Precision positioning conveying device and positioning method for automobile glass production line

Abstract

The present invention discloses a precise positioning and conveying device for an automobile glass production line and a positioning method thereof, which belongs to the field of automobile glass processing. It mainly comprises a frame, a workbench is provided on the frame, a positioning and moving mechanism is provided on the workbench, a plurality of preliminary positioning mechanisms and a supporting mechanism are slidably connected to the positioning and moving mechanism, the supporting mechanism is fixedly connected to the preliminary positioning mechanism, each preliminary positioning mechanism is provided with a floating positioning mechanism, a dome support head or a conical positioning component is fixedly installed on the floating positioning mechanism, and at least three uniformly distributed precise positioning mechanisms are provided between the conical positioning component and the floating positioning mechanism. The present invention is used in conjunction with an existing automobile glass production line to realize batch automatic precise positioning and conveying of special-shaped automobile glass and regular automobile glass, facilitate subsequent precise trimming work, and greatly improve processing accuracy and work efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle glass processing such as automobiles, engineering vehicles, and agricultural machinery assembly, and more specifically, relates to a precise positioning and conveying device for an automobile glass production line and a positioning method thereof. Background Art

[0002] Due to its unique safety properties, automotive glass has higher performance and safety requirements than the construction industry. The traditional automotive glass production line does not include the process of water jet drilling, which needs to be completed as a separate process. There are many special-shaped glasses in automotive glass. Special-shaped glass usually has a certain curvature and different shapes. After the periphery is ground by the edge grinding production line, high-pressure water jet equipment, hereinafter referred to as "water jet", is required to cut specific holes. The edges of the holes cut by the water jet are relatively sharp. If the edges are not chamfered and trimmed, the glass will explode when it is subsequently tempered in the tempering furnace. At the same time, the risk of self-explosion of static glass in the later stage will also greatly increase, and it is not conducive to personnel installation. When the sharp edge of the inner hole of the glass contacts a hard object, the tempered glass will also shatter.

[0003] There are two general ways to process the edge of holes in the current industry. One is that professionals use a handheld conical chamfering tool to grind and blunt the surface of the hole. After processing one side, the glass is turned over to process the other side. This results in high labor intensity during transportation, unstable chamfering quality, and easy scratches and abrasions on the glass, resulting in poor product quality and low efficiency.

[0004] The other is to use a three-axis CNC machine tool to install a small grinding wheel to grind the edge of the inner hole, combined with a glass positioning platform disclosed in the patent with the authorization announcement number "CN116142794B", including an automated glass positioning platform, the automated glass positioning platform includes an operating table, a placement frame, a longitudinal regulator, a transverse pusher, a flip-type clamping mechanism and a movable support plate, the placement frame is divided into two groups and symmetrically installed on both sides of the operating table, the side wall of the placement frame is longitudinally provided with two groups of guide grooves and the top is provided with a strip groove, the longitudinal regulator is movably arranged in the two groups of guide grooves and the power output end is connected with a bearing plate, the bearing plate is located on the inner side of the placement groove, the transverse pusher includes a driver and a push plate installed on the driver, the push plate is slidably arranged on the top of the placement frame, and two groups of side plates are symmetrically installed on the left and right ends of the operating table. The glass positioning platform is used to realize the automated loading, placement and positioning and fixing of glass, thereby improving the efficiency of glass processing.

[0005] Although the positioning table can realize the automatic loading, placement and positioning and fixing of glass, the following deficiencies still exist in actual use: 1. The structure is only applicable to flat and regular plane glass, and is not applicable to the positioning and fixing of special-shaped automobile glass, resulting in the positioning accuracy not meeting the standard and the inability to realize automatic trimming operation; 2. Due to the different tolerance bands of various processes in the automobile glass production line, such as the tolerance of water jet cutting holes is ±1.5mm, and the tolerance of inner hole trimming is 0.5-1mm, if the positioning of inner hole trimming is inaccurate and deviates from the above tolerance, in actual trimming, it will lead to the inability to trim the edge of the inner hole at all, making it very easy to self-explode during subsequent glass tempering, and the product scrap rate is high; 3. At present, there is no machine that can replace manual high-precision positioning of automobile special-shaped glass to assist in the automated production of automobile special-shaped glass. Summary of the invention

[0006] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art and provide a precise positioning and conveying device for an automobile glass production line and a positioning method thereof, which can be used in conjunction with the existing automobile glass production line to realize batch automated precise positioning and conveying of special-shaped automobile glass and regular automobile glass, facilitate subsequent precise trimming work, and greatly improve processing accuracy and work efficiency.

[0007] The precise positioning and conveying device for the automobile glass production line comprises a frame, a workbench is provided on the frame, a positioning moving mechanism is provided on the workbench, a plurality of preliminary positioning mechanisms and a supporting mechanism are slidably connected to the positioning moving mechanism, the supporting mechanism is fixedly connected to the preliminary positioning mechanism, each preliminary positioning mechanism is provided with a floating positioning mechanism, a dome supporting head or a conical positioning component is fixedly installed on the floating positioning mechanism, and at least three evenly distributed precise positioning mechanisms are provided between the conical positioning component and the floating positioning mechanism.

[0008] Preferably, the positioning and moving mechanism includes at least one group of longitudinal sliding components, the longitudinal sliding components include two parallel longitudinal guide rails, and longitudinal racks are respectively provided on the sides away from each other of the two longitudinal guide rails. The longitudinal racks are arranged in parallel with the longitudinal guide rails. Multiple groups of transverse sliding components are slidably connected to the longitudinal sliding components. The transverse sliding components include parallel transverse guide rails, transverse racks and transmission shafts. The bottoms of both ends of the transverse guide rails and the transverse racks are fixedly connected with a first slider slidably connected to the longitudinal guide rails. The transmission shaft is rotatably connected to the first slider through a bearing seat. The two ends of the transmission shaft are respectively fixedly connected with a first gear meshing with the longitudinal racks. A sliding groove is opened in the length direction of the transmission shaft to facilitate the transverse sliding of the preliminary positioning mechanism.

[0009] Preferably, the preliminary positioning mechanism includes a positioning plate, and a floating positioning mechanism is arranged on the positioning plate. A transverse motor is fixedly connected to one side of the positioning plate, and the output end of the transverse motor is provided with a transverse driving gear meshing with the transverse rack. The bottom of the positioning plate is fixedly connected with a second slider that cooperates with the transverse guide rail and a longitudinal motor for driving the positioning plate to move transversely. The output end of the longitudinal motor is provided with a gear box, which is fixedly installed at the bottom of the positioning plate, and the transmission shaft passes through the gear box.

[0010] Preferably, the positioning plate is provided with a high-position water outlet and a low-position water outlet, the high-position water outlet is in a normally open state, the low-position water outlet is in a normally closed state, and a detachable sealing plug is provided on the low-position water outlet.

[0011] Preferably, the gear box includes a shell, and mounting holes matching the transmission shaft are respectively opened on both sides of the shell, and meshing sliding gears and longitudinal drive gears are provided in the shell, the longitudinal drive gear is connected to the longitudinal motor, the sliding gear is sleeved on the transmission shaft, and an inner sliding block matching the slide groove is fixedly connected in the sliding gear, the two sides of the sliding gear are respectively fixedly connected with optical axes, and the outer side wall of the optical axis is sleeved with limit bearings, the outer rings of the two limit bearings are jointly fixedly connected with a fork, and the fork is fixedly connected to the shell.

[0012] Preferably, the supporting mechanism includes an upper supporting suction cup and a lower supporting suction cup which are arranged up and down and fixedly connected. The upper supporting suction cup and the lower supporting suction cup are fixedly connected to the positioning plate through a clamp. The upper supporting suction cup and the lower supporting suction cup are respectively connected to an exhaust pipe 2, and the exhaust pipe 2 is connected to the fan through a hose.

[0013] Preferably, the floating positioning mechanism includes a floating suction cup, which is provided with an exhaust pipe for vacuuming the floating suction cup, the exhaust pipe is connected to the negative pressure mechanism through a hose, and a positioning cylinder is fixedly connected to the floating suction cup, and the bottom of the dome support head or the conical positioning assembly is connected to the protruding end of the positioning cylinder.

[0014] Preferably, the conical positioning assembly comprises a conical positioning head, a fixing plate is provided at the bottom of the conical positioning head, and at least three evenly distributed elastic ball head sleeves are fixedly connected to the bottom of the fixing plate.

[0015] Preferably, the precise positioning mechanism includes a positioning seat, a fine-tuning sliding seat is slidably connected inside the positioning seat, a guide block is fixed on the fine-tuning sliding seat, a guide groove that cooperates with the guide block is opened on the positioning seat, a limit plate for fine-tuning the sliding seat to limit the rise is provided above the positioning seat, the fine-tuning sliding seat is rotatably connected with a rotating shaft, the rotating shaft is fixedly connected with a fine-tuning gear and a ratchet, a matching pawl is provided on the outer periphery of the ratchet, the pawl is rotatably connected to the fine-tuning sliding seat through a connecting shaft, the connecting shaft passes through the fine-tuning sliding seat, and a reset knob is provided at one end of the connecting shaft located outside the fine-tuning sliding seat; a fine-tuning rack that meshes with the fine-tuning gear is slidably connected inside the fine-tuning sliding seat, the upper end of the fine-tuning rack passes through the fine-tuning sliding seat, and is fixedly connected with a positioning ball head that rotatably cooperates with the elastic ball head sleeve, a fixed block is fixedly connected inside the fine-tuning sliding seat, and a spring is provided between the fixed block and the end of the pawl away from the ratchet.

[0016] The precise positioning method for the automobile glass production line adopts the precise positioning and conveying device for the automobile glass production line, and comprises the following steps:

[0017] S1. The robot moves the glass to be processed to the top of the workbench and stops at a position 5-10mm away from the bottom of the glass;

[0018] S2. The preliminary positioning mechanism starts after sensing the glass. Under the guidance of the positioning moving mechanism, the preliminary positioning mechanism and the floating positioning mechanism with the conical positioning component move below the inner hole of the glass. When the conical positioning component senses the inner hole of the glass, the preliminary positioning mechanism stops moving. At this time, the floating positioning mechanism is in a movable state; the floating positioning mechanism with the dome support head and the preliminary positioning mechanism move to the position where the glass has not been opened, playing the role of auxiliary support;

[0019] S3. After the preliminary positioning mechanism moves to a suitable position, the manipulator places the glass to be processed on the supporting mechanism. At this time, the lower supporting suction cup is vacuumed to fix it to the workbench. At the same time, air is blown to the upper supporting suction cup to make the glass on the upper supporting suction cup float and free.

[0020] S4. The positioning cylinder in the floating positioning mechanism is started, driving the corresponding conical positioning assembly and the dome support head to rise. The conical positioning assembly pulls multiple precise positioning mechanisms to rise. Since some glass is a special-shaped structure with an arc, when the conical positioning head cooperates with the inner hole of the glass, an angle deflection will occur, that is, the extension amounts of multiple precise positioning mechanisms are different. During the rising process of the conical positioning head in the conical positioning assembly, the conical positioning head and the inner hole of the glass gradually become concentric, and its conical surface is fully combined with the inner hole of the glass. In this process, the conical positioning assembly drives the floating positioning mechanism and the glass to make fine adjustments in position;

[0021] S5. After the conical positioning head is fully matched with the inner hole of the glass, the negative pressure mechanism is started to vacuum the floating suction cup, so that the floating positioning mechanism and the preliminary positioning mechanism are fixed together;

[0022] S6. After the inner holes of multiple glasses are matched with the corresponding conical positioning heads, all the positioning cylinders are contracted synchronously to drive the glass to fall to the top of the supporting mechanism. At this time, the upper supporting suction cup is vacuumed to fix the bottom of the glass to the upper supporting suction cup, so as to facilitate the subsequent trimming of the inner holes of the glass. After the trimming is completed, it is transported away by the robot;

[0023] S7. Repeat S3 to S6 until all the glass in this batch is processed.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention sets a positioning movement mechanism, a preliminary positioning mechanism and a supporting mechanism. The positioning movement mechanism realizes automatic lateral movement and automatic longitudinal movement of the preliminary positioning mechanism, and the lateral movement does not interfere with the supporting mechanism. A floating positioning mechanism is added to the preliminary positioning mechanism. The floating positioning mechanism cooperates with the conical positioning assembly to realize that during the cooperation between the conical positioning assembly and the inner hole of the glass, the floating positioning mechanism and the glass can be adaptively fine-tuned in position, so that the positioning of the inner hole of the glass is more accurate.

[0026] 2. A plurality of evenly distributed precise positioning mechanisms are added between the conical positioning assembly and the positioning cylinder. The precise positioning mechanism is used for precise angular positioning of the inner hole of the special-shaped glass with an arc. The conical positioning assembly rises, and the elastic ball head sleeve pulls the positioning ball head to rise. Due to the limitation of the pawl and the ratchet, during the initial rise, the fine-tuning rack will pull the entire fine-tuning sliding seat to rise along the guide groove. When the fine-tuning sliding seat touches the limit plate, the fine-tuning sliding seat is blocked and no longer rises. At this time, the positioning cylinder drives the conical positioning head to continue to rise, and the conical positioning head pulls the fine-tuning rack to extend. Since the inner hole of the special-shaped glass has a certain deflection angle, the angle deflection will also occur when the conical positioning head cooperates with the inner hole of the glass. At this time, the extension amount of the fine-tuning racks in different precise positioning mechanisms is different, so that the deflection angle of the conical positioning assembly will be fixed. This will be used as a reference for subsequent glass positioning, thereby achieving fast and accurate positioning.

[0027] 3. The present invention can be used in conjunction with an existing automobile glass production line to achieve batch automated and precise positioning of special-shaped automobile glass and regular automobile glass, facilitate subsequent trimming work, and greatly improve processing accuracy and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 for Figure 1 A partial enlarged view of part A;

[0030] Figure 3 It is a schematic diagram of the coordination between the positioning moving mechanism and the preliminary positioning mechanism;

[0031] Figure 4 It is a schematic diagram of the connection between the preliminary positioning mechanism and the supporting mechanism;

[0032] Figure 5 It is a schematic diagram of the top view of the preliminary positioning mechanism and the supporting mechanism;

[0033] Figure 6 It is a schematic diagram of the connection between the conical positioning component and the precise positioning mechanism;

[0034] Figure 7 A schematic diagram of the external structure of the precise positioning mechanism;

[0035] Figure 8 A schematic diagram of the internal structure of the precise positioning mechanism;

[0036] Fig. 9 It is a structural schematic diagram of the fine-tuning sliding seat;

[0037] Fig.10 It is a structural schematic diagram of a conical positioning component;

[0038] Fig.11 Schematic diagram of the internal structure of the gearbox;

[0039] Fig.12 This is a schematic diagram of the gearbox disassembly;

[0040] Fig.13 Schematic diagram of the internal structure of the sliding gear;

[0041] Fig.14 This is a reference diagram of the use status of the present invention.

[0042] In the figure, 1, frame; 101, water outlet; 102, workbench; 2, positioning and moving mechanism; 201, longitudinal guide rail; 202, limit seat; 203, longitudinal rack; 204, first slider; 205, transmission shaft; 2051, slide; 206, first gear; 207, transverse rack; 208, transverse guide rail; 3, preliminary positioning mechanism; 301, positioning plate; 302, high-position water outlet; 303, low-position water outlet; 304, water outlet guide hose; 305, transverse motor; 306, transverse drive gear; 307, longitudinal motor; 308, second slider; 309, gear box; 3091, fork; 30911, limit bearing; 3092, longitudinal drive gear; 3093, sliding gear; 30931, optical axis; 30932, inner slider; 3094, mounting hole;

[0043] 4. Dome support head; 5. Conical positioning assembly; 501. Conical positioning head; 502. Fixed plate; 503. Elastic ball head sleeve; 6. Floating positioning mechanism; 601. Floating suction cup 1; 602. Exhaust pipe 1; 603. Positioning cylinder; 7. Support mechanism; 701. Upper support suction cup; 702. Lower support suction cup; 703. Clamp; 704. Exhaust pipe 2; 8. Precise positioning mechanism; 801. Positioning seat; 8011. Guide groove; 8012. Limiting plate; 802. Fine-tuning sliding seat; 8021. Guide block; 8022. Fixed block; 8023. Through hole; 803. Positioning ball head; 804. Reset knob; 805. Fine-tuning gear; 806. Ratchet; 807. Paw; 808. Spring; 809. Fine-tuning rack; 9. Manipulator. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings:

[0045] The directional nouns involved in the detailed description paragraphs are only for the convenience of those skilled in the art to understand the technical solutions described in this application according to the visual orientation shown in the accompanying drawings. Unless otherwise clearly specified and limited, the terms "setting", "installation", "connection", etc. should be understood in a broad sense. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0046] Since the inner holes of automobile glass are opened by CNC control, the spacing between the inner holes in the same piece of automobile glass is fixed, while there is a certain tolerance between the inner holes and the edge of the automobile glass. When positioning the inner holes of the glass, the inner holes cannot be accurately positioned by the edge of the glass. When trimming, the trimming parameters usually refer to the opening parameters. The disadvantage is that if one of the inner holes is not positioned accurately, the trimming of all the inner holes will be offset. The risk of self-explosion when the glass is subsequently put into the tempering furnace for tempering is very high, and the product qualification rate is low. Therefore, it is very important to accurately position the inner holes.

[0047] like Figures 1 to 13As shown, the precise positioning and conveying device of the automobile glass production line includes a frame 1, which plays a supporting role. A workbench 102 is arranged on the frame 1, and baffles are arranged around the workbench 102. The baffles are used to prevent the water flowing out of the trimming equipment from polluting the ground during processing. A water outlet 101 is opened on the workbench 102, and the water outlet 101 is in a normally closed state. A drain pipe is arranged at the bottom of the water outlet 101, and the drain pipe is connected to the sewage discharge equipment. When drainage is required, the water outlet 101 is opened to clean the water on the workbench 102 uniformly. A positioning moving mechanism 2 is provided on the workbench 102, and a plurality of preliminary positioning mechanisms 3 and supporting mechanisms 7 are slidably connected to the positioning moving mechanism 2. The positioning moving mechanism 2 is used for automatic positioning of the preliminary positioning mechanism 3 and the supporting mechanism 7. The supporting mechanism 7 is fixedly connected to the preliminary positioning mechanism 3 to achieve synchronous movement of the supporting mechanism 7 and the preliminary positioning mechanism 3. A floating positioning mechanism 6 is provided on each preliminary positioning mechanism 3. The floating positioning mechanism 6 can move within the preliminary positioning mechanism 3. When accurately positioning, the position is adjusted according to the specific position of the inner hole of the glass. A dome support head 4 or a conical positioning component 5 is fixedly installed on the floating positioning mechanism 6, wherein the dome support head 4 is used for auxiliary support of glass without openings, and the conical positioning component 5 is used for accurate positioning with the inner hole of the glass. Three or more uniformly distributed precise positioning mechanisms 8 are provided between the conical positioning component 5 and the floating positioning mechanism 6. In this embodiment, it is preferred that there are three precise positioning mechanisms 8. The precise positioning mechanism 8 is used for accurate angle positioning of the inner hole of the special-shaped glass with a curvature.

[0048] like Figure 3 As shown, the positioning movement mechanism 2 includes at least one set of longitudinal sliding components. In this embodiment, there are two sets of longitudinal sliding components. Each set of longitudinal sliding components includes two parallel longitudinal guide rails 201. The two ends of the longitudinal guide rails 201 are respectively fixedly connected with limit seats 202 for limiting. The two longitudinal guide rails 201 are respectively provided with longitudinal racks 203 on the sides away from each other. The longitudinal racks 203 are arranged on the outer sides away from the longitudinal guide rails 201, which can avoid the preliminary positioning mechanism 3 and the support mechanism 7 from interfering with the longitudinal racks 203 when they move horizontally. The longitudinal racks 203 and the longitudinal guide rails 201 is arranged in parallel, and multiple groups of transverse sliding components are slidably connected to the longitudinal sliding component. The transverse sliding component includes a transverse guide rail 208, a transverse rack 207 and a transmission shaft 205 arranged in parallel. The transverse guide rail 208 is arranged perpendicular to the longitudinal guide rail 201. The bottoms of both ends of the transverse guide rail 208 and the transverse rack 207 are fixedly connected with a first slider 204 that is slidably connected to the longitudinal guide rail 201. The transmission shaft 205 is rotatably connected to the first slider 204 through a bearing seat. The two ends of the transmission shaft 205 are respectively fixedly connected with a first gear 206 that meshes with the longitudinal rack 203. Fig.11 and Fig.12 As shown, a slide groove 2051 is provided in the length direction of the transmission shaft 205 to facilitate the lateral sliding of the preliminary positioning mechanism 3 .

[0049] like Figure 4 and Figure 5 As shown, the preliminary positioning mechanism 3 includes a positioning plate 301, and a water retaining plate for retaining water is sealed around the upper end surface of the positioning plate 301. The floating positioning mechanism 6 is movably arranged on the positioning plate 301. A horizontal motor 305 is fixedly connected to one side of the positioning plate 301. The output end of the horizontal motor 305 is provided with a horizontal driving gear 306 meshing with the horizontal rack 207. The bottom of the positioning plate 301 is fixedly connected with a second slider 308 matched with the horizontal guide rail 208 and a longitudinal motor 307 for driving the positioning plate 301 to move horizontally. The output end of the longitudinal motor 307 is provided with a gear box 309, which is fixedly installed at the bottom of the positioning plate 301, and the transmission shaft 205 passes through the gear box 309. The gear box 309 can slide back and forth on the transmission shaft 205 following the positioning plate 301.

[0050] The positioning plate 301 is provided with a plurality of high-position water outlets 302 and a low-position water outlet 303, which are respectively arranged at the four corners of the positioning plate 301, the high-position water outlet 302 is in a normally open state, and the high-position water outlet 302 is 5-8 mm higher than the end surface of the positioning plate 301, the low-position water outlet 303 is in a normally closed state, and a removable sealing plug is provided on the low-position water outlet 303, and the low-position water outlet 303 is flush with the end surface of the positioning plate 301. The high-position water outlet 302 allows a certain height of water to be stored in the positioning plate 301, and the water can reduce the friction between the floating positioning mechanism 6 and the positioning plate 301, so that the floating positioning mechanism 6 can slide more easily.

[0051] like Fig.11 and Fig.12As shown, the gear box 309 includes a shell, and mounting holes 3094 matching the transmission shaft 205 are respectively opened on both sides of the shell. Through the mounting holes 3094, the gear box 309 can slide better, and a meshing sliding gear 3093 and a longitudinal driving gear 3092 are provided in the shell. The longitudinal driving gear 3092 is connected to the output end of the longitudinal motor 307. The sliding gear 3093 is sleeved on the transmission shaft 205, and an inner sliding block 30932 matching the sliding groove 2051 is fixedly connected in the sliding gear 3093. Optical axes 30931 are respectively fixedly connected on both sides of the sliding gear 3093. A limit bearing 30911 is sleeved on the outer wall of the optical axis 30931. The optical axis 30931 can rotate in the limit bearing 30911. The outer rings of the two limit bearings 30911 are commonly fixedly connected with a fork 3091, and the fork 3091 is fixedly connected to the shell. The longitudinal motor 307 is started, and the longitudinal motor 307 drives the sliding gear 3093 to rotate through the meshing longitudinal drive gear 3092 and the sliding gear 3093, and the sliding gear 3093 drives the transmission shaft 205 to rotate, and the first gear 206 on the transmission shaft 205 meshes with the longitudinal rack 203, thereby driving the entire preliminary positioning mechanism 3 to move longitudinally; when lateral movement is required, the lateral motor 305 is started, and the lateral drive gear 306 meshes with the lateral rack 207, and the positioning plate 301 and the gear box 309 drive the fork 3091 to drive the sliding gear 3093 to slide laterally on the transmission shaft 205, thereby realizing the lateral movement of the preliminary positioning mechanism 3.

[0052] The support mechanism 7 includes an upper support suction cup 701 and a lower support suction cup 702 which are arranged up and down and fixedly connected, wherein the suction cup structures of the upper support suction cup 701 and the lower support suction cup 702 are prior art, the upper support suction cup 701 and the lower support suction cup 702 are fixedly connected to the positioning plate 301 through a clamp 703, the support mechanism 7 can slide on the workbench 102 along with the positioning plate 301, and the upper support suction cup 701 and the lower support suction cup 702 are respectively connected to an exhaust pipe 2 704, and the exhaust pipe 2 704 is connected to the fan through a hose. During installation, the support mechanism 7 is preferably arranged on the side away from the edge of the glass, and the support mechanism 7 can be adjusted according to the position of the inner hole on the installation side of the positioning plate 301.

[0053] The floating positioning mechanism 6 includes a floating suction cup 601. The structure of the floating suction cup 601 is the same as the suction cup structure in the supporting mechanism 7. The floating suction cup 601 is provided with an exhaust pipe 602 for evacuating the suction cup. The exhaust pipe 602 is connected to the negative pressure mechanism through a hose. A positioning cylinder 603 is fixedly connected to the floating suction cup 601. The bottom of the dome support head 4 or the conical positioning component 5 is connected to the protruding end of the positioning cylinder 603. During installation, the dome support head 4 is threadedly connected to the protruding end of the positioning cylinder 603.

[0054] like Fig.10As shown, the conical positioning assembly 5 includes a conical positioning head 501, and a fixing plate 502 is provided at the bottom of the conical positioning head 501. During processing, the fixing plate 502 and the conical positioning head 501 can be formed together, or the fixing plate 502 and the conical positioning head 501 can be designed as a split type. When in use, they are fixed as a whole through a card slot. At least three evenly distributed elastic ball head sleeves 503 are fixedly connected to the bottom of the fixing plate 502. The elastic ball head sleeve 503 facilitates the installation of the positioning ball head 803, and there is a certain friction between the elastic ball head sleeve 503 and the positioning ball head 803 to prevent it from rotating at will.

[0055] like Figures 7 to 9 As shown, the precise positioning mechanism 8 includes a positioning seat 801, the bottoms of the positioning seats 801 of the multiple precise positioning mechanisms 8 are all fixed on the support, the support is fixedly connected to the positioning cylinder 603, a fine-tuning sliding seat 802 is slidably connected in the positioning seat 801, guide blocks 8021 are fixed on both sides of the fine-tuning sliding seat 802, a guide groove 8011 matching with the guide block 8021 is provided in the positioning seat 801, a limit plate 8012 for limiting the rise of the fine-tuning sliding seat 802 is provided above the positioning seat 801, a rotating shaft is rotatably connected in the fine-tuning sliding seat 802, a fine-tuning gear 805 and a ratchet 806 are fixedly connected to the rotating shaft, a matching pawl 807 is provided on the outer periphery of the ratchet 806, the pawl 807 is rotatably connected to the fine-tuning sliding seat 802 through a connecting shaft, and the connecting shaft passes through The fine-tuning sliding seat 802 is provided with a reset knob 804 at one end of the connecting shaft located outside the fine-tuning sliding seat 802; a fine-tuning rack 809 meshing with the fine-tuning gear 805 is slidably connected in the fine-tuning sliding seat 802; a through hole 8023 is provided at the upper end of the fine-tuning sliding seat 802; the upper end of the fine-tuning rack 809 passes through the through hole 8023 and slidably cooperates with the through hole 8023; the upper end of the fine-tuning rack 809 passes through the fine-tuning sliding seat 802 and is fixedly connected with a positioning ball head 803 that rotates with the elastic ball head cover 503; a fixed block 8022 is fixedly connected in the fine-tuning sliding seat 802; a spring 808 is provided between the fixed block 8022 and the end of the ratchet 807 away from the ratchet 806; the two ends of the spring 808 are respectively fixedly connected to the fixed block 8022 and the ratchet 807. The ratchet 807 makes the fine-tuning rack 809 only rise and not fall, thereby playing a locking role. When the inner hole of the glass of the same specification is trimmed, the pawl 807 is disengaged from the ratchet wheel 806 by pressing the reset knob 804, and the fine-tuning rack 809 can be lowered and reset.

[0056] like Fig.14As shown, a precise positioning method for an automobile glass production line is used, using the precise positioning and conveying device for automobile glass production line and automobile glass production line. The manipulator 9 in the automobile glass production line is installed on one side of the frame 1, which is used for adsorption and transportation of automobile glass. Those skilled in the art can use the existing technology they have mastered, such as installing corresponding mechanical limit switches or photoelectric sensors to limit the specified position of each execution component in the following action process; in order to realize automated operation, the present invention can use numerical control technology or PLC to control the action of each execution component, which specifically includes the following steps:

[0057] S1, the robot 9 moves the glass to be processed to the top of the workbench 102, and stops at a position 5-10 mm away from the bottom of the glass. At this time, the glass is fixed by adsorption by the robot 9;

[0058] S2. The preliminary positioning mechanism 3 is equipped with an induction switch. After the induction switch senses the glass, the transverse motor 305 and the longitudinal motor 307 are started. The transverse motor 305 drives the transverse driving gear 306 to mesh with the transverse rack 207, and the longitudinal motor 307 drives the longitudinal driving gear 3092 to mesh with the sliding gear 3093. Under the guidance of the positioning and moving mechanism, the preliminary positioning mechanism 3 and the floating positioning mechanism 6 with the conical positioning component 5 move below the inner hole of the glass. The conical positioning component 5 is provided with an induction device for sensing the inner hole of the glass. When the conical positioning component 5 senses the inner hole of the glass, the transverse motor 305 and the longitudinal motor 307 on the preliminary positioning mechanism 3 stop working, so that the preliminary positioning mechanism 3 stops moving. At this time, the floating positioning mechanism 6 is in a movable state; the floating positioning mechanism 6 with the dome support head 4 and the preliminary positioning mechanism 3 move to the position where the glass is not opened, playing the role of auxiliary support;

[0059] S3, after the preliminary positioning mechanism 3 drives the supporting mechanism 7 to move to a suitable position, the suitable position is based on the ability of the conical positioning component 5 to sense the inner hole of the glass, the manipulator 9 places the glass to be processed on the supporting mechanism 7, at this time, the lower supporting suction cup 702 is vacuumed to make it adsorbed and fixed to the workbench 102 to prevent the supporting mechanism 7 and the preliminary positioning mechanism 3 from moving, and at the same time, the upper supporting suction cup 701 is blown to make the glass on the upper supporting suction cup 701 in a floating and free state;

[0060] S4, the positioning cylinder 603 in the floating positioning mechanism 6 is started, driving the corresponding conical positioning assembly 5 and the dome support head 4 to rise, and the conical positioning assembly 5 pulls the multiple precise positioning mechanisms 8 to rise. The specific process is: the protruding end of the positioning cylinder 603 extends, driving the conical positioning assembly 5 to rise, and the elastic ball head cover 503 pulls the positioning ball head 803 to rise. Due to the limit of the pawl 807 and the ratchet 806, during the initial rise, the fine-tuning rack 809 will pull the entire fine-tuning sliding seat 802 to rise along the guide groove 8011. When the fine-tuning sliding seat 802 touches the limit plate 8012, the fine-tuning sliding seat 802 is blocked and no longer rises. At this time, the positioning cylinder 60 3 drives the conical positioning head 501 to continue to rise, and the conical positioning head 501 pulls the fine-tuning rack 809 to extend. Since some glasses are of a curved special-shaped structure, when the conical positioning head 501 cooperates with the inner hole of the glass, an angle deflection will occur. At this time, the extension amounts of the fine-tuning racks 809 in different precise positioning mechanisms 8 are different, that is, the extension amounts of multiple precise positioning mechanisms 8 are different. During the rising process of the conical positioning head 501 in the conical positioning assembly 5, the conical positioning head 501 gradually becomes concentric with the inner hole of the glass, and its conical surface is fully combined with the inner hole of the glass. In this process, the conical positioning assembly 5 will drive the floating positioning mechanism 6 and the glass to fine-tune the position in order to cooperate with the inner hole of the glass;

[0061] S5, after the conical positioning head 501 is fully matched with the inner hole of the glass, the negative pressure mechanism is started to evacuate the floating suction cup 601, so that the floating positioning mechanism 6 and the preliminary positioning mechanism 3 are fixed together. At this time, the position and deflection angle of the conical positioning head 501 are fixed;

[0062] S6. After the inner holes of multiple glasses are matched with the corresponding conical positioning heads 501, all the positioning cylinders 603 are contracted synchronously, and the positioning cylinders 603 drive the conical positioning heads 501 to descend. Since the pawl 807 is stuck with the ratchet wheel 806, the fine-tuning rack 809 cannot descend, so that the different extension amounts of the multiple precise positioning mechanisms 8 are fixed. At this time, the fine-tuning sliding seat 802 descends along the guide groove 8011 until the conical positioning head 501 descends and drives the glass to fall to the top of the supporting mechanism 7. At this time, the upper supporting suction cup 701 is vacuumed to fix the bottom of the glass with the upper supporting suction cup 701, so as to facilitate the subsequent trimming of the inner holes of the glass. After the trimming is completed, it is transported away by the robot 9;

[0063] S7, repeat S3 to S6 until all the glass in this batch is processed. Taking the positioning position of the first glass as a reference, the subsequent glass can be automatically moved to a suitable position when the position and deflection angle of the conical positioning head 501 are fixed, and the edge trimming process is continued using the opening parameters, so that high-precision glass with high uniformity and small tolerance range can be obtained.

[0064] The tolerance range of the glass inner hole processed by the present invention can be controlled within 0.1-0.2 mm, and automatic precise positioning is achieved without manual intervention, which greatly improves the accuracy and uniformity of subsequent inner hole trimming.

[0065] Finally, although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A precise positioning and conveying device for an automobile glass production line, comprising a frame (1), a workbench (102) being provided on the frame (1), and characterized in that: The workbench (102) is provided with a positioning movement mechanism (2), a plurality of preliminary positioning mechanisms (3) and a support mechanism (7) are slidably connected to the positioning movement mechanism (2), the support mechanism (7) is fixedly connected to the preliminary positioning mechanism (3), each preliminary positioning mechanism (3) is provided with a floating positioning mechanism (6), a dome support head (4) or a conical positioning component (5) is fixedly mounted on the floating positioning mechanism (6), and at least three uniformly distributed precise positioning mechanisms (8) are provided between the conical positioning component (5) and the floating positioning mechanism (6); The floating positioning mechanism (6) comprises a floating suction cup (601), on which is provided an exhaust pipe (602) for evacuating the floating suction cup (601), the exhaust pipe (602) being connected to the negative pressure mechanism via a hose, a positioning cylinder (603) being fixedly connected to the floating suction cup (601), and the bottom of the dome support head (4) or the conical positioning assembly (5) being connected to the protruding end of the positioning cylinder (603).

2. The precise positioning and conveying device for automobile glass production line according to claim 1, characterized in that: The positioning movement mechanism (2) comprises at least one set of longitudinal sliding components, the longitudinal sliding components comprising two longitudinal guide rails (201) arranged in parallel, longitudinal racks (203) being respectively arranged on the sides of the two longitudinal guide rails (201) which are far from each other, the longitudinal racks (203) being arranged in parallel with the longitudinal guide rails (201), a plurality of sets of transverse sliding components being slidably connected to the longitudinal sliding components, the transverse sliding components comprising transverse guide rails (208) arranged in parallel, transverse racks (207) and transmission shafts (205), first sliders (204) being slidably connected to the longitudinal guide rails (201) being fixedly connected at the bottoms of both ends of the transverse guide rails (208) and the transverse racks (207), the transmission shaft (205) being rotatably connected to the first sliders (204) via a bearing seat, first gears (206) meshing with the longitudinal racks (203) being respectively fixedly connected at both ends of the transmission shaft (205), and a slide groove (2051) being provided in the length direction of the transmission shaft (205) for facilitating the transverse sliding of the preliminary positioning mechanism (3).

3. The precise positioning and conveying device for automobile glass production line according to claim 2, characterized in that: The preliminary positioning mechanism (3) comprises a positioning plate (301), a floating positioning mechanism (6) being arranged on the positioning plate (301), a transverse motor (305) being fixedly connected to one side of the positioning plate (301), an output end of the transverse motor (305) being provided with a transverse driving gear (306) meshing with a transverse rack (207), a second slider (308) cooperating with a transverse guide rail (208) and a longitudinal motor (307) for driving the positioning plate (301) to move transversely being fixedly connected to the bottom of the positioning plate (301), a gear box (309) being fixedly mounted on the bottom of the positioning plate (301), and a transmission shaft (205) passing through the gear box (309).

4. The precise positioning and conveying device for automobile glass production line according to claim 3, characterized in that: The positioning plate (301) is provided with a high-position water outlet (302) and a low-position water outlet (303); the high-position water outlet (302) is in a normally open state, the low-position water outlet (303) is in a normally closed state, and a detachable sealing plug is provided on the low-position water outlet (303).

5. The precise positioning and conveying device for automobile glass production line according to claim 4, characterized in that: The gear box (309) comprises a housing, and mounting holes (3094) matching with the transmission shaft (205) are respectively provided on both sides of the housing. A meshing sliding gear (3093) and a longitudinal driving gear (3092) are provided in the housing. The longitudinal driving gear (3092) is connected to the longitudinal motor (307). The sliding gear (3093) is sleeved on the transmission shaft (205), and an inner sliding block (30932) matching with the sliding groove (2051) is fixedly connected in the sliding gear (3093). Optical axes (30931) are respectively fixedly connected on both sides of the sliding gear (3093). A limit bearing (30911) is sleeved on the outer wall of the optical axis (30931). The outer rings of the two limit bearings (30911) are fixedly connected to a shift fork (3091), and the shift fork (3091) is fixedly connected to the housing.

6. The precise positioning and conveying device for automobile glass production line according to claim 5, characterized in that: The support mechanism (7) comprises an upper support suction cup (701) and a lower support suction cup (702) which are arranged up and down and fixedly connected. The upper support suction cup (701) and the lower support suction cup (702) are fixedly connected to the positioning plate (301) via a clamp (703). The upper support suction cup (701) and the lower support suction cup (702) are respectively connected to a second exhaust pipe (704), and the second exhaust pipe (704) is connected to the fan via a hose.

7. The precise positioning and conveying device for automobile glass production line according to claim 6, characterized in that: The conical positioning assembly (5) comprises a conical positioning head (501), a fixing plate (502) being provided at the bottom of the conical positioning head (501), and at least three evenly distributed elastic ball head sleeves (503) being fixedly connected to the bottom of the fixing plate (502).

8. The precise positioning and conveying device for automobile glass production line according to claim 7, characterized in that: The precise positioning mechanism (8) comprises a positioning seat (801), a fine-tuning sliding seat (802) is slidably connected inside the positioning seat (801), a guide block (8021) is fixed on the fine-tuning sliding seat (802), a guide groove (8011) is provided on the positioning seat (801) and matches with the guide block (8021), a limit plate (8012) is provided above the positioning seat (801) and is used for limiting the upward movement of the fine-tuning sliding seat (802), a rotating shaft is rotatably connected inside the fine-tuning sliding seat (802), a fine-tuning gear (805) and a ratchet (806) are fixedly connected to the rotating shaft, a matching ratchet pawl (807) is provided on the outer periphery of the ratchet (806), and the ratchet pawl (807) is connected to the fine-tuning sliding seat (802) through a connecting shaft. The fine-tuning sliding seat (802) is rotatably connected, the connecting shaft passes through the fine-tuning sliding seat (802), and a reset knob (804) is provided at one end of the connecting shaft located outside the fine-tuning sliding seat (802); a fine-tuning rack (809) meshing with the fine-tuning gear (805) is slidably connected inside the fine-tuning sliding seat (802), the upper end of the fine-tuning rack (809) passes through the fine-tuning sliding seat (802) and is fixedly connected to a positioning ball head (803) rotatably matched with the elastic ball head sleeve (503); a fixed block (8022) is fixedly connected inside the fine-tuning sliding seat (802), and a spring (808) is provided between the fixed block (8022) and one end of the ratchet pawl (807) away from the ratchet (806).

9. A precise positioning method for an automobile glass production line, using the precise positioning and conveying device for an automobile glass production line according to claim 8, characterized in that: The following steps are involved: S1, the robot moves the glass to be processed to the top of the workbench (102), and stops at a position 5-10 mm away from the bottom of the glass from the support mechanism; S2, the preliminary positioning mechanism (3) starts after sensing the glass, and under the guidance of the positioning movement mechanism (2), the preliminary positioning mechanism (3) and the floating positioning mechanism (6) with the conical positioning component (5) move to the bottom of the inner hole of the glass. When the conical positioning component (5) senses the inner hole of the glass, the preliminary positioning mechanism (3) stops moving. At this time, the floating positioning mechanism (6) is in a movable state; the floating positioning mechanism (6) with the dome support head (4) and the preliminary positioning mechanism (3) move to the position where the glass has not been opened, playing the role of auxiliary support; S3, after the preliminary positioning mechanism (3) is moved to a suitable position, the robot places the glass to be processed on the supporting mechanism (7), at which time, the lower supporting suction cup (702) is vacuumed to fix it to the workbench (102), and at the same time, air is blown on the upper supporting suction cup (701) to make the glass on the upper supporting suction cup (701) float and free; S4, the positioning cylinder (603) in the floating positioning mechanism (6) is started, driving the corresponding conical positioning assembly (5) and the dome support head (4) to rise, and the conical positioning assembly (5) pulls the multiple precise positioning mechanisms (8) to rise. Since some of the glass is a curved special-shaped structure, when the conical positioning head (501) cooperates with the inner hole of the glass, an angle deflection occurs, that is, the extension amounts of the multiple precise positioning mechanisms (8) are different. During the rising process of the conical positioning head (501) in the conical positioning assembly (5), the conical positioning head (501) and the inner hole of the glass gradually become concentric, and its conical surface is fully combined with the inner hole of the glass. During this process, the conical positioning assembly (5) drives the floating positioning mechanism (6) and the glass to perform fine position adjustment; S5, after the conical positioning head (501) is completely matched with the inner hole of the glass, the negative pressure mechanism is started to evacuate the floating suction cup 1 (601), so that the floating positioning mechanism (6) and the preliminary positioning mechanism (3) are fixed together; S6, after the inner holes of the multiple glasses are matched with the corresponding conical positioning heads (501), all the positioning cylinders (603) are contracted synchronously, driving the glass to fall to the top of the supporting mechanism (7). At this time, the upper supporting suction cup (701) is vacuumed to fix the bottom of the glass to the upper supporting suction cup (701), thereby facilitating the subsequent trimming of the inner holes of the glass. After the trimming is completed, the glass is transported away by a robot. S7. Repeat S3 to S6 until all the glass in this batch is processed.

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