CN114956537A - Flexible glass transverse cutting board breaking device and board breaking method thereof - Google Patents
Flexible glass transverse cutting board breaking device and board breaking method thereof Download PDFInfo
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- CN114956537A CN114956537A CN202210776485.8A CN202210776485A CN114956537A CN 114956537 A CN114956537 A CN 114956537A CN 202210776485 A CN202210776485 A CN 202210776485A CN 114956537 A CN114956537 A CN 114956537A
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- flexible glass
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- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
- C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor
- C03B33/0207—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor the sheet being in a substantially vertical plane
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
Abstract
The invention provides a flexible glass transverse cutting and panel breaking device and a panel breaking method thereof, wherein the device comprises a clamping plate mechanism for clamping flexible glass; the cutting knife of the cutting plate mechanism moves transversely to cut the flexible glass; the lifting mechanism is used for driving the clamping plate mechanism and the plate cutting mechanism to synchronously descend along with the descending of the flexible glass; the lower plate robot is used for clamping the flexible glass and breaking the flexible glass; the lower plate robot is controlled by the control system, moves a first stroke along with the flexible glass, upwards overturns the first angle, then downwards accelerates for a second stroke, upwards overturns the second angle until the flexible glass is broken off, and the lower plate robot synchronously descends along with the flexible glass in the processes of overturning the first angle, downwards accelerating and overturning the second angle. The invention solves the problem that the appearance quality of the glass is easily damaged due to bending deformation in the process of breaking the flexible glass.
Description
Technical Field
The invention belongs to the technical field of flexible glass processing, and particularly relates to a flexible glass transverse cutting and panel breaking device and a panel breaking method thereof.
Background
Since the slitting process of the liquid crystal glass is a continuous production, the whole liquid crystal glass needs to be slit and broken off in the forming process to obtain a glass plate with required specification.
For example, patent publication No. CN104176922B discloses a method for breaking off liquid crystal glass, in which, in a first step, a transverse cutting machine is synchronously lowered and started when a formed glass sheet is discharged from a furnace; secondly, after the anvil plate strip clamping device on the transverse cutting machine clamps the formed glass plate, the plate-severing robot sucks the formed glass plate from the outside of the effective surfaces of the two sides of the formed glass plate and synchronously descends along with the formed glass plate; thirdly, marking the formed glass plate according to the set size by a transverse cutting machine; fourthly, after the transverse cutting machine finishes scribing, the blade returns, and the transverse cutting machine returns to the original position for standby; after the panel breaking robot confirms that the scribing is finished, breaking off the panel according to the angle of 7-10 degrees, otherwise, not executing the panel breaking action, and returning to the original position again to wait for the start of the next period; and fifthly, after the plate breaking robot breaks the plate, putting the intact glass plate on a conveyor belt to be sent to the next process, throwing the damaged glass plate to a waste trough, and returning the plate breaking robot to the original position to stand by. The invention reduces the probability of abnormal failure of the equipment and improves the yield of the molding process.
However, the glass is bent and deformed by the panel-breaking method when the glass is broken upwards and the glass moves downwards, and the glass is broken at a place outside the cutting line in serious cases, so that the appearance quality of the cut glass is affected.
Disclosure of Invention
The invention aims to provide a flexible glass transverse cutting and severing device, which solves the problems that the flexible glass is bent, deformed, accidentally broken and the appearance quality of the glass is damaged.
The invention provides the following technical scheme:
a flexible glass cross-cutting severing plate device comprising:
the clamping plate mechanism is used for clamping the flexible glass;
the cutting knife of the plate cutting mechanism moves transversely to cut the flexible glass;
the lifting mechanism is used for driving the clamping plate mechanism and the plate cutting mechanism to synchronously descend along with the descending of the flexible glass;
the lower plate robot is used for clamping the flexible glass and breaking the flexible glass;
the lower plate robot is controlled by a control system, moves for a first stroke along with the flexible glass, upwards turns over for a first angle, then downwards accelerates for a second stroke, and then upwards turns over to a second angle until the flexible glass is broken off, wherein the lower plate robot synchronously descends along with the flexible glass in the processes of turning over for the first angle, downwards accelerating and turning over for the second angle.
Preferably, the robot of hypoplastron includes the robot and installs in anchor clamps on the robot, anchor clamps include the support frame and install in decide sucking disc subassembly and first driving piece on the support frame, sucking disc subassembly is moved in the output installation of first driving piece, decide sucking disc subassembly and move sucking disc subassembly and set up relatively, first driving piece drive it keeps away from to move sucking disc subassembly decide sucking disc subassembly in order to open up the flat flexible glass.
Preferably, the plate cutting mechanism comprises an X-axis driving part, a first Y-axis driving part and a flexible compensation component;
the X-axis driving piece is arranged on the lifting mechanism and used for driving the cutter to transversely move along the X axis;
the first Y-axis driving piece is arranged on the X-axis driving piece and used for driving the cutter to extend out along the Y axis so as to cut the flexible glass;
the flexible compensation assembly is mounted on the first Y-axis driving piece, the cutter is mounted on the flexible compensation assembly, and when the cutter is subjected to the change of the reaction force of the flexible glass, the flexible compensation assembly is adaptively adjusted, so that the cutter head can constantly cut the flexible glass.
Preferably, the flexibility compensation assembly includes a fine tuning drive, a floating link, and a proportional valve, wherein:
the fine adjustment driving piece is hinged on the first Y-axis driving piece;
the floating connecting rod is hinged to the first Y-axis driving piece through a first hinge point, two ends of the floating connecting rod are respectively connected with the cutting knife and the fine-tuning driving piece, and the distance from the cutting knife to the first hinge point is larger than the distance from the first hinge point to the output end of the fine-tuning driving piece;
the fine adjustment driving piece is in communication connection with the proportional valve, and the proportional valve is in communication connection with the controller;
the cutter is subject to extrusion force of the flexible glass to enable the floating connecting rod to swing, the floating connecting rod amplifies the extrusion force and transmits the extrusion force to the fine adjustment driving piece, and the input value of the fine adjustment driving piece is subjected to stepless control through the proportional valve, so that the cutter head can constantly cut the flexible glass.
Preferably, the fine adjustment drive is a low friction cylinder.
Preferably, the flexible compensation assembly further comprises a bottom plate, a first Y-axis rod, a follower rod and a second Y-axis rod, the bottom plate is fixed on the first Y-axis driving member, the first Y-axis rod is fixed on the bottom plate, a first hinge point of the floating connecting rod is located on the first Y-axis rod, the floating connecting rod, the first Y-axis rod, the follower rod and the second Y-axis rod are sequentially hinged to form four parallel connecting rods, and the cutter is fixed at the end of the second Y-axis rod.
Preferably, the clamping plate mechanism comprises a first cutting board and a second cutting board which are oppositely arranged, and the first cutting board and the second cutting board are driven by a second Y-axis driving piece and a third Y-axis driving piece to move oppositely until the flexible glass is tightly abutted.
The flexible glass clamp further comprises a first rotating part and a second rotating part, wherein at least two first cutting boards are arranged on the first rotating part along the circumferential direction, at least two second cutting boards are arranged on the second rotating part along the circumferential direction, and the flexible glass can be clamped by matching one of the first cutting boards with one of the second cutting boards by changing the angles of the first rotating part and the second rotating part; and a first chopping board strip and a second chopping board strip which are made of flexible materials are respectively embedded on the end surfaces of the first chopping board and the second chopping board.
Another object of the present invention is to provide a method for severing a flexible glass, so as to solve the problem that the flexible glass is easily deformed or broken during severing the flexible glass, the method comprising the following steps:
the suspended flexible glass continuously moves downwards, the clamping plate mechanism clamps the flexible glass and is driven by the lifting mechanism to synchronously move downwards along with the flexible glass;
a cutter of the plate cutting mechanism transversely moves to cut the flexible glass, and is driven by the lifting mechanism to synchronously move downwards along with the flexible glass;
the lower plate robot clamps the flexible glass and breaks the flexible glass; the lower plate robot is controlled by a control system, moves downwards along with the flexible glass in a synchronous way for a first stroke, turns upwards for a first angle, accelerates downwards for a second stroke, and turns upwards for a second angle until the flexible glass is broken off; the lower plate robot synchronously descends along with the flexible glass in the processes of overturning at a first angle, accelerating downwards and overturning at a second angle.
The specific calculation method of the second stroke comprises the following steps:
in an initial state, the uniform descending speed of the flexible glass is V0, the lower plate robot overturns upwards at a uniform speed, the rotating speed is V1, the angular speed is omega, the rotating angle is theta, the vertical ascending speed component V2 is variable speed linear motion, the ascending speed component accumulates an upward distance in the rotating time, in order to prevent the flexible glass from bending deformation caused by overlarge accumulation, when an arbitrary angle is added midway, the flexible glass moves in the moving direction with acceleration by a second stroke S, and the calculation method comprises the following steps:
the upward rotation time t is theta/omega;
the vertical upward velocity component V2 ═ V1 × sin (θ);
the following deviation caused by V2 and V0 in opposite directions is regarded as a uniform acceleration linear motion, and S ═ V0+ V2 × t/2 is obtained.
The invention has the beneficial effects that:
in the process of clamping and breaking the flexible glass by the lower plate robot, the lower plate robot moves downwards along with the flexible glass for a first stroke synchronously, then turns upwards for a first angle and then accelerates downwards for a second stroke, and then turns upwards for a second angle until the flexible glass is broken, so that the bending deformation and accidental breakage of the flexible glass in the process of simultaneously carrying out upward breaking and downward moving of the flexible glass are avoided, and the appearance quality of the cut flexible glass is not influenced.
According to the invention, a flexible compensation component is arranged on a first Y-axis driving piece of a cutting plate mechanism, and a cutter is arranged on the flexible compensation component. The first Y-axis driving piece drives the cutter to extend out along the Y axis so as to cut the flexible glass; when the cutter meets the thickness change of the flexible glass or the front and back positions of the cutter slightly change, the reaction force of the cutter is changed due to the change, the flexible compensation assembly amplifies the changed reaction force and transmits the amplified reaction force to the controller, and the controller performs adaptive feedback adjustment, so that the cutter head stably cuts the flexible glass, the feedback process is sensitive, and the stability of cutting action and the consistency of cutting quality are ensured.
The parallel four-bar linkage in the flexible compensation component of the invention enables the cutter to always keep the Y-axis direction, namely: perpendicular to flexible glass all the time, the cutter can not take place to deflect even when the connecting rod that floats swings, avoids cutting depth to change and joint-cutting department burr scheduling problem, has guaranteed the reliability of cutting operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the clamping and cutting plate mechanisms of the present invention;
FIG. 3 is another perspective view of the clamping and plate cutting mechanisms of the present invention;
fig. 4 is a schematic view of a plate-breaking robot of the present invention;
FIG. 5 is a schematic view of the clamp construction of the present invention;
FIG. 6 is an enlarged schematic view of a compliance compensation assembly of embodiment 2 of the present invention;
fig. 7 is a partial schematic view of a plate cutting mechanism according to embodiment 3 of the present invention.
Labeled as: 1. a clamping plate mechanism; 11. a second Y-axis drive; 12. a third Y-axis drive; 2. a plate cutting mechanism; 21. an X-axis drive member; 22. a first Y-axis drive; 23. a cutter; 24. a compliance compensation assembly; 240. a base plate; 241. finely adjusting the driving piece; 242. a floating connecting rod; 243. a first Y shaft; 245. a follower rod; 246. a second Y shaft lever; 247. a first hinge point; 25. a first rotating part; 26. a second rotating part; 27. a first cutting board; 271. an anvil plate strip I; 28. a second chopping board; 281. a second anvil plate strip; 29. a crankshaft handle; 3. a lifting mechanism; 31. lifting a screw rod; 4. a lower plate robot; 41. a robot body; 42. a clamp; 421. a support frame; 422. a fixed sucker component; 423. a first driving member; 424. a movable suction disc component; 5. a flexible glass.
Detailed Description
Example 1
As shown in fig. 1 to 5, a flexible glass transverse severing and severing device includes: the plate cutting machine comprises a clamping plate mechanism 1, a plate cutting mechanism 2, a lifting mechanism 3 and a plate discharging robot 4.
Referring to fig. 1, the lifting mechanism 3 includes a lifting screw 31, and optionally other conventional linear driving devices, and the lifting mechanism 3 is used for driving the clamping mechanism 1 and the plate cutting mechanism 2 to move down synchronously with the flexible glass.
Referring to fig. 2 and 3, the clamping plate mechanism 1 is mounted on the lifting mechanism 3 for clamping the flexible glass 5. The clamping plate mechanism 1 comprises a second Y-axis driving piece 11, a third Y-axis driving piece 12, a first cutting board and a second cutting board, wherein the second Y-axis driving piece 11 and the third Y-axis driving piece 12 respectively drive the first cutting board and the second cutting board to move oppositely, so that the two cutting boards clamp the flexible glass 5. The second Y-axis driver 11 and the third Y-axis driver 12 may be a manual lead screw, or an electric lead screw, or a linear module. The flexible glass 5 is hung between the first cutting board 27 and the second cutting board 28 and then clamped by the first cutting board 27 and the second cutting board 28.
The cutting knife 23 of the cutting plate mechanism 2 moves transversely to cut the flexible glass 5, and a cutting line with a certain depth is formed on the surface of the flexible glass.
The cutting mechanism 2 includes an X-axis driver 21 and a first Y-axis driver 22.
The X-axis driving member 21 is installed on the lifting mechanism 3, and the X-axis driving member 21 is a linear module which drives the cutter 23 to move along the X-axis. The first Y-axis driving member 22 is mounted on the slider of the X-axis driving member 21 for driving the cutting blade 23 to extend a distance along the Y-axis for cutting the flexible glass. The first Y-axis drive 22 is selected to be an air cylinder, preferably a dual rod air cylinder.
The lower plate robot 4 is used for holding the flexible glass and breaking the flexible glass.
Specifically, the lower plate robot 4 includes a robot body 41 and a jig 42 mounted on the robot body 41. The robot body 41 is a six-axis robot.
Referring to fig. 5, the fixture 42 includes a support frame 421, and a fixed suction cup assembly 422 and a first driving member 423 mounted on the support frame 421, the first driving member 423 selects an air cylinder, the output end of the first driving member 423 mounts a movable suction cup assembly 424, the fixed suction cup assembly 422 and the movable suction cup assembly 424 are disposed oppositely, and the fixed suction cup assembly 422 and the movable suction cup assembly 424 both include at least two suction cups respectively connected to the negative pressure generator. After deciding sucking disc subassembly 422 and moving sucking disc subassembly 424 and adsorb flexible glass jointly, first driving piece 423 drive moves sucking disc subassembly 424 and removes to the direction of keeping away from deciding sucking disc subassembly 422, and flexible glass is guaranteeing that the wave fold can not appear or rock at the board in-process of breaking off with the fingers and thumb until flat flexible glass of exhibition.
Referring to fig. 4, the lower plate robot 4 is controlled by the control system, moves a first stroke a along with the flexible glass, then turns upwards by a first angle b and then accelerates downwards by a second stroke S, and then turns upwards by a second angle c until the flexible glass is broken off, wherein along with the gradual descending of the flexible glass, the lower plate robot 4 synchronously descends along with the flexible glass in the processes of turning the first angle, accelerating downwards and turning the second angle, so that the flexible glass is prevented from being bent, deformed and accidentally broken.
The specific calculation method comprises the following steps:
the uniform descending speed of the flexible glass in the initial state is V0, the lower plate robot 4 uniformly rotates the flexible glass upwards, the rotating speed is V1, the angular speed is omega, the rotating angle is theta, the vertical ascending speed component V2 is variable speed linear motion, the vertical ascending speed component accumulates a section of vertical ascending distance in the rotating time, in order to prevent the flexible glass from bending deformation caused by the overlarge accumulated distance, when the distance is increased to a second angle midway, the lower plate robot 4 drives the clamp 42 to move towards the moving direction of the flexible glass in an accelerating way for a second stroke S, and the calculating method is as follows:
the flexible glass rotates upwards for a time t ═ theta/omega;
the velocity component V2 ═ V1 × sin (θ) of the flexible glass in the vertical direction;
the following deviation caused by the opposite directions of V2 and V0 is short in time, and can be approximately regarded as uniform acceleration linear motion (actually, variable acceleration linear motion) in calculation, and since the initial speed V0 is known, S ═ V0+ V2 × t/2 can be obtained by a uniform acceleration linear motion calculation formula, so that the value of the second stroke S of the plate-severing machine is obtained.
The glass severing method of the flexible glass severing device comprises the following steps:
the suspended flexible glass is positioned between the first cutting board 27 and the second cutting board 28 and is continuously conveyed downwards at a constant speed;
the second Y-axis driving piece 11 and the third Y-axis driving piece 12 respectively drive the first cutting board 27 and the second cutting board 28 to move oppositely, so that the two cutting boards clamp the flexible glass and are driven by the lifting mechanism 3 to synchronously move downwards along with the flexible glass;
the cutting knife 23 of the cutting plate mechanism 2 is driven by the first Y-axis driving piece 22 to extend for a certain distance to ensure the cutting depth, and is driven by the X-axis driving piece 21 to move transversely to cut the flexible glass, and the cutting knife 23 is driven by the lifting mechanism 3 to synchronously move downwards along with the flexible glass in the process;
the lower plate robot 4 clamps the flexible glass and breaks the flexible glass; the lower plate robot 4 is controlled by a control system, moves downwards for a first stroke synchronously along with the flexible glass, turns upwards for a first angle, accelerates downwards for a second stroke, and turns upwards for a second angle until the flexible glass is broken off; lower plate robot 4 all follows flexible glass in the first angle of upset, downwards with higher speed and upset second angle in-process and descends in step, for example:
when the rotation speed V1 of the lower plate robot 4 rotating the flexible glass upward is 1000mm/S, the angular speed ω is 50rad/S, and the rotation angle θ is 6rad, the second stroke S is calculated by:
the upward rotation time t of the flexible glass is equal to theta/omega, and is equal to 6/50 and is equal to 0.12 s;
the vertical upward velocity component V2 ═ V1 ═ sin (θ) ═ 1000 ═ sin6 ° -100 mm/s of the flexible glass;
taking the initial speed V0 as an example, when the flexible glass increases to the second angle, the lower plate robot 4 drives the flexible glass to move downward with an acceleration of a second stroke S, V2 t/2, 100 0.12/2, 6 mm.
Example 2
This embodiment improves the stability of the cutting blade 23 for cutting the flexible glass 5 based on embodiment 1. Referring to fig. 3 and 6, the cutting mechanism 2 of the present embodiment further includes a flexible compensation assembly 24, the flexible compensation assembly 24 is mounted on the first Y-axis driving member 22, and the cutting knife 23 is mounted on the flexible compensation assembly 24, when the reaction force of the flexible glass on the cutting knife 23 changes, the flexible compensation assembly 24 is adaptively adjusted, so that the cutting force of the cutting knife 23 on the flexible glass is kept constant, the stability of the cutting effect of the cutting knife 23 on the flexible glass is ensured, and the cutting quality is higher.
Specifically, the flexibility compensation assembly 24 includes a base plate 240, a fine actuator 241, a floating link 242, a first Y-shaft 243, and a proportional valve (not shown), wherein:
the base plate 240 is fixed to the top of the first Y-axis driver 22. The fine adjustment driving member 241 is hinged to the bottom plate 240 and can swing in an XY plane, and the fine adjustment driving member 241 adopts a low-friction cylinder, so that friction loss is reduced.
The first Y-axis rod 243 is fixedly installed on the base plate 240 in the Y-axis direction, and the floating link 242 is hinged to the first Y-axis driving member 22, which is a first hinge point 247. The left and right ends of the floating link 242 are respectively connected with the cutting knife 23 and the fine adjustment driving member 241, the distance from the left end (i.e. the side of the cutting knife) of the floating link 242 to the first hinge point 247 is s1, and the distance from the first hinge point 247 to the right end (i.e. the side of the output end of the fine adjustment driving member 241) of the floating link 242 is s2, and s1> s 2.
The fine actuator 241 is in communication with a proportional valve, which is in communication with a controller. In the cutting process, the flexible glass applies a reverse extrusion force to the cutting knife 23, when the thickness of the flexible glass changes, the cutting knife 23 is subjected to a slight change of the extrusion force of the flexible glass, so that the floating connecting rod 242 swings, the floating connecting rod 242 transmits the change of the extrusion force to the fine adjustment driving piece 241, the calculation formula of mechanical work W is F s, and since s1 is greater than s2, under the condition that W is basically constant, the thrust F1 of the cutting knife 23 to the floating connecting rod 242 < the thrust F2 of the floating connecting rod 242 to the fine adjustment driving piece 241, so that the extrusion force change amount of the flexible glass, which is subjected to the cutting knife 23, is amplified and transmitted to the fine adjustment driving piece 241, at the moment, the fine adjustment driving piece is similar to the action of a spring, the fine adjustment driving piece 241 transmits the amplified force change to the controller, and the controller performs stepless control on the input air pressure value of the fine adjustment driving piece 241 through a proportional valve to compensate the extrusion force change amount, which is subjected to the cutting knife 23, the interference of the outside to the cutting knife is eliminated, so that the flexible glass is stably cut by the tool bit with the initially set cutting force.
Further, the flexibility compensation assembly 24 further includes a follower bar 245 and a second Y-axis bar 246, the floating link 242, the first Y-axis bar 243, the follower bar 245 and the second Y-axis bar 246 are hinged in sequence to form a parallel four-bar linkage, and the cutter 23 is fixed at the end of the second Y-axis bar 246. When the floating link 242 swings, the follower lever 245 is driven to swing synchronously, and the second Y-axis bar 246 is always parallel to the first Y-axis bar 243, so that the cutter 23 always keeps the Y-axis direction setting, that is: the cutter 23 is always perpendicular to the flexible glass, the cutter 23 cannot deflect even if the floating connecting rod 242 swings, the problems of change of cutting depth, burrs at a cutting seam and the like are avoided, and the reliability of cutting operation is guaranteed.
The other structure of this embodiment is the same as embodiment 1.
EXAMPLE III
Referring to fig. 7, in order to more flexibly change the shape of the flexible glass with different thicknesses, a first rotating member 25 and a second rotating member 26 are respectively mounted on the second Y-axis driving member 11 and the third Y-axis driving member 12, the first rotating member 25 and the second rotating member 26 are both mounted along the X-axis direction, at least two first cutting boards 27 are mounted on the first rotating member 25 along the circumferential direction, at least two second cutting boards 28 are mounted on the second rotating member 26 along the circumferential direction, and the widths of the first cutting boards 27 and the second cutting boards 28 can be matched with the specifications of the corresponding flexible glass; and changing the angles of the first rotating member 25 and the second rotating member 26, selecting to rotate one of the first anvil plates 27 and one of the second anvil plates 28 to be basically opposite to each other, clamping the flexible glass by matching the first anvil plates and the second anvil plates, and then fastening the first rotating member 25 and the second rotating member 26.
The first rotating part 25 and the second rotating part 26 are controlled to rotate through a crank handle 29, and are locked on the rack through screws after rotating to the position.
The end surfaces of the first anvil plate 27 and the second anvil plate 28 are respectively embedded with a first anvil strip 271 and a second anvil strip 281 made of flexible materials, and the first anvil strip 271, the second anvil strip 281 and the flexible glass are in flexible contact, so that the flexible glass is prevented from being abraded.
In the working state, the first anvil strip 271 and the second anvil strip 281 are slightly staggered in the height direction, for example, staggered by 1-5mm, so that the first anvil strip 271 and the second anvil strip 281 clamp the upper side and the lower side of the cutting seam of the flexible glass respectively, and the cutting operation is ensured to be carried out more smoothly.
The other structure of this embodiment is the same as embodiment 1.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A flexible glass crosscutting and severing device, comprising:
the clamping plate mechanism is used for clamping the flexible glass;
the cutting knife of the plate cutting mechanism moves transversely to cut the flexible glass;
the lifting mechanism is used for driving the clamping plate mechanism and the plate cutting mechanism to synchronously descend along with the descending of the flexible glass;
the lower plate robot is used for clamping the flexible glass and breaking the flexible glass;
the lower plate robot is controlled by a control system, moves for a first stroke along with the flexible glass, upwards turns over for a first angle, then downwards accelerates for a second stroke, and then upwards turns over to a second angle until the flexible glass is broken off, wherein the lower plate robot synchronously descends along with the flexible glass in the processes of turning over for the first angle, downwards accelerating and turning over for the second angle.
2. The flexible glass transverse cutting and breaking device according to claim 1, wherein the lower plate robot comprises a robot body and a clamp installed on the robot body, the clamp comprises a support frame, a fixed suction cup assembly and a first driving member installed on the support frame, the output end of the first driving member is provided with a movable suction cup assembly, the fixed suction cup assembly and the movable suction cup assembly are arranged oppositely, and the first driving member drives the movable suction cup assembly to be away from the fixed suction cup assembly so as to flatten the flexible glass.
3. The flexible glass transverse severing and severing device of claim 1, wherein the severing mechanism comprises an X-axis drive, a first Y-axis drive, and a flexibility compensation assembly;
the X-axis driving piece is arranged on the lifting mechanism and used for driving the cutter to transversely move along the X axis;
the first Y-axis driving piece is arranged on the X-axis driving piece and used for driving the cutter to extend out along the Y axis so as to cut the flexible glass;
the flexible compensation assembly is installed on the first Y-axis driving piece, the cutter is installed on the flexible compensation assembly, and when the cutter is changed under the action of the counterforce of the flexible glass, the flexible compensation assembly adjusts the variable quantity of the counterforce to enable the cutter head to stably cut the flexible glass.
4. The flexible glass cross-cutting and severing plate-severing device according to claim 3, wherein the flexibility compensation assembly comprises a fine-tuning drive, a floating link and a proportional valve, wherein:
the fine adjustment driving piece is hinged to the first Y-axis driving piece;
the floating connecting rod is hinged to the first Y-axis driving piece through a first hinge point, two ends of the floating connecting rod are respectively connected with the cutting knife and the fine adjustment driving piece, and the distance from the cutting knife to the first hinge point is larger than the distance from the first hinge point to the output end of the fine adjustment driving piece;
the fine adjustment driving piece is in communication connection with the proportional valve, and the proportional valve is in communication connection with the controller;
the cutter is subject to extrusion force of the flexible glass to enable the floating connecting rod to swing, the floating connecting rod amplifies the extrusion force and transmits the extrusion force to the fine adjustment driving piece, and the input value of the fine adjustment driving piece is subjected to stepless control through the proportional valve, so that the cutter head can constantly cut the flexible glass.
5. The flexible glass transverse severing and severing device of claim 4, wherein the fine actuator is a low friction cylinder.
6. The flexible glass transverse cutting and breaking device according to claim 4, wherein the flexible compensation assembly further comprises a bottom plate, a first Y-axis rod, a follower rod and a second Y-axis rod, the bottom plate is fixed on the first Y-axis driving member, the first Y-axis rod is fixed on the bottom plate, a first hinge point of the floating connecting rod is located on the first Y-axis rod, the floating connecting rod, the first Y-axis rod, the follower rod and the second Y-axis rod are sequentially hinged to form four parallel connecting rods, and the cutter is fixed at the end of the second Y-axis rod.
7. The flexible glass transverse cutting and severing device according to claim 1, wherein the clamping mechanism comprises a first cutting plate and a second cutting plate which are oppositely arranged, and the first cutting plate and the second cutting plate are driven by a second Y-axis driving member and a third Y-axis driving member respectively to move towards each other until the flexible glass is abutted.
8. The flexible glass transverse cutting and severing device according to claim 7, further comprising a first rotating member and a second rotating member, wherein at least two first cutting plates are mounted on the first rotating member in the circumferential direction, at least two second cutting plates are mounted on the second rotating member in the circumferential direction, and the first cutting plates and the second rotating member are respectively clamped by changing the angles of the first rotating member and the second rotating member so that one of the first cutting plates can be matched with one of the second cutting plates; the end faces of the first chopping block and the second chopping block are respectively embedded with a first chopping block strip and a second chopping block strip which are made of flexible materials.
9. An off-line method of flexible glass, which is realized by the flexible glass off-line device according to any one of claims 3 to 8, the off-line method comprising the steps of:
the suspended flexible glass continuously moves downwards, the clamping plate mechanism clamps the flexible glass and is driven by the lifting mechanism to synchronously move downwards along with the flexible glass;
the cutting knife of the cutting plate mechanism transversely moves to cut the flexible glass, and the lifting mechanism drives the flexible glass to synchronously move downwards;
the lower plate robot clamps the flexible glass and breaks the flexible glass; the lower plate robot is controlled by a control system, moves downwards along with the flexible glass in a synchronous way for a first stroke, turns upwards for a first angle, accelerates downwards for a second stroke, and turns upwards for a second angle until the flexible glass is broken off; the lower plate robot synchronously descends along with the flexible glass in the processes of overturning at a first angle, accelerating downwards and overturning at a second angle.
10. The method according to claim 9, wherein,
the uniform descending speed of the flexible glass in the initial state is V0, the lower plate robot uniformly overturns the flexible glass upwards, the rotating speed is V1, the angular speed is omega, the rotating angle is theta, the vertical ascending speed component V2 is variable speed linear motion, the vertical ascending speed component accumulates a section of vertical ascending distance in the rotating time, in order to prevent the flexible glass from bending deformation caused by the overlarge accumulated distance, when the distance is increased to a second angle, the lower plate robot drives the clamp to move towards the moving direction of the flexible glass in an accelerating way, and the calculation method is as follows:
the flexible glass rotates upwards for a time t ═ theta/omega;
the velocity component V2 ═ V1 × sin (θ) of the flexible glass in the vertical direction;
the following deviation caused by V2 in the opposite direction to V0 is considered as a uniform acceleration linear motion, and since the initial velocity V0 is known, S ═ V0+ V2 × t/2 is obtained.
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