WO2020073414A1 - 上下料设备以及曲面玻璃抛光机 - Google Patents

上下料设备以及曲面玻璃抛光机 Download PDF

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Publication number
WO2020073414A1
WO2020073414A1 PCT/CN2018/115133 CN2018115133W WO2020073414A1 WO 2020073414 A1 WO2020073414 A1 WO 2020073414A1 CN 2018115133 W CN2018115133 W CN 2018115133W WO 2020073414 A1 WO2020073414 A1 WO 2020073414A1
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WO
WIPO (PCT)
Prior art keywords
rotating
swing
cylinder
loading
motor
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Application number
PCT/CN2018/115133
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English (en)
French (fr)
Inventor
廖民安
李青
任书明
李学锋
张旭
张占永
Original Assignee
东旭集团有限公司
东旭科技集团有限公司
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Publication date
Application filed by 东旭集团有限公司, 东旭科技集团有限公司 filed Critical 东旭集团有限公司
Publication of WO2020073414A1 publication Critical patent/WO2020073414A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines

Definitions

  • the invention relates to the technical field of glass deep processing, in particular to a loading and unloading device and a curved glass polishing machine.
  • the production process of mobile phone curved glass involves a polishing process.
  • the current curved glass polishing machine generally uses the form of a large turntable, and its loading and unloading operations are all manually operated. This problem is that the labor intensity of workers is large, and Not conducive to the intelligence and automation of factory production.
  • the purpose of the present invention is to overcome the problems in the prior art, and to provide a loading and unloading device and a curved glass polishing machine, which can make the movement of glass between the cargo basket and the curved glass polishing machine completely intelligent and automated , Reducing the labor intensity of workers.
  • one aspect of the present invention provides a loading and unloading equipment, the loading and unloading equipment includes a loading device and a transfer device; the loading device includes a suction cup mechanism, the suction cup mechanism can absorb glass and make the glass in Moving between the cargo basket and the tray; the transfer device includes a loading and unloading mechanism that can attract the glass and move the glass between the tray and the curved glass polishing machine.
  • the loading device includes a first swing mechanism and a second swing mechanism;
  • the first swing mechanism includes a first fixed end and a first free end capable of circular movement around the first fixed end, the first A fixed end is fixed to the external frame;
  • the second swing mechanism includes a second fixed end and a second free end capable of circular movement around the second fixed end, the second fixed end is connected to the first A free end to follow the movement of the first free end;
  • the planes of motion of the first swing mechanism and the second swing mechanism are the same or parallel;
  • the suction cup mechanism is provided at the second free end to follow the The second free end moves, and the suction cup mechanism includes a vacuum suction cup that can suck the glass and move in a direction perpendicular to the plane of motion to move the glass between the cargo basket and the tray.
  • the loading device includes a link mechanism including a first swing lever, a second swing lever, a third swing lever, a first link, and a second link;
  • the first swing lever is fixed It is arranged at the first fixed end;
  • the second swing rod is arranged at the first free end and can rotate in a direction parallel to the plane of motion;
  • the third swing rod is arranged at the second free end And can rotate in a direction parallel to the plane of motion; both ends of the first link are hinged with the first swing lever and the second swing lever, respectively, and both ends of the second link are respectively
  • the second swing rod and the third swing rod are hinged so that the third swing rod is always parallel to the first swing rod;
  • the vacuum chuck is connected to the third swing rod and is connected to the third swing rod
  • the three swing rods move synchronously, so that the vacuum chuck can move relative to the first swing rod but never rotates, so that the angle between the glass adsorbed on the vacuum chuck and the first swing rod Keep constant;
  • the suction cup mechanism
  • the first swing mechanism includes a positioning shaft, a first motor, and a first swing arm; the positioning shaft is fixedly connected to the frame to form the first fixed end; and the first motor is fixedly disposed at The first swing arm and the rotating shaft of the first motor are connected to the positioning shaft; one end of the first swing arm is connected to the positioning shaft through a bearing, and the other end forms the first free end; preferably Ground, the second swing mechanism includes a second motor, a second swing arm and a small rotating shaft; the second motor is installed at the first free end to form the second fixed end; the small rotating shaft and the The rotating shaft of the second motor is connected; one end of the second swing arm is fixedly connected to the small rotating shaft, and the other end forms the second free end.
  • the transfer device includes a first rotating mechanism, a second rotating mechanism, and a lifting mechanism;
  • the lifting mechanism includes a lifting member that can move in a vertical direction; and
  • the first rotating mechanism includes a first positioning end and a second A rotating end, the first positioning end is mounted on the lifting member, the first rotating end can rotate around the first positioning end;
  • the second rotating mechanism includes a second positioning end and a second rotating end, The second positioning end is mounted on the first rotating end to be able to move with the first rotating end, and the second rotating end can rotate around the second positioning end;
  • the first rotating mechanism and the The movement planes of the second rotation mechanism are the same or parallel, and the movement planes are perpendicular to the vertical direction;
  • the loading and unloading mechanism is installed at the second rotation end so that the first rotation mechanism, the second The rotating mechanism and the lifting mechanism move along the movement plane and the vertical direction;
  • the loading and unloading mechanism includes a suction cup for moving the glass between the external material tray and the curved glass polishing machine.
  • the loading and unloading mechanism includes a driving motor and a jig disk, the driving motor is installed at the second rotating end, and the jig disk is connected to the shaft end of the driving motor to be driven by the driving motor Rotate around its own axis; the suction cup is provided on the side of the jig plate facing away from the drive motor; preferably, the loading and unloading mechanism includes an intermediate support plate, a spring, a motor support column, and a main latch; the intermediate support plate Connected to the second rotating end through the spring; the motor support column is provided on the intermediate support plate, the drive motor is supported by the motor support column; the main pin and the shaft of the drive motor End connection, one end of the main pin is formed as a tapered end of the main pin and passes through the intermediate support plate, the main pin can be rotated relative to the intermediate support plate under the drive of the drive motor; The tool plate is fixedly arranged on the main pin.
  • the jig plate can be under the action of the spring Offset relative to the second rotating end to align with the small turntable;
  • the loading and unloading mechanism includes a torsion spring, a small latch cylinder, a small latch, and a proximity switch;
  • the jig disk passes the twist
  • the spring is connected to the shaft end of the drive motor;
  • the small bolt cylinder is arranged on the jig plate, the small bolt is arranged at the piston rod end of the small bolt cylinder; the small bolt is away from the small bolt
  • the proximity switch is fixedly disposed on the jig plate, the proximity switch is connected to the drive motor to control the position when approaching the induction block of the small turntable of the curved glass polishing machine
  • the drive motor stops; wherein, during the insertion of the tapered end of the small latch into the positioning
  • the first rotating mechanism includes a first cylinder rotating shaft, an upper supporting plate, a first piston rod coupling pin, a first rotating arm, and a first swing cylinder;
  • the upper supporting plate is mounted on the lifting member;
  • the A first cylinder rotating shaft is provided on the upper support plate to form the first positioning end;
  • the first swing cylinder is hinged to the first cylinder rotating shaft;
  • one end of the first turning arm is hinged to the upper support The other end of the plate forms the first rotating end;
  • the first piston rod coupling pin is mounted on the first rotating arm and is hinged with the piston rod of the first swing cylinder.
  • the second rotating mechanism includes a second swing cylinder, a second piston rod coupling pin, a second rotating arm, and a second cylinder rotating shaft;
  • the second cylinder rotating shaft is provided at the first rotating end to form the A second positioning end;
  • the second swing cylinder is hinged to the second cylinder rotating shaft; one end of the second swing arm is hinged to the first rotating end, and the other end forms the second rotating end;
  • the first The two piston rod coupling pins are installed on the second rotating arm and are hinged with the piston rod of the second swing cylinder.
  • the lifting mechanism includes a base, the lifting member includes a lifting motor, a lifting linear guide assembly and a lifting screw; the base is provided on an external frame; the lifting motor and the lifting linear guide assembly It is arranged on the base; the lifting screw is connected to the shaft end of the lifting motor; the first positioning end is connected to the wire mother of the lifting screw and the slider of the lifting linear guide rail assembly .
  • a second aspect of the present invention provides a curved glass polishing machine.
  • the curved glass polishing machine includes the above-described loading and unloading equipment.
  • the loading device can move the glass between the cargo basket and the tray, and the transfer device can move the glass between the tray and the curved glass polishing machine, the present The inventive loading and unloading equipment enables the glass to move between the cargo basket and the curved glass polishing machine through the cooperation of the loading device and the transfer device, and is completely intelligent and automated, reducing the labor intensity of workers.
  • FIG. 1 is a schematic structural view of a preferred embodiment of the loading and unloading equipment of the present invention
  • FIG. 2 is a schematic structural view of a preferred embodiment of the transfer device of the present invention.
  • Figure 3 is a bottom view of Figure 2;
  • FIG. 4 is a schematic structural view of a preferred embodiment of a small turntable
  • FIG. 5 is a schematic structural view of a preferred embodiment of the loading device of the present invention.
  • FIG. 6 is a bottom view of FIG. 5;
  • FIG. 8 is a schematic diagram of the trajectory of the movement of the link mechanism.
  • the loading and unloading equipment of the present invention includes a loading device and a transfer device; the loading device includes a suction cup mechanism, which can absorb glass H and move the glass H between the cargo basket and the material tray; the transfer device includes The loading and unloading mechanism can absorb the glass H and move the glass H between the tray and the curved glass polishing machine.
  • the loading and unloading equipment of the present invention passes The cooperation of the loading device and the transfer device enables the glass H to move between the cargo basket and the curved glass polishing machine, and is completely intelligent and automated, reducing the labor intensity of the workers.
  • the loading device of the present invention includes a first swing mechanism, a second swing mechanism, and a suction cup mechanism;
  • the first swing mechanism includes a first fixed end and a first freedom capable of circular movement around the first fixed end End, the first fixed end is fixed to the external frame;
  • the second swing mechanism includes a second fixed end and a second free end capable of circular movement around the second fixed end, the second fixed end is connected to the first free end to follow The first free end moves;
  • the motion planes of the first swing mechanism and the second swing mechanism are the same or parallel;
  • the suction cup mechanism is provided at the second free end to follow the movement of the second free end,
  • the suction cup mechanism includes a vacuum suction cup 101, and the vacuum suction cup 101 can Suck the glass and move it in a direction perpendicular to the plane of motion to move the glass H between the basket and the tray.
  • the first free end of the first swing mechanism since the first fixed end of the first swing mechanism is fixed to the external frame, the first free end can make a circular motion around the first fixed end, and the second fixed end of the second swing mechanism is installed on the first A free end, so that the entire second swing mechanism can follow the first free end to make a circular movement around the first fixed end, and the second free end of the second swing mechanism can make a circular movement around the second fixed end (in the present invention)
  • the movement trajectories of the first free end and the second free end are both in the horizontal direction), as long as the distance between the first fixed end and the first free end and the distance between the second fixed end and the second free end can be adjusted
  • the second free end moves at various points within the range of a circle of a specific size centered on the first fixed end.
  • the suction cup mechanism is provided at the second free end to follow the movement of the second free end, and the vacuum suction cup 101 of the suction cup mechanism can suck the glass H and move in the vertical direction, so as long as the cargo basket and the material tray are placed in the circle of a specific size,
  • the loading device can move the glass H between the basket and the tray.
  • the area of the circle of a specific size is determined by the distance between the first fixed end and the first free end and the distance between the second fixed end and the second free end, and the specific here refers to adjustment according to certain usage scenarios There is a special distance between the first fixed end and the first free end, the distance between the second fixed end and the second free end, not the distance between the first fixed end and the first free end, and the distance between the second fixed end and the second free end Value.
  • the trays are arranged in rows and columns, and the distribution position and orientation of the glass fixtures on the trays are the same.
  • the vacuum chuck 101 adsorbs the glass H to follow the second free end to move It is difficult to ensure the orientation of the glass H, and when the orientation of the glass H is not consistent with the orientation of the glass fixture on the tray, the glass H cannot be placed in the glass fixture on the tray. Therefore, in order to ensure the glass Regardless of whether it moves to any position, its orientation is consistent with the orientation of the glass jig on the tray.
  • the loading device includes a link mechanism, and the link mechanism includes a first swing lever 117, the second swing rod 119, the third swing rod 121, the first link 118 and the second link 120; the first swing rod 117 is fixedly arranged at the first fixed end; the second swing rod 119 is arranged at the first free end And can rotate in the direction parallel to the plane of motion; the third swing rod 121 is provided at the second free end and can rotate in the direction parallel to the plane of motion; both ends of the first link 118 are connected to the first swing rod 117 and the first The two swing rods 119 are hinged, and the two ends of the second link 120 are divided Articulated with the second swing rod 119 and the third swing rod 121, so that the third swing rod 121 is always parallel to the first swing rod 117; the vacuum chuck 101 is connected to the third swing rod 121 and moves synchronously with the third swing rod 121, Therefore, the vacuum chuck 101 can move relative to the first swing lever 117 but never rotates, so that the angle between the glass
  • the first swing lever 117 since the first swing lever 117 is fixedly arranged at the first fixed end, the first swing lever 117 always maintains a constant angle with respect to the external frame and the tray, and the third swing lever 121 is always The angle of a swing lever 117 is kept constant, so that the angle between the glass H of the vacuum chuck 101 and the first swing lever 117 is kept constant. It can be seen in FIG. 8 that the angle between the glass H and the first swing rod 117 is kept constant regardless of the movement of the third swing rod 121 to any position.
  • the angle between the glass H and the first swing lever 117 may be 0 degrees as shown in FIG. 8 or may be set to various angles, which is determined by the initial placement angle of the glass H in the cargo basket.
  • the loading device includes a vacuum chuck 101, a second rotating cylinder 102, a rotating cylinder coupling block 103, a positioning shaft 104, a first motor base 105, a first motor 106, a second motor base 107, a first Two motor 108, electric cylinder 109, support base 110, first swing arm 111, second swing arm 112, first rotary cylinder 113, electric cylinder coupling seat 114, vacuum chuck base 115, small rotating shaft 116, first swing lever 117 , The first link 118, the second swing lever 119, the small link 120, the third swing lever 121, the link pin 122, the upper tray 123 and the lower tray 124.
  • the suction cup mechanism includes an electric cylinder 109, the electric cylinder 109 is disposed at the second free end, the electric cylinder 109 includes an electric cylinder piston rod 125; in order to prevent the vacuum suction cup 101 from being moved by the electric cylinder 109 Changing the angle with the first swing rod 117, as shown in FIG.
  • the electric cylinder piston rod 125 is movably disposed in the electric cylinder 109 along its own length direction and can rotate relative to the electric cylinder 109 about its own axis, the electric cylinder
  • the piston rod 125 is movably connected to the third swing rod 121 along its length direction and never rotates relative to the third swing rod 121; the vacuum chuck 101 is connected to the third swing rod 121 through the electric cylinder piston rod 125. In this way, it can be ensured that the rotation of the vacuum chuck 101 relative to the third swing rod 121 never occurs, that is to say, the angle between the glass H adsorbed by the vacuum chuck 101 and the third swing rod 121 is always kept constant.
  • the loading device includes a third swing rod bearing 126, a sliding key is provided on the inner wall of the third swing rod bearing 126, and the electric cylinder piston rod 125 is sleeved on the third swing rod 121 through the third swing rod bearing 126, and the electric cylinder piston rod 125 is provided with a key groove 127 which cooperates with the sliding key in the longitudinal direction.
  • the electric cylinder piston rod 125 can only move along the length direction of the key groove 127 (the vertical direction in the preferred embodiment of the present invention) without rotation.
  • the initial orientation of the glass H in the cargo basket may be arbitrary.
  • the loading device includes a first rotating cylinder 113 , The second rotary cylinder 102 and the rotary cylinder coupling block 103; the first rotary cylinder 113 is disposed at the end of the electric cylinder piston rod 125, the rotation axis of the first rotary cylinder 113 is perpendicular to the electric cylinder piston rod 125; the second rotary cylinder 102 passes The rotating cylinder coupling block 103 is connected to the rotating shaft of the first rotating cylinder 113, the rotating shaft of the second rotating cylinder 102 is perpendicular to the rotating shaft of the first rotating cylinder 113; the vacuum chuck 101 is provided at the end of the rotating shaft of the second rotating cylinder 102.
  • the first rotary cylinder 113 can drive the second rotary cylinder 102 and the glass H to rotate around the horizontal axis
  • the second rotary cylinder 102 can drive the glass H to rotate about the vertical axis
  • the action of rotating the cylinder 102 can occur before the glass H leaves the basket, or after the glass H leaves the basket, which does not affect the final adjustment of the glass H in the basket to the orientation of the glass fixture of the tray Consistent.
  • the first swing mechanism can be designed in various forms, as long as the first free end can be rotated around the first fixed end.
  • the first swing mechanism includes a positioning shaft 104, a first motor 106, and The first swing arm 111; the positioning shaft 104 is fixedly connected to the frame to form a first fixed end; the first motor 106 is fixedly disposed on the first swing arm 111 and the rotating shaft of the first motor 106 is connected to the positioning shaft 104; the first swing One end of the arm 111 is connected to the positioning shaft 104 through a bearing, and the other end forms a first free end.
  • the preferred embodiment of the present invention does not fix the first motor 106 with respect to the frame, but fixes the positioning shaft 104 with respect to the frame, and the first motor 106 can The frame rotates, thereby driving the first swing arm 111 fixedly connected to the first motor 106 to rotate relative to the frame.
  • the second swing mechanism can be designed in various forms, as long as the second free end can be rotated around the second fixed end.
  • the second swing mechanism includes a second motor 108 and a second swing arm 112 and a small rotating shaft 116; the second motor 108 is installed at the first free end to form a second fixed end; the small rotating shaft 116 is connected to the rotating shaft of the second motor 108; one end of the second swing arm 112 is fixedly connected to the small rotating shaft 116, and One end forms a second free end.
  • the second motor 108 is mounted on the first swing arm 111, the second motor 108 drives the small rotating shaft 116 to rotate relative to the first swing arm 111, and one end of the second swing arm 112 is fixedly connected to the small rotating shaft 116, which makes the second The swing arm 112 can rotate relative to the first swing arm 111.
  • the transfer device of the present invention includes a first rotating mechanism, a second rotating mechanism, a lifting mechanism, and a loading and unloading mechanism;
  • the lifting mechanism includes a lifting member that can move in the vertical direction;
  • the first rotating mechanism includes a A positioning end and a first rotating end, the first positioning end is installed on the lifting member, the first rotating end can rotate around the first positioning end;
  • the second rotating mechanism includes a second positioning end and a second rotating end, and the second positioning end is installed At the first rotating end, it can move with the first rotating end, and the second rotating end can rotate around the second positioning end;
  • the movement planes of the first rotation mechanism and the second rotation mechanism are the same or parallel, and the movement plane is perpendicular to the vertical direction ;
  • the loading and unloading mechanism is installed at the second rotating end to move along the plane of motion and the vertical direction under the drive of the first rotating mechanism, the second rotating mechanism, and the lifting mechanism;
  • the loading and unloading mechanism includes a material tray for making the glass H outside A su
  • the first rotating mechanism and the second rotating mechanism are driven by the lifting mechanism to be able to achieve vertical movement, and the first rotating mechanism and the second rotating mechanism cooperate to rotate, so that the second rotating end of the second rotating mechanism It can pass through multiple positions, such as the loading station, unloading station of glass H and the station of curved glass polishing machine.
  • the loading and unloading mechanism is installed at the second rotating end to follow the second rotating end.
  • the suction cup 235 of the loading and unloading mechanism can At the above-mentioned multiple positions, the glass H is adsorbed and moved between the tray and the curved glass polishing machine.
  • the loading and unloading mechanism moves the glass H from the small turntable B of the curved glass polishing machine to the lower tray 124 During the loading work, the loading and unloading mechanism moves the glass H from the loading tray 123 to the small turntable B of the curved glass polishing machine.
  • the entire loading and unloading process is completely intelligent and automated, reducing the labor intensity of the workers.
  • first rotating mechanism, the second rotating mechanism, the lifting mechanism and the loading and unloading mechanism of the transfer device of the present invention can be designed in various forms, for example, the first rotating mechanism and the second rotating mechanism are designed in the form of a turntable,
  • the lifting mechanism is in the form of an electric cylinder, and the loading and unloading mechanism is in the form of a mechanical claw.
  • the purpose of these designs and structures is to enable the loading and unloading mechanism to move the glass H between the small turntable B and the material tray of the curved glass polishing machine.
  • the transfer device includes a second swing cylinder 201, a second piston rod coupling pin 202, a piston rod coupling block 203, a second rotating shaft 204, a driving motor 205, a second rotating arm 206, and a small latch Cylinder 207, small latch cylinder block 208, torsion spring 209, main latch block 210, lower spring column 211, motor support column 212, jig plate 213, intermediate support plate 214, upper spring column 215, first swing arm 216, upper Support plate 217, first rotating shaft 218, first swing cylinder 219, screw front seat 220, lifting motor 221, small latch 222, main plug 223, base 224, lifting linear guide assembly 225, screw rear seat 226, lifting screw The rod 227, the lower support plate 228, the sliding plate 229, the first cylinder rotating shaft 230, the swing cylinder seat 231, the second cylinder rotating shaft 232, the first piston rod coupling pin 233, the spring 234, and the suction cup 235.
  • the loading and unloading mechanism includes a driving motor 205 and a jig disk 213, the driving motor 205 is installed at the second rotating end, the jig disk 213 is connected to the shaft end of the driving motor 205 to be driven by the driving motor 205 Rotate around its own axis; suction cup 235 is provided on the side of the jig plate 213 facing away from the drive motor 205.
  • the driving motor 205 can drive the jig plate 213 to rotate, so that the glass H adsorbed by the jig plate 213 can correspond to the glass plate jig C on the small turntable B, so that after the suction cup 235 removes the adsorption force, the glass H It can just fall into the glass sheet jig C.
  • the small turntable B of the curved glass polishing machine since the small turntable B of the curved glass polishing machine is driven by a motor, it cannot stop at the theoretical position under the action of inertia, which makes the jig plate 213 unable to be just right with the small turntable B when it moves above the small turntable B It is completely aligned, so that the loading and unloading positions of the glass H will be deviated.
  • the loading and unloading mechanism includes an intermediate support plate 214, a spring 234, a motor support column 212, and a main pin 223;
  • the support plate 214 is connected to the second rotating end through a spring 234;
  • the motor support post 212 is provided on the intermediate support plate 214, and the drive motor 205 is supported by the motor support post 212;
  • the main plug 223 is connected to the shaft end of the drive motor 205, and the main plug 223
  • One end of the main pin is formed as a tapered end of the main pin and passes through the intermediate support plate 214, the main pin 223 can rotate relative to the intermediate support plate 214 under the drive of the driving motor 205;
  • the jig plate 213 is fixedly arranged on the main pin 223, and During the insertion of the tapered end of the latch into the center hole F of the small turntable B of the curved glass polishing machine, the jig plate 213 can be offset relative to the second rotating end under the action of the spring 234 B with
  • the jig plate 213 falls, so that the tapered end of the main pin extends into the center hole F of the small turntable B, and during the process of the jig plate 213 continuously falling, the main pin
  • the tapered outer wall of the tapered end and the central hole F abut against each other to generate a force, because the small turntable B is fixed, and the jig plate 213 is connected to the intermediate support plate 214 through the main plug 223, the drive motor 205, and the spring 234,
  • the jig plate 213 can be displaced horizontally with respect to the intermediate support plate 214 under the action of the spring 234, therefore, the jig plate 213 can be horizontal when the force of the central hole F is applied to the tapered end of the main pin
  • the direction is shifted, so that when the tapered end of the main plug is completely inserted into the center hole F, the jig plate 213 and the small turntable B are completely aligned.
  • the loading and unloading mechanism includes a torsion spring 209, a small latch cylinder 207, a small latch 222, and a proximity switch;
  • the jig disk 213 passes through the torsion spring 209 Connected to the shaft end of the drive motor 205;
  • the small latch cylinder 207 is set on the jig plate 213,
  • the small latch 222 is set on the piston rod end of the small latch cylinder 207;
  • the end of the small latch 222 away from the small latch cylinder 207 forms a small latch cone
  • the proximity switch is fixed on the jig plate 213, and the proximity switch is connected to the drive motor 205 to control the drive motor 205 to stop when approaching the induction block D of the small turntable B of the curved glass polishing machine; wherein, at the tapered end of the small latch During the insertion into the positioning hole E of the small turntable B, the jig plate 213 can be rotated and offset relative to the small turntable B under the action of the
  • the proximity switch is installed at the proximity switch mounting port A of the jig plate 213.
  • the proximity switch rotates in the circumferential direction of the jig plate 213, and when the proximity switch approaches
  • the proximity switch controls the drive motor 205 to stop, and due to the inertia of the drive motor 205, the rotation angle when the jig plate 213 finally stops may be different from the fixture when the proximity switch approaches the induction block D
  • the rotation angle of the disk 213 has a certain rotation deviation. At this time, drive the tapered end of the small plug into the positioning hole E.
  • the tapered outer wall of the small plug and the center hole E abut against each other to generate a force. Since the small turntable B is fixed, the jig The disc 213 is connected to the shaft end of the driving motor 205 through the torsion spring 209, therefore, the jig disc 213 can rotate around its axis when the tapered end of the small latch is subjected to the force of the central hole E, so that when the small latch is tapered After the end is fully inserted into the center hole E, the jig plate 213 and the small turntable B are completely aligned. After the jig plate 213 rises away from the small turntable B, the jig plate 213 is reset by the torsion spring 209.
  • the first rotating mechanism can be designed in various forms, as long as the first rotating end can be rotated around the first positioning end.
  • the first rotating mechanism includes a first cylinder rotating shaft 230 and an upper support plate 217, the first piston rod coupling pin 233, the first rotating arm 216 and the first swing cylinder 219; the upper support plate 217 is installed on the lifting member; the first cylinder rotating shaft 230 is provided on the upper support plate 217 to form a first positioning end;
  • the first swinging cylinder 219 is hinged to the first cylinder rotating shaft 230; one end of the first turning arm 216 is hinged to the upper support plate 217, and the other end forms a first turning end;
  • the first piston rod coupling pin 233 is mounted to the first turning arm 216 and It is hinged with the piston rod of the first swing cylinder 219.
  • the expansion and contraction of the piston rod of the first swing cylinder 219 will drive the movement of the first piston rod coupling pin 233. Since the first cylinder rotating shaft 230 is provided on the upper support plate 217, the first swing cylinder 219 will rotate around the first cylinder rotating shaft 230 when telescoping. And push the first rotating arm 216 to rotate around its hinge point with the upper support plate 217, so that the other end of the first rotating arm 216 forms a first rotating end.
  • the second rotating mechanism can be designed in various forms, as long as the second rotating end can be rotated around the second positioning end.
  • the second rotating mechanism includes a second swing cylinder 201 and a second piston The rod coupling pin 202, the second rotating arm 206 and the second cylinder rotating shaft 232; the second cylinder rotating shaft 232 is provided at the first rotating end to form a second positioning end; the second swing cylinder 201 is hinged to the second cylinder rotating shaft 232; the second One end of the rotating arm 206 is hinged to the first rotating end, and the other end forms a second rotating end; the second piston rod coupling pin 202 is mounted on the second rotating arm 206 and is hinged with the piston rod of the second swing cylinder 201.
  • the expansion and contraction of the piston rod of the second swing cylinder 201 will drive the movement of the second piston rod coupling pin 202. Since the second cylinder rotating shaft 232 is provided at the first rotating end, the second swing cylinder 201 will rotate around the second cylinder rotating shaft 232 when telescopic, And push the second rotating arm 206 to rotate around its hinge point with the first rotating end, so that the other end of the second rotating arm 206 forms a second rotating end.
  • the lifting mechanism can be designed in various forms, as long as it can move the lifting member in the vertical direction.
  • the lifting mechanism includes a base 224, the lifting member includes a lifting motor 221, and a lifting linear guide assembly 225 And the lifting screw 227; the base 224 is set on the external frame; the lifting motor 221 and the lifting linear guide assembly 225 are set on the base 224; the lifting screw 227 is connected to the shaft end of the lifting motor 221; the first positioning end is connected It is used for raising the screw of 227 and the slider of the linear guide rail assembly 225.
  • the lifting motor 221 is started to drive the lifting screw 227 to rotate, and the screw nut of the lifting screw 227 can move in the vertical direction, so that the first rotating mechanism connected to the screw nut of the lifting screw 227 can follow the elevator to move in the vertical direction.
  • the invention also provides a curved glass polishing machine.
  • the curved glass polishing machine includes the above-mentioned loading and unloading equipment.
  • the rotating shaft of the curved glass polishing machine is equipped with multiple sensing devices in the circumferential direction, and a proximity device matched with the sensing device is installed on the frame.
  • the number of sensing devices is the same as that of the small turntable B, so that each small turntable B has It can pass and stop at the loading and unloading station of glass H.
  • the loading and unloading equipment can completely and intelligently and automatically move the glass between the cargo basket and the curved glass polishing machine, reducing the labor intensity of workers.

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  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

一种上下料设备以及曲面玻璃抛光机，所述曲面玻璃抛光机包括所述上下料设备，所述上下料设备包括装载装置和移载装置；所述装载装置包括吸盘机构，所述吸盘机构能够吸附玻璃(H)并使所述玻璃(H)在货篮与料盘之间移动；所述移载装置包括装卸机构，所述装卸机构能够吸附所述玻璃(H)并使所述玻璃(H)在所述料盘与曲面玻璃抛光机之间移动。所述上下料设备能够使玻璃在货篮与曲面玻璃抛光机之间的移动完全智能化、自动化，减轻了工人的劳动强度。

Description

上下料设备以及曲面玻璃抛光机 技术领域
本发明涉及玻璃深加工技术领域，具体地涉及一种上下料设备以及曲面玻璃抛光机。
背景技术
目前，手机曲面玻璃生产加工过程都涉及到抛光工序，现在的曲面玻璃抛光机一般都采用大转盘形式，其上下料工作全部采用人工操作的方式，这样的问题在于：工人的劳动强度大，并且不利于工厂生产的智能化以及自动化。
发明内容
本发明的目的是为了克服现有技术存在的问题，提供一种上下料设备以及曲面玻璃抛光机，该上下料设备能够使玻璃在货篮与曲面玻璃抛光机之间的移动完全智能化、自动化，减轻了工人的劳动强度。
为了实现上述目的，本发明一方面提供一种上下料设备，所述上下料设备包括装载装置和移载装置；所述装载装置包括吸盘机构，所述吸盘机构能够吸附玻璃并使所述玻璃在货篮与料盘之间移动；所述移载装置包括装卸机构，所述装卸机构能够吸附所述玻璃并使所述玻璃在所述料盘与曲面玻璃抛光机之间移动。
优选地，所述装载装置包括第一摆动机构和第二摆动机构；所述第一摆动机构包括第一固定端以及能够绕所述第一固定端做圆周运动的第一自由端，所述第一固定端固定于外部的机架；所述第二摆动机构包括第二固定端以及能够绕所述第二固定端做圆周运动的第二自由端，所述第二固定端连接于所述第一自由端以跟随所述第一自由端运动；所述第一摆动机构和所述第二摆动机构的运动平面相同或相平行；所述吸盘机构设置在所述第二自由端以跟随所述第二自由端运动，所述吸盘机构包括真空吸盘，所述真空吸盘能够吸住玻璃并沿垂直于所述运动平面的方向移动，以使所述玻璃在货篮与料盘之间移动。
优选地，所述装载装置包括连杆机构，所述连杆机构包括第一摆杆、第二摆杆、第三摆杆、第一连杆以及第二连杆；所述第一摆杆固定设置在所述第一固定端；所述第二摆杆设置在所述第一自由端并能够沿平行于所述运动平面的方向转动；所述第三摆杆 设置在所述第二自由端并能够沿平行于所述运动平面的方向转动；所述第一连杆的两端分别与所述第一摆杆和所述第二摆杆铰接，所述第二连杆的两端分别与所述第二摆杆和所述第三摆杆铰接，以使所述第三摆杆始终平行于所述第一摆杆；所述真空吸盘连接于所述第三摆杆并与所述第三摆杆同步移动，以使所述真空吸盘相对于所述第一摆杆能够移动但始终不会发生自转，从而使吸附于所述真空吸盘的玻璃与所述第一摆杆之间的角度保持恒定；优选地，所述吸盘机构包括电缸，所述电缸设置在所述第二自由端，所述电缸包括电缸活塞杆；所述电缸活塞杆沿自身长度方向可移动地设置在所述电缸中并且能够相对于所述电缸绕自身轴线旋转，所述电缸活塞杆沿自身长度方向可移动地连接于所述第三摆杆并且相对于所述第三摆杆始终不会发生自转；所述真空吸盘通过所述电缸活塞杆连接于所述第三摆杆；优选地，所述装载装置包括第三摆杆轴承，所述第三摆杆轴承内壁上设有滑键，所述电缸活塞杆通过所述第三摆杆轴承套设在所述第三摆杆上，所述电缸活塞杆沿长度方向设有与所述滑键相配合的键槽；优选地，所述装载装置包括第一旋转气缸、第二旋转气缸以及旋转气缸联接块；所述第一旋转气缸设置在所述电缸活塞杆的端部，所述第一旋转气缸的转轴垂直于所述电缸活塞杆；所述第二旋转气缸通过所述旋转气缸联接块与所述第一旋转气缸的转轴连接，所述第二旋转气缸的转轴垂直于所述第一旋转气缸的转轴；所述真空吸盘设置在所述第二旋转气缸的转轴的端部。
优选地，所述第一摆动机构包括定位轴、第一电机以及第一摆臂；所述定位轴固定连接于所述机架以形成所述第一固定端；所述第一电机固定设置在所述第一摆臂上并且所述第一电机的转轴连接于所述定位轴；所述第一摆臂的一端与所述定位轴通过轴承连接，另一端形成所述第一自由端；优选地，所述第二摆动机构包括第二电机、第二摆臂以及小转轴；所述第二电机安装在所述第一自由端以形成所述第二固定端；所述小转轴与所述第二电机的转轴连接；所述第二摆臂的一端固定连接于所述小转轴，另一端形成所述第二自由端。
优选地，所述移载装置包括第一转动机构、第二转动机构以及升降机构；所述升降机构包括能够沿竖直方向移动的升降件；所述第一转动机构包括第一定位端以及第一转动端，所述第一定位端安装于所述升降件，所述第一转动端能够绕所述第一定位端转动；所述第二转动机构包括第二定位端以及第二转动端，所述第二定位端安装于所述第一转动端以能够随所述第一转动端移动，所述第二转动端能够绕所述第二定位端转动；所述第一转动机构和所述第二转动机构的运动平面相同或相平行，所述运动平面垂直于所述竖直方向；所述装卸机构安装于所述第二转动端，以在所述第一转动机构、所述第 二转动机构以及所述升降机构的驱动下沿所述运动平面以及竖直方向移动；所述装卸机构包括用于使玻璃在外部的料盘与曲面玻璃抛光机之间移动的吸盘。
优选地，所述装卸机构包括驱动电机以及治具盘，所述驱动电机安装于所述第二转动端，所述治具盘与所述驱动电机的轴端连接以通过所述驱动电机的驱动绕自身轴线旋转；所述吸盘设置在所述治具盘背离所述驱动电机的一侧；优选地，所述装卸机构包括中间支承板、弹簧、电机支承柱以及主插销；所述中间支承板通过所述弹簧连接于所述第二转动端；所述电机支承柱设置在所述中间支承板上，所述驱动电机通过所述电机支承柱支撑；所述主插销与所述驱动电机的轴端连接，所述主插销的一端形成为主插销锥形端并穿过所述中间支承板，所述主插销能够在所述驱动电机的驱动下相对于所述中间支承板旋转；所述治具盘固定设置于所述主插销上，在所述主插销锥形端插入曲面玻璃抛光机的小转盘的中心孔的过程中，所述治具盘在所述弹簧的作用下能够相对于所述第二转动端偏移，以与所述小转盘对正；优选地，所述装卸机构包括扭簧、小插销气缸、小插销以及接近开关；所述治具盘通过所述扭簧与所述驱动电机的轴端连接；所述小插销气缸设置在所述治具盘上，所述小插销设置在所述小插销气缸的活塞杆端；所述小插销远离所述小插销气缸的一端形成小插销锥形端；所述接近开关固定设置在所述治具盘上，所述接近开关与所述驱动电机连接以在接近曲面玻璃抛光机的小转盘的感应块时控制所述驱动电机停止；其中，在所述小插销锥形端插入所述小转盘的定位孔的过程中，所述治具盘能够在所述扭簧的作用下相对于所述小转盘旋转偏移，以与所述小转盘对正。
优选地，所述第一转动机构包括第一气缸转轴、上支承板、第一活塞杆联接销、第一转臂以及第一摆动气缸；所述上支承板安装于所述升降件；所述第一气缸转轴设置在所述上支承板上以形成所述第一定位端；所述第一摆动气缸铰接于所述第一气缸转轴；所述第一转臂的一端铰接于所述上支承板，另一端形成所述第一转动端；所述第一活塞杆联接销安装于所述第一转臂并与所述第一摆动气缸的活塞杆铰接。
优选地，所述第二转动机构包括第二摆动气缸、第二活塞杆联接销、第二转臂以及第二气缸转轴；所述第二气缸转轴设置在所述第一转动端以形成所述第二定位端；所述第二摆动气缸铰接于所述第二气缸转轴；所述第二转臂的一端铰接于所述第一转动端，另一端形成所述第二转动端；所述第二活塞杆联接销安装于所述第二转臂并与所述第二摆动气缸的活塞杆铰接。
优选地，所述升降机构包括底座，所述升降件包括升降电机、升降直线导轨总成 以及升降丝杆；所述底座设置在外部的机架上；所述升降电机和所述升降直线导轨总成设置在所述底座上；所述升降丝杆连接于所述升降电机的轴端；所述第一定位端连接于所述升降丝杆的丝母以及所述升降直线导轨总成的滑块。
本发明第二方面提供一种曲面玻璃抛光机，所述曲面玻璃抛光机包括上述的上下料设备。
通过上述技术方案，由于装载装置能够使所述玻璃在货篮与料盘之间移动，而所述移载装置能够使所述玻璃在所述料盘与曲面玻璃抛光机之间移动，所以本发明的上下料设备通过装载装置和移载装置的配合，使玻璃能够在货篮与曲面玻璃抛光机之间移动，并且完全智能化、自动化，减轻了工人的劳动强度。
附图说明
图1是本发明的上下料设备的优选实施方式的结构示意图；
图2是本发明的移载装置的优选实施方式的结构示意图；
图3是图2的仰视图；
图4是小转盘的优选实施方式的结构示意图；
图5是本发明的装载装置的优选实施方式的结构示意图；
图6是图5的仰视图；
图7是连杆机构与吸盘机构配合的剖视图；
图8是连杆机构运动的轨迹示意图。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
如图1所示，本发明的上下料设备包括装载装置和移载装置；装载装置包括吸盘机构，吸盘机构能够吸附玻璃H并使玻璃H在货篮与料盘之间移动；移载装置包括装卸机构，装卸机构能够吸附玻璃H并使玻璃H在料盘与曲面玻璃抛光机之间移动。通过上述技术方案，由于装载装置能够使玻璃H在货篮与料盘之间移动，而移载装置能够使玻璃H在料盘与曲面玻璃抛光机之间移动，所以本发明的上下料设备通过装载装置和移载装置的配合，使玻璃H能够在货篮与曲面玻璃抛光机之间移动，并且完全智能化、自动化，减轻了工人的劳动强度。
下面对本发明的上下料设备的装载装置和移载装置的结构以及原理分别做出详细解释。
如图5～8所示，本发明的装载装置包括第一摆动机构、第二摆动机构以及吸盘机构；第一摆动机构包括第一固定端以及能够绕第一固定端做圆周运动的第一自由端，第一固定端固定于外部的机架；第二摆动机构包括第二固定端以及能够绕第二固定端做圆周运动的第二自由端，第二固定端连接于第一自由端以跟随第一自由端运动；第一摆动机构和第二摆动机构的运动平面相同或相平行；吸盘机构设置在第二自由端以跟随第二自由端运动，吸盘机构包括真空吸盘101，真空吸盘101能够吸住玻璃并沿垂直于运动平面的方向移动，以使玻璃H在货篮与料盘之间移动。
通过上述技术方案，由于第一摆动机构的第一固定端固定于外部的机架，第一自由端能够绕第一固定端做圆周运动，而第二摆动机构的第二固定端是安装在第一自由端的，使得第二摆动机构整体能够跟随第一自由端绕第一固定端做圆周运动，并且，第二摆动机构的第二自由端能够绕第二固定端做圆周运动(在本发明的优选实施方式中，第一自由端与第二自由端的运动轨迹均为水平方向)，只要通过调整第一固定端与第一自由端的距离、第二固定端与第二自由端的距离，就能够使第二自由端在以第一固定端为圆心的特定大小的圆的范围内的各个点移动。吸盘机构设置在第二自由端以跟随第二自由端运动，吸盘机构的真空吸盘101能够吸住玻璃H并沿竖直方向移动，所以只要货篮和料盘置于该特定大小的圆内，该装载装置都能够使玻璃H在货篮与料盘之间移动。需要注意的是，该特定大小的圆的面积大小是由第一固定端与第一自由端的距离以及第二固定端与第二自由端的距离决定的，这里的特定是指根据某些使用场景调整之后的第一固定端与第一自由端的距离、第二固定端与第二自由端的距离，而不是指第一固定端与第一自由端的距离、第二固定端与第二自由端的距离存在特殊的数值。
通常，料盘是成行成列摆放的，而料盘上的玻璃治具的分布位置以及朝向均是一致的，在这种情况下，如果真空吸盘101吸附玻璃H跟随第二自由端进行移动，很难保证玻璃H的朝向，而当玻璃H的朝向与料盘上的玻璃治具的朝向并不一致时，玻璃H是无法放入料盘上的玻璃治具中的，因此，为了保证玻璃H无论移动到任意位置，其朝向均与料盘上的玻璃治具的朝向保持一致，优选地，如图7和图8所示，装载装置包括连杆机构，连杆机构包括第一摆杆117、第二摆杆119、第三摆杆121、第一连杆118以及第二连杆120；第一摆杆117固定设置在第一固定端；第二摆杆119设置在第一自由 端并能够沿平行于运动平面的方向转动；第三摆杆121设置在第二自由端并能够沿平行于运动平面的方向转动；第一连杆118的两端分别与第一摆杆117和第二摆杆119铰接，第二连杆120的两端分别与第二摆杆119和第三摆杆121铰接，以使第三摆杆121始终平行于第一摆杆117；真空吸盘101连接于第三摆杆121并与第三摆杆121同步移动，以使真空吸盘101相对于第一摆杆117能够移动但始终不会发生自转，从而使吸附于真空吸盘101的玻璃H与第一摆杆117之间的角度保持恒定。也就是说，由于第一摆杆117固定设置在第一固定端，第一摆杆117相对于外部的机架以及料盘始终保持角度恒定，通过连杆机构使得第三摆杆121始终与第一摆杆117的角度保持恒定，从而也就使真空吸盘101的玻璃H与第一摆杆117之间的角度保持恒定。在图8中可以看出，无论第三摆杆121运动至任何位置，玻璃H始终与第一摆杆117之间的角度保持恒定。而玻璃H与第一摆杆117之间的角度可以如图8所示为0度，也可以设置为各种角度，这是由货篮中的玻璃H的初始摆放角度决定的。
应当理解的是，本发明的装载装置的第一摆动机构、第二摆动机构、吸盘机构和连杆机构可以设计为多种形式，下面以本发明的优选实施方式为例做出详细解释。在本发明的优选实施方式中，装载装置包括真空吸盘101、第二旋转气缸102、旋转气缸联接块103、定位轴104、第一电机座105、第一电机106、第二电机座107、第二电机108、电缸109、支承座110、第一摆臂111、第二摆臂112、第一旋转气缸113、电缸联接座114、真空吸盘座115、小转轴116、第一摆杆117、第一连杆118、第二摆杆119、小连杆120、第三摆杆121、连杆销122、上料盘123和下料盘124。
在本发明的优选实施方式中，吸盘机构包括电缸109，电缸109设置在第二自由端，电缸109包括电缸活塞杆125；为了使真空吸盘101不会因为电缸109的运动而改变与第一摆杆117之间的角度，如图7所示，电缸活塞杆125沿自身长度方向可移动地设置在电缸109中并且能够相对于电缸109绕自身轴线旋转，电缸活塞杆125沿自身长度方向可移动地连接于第三摆杆121并且相对于第三摆杆121始终不会发生自转；真空吸盘101通过电缸活塞杆125连接于第三摆杆121。这样即可保证真空吸盘101相对于第三摆杆121始终不会发生自转，也就是说，真空吸盘101所吸附的玻璃H与第三摆杆121之间的角度始终保持恒定。
为了使电缸活塞杆125相对于第三摆杆121始终不会发生自转，优选地，装载装置包括第三摆杆轴承126，第三摆杆轴承126内壁上设有滑键，电缸活塞杆125通过第三摆杆轴承126套设在第三摆杆121上，电缸活塞杆125沿长度方向设有与滑键相配合 的键槽127。通过滑键与键槽127的配合使电缸活塞杆125只能够沿键槽127的长度方向(本发明的优选实施方式中即为竖直方向)移动，而不会发生自转。
在实际操作中，货篮中的玻璃H的初始朝向可能是任意的，为了使玻璃H的朝向可以调整为与料盘的玻璃治具的朝向一致，优选地，装载装置包括第一旋转气缸113、第二旋转气缸102以及旋转气缸联接块103；第一旋转气缸113设置在电缸活塞杆125的端部，第一旋转气缸113的转轴垂直于电缸活塞杆125；第二旋转气缸102通过旋转气缸联接块103与第一旋转气缸113的转轴连接，第二旋转气缸102的转轴垂直于第一旋转气缸113的转轴；真空吸盘101设置在第二旋转气缸102的转轴的端部。也就是说，第一旋转气缸113能够带动第二旋转气缸102以及玻璃H绕水平的轴线转动，而第二旋转气缸102能够带动玻璃H绕竖直的轴线转动，第一旋转气缸113和第二旋转气缸102的动作可以发生在玻璃H离开货篮之前，也可以发生在玻璃H离开货篮之后，这并不影响其将货篮中的玻璃H最终调整为与料盘的玻璃治具的朝向一致。
第一摆动机构可以设计为多种形式，只要能够使第一自由端绕第一固定端转动即可，在本发明的优选实施方式中，第一摆动机构包括定位轴104、第一电机106以及第一摆臂111；定位轴104固定连接于机架以形成第一固定端；第一电机106固定设置在第一摆臂111上并且第一电机106的转轴连接于定位轴104；第一摆臂111的一端与定位轴104通过轴承连接，另一端形成第一自由端。在考虑到实际的安装情况下，本发明的优选实施方式并没有将第一电机106相对于机架固定设置，而是将定位轴104相对于机架固定设置，而第一电机106能够相对于机架旋转，从而带动与第一电机106固定连接的第一摆臂111相对于机架旋转。
第二摆动机构可以设计为多种形式，只要能够使第二自由端绕第二固定端转动即可，在本发明的优选实施方式中，第二摆动机构包括第二电机108、第二摆臂112以及小转轴116；第二电机108安装在第一自由端以形成第二固定端；小转轴116与第二电机108的转轴连接；第二摆臂112的一端固定连接于小转轴116，另一端形成第二自由端。第二电机108安装在第一摆臂111上，第二电机108驱动小转轴116能够相对于第一摆臂111自转，第二摆臂112的一端固定连接于小转轴116，这就使得第二摆臂112能够相对于第一摆臂111进行旋转。
如图2～4所示，本发明的移载装置包括第一转动机构、第二转动机构、升降机构以及装卸机构；升降机构包括能够沿竖直方向移动的升降件；第一转动机构包括第一定 位端以及第一转动端，第一定位端安装于升降件，第一转动端能够绕第一定位端转动；第二转动机构包括第二定位端以及第二转动端，第二定位端安装于第一转动端以能够随第一转动端移动，第二转动端能够绕第二定位端转动；第一转动机构和第二转动机构的运动平面相同或相平行，运动平面垂直于竖直方向；装卸机构安装于第二转动端，以在第一转动机构、第二转动机构以及升降机构的驱动下沿运动平面以及竖直方向移动；装卸机构包括用于使玻璃H在外部的料盘与曲面玻璃抛光机之间移动的吸盘235。
通过上述技术方案，第一转动机构和第二转动机构由升降机构驱动以能够实现竖直方向移动，并且第一转动机构和第二转动机构相配合转动，使得第二转动机构的第二转动端可以经过多个位置，例如玻璃H的上料工位、下料工位以及曲面玻璃抛光机的工位，装卸机构安装在第二转动端以跟随第二转动端移动，装卸机构的吸盘235能够在上述多个位置吸附玻璃H并使玻璃H在料盘与曲面玻璃抛光机之间移动，在下料工作时，装卸机构将玻璃H从曲面玻璃抛光机的小转盘B移动至下料盘124上，在上料工作时，装卸机构将玻璃H从上料盘123移动至曲面玻璃抛光机的小转盘B上，整个上下料过程完全智能化、自动化，减轻了工人的劳动强度。
应当理解的是，本发明的移载装置的第一转动机构、第二转动机构、升降机构以及装卸机构可以设计为多种形式，例如，第一转动机构、第二转动机构设计为转盘形式，升降机构采用电缸形式，装卸机构采用机械爪形式，这些设计、结构的目的是为了使装卸机构能够将玻璃H在曲面玻璃抛光机的小转盘B与料盘之间来回移动。在本发明的优选实施方式中，移载装置包括第二摆动气缸201、第二活塞杆联接销202、活塞杆联接块203、第二转轴204、驱动电机205、第二转臂206、小插销气缸207、小插销气缸座208、扭簧209、主插销座210、下弹簧柱211、电机支承柱212、治具盘213、中间支承板214、上弹簧柱215、第一转臂216、上支承板217、第一转轴218、第一摆动气缸219、丝杆前座220、升降电机221、小插销222、主插销223、底座224、升降直线导轨总成225、丝杆后座226、升降丝杆227、下支承板228、滑动板229、第一气缸转轴230、摆动气缸座231、第二气缸转轴232、第一活塞杆联接销233、弹簧234以及吸盘235。
在本发明的优选实施方式中，装卸机构包括驱动电机205以及治具盘213，驱动电机205安装于第二转动端，治具盘213与驱动电机205的轴端连接以通过驱动电机205的驱动绕自身轴线旋转；吸盘235设置在治具盘213背离驱动电机205的一侧。也就是说，通过驱动电机205能够带动治具盘213转动，使得治具盘213吸附的玻璃H能够对 应于小转盘B上的玻璃片治具C，从而在吸盘235撤去吸附力之后，玻璃H能够刚好落入玻璃片治具C中。
在实际工作中，由于曲面玻璃抛光机的小转盘B依靠电机驱动，因此在惯性作用下不能停止在理论位置，这就使得治具盘213在移动至小转盘B上方时无法与小转盘B刚好完全对正，从而也就会使玻璃H的上料、下料位置出现偏差，为了解决上述问题，优选地，装卸机构包括中间支承板214、弹簧234、电机支承柱212以及主插销223；中间支承板214通过弹簧234连接于第二转动端；电机支承柱212设置在中间支承板214上，驱动电机205通过电机支承柱212支撑；主插销223与驱动电机205的轴端连接，主插销223的一端形成为主插销锥形端并穿过中间支承板214，主插销223能够在驱动电机205的驱动下相对于中间支承板214旋转；治具盘213固定设置于主插销223上，在主插销锥形端插入曲面玻璃抛光机的小转盘B的中心孔F的过程中，治具盘213在弹簧234的作用下能够相对于第二转动端偏移，以与小转盘B对正。在小转盘B与治具盘213出现偏差时，治具盘213下落，使得主插销锥形端伸入小转盘B的中心孔F中，并且在治具盘213不断下落的过程中，主插销锥形端的锥形外壁与中心孔F相互抵靠产生作用力，由于小转盘B是固定不动的，而治具盘213通过主插销223、驱动电机205以及弹簧234连接至中间支承板214，治具盘213在弹簧234的作用下相对于中间支承板214是能够产生水平位置偏移的，因此，治具盘213在主插销锥形端受到中心孔F的作用力的情况下能够在水平方向产生偏移，从而当主插销锥形端完全插入中心孔F后，治具盘213与小转盘B完全对正。在治具盘213上升离开小转盘B之后，治具盘213以及驱动电机205在弹簧234的作用下复位。
实际工作中的另一种情况是，当驱动电机205驱动治具盘213转动并停止时，由于驱动电机205的惯性作用，治具盘213所吸附的玻璃H不能准确地对应于小转盘B上的玻璃片治具C，这就出现了转动偏差，为了解决这一问题，优选地，装卸机构包括扭簧209、小插销气缸207、小插销222以及接近开关；治具盘213通过扭簧209与驱动电机205的轴端连接；小插销气缸207设置在治具盘213上，小插销222设置在小插销气缸207的活塞杆端；小插销222远离小插销气缸207的一端形成小插销锥形端；接近开关固定设置在治具盘213上，接近开关与驱动电机205连接以在接近曲面玻璃抛光机的小转盘B的感应块D时控制驱动电机205停止；其中，在小插销锥形端插入小转盘B的定位孔E的过程中，治具盘213能够在扭簧209的作用下相对于小转盘B旋转偏移，以与小转盘B对正。接近开关安装在治具盘213的接近开关安装口A处，当治 具盘213在驱动电机205的驱动下绕自身轴线转动时，接近开关沿治具盘213的周向转动，当接近开关接近小转盘B上的感应块D时，接近开关控制驱动电机205停止，而由于驱动电机205的惯性作用，治具盘213最终停止时的转动角度可能会与接近开关接近感应块D时的治具盘213的转动角度存在一定转动偏差。这时，驱动小插销锥形端向下伸入定位孔E中，小插销锥形端的锥形外壁与中心孔E相互抵靠产生作用力，由于小转盘B是固定不动的，而治具盘213通过扭簧209与驱动电机205的轴端连接，因此，治具盘213在小插销锥形端受到中心孔E的作用力的情况下能够绕其轴线产生转动，从而当小插销锥形端完全插入中心孔E后，治具盘213与小转盘B完全对正。在治具盘213上升离开小转盘B之后，治具盘213在扭簧209的作用下复位。
第一转动机构可以设计为多种形式，只要能够使第一转动端绕第一定位端转动即可，在本发明的优选实施方式中，第一转动机构包括第一气缸转轴230、上支承板217、第一活塞杆联接销233、第一转臂216以及第一摆动气缸219；上支承板217安装于升降件；第一气缸转轴230设置在上支承板217上以形成第一定位端；第一摆动气缸219铰接于第一气缸转轴230；第一转臂216的一端铰接于上支承板217，另一端形成第一转动端；第一活塞杆联接销233安装于第一转臂216并与第一摆动气缸219的活塞杆铰接。第一摆动气缸219的活塞杆伸缩会驱动第一活塞杆联接销233运动，由于第一气缸转轴230设置在上支承板217，第一摆动气缸219在伸缩时会绕第一气缸转轴230转动，并推动第一转臂216绕其与上支承板217的铰接点转动，从而使第一转臂216的另一端形成第一转动端。
第二转动机构可以设计为多种形式，只要能够使第二转动端绕第二定位端转动即可，在本发明的优选实施方式中，第二转动机构包括第二摆动气缸201、第二活塞杆联接销202、第二转臂206以及第二气缸转轴232；第二气缸转轴232设置在第一转动端以形成第二定位端；第二摆动气缸201铰接于第二气缸转轴232；第二转臂206的一端铰接于第一转动端，另一端形成第二转动端；第二活塞杆联接销202安装于第二转臂206并与第二摆动气缸201的活塞杆铰接。第二摆动气缸201的活塞杆伸缩会驱动第二活塞杆联接销202运动，由于第二气缸转轴232设置在第一转动端，第二摆动气缸201在伸缩时会绕第二气缸转轴232转动，并推动第二转臂206绕其与第一转动端的铰接点转动，从而使第二转臂206的另一端形成第二转动端。
升降机构可以设计为多种形式，只要能够使升降件沿竖直方向运动即可，在本发明的优选实施方式中，升降机构包括底座224，升降件包括升降电机221、升降直线导 轨总成225以及升降丝杆227；底座224设置在外部的机架上；升降电机221和升降直线导轨总成225设置在底座224上；升降丝杆227连接于升降电机221的轴端；第一定位端连接于升降丝杆227的丝母以及升降直线导轨总成225的滑块。当需要升降件移动时，启动升降电机221驱动升降丝杆227转动，升降丝杆227的丝母即能够沿竖直方向移动，从而使连接于升降丝杆227的丝母的第一转动机构能够跟随升降件沿竖直方向移动。
本发明还提供了一种曲面玻璃抛光机，曲面玻璃抛光机包括上述的上下料设备。曲面玻璃抛光机的转轴在周向上安装有多个感应装置，并在机架安装有与感应装置相配合的接近装置，感应装置的数量与小转盘B数量相同，以使得每个小转盘B都能够经过并停止在玻璃H的上下料工位。该上下料设备能够使玻璃在货篮与曲面玻璃抛光机之间的移动完全智能化、自动化，减轻了工人的劳动强度。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于此。在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。但这些简单变型和组合同样应当视为本发明所公开的内容，均属于本发明的保护范围。

Claims (10)

  1. 一种上下料设备，其特征在于，所述上下料设备包括装载装置和移载装置；
    所述装载装置包括吸盘机构，所述吸盘机构能够吸附玻璃(H)并使所述玻璃(H)在货篮与料盘之间移动；
    所述移载装置包括装卸机构，所述装卸机构能够吸附所述玻璃(H)并使所述玻璃(H)在所述料盘与曲面玻璃抛光机之间移动。
  2. 根据权利要求1所述的上下料设备，其特征在于，所述装载装置包括第一摆动机构和第二摆动机构；
    所述第一摆动机构包括第一固定端以及能够绕所述第一固定端做圆周运动的第一自由端，所述第一固定端固定于外部的机架；
    所述第二摆动机构包括第二固定端以及能够绕所述第二固定端做圆周运动的第二自由端，所述第二固定端连接于所述第一自由端以跟随所述第一自由端运动；
    所述第一摆动机构和所述第二摆动机构的运动平面相同或相平行；
    所述吸盘机构设置在所述第二自由端以跟随所述第二自由端运动，所述吸盘机构包括真空吸盘(101)，所述真空吸盘(101)能够吸住玻璃并沿垂直于所述运动平面的方向移动，以使所述玻璃(H)在货篮与料盘之间移动。
  3. 根据权利要求2所述的上下料设备，其特征在于，所述装载装置包括连杆机构，所述连杆机构包括第一摆杆(117)、第二摆杆(119)、第三摆杆(121)、第一连杆(118)以及第二连杆(120)；所述第一摆杆(117)固定设置在所述第一固定端；所述第二摆杆(119)设置在所述第一自由端并能够沿平行于所述运动平面的方向转动；所述第三摆杆(121)设置在所述第二自由端并能够沿平行于所述运动平面的方向转动；所述第一连杆(118)的两端分别与所述第一摆杆(117)和所述第二摆杆(119)铰接，所述第二连杆(120)的两端分别与所述第二摆杆(119)和所述第三摆杆(121)铰接，以使所述第三摆杆(121)始终平行于所述第一摆杆(117)；所述真空吸盘(101)连接于所述第三摆杆(121)并与所述第三摆杆(121)同步移动，以使所述真空吸盘(101)相对于所述第一摆杆(117)能够移动但始终不会发生自转，从而使吸附于所述真空吸盘(101)的玻璃(H)与所述第一摆杆(117)之间的角度保持恒定；
    优选地，所述吸盘机构包括电缸(109)，所述电缸(109)设置在所述第二自由端， 所述电缸(109)包括电缸活塞杆(125)；所述电缸活塞杆(125)沿自身长度方向可移动地设置在所述电缸(109)中并且能够相对于所述电缸(109)绕自身轴线旋转，所述电缸活塞杆(125)沿自身长度方向可移动地连接于所述第三摆杆(121)并且相对于所述第三摆杆(121)始终不会发生自转；所述真空吸盘(101)通过所述电缸活塞杆(125)连接于所述第三摆杆(121)；
    优选地，所述装载装置包括第三摆杆轴承(126)，所述第三摆杆轴承(126)内壁上设有滑键，所述电缸活塞杆(125)通过所述第三摆杆轴承(126)套设在所述第三摆杆(121)上，所述电缸活塞杆(125)沿长度方向设有与所述滑键相配合的键槽(127)；
    优选地，所述装载装置包括第一旋转气缸(113)、第二旋转气缸(102)以及旋转气缸联接块(103)；所述第一旋转气缸(113)设置在所述电缸活塞杆(125)的端部，所述第一旋转气缸(113)的转轴垂直于所述电缸活塞杆(125)；所述第二旋转气缸(102)通过所述旋转气缸联接块(103)与所述第一旋转气缸(113)的转轴连接，所述第二旋转气缸(102)的转轴垂直于所述第一旋转气缸(113)的转轴；所述真空吸盘(101)设置在所述第二旋转气缸(102)的转轴的端部。
  4. 根据权利要求2所述的上下料设备，其特征在于，所述第一摆动机构包括定位轴(104)、第一电机(106)以及第一摆臂(111)；所述定位轴(104)固定连接于所述机架以形成所述第一固定端；所述第一电机(106)固定设置在所述第一摆臂(111)上并且所述第一电机(106)的转轴连接于所述定位轴(104)；所述第一摆臂(111)的一端与所述定位轴(104)通过轴承连接，另一端形成所述第一自由端；
    优选地，所述第二摆动机构包括第二电机(108)、第二摆臂(112)以及小转轴(116)；所述第二电机(108)安装在所述第一自由端以形成所述第二固定端；所述小转轴(116)与所述第二电机(108)的转轴连接；所述第二摆臂(112)的一端固定连接于所述小转轴(116)，另一端形成所述第二自由端。
  5. 根据权利要求1所述的上下料设备，其特征在于，所述移载装置包括第一转动机构、第二转动机构以及升降机构；
    所述升降机构包括能够沿竖直方向移动的升降件；
    所述第一转动机构包括第一定位端以及第一转动端，所述第一定位端安装于所述升降件，所述第一转动端能够绕所述第一定位端转动；
    所述第二转动机构包括第二定位端以及第二转动端，所述第二定位端安装于所述第一转动端以能够随所述第一转动端移动，所述第二转动端能够绕所述第二定位端转动；
    所述第一转动机构和所述第二转动机构的运动平面相同或相平行，所述运动平面垂直于所述竖直方向；
    所述装卸机构安装于所述第二转动端，以在所述第一转动机构、所述第二转动机构以及所述升降机构的驱动下沿所述运动平面以及竖直方向移动；所述装卸机构包括用于使玻璃(H)在外部的料盘与曲面玻璃抛光机之间移动的吸盘(235)。
  6. 根据权利要求5所述的上下料设备，其特征在于，所述装卸机构包括驱动电机(205)以及治具盘(213)，所述驱动电机(205)安装于所述第二转动端，所述治具盘(213)与所述驱动电机(205)的轴端连接以通过所述驱动电机(205)的驱动绕自身轴线旋转；所述吸盘(235)设置在所述治具盘(213)背离所述驱动电机(205)的一侧；
    优选地，所述装卸机构包括中间支承板(214)、弹簧(234)、电机支承柱(212)以及主插销(223)；所述中间支承板(214)通过所述弹簧(234)连接于所述第二转动端；所述电机支承柱(212)设置在所述中间支承板(214)上，所述驱动电机(205)通过所述电机支承柱(212)支撑；所述主插销(223)与所述驱动电机(205)的轴端连接，所述主插销(223)的一端形成为主插销锥形端并穿过所述中间支承板(214)，所述主插销(223)能够在所述驱动电机(205)的驱动下相对于所述中间支承板(214)旋转；所述治具盘(213)固定设置于所述主插销(223)上，在所述主插销锥形端插入曲面玻璃抛光机的小转盘(B)的中心孔(F)的过程中，所述治具盘(213)在所述弹簧(234)的作用下能够相对于所述第二转动端偏移，以与所述小转盘(B)对正；
    优选地，所述装卸机构包括扭簧(209)、小插销气缸(207)、小插销(222)以及接近开关；所述治具盘(213)通过所述扭簧(209)与所述驱动电机(205)的轴端连接；所述小插销气缸(207)设置在所述治具盘(213)上，所述小插销(222)设置在所述小插销气缸(207)的活塞杆端；所述小插销(222)远离所述小插销气缸(207)的一端形成小插销锥形端；所述接近开关固定设置在所述治具盘(213)上，所述接近开关与所述驱动电机(205)连接以在接近曲面玻璃抛光机的小转盘(B)的感应块(D)时控制所述驱动电机(205)停止；其中，在所述小插销锥形端插入所述小转盘(B)的定位孔(E)的过程中，所述治具盘(213)能够在所述扭簧(209)的作用下相对于所 述小转盘(B)旋转偏移，以与所述小转盘(B)对正。
  7. 根据权利要求5所述的上下料设备，其特征在于，所述第一转动机构包括第一气缸转轴(230)、上支承板(217)、第一活塞杆联接销(233)、第一转臂(216)以及第一摆动气缸(219)；
    所述上支承板(217)安装于所述升降件；
    所述第一气缸转轴(230)设置在所述上支承板(217)上以形成所述第一定位端；
    所述第一摆动气缸(219)铰接于所述第一气缸转轴(230)；
    所述第一转臂(216)的一端铰接于所述上支承板(217)，另一端形成所述第一转动端；
    所述第一活塞杆联接销(233)安装于所述第一转臂(216)并与所述第一摆动气缸(219)的活塞杆铰接。
  8. 根据权利要求5所述的上下料设备，其特征在于，所述第二转动机构包括第二摆动气缸(201)、第二活塞杆联接销(202)、第二转臂(206)以及第二气缸转轴(232)；
    所述第二气缸转轴(232)设置在所述第一转动端以形成所述第二定位端；
    所述第二摆动气缸(201)铰接于所述第二气缸转轴(232)；
    所述第二转臂(206)的一端铰接于所述第一转动端，另一端形成所述第二转动端；
    所述第二活塞杆联接销(202)安装于所述第二转臂(206)并与所述第二摆动气缸(201)的活塞杆铰接。
  9. 根据权利要求5所述的上下料设备，其特征在于，所述升降机构包括底座(224)，所述升降件包括升降电机(221)、升降直线导轨总成(225)以及升降丝杆(227)；
    所述底座(224)设置在外部的机架上；
    所述升降电机(221)和所述升降直线导轨总成(225)设置在所述底座(224)上；
    所述升降丝杆(227)连接于所述升降电机(221)的轴端；
    所述第一定位端连接于所述升降丝杆(227)的丝母以及所述升降直线导轨总成(225)的滑块。
  10. 一种曲面玻璃抛光机，其特征在于，所述曲面玻璃抛光机包括权利要求1-9 中任意一项所述的上下料设备。
PCT/CN2018/115133 2018-10-10 2018-11-13 上下料设备以及曲面玻璃抛光机 WO2020073414A1 (zh)

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