High-precision edge grinding system for display glass and method thereof

Abstract

The application belongs to the technical field of display glass processing, and particularly discloses a display glass corner high-precision grinding system and a method thereof. The device comprises a workbench, a grinding device, a grinding moving support, a pressure adjusting system, a pressure feedback system, a fixing tool, a positioning adjusting device, a positioning detection system, a power system and a central control system. The grinding pressure is controlled through equidistance grinding, and the process data is processed by the central control system. The grinding process is continuously iteratively optimized. The grinding head wear can be calculated and the influence of the grinding head wear on the precision can be eliminated. The edge quality consistency and high precision of the display glass are ensured. The device is especially suitable for batch processing of the same specification. Through the space-time coupling relationship between the pressure and the error, the position-related pressure compensation along the grinding path, the weighted learning of the historical grinding data, the stability guarantee of the system dynamic characteristics and the real-time pressure fluctuation compensation are realized.

Description

Technical Field

[0001] This invention belongs to the field of display glass processing technology, and specifically relates to a high-precision grinding system and method for the edges and corners of display glass. Background Technology

[0002] In the display glass manufacturing and processing industry, the grinding of glass edges is a crucial step. High-quality edge grinding not only enhances the aesthetics of the product but also ensures its physical properties and lifespan.

[0003] Traditional edge grinding processes for display glass often employ manual or semi-automatic equipment. In batch processing, efficiency and precision are often difficult to balance. Furthermore, wear on the grinding head leads to decreased grinding efficiency and also affects grinding precision, making it difficult for the final product's edge quality to meet design requirements. Over long-term operation, the grinding quality gradually declines. For example, Chinese invention patent CN106166699B describes a worktable with a slide rail extending along the edge of the glass substrate. The grinding wheel and grinding motor are moved along the slide rail, grinding in a straight line. However, the grinding wheel (or grinding head) wears down during use, affecting the subsequent grinding amount and easily reducing the uniformity and precision of the grinding effect. Summary of the Invention

[0004] To address the issue of insufficient uniformity and precision in the grinding of display glass edges in existing technologies, a high-precision grinding system and method for display glass edges are proposed. This invention provides the following technical solution:

[0005] A high-precision grinding system for the edges and corners of display glass, comprising:

[0006] The workbench is used to provide stable support;

[0007] A grinding device used to grind the edges and corners of display glass;

[0008] A grinding moving support is used to form the grinding movement trajectory of the grinding device, which is movably connected to it via a power system;

[0009] The pressure adjustment system is used to adjust the input grinding pressure F1 applied by the grinding device to the display glass;

[0010] A pressure feedback system is used to provide feedback on the actual grinding pressure F2 exerted by the grinding device on the display glass.

[0011] Fixtures are used to fix the display glass, and they can be movably mounted on the worktable as a whole;

[0012] A positioning adjustment device is used to adjust the position of the fixing fixture so that the different edges of the display glass are equidistant from the grinding movement trajectory of the grinding device.

[0013] The positioning detection system is used to detect whether the positioning adjustment device is equidistant from the different edges of the display glass and the grinding movement trajectory of the grinding device.

[0014] The powertrain system is used to provide drive support;

[0015] The central control system is used to receive the pressure feedback system and the positioning detection system to control the operation of the power system. It receives the actual grinding pressure from the pressure feedback system and adjusts the input grinding pressure accordingly through the pressure adjustment system.

[0016] Preferably, it also includes a quality inspection system for inspecting the polished display glass, which is connected to the central control system.

[0017] Preferably, the grinding device includes a grinder and a grinding support, the grinder being rotatably connected to the grinding support, and the grinding support being relatively movable to a grinding movable support.

[0018] Preferably, the pressure adjustment system includes an elastic tension device for providing pre-tension to the grinder and a thruster for adjusting the input grinding pressure.

[0019] Preferably, the elastic tension device is a tension spring, with one end of the tension spring connected to the grinder and the other end connected to the grinder support.

[0020] Preferably, it also includes a lifting adjustment device, which is installed and connected to the worktable, and the grinding moving bracket is installed and fixed on the output end of the lifting adjustment device.

[0021] Preferably, it also includes a grinding head detection device for detecting wear data and dimensional data of the grinding device.

[0022] A method for high-precision grinding of display glass edges and corners, based on a high-precision grinding system for display glass edges and corners, includes the following steps:

[0023] S1, Preprocessing;

[0024] S11. Fix the display glass onto the fixture;

[0025] S12. Match the display glass with the grinding moving frame so that the outline of the display glass and the grinding moving trajectory formed by the grinding moving frame form a similar body relationship.

[0026] S2, Basic Positioning;

[0027] S21. The fixed fixture is moved to a specified state using a positioning and adjustment device. The specified state includes:

[0028] S211. If the number of edges to be processed is n = 1, then move the machine until the edge to be processed is locally parallel to the grinding movement trajectory.

[0029] S212. If the number of edges to be processed n≥2, then move until the centroid of the display glass and the grinding movement trajectory coincide, and each edge is equidistant from the grinding movement trajectory.

[0030] S3. Adjust the actual grinding pressure F2 of the grinding device;

[0031] S31. Adjust the input grinding pressure F1 through the pressure adjustment system;

[0032] S4. Grind along the grinding movement trajectory at equal intervals; during grinding, the actual grinding pressure is recorded in real time through the pressure feedback system;

[0033] S5. Acquire data after grinding; inspect the ground display glass through the quality inspection system and transmit the quality inspection data to... Central control system;

[0034] S6. Iterative optimization and adjustment of the central control system;

[0035] Based on the correspondence between the grinding error of the previous piece of glass and the actual grinding pressure at each point on the path, the actual grinding pressure is adjusted in real time by adjusting the input grinding pressure, so as to ensure that the grinding error of the previous piece of glass is continuously reduced or controlled within a small range in subsequent grinding processes.

[0036] Preferably, an adaptive pressure regulation formula system is constructed based on iterative learning control:

[0037] Discretize the grinding trajectory into m position points. For the k-th glass piece:

[0038] Δe (k) (i)=y d (i)-y (k) (i), i = 1, 2, ..., m

[0039] Where: y d (i) represents the target size at point i, y (k) (i) represents the actual size of the k-th piece after grinding, Δe (k) (i) represents the error at point i in the k-th slice;

[0040] A pressure sensitivity matrix was established using experimental data.

[0041]

[0042] Where: S∈R^{m×m} is the pressure influence matrix (diagonally dominant), and ε is the system noise;

[0043] Iterative learning control law:

[0044]

[0045] In the formula: γ(i) is the location-related learning rate (recommended value 0.3-0.8), Φ(x) = tanh(x / τ), the error transformation function with saturation characteristics, and τ = error saturation threshold. Pressure affects the weighting function, β = 10 -3 F c =Critical pressure value;

[0046] Spectral radius condition:

[0047] ρ(I-ΓS)<1

[0048] Where: -Γ=diag(γ(1),...,γ(m)), S must satisfy diagonal dominance: |s ii |∑ j≠i ||;

[0049] Multi-glass recursion uses exponentially weighted memory updates:

[0050]

[0051] Where λ∈(0,1) is the forgetting factor.

[0052] Preferably, in step S6, real-time pressure compensation is performed:

[0053] F2 (k) (i)=F1 (k) (i)-k·Δx (k) (i)+μ·v (k) (i)+η (k) (i)

[0054] Compensation items:

[0055] ΔF1 (k) (i)=k·Δx (k) (i)-μ·v (k) (i)-E[η (k) (i)]

[0056] Where k = spring constant, Δx = grinding head displacement, μ = friction coefficient, and v = grinding movement speed.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. This application, by setting a grinding moving bracket, ensures that the different edges of the display glass are equidistant from the grinding movement trajectory of the grinding device, guaranteeing that the grinding device maintains equal contact with the display glass along the grinding movement trajectory. This reduces the grinding differences between different edges, thus improving uniformity and precision.

[0059] 2. Based on the correspondence between the grinding error obtained by the previous piece of glass and the actual grinding pressure at each point on the path, the actual grinding pressure is adjusted in real time by adjusting the input grinding pressure, so as to ensure that the grinding error obtained by the previous piece of glass is continuously reduced or controlled within a small range in the subsequent grinding process.

[0060] 3. The grinding process is continuously iterated and optimized, which can take into account the wear of the grinding head and eliminate its impact on accuracy, ensuring the consistency and high precision of the edge quality of the display glass, and is especially suitable for batch processing of the same specifications. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the process structure of the present invention; Detailed Implementation

[0062] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustration and not for limiting the invention.

[0063] Example 1

[0064] In this embodiment, the high-precision grinding system for the edges and corners of the display glass includes:

[0065] The workbench is used to provide stable support;

[0066] A grinding device used to grind the edges and corners of display glass;

[0067] A grinding moving support is used to form the grinding movement trajectory of the grinding device, which is movably connected to it via a power system;

[0068] A pressure adjustment system is used to adjust the input grinding pressure applied to the display glass by the grinding device;

[0069] A pressure feedback system is used to provide feedback on the actual grinding pressure applied to the display glass by the grinding device.

[0070] Fixtures are used to fix the display glass, and they can be movably mounted on the worktable as a whole;

[0071] A positioning adjustment device is used to adjust the position of the fixing fixture so that the different edges of the display glass are equidistant from the grinding movement trajectory of the grinding device.

[0072] The positioning detection system is used to detect whether the positioning adjustment device is equidistant from the different edges of the display glass and the grinding movement trajectory of the grinding device.

[0073] The powertrain system is used to provide drive support;

[0074] The central control system receives pressure feedback from the pressure feedback system and the positioning detection system to control the operation of the power system. It uses pressure... Force feedback The system receives feedback on the actual grinding pressure, and the input grinding pressure is adjusted accordingly through the pressure adjustment system.

[0075] By equidistantizing different edge lines with the grinding movement trajectory of the grinding device, it is ensured that the grinding device always maintains the same contact position with the display glass on the grinding movement trajectory, reducing the difference in grinding between different edge lines and improving uniformity and accuracy.

[0076] Example 2

[0077] Based on Embodiment 1, the grinding device includes a grinder and a grinding support. The grinder is rotatably connected to the grinding support, and the grinding support can move horizontally along the grinding movement trajectory. Under the condition of ensuring that the grinding movement trajectory is equidistant from the display glass, the grinding support can be customized with different specifications according to different display glasses to adapt to the processing of display glasses of different specifications.

[0078] The pressure adjustment system includes an elastic tension device for providing preload to the grinder and a thruster for adjusting the input grinding pressure.

[0079] The elastic tension device uses a tension spring, with one end of the spring connected to the grinder and the other end connected to the grinder support.

[0080] Example 3

[0081] Based on Embodiment 1 or 2, a quality inspection system for inspecting the polished display glass is also included, which is connected to the central control system.

[0082] Furthermore, it also includes a lifting and adjusting device, which is installed and connected to the worktable, and the grinding moving bracket is installed and fixed on the output end of the lifting and adjusting device.

[0083] Furthermore, it also includes a grinding head inspection device for detecting wear data and dimensional data of the grinding equipment.

[0084] Additionally, the grinder can be configured to move horizontally or vertically relative to the grinding movement trajectory of the grinding support to make minor adjustments to the position of the grinder, thereby performing fine-tuning and compensation. It can be driven by a linear drive device belonging to the power system, and is mainly suitable for scenarios where the grinding head needs to be adjusted or replaced when the wear is too great.

[0085] In addition, the grinding device, power system and lifting adjustment device in this application can each adopt existing mature components, and their functions are relatively easy for those skilled in the art to implement. They are not the focus of this application, so they will not be described in detail.

[0086] Example 4

[0087] A method for high-precision grinding of display glass edges and corners, based on a high-precision grinding system for display glass edges and corners, includes the following steps:

[0088] S1, Preprocessing;

[0089] S11. Fix the display glass onto the fixture;

[0090] S12. Match the display glass with the grinding moving frame so that the outline of the display glass and the grinding moving trajectory formed by the grinding moving frame form a similar body relationship.

[0091] S2, Basic Positioning;

[0092] S21. The fixed fixture is moved to a specified state using a positioning and adjustment device. The specified state includes:

[0093] S211. If the number of edges to be processed is n = 1, then move the machine until the edge to be processed is locally parallel to the grinding movement trajectory.

[0094] S212. If the number of edges to be processed n≥2, then move until the centroid of the display glass and the grinding movement trajectory coincide, and each edge is equidistant from the grinding movement trajectory.

[0095] S3. Adjust the actual grinding pressure F2 of the grinding device;

[0096] S31. Adjust the input grinding pressure F1 through the pressure adjustment system;

[0097] S4. Grind along the grinding movement trajectory at equal intervals and maintain the same speed; during grinding, the actual grinding pressure F2 is recorded in real time through the pressure feedback system;

[0098] S5. Acquire data after grinding; inspect the ground display glass through the quality inspection system and transmit the quality inspection data to the central control system;

[0099] S6. Iterative optimization and adjustment of the central control system;

[0100] Based on the correspondence between the grinding error of the previous piece of glass and the actual grinding pressure at each point on the path, the actual grinding pressure is adjusted in real time by adjusting the input grinding pressure, so as to ensure that the grinding error of the previous piece of glass is continuously reduced or controlled within a small range in subsequent grinding processes.

[0101] During the next grinding, the height h of the grinding device is adjusted by using the external dimension data to drive the lifting and adjusting device, ensuring that the grinding device is in contact with the display glass.

[0102] An adaptive pressure regulation formula system is constructed based on iterative learning control, specifically as follows:

[0103] Discretize the grinding trajectory into m position points at the same height h. For the k-th glass piece:

[0104] Δe (k) (i)=y d (i)-y (k) (i), i = 1, 2, ..., m

[0105] Where: y d (i) represents the target size at point i, y (k) (i) represents the actual size of the k-th piece after grinding, Δe (k) (i) represents the error at point i on the k-th piece; a pressure sensitivity matrix is ​​established using experimental data:

[0106]

[0107] Where: S∈R^{m×m} is the pressure influence matrix (diagonally dominant), and ε is the system noise;

[0108] Iterative learning control law:

[0109]

[0110] In the formula: γ(i) is the location-related learning rate (recommended value 0.3-0.8), Φ(x) = tanh(x / τ), the error transformation function with saturation characteristics, and τ = error saturation threshold. Pressure affects the weighting function, β = 10 -3 F c =Critical pressure value;

[0111] To ensure high dynamic stability, the spectral radius condition must be met:

[0112] ρ(I-ΓS)<1

[0113] Where: -Γ=diag(γ(1),...,γ(m)), S must satisfy diagonal dominance: |s ii |∑ j≠i ||;

[0114] Construct the elastic pressure balance equation:

[0115] F2=F1-k·Δx+μ·v

[0116] Where k = spring constant, Δx = grinding head displacement, μ = friction coefficient, and v = grinding movement speed.

[0117] Real-time pressure compensation is performed based on the elastic pressure balance equation:

[0118] F2 (k) (i)=F1 (k) (i)-k·Δx (k) (i)+μ·v (k) (i)+η (k) (i)

[0119] Compensation items:

[0120] ΔF1 (k) (i)=k·Δx (k) (i)-μ·v (k) ((i)-E[η (k) (i)]

[0121] Where k = spring constant, Δx = grinding head displacement, μ = friction coefficient, and v = grinding movement speed.

[0122] Multi-glass recursion uses exponentially weighted memory updates:

[0123]

[0124] Where λ∈(0,1) is the forgetting factor.

[0125] In practical applications, the learning rate γ is 0.5 ± 0.3 (adjusted according to the condition number of the S matrix), the forgetting factor λ is 0.6-0.8, and it is updated after each piece of glass is ground, while the saturation threshold τ is 1.5 times the allowable error; and an error-pressure database can be established through the central control system.

[0126] Furthermore, the algorithm and processing data can be shared across multiple devices through data transmission, reducing the initial optimization time for new equipment. Since the positioning accuracy of the device itself can be ensured by devices such as coordinate measuring machines and laser interferometers, it can achieve high precision. On this basis, this method can take into account the wear of the grinding head and eliminate its impact on precision, ensuring the consistency and high precision of the edge quality of the display glass, which is especially suitable for batch processing of the same specifications.

[0127] By leveraging the spatiotemporal coupling relationship between pressure and error, we achieved location-dependent pressure compensation along the grinding path, weighted learning of historical grinding data, stability assurance of system dynamic characteristics, and real-time pressure fluctuation compensation.

Claims

1. A method for high-precision grinding of the edges and corners of display glass, characterized in that, Based on the high-precision grinding system for display glass edges and corners, the high-precision grinding system for display glass edges and corners includes: The workbench is used to provide stable support; A grinding device used to grind the edges and corners of display glass; A grinding moving support is used to form the grinding movement trajectory of the grinding device, which is movably connected to it via a power system; The pressure adjustment system is used to adjust the input grinding pressure applied to the display glass by the grinding device. ; A pressure feedback system is used to provide feedback on the actual grinding pressure applied to the display glass by the grinding device. ; Fixtures are used to fix the display glass, and they can be movably mounted on the worktable as a whole; A positioning adjustment device is used to adjust the position of the fixing fixture so that the different edges of the display glass are equidistant from the grinding movement trajectory of the grinding device. The positioning detection system is used to detect whether the positioning adjustment device is equidistant from the different edges of the display glass and the grinding movement trajectory of the grinding device. The powertrain system is used to provide drive support; The central control system is used to receive the pressure feedback system and the positioning detection system to control the operation of the power system. It receives the actual grinding pressure from the pressure feedback system and adjusts the input grinding pressure accordingly through the pressure adjustment system. The steps include: S1, Preprocessing; S11. Fix the display glass onto the fixture; S12. Match the display glass with the grinding moving frame so that the outline of the display glass and the grinding moving trajectory formed by the grinding moving frame form a similar body relationship. S2, Basic Positioning; S21. The fixed fixture is moved to a specified state using a positioning and adjustment device. The specified state includes: S211. If the number of edges to be processed is n=1, then move until the edge to be processed is locally parallel to the grinding movement trajectory. S212. If the number of edges to be processed n≥2, then move until the centroid of the display glass and the grinding movement trajectory coincide, and each edge is equidistant from the grinding movement trajectory. S3. Adjust the actual grinding pressure of the grinding device. ; S31. Adjust the input grinding pressure through the pressure adjustment system. ; S4. Grind along the grinding movement trajectory at equal intervals; during grinding, the actual grinding pressure is recorded in real time through the pressure feedback system; S5. Acquire data after grinding; inspect the ground display glass through the quality inspection system and transmit the quality inspection data to the central control system; S6. Iterative optimization and adjustment of the central control system; Based on the correspondence between the grinding error of the previous piece of glass and the actual grinding pressure at each point on the path, the actual grinding pressure is adjusted in real time by adjusting the input grinding pressure, so as to ensure that the grinding error of the previous piece of glass is continuously reduced or controlled within a small range in subsequent grinding processes.

2. The high-precision grinding method for the edges and corners of display glass according to claim 1, characterized in that, The high-precision grinding system for the edges and corners of the display glass also includes a quality inspection system for detecting the ground display glass, which is connected to the central control system.

3. The high-precision grinding method for the edges and corners of display glass according to claim 1, characterized in that, The grinding device includes a grinder and a grinding support. The grinder is rotatably connected to the grinding support, and the grinding support is relatively movable and connected to the grinding movable support.

4. The high-precision grinding method for the edges and corners of display glass according to claim 3, characterized in that, The pressure adjustment system includes an elastic tension device for providing pre-tension to the grinder and a thruster for adjusting the input grinding pressure.

5. The high-precision grinding method for the edges and corners of display glass according to claim 4, characterized in that, The elastic tension device is a tension spring, with one end of the tension spring connected to the grinder and the other end connected to the grinder support.

6. The high-precision grinding method for the edges and corners of display glass according to claim 1, characterized in that, The high-precision grinding system for the edges and corners of the display glass also includes a lifting and adjusting device, which is installed and connected to the worktable, and the grinding moving bracket is installed and fixed on the output end of the lifting and adjusting device.

7. The high-precision grinding method for the edges and corners of display glass according to claim 1, characterized in that, The high-precision grinding system for the edges and corners of the display glass also includes a grinding head detection device for detecting wear data and dimensional data of the grinding device.

8. The high-precision grinding method for the edges and corners of display glass according to claim 1, characterized in that, An adaptive pressure regulation formula system is constructed based on iterative learning control: Discretize the grinding trajectory into m position points. For the k-th glass piece: ； Where: is the target size at point i. This represents the actual size of the k-th piece after grinding. The error is the error at point i in the k-th slice; A pressure sensitivity matrix was established using experimental data. ； in: The pressure effect matrix, This is system noise; Iterative learning control law: ； In the formula: For location-related learning rate, The error transformation function with saturation characteristics, τ = error saturation threshold. Pressure affects the weighting function. , =Critical pressure value; Spectral radius condition: ； in: S must satisfy the condition that the diagonal is dominant: ; Multi-glass recursion uses exponentially weighted memory updates: ； in It is a forgetting factor.

9. The high-precision grinding method for the edges and corners of display glass according to claim 8, characterized in that, In step S6, real-time pressure compensation is performed: ； Compensation items: ； Where k = spring constant, = Displacement of the grinding head, μ = coefficient of friction, v = grinding movement speed.

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