CN115026694A - Efficient full-automatic polishing machine - Google Patents

Abstract

The invention discloses an efficient automatic polishing machine, which relates to the technical field of automation equipment and comprises a processing platform, a slice feeding mechanism, a loading and unloading manipulator, a slice conveyor belt, a processing jig, a polishing processing mechanism and an inserting and unloading mechanism; The slicing conveyor belt and the processing fixture are arranged side by side on the processing platform, the loading and unloading manipulator and the polishing processing mechanism are located above the processing platform, and the loading and unloading manipulator is located above the slicing conveyor belt; the polishing process The mechanism is located above the processing jig; the segment feeding mechanism and the inserting and unloading mechanism are respectively located at both ends of the segmented conveyor belt; the beneficial effects of the present invention are: automatic feeding, automatic polishing and automatic unloading of glass workpieces can be realized , improve the processing efficiency of glass workpieces.

Description

An efficient automatic polishing machine

technical field

The present invention relates to the technical field of automation equipment, more specifically, the present invention relates to an efficient automatic polishing machine.

Background technique

At present, the demand for polishing machines in the market continues to rise. When polishing glass materials such as smart wearable covers and glass panels, in order to polish multiple pieces of glass at the same time to improve polishing efficiency, most of the existing polishing machines in the market use large polishing machines arranged below. For the optical disc, there are 4 small circular jig discs arranged above. The jig disc is vacuum-adsorbed glass, the jig disc is buckled on the polishing disc, and the upper polishing disc rotates for polishing.

In this way, the contact between the glass on multiple fixtures and the polishing disc is uneven, resulting in a low polishing yield, and manual loading and unloading is required. The labor cost is high, the efficiency is low, and there are hidden installation hazards, which can no longer meet the needs of the existing market. .

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the prior art, the present invention provides an efficient automatic polishing machine, which can realize automatic feeding, automatic polishing and automatic unloading of glass workpieces, thereby improving the processing efficiency of glass workpieces.

The technical solution adopted by the present invention to solve the technical problem is: an efficient automatic polishing machine, the improvement of which is that it includes a processing platform, a sheet feeding mechanism, a loading and unloading manipulator, a sheet conveying belt, a processing fixture, polishing Processing mechanism and insert blanking mechanism;

The slicing conveyor belt and the processing fixture are arranged side by side on the processing platform, the loading and unloading manipulator and the polishing processing mechanism are located above the processing platform, and the loading and unloading manipulator is located above the slicing conveyor belt. To realize the transfer of the glass workpiece between the slice conveyor and the processing jig; the polishing processing mechanism is located above the processing jig, and the polishing processing mechanism is used for processing the glass workpiece on the processing jig;

The slicing feeding mechanism and the inserting unloading mechanism are respectively located at both ends of the slicing conveyor belt. glass workpiece.

In the above structure, the polishing processing mechanism includes an X-axis motion module, a Z1-axis motion module, a Z2-axis motion module and a polishing disc;

The X-axis motion module is located above the processing platform, and the Z1-axis motion module and the Z2-axis motion module are installed side by side on the X-axis motion module, and reciprocate in the X-axis direction through the drive of the X-axis motion module The bottom end of the Z1 axis motion module and the bottom end of the Z2 axis motion module are respectively installed with a polishing disc.

In the above structure, the processing platform is also provided with a Y-axis movement module, the Y-axis movement module is located below the X-axis movement module, and the processing fixture is installed on the Y-axis movement module , and reciprocates in the Y-axis direction through the drive of the Y-axis motion module.

In the above structure, the segmented conveyor belt includes a side-by-side loading conveyor belt and a blanking conveyor belt, one end of the loading conveyor belt extends into the segmenting and loading mechanism, and one end of the unloading conveyor belt extends into the inserting and unloading mechanism. .

In above-mentioned structure, described loading and unloading manipulator comprises manipulator Y-axis module, manipulator beam, manipulator Z-axis module, rotary drive assembly and suction cup assembly;

The two ends of the manipulator beam are respectively installed on a manipulator Y-axis module, and the manipulator Z-axis module is installed on the manipulator beam; the rotary drive assembly is fixedly installed on the manipulator Z-axis module;

The suction cup assembly includes a rotating rod, a suction cup support and a suction cup mounting plate, the suction cup support is cross-shaped, the rotating rod passes through the center of the suction cup support, and a plurality of suction cup supports are distributed in an array on the rotating rod; the suction cup A suction cup mounting plate is fixedly installed at the four top ends of the bracket respectively;

The rotation driving assembly is used for driving the rotation rod to rotate.

In the above structure, the Z-axis module of the manipulator includes a Z-axis slide plate, the manipulator beam is provided with an RZ guide rail, and a sliding block is provided on the RZ guide rail, and the slide block is fixedly connected with the Z-axis slide plate.

In the above structure, the rotary drive assembly includes a manipulator base and a rotary motor;

The manipulator base and the rotating motor are fixedly installed on the Z-axis slide plate, the manipulator base is rotatably installed with a rotating shaft and a driven shaft, and a synchronous belt is sleeved on the rotating shaft and the driven shaft; the output shaft of the rotating motor is the same as the output shaft. The rotating shaft is connected, and the rotating rod is connected with the driven shaft.

In above-mentioned structure, described insert sheet blanking mechanism comprises blanking platform, insert sheet X-axis motion module, blanking and wrapping running mechanism, insert sheet Z-axis motion module and insert sheet positioning mechanism;

The blanking platform is provided with a workpiece material frame for placing glass workpieces, the X-axis motion module of the insert sheet is arranged above the blanking platform, and the blanking and line feed running mechanism is set on the X-axis motion module of the insert sheet, Reciprocating movement in the X-axis direction through the drive of the insert X-axis motion module;

The insert Z-axis motion module is arranged at the front end of the blanking and line feed operation mechanism, and is located above the workpiece material frame, and the insert positioning mechanism is installed on the Z-axis motion module, and the insert Z-axis motion module The drive reciprocates in the Z-axis direction;

The inserting piece positioning mechanism includes an overturning cylinder, a suction cup mounting plate and a clamping assembly. The suction cup mounting plate is connected to the overturning cylinder, and the glass workpiece is adsorbed by the suction cup on the suction cup mounting plate; the clamping assembly is located in the overturning cylinder. The outside of the glass workpiece is clamped by the clamping assembly.

In the above structure, the clamping assembly includes a frame support plate, a positioning cylinder, a cylinder mounting plate and a sliding connecting plate;

The cylinder mounting plate is fixedly arranged on the top of a group of frame support plates, the positioning cylinder is fixed on the outer side of the cylinder mounting plate, the sliding connecting plate is slidably installed on the outer side of the cylinder mounting plate, and the sliding connecting plate is connected with the positioning plate. The cylinder rod of the cylinder is connected;

The inner side of the cylinder installation plate is provided with a fixed guide plate and an adjustable guide plate, the fixed guide plate is fixedly installed on the cylinder installation plate, and the adjustable guide plate is connected with the sliding connecting plate; The guide plate realizes the clamping of the glass workpiece.

In the above-mentioned structure, the blanking and wrapping operation mechanism includes a pushing cylinder, a wrapping base plate, a wrapping slide rail, a wrapping slider and a pallet;

The described push cylinder is fixed on the line feed bottom plate, the two line feed slide rails are located on both sides of the push cylinder, the line feed slide block is slidably installed on the line feed slide rail, and the described support plate is fixed with the line feed slide block;

The insert Z-axis motion module is fixedly connected with the support plate.

The beneficial effects of the present invention are: the present invention can complete the automatic processing of the glass workpiece without manual participation in the whole process, thereby improving the processing efficiency of the glass workpiece, saving labor costs, and reducing work-related accidents caused by manual operations.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of an efficient automatic polishing machine of the present invention.

FIG. 2 is a schematic diagram of the first internal structure of an efficient automatic polishing machine of the present invention.

3 is a schematic diagram of the second internal structure of an efficient automatic polishing machine of the present invention.

FIG. 4 is a top view of an efficient automatic polishing machine of the present invention.

FIG. 5 and FIG. 6 are specific embodiments of the slicing and feeding mechanism in the present invention.

FIG. 7 is a schematic three-dimensional structure diagram of the inserting and unloading mechanism in the present invention.

FIG. 8 is a schematic structural diagram of the blanking and linefeed running mechanism and the inserting sheet positioning mechanism in the present invention.

FIG. 9 is an exploded schematic view of the clamping assembly in the present invention.

10 is a schematic diagram of the first three-dimensional structure of the loading and unloading manipulator in the present invention.

11 is a schematic diagram of the second three-dimensional structure of the loading and unloading manipulator in the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The concept, specific structure and technical effects of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts are all within the scope of The scope of protection of the present invention. In addition, all the coupling/connection relationships involved in the patent do not simply refer to the direct connection of components, but refer to a better coupling structure by adding or reducing coupling accessories according to specific implementation conditions. Various technical features in the present invention can be combined interactively on the premise of not contradicting each other.

Referring to FIG. 1 to FIG. 4 , the present invention discloses an efficient automatic polishing machine, through which a plurality of glass workpieces can be polished at the same time; specifically, the efficient automatic polishing machine includes a processing platform 10. Slice feeding mechanism 40, loading and unloading manipulator 30, slice conveying belt 50, processing jig 60, polishing processing mechanism 70 and insert blanking mechanism 20; among them, as shown in Figures 1 and 2, below the processing platform 10 It has an equipment base 101, which is welded with square steel; the top of the equipment base 101 is provided with a protective cover 102, and one side of the protective cover 102 is an electric control cabinet 103, through which the logic control of the polishing machine is realized; One side of 102 has a sliding door 104, and one side of the equipment base 101 is also provided with a water tank 105.

2, 3 and 4, the segmented conveyor belt 50 and the processing jig 60 are arranged side by side on the processing platform 10, the loading and unloading manipulator 30 and the polishing processing mechanism 70 are located above the processing platform 10, and the loading and unloading The manipulator 30 is located above the slicing conveyor 50 , and the loading and unloading manipulator 30 is used to transfer the glass workpiece between the slicing conveyor 50 and the processing jig 60 ; the polishing mechanism 70 is located above the processing jig 60 , the polishing processing mechanism 70 is used for processing the glass workpiece on the processing jig 60 . Further, as shown in FIG. 4 , the slicing feeding mechanism 40 and the inserting unloading mechanism 20 are respectively located at both ends of the slicing conveyor belt 50 , and the slicing feeding mechanism 40 is used to provide the to-be-processed on the slicing conveyor belt 50 . The glass workpiece, the inserting and unloading mechanism 20 is used to receive the processed glass workpiece. In addition, in this embodiment, the segmented conveyor belt 50 includes a feeding conveyor belt 501 and an unloading conveyor belt 502 arranged side by side. Insert into the blanking mechanism 20. In addition, as shown in FIG. 4 , the loading conveyor 501 and the processing jig 60 are also provided with a positioning mechanism 90. During the loading process, the loading and unloading manipulator 30 transfers the glass workpiece on the loading conveyor 501 to the positioning mechanism 90 for positioning. After the positioning is completed, it is transferred to the processing jig 60 for processing, so as to improve the processing accuracy.

Therefore, the slicing and feeding mechanism 40 is used to transfer the glass workpieces to be processed to the feeding conveyor belt 501, and the feeding conveyor belt 501 transmits them, and the loading and unloading manipulator 30 transfers the glass workpieces on the feeding conveyor belt 501 to the positioning mechanism 90. After positioning, it is transferred to the processing jig 60, and the glass workpiece is polished by the polishing processing mechanism 70; after that, the loading and unloading manipulator 30 transfers the processed glass workpiece from the processing jig 60 to the unloading conveyor belt 502, The blanking conveyor belt 502 transfers the processed glass workpiece to the blanking mechanism 20, and realizes the blanking operation through the blanking mechanism 20; thus, the automatic processing of the glass workpiece is completed without manual participation in the whole process, which improves the The processing efficiency of glass workpieces can save labor costs and reduce industrial accidents caused by manual operations.

For the polishing mechanism 70, as shown in FIG. 2 and FIG. 3, the present invention provides a specific embodiment. The polishing mechanism 70 includes an X-axis motion module 701, a Z1-axis motion module 702, and a Z2 motion module. The axis motion module 703 and the polishing disc 704; the X-axis motion module 701 is located above the processing platform, and the Z1-axis motion module 702 and the Z2-axis motion module 703 are installed side by side on the X-axis motion module 701 , through the driving of the X-axis motion module 701 to reciprocate in the X-axis direction; and a polishing disc 704 is respectively installed at the bottom end of the Z1-axis motion module 702 and the bottom end of the Z2-axis motion module 703 . Therefore, the polishing disc 704 at the bottom end of the Z1 axis motion module 702 and the polishing disc 704 at the bottom end of the Z2 axis motion module 703 can respectively perform polishing processing on a glass workpiece on a processing jig 60, which can significantly improve the processing efficiency.

In addition, in the above-mentioned embodiment, the processing platform is also provided with a Y-axis motion module 80, the Y-axis motion module 80 is located below the X-axis motion module 701, and the processing fixture 60 is installed on the The Y-axis movement module 80 reciprocates in the Y-axis direction through the drive of the Y-axis movement module 80 . Through the cooperation of the Y-axis movement module 80, when the glass workpiece needs to be processed, the Y-axis movement module 80 drives the processing jig 60 to move below the polishing disc 704; when the processing is completed, the Y-axis movement module 80 drives the processing The fixture 60 moves in the direction of the unloading manipulator 30 , so that the unloading manipulator 30 can transfer the processed glass workpiece to the unloading conveyor belt 502 .

It should be noted that, in the above embodiment, the X-axis motion module 701, the Y-axis motion module 80, the Z1-axis motion module 702 and the Z2-axis motion module 703 all use linear motors in the prior art Module, linear motor module is a system integration based on linear motor, grating ruler, Hall sensor, linear guide, etc., which can be directly introduced into automation equipment as a driving device. Since its structure is very mature in the prior art, in this embodiment, the structures of the X-axis motion module 701 , the Y-axis motion module 80 , the Z1-axis motion module 702 and the Z2-axis motion module 703 are not carried out. Detailed explanation.

Referring to FIGS. 5 and 6, the present invention provides a specific embodiment for the above-mentioned slicing and feeding mechanism 40. The slicing and feeding mechanism 40 is mainly used to realize the slicing of glass workpieces, and transfer the glass workpieces to be processed one by one. onto the feeding conveyor. In this embodiment, the slicing feeding mechanism 40 includes a slicing mechanism base 401, a slicing X-axis module 402, a slicing Z-axis module 403 and a robotic arm wrapping assembly 404, wherein the slicing X-axis module 402 and the slicing The Z-axis modules 403 all use linear motor modules, and the structure thereof will not be described in detail in this embodiment. The line feed assembly 404 of the robotic arm includes a line feed push cylinder 4041, a line feed slide rail 4042, a line feed moving block 4043 and a line feed turning cylinder 4044. The line feed pushing cylinder 4041 is installed on the line feed support frame 4045, and the line feed turning cylinder 4044 is fixed on the line feed moving block 4043. The line feed moving block 4043 is slidably installed on the line feed sliding rail 4042, and the line feed moving block 4043 is connected with the top end of the cylinder rod of the line feed push cylinder 4041, and the line feed slide rail 4042 is fixed with the line feed support frame. Structure, the line feed pushes the extension and contraction of the cylinder rod of the cylinder 4041, and drives the line feed moving block 4043 to move on the line feed slide rail 4042, thereby driving the line feed inversion cylinder 4044 to move.

A suction nozzle mounting block is connected to the cylinder rod of the described line-feed and inversion cylinder 4044, and the suction nozzle installation block is provided with a suction nozzle for absorbing glass workpieces, and the line-feed inversion cylinder 4044 can drive the suction nozzle to turn over. In this embodiment, the base 401 of the slicing mechanism is also provided with a material box 405 for holding glass workpieces. When the glass workpieces to be processed are placed in the material box 405, they are in a parallel vertical state. The suction nozzle is used to adsorb the glass workpiece, and then the glass workpiece is in a horizontal state under the overturning of the line feed and inversion cylinder 4044, and then the glass workpiece in the horizontal state is transferred to the feeding conveyor belt. During this process, the position of the suction nozzle mounting block is adjusted by the mechanical arm wrapping assembly 404, so that the suction nozzle can absorb the glass workpieces in different positions in the material box 405.

Referring to FIGS. 7 to 9 , the present invention provides a specific embodiment of the insert blanking mechanism 20 . The insert blanking mechanism 20 includes a blanking platform 201 and an insert X-axis motion module 202 , the blanking and wrapping operation mechanism 203, the insert Z-axis motion module 204 and the insert location mechanism 205; the blanking platform 201 is located above the insert base 2011, and the blanking platform 201 is provided with a workpiece for placing glass workpieces The material frame 2012 and the workpiece material frame 2012 are further provided with a material frame driving module 2013 behind the workpiece material frame 2012 for driving the workpiece material frame 2012 to reciprocate in the Y-axis direction.

Further, the blanking platform 201 is provided with a vertical insert X-axis support frame 2014, and the insert X-axis motion module 202 is provided with the top of the insert X-axis support frame 2014, so that the insert X-axis motion module 202 is located at the top of the insert X-axis support frame 2014. Above the blanking platform 201 ; the blanking and line feed running mechanism 203 is arranged on the X-axis motion module 202 of the insert, and reciprocates in the X-axis direction by the drive of the X-axis motion module 202 of the insert. The insert Z-axis motion module 204 is arranged at the front end of the blanking and line feed operation mechanism 203, and is located above the workpiece material frame 2012. The blanking and line feed operation mechanism 203 can adjust the insert Z-axis motion module 204 in the direction of the Y axis. Make fine adjustments. The described insert positioning mechanism 205 is installed on the Z-axis movement module, and reciprocates in the Z-axis direction by the drive of the insert Z-axis movement module.

In the above-mentioned embodiment, the material frame drive module 2013, the insert X-axis motion module 202 and the insert Z-axis motion module 204 all use linear motor modules in the prior art, and the linear motor modules are based on The system integration formed by linear motors, grating rulers, Hall sensors, linear guides, etc., can be directly introduced into automation equipment as driving devices. Since its structure is very mature in the prior art, the structure of the material frame driving module 2013 , the insert X-axis motion module 202 and the insert Z-axis motion module 204 will not be described in detail in this embodiment. .

Referring to FIG. 8 , a specific embodiment is provided for the insert positioning mechanism 205 . The insert positioning mechanism 205 includes a turning cylinder 2051 , a suction cup mounting plate 2052 and a clamping assembly 2053 , and the suction cup mounting plate 2052 is connected to the turning cylinder 2051 . On the cylinder 2051, the glass workpiece is adsorbed by the suction cup on the suction cup mounting plate 2052; the clamping assembly 2053 is located outside the turning cylinder 2051, and the turned glass workpiece is clamped by the clamping assembly 2053; this embodiment In the process, the glass workpiece in the horizontal state is turned over to the vertical state by the turning cylinder 2051 . As shown in FIG. 9 , the clamping assembly 2053 includes a frame support plate 2054 , a positioning cylinder 2055 , a cylinder installation plate 2056 and a sliding connecting plate 2057 ; the cylinder installation plate 2056 is fixedly arranged on a set of frame support plates 2054 At the top, the positioning cylinder 2055 is fixed on the outer side of the cylinder mounting plate 2056 through the positioning cylinder mounting plate 2062, the sliding connecting plate 2057 is slidably installed on the outer side of the cylinder mounting plate 2056, and the sliding connecting plate 2057 is connected to the cylinder of the positioning cylinder 2055. The rods are connected, and driven by the positioning cylinder 2055, the sliding connecting plate 2057 is driven to reciprocate. The inner side of the cylinder mounting plate 2056 is provided with a fixed guide plate 2058 and an adjustable guide plate 2059, the fixed guide plate 2058 is fixedly installed on the cylinder mounting plate 2056, and the adjustable guide plate 2059 is connected with the sliding connecting plate 2057; The glass workpiece is clamped by the fixed guide plate 2058 and the adjustable guide plate 2059 .

In this embodiment, the cylinder mounting plate 2056 is provided with a positioning guide rail 2060, and the sliding connecting plate 2057 is slidably installed on the positioning guide rail 2060; connected. Through the driving of the positioning cylinder 2055, the sliding connecting plate 2057 is driven to move on the positioning guide rail 2060, thereby driving the adjustable guide plate 2059 to reciprocate, and the distance between the adjustable guide plate 2059 and the fixed guide plate 2058 is adjusted, thereby completing the glass workpiece. clamping and unclamping operations. Corresponding guide grooves are provided on the adjustable guide plate 2059 and the fixed guide plate 2058 , and the glass workpiece is clamped in the guide grooves of the adjustable guide plate 2059 and the fixed guide plate 2058 . In addition, both the adjustable guide plate 2059 and the fixed guide plate 2058 are provided with waist-shaped holes, and the adjustable guide plate 2059 and the fixed guide plate 2058 can be fixed through the waist-shaped holes. The guide plate 2058 and the adjustable guide plate 2059 are suitable for glass workpieces of different sizes, which improves the applicability of the product.

In the above-mentioned embodiment, the adjustable guide plate 2059, the fixed guide plate 2058, and the driving part (including the positioning cylinder 2055, the sliding connecting plate 2057 and the corner mounting plate 2061) are respectively arranged on the inner side and the outer side of the cylinder mounting plate 2056. On the side, this design makes the overall structure of the clamping assembly 2053 more compact; at the same time, the overturned glass workpiece is clamped on the inner side of the cylinder mounting plate 2056 by the adjustable guide plate 2059 and the fixed guide plate 2058, and the cylinder mounting plate 2056 can be Protects glass workpieces.

As shown in FIG. 8 , the insert Z-axis motion module 204 includes an insert RZ slide plate 207 that reciprocates along the Z-axis direction. The end of the support plate 2054 is fixed on the insert RZ slide plate 207; driven by the insert Z-axis motion module 204, the insert RZ slide plate 207 is driven to move up and down, thereby driving the overturning cylinder 2051 and the clamping assembly 2053 in the Z-axis direction reciprocating motion. For the blanking and line-feeding operating mechanism 203, the present invention provides a specific embodiment with reference to FIG. 8. The blanking and line-feeding operating mechanism 203 includes a pushing cylinder 2031, a line-feeding bottom plate 2032, a line-feeding slide rail 2033, a line-feeding slide Block 2034 and support plate 2035; the push cylinder 2031 is fixed on the line feed bottom plate 2032, the two line feed slide rails 2033 are located on both sides of the push cylinder 2031, and the line feed slide block 2034 is slidably installed on the line feed slide rail 2033. The support plate 2035 is fixed with the line feed slider 2034 ; the insert Z-axis motion module 204 is fixedly connected with the support plate 2035 . Through this structure, the pushing cylinder 2031 can push the pallet 2035 to translate on the line feed slide rail 2033, thereby driving the Z-axis motion module 204 of the insert to achieve parallelism. In addition, in order to improve the strength, the support plate 2035 is also provided with a Z-axis support plate 2036, and the insert Z-axis motion module 204 is fixed to the Z-axis support plate 2036.

In combination with the above content, we will describe in detail the working process of the blanking mechanism. The blanking platform 201 is provided with a conveyor mechanism support seat 208 that is docked with the conveyor belt, and the processed glass workpiece is transferred to the blanking platform 201 through the conveyor belt. Above; under the cooperation of the X-axis motion module 202 of the insert and the Z-axis motion module 204 of the insert, the suction cup on the suction cup mounting plate 2052 adsorbs the glass workpiece in the horizontal state, and after the adsorption is completed, the Z-axis motion module of the insert 204 drives the glass workpiece to move upward, and then the turning cylinder 2051 drives the glass workpiece to turn to a vertical state; the adjustable guide plate 2059 and the fixed guide plate 2058 of the clamping assembly 2053 clamp the glass workpiece. Driven by the insert X-axis motion module 202 and the insert Z-axis motion module 204, the glass workpiece is driven to move to the top of the workpiece frame 2012, and the glass workpiece is inserted into the workpiece frame 2012 to complete the blanking action of the insert . When a row of glass workpieces are blanked in the workpiece material frame 2012, the blanking and wrapping operation mechanism 203 can drive the insert Z-axis motion module 204 to wrap, thereby realizing continuous insert blanking. When one of the workpiece frames is filled with glass workpieces to be blanked, the frame drive module can drive the workpiece frame to be parallel along the Y-axis direction, and blank the other workpiece frame. This kind of inserting and blanking mechanism realizes the automatic blanking of glass workpieces without manual participation in the whole process, which improves the blanking efficiency and is safer than manual blanking.

10 and 11, the present invention provides a specific embodiment for the loading and unloading manipulator. The loading and unloading manipulator includes a manipulator Y-axis module 301, a manipulator beam 302, a manipulator Z-axis module 303, a rotating The drive assembly 304 and the suction cup assembly 305; wherein, two manipulator Y-axis modules 301 are arranged in parallel, and both ends of the manipulator beam 302 are respectively slidably mounted on a manipulator Y-axis module 301. In this solution, the manipulator Y-axis module 301 A module connecting plate 3011 is arranged on the module connecting plate 3011 , and a beam pad 3012 is arranged on the module link plate 3011 , and both ends of the manipulator beam 302 are fixed on the beam pad 3012 . Therefore, the manipulator beam 302 can reciprocate along the Y-axis direction on the manipulator Y-axis module 301. Further, the manipulator Z-axis module 303 is installed on the manipulator beam 302; the rotation drive assembly 304 is fixedly installed on the manipulator Z-axis module 303, and the rotation drive assembly 304 can be driven by the manipulator Z-axis module 303 along the Z axis. Reciprocating motion in the axis direction.

In the above embodiment, the manipulator Y-axis module 301 and the manipulator Z-axis module 303 both use linear motor modules in the prior art, and their structures and implementation principles are very mature technologies, so this embodiment does not The structure is then described in detail.

Further, referring to FIG. 11, the present invention provides a specific embodiment for the structure of the suction cup assembly 305. The suction cup assembly 305 includes a rotating rod 3051, a suction cup support 3052 and a suction cup mounting plate 3053. The suction cup support 3052 is cross-shaped, the rotating rod 3051 passes through the center of the suction cup bracket 3052, and a plurality of suction cup brackets 3052 are distributed in an array on the rotating rod 3051; Four sets of suction cup brackets 3052 are arranged symmetrically. A suction cup mounting plate 3053 is fixedly installed at the four top ends of the suction cup support 3052 respectively, and a suction cup for sucking glass workpieces is arranged on the suction cup mounting plate 3053 . The rotation driving assembly 304 is used to drive the rotation rod 3051 to rotate.

Through this structure, the suction cups on each suction cup mounting plate 3053 can be sucked to the glass workpiece, and simultaneously with the rotation of the rotating rod 3051, the suction cup mounting plate 3053 is driven to rotate, so as to control different suction cups to adsorb the glass workpiece.

As a preferred embodiment, as shown in FIG. 10 , the manipulator Z-axis module 303 includes a Z-axis slide 3031 , the manipulator beam 302 is symmetrically provided with RZ guide rails 3032 , and the RZ guide rails 3032 are provided with sliding The sliding block is fixedly connected with the Z-axis sliding plate 3031. Driven by the Z-axis module 303 of the manipulator, the Z-axis sliding plate 3031 is driven to move up and down on the RZ guide rail 3032 . In addition, two sides of the Z-axis slide plate 3031 are provided with a manipulator reinforcing plate 3034, the manipulator reinforcing plate 3034 is connected to the Z-axis slide plate 3031 through an L-shaped fixing block 3035, and one end of the rotating rod 3051 is rotatably installed on the manipulator reinforcing plate 3034 on.

As for the structure of the rotary drive assembly 304, as shown in FIG. 11, the present invention provides a specific embodiment. The rotary drive assembly 304 includes a manipulator base 3041 and a rotary motor 3042; the manipulator base 3041 and the rotary motor 3042 are fixedly installed on the On the Z-axis slide 3031, the manipulator base 3041 is rotatably mounted with a rotating shaft and a driven shaft (not marked in the figure), and a synchronous belt 3043 is sleeved on the rotating shaft and the driven shaft; the output shaft of the rotating motor 3042 is the same as the rotating shaft Connected, the rotating rod 3051 is connected with the driven shaft. In this embodiment, a deceleration motor is arranged between the rotating motor 3042 and the rotating shaft, and a rotating shaft fixing seat 3044 is arranged on the manipulator base 3041, and both ends of the rotating shaft are rotatably installed on the rotating shaft fixing seat 3044; The rotation of the motor 3042 can drive the rotating shaft to rotate, and under the transmission of the synchronous belt 3043, the driven shaft is rotated, and then the rotating rod 3051 is driven to rotate; in this embodiment, a rotating rod 3051 and the driven shaft are provided with Coupling 3045.

In addition, the rotary drive assembly 304 also includes a top shield (not marked in the figure) and a side shield 3046. The side shield 3046 is vertically fixed on the manipulator base 3041, and the rotation axis is located adjacent to the side shield 3046. In between, the top shield is covered on the side shield 3046, and the rotating shaft is enclosed by the top shield and the side shield 3046, so as to play the functions of dustproof and anti-mistouch.

Through the above-mentioned structure, we describe in detail the working process of the loading and unloading manipulator of the present invention. First, under the driving of the manipulator Y-axis module 301 and the manipulator Z-axis module 303, the suction cup assembly 305 is moved to the designated position. Driven by the rotary drive assembly 304, the suction cup on the designated suction cup mounting plate 3053 adsorbs the glass workpiece to be processed or processed; after that, the suction cup assembly 305 rises, the rotating rod 3051 rotates, and drives the suction cup mounting plate 3053 to rotate, through another The suction cups on the suction cup mounting plate 3053 in one direction suck the glass workpiece. Repeating the above process, the suction cups on each suction cup support 3052 can absorb multiple glass workpieces. In this embodiment, the suction cups on each suction cup support 3052 can absorb four glass workpieces, and a total of 32 glass workpieces can be absorbed. It improves the efficiency of loading and unloading of glass workpieces, and achieves the effect of improving the processing efficiency of the polishing machine and increasing the production capacity.

The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements on the premise that does not violate the spirit of the present invention , these equivalent modifications or substitutions are all included within the scope defined by the claims of the present application.

Claims (10)

1. An efficient full-automatic polishing machine is characterized by comprising a processing platform, a slicing feeding mechanism, a feeding and discharging mechanical arm, a slicing conveying belt, a processing jig, a polishing processing mechanism and an inserting piece discharging mechanism;

the slicing conveyor belt and the processing jig are arranged on the processing platform side by side, the feeding and discharging manipulator and the polishing processing mechanism are positioned above the processing platform, the feeding and discharging manipulator is positioned above the slicing conveyor belt, and the feeding and discharging manipulator is used for realizing the transfer of the glass workpiece between the slicing conveyor belt and the processing jig; the polishing mechanism is positioned above the processing jig and is used for processing the glass workpiece on the processing jig;

the piece separating and feeding mechanism and the inserting piece blanking mechanism are respectively located at two ends of the piece separating and conveying belt, the piece separating and feeding mechanism is used for providing glass workpieces to be processed on the piece separating and conveying belt, and the inserting piece blanking mechanism is used for receiving the processed glass workpieces.

2. An efficient fully automatic polishing machine as claimed in claim 1 wherein said polishing mechanism includes an X-axis motion module, a Z1 axis motion module, a Z2 axis motion module and a polishing disk;

the X-axis movement module is positioned above the processing platform, the Z1 axis movement module and the Z2 axis movement module are arranged on the X-axis movement module side by side and reciprocate in the X-axis direction under the driving of the X-axis movement module; and the bottom end of the Z1 axis motion module and the bottom end of the Z2 axis motion module are respectively provided with a polishing disk.

3. The efficient full-automatic polishing machine according to claim 2, wherein a Y-axis motion module is further arranged on the processing platform and located below the X-axis motion module, and the processing jig is mounted on the Y-axis motion module and driven by the Y-axis motion module to reciprocate in the Y-axis direction.

4. The efficient full-automatic polishing machine according to claim 1, wherein the slicing conveyor comprises a feeding conveyor and a discharging conveyor arranged side by side, one end of the feeding conveyor extends into the slicing feeding mechanism, and one end of the discharging conveyor extends into the insert discharging mechanism.

5. The efficient full-automatic polishing machine according to claim 1, wherein the loading and unloading manipulator comprises a manipulator Y-axis module, a manipulator beam, a manipulator Z-axis module, a rotary driving assembly and a sucker assembly;

two ends of the manipulator beam are respectively installed on a manipulator Y-axis module, and a manipulator Z-axis module is installed on the manipulator beam; the rotary driving component is fixedly arranged on the manipulator Z-axis module;

the sucker component comprises a rotating rod, a sucker support and a sucker mounting plate, the sucker support is in a cross shape, the rotating rod penetrates through the center of the sucker support, and a plurality of sucker supports are distributed on the rotating rod in an array manner; a sucker mounting plate is fixedly mounted at the four top ends of the sucker support respectively;

the rotary driving component is used for driving the rotating rod to rotate.

6. An efficient and automatic polisher according to claim 5 and wherein the robot Z-axis module comprises a Z-axis slide plate, the robot beam is provided with an RZ guide rail, and the RZ guide rail is provided with a sliding block fixedly connected with the Z-axis slide plate.

7. An efficient, fully automatic polishing machine as recited in claim 5, wherein said rotary drive assembly includes a robot base and a rotary motor;

the mechanical arm base and the rotating motor are fixedly arranged on the Z-axis sliding plate, the mechanical arm base is rotatably provided with a rotating shaft and a driven shaft, and the rotating shaft and the driven shaft are sleeved with a synchronous belt; the output shaft of the rotating motor is connected with a rotating shaft, and the rotating shaft is connected with a driven shaft.

8. The efficient full-automatic polishing machine according to claim 1, wherein the insert blanking mechanism comprises a blanking platform, an insert X-axis movement module, a blanking line-changing operation mechanism, an insert Z-axis movement module and an insert positioning mechanism;

the blanking platform is provided with a workpiece frame for placing a glass workpiece, the X-axis insert movement module is arranged above the blanking platform, and the blanking line-changing operation mechanism is arranged on the X-axis insert movement module and driven by the X-axis insert movement module to reciprocate in the X-axis direction;

the inserting piece Z-axis movement module is arranged at the front end of the blanking line-changing operation mechanism and is positioned above the workpiece frame, and the inserting piece positioning mechanism is arranged on the Z-axis movement module and reciprocates in the Z-axis direction under the driving of the inserting piece Z-axis movement module;

the insert positioning mechanism comprises a turnover cylinder, a sucker mounting plate and a clamping assembly, wherein the sucker mounting plate is connected to the turnover cylinder and is used for sucking a glass workpiece through a sucker on the sucker mounting plate; the clamping assembly is located on the outer side of the turnover cylinder and clamps the turned glass workpiece through the clamping assembly.

9. An efficient fully automatic polisher according to claim 8 with the clamping assembly including a frame support plate, positioning cylinders, cylinder mounting plate and slide link plate;

the cylinder mounting plate is fixedly arranged at the top end of the group of frame supporting plates, the positioning cylinder is fixed on the outer side surface of the cylinder mounting plate, the sliding connecting plate is slidably arranged on the outer side surface of the cylinder mounting plate, and the sliding connecting plate is connected with a cylinder rod of the positioning cylinder;

the inner side of the cylinder mounting plate is provided with a fixed guide plate and an adjustable guide plate, the fixed guide plate is fixedly mounted on the cylinder mounting plate, and the adjustable guide plate is connected with the sliding connecting plate; the glass workpiece is clamped through the fixed guide plate and the adjustable guide plate.

10. The efficient full-automatic polishing machine according to claim 8, wherein the blanking line-changing running mechanism comprises a pushing cylinder, a line-changing bottom plate, a line-changing slide rail, a line-changing slide block and a supporting plate;

the pushing cylinder is fixed on the line changing bottom plate, the two line changing slide rails are positioned at two sides of the pushing cylinder, the line changing slide block is slidably mounted on the line changing slide rails, and the supporting plate is fixed with the line changing slide block;

the inserting piece Z-axis movement module is fixedly connected with the supporting plate.

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