CN113001397B

CN113001397B - Automatic feeding and discharging method for flat grinding machine and flat grinding machine

Info

Publication number: CN113001397B
Application number: CN202110254622.7A
Authority: CN
Inventors: 邱会生; 陈颂文; 土宇; 暨伟
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2022-11-01
Anticipated expiration: 2041-03-09
Also published as: CN113001397A

Abstract

The invention discloses a method for automatic feeding and discharging of a flat grinding machine and the flat grinding machine, which are applied to the flat grinding machine, wherein the method for automatic feeding and discharging of the flat grinding machine comprises the following steps: acquiring the position coordinates of a visual reference mark of the target dental plate jig through a visual identification mechanism; acquiring the position and angle information of the cavity groove according to the relative position relation between the visual reference mark and the cavity groove and the position coordinate of the visual reference mark; the moving component is controlled to move to a position corresponding to the cavity groove, the rotating component is controlled to rotate to an angle corresponding to the cavity groove, and products are sucked or placed. The method for automatic loading and unloading of the flat grinding machine can identify the position information of the visual reference mark through the visual identification mechanism, so that the position and angle information of the corresponding cavity groove can be obtained, the automatic loading and unloading process can be realized, the labor cost can be reduced, the situation that the loading of individual products is not in place can be effectively reduced, and the production efficiency can be improved.

Description

Automatic feeding and discharging method for flat grinding machine and flat grinding machine

Technical Field

The invention relates to the technical field, in particular to an automatic feeding and discharging method for a flat grinding machine. In addition, the invention also relates to a flat grinding machine for implementing the automatic feeding and discharging method of the flat grinding machine.

Background

Among the prior art, disc glass flat grinding machine's simple structure, price are substantial and production technology is ripe, but at the in-process that uses, need adopt the artifical mode of going up the unloading, the manual work is placed glass in the die cavity of dental lamina tool, after glass has all been placed to all dental lamina die cavities, because the dental lamina is not standard, rotate the in-process a small number of glass and easily deviate from the reason such as deviate from putting the die cavity, whether all place in place need inspect glass again to the glass that will deviate from is again moved by hand and is put to the dental lamina. When individual glass is not put in place, the whole glass can be completely damaged after the upper grinding disc descends to press the glass, and particularly, the grinding surface of the flat grinding machine can be damaged when the flat grinding machine rotates at a high speed. Meanwhile, the manual operation is adopted, so that the labor intensity is high, the production efficiency is low, and the risk coefficient is high.

In conclusion, how to improve the production efficiency of the flat grinding machine is a problem to be solved urgently by the technical personnel in the field at present.

Disclosure of Invention

In view of this, the present invention provides an automatic loading and unloading method for a flat grinding machine, which can identify position information of a visual reference mark through a visual identification mechanism, so as to obtain position information of a corresponding cavity groove, realize an automatic loading and unloading process, and reduce labor cost; in addition, the automatic operation processes are all preset by programs, the consistency is high, the situation that the feeding of individual products is not in place can be effectively reduced, and the production efficiency is improved.

The invention also aims to provide the flat grinding machine for implementing the method for automatically feeding and discharging materials of the flat grinding machine.

In order to achieve the above purpose, the invention provides the following technical scheme:

a method for automatic feeding and discharging of a flat grinding machine is applied to the flat grinding machine, the flat grinding machine comprises a dental lamina jig, a moving assembly and a rotating assembly, and the dental lamina jig is provided with a visual reference mark and a cavity groove for placing a product; the visual reference mark is fixedly arranged relative to the cavity groove; the rotating assembly is connected to the moving assembly, the rotating assembly is provided with an absorbing mechanism for absorbing the product and a visual identification mechanism for identifying the position coordinates of the visual reference mark, and the method comprises the following steps:

acquiring the position coordinates of a visual reference mark of the dental plate jig of the target through the visual identification mechanism;

acquiring the position and angle information of the cavity groove according to the relative position relation between the visual reference mark and the cavity groove and the position coordinates of the visual reference mark;

and controlling the moving assembly to move to a position corresponding to the cavity groove, controlling the rotating assembly to rotate to an angle corresponding to the cavity groove, and controlling the suction mechanism to suck or place the product.

Preferably, the visual reference mark is a regular polygon arranged on the upper surface of the dental plate jig.

Preferably, the obtaining of the position coordinates of the visual reference mark of the dental plate jig by the visual recognition mechanism includes:

and acquiring the position coordinates of the center of the visual reference mark and the position coordinates of each vertex angle of the visual reference mark.

Preferably, the control moving component moves to a position corresponding to the cavity groove, controls the rotating component to rotate to an angle corresponding to the cavity groove, and sucks or places the product, and the control moving component includes:

controlling the moving assembly to drive the suction mechanism to suck the product to be polished;

controlling the rotating assembly to drive the product to rotate to an angle corresponding to the cavity groove;

controlling the moving assembly to drive the product to move to a preset deviation position, wherein the preset deviation position is a position with a preset deviation from a target position, and the target position is a position of the product corresponding to the cavity groove theoretically;

controlling the moving assembly to move in the opposite direction of the preset deviation until the resistance on the moving assembly triggers a preset threshold value of a torque sensor, and stopping moving; the torque sensor is arranged on the moving component;

controlling the suction mechanism to release the product.

Preferably, after controlling the moving assembly to drive the product to move to a position with a preset deviation and before controlling the moving assembly to move in a direction opposite to the preset deviation, the method includes:

controlling the suction mechanism to close vacuum to enable the suction mechanism to be in contact with the product, and driving the product to move by means of friction force between the suction mechanism and the product.

Preferably, the controlling the moving assembly to move in the opposite direction of the preset deviation until the preset threshold of the torque sensor is triggered by the resistance applied to the moving assembly, after stopping moving, includes:

and controlling the moving assembly to drive the product to deflect and rock repeatedly, and applying preset pressure to the product through the moving assembly.

Preferably, the controlling the moving component to move in the opposite direction of the preset deviation includes:

and controlling the moving assembly to move within a range of a preset distance, wherein the preset distance is greater than the absolute value of the preset deviation.

Preferably, the control moves the subassembly and moves to the position that corresponds with the die cavity groove, control the rotating assembly rotate to the angle that corresponds with the die cavity groove, and absorb or place the product, include:

controlling the rotating assembly to rotate to an angle corresponding to the cavity groove;

controlling the moving assembly to move to a position corresponding to the cavity groove;

controlling the suction mechanism to open vacuum and suck the product in the cavity groove;

and controlling the moving assembly to drive the product to move to a blanking position.

A flat grinding mill comprising:

the dental plate jig is arranged on the lower grinding disc and is provided with a visual reference mark and a cavity groove for placing a product; the visual reference mark is fixedly arranged relative to the cavity groove;

the moving assembly is used for driving the suction mechanism and the visual identification mechanism to move;

the rotating assembly is provided with an absorbing mechanism for absorbing the product and a visual identification mechanism for identifying the position coordinate of the visual reference mark; and the rotating assembly is mounted to the moving assembly.

Preferably, the device further comprises a torque sensor connected with the suction mechanism.

The invention provides an automatic feeding and discharging method of a flat grinding machine, which is applied to the flat grinding machine, wherein the flat grinding machine comprises a dental lamina jig, a moving assembly and a rotating assembly, and the dental lamina jig is provided with a visual reference mark and a cavity groove for placing a product; the visual reference mark is fixedly arranged relative to the cavity groove; the rotating assembly is connected with the moving assembly and is driven by the moving assembly to move, and the rotating assembly is provided with an absorbing mechanism for absorbing a product and a visual identification mechanism for identifying the position coordinate of the visual reference mark; in the process of implementing the method for automatic loading and unloading of the flat grinding machine, firstly, the position coordinates of the visual reference mark of the target tooth plate jig are acquired through a visual identification mechanism; acquiring the position and angle information of the cavity groove according to the relative position relation between the visual reference mark and the cavity groove and the position coordinate of the visual reference mark; the moving component is controlled to move to a position corresponding to the cavity groove, the rotating component is controlled to rotate to an angle corresponding to the cavity groove, and the suction mechanism is controlled to suck or place a product.

Compared with the prior art, the method for automatic loading and unloading of the flat grinding machine can identify the position information of the visual reference mark through the visual identification mechanism, so that the position and angle information of the corresponding cavity groove is obtained, the automatic loading and unloading process is realized, and the labor cost can be reduced; in addition, the automatic operation processes are all preset by programs, the consistency is high, the situation that the feeding of individual products is not in place can be effectively reduced, and the production efficiency is improved.

In addition, the invention also provides a flat grinding machine for implementing the automatic feeding and discharging method of the flat grinding machine.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a particular embodiment of a flat grinding mill provided by the present invention;

FIG. 2 is a side view of the flat grinding mill of FIG. 1;

FIG. 3 is a front view of the flat grinder of FIG. 1;

FIG. 4 is a top plan view of the flat grinding mill of FIG. 1;

FIG. 5 is a schematic structural diagram of a flat grinding machine with a buffer mechanism;

FIG. 6 is a schematic structural diagram of a moving assembly;

FIG. 7 is a schematic view of the connection between the X-axis driving module and the Y-axis module;

FIG. 8 is a schematic structural view of the Z-axis moving assembly and the rotating assembly;

FIG. 9 is a distribution diagram of a dental plate fixture;

FIG. 10 is a top view of a dental plate fixture;

FIG. 11 is a schematic view illustrating a preset deviation setting direction;

FIG. 12 is a schematic view of a product undergoing repeated deflection shaking;

FIG. 13 is a schematic flow chart of the method for automatic loading and unloading of the flat grinding machine according to the present invention;

fig. 14 is a flowchart illustrating the sub-steps of step S3 in fig. 13.

In fig. 1 to 14:

1 is a mounting frame, 2 is a fixed block, 3 is a trapezoidal frame, 4 is a moving component, 41 is an X-axis driving module, 411 is a driving wheel, 412 is a driven wheel, 413 is a first synchronous belt, 414 is a second synchronous belt, 415 is an X-axis motor, 42 is an X-axis driven module, 43 is a Y-axis module, 431 is a first slider seat, 432 is an X-axis driving module cover plate, 433 is a belt pull block, 434 is a belt press block, 435 is a linear guide rail, 436 is a slider, 437 is an L-angle code, 438 is a Y-axis motor, 439 is a second slider seat, 44 is a connecting shaft, 45 is a mounting plate, 451 is a rotating motor, 452 is a speed reducer, 453 is a third synchronous belt, 454 is an L-shaped plate, 46 is a visual camera, 47 is a torque sensor, 5 is a Z-axis moving component, 51 is a support plate, 52 is a telescopic cylinder, 53 is a suction cup, 54 is a light source frame, 55 is a light source, 6 is a base, 7 is a buffer mechanism, 8 is a tooth plate jig, 81 is a type groove, 82 is a visual reference mark, and 9 is a product.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide an automatic feeding and discharging method for a flat grinding machine, which can identify the position information of a visual reference mark through a visual identification mechanism so as to obtain the position information of a corresponding cavity groove, realize the automatic feeding and discharging process, reduce the labor cost, improve the consistency of the feeding and discharging actions, improve the feeding and discharging quality, effectively reduce the situation that feeding of individual products is not in place, and improve the production efficiency. The other core of the invention is to provide the flat grinding machine for implementing the method for automatically feeding and discharging the materials of the flat grinding machine.

Please refer to fig. 1 to 14.

The specific embodiment provides an automatic feeding and discharging method for a flat grinding machine, which is applied to the flat grinding machine, wherein the flat grinding machine comprises a dental lamina jig 8, a moving assembly 4 and a rotating assembly, and the dental lamina jig 8 is provided with a visual reference mark 82 and a cavity groove 81 for placing a product 9; the visual reference mark 82 is fixedly arranged relative to the cavity groove 81; the rotating assembly is connected to the moving assembly 4, the rotating assembly is provided with a suction mechanism for sucking the product 9 and a visual recognition mechanism for recognizing the position coordinates of the visual reference mark 82, and the method comprises the following steps:

step S1, position coordinates of the visual reference mark 82 of the target dental plate jig 8 are acquired by the visual recognition mechanism.

In the step S1, the visual recognition mechanism may be the visual camera 46 or other devices meeting the requirement, which is determined according to the actual situation and is not described herein again. In the actual implementation process, the coordinates of the visual recognition mechanism can be obtained according to the displacement and the real-time coordinates of the moving assembly 4, and the position coordinates of the visual reference mark 82 can be obtained according to the shooting result and the coordinates of the shooting position.

And S2, acquiring the position and angle information of the cavity groove 81 according to the relative position relation between the visual reference mark 82 and the cavity groove 81 and the position coordinates of the visual reference mark 82.

In the step S2, the relative position relationship between the visual reference mark 82 and the cavity groove 81 is fixed, and after the position coordinates of the visual reference mark 82 are known, the position coordinates of the cavity groove 81 can be obtained, so as to obtain the position and angle information.

And S3, controlling the moving assembly 4 to move to a position corresponding to the cavity groove 81, controlling the rotating assembly to rotate to an angle corresponding to the cavity groove 81, and controlling the suction mechanism to suck or place the product 9.

It should be noted that the moving assembly 4 can move and rotate the product 9, so as to rotate the product 9 to an angle corresponding to the cavity groove 81 and move to a position corresponding to the cavity groove 81.

Compared with the prior art, the method for automatic loading and unloading of the flat grinding machine can identify the position information of the visual reference mark 82 through the visual identification mechanism, so that the position and angle information of the corresponding cavity groove 81 is obtained, the automatic loading and unloading process is realized, and the labor cost can be reduced; in addition, the automatic operation processes are all preset by programs, the consistency is high, the situation that the feeding of individual products 9 is not in place can be effectively reduced, and the production efficiency is improved.

For the convenience of identification, the visual reference mark 82 may be set to be a regular polygon having a color different from that of the dental plate jig 8, and the visual reference mark 82 is provided on the upper surface of the dental plate jig 8.

Preferably, the dental plate jig 8 can be set to be circular, the dental plate jig 8 is circumferentially distributed on the lower grinding disc, the placing angle of the dental plate jig 8 is random, the number of cavity grooves 81 arranged in the same dental plate jig 8 can be the same as that of the telescopic cylinders 52, and the cavity grooves 81 are uniformly distributed along the same circumference; the visual identification mechanism is a visual camera 46, the visual reference mark 82 is a regular polygon structure, and the number of sides of the regular polygon structure is the same as the number of cavity grooves 81 in the same dental plate jig 8; and the cavity groove 81 is circumferentially arranged with the center of the visual reference mark 82 as the center.

The step S1 includes:

step S11, position coordinates of the center of the visual reference mark 82 and position coordinates of each vertex angle of the visual reference mark 82 are acquired.

In the process of arranging the dental plate jig 8, the position of the visual reference mark 82 and the position of the cavity groove 81 need to be relatively fixed, and after the position coordinates of the center of the visual reference mark 82 and the position coordinates of each vertex angle are known, the position and the angle of the corresponding cavity groove 81 can be known.

As shown in fig. 10, the visual reference marks 82 are regular triangles, the dental plate jig 8 is circular, the dental plate jig 8 is distributed along the circumferential direction on the lower grinding disc, the center of the visual reference mark 82 coincides with the center of the dental plate jig 8, the number of the cavity grooves 81 is three, and the cavity grooves 81 are all rectangles with the same size, the cavity grooves 81 are uniformly distributed along the circumferential direction, the center of any cavity groove 81 corresponds to one vertex angle of the visual reference mark 82, and the length direction of any cavity groove 81 is parallel to one side of the visual reference mark 82 corresponding to the cavity groove. Knowing the coordinates of the center of the visual reference mark 82 and the coordinates of the respective vertices, the position and angle of the cavity groove 81 can be obtained.

It should be noted that, since the dental plate jig 8 is circular, the placing angle of the dental plate jig 8 is not corrected in the placing process, and therefore, in the feeding or blanking process, the angle of the cavity groove 81 needs to be recognized by the visual recognition mechanism, so that the product 9 corresponds to the angle of the cavity groove 81.

Of course, the visual reference marks 82 may also be square, regular pentagon, regular hexagon, etc., and the number of cavity grooves 81 may need to be changed specifically.

On the basis of the above embodiment, in order to facilitate the feeding, the lower grinding disc grinding machine may further include a buffer mechanism 7 disposed on the front side of the lower grinding disc, and the buffer mechanism 7 is provided with a plurality of storage grooves.

As shown in fig. 5, during the loading process, the suction mechanism can directly suck the product 9 in the storage groove, and then load the product 9 into the corresponding cavity groove 81. Preferably, the buffer mechanism 7 can be a movable mechanism, and in the using process, a feeding person only needs to feed on one side of the equipment; or multiple layers of products 9 can be placed in the same storage groove, and the feeding interval is prolonged.

In the feeding process, the step S3 includes:

and S31, controlling the moving assembly 4 to drive the suction mechanism to suck the product 9 to be polished.

In the step S31, the suction mechanism is the suction cup 53, and when the moving assembly 4 is provided with a plurality of suction cups 53, in the process of sucking the products 9, the relative position and the relative angle of each product 9 need to correspond to the arrangement position and the angle of the cavity groove 81, so that in the process of loading, a plurality of products 9 can be placed into the cavity groove 81 at the same time. Of course, in the specific implementation process, the feeding may also be performed one by one, which is determined specifically according to the actual situation and is not described herein again.

And step S32, controlling the rotating assembly to drive the product 9 to rotate to an angle corresponding to the cavity groove 81.

In the step S32, in the actual operation process, the product 9 may be driven to rotate to an angle corresponding to the cavity groove 81, and then moved to a position corresponding to the cavity groove 81; or the mold cavity may be moved to a position corresponding to the cavity groove 81 first, and then rotated to an angle corresponding to the cavity groove 81, which is determined according to actual conditions.

Step S33, controlling the moving assembly 4 to drive the product 9 to move to a preset deviation position, where the preset deviation position is a position having a preset deviation from a target position, and the target position is a position where the product 9 theoretically corresponds to the cavity groove 81.

Step S34, controlling the moving component 4 to move in the opposite direction of the preset deviation until the resistance on the moving component 4 triggers the preset threshold value of the torque sensor 47, and stopping moving; the torque sensor 47 is provided to the moving assembly 4.

It should be noted that the preset deviation is a preset deviation, and the specific value and direction need to be determined according to the actual situation, which is not described herein again. The preset deviation position is a position to which the movement is performed according to the preset deviation.

In the above steps S33 and S34, since the requirement of the accuracy of matching the size of the product 9 with the size of the cavity groove 81 is high, although the visual recognition mechanism provides the position and angle information of the cavity groove 81, due to objective tolerance, equipment error, and the like, if the product 9 is directly placed into the cavity groove 81 according to the obtained position and angle information, a placement error is likely to occur, so that the product 9 cannot be completely placed into the cavity groove 81. This is usually solved in the following way:

as shown in fig. 11, a connection line between the center of the dental plate jig 8 and the center of the cavity groove 81 is taken as an X-axis, a direction perpendicular to the X-axis and located in the plane of the dental plate jig 8 is taken as a Y-axis, a direction close to the center of the dental plate jig 8 is a positive direction of the X-axis, and a direction indicated by an arrow in the figure is a positive direction of the Y-axis; in use, the product 9 is moved to the preset offset position when the product 9 is to be placed into the cavity groove 81, i.e. the angle of the product 9 corresponds to the angle of the cavity groove 81 and the lower surface of the product 9 is in contact with the upper edge of the cavity groove 81.

Setting negative direction deviations of an X axis and a Y axis, wherein the specific deviation value needs to be determined according to actual conditions, but the negative direction deviation value needs to be capable of covering the deviation caused by the machining tolerance and the equipment error before, so that the product 9 is in a negative deviation position; and the torque sensor 47 is connected to the suction cup 53 at this time.

Then, the product 9 is driven to move towards the positive direction by the moving component 4, and during moving, because the X-axis direction and the Y-axis direction both have negative deviation, the moving component 4 can be controlled to move simultaneously along the positive directions of the X-axis and the Y-axis, and at the moment, when the negative deviation of the X-axis and the Y-axis is the same, the product 9 can be controlled to move along the directions which form 45 degrees with the positive directions of the X-axis and the Y-axis; when the negative deviations of the X axis and the Y axis are different, the actual moving direction of the product 9 needs to be determined according to actual conditions, the product 9 can be controlled to move in the positive direction of the X axis, and after the product 9 contacts the inner side wall of the cavity groove 81, the product 9 is controlled to move in the positive direction of the Y axis; or the product 9 can be controlled to move forward along the Y axis first, and then the product 9 is controlled to move forward along the X axis after the product 9 contacts the inner side wall of the cavity groove 81; and will not be described in detail herein.

When the product 9 is rectangular, firstly moving along the positive direction of the X axis (Y axis) until one side surface of the product 9 is contacted with the inner side surface of the cavity groove 81, triggering the threshold value of the torque sensor 47 in the X axis (Y axis) direction, then continuously moving along the positive direction of the Y axis (X axis) until the other side surface of the product 9 is contacted with the inner side surface of the cavity groove 81, and triggering the threshold value of the torque sensor 47 in the Y axis (X axis) direction; the movement is stopped and the vacuum of the suction cup 53 is released, so that the product 9 can enter the cavity groove 81. When the product 9 is in other shapes, the product 9 is driven to move towards the positive directions of the X axis and the Y axis until the edge of the product 9 contacts the inner side surface of the cavity groove 81, and the whole product 9 is completely positioned in the cavity groove 81, the threshold value of the torque sensor 47 is triggered, and the movement is stopped.

It should be noted that the threshold of the torque sensor 47 needs to be determined according to actual conditions, and in the actual use process, after the threshold of the torque sensor 47 is triggered, a corresponding warning mechanism, such as a whistle warning tone, may be set to remind that the movement needs to be stopped at this time, so as to avoid the occurrence of an erroneous movement of the moving component 4.

Of course, a positive offset may be provided, and the movement may be in a negative direction; or one axis is provided with positive deviation, and the other axis is provided with negative deviation; the determination is specifically determined according to the actual situation, and details are not described herein.

It should be explained that, when the product 9 is located at the preset deviation position, the lower surface of the product 9 contacts with the upper surface of the cavity groove 81, and in the process of moving from the preset deviation position to the positive direction of the X axis and the positive direction of the Y axis, when one end of the lower surface of the product 9 does not contact with the upper surface of the cavity groove 81 any more, under the elastic action of the telescopic cylinder 52, the end of the lower surface of the product 9 not contacting with the upper surface of the cavity groove 81 will move downward, and at this time, the end of the lower surface of the product 9 contacting with the upper surface of the cavity groove 81 will not move downward, so that the product 9 is inclined; therefore, when moving in the positive direction of the X-axis and the positive direction of the Y-axis, the side of the inclined product 9 touches the inner side surface of the cavity groove 81. The product 9 is inclined by the elasticity of the telescopic cylinder 52, and the product 9 can have a sufficient contact depth with the cavity groove 81 when moving forward in an inclined state, which is generally suitable for the case that the product 9 has a thin thickness and the cavity groove 81 has a shallow depth, for example, the product 9 has a thin thickness such as mobile phone glass.

When the product 9 is thick, the cavity groove 81 is deep, and the elasticity of the telescopic cylinder 52 is insufficient to enable the product 9 to descend until the side surface of the product 9 has a sufficient contact depth with the cavity groove 81, the telescopic cylinder 52 needs to properly extend downwards for a certain distance in the process of moving in the opposite direction of the preset deviation so as to increase the inclination angle of the product 9, and enable the product 9 to have a sufficient contact depth when contacting with the inner side surface of the cavity groove 81.

And in the process of moving from the preset deviation position to the opposite direction of the preset deviation, a preset distance needs to be set, so that the moving assembly 4 moves in the preset distance, and the phenomenon that the moving assembly 4 moves too far to cause feeding errors is avoided.

Step S35, the suction mechanism is controlled to release the product 9.

In the actual use process, after step S33, step S34 includes:

step S331, controlling the suction mechanism of the moving assembly 4 to close the vacuum, so that the suction mechanism contacts the product 9, and driving the product 9 to move by the friction force between the suction mechanism and the product 9.

The suction mechanism may be a suction cup 53, or may be of any other desired configuration.

It should be noted that the friction force between the suction mechanism and the product 9 is used to drive the product 9 to move, which is suitable for the case that the surface of the product 9 is smooth, and the static friction force between the suction mechanism and the product 9 is enough to drive the product 9 to move when the vacuum of the suction mechanism is closed; under the condition that the product 9 is driven to move by static friction force, the torque sensor 47 can be arranged, or the torque sensor 47 is not arranged, when the torque sensor 47 is not arranged, after one side surface of the product 9 is contacted with the inner side surface of the cavity groove 81, the suction mechanism continues to move, so that relative motion can be generated between the product 9 and the suction mechanism until the suction mechanism moves to a position where the suction mechanism is not contacted with the product 9.

In the step S331, the suction mechanism contacts the product 9, and drives the product 9 to move along the positive direction of the X axis and the positive direction of the Y axis by friction force, when the product 9 is rectangular, the movement is stopped until the adjacent edges of the two sides of the product 9 contact the edges of the cavity groove 81, and the friction contact between the suction mechanism and the product 9 is released, so that the product 9 can enter the cavity groove 81.

By adopting the step S331, the vacuum working time of the suction mechanism can be shortened, the energy consumption is reduced, and the production cost is reduced; and in the process of separating the subsequent suction mechanism from the product 9, the separation time can be shortened, and the situation that the suction mechanism is too tightly contacted with the product 9 and is not easy to separate is avoided.

After the step S34, the method includes:

step S341, the moving assembly 4 is controlled to drive the product 9 to repeatedly deflect and rock, and a preset pressure is applied to the product 9 through the moving assembly 4.

In step S341, to further ensure that the product 9 is placed in place, the moving mechanism may temporarily maintain a state of contacting with the product 9, and drive the product 9 to rotate in a small circle, which may be a counterclockwise rotation and a clockwise rotation, and maintain a state of pressing down the product 9, so as to extrude the impurities in the cavity groove 81, and ensure that the product 9 is fed to a proper position.

It should be noted that, the step S341 may be performed after the step S34 and before the step S35, or after the step S35, the placing flatness of the product 9 is checked, and the step S341 is performed after the checking that the placing flatness does not meet the requirement is found, which is determined according to the actual situation and is not described herein again.

After the feeding is completed, in the discharging process, the step S3 includes:

in step S301, the rotating assembly is controlled to rotate to an angle corresponding to the cavity groove 81.

At this time, if a plurality of suction cups 53 are provided, it is necessary to make the suction cups 53 correspond to the cavity grooves 81, respectively, so as to suck a plurality of products 9 at the same time.

In step S302, the moving member 4 is controlled to move to a position corresponding to the cavity groove 81.

It is here meant that the moving assembly 4 is moved to a position where it can suck up the product 9.

Step S303, controlling the suction mechanism to open the vacuum and suck the product 9 located in the cavity groove 81.

Step S304, the moving assembly 4 is controlled to drive the product 9 to move to a blanking position.

It should be noted that, steps S301 to S304 in the blanking process may be implemented together with steps in the loading process, as in the flow shown in fig. 14, or steps S301 to S304 may be used separately in the blanking process, which is determined specifically according to actual situations and will not be described herein again.

In addition to the above method for automatic loading and unloading of the flat grinding machine, the present invention also provides a flat grinding machine for implementing the method for automatic loading and unloading of the flat grinding machine disclosed in the above embodiment, the flat grinding machine comprising:

the dental plate jig 8 is arranged on the lower grinding disc, and the dental plate jig 8 is provided with a visual reference mark 82 and a cavity groove 81 for placing a product 9; the visual reference mark 82 is fixedly arranged relative to the cavity groove 81;

the moving assembly 4 is used for driving the suction mechanism and the visual identification mechanism to move;

a rotating assembly equipped with an absorbing mechanism for absorbing the product 9 and a visual recognition mechanism for recognizing the position coordinates of the visual reference mark 82; and the rotating assembly is mounted to the moving assembly 4.

Preferably, a torque sensor 47 is also included in connection with the suction mechanism.

The flat grinding machine without the automatic feeding and discharging mechanism comprises a first cylinder, a second cylinder, a third cylinder, a cross-over plate, a first sealing ring, a second sealing ring, an upper grinding disc, a clutch and a lower grinding disc, wherein the first cylinder drives the upper grinding disc to lift in the using process, the second cylinder and the third cylinder are connected with the upper grinding disc through the cross-over plate, the second cylinder and the third cylinder respectively control the lifting of the first sealing ring and the second sealing ring, and cutting fluid is filled in the first sealing ring and the second sealing ring. The clutch of the lower grinding disc is internally provided with traditional rotary drive which can be a combination of a motor and gear transmission or other structures meeting the requirements, so that after the upper grinding disc is lowered to a position matched with the lower grinding disc, the upper grinding disc and the lower grinding disc rotate relatively to start flat grinding of a product 9 in the dental plate jig 8.

The product 9 mentioned in the present application document may be glass installed on a mobile phone, or may be ordinary glass, or other product 9 that needs to be flat-ground, and is not described herein.

It should be noted that the moving assembly 4 is configured to drive the visual recognition mechanism and the suction mechanism to move and rotate, so that the suction cup 53 moves to a position corresponding to the product 9 to suck the product 9, or drive the product 9 to move to a position corresponding to the cavity slot 81, and place the product 9 in the cavity slot 81; and the visual identification mechanism can identify the position and angle of the corresponding visual reference mark 82 during the movement of the moving assembly 4.

In the process of using the flat grinding machine provided by the embodiment, when material loading is required, the moving assembly 4 is firstly required to drive the suction mechanism to move to the placement position of the product 9, the rotating assembly drives the suction mechanism to rotate to an angle corresponding to the product 9, the product 9 to be ground is sucked, and then the product 9 is driven to move, in the moving process, the visual identification mechanism identifies the position of the visual reference mark 82 to obtain the position information of the visual reference mark 82, because the relative positions of the cavity groove 81 and the visual reference mark 82 are fixed, the position information of the cavity groove 81 can be obtained according to the position information of the visual reference mark 82, then the moving assembly 4 drives the product 9 to move to the position of the cavity groove 81, and the product 9 is placed in the cavity groove 81 to complete material loading.

The obtaining of the position information of the visual reference mark 82 mentioned in the present embodiment includes obtaining the position information of the center of the visual reference mark 82 and the position information of each corner of the visual reference mark 82, so as to obtain the angle information of the visual reference mark 82.

When the blanking is needed, the movable assembly 4 is firstly required to drive the visual identification mechanism to move until the visual identification mechanism identifies the corresponding visual reference mark 82, then the movable assembly 4 is moved to the position corresponding to the corresponding cavity groove 81, the rotating assembly drives the suction mechanism to rotate to the angle corresponding to the cavity groove 81, the suction mechanism sucks the product 9 after being polished, and then the movable assembly 4 drives the product 9 to move to the blanking position to complete the blanking.

Compared with the prior art, the flat grinder provided by the embodiment can recognize the position information of the visual reference mark 82 through the visual recognition mechanism, so that the position information of the corresponding cavity groove 81 is obtained, the automatic feeding and discharging process is realized, and the labor cost can be reduced; in addition, the automatic operation processes are all preset by programs, the consistency is high, the situation that the feeding of individual products 9 is not in place can be effectively reduced, and the production efficiency is improved.

On the basis of the above embodiment, the moving assembly 4 may include a rotating assembly, a Z-axis moving assembly 5, an X-axis driving module 41 and an X-axis driven module 42 arranged in parallel, and a Y-axis module 43 connecting the X-axis driving module 41 and the X-axis driven module 42; the rotating component and the Z-axis moving component 5 are both arranged at the moving end of the Y-axis module 43;

the Y-axis module 43 is driven by the X-axis driving module 41 and the X-axis driven module 42 to move along the X-axis; the suction mechanism is arranged on the Z-axis moving assembly 5, and the visual identification mechanism is arranged on the rotating assembly.

Preferably, the X-axis driving module 41 and the X-axis driven module 42 which are arranged in parallel can be respectively arranged on two sides of the upper grinding disc, so that the structure of the flat grinding machine is more compact, and the miniaturization of the flat grinding machine is favorably realized.

In the using process, in order to enable the X-axis driving module 41 and the X-axis driven module 42 to synchronously rotate, the X-axis driving module 41 and the X-axis driven module 42 may be connected by a connecting shaft 44, as shown in fig. 6.

As shown in fig. 6 and 7, the X-axis driving module 41 includes a driving wheel 411, a driven wheel 412, a first synchronous belt 413, a second synchronous belt 414, and an X-axis motor 415, wherein an output end of the X-axis motor 415 is connected to the driving wheel 411 through the second synchronous belt 414 so as to drive the driving wheel 411 to rotate, the driving wheel 411 and the driven wheel 412 are connected through the first synchronous belt 413, and the driven wheel 412 is connected to the X-axis driven module 42 through a connecting shaft 44 so as to drive the X-axis driven module 42 to move synchronously with the X-axis driving module 41. The Y-axis module 43 is connected to a first slider holder 431 via an L-code 437, the first slider holder 431 is provided with a slider 436, and the slider 436 is slidably provided with respect to a linear guide 435 provided on the X-axis drive module 41, so that the Y-axis module 43 slides in the X-axis direction. As shown in fig. 8, the apparatus further includes an X-axis driving module cover 432, a belt pressing block 434 and a belt pulling block 433, so that the X-axis motor 415 can drive the sliding block 436 to move in the rotating process; thereby causing the Y-axis module 43 to slide in the X-axis direction.

As shown in fig. 1 to 4, a mounting frame 1 is arranged on a base 6, an upper grinding disc is mounted on the mounting frame 1 through a first cylinder, a trapezoidal frame 3 is mounted on the mounting frame 1 through a fixing block 2, and an X-axis driving module 41 and an X-axis driven module 42 are respectively arranged at the lower parts of the trapezoidal frame 3 and the two driving modules.

To facilitate the operation of the visual recognition mechanism, a light source holder 54 may be mounted on the rotating assembly and a light source 55 may be mounted on the light source holder 54.

The light source 55 may be an LED lighting device, or may be other structures meeting the requirement, which is not described herein.

The rotating assembly comprises a mounting plate 45 fixedly mounted at the moving end of the Y-axis module 43, a rotating motor 451 mounted on the mounting plate 45, a speed reducer 452 connected with the output end of the rotating motor 451, a transmission mechanism connected with the output end of the speed reducer 452 and a support plate 51 rotatably connected with the transmission mechanism; the Z-axis moving assembly 5 is mounted to the bracket plate 51.

Preferably, as shown in fig. 8, the transmission mechanism may include a third timing belt 453, a first pulley engaged with an output end of the rotating motor 451, and a second pulley to which the holder plate 51 is connected so as to be rotated by the second pulley. Of course, the transmission mechanism may also be a gear, a rack, or other structures, which is determined according to the actual situation and is not described herein again.

The Z-axis moving assembly 5 comprises at least one telescopic cylinder 52 which is connected to the support plate 51 and the telescopic end of which is arranged towards the cavity groove 81 of the dental plate jig 8, the suction mechanism comprises a suction cup 53, and the suction cup 53 is installed at the telescopic end of the telescopic cylinder 52.

In the actual use process, when the moving assembly 4 moves, the visual identification mechanism can firstly identify the position and the angle of the visual reference mark 82 so as to obtain the position and the angle information of the visual reference mark 82, and as the relative position of the visual reference mark 82 and the cavity groove 81 is fixed, the position and the angle information of the cavity groove 81 can be obtained; during feeding, the rotating motor 451 is required to rotate, the support plate 51 is driven to rotate through the speed reducer 452 and the transmission mechanism until the product 9 on the suction mechanism rotates to an angle corresponding to the cavity groove 81, the product 9 is driven by the X-axis driving module 41 and the Y-axis module 43 to move to a position corresponding to the cavity groove 81, and finally the telescopic cylinder 52 extends downwards to enable the product 9 to be placed into the cavity groove 81.

In the blanking process, the visual identification mechanism can firstly identify the position and the angle of the visual reference mark 82 so as to obtain the position and the angle information of the visual reference mark 82, and the relative position of the visual reference mark 82 and the cavity groove 81 is fixed, so the position and the angle information of the cavity groove 81 can be obtained; the rotating motor 451 is required to rotate, the support plate 51 is driven to rotate through the speed reducer 452 and the transmission mechanism until the suction mechanism rotates to an angle corresponding to the cavity groove 81, the suction mechanism is driven by the X-axis driving module 41 and the Y-axis module 43 to move to a position corresponding to the cavity groove 81, finally, the telescopic cylinder 52 extends downwards, the suction mechanism sucks the product 9, and the product 9 is driven by the X-axis driving module 41, the Y-axis module 43 and the Z-axis moving assembly 5 to move to a blanking position.

As shown in fig. 8, the Y-axis module 43 is provided with a second slider holder 439, and the second slider holder is moved by a Y-axis motor 438439; the mounting plate 45 is connected with the second slider seat 439 and can be driven by the second slider seat 439 to slide along the Y axis, the rotating motor 451 is mounted on the mounting seat, the output end of the rotating motor 451 is connected with the speed reducer 452, the output end of the speed reducer 452 outputs power through a transmission mechanism comprising a third synchronous belt 453 and drives the support plate 51 to rotate, the visual recognition mechanism is the visual camera 46, and the mounting plate 45 is provided with an L-shaped plate 454 for mounting the visual camera 46; the lower part of the support plate 51 is provided with three telescopic cylinders 52, and in fig. 9, the number of the telescopic cylinders 52 is three, and the three telescopic cylinders 52 are uniformly distributed along the circumferential direction, and the included angle between the adjacent two cylinders is 120 degrees; the telescopic end of any telescopic cylinder 52 is connected with a suction cup 53. The holder plate 51 is further provided with a light source holder 54 and a light source 55.

It should be noted that, in the present document, the first timing belt 413, the second timing belt 414, and the third timing belt 453, the first cylinder, the second cylinder, and the third cylinder, the first seal ring and the second seal ring, the first slider seat 431 and the second slider seat 439, and the first pulley and the second pulley are only used for distinguishing the difference of the positions, and are not sequentially divided.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.

The method for the automatic feeding and discharging of the flat grinding machine and the flat grinding machine provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. The method for the automatic feeding and discharging of the flat grinding machine is characterized by being applied to the flat grinding machine, wherein the flat grinding machine comprises a dental plate jig (8), a moving assembly (4) and a rotating assembly, and the dental plate jig (8) is provided with a visual reference mark (82) and a cavity groove (81) for placing a product (9); the visual reference mark (82) is fixedly arranged relative to the cavity groove (81); the rotating assembly is connected to the moving assembly (4), the rotating assembly is provided with an absorbing mechanism for absorbing the product (9) and a visual identification mechanism for identifying the position coordinates of the visual reference mark (82), and the method comprises the following steps:

acquiring the position coordinates of a visual reference mark (82) of the dental plate jig (8) of a target through the visual identification mechanism;

acquiring the position and angle information of the cavity groove (81) according to the relative position relation between the visual reference mark (82) and the cavity groove (81) and the position coordinate of the visual reference mark (82);

the moving assembly (4) is controlled to move to a position corresponding to the cavity groove (81), the rotating assembly is controlled to rotate to an angle corresponding to the cavity groove (81), and the suction mechanism is controlled to suck or place the product (9);

controlling the moving assembly (4) to move to a position corresponding to the cavity groove (81), controlling the rotating assembly to rotate to an angle corresponding to the cavity groove (81), and sucking or placing the product (9), comprising:

controlling the moving assembly (4) to drive the suction mechanism to suck the product (9) to be polished;

controlling the rotating assembly to drive the product (9) to rotate to an angle corresponding to the cavity groove (81);

controlling the moving assembly (4) to drive the product (9) to move to a preset deviation position, wherein the preset deviation position is a position with a preset deviation from a target position, and the target position is a position of the product (9) corresponding to the cavity groove (81) theoretically;

controlling the moving component (4) to move in the opposite direction of the preset deviation until the resistance on the moving component (4) triggers a preset threshold value of a torque sensor (47), and stopping moving; the torque sensor (47) is arranged on the moving component (4);

-controlling said suction means to release said product (9);

the control of the movement of the moving component (4) in the opposite direction of the preset deviation until the resistance applied to the moving component (4) triggers the preset threshold value of the torque sensor (47), and after the movement is stopped, the method comprises the following steps:

and controlling the rotating assembly to drive the product (9) to deflect and shake repeatedly, and applying preset pressure to the product (9) through the moving assembly (4).

2. The method for the automatic feeding and discharging of the flat grinding machine as claimed in claim 1, wherein the visual reference mark (82) is a regular polygon disposed on the upper surface of the dental plate jig (8).

3. The method for automatic loading and unloading of a flat grinding machine as claimed in claim 1, wherein the obtaining of the position coordinates of the visual reference marks (82) of the corresponding dental plate jig (8) by the visual recognition mechanism comprises:

position coordinates of a center of the visual reference mark (82) and position coordinates of respective corners of the visual reference mark (82) are acquired.

4. The method for automatic loading and unloading of a flat grinding machine as claimed in claim 1, wherein after controlling the moving assembly (4) to move the product (9) to a position with a preset deviation and before controlling the moving assembly (4) to move in a direction opposite to the preset deviation, the method comprises:

controlling the suction mechanism to close vacuum to enable the suction mechanism to be in contact with the product (9), and driving the product (9) to move by means of friction force between the suction mechanism and the product (9).

5. The method for the automatic loading and unloading of the flat grinding mill as claimed in claim 1, wherein said controlling the movement of the mobile assembly (4) in the opposite direction of the preset deviation comprises:

and controlling the moving assembly (4) to move within a range of a preset distance, wherein the preset distance is greater than the absolute value of the preset deviation.

6. The method for the automatic feeding and discharging of the flat grinding mill as claimed in any one of claims 1 to 3, wherein the controlling of the moving assembly (4) to the position corresponding to the cavity groove (81), the controlling of the rotating assembly to rotate to the angle corresponding to the cavity groove (81), and the sucking or placing of the product (9) comprises:

controlling the rotating assembly to rotate to an angle corresponding to the cavity groove (81);

controlling the moving assembly (4) to move to a position corresponding to the cavity groove (81);

controlling the suction mechanism to open vacuum and suck the product (9) in the cavity groove (81);

and controlling the moving assembly (4) to drive the product (9) to move to a blanking position.