Automatic sheet collecting device of double-sided grinding machine

Abstract

The utility model discloses an automatic piece receiving device of a double-sided grinding machine, which comprises a grinding machine body, a piece receiving device base, a material taking support and a material receiving support, a plurality of loose pulley jigs are arranged on the grinding machine body, and a material taking support rotating column and a material receiving support rotating column are respectively arranged on the piece receiving device base. One end of the material taking support is connected to the material taking support rotating column, an air cylinder with a piston rod is arranged at the other end of the material taking support, a material taking disc is connected to the piston rod, and a suction cup and a product spray head are arranged on the material taking disc. One end of the material receiving support is connected to the material receiving support rotating column, and the other end of the material receiving support is connected with a material receiving mechanism. According to the scheme, the ceramic substrate can be automatically collected in the grinding process, manual intervention is reduced, and the production efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model relates to the field of ceramic substrate production, and particularly relates to an automatic sheet collecting device for a double-sided grinding machine. Background Art

[0002] A ceramic substrate is a material with excellent electrical insulation performance, high thermal conductivity characteristics and high adhesion strength, and is widely used in high-power power electronic circuit structures. Since its surface roughness directly affects the device performance, it is necessary to perform fine grinding to meet the strict requirements of different devices for surface flatness.

[0003] During the grinding process, the material ground off and the grinding sand are mixed and cover the surface of the substrate. This mixture will reduce the friction coefficient of the substrate surface, affect the grasping efficiency and accuracy of the manipulator, resulting in the failure of grasping the substrate or inaccurate position; the substrates with edge defects are difficult to separate and place during the automatic sheet collecting process, which not only affects the quality and reliability of the substrate, but also causes the interruption of the production process or damage to the equipment due to incorrect placement; the manipulator usually uses a suction cup to grasp the substrate, but due to the adsorption force between the lower surface of the substrate and the surface of the cruise fixture, the substrate is prone to breakage during the grasping process, reducing the product qualification rate.

[0004] In order to facilitate the manipulator to grasp the substrate, the surface of the substrate is usually cleaned by a spray head before grasping. However, the existing spray heads have problems such as insufficiently dispersed water flow, low cleaning efficiency, and difficulty in removing impurities on the inner wall of the spray head, which limit the cleaning effect and affect the efficiency of automatic sheet collecting and the surface quality of the substrate. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the problems of insufficiently dispersed water flow and difficulty in removing impurities on the inner wall of the existing product spray heads.

[0006] The utility model is realized by the following technical solutions:

[0007] An automatic sheet collecting device for a double-sided grinding machine, comprising a grinding machine body, on which several cruise fixtures are provided. The automatic sheet collecting device further includes a sheet collecting device base, a material taking bracket and a material receiving bracket. A material taking bracket rotating column and a material receiving bracket rotating column are respectively provided on the sheet collecting device base. One end of the material taking bracket is connected to the material taking bracket rotating column, and a cylinder with a piston rod is provided at the other end of the material taking bracket. A material taking plate is connected to the piston rod, and a suction cup and a product nozzle are provided on the material taking plate. One end of the material receiving bracket is connected to the material receiving bracket rotating column, and a material receiving mechanism is connected to the other end of the material receiving bracket. A rotating rod and a fixed rod are provided inside the product nozzle. A blocking block is provided on the outer wall of the rotating rod. One end of the fixed rod is connected to the inner wall of the product nozzle, and a bearing is provided at the other end of the fixed rod. The rotating rod is placed in the bearing hole, and the blocking block restricts the rotating rod from falling. Along the water flow direction, below the blocking block, a moving rod is movably sleeved on the outer wall of the rotating rod. A buffer connection mechanism is provided between the rotating rod and the moving rod. A scraping rod is provided on the outer wall of the moving rod. A secondary paddle is further provided on the lower end surface of the rotating rod. When the water flow impacts the secondary paddle, the rotating rod drives the scraping rod to rotate and scrape the impurities on the inner wall of the product nozzle. When the water flow pressure increases, the moving rod and the scraping rod generate displacement under the impact of the water flow, expanding the vertical scraping range.

[0008] Preferably, the material receiving mechanism includes a material receiving plate, which is connected to the material receiving bracket; two substrate placement grooves are provided on the material receiving plate.

[0009] Preferably, the orthographic projection of the setting position of the suction cup on the material taking plate is far from the center of gravity of the ceramic substrate. When the suction cup sucks up the ceramic substrate, the ceramic substrate can be in an inclined state, so that air enters the lower surface of the ceramic substrate, avoiding product breakage caused by the adsorption force between the substrate and the lower plate of the double-sided grinding machine.

[0010] Preferably, a camera is also slidably provided on the piston rod.

[0011] Preferably, a central nozzle is further provided at the end of the piston rod far from the cylinder.

[0012] Preferably, a primary paddle is provided on the upper end surface of the rotating rod, and the rotation radius of the primary paddle is smaller than that of the secondary paddle.

[0013] Preferably, the buffer connection mechanism includes a convex block and a spring; the moving rod is of a hollow internal structure, the convex block is provided on the outer wall of the rotating rod, and the spring is provided between the upper inner wall of the moving rod and the convex block and is respectively connected to the inside of the moving rod and the convex block, and can fully cover each area of the inner wall of the nozzle during rotation.

[0014] Preferably, along the water flow direction, 3 scraping plates are provided at intervals and evenly on the outer wall of the rotating rod.

[0015] Preferably, a scraper is provided at one end of the scraper away from the rotating rod to supplement the cleaning of the inaccessible areas on the inner wall of the nozzle during rotation.

[0016] Preferably, along the water flow direction, the nozzle diameter of the product nozzle gradually increases. The nozzle with a gradually changing diameter can make the water flow more uniform and stable when spraying, reducing vortex and splashing phenomena.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] 1. Through the automated material taking and receiving brackets, in cooperation with the precise program control system and sensors, the device realizes the automatic sheet collection of the ceramic substrate during the grinding process, reduces manual intervention, and significantly improves the production efficiency. At the same time, the automated process reduces the damage of the substrate caused by improper manual operation and improves the overall qualification rate of the product.

[0019] 2. The present invention adjusts the adsorption diameter and tilt angle according to the substrate thickness, effectively avoiding the breakage of the substrate during the grasping and placing processes. In addition, the two-stage paddle design of the product nozzle expands the water flow dispersion range, improves the cleaning efficiency, and ensures the cleanliness of the substrate surface. The scraper rod design on the inner wall of the nozzle can achieve a larger range of impurity removal under different water flow pressures, further improving the surface treatment quality of the substrate.

[0020] 3. The present invention has multiple adjustable components, such as the tilt angle of the suction cup holder, the position of the camera on the piston rod, the adjustability of the nozzle diameter of the nozzle, and the design of the substrate placement groove on the receiving tray, enabling the device to adapt to substrates of different sizes and thicknesses, with good versatility and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention.

[0022] In the drawings:

[0023] Figure 1 is a schematic diagram of the cruise ship fixture and the substrate position of the present invention;

[0024] Figure 2 are the 3 working positions of the material taking bracket of the present invention, initial position - position 1 - position 2 (the receiving bracket is not shown);

[0025] Figure 3 are the 3 working positions of the receiving bracket of the present invention, initial position - position 1 - position 2 (the material taking bracket is not shown);

[0026] Figure 4Overall schematic diagram of the product nozzle of the present utility model;

[0027] Figure 5 Internal structure schematic diagram of the product nozzle of the present utility model;

[0028] Figure 6 For Figure 5 Enlarged view of part A;

[0029] Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 Schematic working process diagrams of the film collecting device of the present utility model in sequence (aiming to show the position changes of the material taking bracket and the material receiving bracket from the standby state to the end of work).

[0030] What the reference numerals represent are:

[0031] 1, grinding machine body; 11, cruise fixture; 111, direction mark; 12, ceramic substrate; 13, position sensor; 14, grinding machine base; 2, material taking bracket; 21, material taking bracket rotating column; 22, film collecting device base; 23, camera; 24, product nozzle; 25, suction cup; 26, central nozzle; 27, material taking tray; 3, material receiving bracket; 31, material receiving bracket rotating column; 32, material receiving tray; 33, substrate placement groove; 4, product nozzle housing; 5, rotating rod; 51, fixed rod; 52, first-stage paddle; 53, stop block; 54, second-stage paddle; 55, convex block; 56, spring; 6, moving rod; 61, scraping rod; 62, scraping plate. Specific embodiments

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model. The illustrative embodiments and their descriptions of the present utility model are only used to explain the present utility model and are not intended to limit the present utility model. It should be noted that the present utility model has been in the actual R & D and use stage.

[0033] Unless otherwise defined, the technical terms or scientific terms used in this utility model shall have the ordinary meanings understood by those with ordinary skills in the field to which this utility model belongs. The "first", "second" and similar words used in this utility model do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects.

[0034] During the grinding process, the accumulation of the grinding material and abrasive mixture on the surface of the substrate will cause the surface friction coefficient to decrease, thereby affecting the grasping effect of the manipulator and resulting in grasping failure. At the same time, the substrate with damaged edges is difficult to be correctly separated in the automatic sheet collecting link, which damages the quality and stability of the substrate. In addition, the manipulator relies on a suction cup when grasping the substrate. However, due to the adsorption force between the lower surface of the substrate and the cruise fixture, the substrate is prone to breakage during the grasping process, reducing the qualified rate of the product. In order to improve the grasping convenience of the manipulator, the surface of the substrate is usually cleaned before grasping. However, the existing nozzles have problems such as insufficient water flow dispersion, low cleaning efficiency, and difficulty in removing impurities on the inner wall of the nozzle.

[0035] Please refer to the attached Figure 1 - attached Figure 6 , an automatic sheet collecting device for a double-sided grinding machine, comprising a grinding machine body 1, on which a number of cruise fixtures 11 are provided. The automatic sheet collecting device further comprises a sheet collecting device base 22, a material taking bracket 2 and a material receiving bracket 3. On the sheet collecting device base 22, a material taking bracket rotating column 21 and a material receiving bracket rotating column 31 are respectively provided; one end of the material taking bracket 2 is connected to the material taking bracket rotating column 21, and at the other end of the material taking bracket 2, there is a cylinder with a piston rod, and a material taking plate 27 is connected to the piston rod. On the material taking plate 27, there are a suction cup 25 and a product nozzle 24; one end of the material receiving bracket 3 is connected to the material receiving bracket rotating column 31, and the other end of the material receiving bracket 3 is connected with a material receiving mechanism; inside the product nozzle 24, there are a rotating rod 5 and a fixed rod 51. On the outer wall of the rotating rod 5, there is a stop block 53; one end of the fixed rod 51 is connected to the inner wall of the product nozzle 24, and at the other end of the fixed rod 51, there is a bearing, and the rotating rod 5 is placed in the bearing hole, and the stop block 53 restricts the falling of the rotating rod 5; along the water flow direction, below the stop block 53, a moving rod 6 is movably sleeved on the outer wall of the rotating rod 5; between the rotating rod 5 and the moving rod 6, there is a buffer connection mechanism; on the outer wall of the moving rod 6, there is a scraping rod 61; on the lower end surface of the rotating rod 5, there is also a secondary paddle 54; when the water flow impacts the secondary paddle 54, the rotating rod 5 drives the scraping rod 61 to rotate and scrape the impurities on the inner wall of the product nozzle 24; when the water flow pressure increases, the moving rod 6 and the scraping rod 61 generate displacements under the impact of the water flow, expanding the vertical scraping range.

[0036] As a further preference of this embodiment, the material receiving mechanism includes a material receiving tray 32, and the material receiving tray 32 is connected to the material receiving support 3; there are 2 substrate placement grooves 33 on the material receiving tray 32.

[0037] During the working process of the double-sided grinding machine, the cruise fixture 11 on the grinding machine body 1 is responsible for fixing and conveying the workpiece to be processed, such as the ceramic substrate 12; the program control system (including a computer, programs, circuits, and electrical control valves) is connected to the control system of the grinding machine. The thickness measuring sensor transmits the product thickness to the control center in real time. When it is determined that the thickness reaches the range set by the program, the grinding operation program ends, and the control system manipulates the grinding machine to raise the grinding disc automatically; when the workpiece is ground, it needs to be automatically taken out of the grinding area and placed at a designated position; the core part of the automatic sheet receiving device includes a sheet receiving device base 22, a material taking support 2, and a material receiving support 3. The material taking support 2 is connected to the sheet receiving device base 22 through a material taking support rotating column 21, and a cylinder with a piston rod is installed at one end, and a material taking tray 27 is connected to the piston rod. When the cylinder operates, the piston rod drives the material taking tray 27 to move above the grinding machine body 1, and the suction cups 25 on the material taking tray 27 suck up the ground workpiece through vacuum adsorption or other means. At the same time, the material receiving support 3 is connected to the sheet receiving device base 22 through a material receiving support rotating column 31, and a material receiving mechanism is connected to the other end, usually including a material receiving tray 32 and a substrate placement groove 33. After the material taking tray 27 sucks up the workpiece, the cylinder moves in the reverse direction, moves the workpiece above the material receiving mechanism, and then releases the workpiece so that it accurately falls into the substrate placement groove 33 of the material receiving tray 32. During the whole process, the material taking support 2 and the material receiving support 3 can be rotated and adjusted in position through the rotating column according to needs to adapt to the picking and placing of workpieces at different positions.

[0038] It should be noted that the material taking support 2 is controlled by the material taking support rotating column 21 and includes a rotation control device, a camera 23, a suction cup 25 and its support, an air pipe, a suction cup 25 frame tilt control device, a suction cup 25 telescopic cylinder, a camera 23 conveyor belt, a nozzle, and a water pipe.

[0039] It should be noted that after the material taking tray 27 sucks up the ground ceramic substrate 12, it moves above the material receiving mechanism. Subsequently, the suction cup 25 is released, so that the ceramic substrate 12 accurately falls into the substrate placement groove 33 for receiving materials; the two substrate placement grooves 33 are evenly distributed along the material receiving tray 32 to ensure that the ceramic substrate 12 remains stable during placement, avoiding mutual collision or slipping. The rapid and accurate placement of the ceramic substrate 12 is realized, and the automation degree and production efficiency of the double-sided grinding machine are further improved.

[0040] It should be noted that the adsorption diameter of the suction cup 25 is 40 - 60% of the product's length and width dimensions. If the adsorption diameter is too small, thinner products are more likely to be damaged. If the adsorption diameter is too large, it is not convenient for the suction cup 25 rack to tilt, and it is impossible to effectively let air enter the lower surface of the product to remove the adsorption force, which is also likely to cause damage to the product corners.

[0041] The cruise ship sensor is installed on the material taking bracket 2 and can sense, identify and feedback to the control system when the cruise ship fixture 11 rotates. The thickness measuring sensor is installed in the hole of the upper disc of the double-sided grinding machine. The hole penetrates the upper disc, and the thickness of the product in the disc is measured through the probe of the sensor.

[0042] As a further preference of this embodiment, the orthographic projection of the setting position of the suction cup 25 on the material taking disc 2 is far from the center of gravity of the ceramic substrate 12. When the suction cup 25 sucks up the ceramic substrate 12, the ceramic substrate 12 can be made to present an inclined state (the inclination angle is 5 - 15°). The product stays at this angle for 3 - 5 s, and the material taking disc 2 is slowly lifted by 3 - 5 mm to make the product at a certain angle, so that air enters the lower surface of the ceramic substrate 12, avoiding product damage caused by the adsorption force between the substrate and the lower disc of the double-sided grinding machine. Along the inclined direction, the material taking disc 2 is lifted obliquely upward until the product is separated from the lower disc and then quickly lifted. At this time, the material taking disc 2 has retreated a certain distance backward.

[0043] This embodiment also has a better solution. A camera 23 is also slidably provided on the piston rod; a central nozzle 26 is also provided at one end of the piston rod far from the cylinder. Through the spraying of the central nozzle 26, impurities and residues on the surface of the ceramic substrate 12 can be effectively removed, and at the same time, its temperature can be reduced, improving the product quality and the subsequent processing efficiency.

[0044] The program identifies the center point through the cruise ship drawing stored in the computer and extends the central nozzle 26 of the cruise ship to this position. The grinding sand at the center of the cruise ship is washed by spraying water. The nozzle moves forward, and the camera 23 moves to this position to take pictures and identify the direction of the mark. The camera exits under the equipment disc surface, and the suction cup 25 rack rotates until the suction cup 25 is aligned with the position set by the program.

[0045] It should be noted that the camera 23 has a waterproof function to avoid the influence of water vapor on its service life; the camera 23 can quickly identify the mark at the center position of the cruise ship fixture 11 and accurately calculate the rotation angle; the program identifies the center point through the cruise ship fixture 11 drawing stored in the computer and extends the central nozzle 26 to this position. The grinding sand at the center of the cruise ship is washed by spraying water centrally. The nozzle moves forward, and the camera 23 moves to this position to take pictures and identify the direction of the mark; the camera exits, and the material taking disc 2 rotates until the suction cup 25 is aligned with the position set by the program.

[0046] It should be noted that there is a round hole with a sharp corner at the center position of the cruise ship fixture 11, and the relative positions of the sharp corners are unified, which is convenient for the camera 23 to identify and the program to analyze and calculate the rotation angle required.

[0047] It should be noted that the camera 23 is slidably mounted on the piston rod and can adjust its position as the piston rod moves to ensure that all angles of the ceramic substrate 12 can be clearly photographed. Through image recognition technology, the camera 23 can detect the position and state of the ceramic substrate 12 in real time, providing accurate data support for material picking and placement. When the material picking tray 27 moves above the grinding machine body 1 and is ready to pick up the ceramic substrate 12, the camera 23 starts to work, photographing and identifying the position and state of the ceramic substrate 12. According to the recognition result, the control system adjusts the position and suction force of the material picking tray 27 to ensure that the ceramic substrate 12 is accurately picked up. Subsequently, during the placement process, the camera 23 continues to work to ensure that the ceramic substrate 12 is accurately placed on the receiving tray 32.

[0048] Embodiment 2:

[0049] Please refer to the attached Figure 5 , as a further optimization of the above embodiment, a primary paddle 52 is provided on the upper end surface of the rotating rod 5, and the rotation radius of the primary paddle 52 is smaller than that of the secondary paddle 54.

[0050] It should be noted that the primary paddle 52 is located on the upper end surface of the rotating rod 5 and has a smaller rotation radius, mainly assisting the starting and accelerating of the rotating rod 5 under the impact of water flow; the secondary paddle 54 is located on the lower end surface of the rotating rod 5 and has a larger rotation radius, responsible for generating a larger water flow dispersion range and cleaning force. When the water flow impacts the secondary paddle 54, it not only drives the rotation of the rotating rod 5 but also drives the rotation of the primary paddle 52 through the transmission of water flow, making the starting and accelerating of the rotating rod 5 more stable, improving the response speed and stability of the entire system; the rotation of the rotating rod 5 drives the vertical displacement of the moving rod 6 and the scraping rod 61, thereby removing impurities on the inner wall of the nozzle.

[0051] Please refer to the attached Figure 6 , this embodiment has a better solution. The buffer connection mechanism includes a convex block 55 and a spring 56; the moving rod 6 has a hollow interior structure. The convex block 55 is provided on the outer wall of the rotating rod 5, and the spring 56 is provided between the upper inner wall of the moving rod 6 and the convex block 55 and is respectively connected to the inside of the moving rod 6 and the convex block 55. A connection is formed between the rotating rod 5 and the moving rod 6, and they can rotate together. At the same time, the moving rod 6 can perform vertical displacement under the action of the spring 56 for a larger range of cleaning; the elastic deformation ability of the spring 56 enables the moving rod 6 to remain stable when subjected to impact or vibration, reducing the risk of damage to the internal structure of the nozzle.

[0052] Please refer to the attached Figure 5, in this embodiment, there is an even better solution. Along the water flow direction, three scraping plates 62 are evenly spaced on the outer wall of the rotating rod 5; the three scraping plates 62 are evenly distributed along the outer wall of the rotating rod 5 to ensure that all areas of the inner wall of the nozzle can be comprehensively covered during rotation; the scraping plates 62 are made of wear-resistant and corrosion-resistant materials, with a certain elasticity and hardness, and can effectively remove impurities on the inner wall of the nozzle without damaging the inner wall surface; when the rotating rod 5 rotates, it drives the three scraping plates 62 to perform a circular motion along the inner wall of the nozzle; during the movement, the scraping plates 62 contact the inner wall and generate frictional force, thereby scraping off the impurities attached to the inner wall and discharging them with the water flow.

[0053] Please refer to the appendix Figure 5 , in this embodiment, there is an even better solution. One end of the scraping plate 62 away from the rotating rod 5 is provided with a scraping plate 62. The shape and material of the scraping plate 62 are similar to those of the main scraping plate 62, but the size is slightly smaller, and it can supplement the cleaning of the areas on the inner wall of the nozzle that are difficult to reach during rotation.

[0054] Please refer to the appendix Figure 5 , in this embodiment, there is an even better solution. Along the water flow direction, the nozzle diameter of the product nozzle 24 gradually increases; the nozzle is designed with a gradually changing diameter, gradually increasing from the water inlet end to the water outlet end, which helps to optimize the water flow distribution and flow rate control; the nozzle with a gradually changing diameter can make the water flow more uniform and stable when spraying, reducing vortex and splashing phenomena.

[0055] Device operation steps:

[0056] S1. Equipment shutdown and safety inspection: After the equipment shuts down, the cruise fixture 11 rises to a safe position and is fixed by a safety lock to ensure operation safety.

[0057] S2. Automatic thickness measurement preparation: The equipment automatically starts the substrate thickness measurement program to provide accurate thickness data for subsequent operations.

[0058] S3. Positioning of the material taking bracket 2: The material taking bracket 2 starts to rotate until the position sensor 13 senses the accurate position of the cruise fixture 11. Note to set an appropriate delay according to the equipment performance.

[0059] S4. Cleaning of the central nozzle 26: The material taking bracket 2 rotates into the position above the substrate, and the central nozzle 26 starts to perform preliminary water spraying and cleaning on the substrate.

[0060] S5. Visual system preparation: The nozzle moves forward to a predetermined position, and the camera 23 is in place to prepare for image acquisition.

[0061] S6. Image recognition and program reading: The camera 23 recognizes the substrate direction mark 111 and matches it with the cruise ship drawing stored in the computer, and the program reads the drawing information.

[0062] S7, Positioning of the suction cup 25 and resetting of the nozzle and camera: The suction cup 25 rotates to the direction set by the program and stops. After the camera 23 finishes taking pictures, it retreats to a safe position outside the device, and the nozzle retreats for the next operation.

[0063] S8, Cleaning of the product nozzles 24: The four product nozzles 24 are activated to conduct a detailed water flow impact cleaning on the substrate.

[0064] S9, Defect detection: The camera 23 takes pictures again, and uses image processing technology to identify the defect situation of the substrate.

[0065] S10, Adsorbing the substrate by the suction cup 25: According to the thickness of the substrate, the suction cup 25 moves down to the set position and precisely adsorbs the substrate.

[0066] S11, Tilting operation of the material taking bracket 2: The material taking bracket 2 tilts by 5 - 10° and stays at this angle for 5 seconds, and adjusts the time according to the thickness of the substrate to ensure that air enters the lower surface of the substrate.

[0067] S12, Shrinking operation: While maintaining the angle, the material taking bracket 2 shrinks by 3 - 7 cm, and makes fine adjustments according to the size and thickness of the substrate.

[0068] S13, Lifting and docking with the receiving tray 32: Lift the tray surface to make the receiving tray 32 enter the docking position and get ready to receive the substrate.

[0069] S14, Sorting and placing of the substrates: The material taking bracket 2 moves down, tilts and rotates, and gently places the substrates into the corresponding substrate placement slots 33 of the receiving tray 32 one by one, and places the damaged and undamaged substrates separately according to the defect detection results.

[0070] S15, Resetting of the material taking bracket 2: After the substrates are placed, the material taking bracket 2 moves up and resets, getting ready for the next round of operation.

[0071] S16, Recycling operation: The material taking bracket 2 re - enters the working position, and repeats the operation from step 4 until all substrates are processed.

[0072] S17, Substrate collection and information recording: Use another robotic arm to classify and collect the substrates collected in the receiving tray 32 according to the recorded information in step 14.

[0073] S18, Cleaning and maintenance: After the receiving tray 32 finishes the substrate collection task, drain the water into the designated bucket, and conduct cleaning and maintenance to ensure the accuracy and cleanliness of the next operation of the device.

[0074] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present disclosure. The following points need to be explained: In the accompanying drawings of the embodiments of the present invention, only the structures related to the embodiments of the present invention are involved, and other structures can refer to the usual designs. Without conflict, the features in the same embodiment and different embodiments of the present invention can be combined with each other. The above is only an exemplary implementation manner of the present invention, rather than being used to limit the protection scope of the present invention. The protection scope of the present invention is determined by the appended claims.

Claims

1. An automatic wafer collecting device for a double-sided grinding machine, comprising a grinding machine body (1), on which a plurality of cruise jigs (11) are arranged, characterized in that: The automatic film collecting device further comprises a film collecting device base (22), a material collecting bracket (2) and a material receiving bracket (3), wherein the film collecting device base (22) is provided with a material collecting bracket rotating column (21) and a material receiving bracket rotating column (31), respectively; one end of the material collecting bracket (2) is connected to the material collecting bracket rotating column (21), and the other end of the material collecting bracket (2) is provided with a cylinder with a piston rod, and the piston rod is connected to a material collecting tray (27), and the material collecting tray (27) is provided with a suction cup (25) and a product nozzle (24); One end of the material receiving bracket (3) is connected to the material receiving bracket rotating column (31), and the other end of the material receiving bracket (3) is connected to a material receiving mechanism; The product spray head (24) is provided with a rotating rod (5) and a fixed rod (51) inside, and a stopper (53) is provided on the outer wall of the rotating rod (5); one end of the fixed rod (51) is connected to the inner wall of the product spray head (24), and the other end of the fixed rod (51) is provided with a bearing, the rotating rod (5) is placed in the bearing hole, and the stopper (53) limits the rotating rod (5) from falling; Along the direction of water flow, below the stopper (53), a movable rod (6) is movably sleeved on the outer wall of the rotating rod (5); a buffer connection mechanism is provided between the rotating rod (5) and the movable rod (6); a scraper rod (61) is provided on the outer wall of the movable rod (6); a secondary paddle (54) is also connected to the lower end surface of the rotating rod (5); when the water flow impacts the secondary paddle (54), the rotating rod (5) drives the scraper rod (61) to rotate and scrape away impurities on the inner wall of the product nozzle (24); when the water flow pressure increases, the movable rod (6) and the scraper rod (61) are displaced under the impact of the water flow, thereby expanding the vertical scraping range.

2. The automatic sheet collecting device for a double-sided grinding machine according to claim 1, characterized in that: The material receiving mechanism comprises a material receiving tray (32), which is connected to the material receiving bracket (3); the material receiving tray (32) is provided with two substrate placement slots (33).

3. The automatic sheet collecting device for a double-sided grinding machine according to claim 2, characterized in that: The positive projection of the position where the suction cup (25) is arranged on the material taking tray (27) is far away from the center of gravity of the ceramic substrate (12), and when the suction cup (25) sucks up the ceramic substrate (12), the ceramic substrate (12) can be placed in an inclined state.

4. The automatic sheet collecting device for a double-sided grinding machine according to claim 3, characterized in that: A camera (23) is also slidably provided on the piston rod.

5. The automatic sheet collecting device for a double-sided grinding machine according to claim 4, characterized in that: A central spray head (26) is also provided at the end of the piston rod away from the cylinder.

6. The automatic sheet collecting device for a double-sided grinding machine according to claim 5, characterized in that: The upper end surface of the rotating rod (5) is provided with a first-stage paddle (52), and the rotation radius of the first-stage paddle (52) is smaller than the rotation radius of the second-stage paddle (54).

7. The automatic sheet collecting device for a double-sided grinding machine according to claim 6, characterized in that: The buffer connection mechanism comprises a protrusion (55) and a spring (56); the moving rod (6) is an internally hollow structure, the protrusion (55) is arranged on the outer wall of the rotating rod (5), and the spring (56) is arranged between the upper part of the inner wall of the moving rod (6) and the protrusion (55) and is respectively connected to the inside of the moving rod (6) and the protrusion (55).

8. The automatic sheet collecting device for a double-sided grinding machine according to claim 7, characterized in that: Along the water flow direction, three scrapers (62) are evenly and spaced apart on the outer wall of the rotating rod (5).

9. The automatic sheet collecting device for a double-sided grinding machine according to claim 8, characterized in that: The scraper (62) is provided at one end of the scraper (62) away from the rotating rod (5).

10. The automatic sheet collecting device for a double-sided grinding machine according to any one of claims 1 to 9, characterized in that: Along the water flow direction, the nozzle diameter of the product nozzle (24) gradually increases.

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