receiving trolley 2 is respectively provided with a first material receiving area a, a second material receiving area b and a third material receiving area c, which can simultaneously receive cylindrical tail materials, conical head materials or tail materials and sheet samples, and realize the unloading of head and tail materials and samples;

[0146] 6. An opening is provided at the top of the material receiving box 21, so that the material receiving box 21 can be placed under the conical head and tail materials, and a support pad 213 is used to support the conical head of the head and tail materials to prevent the head and tail materials from falling directly into the material receiving box 21 and causing collision of the materials;

[0147] 7. A pressure plate 212 is arranged on the outside of the box body 211. When the clamping assembly 14 clamps the pressure plate 212, the two supporting pads 213 move driven by the transmission device, so that the conical head of the conical head and tail materials slowly falls into the material receiving box 21. In the process of clamping and transferring the material receiving box 21, the conical head and tail materials are kept stable in the material receiving box 21.

[0148] The utility model is further described above with the help of specific embodiments, but it should be understood that the specific description here should not be understood as limiting the essence and scope of the utility model. Various modifications made to the above embodiments by ordinary technicians in this field after reading this specification are all within the scope of protection of the utility model. The various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of the embodiments of the utility model will not be described separately.

[0149] If the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

Claims

1. A loading and unloading device, characterized in that: It includes a manipulator assembly and a material receiving trolley. The manipulator assembly includes a driving assembly and a clamping assembly connected to the end of the driving assembly. The driving assembly is used to drive the clamping assembly to move between the loading area, the processing area and the unloading area. The material receiving trolley is arranged in the unloading area. The material receiving trolley includes a main body, and a material receiving box is placed on the main body. The clamping assembly includes a first clamping side wall and a second clamping side wall. The first clamping side wall is used to clamp the material, and the second clamping side wall is used to clamp the material receiving box.

2. The loading and unloading device according to claim 1, characterized in that: The driving assembly includes a first direction guide rail, a second direction guide rail and a third direction guide rail arranged along different directions. The first direction guide rail is a relatively arranged cross beam, the second direction guide rail is a longitudinal beam arranged between the cross beams, there are at least two second direction guide rails, and the third direction guide rail is a vertical beam arranged on the longitudinal beam. The longitudinal beam reciprocates along the cross beam, the vertical beam reciprocates along the axial direction of the longitudinal beam, and reciprocates along the vertical direction of the longitudinal beam. The end of the vertical beam is connected to the clamping assembly.

3. The loading and unloading device according to claim 1, characterized in that: The clamping assembly comprises a first clamping assembly, on which a visual assembly is arranged, and the visual assembly is used for visual scanning.

4. The loading and unloading device according to claim 1, characterized in that: The clamping assembly comprises a second clamping assembly, on which a suction cup assembly is rotatably arranged.

5. The loading and unloading device according to any one of claims 1 to 4, characterized in that: The clamping assembly includes a clamping jaw assembly, which includes relatively arranged clamping jaws, and the clamping jaws include a first clamping side wall, which is connected in sequence by a plurality of clamping side plates at a preset angle so that the first clamping side wall provides multi-angle clamping force to the material.

6. The loading and unloading device according to claim 5, characterized in that: The clamping jaw includes a second clamping side wall, which is arranged closer to the end of the clamping jaw than the first clamping side wall. The second clamping side wall is composed of two mutually perpendicular clamping side plates so that the second clamping side wall can provide vertical clamping force for the docking material box.

7. The loading and unloading device according to claim 1, characterized in that: The main body of the material receiving trolley is provided with a first material receiving area, a second material receiving area and a third material receiving area. The first material receiving area is used to receive cylindrical materials. The second material receiving area is provided with a sample box, which is used to receive sheet materials. The third material receiving area is used to place the material receiving box.

8. The loading and unloading device according to claim 7, characterized in that: A plurality of stoppers are arranged on the first material receiving area. The stoppers are arranged opposite to each other in pairs. The stoppers arranged opposite to each other in pairs are arranged in sequence to form a first material receiving space. The first material receiving space is used to receive cylindrical materials.

9. The loading and unloading device according to claim 7, characterized in that: The sample box comprises partitions arranged at intervals, and two adjacent partitions form a second material receiving space, and the second material receiving space is used for receiving sheet materials.

10. The loading and unloading device according to claim 1 or 7, characterized in that: The material receiving box includes a box body, the top of the box body is provided with an opening, a supporting pad and a pad driving device are provided in the material receiving box, the supporting pad includes a first working state and a second working state, in the first working state, the supporting pad supports the first end of the material in the material box so that the first end of the material in the material box is located at the top opening of the box body, in the second working state, the supporting pad is displaced relative to the first working state so that the first end of the material in the material box falls into the box body, and the pad driving device can drive the supporting pad to switch between the first working state and the second working state.

11. The loading and unloading device according to claim 10, characterized in that: The support blocks are relatively arranged in the box body. In the first working state, the support blocks are located near the top opening of the box body, and the relatively arranged support blocks are close to each other to support the first end of the material in the material box; in the second working state, the support blocks are far away from each other, or the support blocks are far away from the top opening of the box body, so that the first end of the material in the material box falls from the top opening of the box body into the receiving space inside the box body.

12. The loading and unloading device according to claim 11, characterized in that: A receiving pad is also provided on one side of the oppositely arranged supporting pad, and a side wall opening is provided on the box body close to the side of the receiving pad. The receiving pad and the side wall opening are used to accommodate the second end of the material in the material box.

13. The loading and unloading device according to claim 11, characterized in that: The pad driving device includes a pressure plate and a transmission device connected to the pressure plate, the transmission device is connected to the support pad, the pressure plate is arranged on the outside of the side wall of the box body, when no external force is applied to the pressure plate, the support pad is in a first working state, when the external force squeezes the pressure plate close to the side wall of the box body, the support pad is in a second working state.

14. The loading and unloading device according to claim 13, characterized in that: The transmission device is a reverse transmission device, which includes a pad block rack fixedly connected to the supporting pad, a pressure plate rack fixedly connected to the pressure plate, and a material receiving box gear arranged between the pad block rack and the pressure plate rack. The pad block rack and the pressure plate rack are arranged relatively to each other and are respectively meshed with the material receiving box gear. The reverse transmission device causes the supporting pad and the pressure plate to move in opposite directions to achieve the support pad moving closer or farther away.

15. The loading and unloading device according to claim 13, characterized in that: The transmission device is a vertical transmission device, which includes a vertical limit groove and a transmission hinge movably connected to the two vertical side walls of the vertical limit groove. One end of the transmission hinge is fixedly connected to the support pad, and the other end of the transmission hinge is fixedly connected to the pressure plate. The vertical transmission device enables the support pad and the pressure plate to move vertically to each other to realize the rising or falling of the support pad.

16. The loading and unloading device according to claim 11, characterized in that: The pad block driving device also includes a pad block resetting device, which provides power for the supporting pad block to return to the first working state.

17. A cutting machine, characterized in that: It comprises a cutting machine body and a loading and unloading device as described in any one of claims 1-16.

18. The cutting machine according to claim 17, characterized in that The loading and unloading device is installed outside the cutting machine body.

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