CN113319722A

CN113319722A - Glass polishing machine and polishing method

Info

Publication number: CN113319722A
Application number: CN202110768260.3A
Authority: CN
Inventors: 肖忠华
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-08-31
Anticipated expiration: 2041-07-07
Also published as: CN113319722B

Abstract

The invention provides a glass polishing machine and a polishing method. Because a plurality of station tools encircle the setting of throwing aureola, the glass on the event each station tool contacts with throwing aureola from the position of difference, and each other does not influence, can polish simultaneously. Only one glass to be polished is placed on each station jig, the operation of stacking a plurality of glasses is cancelled, and a flexible spacer is not required to be arranged to separate the glasses. The operation personnel can control the external feeding and discharging machine to finish simple actions such as transferring a single glass onto the jig body or taking the glass off the jig body, and the like, and the glass does not need to be taken manually, so that the labor intensity of the operation personnel is effectively reduced, and the automatic production is realized.

Description

Glass polishing machine and polishing method

Technical Field

The invention relates to the field of glass polishing, in particular to a glass polishing machine and a polishing method.

Background

When polishing the edge of a sheet or plate glass, in order to simultaneously polish a plurality of pieces of glass to improve the polishing efficiency, the conventional operation mode is to stack the plurality of pieces of glass together and control a jig to fix the glass. After the operator places the jig on the polishing equipment, the polishing wheel on the polishing equipment is simultaneously contacted with the edges of the multiple pieces of glass, so that the multiple pieces of glass are polished simultaneously.

However, in the process of fixing a plurality of pieces of glass by the control jig, an operator needs to neatly place the pieces of glass in the jig one by one and place a flexible spacer between the pieces of glass. The operator is also required to remove the glass from the jig piece by piece, separating the glass from the flexible spacer.

The operation process is complex, the machine cannot be controlled, and the manual operation has the defect of high labor intensity of operators.

Disclosure of Invention

In order to solve the problem that the labor intensity of operators is high when a plurality of pieces of glass are polished simultaneously in the prior art, the invention aims to provide a glass polishing machine.

The invention provides the following technical scheme:

a glass polishing machine is used for polishing the edge of glass and comprises a controller, a rack, a polishing unit and a plurality of station jigs;

the polishing unit comprises a polishing wheel and a first motor, the polishing wheel is rotationally connected with the rack, the first motor is arranged on the rack and drives the polishing wheel to rotate, and the first motor is electrically connected with the controller;

the plurality of station jigs are arranged around the polishing wheel and connected with the rack, each station jig comprises a jig body, a pressing mechanism, a rotating mechanism, a translation mechanism and a pressure sensor, and the pressing mechanism, the rotating mechanism, the translation mechanism and the pressure sensors are all electrically connected with the controller;

the jig body is provided with a bearing surface used for bearing a single piece of glass, the bearing surface is perpendicular to the axis of the polishing wheel, the pressing mechanism is used for pressing the glass on the bearing surface, the rotating mechanism drives the jig body to rotate so that any position of the edge faces the polishing wheel, the translation mechanism drives the jig body to translate so that the edge abuts against the polishing wheel, and the pressure sensor is used for detecting the pressure between the glass and the polishing wheel.

As a further optional scheme for the glass polishing machine, the pressing mechanism comprises a rotary cylinder, a swing arm and a pressing block, the rotary cylinder is relatively fixed with the jig body and is electrically connected with the controller, one end of the swing arm is connected with the output end of the rotary cylinder, and the other end of the swing arm is connected with the pressing block.

As a further optional scheme for the glass polishing machine, the station jig further comprises a vacuum adsorption mechanism, and the vacuum adsorption mechanism is electrically connected with the controller and is used for adsorbing the glass on the bearing surface.

As a further optional scheme for the glass polishing machine, a rotating unit is arranged on the frame, the rotating unit comprises a turntable and a second motor, the turntable is rotatably connected with the frame, the station fixtures are arranged on the turntable, the second motor is arranged on the frame and drives the turntable to rotate, and the second motor is electrically connected with the controller;

and the rack is provided with an upper feeding door and a lower feeding door, and at least one station jig is opposite to the upper feeding door and the lower feeding door when the rotary disc is static.

As a further alternative to the glass polishing machine, the second motor is connected to the turntable through a cam divider.

As a further optional scheme for the glass polishing machine, a water baffle and a driving element are arranged on the frame, the water baffle is located between the loading and unloading door and the polishing wheel, and the driving element is electrically connected with the controller and drives the water baffle to move along the axial direction of the polishing wheel.

As a further optional scheme of the glass polishing machine, the polishing unit further includes a sliding seat and a sliding mechanism, the sliding seat is in sliding fit with the machine frame, the polishing wheel and the first motor are both disposed on the sliding seat, the sliding mechanism drives the controller to be electrically connected, and the sliding seat slides along the axial direction of the polishing wheel.

It is another object of the present invention to provide a polishing method.

The invention provides the following technical scheme:

a polishing method applied to the glass polishing machine comprises the following steps:

placing a piece of glass to be polished on the bearing surface, and controlling the corresponding pressing mechanism to press the glass;

controlling the first motor to drive the polishing wheel to rotate, and controlling the translation mechanism to enable the edge of the glass to be pressed against the polishing wheel;

controlling the rotating mechanism and the translation mechanism to drive the jig body, changing the position of a processing point and enabling the processing point to move along the edge of the glass;

and after the glass on the tool at any station is polished, replacing the polished glass with the glass to be polished.

As a further alternative to the polishing method, the controller includes a first PID control unit, and the pressure sensor is electrically connected to the first PID control unit;

the step of controlling the translation mechanism to enable the edge of the glass to be pressed against the polishing wheel comprises the following steps:

controlling the translation mechanism to drive the jig body to move towards the polishing wheel at a first speed until the jig body is away from the polishing wheel by a first length, and recording the pressure measured by the pressure sensor as a no-load pressure value;

and controlling the translation mechanism to drive the jig body to move towards the polishing wheel at a second speed, recording the pressure measured by the pressure sensor as a first current pressure value, inputting the no-load pressure value, the set pressure increment and the first current pressure value into the first PID control unit, outputting a first PID adjusting value by the first PID control unit, and controlling the translation mechanism to adjust the position of the jig body according to the first PID adjusting value.

As a further alternative to the polishing method, the controller further includes a second PID control unit, and the pressure sensor is electrically connected to the second PID control unit;

and in the process of enabling the processing point to move along the edge of the glass, recording the pressure measured by the pressure sensor as a second current pressure value, inputting the no-load pressure value, the set pressure increment and the second current pressure value into the second PID control unit, outputting a second PID adjusting value by the second PID control unit, and controlling the translation mechanism to adjust the position of the jig body according to the second PID adjusting value.

The embodiment of the invention has the following beneficial effects:

the glass polishing machine is characterized in that a plurality of station jigs are respectively provided with a glass to be polished, a pressing mechanism is controlled to tightly press the corresponding glass on the bearing surface of a jig body, so that the glass is fixed, a rotating mechanism and a translation mechanism are controlled to drive the jig body to move, the edges of the glass are sequentially contacted with a polishing wheel in rotation, the pressure between the glass and the polishing wheel is controlled through the feedback of a pressure sensor, and the whole edge of the glass is polished. Because a plurality of station tools encircle the setting of throwing aureola, the glass on the event each station tool contacts with throwing aureola from the position of difference, and each other does not influence, can polish simultaneously.

Only one glass to be polished is placed on each station jig, the operation of stacking a plurality of glasses is cancelled, and a flexible spacer is not required to be arranged to separate the glasses. Under the condition, an operator can control the external feeding and discharging machine to complete simple actions of transferring a single glass onto the jig body or taking the glass off the jig body, and the like, and the glass does not need to be taken manually, so that the labor intensity of the operator is effectively reduced, and the automatic production is realized.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 shows a schematic structural view of glass;

FIG. 2 is an exploded view of a glass polishing machine according to example 1 of the present invention;

FIG. 3 is a schematic diagram showing a structure of a polishing unit in a glass polishing machine according to embodiment 1 of the present invention;

FIG. 4 is a schematic structural diagram illustrating a station jig in a glass polishing machine according to embodiment 1 of the present invention;

FIG. 5 is a schematic diagram showing the circuit control of a glass polishing machine according to embodiment 1 of the present invention;

FIG. 6 is a schematic view showing the overall structure of a glass polishing machine provided in embodiment 2 of the present invention;

FIG. 7 is an exploded view of a glass polishing machine according to example 2 of the present invention;

FIG. 8 is a schematic view showing the internal structure of a glass polishing machine provided in example 2 of the present invention;

FIG. 9 is a schematic view showing the structure of a polishing unit in a glass polishing machine provided in embodiment 2 of the present invention;

FIG. 10 is a schematic structural diagram illustrating a station jig in a glass polishing machine according to embodiment 2 of the present invention;

FIG. 11 is a schematic diagram illustrating a relationship between a work position fixture and a polishing wheel in a glass polishing machine according to embodiment 2 of the present invention;

FIG. 12 is a schematic view showing the structure of a rotary unit in the glass polishing machine according to embodiment 2 of the present invention;

FIG. 13 is a circuit control diagram of a glass polishing machine provided in embodiment 2 of the present invention;

FIG. 14 is a flowchart showing steps of a polishing method provided in embodiment 3 of the present invention;

fig. 15 is a schematic structural diagram illustrating an external robot in a polishing method according to embodiment 3 of the present invention.

Description of the main element symbols:

100-a controller; 110-a control mainboard; 120-a first PID control unit; 130-a second PID control unit; 200-a frame; 210-a water baffle; 220-a drive member; 300-a polishing unit; 310-a sliding seat; 320-a sliding mechanism; 321-a first screw rod; 322-a third motor; 330-a polishing wheel; 340-a first motor; 400-station jig; 410-a base; 420-a translation mechanism; 421-a second screw rod; 422-a nut seat; 423-a fourth electric machine; 424-mounting seat; 430-a rotation mechanism; 440-tool body; 441-a jig reference edge; 450-a hold down mechanism; 451-rotating cylinder; 452-a swing arm; 453-briquetting; 460-a pressure sensor; 500-a rotation unit; 510-a turntable; 520-a second motor; 530-cam divider; 600-vacuum filtration unit; 700-grinding barrel; 800-external manipulator; 810-vacuum chuck; 820-an external positioning mechanism; 821-positioning cylinder; 822-a positioning block; 822 a-glass positioning reference edge; 822 b-boss; 900-glass.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1 to 5, the present embodiment provides a glass polishing machine for polishing the edge of a sheet or plate glass 900. The glass polishing machine comprises a controller 100 and a machine frame 200, wherein a polishing unit 300 and four station fixtures 400 are arranged on the machine frame 200.

Specifically, the controller 100 includes a control main board 110, a first PID control unit 120, and a second PID control unit 130, and the control main board 110 is electrically connected to the first PID control unit 120 and the second PID control unit 130, respectively.

Specifically, the polishing unit 300 includes a polishing wheel 330 and a first motor 340. The polishing wheel 330 is rotatably disposed on the frame 200 with its axis vertical, and the thickness of the polishing wheel 330 is greater than that of the glass 900. The first motor 340 is connected to the rack 200 and electrically connected to the control main board 110. The spindle of the first motor 340 is coupled to the polishing wheel 330 to rotate the polishing wheel 330 at a high speed.

Specifically, the four-station jig 400 is disposed around the polishing wheel 330. The station jig 400 fixes the glass 900 and causes the edge of the glass 900 to abut against the side surface of the polishing wheel 330, thereby polishing the edge of the glass 900.

In this embodiment, the station jig 400 is composed of a jig body 440, a pressing mechanism 450, a rotating mechanism 430, a translating mechanism 420 and a pressure sensor 460, each of which is connected to the frame 200, and the pressure sensor 460 is also electrically connected to the first PID control unit 120 and the second PID control unit 130. The jig body 440 is disposed along a horizontal direction, and an upper surface of the jig body 440 is a bearing surface.

When the glass fixing device is used, a single glass 900 is placed on the bearing surface, and then the pressing mechanism 450 is controlled to tightly press the glass 900, so that the glass 900 can be fixed. At this time, the rotating mechanism 430 is controlled to drive the jig body 440 to rotate, so that the edge of the glass 900 sequentially faces the polishing wheel 330, and the translation mechanism 420 is controlled to drive the jig body 440 to translate, so that the edge of the glass 900 is always abutted against the polishing wheel 330, and the pressure between the glass 900 and the polishing wheel 330 is controlled through the feedback of the pressure sensor 460, so that the whole edge of the glass 900 can be polished.

Because a plurality of station tools 400 encircle polishing wheel 330 and set up, the glass 900 on each station tool 400 contacts with polishing wheel 330 from different position, and each other does not influence, can polish simultaneously. In addition, only one glass 900 to be polished is placed on each station jig 400, so that the operation of stacking a plurality of glasses 900 is eliminated, and the glasses 900 are not required to be separated by arranging a flexible spacer. Under the condition, an operator can control the external feeding and discharging machine to complete simple actions of transferring the single glass 900 onto the jig body 440 or taking the glass 900 off from the jig body 440, and the like, and the glass 900 does not need to be taken manually, so that the labor intensity of the operator is effectively reduced, and the automatic production is realized.

Example 2

Referring to fig. 6 to 13, the present embodiment provides a glass polishing machine for polishing the edge of a sheet or plate glass 900. The glass polisher includes a controller 100, a frame 200, a polishing unit 300, a station jig 400, a rotating unit 500, a vacuum filtering unit 600, and a milling tub 700.

The controller 100 is a control center, and the rack 200 is an installation base. The station jig 400 is used for fixing and transferring the glass 900, polishing the glass 900 by matching with the polishing unit 300, and loading and unloading the glass 900 by matching with the rotating unit 500. Vacuum filter unit 600 cooperates with crocus bucket 700, and the former filters the separation regeneration to the crocus liquid, and crocus bucket 700 then concentrates the storage with the crocus of separating out.

Specifically, the controller 100 includes a control main board 110, a first PID control unit 120, and a second PID control unit 130, and both the first PID control unit 120 and the second PID control unit 130 are electrically connected to the control main board 110.

Specifically, the frame 200 is a closed structure, and the polishing unit 300, the station jig 400 and the rotating unit 500 are all disposed inside the frame 200 to prevent the powder used in polishing from being splashed out. The vacuum filtering unit 600 is installed on the outer sidewall of the top of the housing 200, and the milling tub 700 is placed on the ground or a work platform adjacent to the housing 200.

Specifically, the polishing unit 300 is composed of a sliding base 310, a sliding mechanism 320, a rotating shaft, a polishing wheel 330, and a first motor 340.

The sliding seat 310 is slidably disposed on the rack 200 along a vertical direction and is driven by the sliding mechanism 320 to slide. The rotating shaft is arranged along the vertical direction and is rotatably connected with the sliding seat 310. The polishing wheel 330 is fixedly connected with the bottom end of the rotating shaft and rotates along with the rotating shaft. The first motor 340 is bolted and fixed on the sliding seat 310 and electrically connected with the control main board 110. The spindle of the first motor 340 is connected to the top end of the rotating shaft through a coupling to drive the rotating shaft to rotate, and further drive the polishing wheel 330 to rotate.

When the polishing wheel 330 rotates, the station jig 400 is controlled to enable the edge of the glass 900 to abut against the side wall of the polishing wheel 330, and then the edge of the glass 900 can be polished.

Further, when the sliding mechanism 320 drives the sliding seat 310 to slide along the vertical direction, the rotating shaft and the first motor 340 both lift along with the sliding seat 310, and the polishing wheel 330 floats up and down along with the sliding seat 310, so that different positions on the side surface of the polishing wheel 330 are in contact with the glass 900, and polishing marks are avoided.

In the present embodiment, the sliding mechanism 320 is composed of a first lead screw 321 and a third motor 322. The first screw rod 321 is disposed along a vertical direction and rotatably connected to the frame 200, and the first screw rod 321 is disposed on the sliding seat 310 in a penetrating manner. The third motor 322 is bolted and fixed on the frame 200 and electrically connected to the control main board 110, and a crankshaft of the third motor 322 is connected to a top end of the first screw rod 321.

During operation, the third motor 322 drives the first screw rod 321 to rotate, so as to drive the sliding seat 310 to move along the vertical direction.

Specifically, the station jig 400 is composed of a base 410, a translation mechanism 420, a rotation mechanism 430, a jig body 440, a pressing mechanism 450, a vacuum adsorption mechanism, and a pressure sensor 460. The base 410 is indirectly connected to the frame 200 through the rotating unit 500, the translation mechanism 420 is installed on the base 410, the rotating mechanism 430 is installed on the translation mechanism 420, and the jig body 440, the pressing mechanism 450, and the vacuum suction mechanism are installed on the rotating mechanism 430.

When the glass jig is used, the jig body 440 is matched with the pressing mechanism 450 to fix the glass 900. The rotating mechanism 430 drives the jig body 440 and the pressing mechanism 450 to rotate, so that any position of the edge of the glass 900 can face the polishing wheel 330 to wait for the polishing of the polishing wheel 330. The translation mechanism 420 drives the rotation mechanism 430 to translate, and can drive the jig body 440 and the pressing mechanism 450 to move, so that the edge of the glass 900 abuts against the polishing wheel 330, or the edge of the glass 900 is separated from the polishing wheel 330.

In the present embodiment, the translation mechanism 420 is composed of a second screw 421, a nut block 422, a fourth motor 423, and a mounting block 424.

The second lead screw 421 is disposed in a horizontal direction and rotatably connected to the base 410. The nut seat 422 is sleeved on the second screw 421, and the nut seat 422 is restricted by the base 410 and cannot rotate. The fourth motor 423 is bolted to the base 410 and electrically connected to the control main board 110, and a crankshaft of the fourth motor 423 is connected to one end of the second lead screw 421. The mounting seat 424 is slidably disposed on the base 410 along a length direction of the second lead screw 421, and the mounting seat 424 is connected to the nut seat 422 through a pressure sensor 460.

When the screw seat is used, the fourth motor 423 drives the second screw rod 421 to rotate, so as to drive the screw seat 422 to move along the length direction of the second screw rod 421, and the screw seat 422 drives the mounting seat 424 to slide on the base 410 through the pressure sensor 460.

In this embodiment, the rotating mechanism 430 is a servo rotary platform, and the servo rotary platform is fixedly disposed on the mounting seat 424 and electrically connected to the control main board 110.

In this embodiment, the fixture body 440 is disposed along the horizontal direction, the upper surface thereof is a bearing surface for bearing a single glass 900, and the lower surface thereof is fixedly connected to the output end of the servo rotary platform.

In the present embodiment, the pressing mechanism 450 is composed of a rotating cylinder 451, a swing arm 452, and a pressing piece 453. The rotary cylinder 451 is controlled by the control main board 110, and the cylinder body thereof is fixedly connected with the output end of the servo rotary platform, and the output end of the rotary cylinder 451 is fixedly connected with one end of the swing arm 452. One end of the swing arm 452 far away from the rotating cylinder 451 is fixedly connected with the pressing block 453, and the pressing block 453 is opposite to the bearing surface.

During the use, revolving cylinder 451 output torque drives briquetting 453 through swing arm 452 and pushes down, sticiss glass 900 on tool body 440, and the frictional force between control glass 900 and briquetting 453, between glass 900 and tool body 440 is fixed glass 900.

In this embodiment, the carrying surface is provided with an absorption hole. After the glass 900 is placed on the bearing surface and before the pressing block 453 presses the glass 900 tightly, the vacuum adsorption mechanism extracts gas in the adsorption holes to enable the adsorption holes to be in a negative pressure state, namely, the pressure difference between the upper side and the lower side of the glass 900 can be controlled to enable the glass 900 to be adsorbed and fixed on the bearing surface, and the glass 900 is prevented from being deviated from the original position. After the pressing mechanism 450 presses the glass 900, the vacuum adsorption mechanism no longer adsorbs the glass 900.

In particular, the glass 900 abuts against the polishing wheel 330 during polishing, and the reaction force applied to the glass 900 by the polishing wheel 330 is transmitted to the rotating mechanism 430 through the jig body 440 and the pressing mechanism 450, and further transmitted to the mounting seat 424, so that a pressure or a tension occurs between the mounting seat 424 and the nut seat 422. The pressure or the pulling force is detected by the pressure sensor 460, whereby the pressure between the glass 900 and the polishing wheel 330 is known.

Specifically, the rotating unit 500 is composed of a dial 510, a second motor 520, and a cam divider 530.

The turntable 510 is rotatably disposed on the frame 200, and its rotation axis coincides with the axis of the polishing wheel 330. The upper surface of the rotary table 510 is uniformly divided into four stations along the circumferential direction, each station is provided with a station jig 400, and the base 410 in the station jig 400 is fixedly connected with the rotary table 510.

The second motor 520 is bolted to the rack 200 and electrically connected to the control board 110. The crankshaft of the second motor 520 is coupled to the dial 510 via a cam divider 530 that causes the dial 510 to rotate intermittently through a single 90 degree turn of the dial 510.

Correspondingly, the rack 200 is provided with a loading and unloading door. When the turntable 510 stops rotating, a station is always opposite to the loading and unloading door and is used as a loading and unloading station. At this time, the station jig 400 on the loading and unloading station can be loaded and unloaded.

The feeding and discharging door is in a normally closed state and is opened only during feeding and discharging. When the loading and unloading door is opened, a water baffle 210 and a driving member 220 are further provided on the frame 200 in order to prevent the abrasive powder from being splashed out of the loading and unloading door. The water guard 210 is positioned between the loading and unloading door and the polishing wheel 330, and is suspended above the turntable 510. The driving member 220 is controlled by the control main board 110 by using an air cylinder, and drives the water guard 210 to ascend and descend.

The water baffle 210 is located at a high position in most cases, and after the corresponding jig body 440 is moved to a position adjacent to the loading and unloading door by the translation mechanism 420 on the loading and unloading station, the driving member 220 drives the water baffle 210 to descend, and then the loading and unloading door can be opened to replace the product on the jig body 440. After the product is replaced, the loading and unloading door is closed, and the driving member 220 drives the water baffle 210 to rise again.

For the glass polishing machine, since the four station jigs 400 are arranged around the polishing wheel 330, the glass 900 on each station jig 400 is contacted with the polishing wheel 330 from different directions, so that the glass polishing machine is not influenced by each other and can simultaneously polish. Only one glass 900 to be polished is placed on each station jig 400, so that the operation of stacking a plurality of glasses 900 is eliminated, and the glasses 900 are not required to be separated by arranging a flexible spacer. Under the condition, an operator can control the external feeding and discharging machine to complete simple actions of transferring the single glass 900 onto the jig body 440 or taking the glass 900 off from the jig body 440, and the like, and the glass 900 does not need to be taken manually, so that the labor intensity of the operator is effectively reduced, and the automatic production is realized.

In addition, only one glass 900 to be polished is placed on each station jig 400, so that the positioning precision of the glass 900 can be ensured, and the polishing quality and stability are improved.

In the existing polishing mode, a plurality of pieces of glass 900 are stacked together, and due to the size difference and the positioning error of the glass 900, the edges of the glass 900 cannot be completely flush. At this time, in order to polish all the glass 900, the polishing wheel 330 with a soft texture needs to be used, and a sufficient polishing margin is reserved in the processing process of the previous process, so that the polishing time is long, and even if the polishing needs to be performed for many times, the dimensional accuracy after polishing cannot be guaranteed.

In contrast, when the glass polishing machine of the present invention is controlled to polish the glass 900, the polishing wheel 330 with a hard texture can be used, and the dimensional accuracy after polishing can be accurately controlled by the translation mechanism 420 and the rotation mechanism 430, without reserving excessive margin in the processing process of the previous process, so that the glass can be polished in place at one time, the polishing time is greatly shortened, and the polishing efficiency is improved.

Example 3

Referring to fig. 14 and 15, the present embodiment provides a polishing method applied to the glass polishing machine, including the following steps:

s1, placing a piece of glass 900 to be polished on the bearing surface, and controlling the corresponding pressing mechanism 450 to press the glass 900.

Specifically, the turntable 510 is in a stationary state, and one station on the turntable 510 is opposite to the loading and unloading gate and serves as a loading and unloading station. The translation mechanism 420 on the loading and unloading station drives the jig body 440 to move back to the polishing wheel 330, and the jig body 440 is transferred to the vicinity of the loading and unloading door.

The upper and lower material doors are opened, the external manipulator 800 grabs the glass 900 to be polished, the glass 900 is placed on the jig body 440, and the glass 900 is precisely positioned. After the vacuum adsorption mechanism works and adsorbs and fixes the glass 900 on the jig body 440, the external manipulator 800 can be withdrawn, and the loading and unloading door is closed. The pressing mechanism 450 presses the glass 900 tightly, the glass 900 is fully fixed, and the vacuum adsorption mechanism stops working.

In particular, the glass 900 has been coarsely positioned once before the external robot 800 grasps the glass 900 to be polished, so that the glass 900 is aligned with the external robot 800 as much as possible, ensuring that the positional error therebetween is within a certain range.

The external robot 800 is provided with four sets of external positioning mechanisms 820 corresponding to four sides of the glass 900, respectively, in addition to the vacuum chucks 810 for gripping the glass 900, and each external positioning mechanism 820 is composed of a positioning cylinder 821 and a positioning block 822.

The piston rod of the positioning cylinder 821 is fixedly connected with the positioning block 822, and the stretching direction of the positioning cylinder 821 is perpendicular to the side edge of the corresponding glass 900. The positioning block 822 has a glass positioning reference edge 822a at an upper portion facing the jig body 440 and a boss 822b at a lower portion. The glass positioning reference edges 822a are abutted against the side edges of the glass 900, and the glass positioning reference edges 822a on two adjacent positioning blocks 822 are perpendicular to each other. The boss 822b is attached to the fixture body 440, and the fixture body 440 is correspondingly provided with a fixture reference edge 441.

During positioning, the piston rod of the positioning cylinder 821 is retracted to drive the positioning block 822 to move towards the jig body 440 until the boss 822b abuts against the jig reference edge 441. At this time, the distance between the glass positioning reference edges 822a of two opposite positioning blocks 822 is equal to the width of the glass 900, and the distance between the glass positioning reference edges 822a of the other two opposite positioning blocks 822 is equal to the length of the glass 900. In this process, the four glass positioning reference edges 822a respectively abut against four sides of the glass 900, and the position of the glass 900 is adjusted, so that the glass 900 is precisely positioned.

S2, controlling the first motor 340 to drive the polishing wheel 330 to rotate, and controlling the translation mechanism 420 to press the edge of the glass 900 against the polishing wheel 330, the steps are as follows:

s2-1, controlling the sliding mechanism 320 to lower the polishing wheel 330 to the working position, controlling the first motor 340 to drive the polishing wheel 330 to rotate, starting the slurry pump, and spraying the slurry onto the polishing wheel 330.

S2-2, controlling the rotating mechanism 430 to drive the tool body 440 to rotate, such that the initial processing point on the glass 900 is opposite to the polishing wheel 330.

In this embodiment, the midpoint of one of the long sides of the glass 900 is used as the starting point for processing.

S2-3, controlling the translation mechanism 420 to drive the jig body 440 to move toward the polishing wheel 330 at a first speed until the jig body 440 is stopped after a first length from the polishing wheel 330, and recording the pressure measured by the pressure sensor 460 as an idle pressure value.

In this embodiment, the first length is 2-3 mm.

S2-4, controlling the translation mechanism 420 to drive the jig body 440 to move toward the polishing wheel 330 at a second speed, recording the pressure measured by the pressure sensor 460 as a first current pressure value, inputting the idle pressure value, the set pressure increment and the first current pressure value into the first PID control unit 120, outputting a first PID adjustment value by the first PID control unit 120, and controlling the translation mechanism 420 to adjust the position of the jig body 440 according to the first PID adjustment value.

The sum of the idle pressure value and the set pressure increment is a target pressure value, and after the first PID control unit 120 calculates a first PID adjustment value according to the target pressure value and the first current pressure value, the first PID adjustment value is used as an X-axis offset value, and the X-axis direction is the length direction of the second lead screw 421 in the translation mechanism 420.

On the other hand, when the X-axis current position of the machining start point is known, the X-axis target position of the machining start point may be obtained by adding the X-axis current position to the X-axis offset value, and then the translation mechanism 420 may be controlled to move the machining start point to the X-axis target position.

When the first PID control unit 120 completes the adjustment, the edge of the glass 900 is already pressed against the polishing wheel 330, and the pressure between the glass 900 and the polishing wheel 330 is the set pressure increment.

The second speed is much less than the first speed.

And S3, controlling the rotating mechanism 430 and the translating mechanism 420 to drive the jig body 440, changing the position of the processing point, and moving the processing point along the edge of the glass 900.

Wherein, the processing point is the contact point of the glass 900 and the polishing wheel 330, and the processing point moves at a uniform speed along the edge of the glass 900 by profiling control of the motion of the glass 900.

Further, in the process of moving the processing point along the edge of the glass 900, the pressure measured by the pressure sensor 460 is recorded as a second current pressure value, the idle pressure value, the set pressure increment and the second current pressure value are input into the second PID control unit 130, the second PID control unit 130 outputs a second PID adjustment value, and the translation mechanism 420 is controlled to adjust the position of the jig body 440 according to the second PID adjustment value.

The sum of the idle pressure value and the set pressure increment is a target pressure value, and the second PID control unit 130 calculates a second PID adjustment value according to the target pressure value and the second current pressure value, and then uses the second PID adjustment value as an X-axis offset value.

On the other hand, when the X-axis scanning calculation position of the machining point is known, the X-axis target position of the machining point may be obtained by adding the X-axis scanning calculation position to the X-axis offset value, and then the translation mechanism 420 may be controlled to move the machining point to the X-axis target position.

The position of the glass 900 is dynamically adjusted according to the feedback of the pressure sensor 460, so that the pressure between the glass 900 and the polishing wheel 330 is constant during the polishing process.

In the process that the translation mechanism 420 adjusts the X-axis coordinate of the machining point according to the pressure feedback, the rotation mechanism 430 always outputs power to drive the jig body 440 to rotate. Along with the movement of the processing point, the glass 900 is continuously rotated along the carrying surface, and the rotation direction of the glass 900 is consistent with the rotation direction of the polishing wheel 330.

In addition, during the polishing process, the sliding mechanism 320 is controlled to make the polishing wheel 330 float up and down, so as to avoid polishing marks.

S4, after the glass 900 on any station jig 400 is polished, replacing the polished glass 900 with the glass 900 to be polished.

Specifically, the second motor 520 is controlled to drive the turntable 510 to rotate, so that the station fixture 400 carrying the polished glass 900 is opposite to the loading and unloading doors, and the station where the station fixture 400 is located is used as the loading and unloading station.

The translation mechanism 420 in the station jig 400 drives the jig body 440 to move away from the polishing wheel 330, and the jig body 440 is transferred to the vicinity of the upper and lower gates. The driving unit 220 is controlled to drive the water baffle 210 to descend, separating the station fixture 400 from the polishing wheel 330.

The upper and lower material doors are opened, the polished glass 900 is adsorbed by the vacuum adsorption mechanism in the station jig 400, and then the pressing mechanism 450 is opened. The vacant vacuum chuck 810 on the external robot 800 is attached to the polished glass 900, the vacuum attaching mechanism stops working, the attaching hole on the jig body 440 is broken to be vacuum, and then the polished glass 900 is taken away by the external robot 800.

Another vacuum chuck 810 on the external robot 800 grabs the glass 900 to be polished, places the glass 900 on the jig body 440, and at the same time, finely positions the glass 900. After the vacuum adsorption mechanism works and adsorbs and fixes the glass 900 on the jig body 440, the external manipulator 800 is withdrawn, and the loading and unloading door is closed. The pressing mechanism 450 presses the glass 900 tightly, the glass 900 is fully fixed, and the vacuum adsorption mechanism stops working.

The rotation direction of the polishing wheel 330 is changed, and steps S2 and S3 are repeated.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. The glass polishing machine is characterized by being used for polishing the edge of glass and comprising a controller, a rack, a polishing unit and a plurality of station jigs;

2. The glass polishing machine according to claim 1, wherein the pressing mechanism comprises a rotary cylinder, a swing arm and a pressing block, the rotary cylinder is fixed relative to the jig body and is electrically connected with the controller, one end of the swing arm is connected with an output end of the rotary cylinder, and the other end of the swing arm is connected with the pressing block.

3. The glass polishing machine of claim 1, wherein the station jig further comprises a vacuum adsorption mechanism electrically connected with the controller for adsorbing the glass on the bearing surface.

4. The glass polishing machine according to claim 1, wherein a rotating unit is arranged on the frame, the rotating unit comprises a turntable and a second motor, the turntable is rotatably connected with the frame, the station fixtures are all arranged on the turntable, the second motor is arranged on the frame and drives the turntable to rotate, and the second motor is electrically connected with the controller;

5. The glass polishing machine of claim 4, wherein the second motor is coupled to the turntable by a cam divider.

6. The glass polishing machine according to claim 4, wherein a water baffle is arranged on the frame and is positioned between the upper and lower material doors and the polishing wheel, and a driving element is electrically connected with the controller and drives the water baffle to move along the axial direction of the polishing wheel.

7. The glass polishing machine according to claim 1, wherein the polishing unit further comprises a sliding seat slidably engaged with the frame, the polishing wheel and the first motor are both disposed on the sliding seat, and a sliding mechanism that is driven to be electrically connected to the controller and slides along an axial direction of the polishing wheel.

8. A polishing method applied to the glass polishing machine according to any one of claims 1 to 7, characterized by comprising:

9. The polishing method as recited in claim 8, wherein the controller includes a first PID control unit, the pressure sensor being electrically connected to the first PID control unit;

10. The polishing method as recited in claim 9, wherein the controller further comprises a second PID control unit, the pressure sensor being electrically connected to the second PID control unit;