Automatic loading and unloading mechanism of the polishing machine

Abstract

This utility model relates to an automatic loading and unloading mechanism for a polishing machine, comprising: a polishing machine having a loading station and an unloading station; a carrier plate for transferring workpieces between different stations of the polishing machine; the carrier plate having several workpiece placement positions corresponding one-to-one with the workpieces, wherein the loading station is an empty carrier plate; a material platform located on one side of the loading station and / or the unloading station, on which multiple workpieces to be processed are arranged in an orderly manner; a secondary positioning mechanism located on one side of the loading station; and a multi-axis robotic arm with a picking device fixed at its end, the picking device picking up one workpiece at a time, and the multi-axis robotic arm driving the picking device to transfer between the material platform, the secondary positioning mechanism, and the workpiece placement positions on the carrier plate of the loading / unloading station. The above mechanism has a simple structure and occupies little space overall.

Description

Technical Field

[0001] This utility model relates to the field of polishing machine technology, and in particular to an automatic loading and unloading mechanism for a polishing machine. Background Technology

[0002] CN218746937U discloses an automatic loading and unloading device for a polishing machine. The device includes a material rack lifting mechanism, a secondary positioning mechanism, a loading mechanism, a pallet positioning mechanism, and a pallet transfer mechanism arranged sequentially. It can load workpieces onto an empty pallet, then transport the empty pallet and the workpieces on it as a whole to the loading station of the polishing machine; and it can unload the pallet and the workpieces on it from the unloading station of the polishing machine.

[0003] The aforementioned automatic loading and unloading system can achieve automatic loading and unloading, but its loading and unloading equipment is set up independently of the polishing machine, and it uses pallets for loading and unloading. This setup requires at least a fixed disc mechanism, an empty disc unloading mechanism, and a rotating disc mechanism on the loading and unloading equipment. The fixed disc mechanism is used to place the pallets and workpieces unloaded from the polishing machine's unloading station; the empty disc unloading mechanism places empty pallets and loads workpieces at that position; and the rotating disc mechanism is used to rotate and position the pallets. Therefore, the aforementioned automatic loading and unloading equipment for the polishing machine requires a large space. The pallet transfer mechanism requires a suction cup mounting plate and gripper assembly to move the pallets, resulting in a complex structure that also requires a large space.

[0004] Furthermore, the robotic arm module in the feeding mechanism mentions picking up glass using suction cups, but in actual use, it has the following shortcomings: 1. Excessive inertial force when the suction cup adsorbs the workpiece can easily damage the workpiece; 2. Because there is an adhesive force between the suction cup and the glass workpiece, when the workpiece needs to be placed, even if the vacuum adsorption state of the suction cup is broken, the workpiece may still not be able to detach smoothly from the suction cup. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide an automatic loading and unloading mechanism for a polishing machine, which allows a robotic arm to directly load the glass workpiece to be processed onto the loading station of the polishing machine, or unload the glass workpiece from the unloading station. The mechanism is simple in structure and occupies little space.

[0006] The automatic loading and unloading mechanism of the polishing machine includes, The polishing machine is equipped with a loading station and a unloading station. The carrier tray carries the workpieces and transfers them between different stations of the polishing machine; the carrier tray has several workpiece placement positions that correspond one-to-one with the workpieces, wherein the loading station is an empty carrier tray; A material platform is located on one side of the loading station and / or unloading station. Multiple workpieces to be processed are arranged in an orderly manner on the material platform on the loading station side. The secondary positioning mechanism is set on one side of the loading station and includes a positioning base plate, a number of first positioning blocks respectively corresponding to the short side of the workpiece and a number of second positioning blocks respectively corresponding to the long side of the workpiece. A multi-axis robotic arm has a picking device fixed at its end. The picking device picks up one workpiece at a time. The multi-axis robotic arm drives the picking device to transfer between workpiece placement positions on the material table, the secondary positioning mechanism, and the loading / unloading station's support plate.

[0007] In the above-mentioned solution of this application, the empty carrier plate is directly set at the loading station of the polishing machine, and the workpiece is picked up directly by a multi-axis robotic arm (instead of transporting the entire pallet), which eliminates the fixed disc mechanism, the empty disc unloading mechanism and the rotating disc mechanism, and greatly reduces the space occupied by the equipment; at the same time, the robotic arm directly transfers the workpiece to the carrier plate, eliminating the need for the pallet transfer mechanism and its complex suction cup mounting plate and gripper assembly, simplifying the structure and further compressing the space requirements.

[0008] Preferably, the loading and unloading stations on the polishing machine are located in the same position. Sharing the same location for both reduces the space occupied by the polishing machine and simplifies the flow path of the carrier plate. Furthermore, the same set of material platform and multi-axis robotic arm can be used for both loading and unloading.

[0009] Preferably, the secondary positioning mechanism includes a positioning base plate with multiple air holes connected to a vacuum pump. The workpiece is vacuumed and adsorbed through the air holes, securing it firmly during the secondary positioning process and preventing displacement or damage due to mechanical collisions during positioning. This is particularly suitable for easily slippery glass workpieces.

[0010] Preferably, the positioning base plate has a set of positioning blocks at each of its two opposite corners. Each set of positioning blocks includes a first positioning block and a second positioning block. The distance between the first and second positioning blocks and the positioning base plate is adjusted by connecting parts and oblong holes. The oblong holes and connecting parts enable adjustable positioning block distances, accommodating precise positioning of workpieces of different sizes. The two sets of positioning blocks are diagonally distributed, achieving simultaneous positioning of the workpiece's long / short sides with a minimal structure, saving space.

[0011] Preferably, the carrier plate has multiple workpiece placement positions evenly distributed around its center on the circumference. The carrier plate is driven by a motor to rotate around its center by a preset angle, switching between the multiple workpiece placement positions. When loading begins, the empty carrier plate at the loading station returns to its original position; when unloading begins, the carrier plate at the unloading station returns to its original position. The carrier plate rotates to switch positions, and after determining the original position, subsequent switching to the next position only requires controlling the motor to rotate by the preset angle, without needing to change the robotic arm's positioning on the carrier plate, simplifying robotic arm control. Furthermore, since the carrier plate is driven by a motor, simply controlling the motor shaft to reset the carrier plate to its original position simplifies control and eliminates the need for complex positioning structures; the positioning marks on the carrier plate serve as auxiliary positioning.

[0012] Preferably, the motor driving the carrier plate is controlled by a servo driver. Servo control enables high-precision transmission and positioning, and allows the recording of the motor's rotation angle to determine the position of the carrier plate based on that angle.

[0013] Preferably, the material platform is mounted on an AGV (Automated Guided Vehicle) and moved by the AGV. The material platform mounted on the AGV enables automatic workpiece replenishment and turnover, reducing manual intervention; simultaneously, the material platform can be flexibly moved out of the work area, avoiding the need for a fixed material platform to occupy continuous space.

[0014] Preferably, the pickup device includes: A base is fixed on a multi-axis robotic arm. The base is equipped with several suction cups, each with several suction holes connected to a vacuum pumping device. The push rod assembly, telescopically mounted on the base, includes a push rod and a first elastic element. In the reset position, the telescopic end of the push rod is located at the front end of the suction cup's adsorption surface in the adsorption direction. When the adsorption surface contacts the workpiece, the push rod retracts under the pressure of the workpiece, and the first elastic element stores energy and tends to drive the telescopic end of the push rod to the reset position. With the pickup device configured as described above to accommodate the characteristics of glass, during adsorption: after the workpiece contacts the suction cup, the push rod is compressed back, the elastic element stores energy, buffering the adsorption impact and preventing damage to the workpiece due to inertial collision; during release: after the vacuum is broken, the elastic element pushes the push rod to extend, physically separating the workpiece from the suction cup, completely solving the problem of adhesion residue. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the polishing machine in this application; Figure 2 for Figure 1 Top view; Figure 3 A schematic diagram of the structure of one embodiment of the carrier disk; Figure 4A schematic diagram of the pickup device (the push rod is in the reset position). Figure 5 This is a structural diagram of another state of the pickup device (the state of the push rod when the suction cup picks up the workpiece). Figure 6 This is a schematic diagram of the pickup device from another angle; Figure 7 for Figure 6 Sectional view along the BB direction; Figure 8 This is a schematic diagram of the pickup device from another angle; Figure 9 This is a schematic diagram of the structure in which the first base and the second base move relative to each other.

[0016] Figure label: Loading / unloading station 11 Support plate 2, workpiece placement position 21, Multi-axis robotic arm 3, Pickup device 4, First base 411, second base 412 Suction cup 421, suction hole 4211, air tube 4212, second elastic element 422, guide shaft 423. Top rod 431, limiting edge 4311, first elastic element 432, upper guide sleeve 4331, lower guide sleeve 4332. Connecting shaft 441, 6 AGV trolleys, 61 material platforms Workpiece 7. Detailed Implementation

[0017] The embodiments of this utility model are described in detail below.

[0018] This embodiment provides an automatic loading and unloading mechanism for a polishing machine. In the polishing of glass workpiece 7 (e.g., 3D glass), the mechanism can automatically load the workpiece 7 onto the loading station of the polishing machine and automatically unload it from the unloading station of the polishing machine.

[0019] like Figure 1 and Figure 2 As shown, the aforementioned institutions include: The polishing machine is equipped with a loading station and a unloading station; The carrier plate 2 carries the workpiece 7 and transfers it between different stations of the polishing machine; the carrier plate 2 is provided with a number of workpiece 7 placement positions 21 that correspond one-to-one with the workpiece 7, wherein the loading station is an empty carrier plate 2. The material platform 61 is located on one side of the loading station and / or unloading station. Multiple workpieces 7 to be processed are arranged in an orderly manner on the material platform 61 on the side of the loading station. A secondary positioning mechanism is set on one side of the loading station, including a number of first positioning blocks respectively corresponding to the short side of workpiece 7 and a number of second positioning blocks respectively corresponding to the long side of workpiece 7. The multi-axis robotic arm 3 has a picking device fixed at its end. The picking device picks up one workpiece 7 at a time. The multi-axis robotic arm 3 drives the picking device to move between the workpiece 7 placement position 21 on the material table 61, the secondary positioning mechanism and the bearing plate 2 of the loading / unloading station 11.

[0020] The multi-axis robotic arm 3 has multiple degrees of freedom, and its operating range can cover the material table 61, the secondary positioning mechanism, and the loading / unloading station 11. During loading, the operation sequence of the multi-axis robotic arm 3 is as follows: take a workpiece 7 from the material table 61, place it in the secondary positioning mechanism for secondary positioning, and then take the workpiece 7 from the secondary positioning mechanism and place it on a workpiece 7 placement position 21 of the bearing plate 2 of the loading station; during unloading, the operation sequence of the multi-axis robotic arm 3 is as follows: take a workpiece 7 from the bearing plate 2 of the unloading station, and determine whether to transfer the workpiece 7 to the inspection station or directly unload it to the material table 61 according to the subsequent operations to be performed.

[0021] In the above scheme, the empty carrier plate 2 is directly set at the loading station of the polishing machine. The multi-axis robotic arm 3 directly picks up the workpiece 7 one by one (instead of transporting the whole pallet), eliminating the need for structures such as the fixed disc mechanism, the empty disc unloading mechanism and the rotating disc mechanism, which greatly reduces the space occupied by the equipment. At the same time, the robotic arm directly transfers the workpiece 7 to the carrier plate 2, eliminating the need for the pallet transfer mechanism and its complex suction cup mounting plate and gripper assembly, simplifying the structure and further reducing space requirements.

[0022] In this embodiment, the loading and unloading stations on the polishing machine are located at the same position. Sharing the same location for both loading and unloading stations 11 reduces the space occupied by the polishing machine and simplifies the flow path of the carrier plate 2. Furthermore, the same set of loading and unloading platforms 61 and multi-axis robotic arms 3 can be used for both. In a preferred embodiment, such as... Figure 1-2 As shown, the loading / unloading stations and polishing stations in the polishing machine are distributed circumferentially around the same center. The bearing plate 2 rotates around the center of the polishing machine, switching between multiple stations. Thus, the loading and unloading stations are connected end-to-end, allowing them to share the same station. Furthermore, the circular flow path minimizes space occupation and maximizes factory space utilization. In other alternative embodiments, the multiple stations of the polishing machine can be arranged in a straight line, and the reciprocating flow of multiple stations also achieves end-to-end connection of the loading and unloading stations, enabling them to share a single station.

[0023] In an optional embodiment, the multi-axis robotic arm 3 is also equipped with a vision sensor to identify the position of the workpiece placement position 21 through image processing to achieve positioning.

[0024] In a preferred embodiment, multiple workpiece placement positions 21 on the carrier plate 2 are evenly distributed around the center of the carrier plate 2. The carrier plate 2 is driven by a motor to rotate around its center by a preset angle to switch between the multiple workpiece placement positions 21. With the above configuration, after the origin position is determined, the carrier plate 2 rotates to switch positions. Subsequently, only the motor needs to be controlled to rotate by a preset angle to switch to the next position. There is no need to change the positioning of the robotic arm on the carrier plate 2, and the control of the robotic arm is simple. Furthermore, since the carrier plate 2 is driven by a motor to rotate, controlling the motor shaft to reset the carrier plate 2 can reset it to the origin position, which is simple and does not require a complex positioning structure. In addition, each station in the polishing machine is equipped with only one carrier plate 2, so that after the carrier plate 2 is at the loading and unloading station, since the carrier plate 2 rotates around its own center at the station, the position of the workpiece placement position 21 on it can be easily determined, and it can be easily reset to the origin (initial position). In this embodiment, the carrier disk is driven by a servo motor, which is controlled by a servo controller. Through servo control, high-precision transmission and positioning can be achieved, and the motor's rotation angle can be recorded. The position of the carrier disk is determined based on the motor angle. Preferably, an encoder is also provided to monitor the actual position of the servo motor, and the rotation angle of the carrier disk is accurately located by combining the encoder's feedback signal.

[0025] In this embodiment, the material platform 61 is mounted on the AGV trolley 6 and is driven to move by the AGV trolley 6. The AGV trolley 6 is a commonly used device in automated warehouses, capable of automatic pathfinding and automatic movement. The material platform 61, mounted on the AGV trolley 6, enables automatic replenishment and turnover of workpieces 7, reducing manual intervention; at the same time, the material platform 61 can be flexibly moved out of the work area, avoiding the fixed material platform 61 occupying continuous space.

[0026] The secondary positioning mechanism in this embodiment includes a positioning base plate with multiple air holes connected to a vacuum pump. After the workpiece 7 is placed in the secondary positioning mechanism, the vacuum pump is activated, which securely fixes the workpiece 7 during the secondary positioning process, preventing displacement or damage due to mechanical collisions. This is particularly suitable for easily slippery glass workpieces 7. A set of positioning blocks is provided at each of the two opposite corners of the positioning base plate. Each set of positioning blocks includes a first positioning block and a second positioning block. The distance between the first and second positioning blocks and the positioning base plate is adjusted by connecting parts and oblong holes. This configuration positions the workpiece 7 from only two diagonally opposite corners, achieving simultaneous positioning of the workpiece 7's long and short sides with a minimal structure, saving space. The oblong holes, in conjunction with the connecting parts, allow for adjustable positioning block distances, accommodating precise positioning of workpieces 7 of different sizes.

[0027] Similar to the secondary positioning mechanism, the bottom of the workpiece placement position 21 of the support plate 2 in this embodiment is also provided with multiple air holes. These air holes are connected to a vacuum pump, thereby enabling the workpiece 7 to be fixed in the workpiece placement position 21 by negative pressure. It should be noted that the vacuuming of different processes in this embodiment is controlled independently.

[0028] The structure of the pickup device 4 is described in detail below.

[0029] like Figure 4-5 As shown, it includes: a base on which a plurality of suction cups 421 are provided, wherein the suction cups 421 are provided with a plurality of suction holes 4211, and the suction holes 4211 are connected to a vacuum pumping device; The push rod 431 assembly is telescopically mounted on the base and includes a push rod 431 and a first elastic element 432. In the reset position, the telescopic end of the push rod 431 is located at the front end of the suction surface of the suction cup 421 in the suction direction. When the suction surface contacts the workpiece, the push rod 431 retracts under the pressure of the workpiece, and the first elastic element 432 stores energy and has the tendency to drive the telescopic end of the push rod 431 to move to the reset position.

[0030] In this embodiment, the suction cup 421 is a vacuum suction cup 421, connected to a vacuum pumping device via an air pipe 4212. After the suction cup 421 contacts the workpiece, the vacuum pumping device is activated to create a vacuum, forming a negative pressure between the suction cup 421 and the workpiece, allowing the suction cup 421 to firmly adhere to the workpiece surface. At this time, the pickup device can move the suction cup 421. After the vacuum is deactivated, controlling the suction hole 4211 to connect to the atmospheric cavity breaks the vacuum state of the suction cup 421, allowing the suction cup 421 to detach from the workpiece surface. Figure 7 The suction cup 421 has an outwardly expanding suction edge on the side facing the workpiece. Under vacuum conditions, this suction edge can deform and adhere to the workpiece surface, increasing the contact area and eliminating air between the suction cup 421 and the workpiece surface, forming a reliable connection. After the vacuum is broken, the suction edge returns to its original shape, reducing the contact area with the workpiece surface and releasing the connection between the suction cup 421 and the workpiece surface. In a specific embodiment, at least two suction cups 421 are provided to increase the contact points between the pickup device and the workpiece, improving the reliability of the connection. Figure 4 As shown, the tray in this embodiment is elliptical in shape to increase the adsorption surface between a single tray and the workpiece. At the same time, when multiple trays are set, interference between adjacent trays or between the tray and the telescopic rod can be avoided.

[0031] like Figure 7 As shown, the vacuum suction cup 421 in this embodiment can adopt an existing modular structure and is connected to the base via a threaded connection. The vacuum suction cup 421 is connected to an external vacuuming device via an air pipe 4212.

[0032] In a preferred embodiment, the suction cup 421 has a groove on the side facing the workpiece, and the groove communicates with the adsorption hole 4211. By creating the groove, the vacuum cavity between the adsorption surface of the suction cup 421 and the workpiece surface is increased through the groove communicating with the adsorption hole 4211, ensuring a negative pressure effect.

[0033] Because there is an adhesive force between the suction cup 421 and the glass workpiece, the aforementioned push rod 31 assembly is provided in this embodiment to facilitate the smooth separation of the suction cup 421 from the workpiece. When the picking device is not in contact with the workpiece, since the telescopic end of the push rod 431 is located at the front end of the suction direction of the suction surface of the suction cup 421 in the reset state, that is, the push rod 431 is closer to the workpiece, when the picking device moves toward the workpiece to be picked up, the push rod 431 will contact the workpiece surface before the suction cup 421. As it continues to approach the workpiece until the suction cup 421 adsorbs the workpiece surface, the push rod 431 retracts under the pressure of the workpiece, and the first elastic element 432 stores energy and has a tendency to drive the telescopic end of the push rod 431 to the reset position. The pre-press stroke of the push rod 431 satisfies the following conditions: when the suction cup 421 contacts the workpiece, the push rod 431 has pressed against the workpiece surface, and the elastic force of the first elastic element 432 is less than the vacuum suction force of the suction cup 421. With this configuration, after the vacuum adsorption state of the suction cup 421 is released, the elastic force of the first elastic element 432 is greater than the adsorption force of the suction cup 421. The restoring force of the first elastic element 432 drives the push rod 431 to reset, and the telescopic end of the push rod 431 pushes the workpiece to separate from the suction cup 421, thereby successfully achieving the separation of the suction cup 421 from the workpiece.

[0034] In this embodiment, the extension ends of the suction cup 421 and the push rod 431 are made of silicone or rubber. When the silicone or rubber parts come into contact with the hard and brittle workpiece, they undergo elastic deformation, which can prevent damage to the workpiece at the contact point; and after vacuuming, the suction cup 421 can adhere to the surface of the workpiece and uniformly transmit the vacuum negative pressure.

[0035] like Figure 4-5 As shown, in an embodiment with at least two suction cups 421, the telescopic end of the push rod 431 is located at the center of the at least two suction cups 421. When extracting a workpiece, at least two trays are evenly distributed around the center of the workpiece on its surface, enabling the workpiece to remain balanced during extraction and handling. The push rod 431 is located at the center of multiple workpieces, ensuring that multiple trays can simultaneously detach from the workpiece when the push rod 431 extends.

[0036] In this embodiment, such as Figure 6 and Figure 9As shown, the base includes a first base 411 and a second base 412. A push rod 431 is telescopically mounted on the first base 411. A suction cup 421 is mounted on the second base 412, which is movably connected to the first base 411. A second elastic element 422 is provided between the first base 411 and the second base 412. When the first base 411 and the second base 412 slide relative to each other, the second elastic element 422 undergoes an elastic change. The relative movement direction of the first base 411 and the second base 412 is the same as the telescopic direction of the push rod 431. With the above configuration, the relative movement of the first base 411 and the second base 412 can compress the second elastic element 422, thereby absorbing the inertial impact during the pick-up and drop-off process. Thus, the above improvement can solve the problem in the prior art where the excessive inertial force of the suction cup 421 when adsorbing the workpiece easily damages the workpiece.

[0037] In this embodiment, such as Figure 9 As shown, the first base 411 and the second base 412 are connected by a slide rail and groove, and the suction cup 421 is fixed on the second base 412. The first base 411 is rigidly connected to the robotic arm. Through the slide rail and groove, the resistance between the first base 411 and the second base 412 is small, and the second elastic element 422 can better absorb inertial impact.

[0038] like Figure 6 and Figure 7 As shown, a guide shaft 423 is provided between the first base 411 and the second base 412, and the guide shaft 423 is arranged along the relative movement direction of the first base 411 and the second base 412; the second elastic element 422 is a spring, and the second elastic element 422 is sleeved on the outside of the guide shaft 423. One end of the guide shaft 423 is fixed on the first base 411 or the second base 412, and the guide shaft 423 guides the second elastic element 422 to extend and retract.

[0039] In a preferred embodiment, a guide sleeve is included, which is fixed to a base and has a mounting cavity with through holes at both ends along its axial direction. A push rod 431 passes through the mounting cavity, and a limiting edge 4311 is provided on the outer periphery of the push rod 431. The limiting edge 4311 guides and engages with the inner wall of the mounting cavity, and the outer diameter of the limiting edge 4311 is larger than the diameter of the through holes. A first elastic element 432 is sleeved on the outer periphery of the push rod 431, with its two ends abutting against the limiting edge 4311 and the upper end of the mounting cavity, respectively. In this embodiment, the base has a chamber for inserting the guide sleeve, and a limiting step is formed on the outer peripheral wall of the guide sleeve, which positions and engages with the limiting step in the chamber of the base.

[0040] During assembly, the push rod 431 assembly is first installed in the guide sleeve, and then the guide sleeve and push rod 431 assembly are assembled as a whole onto the base, resulting in a simple assembly structure. In a specific embodiment, the guide sleeve is fixed to the base with screws. In embodiments where the base includes a first base 411 and a second base 412, the guide sleeve is disposed on the first base 411. In a preferred embodiment, as shown... Figure 7 As shown, the guide sleeve includes a detachably connected upper guide sleeve 4331 and a lower guide sleeve 4332. The upper guide sleeve 4331 and the lower guide sleeve 4332 together define its mounting cavity. This configuration eliminates the need for an additional structure to reduce the end through hole and limit the extension and retraction of the push rod 431 after it is installed, resulting in a simple structure. In other alternative embodiments, the push rod 431 and the first elastic member 432 can be installed through one end opening of the mounting cavity, which allows the limiting part to pass through. An end cap is then fixed at this opening to reduce the opening of the mounting cavity, thereby enabling it to cooperate with the limiting part to limit the extension and retraction distance of the push rod 431.

[0041] The aforementioned pickup device is fixed to the pickup end of the multi-axis robotic arm and is moved by the robotic arm, such as... Figure 4-5 As shown, a connecting shaft 441 is provided on the base, through which the robotic arm is connected.

[0042] The working process of the automatic pick-and-place mechanism is as follows: The robotic arm moves the picking device above the target workpiece. At this time, the top rod 431 assembly and suction cup 421 of the picking device are in the reset position, and the vacuum equipment is not started. The robotic arm controls the picking device to descend until the suction cup 421 and the push rod 431 contact the surface of the target workpiece. Since the second base 412 is movable relative to the first base 411 and the push rod 431 is movable relative to the first base 411, the suction cup 421 continues to press down a certain distance when it contacts the workpiece surface to ensure the adsorption effect. After pressing down to the end, the vacuum equipment is started. The robotic arm moves to transport the workpiece to the target position. After it moves into position, it shuts off the vacuum equipment and opens the suction hole 4211 to the atmosphere, breaking the vacuum state of the suction cup 421. The push rod 431 is driven by the restoring force of the first elastic element 432 to push the workpiece away from the suction cup 421.

[0043] In summary, the picking device and automatic pick-and-place mechanism of the above embodiments can enable the workpiece to be smoothly detached from the suction cup 421 and can absorb inertial forces.

[0044] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic loading and unloading mechanism for a polishing machine, characterized in that, include, The polishing machine is equipped with a loading station and a unloading station; The carrier tray carries the workpieces and transfers them between different stations of the polishing machine; the carrier tray has several workpiece placement positions that correspond one-to-one with the workpieces, wherein the loading station is an empty carrier tray; A material platform is located on one side of the loading station and / or unloading station. Multiple workpieces to be processed are arranged in an orderly manner on the material platform on the loading station side. The secondary positioning mechanism is set on one side of the loading station and includes a positioning base plate, a number of first positioning blocks respectively corresponding to the short side of the workpiece and a number of second positioning blocks respectively corresponding to the long side of the workpiece. A multi-axis robotic arm has a picking device fixed at its end. The picking device picks up one workpiece at a time. The multi-axis robotic arm drives the picking device to transfer between workpiece placement positions on the material table, the secondary positioning mechanism, and the loading / unloading station's support plate.

2. The automatic loading and unloading mechanism of the polishing machine according to claim 1, characterized in that, The loading and unloading stations on the polishing machine are located at the same position on the polishing machine.

3. The automatic loading and unloading mechanism of the polishing machine according to claim 1, characterized in that, The secondary positioning mechanism includes a positioning base plate, which has multiple air holes that are connected to a vacuum pumping device.

4. The automatic loading and unloading mechanism of the polishing machine according to claim 1 or 3, characterized in that, The positioning base plate has a set of positioning blocks at its two opposite corners. Each set of positioning blocks includes a first positioning block and a second positioning block. The first positioning block and the second positioning block are adjusted to adjust the distance between themselves and the positioning base plate through the connection of the connector and the oblong hole.

5. The automatic loading and unloading mechanism of the polishing machine according to claim 1, characterized in that, The carrier plate has multiple workpiece placement positions evenly distributed around the center of the carrier plate; the carrier plate is driven by a motor to rotate around its center at a preset angle to switch between the multiple workpiece placement positions; when loading begins, the empty carrier plate at the loading station is reset to its original position; when unloading begins, the carrier plate at the unloading station is reset to its original position.

6. The automatic loading and unloading mechanism of the polishing machine according to claim 5, characterized in that, The motor that drives the carrier plate is controlled by a servo driver.

7. The automatic loading and unloading mechanism of the polishing machine according to claim 1, characterized in that, The material platform is mounted on an AGV (Automated Guided Vehicle) and is driven to move by the AGV.

Images