Grinding equipment for glass substrate

Abstract

The invention discloses grinding equipment for a glass substrate, and relates to the technical field of material processing, the grinding equipment comprises a base and a grinding disc, a mechanical arm is mounted at the top of the base, V-shaped grinding grains are distributed on the periphery of the grinding disc, the grinding disc comprises a connecting ball, one end of the connecting ball is connected with a rotating rod, and the rotating rod is rotationally connected with the side wall of the base through a ball shaft; a mounting opening is formed in the connecting ball; according to the glass substrate grinding device, the grinding disc is connected with the connecting frame and the rotating shaft, the mechanical arm drives the switching mechanism to drive the grinding disc to move, V-shaped grinding lines pointing to the same direction are arranged on the peripheral wall of the grinding disc, the glass substrate is ground during rotation, fragments can be thrown out of the grinding lines under the action of centrifugal force, and the grinding disc rotates towards the grinding lines; and when the left-right moving direction is changed, the mechanical arm pulls the elastic roll, and then the elastic roll pulls the rotating shaft to rotate and drives the grinding disc to turn over, so that the tip ends of the grinding lines face the moving direction, and grinding and finishing of the glass substrate are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of material processing, in particular to a glass substrate grinding device. Background Art

[0002] As an important basic material, glass substrate is widely used in many fields. In the electronics industry, it is a key component of the screens of devices such as smartphones, tablets, and liquid crystal displays. With the continuous advancement of technology and the continuous growth of market demand, the quality and performance requirements of glass substrates are getting higher and higher, which has prompted the continuous development and innovation of glass substrate post-processing equipment.

[0003] Glass substrates usually need to be ground twice during grinding: coarse grinding and fine grinding. Because there are large defects and unevenness on the surface of the glass substrate, and fine grinding uses finer abrasives and lower cutting force, if fine grinding is performed directly, the efficiency of removing large defects will be very low. Therefore, the glass substrate needs to be coarsely ground first. The purpose of rough grinding is to quickly remove large defects and excess materials on the surface of the glass substrate, so the amount of cutting is large. During the rough grinding process, the grinding roller uses a larger abrasive and a higher cutting force to cut deeply into the glass substrate and remove several millimeters or even more material thickness, which will produce a large amount of debris. The size of the debris produced by rough grinding varies. The size of some of the debris matches the size of the gaps between the friction particles on the outer wall of the grinding roller. When the debris is subjected to external force during the grinding process, it will easily embed into these gaps; During the rotation of the grinding roller, centrifugal force and friction force are generated, which will make it easier for the debris to be pushed into the gap and tightly clamped in the gap. Once the debris enters the gap, it is difficult to fall out by itself due to the obstruction of the surrounding friction particles. The accumulation of debris will change the actual diameter and shape of the grinding roller, thereby affecting the cutting amount and processing accuracy of the glass substrate. Moreover, as the debris accumulates, the debris will hinder the effective contact between the abrasive and the glass substrate. Therefore, the cutting ability of the grinding roller will gradually decrease, reducing the amount of abrasive actually involved in grinding and reducing the grinding efficiency. Summary of the invention

[0004] The object of the present invention is to provide a glass substrate grinding device to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides a glass substrate grinding device, including a base and a grinding disc, a robotic arm is installed on the top of the base, the outer periphery of the grinding disc is provided with a "V"-shaped grinding pattern, including a connecting ball, one end of which is connected to a rotating rod, the rotating rod and the side wall of the base are rotatably connected through a ball shaft; a mounting opening is provided on the connecting ball, and a rotating shaft is rotatably connected to the connecting ball opposite to the rotating rod, one end of the rotating shaft is rotatably connected to the grinding disc through a connecting frame; a switching mechanism is provided in the mounting opening, the switching mechanism at least includes an elastic roll with torsional force, which is sleeved on the rotating shaft, one end of which is connected to the outer wall of the rotating shaft, and the other end is connected to the robotic arm, so that when the robotic arm moves from left to right or from right to left, the rotating shaft drives the grinding disc to rotate until the tip of the grinding pattern is always facing the forward direction of movement.

[0006] Furthermore, it includes a trigger mechanism, which includes at least a trapezoidal block that can slide left and right, and the free end of the elastic roll is connected to the bottom of the trapezoidal block. When the switching mechanism controls the trapezoidal block to move left and right, the trapezoidal block pulls the free end of the elastic roll to move and triggers the rotation of the shaft.

[0007] Furthermore, the trigger mechanism also includes two inclined plates, which are symmetrically arranged on both sides of the trapezoidal block. A support rod is connected between the two inclined plates, which is used to pull the support rod and the inclined plates upward and push the trapezoidal block to move close to the center of the support rod when the switching mechanism moves upward.

[0008] Furthermore, the switching mechanism also includes a first fixed rod, one end of the first fixed rod is connected to the mechanical arm, a ring is installed at the end of the first fixed rod away from the base, a sleeve is sleeved on the outer wall of the rotating shaft, a plurality of convex teeth are installed on the outer wall of the rotating shaft, the convex teeth are located at the end of the rotating shaft away from the elastic roll, the inner wall of the sleeve is provided with a tooth groove matched with the convex teeth, the convex teeth are slidably connected with the tooth groove, the ring is sleeved on the outer wall of the sleeve, one end of the sleeve is connected to the outer wall of the connecting frame, a circular baffle is installed at the end of the sleeve away from the connecting frame, the circular baffle is provided with a socket, the rotating shaft is inserted into the inside of the socket, and the inner wall of the socket is against the outer wall of the rotating shaft.

[0009] Furthermore, the outer wall of the first fixing rod is sleeved with an elliptical connecting ring, the outer wall of the elliptical connecting ring is sleeved with a connecting block, the connecting block is provided with a strip opening, the elliptical connecting ring passes through the strip opening and abuts against the inner wall of the strip opening, the trapezoidal block is provided with two slots, the inner walls of the slots are installed with a multi-stage telescopic rod, the top of the multi-stage telescopic rod is connected to the bottom of the connecting block, a partial area of ​​the support rod is located inside the strip opening, and the outer wall of the support rod does not contact the inner wall of the strip opening.

[0010] Furthermore, a chamber is provided in the connecting ball, and two fixed plates are installed on the inner wall of the chamber, and two connecting plates are connected between the inner walls of the two fixed plates, and a spacing is left between the two connecting plates. The trapezoidal block is slidably arranged in the spacing between the two connecting plates, and a sliding groove is provided on the outer wall of the connecting plate. The outer walls on both sides of the trapezoidal block are rotatably connected to two rollers, and the rollers are located inside the sliding groove and are slidably connected to the sliding groove.

[0011] Furthermore, two sliding rods are installed between the inner bottom wall and the inner top wall of the fixed plate, the inclined plate is slidably connected to the outer wall of the sliding rod, the inclined plate is provided with a through opening, and two supporting rods are installed on the inner wall of the chamber. The free end of the elastic roll passes through between the two supporting rods and the through opening and is connected to the bottom of the trapezoidal block, and the end of the rotating shaft away from the connecting frame is inserted into the interior of the connecting ball and is rotatably connected to the inner wall of the chamber.

[0012] Furthermore, the outer wall of the connecting ball is connected to one end of the rotating rod, and a conical block is installed at one end of the rotating rod away from the connecting ball. The conical block is conical, and the end with a larger area of ​​the conical block is connected to one end of the rotating rod, and the end with a smaller area of ​​the conical block is connected to the ball shaft. The base is provided with a circular groove; The ball shaft is located inside the circular groove and is rotatably connected to the circular groove. The connecting ball is provided with a mounting opening. Two second rotating shafts are installed on the inner wall of the mounting opening. The two second rotating shafts are both located on the periphery of the two fixed plates. The outer walls of the two rotating shafts are rotatably connected with a second fixed rod. A steel ball is installed at the bottom end of the second fixed rod. An extrusion plate is installed on the outer wall of the connecting block. The two fixing plates are each provided with a square socket for inserting the extrusion plate, the two square sockets are horizontally symmetrically arranged on the two fixing plates, a mounting plate is installed on the outer wall of the fixing plate, the bottom of the mounting plate is parallel to the inner top wall of the square socket, the top end of the second fixing rod is located above the mounting plate and abuts against the top of the mounting plate, and two first rotating shafts are installed on the inner wall of the mounting opening, and the first rotating shafts are located below the steel ball; The outer wall of the first rotating shaft is rotatably connected with a lever, and one end of the lever located inside the mounting opening is against the outer wall of the steel ball. The base is provided with two trapezoidal grooves, which are respectively located on the left and right sides of the conical block. The end of the lever away from the steel ball extends into the trapezoidal groove. A semicircular support plate is installed on the outer wall of the conical block, and the semicircular support plate is located at the end of the conical block with a larger area. The outer wall of the lever is against the top of the semicircular support plate, and the shape of the trapezoidal groove is a trapezoid that is wide at the top and narrow at the bottom.

[0013] Furthermore, a fixed block is installed on the outer wall of the rotating shaft, and a gap is left between the fixed block and the elastic roll. Two strip plates are installed on the inner wall of the connecting ball, and the two strip plates are respectively located on the left and right sides of the rotating shaft. A first push switch electrically connected to the servo motor is installed on the top of the strip plate, and a second push switch electrically connected to the servo motor is installed on the inner top wall of one of the fixed plates, and the second push switch is located between the two sliding rods.

[0014] Furthermore, an arc-shaped limit groove is provided on the outer wall of the ball shaft, a friction block is slidably connected to the inner wall of the arc-shaped limit groove, an arc-shaped guide groove is provided on the base, one end of the friction block extending to the outside of the arc-shaped limit groove is tightly attached to the outer wall of the arc-shaped guide groove, one end of the connecting frame is connected to the cavity, the outer wall of the servo motor is connected to the inner wall of the cavity, and the driving end of the servo motor is connected to the top of the grinding disc.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the grinding disc is connected with the connecting frame and the rotating shaft, and the mechanical arm drives the switching mechanism to drive them to move. The outer peripheral wall of the grinding disc has V-shaped grinding grooves pointing in the same direction. When rotating, the glass substrate is ground, and the debris can be thrown out from the grinding grooves under the action of centrifugal force. The grinding disc rotates in the direction of the grinding grooves. When the left and right moving directions change, the mechanical arm pulls the elastic roll, and then pulls the rotating shaft to rotate through the elastic roll and drives the grinding disc to flip, so that the tip of the grinding groove faces the moving direction, so as to realize the grinding and trimming of the glass substrate.

[0016] 2. In the present invention, when the initial grinding pattern of the grinding disc faces right, the robot arm drives the switching mechanism to move right, and the grinding disc does not need to be flipped. When it needs to be moved left for grinding, the switching mechanism first drives the trapezoidal block to move left, pulling the elastic roll. The friction between the elastic roll and the rotating shaft causes the rotating shaft to rotate, thereby driving the connecting frame and the grinding disc to flip. After the trapezoidal block moves to the leftmost, the grinding disc is flipped, and the grinding pattern points to the left. The switching mechanism continues to move left to drive each component to move left for grinding, and the debris is thrown to the right.

[0017] 3. In the present invention, the fixed block corresponds to the direction of the grinding pattern, and there are strip plates and a first push switch on the left and right sides of the rotating shaft. When the fixed block is on the right side of the rotating shaft, the first push switch on the right side is pressed to start the servo motor, and the grinding pattern points to the right; the same is true on the left side. If the switch is not pressed, it means that the grinding disc is tilted and the servo motor does not start. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection structure between the conical block and the rotating rod in the present invention; Figure 3 It is a schematic diagram of the connection structure between the second fixing rod and the steel ball in the present invention; Figure 4 It is a schematic diagram of the connection structure between the connection block and the extrusion plate in the present invention; Figure 5 It is a schematic diagram of the connection structure between the slide rod and the inclined plate in the present invention; Figure 6 It is a schematic diagram of the connection structure between the grinding disc and the connecting frame in the present invention; Figure 7 It is a schematic diagram of the connection structure between the rotating shaft and the elastic coil in the present invention; Figure 8 It is a schematic diagram of the connection structure between the trapezoidal block and the elastic coil in the present invention; Fig. 9 It is a schematic diagram of the connection structure between the trapezoidal block and the roller in the present invention; Fig.10 It is a schematic diagram of the connection structure between the ball shaft and the friction block in the present invention; Fig.11 It is a schematic diagram of the connection structure between the multi-stage telescopic rod and the strip-shaped protrusion in the present invention; Fig.12 It is a schematic diagram of the connection structure between the connecting frame and the servo motor in the present invention; Fig.13 It is a schematic diagram of the connection structure between the rotating shaft and the convex teeth in the present invention; Fig.14 It is a schematic diagram of the connection structure between the sleeve and the circular baffle in the present invention; Fig.15 It is a schematic diagram of the connection structure between the fixing plate and the second push switch in the present invention; Fig.16 for Figure 2 A magnified view of the structure at center A; Fig.17 for Figure 3 A magnified view of the structure at B in the middle; Fig.18 for Figure 5 Enlarged view of the structure at C in the middle.

[0019] In the figure: 1. base; 2. Grinding disc; 3. Grinding pattern; 4. Connecting frame; 5. Rotating shaft; 6. Sleeve ring; 7. First fixed rod; 8. Connecting ball; 9. Conical block; 10. Rotating rod; 11. Ball shaft; 12. Mounting port; 13. Fixed plate; 14. Oval connecting ring; 15. Trapezoidal block; 16. Elastic roll; 17. Support rod; 18. Sliding rod; 19. Connecting plate; 20. Support rod; 21. Inclined plate; 22. Through port; 23. Sliding groove; 24. Connecting block; 25. Strip opening; 26. Roller; 27. Arc guide groove; 28. Slot; 29. ​​Multi-stage telescopic rod; 291. through groove; 292. strip convex block; 30. friction block; 31. servo motor; 32. circular groove; 33. arc limit groove; 34. lever; 35. first rotating shaft; 36. second fixed rod; 37. steel ball; 38. trapezoidal groove; 39. second rotating shaft; 40. semicircular support plate; 41. extrusion plate; 42. sleeve; 43. convex teeth; 44. tooth groove; 45. circular baffle; 46. socket; 47. square socket; 48. mounting plate; 49. strip plate; 50. first push switch; 51. fixed block; 52. second push switch. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The present invention provides a technical solution: See also Figure 1-Figure 18 As shown, a glass substrate grinding device includes a base 1 and a grinding disc 2. A mechanical arm is installed on the top of the base 1. The outer periphery of the grinding disc 2 is provided with a "V"-shaped grinding pattern 3, including a connecting ball 8, one end of which is fixedly connected to a rotating rod 10, and the rotating rod 10 is rotatably connected to the side wall of the base 1 through a ball shaft 11; a mounting port 12 is provided on the connecting ball 8, and a rotating shaft 5 is rotatably connected to the connecting ball 8 opposite to the rotating rod 10, and one end of the rotating shaft 5 is rotatably connected to the grinding disc 2 through a connecting frame 4; a switching mechanism is set In the mounting opening 12, the switching mechanism at least includes an elastic coil 16 with torsional force, which is sleeved on the rotating shaft 5, one end of which is fixedly connected to the outer wall of the rotating shaft 5, and the other end is connected to the robotic arm, so that when the robotic arm moves from left to right or from right to left, the rotating shaft 5 drives the grinding disc 2 to rotate until the tip of the grinding pattern 3 is always facing the forward direction of movement; the two ends of the connecting frame 4 are respectively rotatably connected to the top and bottom of the grinding disc 2, and the connecting frame 4 is provided with a cavity, and a servo motor 31 for driving the grinding disc 2 to rotate is connected in the cavity.

[0022] The switching mechanism is connected to the rotating shaft 5, and the robot arm drives the switching mechanism, and then drives the rotating shaft 5, the connecting frame 4 and the grinding disc 2 to move through the switching mechanism, so that the grinding disc 2 can grind along the glass substrate. The connecting frame 4 has two ends, and the two ends correspond vertically up and down. Since the initial state of the grinding disc 2 and the connecting frame 4 is as follows Figure 2 Therefore, in Figure 2 In the embodiment, one end of the connecting frame 4 is rotatably connected to the top of the grinding disc 2, and one end of the connecting frame 4 is rotatably connected to the bottom of the grinding disc 2, such as Fig.11 As shown, the cavity opened by the connecting frame 4 is located at one end above the connecting frame 4, and the servo motor 31 is fixedly installed in the cavity, and the driving end of the servo motor 31 is fixedly connected to the top of the grinding disc 2, so that the servo motor 31 is used to drive the grinding disc 2 to rotate, and the connecting frame 4 can continuously drive the grinding disc 2 to rotate through the servo motor 31 when moving together with the grinding disc 2; A plurality of grinding grooves 3 are fixed on the outer peripheral wall of the grinding disc 2. Different from the irregular grinding grooves in the prior art, the plurality of grinding grooves 3 all point to the same direction. When the grinding disc 2 rotates in the direction pointed by the grinding grooves 3 and grinds the glass substrate, the raised grinding grooves 3 on the outer peripheral wall of the grinding disc 2 will contact the glass substrate. Since the grinding disc 2 applies a certain pressure during the rotation or movement, these raised grinding grooves 3 will cut the surface of the glass substrate. The sharper grinding grooves 3 will first scratch the surface of the glass substrate and cut off the tiny protrusions or uneven parts on the surface of the glass substrate. In this process, a large amount of debris will enter the gaps between the plurality of grinding grooves 3. Since the V-shaped grinding grooves 3 are inclined toward the outside of the grinding disc 2 at a certain angle, after the debris enters the V-shaped gaps between the multiple grinding grooves 3, it will be thrown out to both sides of the grinding disc 2 along the direction of the V-shaped gaps under the action of the centrifugal force generated by the rotation of the grinding disc 2, and the two ends of the edge of the grinding grooves 3 are parallel to the edge of the grinding disc 2. Therefore, after the debris is thrown out of the gaps between the multiple grinding grooves 3, it can be directly thrown out of the grinding disc 2, effectively preventing the debris from gathering in the gaps between the multiple grinding grooves 3 on the grinding disc 2; In order to ensure that the grinding disc 2 can throw out the debris, the grinding disc 2 needs to always rotate in the direction of the grinding pattern 3. Figure 2 In the direction of the grinding groove 3, the grinding disc 2 needs to rotate counterclockwise, and when the grinding disc 2 rotates counterclockwise, if the glass substrate is being polished, a thrust will be generated to the right along the glass substrate. At this time, the grinding can be performed while moving to the right along the glass substrate, or it can be polished while stopping in place, and the debris will be thrown out from the left side of the grinding disc 2. When the grinding disc 2 needs to move to the left side along the glass substrate for polishing, since the direction of the grinding disc 2 cannot be changed, the grinding disc 2 needs to be turned over to the position where the grinding groove 3 points to the moving direction, that is, the grinding disc 2 is turned over to the position where the grinding groove 3 points to the left side; If the grinding disc 2 is not turned over, the rotation direction of the grinding disc 2 is opposite to the moving direction, which makes the contact mode between the grinding groove 3 on the grinding disc 2 and the glass substrate complicated and unstable. The grinding groove 3 on the surface of the grinding disc 2 will be aggravated under the friction of the reverse movement. Moreover, due to the uneven force, the wear of the grinding groove 3 will also show an uneven state, resulting in a shortened service life of the grinding disc 2. Moreover, when the grinding groove 3 faces the right, the grinding disc 2 moves to the right, and the debris will be thrown to the left. If the grinding groove 3 faces the right, the grinding disc 2 moves to the left, then the debris will be thrown to the left. Part of the debris on the left will adhere to the glass substrate, so when the grinding disc 2 moves to the left while grinding the glass substrate, it will be ground into debris again. The debris has a certain hardness and sharpness. When it is driven by the grinding disc 2 and the grinding groove 3 again and contacts the glass substrate, it is also easy to scratch the glass surface, and it will also hinder the effective contact between the grinding groove 3 and the glass substrate, and increase the friction between the grinding disc 2 and the glass substrate, so that the wear speed of the grinding disc 2 and the grinding groove 3 is accelerated. Therefore, when the left and right moving directions are changed, the direction of the grinding groove 3 needs to be aligned with the direction of the required movement; The grinding process of the glass substrate by the grinding disc 2 and the grinding pattern 3 is rough grinding. The purpose of rough grinding is mainly to quickly remove the excess material on the surface of the glass substrate and improve the processing efficiency. Since rough grinding requires a large grinding force and chip removal space, the spacing between the multiple grinding patterns 3 is large. The large pattern spacing can accommodate more grinding chips, which is convenient for the smooth discharge of grinding chips during the grinding process, avoiding the influence of grinding efficiency and quality due to the blockage of grinding chips; When the robot arm moves to the left or right, it pulls the elastic roll 16, and the elastic roll 16 pulls the rotating shaft 5 to rotate, and then drives the grinding disc 2 to rotate through the rotating shaft 5 until the tip of the grinding pattern 3 faces the moving direction.

[0023] See also Figure 4-Figure 18 , including a trigger mechanism, which at least includes a trapezoidal block 15 that can slide left and right, and the free end of the elastic roll 16 is fixedly connected to the bottom of the trapezoidal block 15. When the switching mechanism controls the trapezoidal block 15 to move left and right, the trapezoidal block 15 pulls the free end of the elastic roll 16 to move and triggers the rotation of the rotating shaft 5.

[0024] When the grinding disc 2 needs to be moved to the right along the glass substrate and grind it, the robot arm drives the switching mechanism to move to the right, and the switching mechanism drives the grinding disc 2 to move to the right. Since the grinding pattern 3 of the grinding disc 2 is facing right in the initial state, the grinding disc 2 does not need to be turned over. Figure 4 As shown in the figure, in the initial state, the trapezoidal block 15 is on the right side of the rotating shaft 5, the elastic coil 16 is wound around the outer wall of the rotating shaft 5, and the outer wall of the elastic coil 16 is in close contact with the outer wall of the rotating shaft 5; When the grinding disc 2 needs to be moved to the left along the glass substrate for grinding, the switching mechanism first drives the trapezoidal block 15 to move to the left. When the trapezoidal block 15 moves to the left, it will pull the free end of the elastic roll 16 to move to the left together. The elastic roll 16 is wound on the rotating shaft 5, and there is a certain friction between the two. When the trapezoidal block 15 pulls the elastic roll 16, a tangential friction force is generated at the contact point between the elastic roll 16 and the rotating shaft 5. This friction force will generate a torque on the rotating shaft 5, causing the rotating shaft 5 to rotate. When the rotating shaft 5 rotates, it drives the connecting frame 4 and the grinding disc 2 to flip over, just like pulling a cylindrical object placed on the ground and freely rotating on the ground, applying a horizontal pulling force to it through a rope, and the cylinder will rotate due to the friction between the rope and the cylindrical surface; When the trapezoidal block 15 moves from the rightmost side to the leftmost side where it cannot move any further, the grinding disc 2 has been flipped over, and the grinding pattern 3 will point to the left. The switching mechanism can then continue to move to the left, driving the rotating shaft 5, the connecting frame 4 and the grinding disc 2 to move to the left, and the glass substrate is polished by the grinding disc 2 and the grinding pattern 3, and the debris will be thrown to the right.

[0025] See also Figure 4-Figure 18 The trigger mechanism also includes two inclined plates 21, which are symmetrically arranged on both sides of the trapezoidal block 15. A support rod 20 is fixedly connected between the two inclined plates 21, which is used to pull the support rod 20 and the inclined plates 21 upward and push the trapezoidal block 15 to move close to the center of the support rod 20 when the switching mechanism moves upward.

[0026] When the switching mechanism moves upward, the support rod 20 is pulled and the two inclined plates 21 are driven to move upward together. The inclined surface of the inclined plate 21 is aligned with the trapezoidal block 15. When the inclined plate 21 rises, the inclined surface of the inclined plate 21 squeezes and pushes the trapezoidal block 15 to move, so that the trapezoidal block 15 moves toward the center between the two inclined plates 21. When the trapezoidal block 15 moves from the rightmost side to the leftmost side, or from the leftmost side to the rightmost side, the grinding disc 2 will be flipped 180 degrees. Then, when the trapezoidal block 15 moves to the middle part, the grinding disc 2 will be flipped 90 degrees. Specifically, Figure 5 As shown, the top or bottom of the glass substrate can be polished using the polishing disc 2 and the polishing pattern 3; Then the switching mechanism can drive the trapezoidal block 15 to move leftward or rightward at any time. When the trapezoidal block 15 moves, it will also squeeze and push the inclined plate 21 to move the inclined plate 21 downward, so the movement of the trapezoidal block 15 will not be affected.

[0027] See also Figure 1-Figure 14The switching mechanism also includes a first fixed rod 7, one end of which is fixedly connected to the mechanical arm, a collar 6 is fixedly installed on the end of the first fixed rod 7 away from the base 1, a sleeve 42 is sleeved on the outer wall of the rotating shaft 5, and a plurality of convex teeth 43 are fixedly installed on the outer wall of the rotating shaft 5, the convex teeth 43 are located at the end of the rotating shaft 5 away from the elastic roll 16, the inner wall of the sleeve 42 is provided with a tooth groove 44 adapted to the convex teeth 43, the convex teeth 43 are slidably connected with the tooth groove 44, the collar 6 is sleeved on the outer wall of the sleeve 42, one end of the sleeve 42 is fixedly connected to the outer wall of the connecting frame 4, a circular baffle 45 is fixedly installed on the end of the sleeve 42 away from the connecting frame 4, and the circular baffle 45 is provided with a socket 46, the rotating shaft 5 is inserted into the inside of the socket 46, and the inner wall of the socket 46 is against the outer wall of the rotating shaft 5.

[0028] One end of the first fixing rod 7 is fixedly connected to the mechanical arm on the base 1, and the other end of the first fixing rod 7 is sleeved on the sleeve 42 through the collar 6, and the connection with the sleeve 42 is realized through the collar 6. The mechanical arm drives the first fixing rod 7 to move, and the first fixing rod 7 and the collar 6 drive the sleeve 42 and the rotating shaft 5 to move, and then drive the connecting frame 4 and the connecting ball 8 to move together through the rotating shaft 5. The collar 6 is only sleeved on the sleeve 42, and is not connected to the sleeve 42; When the trapezoidal block 15 is located at the far right, the collar 6 will also deviate to the right, and at this time the inner wall of the left side of the collar 6 will abut against the outer wall of the sleeve 42. When the base 1 drives the first fixing rod 7 to move to the left, the collar 6 and the first fixing rod 7 will move at the same time. Since there is a certain distance between the outer wall of the sleeve 42 and the inner wall of the right side of the collar 6, before the right side inner wall of the collar 6 contacts the sleeve 42, the sleeve 42 and the rotating shaft 5 will not be immediately driven to move to the left. During the time when the right side inner wall of the collar 6 moves toward the sleeve 42, the first fixing rod 7 will first pull the trapezoidal block 15 to move to the left. When the trapezoidal block 15 is pulled to the far left, the grinding disc 2 is turned 180 degrees, and the right side inner wall of the collar 6 just abuts against the sleeve 42. Therefore, the collar 6 can push the circular baffle 45 and the rotating shaft 5 to move, thereby driving the connecting frame 4 and the grinding disc 2 to move. Since the initial position of the rotating shaft 5 is at the center of the ring 6, when the first fixing rod 7 and the ring 6 move upward, the first fixing rod 7 will first pull the support rod 20 and the inclined plate 21 upward. After the trapezoidal block 15 is pushed to the middle position between the two inclined plates 21 by the inclined plate 21, the grinding disc 2 is flipped to 90 degrees, and the inner bottom wall of the ring 6 just contacts the outer wall of the sleeve 42. If the flipped grinding disc 2 is too far away from the glass substrate, the grinding disc 2 can also be pulled by the ring 6 to continue to move upward close to the glass substrate.

[0029] See also Figure 3-Figure 9The outer wall of the first fixed rod 7 is provided with an elliptical connecting ring 14, and the outer wall of the elliptical connecting ring 14 is provided with a connecting block 24. The connecting block 24 has a strip opening 25. The elliptical connecting ring 14 passes through the strip opening 25 and abuts against the inner wall of the strip opening 25. The trapezoidal block 15 has two slots 28. The inner wall of the slot 28 is fixedly installed with a multi-stage telescopic rod 29. The top of the multi-stage telescopic rod 29 is fixedly connected to the bottom of the connecting block 24. Part of the support rod 20 is located inside the strip opening 25, and the outer wall of the support rod 20 does not contact the inner wall of the strip opening 25.

[0030] When the first fixed rod 7 moves to the left or right, it first drives the elliptical connecting ring 14 to move. When the elliptical connecting ring 14 moves, it drives the connecting block 24 to move. The connecting block 24 is penetrated by a strip opening 25. Therefore, the elliptical connecting ring 14 passes through the strip opening 25 and is sleeved on the connecting block 24. When the connecting block 24 moves, it drives the multi-stage telescopic rod 29 and the trapezoidal block 15 to move together. Therefore, the switching mechanism drives the trapezoidal block 15 to move left and right. The support rod 20 passes through the strip opening 25. Therefore, when the trapezoidal block 15 moves left and right, the connecting block 24 and the strip opening 25 will move along the support rod 20. When the first fixed rod 7 moves upward, the first fixed rod 7 pulls the connecting block 24 to move upward. When the connecting block 24 moves up to the inner bottom wall of the strip opening 25 and the outer wall of the support rod 20, the connecting block 24 continues to move upward, and the connecting block 24 will pull the support rod 20 to move upward together, thereby causing the two inclined plates 21 to move upward together. Since the upward movement of the inclined plate 21 requires the movement of the trapezoidal block 15, the trapezoidal block 15 can only move left and right, and cannot move up and down. Therefore, when the connecting block 24 moves upward, it will pull the multi-stage telescopic rod 29 to extend upward. There are four multi-stage telescopic rods 29, which are arranged in order from large to small. Fig.10 As shown in the figure, the interior of the three multi-stage telescopic rods 29 at the bottom is hollow and arranged in sequence from bottom to top. The tops of the three multi-stage telescopic rods 29 at the bottom are all provided with through grooves 291 for the multi-stage telescopic rods 29 to move along the through grooves 291. When the connecting block 24 moves upward, the top multi-stage telescopic rod 29 will be pulled upward. The bottoms of the three multi-stage telescopic rods 29 are all fixedly installed with strip convex blocks 292. The bottom multi-stage telescopic rod 29 at the bottom is fixed inside the slot 28. Therefore, when the top multi-stage telescopic rod 29 is pulled to the bottom near the through groove 291 opened by the second multi-stage telescopic rod 29, the strip convex block 292 at the bottom of the first multi-stage telescopic rod 29 will abut against the inner top wall of the second multi-stage telescopic rod 29, and the same is true for the multi-stage telescopic rods 29 pulled subsequently at the bottom, so the multi-stage telescopic rod 29 will not be pulled out from other multi-stage telescopic rods 29. Therefore, after the inclined plate 21 and the support rod 20 are pulled upward, the multiple multi-stage telescopic rods 29 will be extended, so the trapezoidal block 15 will neither be pulled upward nor hinder the inclined plate 21 and the support rod 20 from moving upward, and it is only necessary to pull the inclined plate 21 upward until the trapezoidal block 15 moves to the middle part between the two inclined plates 21. The upward movement distance is limited. When the inner bottom wall of the collar 6 contacts the rotating shaft 5, the rotating shaft 5 can be driven to move upward, and the connecting block 24 will also stop its own independent upward movement; Since the first fixing rod 7 may be on the left side or the right side of the rotating shaft 5 when it moves upward, the connecting block 24 is connected through the elliptical connecting ring 14. In this way, when the connecting block 24 is pulled upward, the trapezoidal block 15 and the connecting block 24 will move. If the first fixing rod 7 is on the right side or the left side of the rotating shaft 5, the trapezoidal block 15 and the connecting block 24 will move toward the middle, and the elliptical connecting ring 14 will tilt. In this way, when the first fixing rod 7 does not move left or right, the trapezoidal block 15 can also move, and even if the trapezoidal block 15 moves, it will not cause the first fixing rod 7 to move left or right. When the first fixing rod 7 moves downward, it will push the connecting block 24 downward through the elliptical connecting ring 14, and the connecting block 24 will also press the multi-stage telescopic rod 29 downward to shrink the multi-stage telescopic rod 29. At this time, the support rod 20 will be pushed downward by the inner top wall of the strip opening 25 and will also move downward, and the inclined plate 21 will also move downward together. After the inclined plate 21 moves downward to release the resistance to the trapezoidal block 15, the trapezoidal block 15 has no resistance, and the elastic coil 16 will also use its own elastic force to wind the pulled-out part back to the rotating shaft 5, and the rotating shaft 5 will also rotate; This is because according to Hooke's law, the elastic coil 16 will generate a restoring force after being stretched, and this restoring force will cause the elastic coil 16 to return to its initial state. Since one end of the elastic coil 16 is fixed on the rotating shaft 5, the restoring force of the elastic coil 16 will act on the rotating shaft 5, causing it to generate a reverse torque, thereby causing the rotating shaft 5 to rotate back to its original position, and then the trapezoidal block 15 will return to the rightmost position, that is, the initial position. The elastic coil 16 can be made of materials such as piano wire, alloy spring steel or high carbon steel. These materials have high elasticity and recovery ability, which can ensure the rotation of the rotating shaft 5 and the recovery ability of the elastic coil 16 after being pulled.

[0031] See also Figure 3-Figure 9 A chamber is provided in the connecting ball 8, and two fixing plates 13 are fixedly installed on the inner wall of the chamber. Two connecting plates 19 are fixedly connected between the inner walls of the two fixing plates 13. A spacing is left between the two connecting plates 19. The trapezoidal block 15 is slidably arranged in the spacing between the two connecting plates 19. A sliding groove 23 is provided on the outer wall of the connecting plate 19. Two outer walls on both sides of the trapezoidal block 15 are rotatably connected to two rollers 26, and the rollers 26 are located inside the sliding groove 23 and are slidably connected to the sliding groove 23.

[0032] The fixing plate 13 is fixed in the connecting ball 8 and fixes the connecting plate 19, so that the trapezoidal block 15 can move along the spacing between the two connecting plates 19. The spacing between the two connecting plates 19 provides a guide for the moving direction of the trapezoidal block 15 and limits the position of the trapezoidal block 15 to ensure that the trapezoidal block 15 will not deviate. The two slide grooves 23 correspond horizontally, and the trapezoidal block 15 slides along the slide groove 23 through the roller 26 to ensure that the trapezoidal block 15 will not fall and the trapezoidal block 15 can move smoothly.

[0033] See also Figure 3-Figure 15 Two sliding rods 18 are fixedly installed between the inner bottom wall and the inner top wall of the fixed plate 13, the inclined plate 21 is slidably connected to the outer wall of the sliding rod 18, the inclined plate 21 is provided with a through hole 22, and two supporting rods 17 are fixedly installed on the inner wall of the chamber. The free end of the elastic roll 16 passes through between the two supporting rods 17 and through the through hole 22 to be connected to the bottom of the trapezoidal block 15, and the end of the rotating shaft 5 away from the connecting frame 4 is inserted into the interior of the connecting ball 8 and is rotatably connected to the inner wall of the chamber.

[0034] The connecting ball 8 is used to support the rotating shaft 5 so that the rotating shaft 5 can rotate along the connecting ball 8. The sliding rod 18 is fixed on the fixed plate 13. When the inclined plate 21 moves, it will slide along the outer wall of the sliding rod 18. When the top of the inclined plate 21 is against the inner top wall of the fixed plate 13, it means that the trapezoidal block 15 has moved to the middle position between the two inclined plates 21. The sliding rod 18 makes the inclined plate 21 more stable when moving up and down. The support rod 17 supports the elastic roll 16. When the trapezoidal block 15 moves to the right, it will pull the elastic roll 16 to move along the support rod 17.

[0035] See also Figure 1-Figure 18 The outer wall of the connecting ball 8 is fixedly connected to one end of the rotating rod 10, and a conical block 9 is fixedly installed at one end of the rotating rod 10 away from the connecting ball 8. The conical block 9 is conical, and the end of the conical block 9 with a larger area is fixedly connected to one end of the rotating rod 10, and the end of the conical block 9 with a smaller area is fixedly connected to the ball shaft 11. The base 1 is provided with a circular groove 32, and the ball shaft 11 is located inside the circular groove 32 and is rotatably connected to the circular groove 32. The connecting ball 8 is provided with a mounting port 12, and two second rotating shafts 39 are fixedly installed on the inner wall of the mounting port 12, and the two second rotating shafts 39 are both located on the periphery of the two fixed plates 13; The outer wall of the second rotating shaft 39 is rotatably connected with the second fixing rod 36, and the bottom end of the second fixing rod 36 is fixedly installed with a steel ball 37. The outer wall of the connecting block 24 is fixedly installed with an extrusion plate 41. The two fixing plates 13 are both provided with square sockets 47 for inserting the extrusion plates 41. The two square sockets 47 are horizontally symmetrically arranged on the two fixing plates 13. The outer wall of the fixing plate 13 is fixedly installed with a mounting plate 48. The bottom of the mounting plate 48 is parallel to the inner top wall of the square socket 47. The top end of the second fixing rod 36 is located above the mounting plate 48 and abuts against the top of the mounting plate 48. The inner wall of the mounting opening 12 is fixedly installed with two first rotating shafts 35. The first rotating shaft 35 is located below the steel ball 37, and the outer wall of the first rotating shaft 35 is rotatably connected to the lever 34. One end of the lever 34 located inside the mounting opening 12 abuts against the outer wall of the steel ball 37. The base 1 is provided with two trapezoidal grooves 38, and the two trapezoidal grooves 38 are respectively located on the left and right sides of the conical block 9. One end of the lever 34 away from the steel ball 37 extends to the inside of the trapezoidal groove 38. A semicircular support plate 40 is fixedly installed on the outer wall of the conical block 9. The semicircular support plate 40 is located at the end of the conical block 9 with a larger area. The outer wall of the lever 34 abuts against the top of the semicircular support plate 40, and the shape of the trapezoidal groove 38 is a trapezoid that is wide at the top and narrow at the bottom.

[0036] One end of the rotating rod 10 is fixedly connected to the outer wall of the connecting ball 8, and the other end of the rotating rod 10 is fixedly connected to the central part of the end of the cone block 9 with a larger area. The end of the cone block 9 with a smaller area is fixedly connected to the outer wall of the ball shaft 11. The ball shaft 11 is rotatably connected to the base 1. Therefore, when the first fixed rod 7 drives the connecting ball 8 to move left and right, the ball shaft 11 will tilt and swing left and right, and then the cone block 9 and the rotating rod 10 will also swing left and right, the purpose is to follow the movement of the connecting ball 8 and to support the connecting ball 8 at all times. Since the size of the polished glass substrate is small, the moving range of the connecting ball 8 is not far, which can just adapt to the swing amplitude of the ball shaft 11. When the trapezoidal block 15 is located Figure 3When the second fixing rod 36 is pushed to one side of the right fixing plate 13, the right end of the squeezing plate 41 will pass through the square socket 47 opened in the right fixing plate 13, and push the outer wall of the second fixing rod 36 close to the top, so as to push the top of the second fixing rod 36 in the direction away from the fixing plate 13, and the second fixing rod 36 is rotatably connected to the second rotating shaft 39. Since the second rotating shaft 39 is fixed to the connecting ball 8, when the top of the second fixing rod 36 is pushed to the direction away from the fixing plate 13, the bottom end of the second fixing rod 36 will drive the steel ball 37 to swing in the direction close to the fixing plate 13, and the steel ball 37 will swing in an arc trajectory from left to right. When the steel ball 37 swings, it will squeeze one end of the lever 34, and the lever 34 is rotatably connected to the outer wall of the first rotating shaft 35, and the first rotating shaft 35 is also fixed to the connecting ball 8. Therefore, when the end of the lever 34 located inside the connecting ball 8 is squeezed, the end of the lever 34 squeezed by the steel ball 37 will move downward, and the other end of the lever 34 will move upward; When the outer walls of the two levers 34 are against the top of the semicircular support plate 40, the rotating rod 10 and the lever 34 are in a parallel state, and the end of the lever 34 located inside the trapezoidal groove 38 will be against the inner wall of the trapezoidal groove 38, so that the conical block 9 cannot swing left and right, because the two sides are blocked by the lever 34. If the conical block 9 swings left and right, it will be against the outer wall of the lever 34. Therefore, when the two levers 34 are in contact with the semicircular support plate 40, the conical block 9 cannot swing left and right. The purpose is that when the trapezoidal block 15 moves, it will pull the elastic roll 16, and the force of the elastic roll 16 being pulled will be transmitted to the rotating shaft 5, and then transmitted to the connecting ball 8 through the rotating shaft 5, so that the connecting ball 8 moves, so that when the trapezoidal block 15 moves, it is very likely to pass By pulling the elastic coil 16 to move the connecting ball 8 together, the trapezoidal block 15 cannot be rotated alone. Therefore, when the trapezoidal block 15 is located at the far right, the end of the lever 34 on the right located inside the trapezoidal groove 38 moves upward. Since the movement trajectory of one end of the lever 34 is also an arc-shaped movement when it moves upward, the end of the lever 34 located inside the trapezoidal groove 38 will move away from the inner wall of the trapezoidal groove 38 after swinging upward, and move toward the wider area above the trapezoidal groove 38, and no longer abut against the inner wall of the trapezoidal groove 38. The area above the trapezoidal groove 38 is wider and arc-shaped. In this way, when the conical block 9 swings to the right, one end of the lever 34 will tilt in the wider area of ​​the trapezoidal groove 38, so that the conical block 9 can swing. Therefore, when the robot arm drives the trapezoidal block 15 to the rightmost side, the grinding groove 3 points to the right, and the grinding disc 2 also moves to the right. At this time, the end of the lever 34 on the right side located inside the trapezoidal groove 38 does not contact the inner wall of the trapezoidal groove 38, so the conical block 9 can tilt to the right. When the trapezoidal block 15 is located on the left side, the grinding groove 3 points to the left direction, and then the end of the lever 34 on the left side located inside the trapezoidal groove 38 does not contact the inner wall of the trapezoidal groove 38, so that the conical block 9 can tilt to the left and the grinding disc 2 can move to the left. Only when the trapezoidal block 15 and the extrusion plate 41 are close to the fixed plate 13 When the first rotating shaft 35 is located inside the connecting ball 8, the squeezing plate 41 can be inserted into the square socket 47 and then contact the second fixing rod 36. Since the first rotating shaft 35 is located inside the connecting ball 8, the fulcrum of the lever 34 is biased toward the end of the lever 34 located below the steel ball 37. When the steel ball 37 squeezes the end of the lever 34 located inside the connecting ball 8, it only needs to squeeze downward a small distance, which is enough to make the end of the lever 34 located inside the trapezoidal groove 38 move up a large distance. Therefore, when the trapezoidal block 15 is close to the fixing plate 13, the squeezing plate 41 can touch the second fixing rod 36 and push the top end of the second fixing rod 36. The second fixing rod 36 is initially tilted, and the steel ball 37 rests on the lever 34. The top of the second fixing rod 36 is supported by the mounting plate 48 to prevent the top of the second fixing rod 36 from passing over the square socket 47. The mounting plate 48 supports the top of the second fixing rod 36 above the square socket 47, so that the extrusion plate 41 directly contacts the second fixing rod 36 after extending from the square socket 47, and pushes the top of the second fixing rod 36 to move upward, while the semicircular support plate 40 supports the lever 34, so that the lever 34 is initially parallel and close to both sides of the conical block 9. Since the rotating rod 10 and the conical block 9 will swing when the connecting ball 8 moves left and right, this will cause the swing trajectory of the grinding disc 2 to be arc-shaped. In order to ensure that the grinding disc 2 can be parallel when moving, when the ring 6 drives the sleeve 42 and the rotating shaft 5 to move left and right, if the grinding disc 2 is away from the glass substrate during movement, the robot arm can control the first fixed rod 7 and the ring 6 to move forward, and the ring 6 will drive the sleeve 42 to move forward, and drive the connecting frame 4 and the grinding disc 2 through the sleeve 42. Since the lengths of the connecting ball 8 and the rotating rod 10 are fixed, when the sleeve 42 is driven to move forward, the sleeve 42 will slide along the outer wall of the rotating shaft 5, and the tooth groove 44 inside the sleeve 42 will move along The convex teeth 43 move along the outer wall of the convex teeth 43. The meshing connection between the convex teeth 43 and the tooth grooves 44 is to ensure that the rotating shaft 5 can drive the tooth grooves 44 and the sleeve 42 to rotate through the convex teeth 43 when rotating, and then drive the connecting frame 4 and the grinding disc 2 to rotate through the sleeve 42, and can also ensure that the sleeve 42 can slide along the outer wall of the rotating shaft 5. The circular baffle 45 blocks the collar 6, so that when the collar 6 moves toward the base 1, it can abut against the circular baffle 45 and drive the sleeve 42 to move toward the direction of the connecting ball 8. At the same time, the socket 46 can block the convex teeth 43 to prevent the convex teeth 43 from passing through the socket 46 and causing the rotating shaft 5 to move out of the circular baffle 45. Therefore, the socket 46 only allows the rotating shaft 5 to slide. Since the connecting ball 8 and the rotating shaft 5 cannot move forward when the first fixing rod 7 drives the sleeve 42 to move along the rotating shaft 5, the portion where the first fixing rod 7 is connected to the elliptical connecting ring 14 will pass over a portion of the connecting ball 8. Since the first fixing rod 7 and the connecting block 24 are connected via the elliptical connecting ring 14, the elliptical connecting ring 14 will tilt when the first fixing rod 7 is away from the connecting block 24. Since the size of the glass substrate is small, the left and right movement range of the grinding disk 2 will also be very short. Therefore, even if the first fixing rod 7 is away from the connecting ball 8, it will not move too far and can meet the tilt range that the elliptical connecting ring 14 can withstand.

[0037] See also Figure 3-15 A fixing block 51 is fixedly installed on the outer wall of the rotating shaft 5, and a gap is left between the fixing block 51 and the elastic roll 16. Two strip plates 49 are fixedly installed on the inner wall of the connecting ball 8. The two strip plates 49 are respectively located on the left and right sides of the rotating shaft 5. A first push switch 50 electrically connected to the servo motor 31 is installed on the top of the strip plate 49. A second push switch 52 electrically connected to the servo motor 31 is installed on the inner top wall of one of the fixed plates 13. The second push switch 52 is located between the two sliding bars 18.

[0038] The fixed block 51 corresponds to the direction of the polishing pattern 3, such as Figure 7The fixing block 51 in the middle, when the fixing block 51 is located on the right side of the rotating shaft 5, the polishing pattern 3 points to the right, and there is a strip plate 49 and a first push switch 50 on the left and right sides of the rotating shaft 5, respectively. The strip plate 49 is fixed in the connecting ball 8 to support the first push switch 50. Each of the first push switch 50 and the second push switch 52 has two connection ends, one end is connected to the positive pole of the power supply or the high potential end of the control signal, and the other end is connected to the input end of the control circuit of the servo motor 31. The input end of the servo motor 31 control circuit can be a relay, a contactor or a control port of the servo motor 31 driver. When the first push switch 50 or the second push switch 52 is pressed, the corresponding connection line is turned on and a start signal is sent to the servo motor 31 control circuit. The servo motor 31 itself is connected to the output end of the motor control circuit. When the control circuit receives the start signal, it will close the corresponding switch or trigger the corresponding electronic component to enable the servo motor 31 to be powered and operate. When the fixed block 51 is located on the right side of the rotating shaft 5, the fixed block 51 will contact the strip plate 49 on the right side of the rotating shaft 5 and press the first push switch 50 on the right side. At this time, the servo motor 31 is started, and the polishing pattern 3 points to the right. When the rotating shaft 5 rotates to the left side of the rotating shaft 5, the fixed block 51 is located on the left side of the rotating shaft 5. Figure 5 In the embodiment, the fixed block 51 presses the first push switch 50 on the left side of the rotating shaft 5, so that the servo motor 31 starts and drives the grinding disc 2 to rotate. At this time, the grinding pattern 3 points to the left direction. If the fixed block 51 does not press the first push switches 50 on both sides of the rotating shaft 5, it means that the grinding pattern 3 does not correctly point to the right or left direction. At this time, the grinding pattern 3 and the grinding disc 2 are tilted, and the servo motor 31 will not rotate, so as to avoid the tilted grinding disc 2 and the grinding pattern 3 from grinding the glass substrate in the wrong direction. When the support rod 20 and the tilting plate 21 move upward, and the fixed block 51 is also located above the rotating shaft 5, when the top of the tilting plate 21 presses the second push switch 52, the servo motor 31 is started. At this time, the grinding disc 2 is 90 degrees, and the grinding disc 2 and the grinding pattern 3 can be used to grind the bottom of the glass substrate.

[0039] See also Figure 10-Figure 16 An arc-shaped limit groove 33 is provided on the outer wall of the ball shaft 11, and a friction block 30 is slidably connected to the inner wall of the arc-shaped limit groove 33. An arc-shaped guide groove 27 is provided on the base 1. One end of the friction block 30 extending to the outside of the arc-shaped limit groove 33 is tightly attached to the outer wall of the arc-shaped guide groove 27. One end of the connecting frame 4 is connected to the cavity. The outer wall of the servo motor 31 is fixedly connected to the inner wall of the cavity, and the driving end of the servo motor 31 is fixedly connected to the top of the grinding disc 2.

[0040] The ball shaft 11 is rotatably connected to the base 1. The ball shaft 11 supports the connecting ball 8 through the rotating rod 10 and the conical block 9 to prevent the connecting ball 8 from falling, so that the connecting ball 8 is supported on one side of the base 1. When the mechanical arm on the base 1 drives the first fixing rod 7 and the collar 6 to move, the collar 6 drives the sleeve 42 and the rotating shaft 5 to move. When the sleeve 42 and the rotating shaft 5 move up or move left and right, the connecting ball 8 will also move together. When the connecting ball 8 moves left and right, the rotating rod 10 and the conical block 9 will swing left and right accordingly, and the ball shaft 11 will swing left and right along the circular groove 32. The outer wall of the friction block 30 is tightly attached to the inner wall of the arc-shaped guide groove 27, so the friction block 30 will not swing left and right. When the ball shaft 11 swings left and right, the arc-shaped limit groove 33 will slide left and right along the friction block 30. When the connecting ball 8 moves upward, the conical block 9 and the rotating rod 10 will also swing upward, and the side of the ball shaft 11 connected to the rotating rod 10 will swing upward, and the side of the ball shaft 11 located inside the circular groove 32 and the arc guide groove 27 will swing downward. At this time, the ball shaft 11 will drive the friction block 30 to swing downward along the inner wall of the arc guide groove 27. Since the outer wall of the friction block 30 is tightly attached to the inner wall of the arc guide groove 27, the speed at which the friction block 30 slides along the inner wall of the arc guide groove 27 will be slowed down, and due to the friction between the friction block 30 and the arc guide groove 27, the friction block 30 will not slide along the arc guide groove 27 easily, which will cause the ball shaft 11 to not swing up and down easily. Therefore, when the non-ring 6 pulls the rotating shaft 5 up, the connecting ball 8 will not move downward easily due to its weight, and the friction between the friction block 30 and the arc guide groove 27 is greater than the weight of the grinding disc 2 itself, so it will not press the ball shaft 11 to swing downward easily. The cavity opened by the connecting frame 4 is located at one end above the connecting frame 4, and the servo motor 31 is fixedly installed in the cavity. The driving end of the servo motor 31 is fixedly connected to the top of the grinding disc 2, so the servo motor 31 is used to drive the grinding disc 2 to rotate, and the connecting frame 4 can move together with the grinding disc 2 to continuously drive the grinding disc 2 to rotate through the servo motor 31.

Claims

1. A glass substrate grinding device, comprising a base (1) and a grinding disc (2), wherein a mechanical arm is installed on the top of the base (1), and the outer periphery of the grinding disc (2) is provided with grinding patterns (3) in a "V" shape, characterized in that: include, A connecting ball (8) has one end connected to a rotating rod (10), and the rotating rod (10) is rotatably connected to the side wall of the base (1) via a ball shaft (11); The connecting ball (8) is provided with a mounting opening (12), and a rotating shaft (5) is rotatably connected to the connecting ball (8) opposite to the rotating rod (10), and one end of the rotating shaft (5) is rotatably connected to the grinding disc (2) via a connecting frame (4); A switching mechanism is arranged in the mounting opening (12), and the switching mechanism at least comprises an elastic roll (16) with torsional force, which is sleeved on the rotating shaft (5), one end of which is connected to the outer wall of the rotating shaft (5), and the other end of which is connected to the mechanical arm, and is used for causing the rotating shaft (5) to drive the grinding disc (2) to rotate until the tip of the grinding pattern (3) is always facing the forward direction of movement when the mechanical arm moves from left to right or from right to left.

2. A glass substrate grinding device as claimed in claim 1, characterized in that: include, The trigger mechanism comprises at least a trapezoidal block (15) which can slide left and right, wherein the free end of the elastic roll (16) is connected to the bottom of the trapezoidal block (15), and when the switching mechanism controls the trapezoidal block (15) to move left and right, the trapezoidal block (15) pulls the free end of the elastic roll (16) to move and triggers the rotation of the rotating shaft (5).

3. A glass substrate grinding device as claimed in claim 2, characterized in that: The trigger mechanism further comprises two inclined plates (21) symmetrically arranged on both sides of the trapezoidal block (15), and a support rod (20) is connected between the two inclined plates (21) for pulling the support rod (20) and the inclined plates (21) upward and pushing the trapezoidal block (15) to move close to the center of the support rod (20) when the switching mechanism moves upward.

4. A glass substrate grinding device as claimed in claim 3, characterized in that: The switching mechanism further comprises a first fixing rod (7), one end of the first fixing rod (7) being connected to the mechanical arm, a collar (6) being mounted on the end of the first fixing rod (7) away from the base (1), a sleeve (42) being sleeved on the outer wall of the rotating shaft (5), a plurality of convex teeth (43) being mounted on the outer wall of the rotating shaft (5), the convex teeth (43) being located at the end of the rotating shaft (5) away from the elastic roll (16), and a tooth groove (43) matching the convex teeth (43) being formed on the inner wall of the sleeve (42). 44), the convex teeth (43) are slidably connected to the tooth grooves (44), the collar (6) is sleeved on the outer wall of the sleeve (42), one end of the sleeve (42) is connected to the outer wall of the connecting frame (4), a circular baffle (45) is installed at the end of the sleeve (42) away from the connecting frame (4), the circular baffle (45) is provided with a plug hole (46), the rotating shaft (5) is inserted into the inside of the plug hole (46), and the inner wall of the plug hole (46) is against the outer wall of the rotating shaft (5).

5. A glass substrate grinding device as claimed in claim 4, characterized in that: The outer wall of the first fixing rod (7) is sleeved with an elliptical connecting ring (14), the outer wall of the elliptical connecting ring (14) is sleeved with a connecting block (24), the connecting block (24) is provided with a strip opening (25), the elliptical connecting ring (14) passes through the strip opening (25) and abuts against the inner wall of the strip opening (25), the trapezoidal block (15) is provided with two slots (28), the inner walls of the slots (28) are provided with a multi-stage telescopic rod (29), the top of the multi-stage telescopic rod (29) is connected to the bottom of the connecting block (24), a part of the support rod (20) is located inside the strip opening (25), and the outer wall of the support rod (20) does not contact the inner wall of the strip opening (25).

6. A glass substrate grinding device as claimed in claim 5, characterized in that: The connecting ball (8) has a chamber formed therein, and two fixing plates (13) are installed on the inner wall of the chamber. Two connecting plates (19) are connected between the inner walls of the two fixing plates (13). A spacing is left between the two connecting plates (19). The trapezoidal block (15) is slidably arranged in the spacing between the two connecting plates (19). A sliding groove (23) is formed on the outer wall of the connecting plate (19). Two outer walls of both sides of the trapezoidal block (15) are rotatably connected to two rollers (26), and the rollers (26) are located inside the sliding groove (23) and are slidably connected to the sliding groove (23).

7. A glass substrate grinding device as claimed in claim 6, characterized in that: Two sliding rods (18) are installed between the inner bottom wall and the inner top wall of the fixed plate (13); the inclined plate (21) is slidably connected to the outer wall of the sliding rod (18); the inclined plate (21) is provided with a through hole (22); two supporting rods (17) are installed on the inner wall of the chamber; the free end of the elastic roll (16) passes between the two supporting rods (17) and through the through hole (22) to be connected to the bottom of the trapezoidal block (15); the end of the rotating shaft (5) away from the connecting frame (4) is inserted into the interior of the connecting ball (8) and is rotatably connected to the inner wall of the chamber.

8. A glass substrate grinding device as claimed in claim 7, characterized in that: The outer wall of the connecting ball (8) is connected to one end of the rotating rod (10); a conical block (9) is installed at one end of the rotating rod (10) away from the connecting ball (8); the conical block (9) is conical; the end of the conical block (9) with a larger area is connected to one end of the rotating rod (10); and the end of the conical block (9) with a smaller area is connected to the ball shaft (11); and the base (1) is provided with a circular groove (32); The ball shaft (11) is located inside the circular groove (32) and is rotatably connected to the circular groove (32); the connecting ball (8) is provided with a mounting opening (12); the inner wall of the mounting opening (12) is provided with two second rotating shafts (39); the two second rotating shafts (39) are both located outside the two fixing plates (13); the outer walls of the second rotating shafts (39) are rotatably connected to a second fixing rod (36); a steel ball (37) is installed at the bottom end of the second fixing rod (36); and the outer wall of the connecting block (24) is provided with an extrusion plate (41); The two fixing plates (13) are each provided with a square socket (47) for inserting the extrusion plate (41), the two square sockets (47) are horizontally symmetrically arranged on the two fixing plates (13), the outer wall of the fixing plate (13) is provided with a mounting plate (48), the bottom of the mounting plate (48) is parallel to the inner top wall of the square socket (47), the top end of the second fixing rod (36) is located above the mounting plate (48) and abuts against the top of the mounting plate (48), and the inner wall of the mounting opening (12) is provided with two first rotating shafts (35), the first rotating shafts (35) are located below the steel ball (37); The outer wall of the first rotating shaft (35) is rotatably connected to a lever (34), one end of the lever (34) located inside the mounting opening (12) abuts against the outer wall of the steel ball (37), the base (1) is provided with two trapezoidal grooves (38), the two trapezoidal grooves (38) are respectively located on the left and right sides of the conical block (9), the end of the lever (34) away from the steel ball (37) extends into the trapezoidal groove (38), the outer wall of the conical block (9) is installed with a semicircular support plate (40), the semicircular support plate (40) is located at the end of the conical block (9) with a larger area, the outer wall of the lever (34) abuts against the top of the semicircular support plate (40), and the outer shape of the trapezoidal groove (38) is a trapezoidal shape that is wide at the top and narrow at the bottom.

9. A glass substrate grinding device as claimed in claim 8, characterized in that: A fixing block (51) is installed on the outer wall of the rotating shaft (5), and a gap is left between the fixing block (51) and the elastic roll (16). Two strip plates (49) are installed on the inner wall of the connecting ball (8), and the two strip plates (49) are respectively located on the left and right sides of the rotating shaft (5). A first push switch (50) electrically connected to the servo motor (31) is installed on the top of the strip plates (49), and a second push switch (52) electrically connected to the servo motor (31) is installed on the inner top wall of one of the fixing plates (13), and the second push switch (52) is located between the two sliding rods (18).

10. A glass substrate grinding device as claimed in claim 9, characterized in that: The outer wall of the ball shaft (11) is provided with an arc-shaped limit groove (33), the inner wall of the arc-shaped limit groove (33) is slidably connected with a friction block (30), the base (1) is provided with an arc-shaped guide groove (27), one end of the friction block (30) extending to the outside of the arc-shaped limit groove (33) is tightly attached to the outer wall of the arc-shaped guide groove (27), one end of the connecting frame (4) is connected to the cavity, the outer wall of the servo motor (31) is connected to the inner wall of the cavity, and the driving end of the servo motor (31) is connected to the top end of the grinding disc (2).

Images