Horizontal medium and large size glass panel single CNC grinding and inspection integrated machine and processing method thereof

Abstract

The invention discloses a horizontal medium-large-sized glass panel single CNC grinding and inspection integrated machine and a processing method thereof. The machine comprises a loading docking platform, an adsorption load conveying work platform and a loading, transporting and reversing manipulator for conveying or reversing the medium-large-sized glass panel, a horizontal CNC grinding device for simultaneously grinding the upper and lower end surfaces of two long sides or two short sides of the medium-large-sized glass panel, a CCD positioning module working in cooperation with the adsorption load conveying work platform, a cleaning and detection device for simultaneously cleaning and detecting the two long sides of the medium-large-sized glass panel, a material unloading docking platform and a material unloading and transporting manipulator; the horizontal CNC grinding device comprises a first gantry, a first and a second X-axis moving modules installed on both sides of the front end surface of the first gantry, and a first and a second horizontal CNC grinding mechanism installed on the first and the second X-axis moving modules, and the upper and lower end surfaces of the two long sides or two short sides of the medium-large-sized glass panel are simultaneously ground by the first and the second horizontal CNC grinding mechanisms.

Description

Technical field:

[0001] The present invention relates to the technical field of medium- and large-sized glass panel processing, and in particular to a horizontal medium- and large-sized glass panel single CNC grinding and inspection integrated machine and a processing method thereof. Background technology:

[0002] Glass is formed by melting silicon dioxide and other chemicals together. It is an amorphous solid with an irregular structure. There is also colored glass that is mixed with certain metal oxides or salts to show color, and tempered glass made by physical or chemical methods. It is widely used in construction, daily necessities, art, medical treatment, chemistry, electronics, instrumentation, nuclear engineering and other fields.

[0003] The general industrial application steps of glass include two steps: glass cutting and glass fine carving and grinding. In the prior art, glass cutting and glass fine carving and grinding are completed independently. At present, fine carving and grinding machines are used for fine carving and grinding of medium and large-sized glass panels. However, due to the large size of medium and large-sized glass panels, the existing fine carving and grinding machines can only grind the upper end face or the lower end face of one side of the medium and large-sized glass panels at a time, resulting in the need to reverse the medium and large-sized glass panels and grind the upper end faces and the lower end faces of the four sides of the medium and large-sized glass panels 8 times. The work efficiency is not high, and an additional conveying device is required to convey the medium and large-sized glass panels to the cleaning machine, and the cleaning machine cleans the ground medium and large-sized glass panels. Finally, the medium and large-sized glass panels are conveyed to the inspection machine through the conveying device, and the inspection machine inspects the grinding quality of the medium and large-sized glass panels. They are not on the same production line and need to be continuously stored and transported, which is easy to cause damage to the medium and large-sized glass panels. In addition, the degree of automation is not high, which is not conducive to improving production efficiency.

[0004] In view of this, the inventor proposes the following technical solution. Summary of the invention:

[0005] The object of the present invention is to overcome the deficiencies of the prior art and to provide a horizontal medium-to-large-sized glass panel single CNC grinding and inspection all-in-one machine and a processing method thereof.

[0006] In order to solve the above technical problems, the present invention adopts the following first technical solution: the horizontal medium and large-sized glass panel single CNC grinding and inspection integrated machine includes: a loading docking station, an adsorption carrier conveying work platform installed next to the loading docking station and a loading and handling reversing robot for conveying or reversing the medium and large-sized glass panels, a horizontal CNC grinding device for simultaneously grinding the upper and lower end surfaces of the two long sides or two short sides of the medium and large-sized glass panels, at least one CCD positioning module working in conjunction with the adsorption carrier conveying work platform, a cleaning and detection device for simultaneously cleaning and detecting the two long sides of the medium and large-sized glass panels, and a material unloading docking station arranged next to the adsorption carrier conveying work platform. A receiving platform and a material unloading and handling robot; the horizontal CNC grinding device includes a first gantry, a first X-axis moving module and a second X-axis moving module installed on both sides of the front end surface of the first gantry, a first horizontal CNC grinding mechanism installed on the first X-axis moving module, and a second horizontal CNC grinding mechanism installed on the second X-axis moving module. The upper and lower end surfaces of the two long sides or two short sides of the medium and large-sized glass panels are simultaneously ground by the first horizontal CNC grinding mechanism and the second horizontal CNC grinding mechanism, and the first horizontal CNC grinding mechanism and the second horizontal CNC grinding mechanism are respectively driven by the first X-axis moving module and the second X-axis moving module to adjust the relative spacing.

[0007] Furthermore, in the above technical solution, the adsorption carrier transfer work platform includes a first linear motion module, a first moving seat installed on the first linear motion module, a rotation correction mechanism installed on the first moving seat, a first rotating seat installed on the rotation correction mechanism and driven to rotate by the rotation correction mechanism, a first adsorption carrier installed in the middle of the first rotating seat, and a second adsorption carrier and a third adsorption carrier installed on both sides of the first rotating seat in an adjustable position, a first linear drive mechanism installed on the first rotating seat and used to control the movement of the second adsorption carrier, and a second linear drive mechanism installed on the first rotating seat and used to control the movement of the third adsorption carrier. The upper end surfaces of the first adsorption carrier, the second adsorption carrier and the third adsorption carrier are located in the same plane, and the upper end surfaces of the first adsorption carrier, the second adsorption carrier and the third adsorption carrier are respectively provided with a first vacuum adsorption hole, a second vacuum adsorption hole and a third vacuum adsorption hole.

[0008] Further, in the above technical solution, the first horizontal CNC grinding mechanism includes a first Z-axis driving mechanism and a second Z-axis driving mechanism installed on the first X-axis moving module, a first lifting seat installed at the lower end of the first Z-axis driving mechanism, a second lifting seat installed at the lower end of the second Z-axis driving mechanism, a first spindle motor module installed on the first lifting seat and a first grinding head installed on the first spindle motor module and driven to rotate by the first spindle motor module, a second spindle motor module installed on the second lifting seat and a second grinding head installed on the second spindle motor module and driven to rotate by the second spindle motor module, the second grinding head is located above the first grinding head, and the interval between the first grinding head and the second grinding head can be adjusted by the first Z-axis driving mechanism and the second Z-axis driving mechanism.

[0009] Furthermore, in the above technical solution, a plurality of first grinding sheets are formed on the periphery of the first grinding head, a gap is formed between two adjacent first grinding sheets, and the grinding surfaces of the outer edges of the first grinding sheets are not on the same straight line; a plurality of second grinding sheets are formed on the periphery of the second grinding head, a gap is formed between two adjacent second grinding sheets, and the grinding surfaces of the outer edges of the second grinding sheets are not on the same straight line; the second grinding sheets are staggered with the first grinding sheets, and a gap is formed between at least one second grinding sheet and one first grinding sheet for the edge of a medium or large-sized glass panel to pass through.

[0010] Furthermore, in the above technical solution, the front end surface of the first gantry is also provided with a front air knife which is obliquely distributed and used for cleaning.

[0011] Further, in the above technical solution, a first paving groove and a first protrusion are provided on the side surface of the first lifting seat; a second paving groove and a second protrusion are provided on the side surface of the second lifting seat, the first protrusion is placed in the second paving groove, and a gap is formed between the outer periphery of the first protrusion and the inner wall of the second paving groove; the second protrusion is placed in the first paving groove, and a gap is formed between the outer periphery of the second protrusion and the inner wall of the first paving groove.

[0012] Further, in the above technical solution, the cleaning detection device includes a third X-axis movable seat and a fourth X-axis movable seat installed on both sides of the rear end face of the first gantry in the horizontal CNC grinding device, a third X-axis driving mechanism and a fourth X-axis driving mechanism for respectively driving the third X-axis movable seat and the fourth X-axis movable seat to move in the X-axis direction, a first cleaning detection mechanism installed on the third X-axis movable seat and a second cleaning detection mechanism installed on the fourth X-axis movable seat, the first cleaning detection mechanism including a first cleaning box installed on the third X-axis movable seat and having a first opening for the edge of the medium and large-sized glass panel to pass through, a first front cleaning module and a first rear cleaning module installed on both sides of the first cleaning box and used for cleaning the edge of the medium and large-sized glass panel, and a first detection module and a second detection module installed in the first cleaning box and used for detecting the upper and lower end surfaces of the edge of the medium and large-sized glass panel.

[0013] Furthermore, in the above technical solution, the first front cleaning module includes a first front cleaning seat and a plurality of first front air nozzles installed in the first front cleaning seat, the first front cleaning seat has a first front cleaning channel for the edges of medium and large-sized glass panels to pass through, and the upper and lower inner walls of the first front cleaning channel are both formed with first front inverted tooth bevel grooves, and the end of the first front air nozzle is placed in the first front cleaning channel; the structure of the second front cleaning module is the same as that of the first front cleaning module.

[0014] Furthermore, in the above technical solution, the first detection module includes a first lens horizontally installed at the upper end of the outer side of the first cleaning box, a first detection CCD camera installed in conjunction with the first lens, a first reflector module installed in the first cleaning box and adapted to the first lens, and a first array of light sources installed below the first reflector module, and the first opening is located between the first reflector module and the first array of light sources.

[0015] Furthermore, in the above technical solution, the first reflector module includes a first mirror seat installed in the first cleaning box and connected to the first lens, and a first reflector installed in the first mirror seat and distributed at an angle of 45°, the first mirror seat having a first window and a first connecting portion connected to the first lens, and the first window faces the first opening.

[0016] In order to solve the above technical problems, the present invention adopts the following second technical solution: The processing method of the horizontal medium and large-sized glass panel single CNC grinding and inspection integrated machine is: the medium and large-sized glass panel carried on the loading docking table is transported to the adsorption carrier conveying work platform by the loading and transporting reversing manipulator, the adsorption carrier conveying work platform adsorbs and positions the medium and large-sized glass panel, and the CCD positioning module works to take a picture of the medium and large-sized glass panel to determine whether it is in a predetermined position. If it is not in the predetermined position, the adsorption carrier conveying work platform is rotated to correct the medium and large-sized glass panel. The adsorption carrier conveying work platform conveys the medium and large-sized glass panel toward the horizontal CNC grinding device, and the horizontal CNC grinding device works to grind the upper and lower end surfaces of the two long sides of the medium and large-sized glass panel at the same time. At the same time, the cleaning and detection device also starts to work, which cleans and detects the two long sides of the ground medium and large-sized glass panel at the same time. After completion, the adsorption carrier conveying work platform again conveys the ground medium and large-sized glass panel back to the front of the horizontal CNC grinding device. At this time, the adsorption carrier conveying work platform does not Then the medium and large-sized glass panel is adsorbed and positioned, and the loading and handling reversing robot grabs the medium and large-sized glass panel again, and after a 90° reversal, it is placed back on the adsorption and carrier conveying work platform. At this time, the two short sides of the medium and large-sized glass panel extend out of the two sides of the adsorption and carrier conveying work platform. At this time, the CCD positioning module works to take a picture of the medium and large-sized glass panel to determine whether it is in the predetermined position. If it is not in the predetermined position, the adsorption and carrier conveying work platform rotates to correct the deviation of the medium and large-sized glass panel, so that the medium and large-sized glass panel is placed in the predetermined position; the adsorption and carrier conveying work platform takes the medium and large-sized The glass panel is conveyed toward the horizontal CNC grinding device, which works to grind the upper and lower end surfaces of both short sides of the medium and large-sized glass panel at the same time. At the same time, the cleaning and detection device also starts to work, which cleans and detects the two long sides of the medium and large-sized glass panel that has been ground. After completion, the adsorption load transfer work platform no longer adsorbs and positions the medium and large-sized glass panel, and the medium and large-sized glass panel is sucked and transported to the unloading docking table by the unloading and handling robot, and then the adsorption load transfer work platform is reset to complete the grinding and inspection of the medium and large-sized glass panel.

[0017] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: the present invention adopts the adsorption load transfer work platform and the CCD positioning module to realize the bearing, positioning and deviation correction of the medium and large-sized glass panels, effectively ensuring the grinding quality of the medium and large-sized glass panels by the later horizontal CNC grinding device; and the present invention adopts the horizontal CNC grinding device to grind the upper and lower end faces of the two long sides of the medium and large-sized glass panels at the same time, and immediately after the grinding is completed, the cleaning detection device is used to simultaneously clean, detect and clean the upper and lower end faces of the two long sides of the medium and large-sized glass panels; and then a second horizontal CNC grinding device is used to grind the upper and lower end faces of the two short sides of the medium and large-sized glass panels. The lower end surface is ground at the same time, and after the grinding is completed, the second cleaning and detection device is immediately used to simultaneously clean, detect and clean the upper and lower end surfaces of the two short sides of the medium and large-sized glass panel. This can make the structure of the present invention more compact and form an automated production line to improve the smoothness of work and reduce labor intensity. The upper and lower end surfaces of the four sides of the medium and large-sized glass panel can be ground in two times, and the work efficiency is extremely high. Cleaning and detection are performed immediately after grinding, which greatly improves the production efficiency. A manipulator is used to realize the transportation between workstations, which will not cause damage to the medium and large-sized glass panels, making the present invention highly competitive in the market. Description of the drawings:

[0018] Figure 1 is a stereogram of the present invention;

[0019] Figure 2 It is a three-dimensional diagram of the loading and handling reversing manipulator in the present invention;

[0020] Figure 3 It is a stereogram of another viewing angle in the present invention;

[0021] Figure 4 It is a three-dimensional diagram of the adsorption load transfer working platform of the present invention;

[0022] Figure 5 This is a front view of the adsorption load transfer working platform of the present invention;

[0023] Figure 6 is a three-dimensional diagram of the horizontal CNC grinding device of the present invention;

[0024] Figure 7 It is a three-dimensional diagram of the horizontal CNC grinding device of the present invention from another perspective;

[0025] Figure 8 It is a three-dimensional diagram of the first horizontal CNC grinding mechanism of the present invention;

[0026] Fig. 9 It is a three-dimensional diagram from another perspective of the first horizontal CNC grinding mechanism of the present invention;

[0027] Fig.10 It is a three-dimensional diagram of the first horizontal CNC grinding mechanism of the present invention after removing the protective shell;

[0028] Fig.11 This is a front view of the assembly of the first grinding head and the second grinding head in the present invention;

[0029] Fig.12 is a three-dimensional diagram of the protective shell of the present invention;

[0030] Fig.13 is a three-dimensional diagram of the first cleaning detection mechanism in the present invention;

[0031] Fig.14 It is a front view of the first cleaning detection mechanism in the present invention;

[0032] Fig.15 It is an internal structure diagram of the first cleaning detection mechanism in the present invention;

[0033] Fig.16 It is a stereoscopic diagram of the first reflector module in the present invention. Specific implementation method:

[0034] The present invention is further described below in conjunction with specific embodiments and drawings.

[0035] See Figure 1-16 As shown, a horizontal medium-sized and large-sized glass panel single CNC grinding and inspection integrated machine comprises: a loading docking platform 6, an adsorption carrier conveying work platform 1 installed beside the loading docking platform 6, and a loading and transporting reversing manipulator 2 for transporting the medium-sized and large-sized glass panel carried on the loading docking platform 6 to the adsorption carrier conveying work platform 1 or for reversing the medium-sized and large-sized glass panel on the adsorption carrier conveying work platform 1 by 90 degrees, and a medium-sized and large-sized glass panel for positioning the adsorption carrier conveying work platform 1. The invention comprises a horizontal CNC grinding device 3 for grinding, at least one CCD positioning module 4 installed at the front end of the horizontal CNC grinding device 3 and cooperating with the adsorption carrier conveying work platform 1, a cleaning and detection device 5 installed at the rear end of the horizontal CNC grinding device 3 and simultaneously cleaning and detecting the two long sides of the medium and large-sized glass panels, a material unloading docking platform 7 arranged next to the adsorption carrier conveying work platform 1 and a material unloading and transporting robot 8 for changing the direction of the medium and large-sized glass panels on the adsorption carrier conveying work platform 1 and transporting them to the material unloading docking platform 7.

[0036] When the present invention is working, the medium and large-sized glass panel carried on the loading docking platform 6 is transported to the adsorption carrier conveying work platform 1 through the loading and conveying reversing robot 2, and the adsorption carrier conveying work platform 1 adsorbs and positions the medium and large-sized glass panel. The CCD positioning module 4 works to take a picture of the medium and large-sized glass panel to determine whether it is in a predetermined position. If it is not in the predetermined position, the adsorption carrier conveying work platform 1 is rotated to correct the deviation of the medium and large-sized glass panel, so that the medium and large-sized glass panel is placed in the predetermined position; the adsorption carrier conveying work platform 1 adsorbs and positions the medium and large-sized glass panel. The glass panel is conveyed toward the horizontal CNC grinding device 3, and the horizontal CNC grinding device 3 works to grind the upper and lower end surfaces of the two long sides of the medium and large-sized glass panel at the same time. At the same time, the cleaning and detection device 5 also starts to work, which cleans and detects the two long sides of the medium and large-sized glass panel that has been ground. After completion, the adsorption load conveying work platform 1 again conveys the medium and large-sized glass panel that has been ground back to the front of the horizontal CNC grinding device 3. At this time, the adsorption load conveying work platform 1 no longer adsorbs and positions the medium and large-sized glass panel, and the loading and handling reversing robot 2 Then grab the medium and large size glass panel, and put it back to the adsorption carrier conveying work platform 1 after 90° reversal. At this time, the two short sides of the medium and large size glass panel extend out of the two sides of the adsorption carrier conveying work platform 1. At this time, the CCD positioning module 6 works to take a picture of the medium and large size glass panel to determine whether it is in the predetermined position. If it is not in the predetermined position, the adsorption carrier conveying work platform 1 rotates to correct the medium and large size glass panel, so that the medium and large size glass panel is placed in the predetermined position; the adsorption carrier conveying work platform 1 moves the medium and large size glass panel towards the horizontal CNC grinding The horizontal CNC grinding device 3 works to grind the upper and lower end surfaces of the two short sides of the medium and large-sized glass panel at the same time. At the same time, the cleaning and detection device 5 also starts to work, which cleans and detects the two long sides of the medium and large-sized glass panel that has been ground. After completion, the adsorption and loading conveying work platform 1 no longer adsorbs and positions the medium and large-sized glass panel, and the medium and large-sized glass panel is sucked and transported to the unloading docking platform 7 by the unloading and handling robot 8, and then the adsorption and loading conveying work platform 1 is reset to complete the grinding and inspection of the medium and large-sized glass panel.That is to say, the present invention adopts the adsorption load-carrying conveying work platform 1 and the CCD positioning module 4 to realize the carrying, positioning and deviation correction of the medium and large-sized glass panels, effectively ensuring the grinding quality of the medium and large-sized glass panels by the later horizontal CNC grinding device 3; and the present invention adopts the horizontal CNC grinding device 3 to grind the upper and lower end faces of the two long sides of the medium and large-sized glass panels at the same time, and immediately after the grinding is completed, the cleaning detection device 5 is used to simultaneously clean, detect and clean the upper and lower end faces of the two long sides of the medium and large-sized glass panels; then the loading and handling reversing robot 2 is used to reverse the medium and large-sized glass panels by 90° and then place them on the adsorption load-carrying conveying work platform 1, and then the horizontal CNC grinding device 3 is used to grind the upper and lower end faces of the two short sides of the medium and large-sized glass panels The end faces are ground simultaneously, and after the grinding is completed, the cleaning and detection device 5 is immediately used to simultaneously clean, detect and clean the upper and lower end faces of the two short sides of the medium and large-sized glass panel. Because only one horizontal CNC grinding device 3 and one cleaning and detection device 5 are installed, the structure of the present invention can be made more compact, and an automated production line is formed to improve the smoothness of work and reduce labor intensity, and the upper and lower end faces of the four sides of the medium and large-sized glass panel can be ground in two times, the work efficiency is extremely high, and cleaning and detection are performed immediately after grinding, which greatly improves the production efficiency, and a robot is used to realize the transportation between workstations, which will not cause damage to the medium and large-sized glass panels, making the present invention have strong market competitiveness.

[0037] The adsorption carrier transfer work platform 1 includes a first linear moving module 11, a first moving seat 12 mounted on the first linear moving module 11, a rotation correction mechanism 13 mounted on the first moving seat 12, a first rotating seat 14 mounted on the rotation correction mechanism 13 and driven by the rotation correction mechanism 13 to rotate, a first adsorption carrier 15 mounted in the middle of the first rotating seat 14, and a second adsorption carrier 16 and a third adsorption carrier 17 mounted on both sides of the first rotating seat 14 in an adjustable position, a first linear drive mechanism mounted on the first rotating seat 14 and used to control the movement of the second adsorption carrier 16, and a second linear drive mechanism 19 mounted on the first rotating seat 14 and used to control the movement of the third adsorption carrier 17. When the CCD positioning module 4 takes a photo to determine that the medium and large-sized glass panel is in an unpredicted position, the rotation correction mechanism 13 drives the first rotating seat 14 to rotate a certain angle so that the medium and large-sized glass panel reaches the predetermined position, thereby realizing the correction function.

[0038] The upper end surfaces of the first adsorption stage 15, the second adsorption stage 16 and the third adsorption stage 17 are located in the same plane, and the upper end surfaces of the first adsorption stage 15, the second adsorption stage 16 and the third adsorption stage 17 are respectively provided with a first vacuum adsorption hole 151, a second vacuum adsorption hole 161 and a third vacuum adsorption hole 171, through which the medium and large-sized glass panels are adsorbed and fixed. The present invention adopts the first adsorption stage 15, the second adsorption stage 16 and the third adsorption stage 17 to support the middle and both sides of the medium and large-sized glass panel, so as to stably support the medium and large-sized glass panel, wherein the two sides (two long sides) of the medium and large-sized glass panel partially extend out of the second adsorption stage 16 and the third adsorption stage 17, so as to be ground by the horizontal CNC grinding device 3 later. In addition, since the second adsorption platform 16 and the third adsorption platform 17 can be driven by the first linear drive mechanism and the second linear drive mechanism 19 respectively to adjust the relative spacing positions, the adsorption carrier transfer work platform 1 can support medium and large-sized glass panels of different sizes to meet different usage requirements, making the present invention extremely competitive in the market.

[0039] The first linear drive mechanism and the second linear drive mechanism 19 both use servo motor screw assemblies, which have higher operating accuracy and ensure the quality of grinding in cooperation with the horizontal CNC grinding device 3 in the later stage.

[0040] The loading and handling reversing robot 2 includes a frame 21, a moving beam 22 installed on the frame 21 and a linear drive module 23 for driving the moving beam 22 to move, a lifting module 24 installed on the linear drive module 23, a rotating drive module 25 installed opposite to the lifting module 24, a transport frame 26 installed at the lower end of the rotating drive module 25, and a vacuum suction cup 27 arranged opposite to the transport frame 26.

[0041] The horizontal CNC grinding device 3 includes a first gantry 31, a first X-axis moving module 34 and a second X-axis moving module 35 installed on both sides of the front end surface of the first gantry 31, a first horizontal CNC grinding mechanism 36 installed on the first X-axis moving module 34, and a second horizontal CNC grinding mechanism 37 installed on the second X-axis moving module 35. The first horizontal CNC grinding mechanism 36 and the second horizontal CNC grinding mechanism 37 are respectively driven by the first X-axis moving module 34 and the second X-axis moving module 35 to adjust the relative spacing, so that the horizontal CNC grinding device 3 can grind medium and large-sized glass panels of different sizes, has stronger applicability, and is conducive to improving the market competitiveness of the present invention.

[0042] The first X-axis moving module 34 includes a first X-axis moving seat 32 installed on the front end surface of the first gantry 31 and a first X-axis moving module for driving the first X-axis moving seat 32 to move in the X-axis direction; the second X-axis moving module 35 includes a second X-axis moving seat 33 installed on the front end surface of the first gantry 31 and a second X-axis moving module for driving the second X-axis moving seat 33 to move in the X-axis direction.

[0043] The first horizontal CNC grinding mechanism 36 includes a first Z-axis driving mechanism 361 and a second Z-axis driving mechanism 362 installed on the first X-axis moving seat 32, a first lifting seat 363 installed at the lower end of the first Z-axis driving mechanism 361, a second lifting seat 364 installed at the lower end of the second Z-axis driving mechanism 362, a first spindle motor module 365 installed on the first lifting seat 363 and a first grinding head 366 installed on the first spindle motor module 365 and driven by the first spindle motor module 365 to rotate, and a second lifting seat 364 installed on the second lifting seat 364. The second spindle motor module 367 and the second grinding head 368 installed on the second spindle motor module 367 and driven by the second spindle motor module 367 to rotate, the second grinding head 368 is located above the first grinding head 366, so as to achieve horizontal grinding of medium and large-sized glass panels, and the interval between the first grinding head 366 and the second grinding head 368 can be adjusted by the first Z-axis driving mechanism 361 and the second Z-axis driving mechanism 362, so as to achieve grinding of medium and large-sized glass panels of different thicknesses, which has stronger applicability and is conducive to improving the market competitiveness of the present invention.

[0044] The front end surface of the first gantry 31 is also provided with an inclined wind knife 38 for cleaning. The airflow blown by the wind knife 38 cleans the medium and large-sized glass panels to ensure the grinding quality and the inspection quality.

[0045] The first grinding head 366 is formed with a plurality of first grinding sheets 3661 on the periphery, and a gap is formed between two adjacent first grinding sheets 3661, which is convenient for the flow of liquid, such as cutting fluid; the grinding surfaces of the outer edges of the first grinding sheets 3661 are not on the same straight line; the second grinding head 368 is formed with a plurality of second grinding sheets 3681 on the periphery, and a gap is formed between two adjacent second grinding sheets 3681, which is convenient for the flow of liquid, such as cutting fluid; the grinding surfaces of the outer edges of the second grinding sheets 3681 are not on the same straight line; the second grinding sheets 3681 are staggered with the first grinding sheets 3661, and a gap is formed between at least one second grinding sheet 3681 and one first grinding sheet 3661 for the edge of a medium or large-sized glass panel to pass through. Since the grinding surfaces of the outer edges of the plurality of second grinding sheets 3681 are not on the same straight line, and the grinding surfaces of the outer edges of the plurality of first grinding sheets 3661 are not on the same straight line, the first grinding head 366 and the second grinding head 368 can achieve the purpose of multi-faceted grinding at one time, which is extremely convenient.

[0046] The first grinding sheet 3661 located at the outermost part is formed with a first grinding groove for grinding chamfers; the second grinding sheet 3681 located at the outermost part is formed with a second grinding groove for grinding chamfers.

[0047] The first grinding head 366 and the second grinding head 368 of this structure can be driven by the first Z-axis driving mechanism 361 and the second Z-axis driving mechanism 362 to adjust the interval, so that the upper end surface of the long side of the medium and large-sized glass panel can be ground by the first grinding head 366 alone, or the lower end surface of the long side of the medium and large-sized glass panel can be ground by the second grinding head 368 alone. It is more flexible to use and can meet different grinding needs, making the present invention extremely competitive in the market.

[0048] The first lifting seat 363 is provided with a first clearance groove 3631 and a first protrusion 3632 on the side; the second lifting seat 364 is provided with a second clearance groove 3641 and a second protrusion 3642 on the side, the first protrusion 3632 is placed in the second clearance groove 3641, and a gap is formed between the outer periphery of the first protrusion 3632 and the inner wall of the second clearance groove 3641; the second protrusion 3642 is placed in the first clearance groove 3631, and a gap is formed between the outer periphery of the second protrusion 3642 and the inner wall of the first clearance groove 3631, so that the first lifting seat 363 and the second lifting seat 364 can share a slide rail, that is, only three slide rails 321 need to be provided on the first X-axis moving seat 32, thereby saving parts, saving costs, and saving installation space.

[0049] A protective shell 39 is installed on the first X-axis moving seat 32, and the protective shell 39 covers the periphery of the first spindle motor module 365, the first grinding head 366, the second spindle motor module 367 and the second grinding head 368, and a plurality of cutting fluid spray heads 391 are arranged on the protective shell 39, and a first window 392 for the edge of a medium and large-sized glass panel to pass through is also arranged on the protective shell 39. The protective shell 39 can effectively protect the first spindle motor module 365, the first grinding head 366, the second spindle motor module 367 and the second grinding head 368 from external damage, ensuring the service life. In addition, a plurality of cutting fluid spray heads 391 are arranged on the protective shell 39, which can effectively improve the grinding quality and achieve the cooling effect.

[0050] The structure of the first horizontal CNC grinding mechanism 36 is the same as that of the second horizontal CNC grinding mechanism 37, which is symmetrically distributed on both sides of the front end surface of the first gantry 31. The number of the CCD positioning modules 4 is two, which are respectively arranged on the second lifting seat 364 in the first horizontal CNC grinding mechanism 36 and the fourth lifting seat of the second horizontal CNC grinding mechanism 37.

[0051] The cleaning detection device 5 includes a third X-axis movable seat 51 and a fourth X-axis movable seat 52 installed on both sides of the rear end surface of the first gantry 31 in the horizontal CNC grinding device 3, a third X-axis driving mechanism 53 and a fourth X-axis driving mechanism 54 for respectively driving the third X-axis movable seat 51 and the fourth X-axis movable seat 52 to move in the X-axis direction, a first cleaning detection mechanism 55 installed on the third X-axis movable seat 51 and a second cleaning detection mechanism 56 installed on the fourth X-axis movable seat 52, wherein the first cleaning detection mechanism 55 and the second cleaning detection mechanism 56 have the same structure.

[0052] The first cleaning detection mechanism 55 includes a first cleaning box 551 installed on the third X-axis movable seat 51 and having a first opening 552 for the edge of the medium and large-sized glass panel to pass through, a first front cleaning module 553 and a first rear cleaning module 554 installed on both sides of the first cleaning box 551 and used to clean the edge of the medium and large-sized glass panel, and a first detection module 555 and a second detection module 556 installed in the first cleaning box 551 and used to detect the upper and lower end surfaces of the edge of the medium and large-sized glass panel. When the first cleaning detection mechanism 55 is working, the first front cleaning module 553 is first used to clean the edge of the medium and large-sized glass panel to ensure the cleanliness of the edge of the medium and large-sized glass panel, so as to ensure the quality of subsequent detection; then the first detection module 555 and the second detection module 556 are used to simultaneously detect the upper and lower end surfaces of the edge of the medium and large-sized glass panel, so as to achieve the purpose of detecting two surfaces at one time, and the working efficiency is extremely high. In the later stage, the first rear cleaning module 554 is also used to clean the edge of the medium and large-sized glass panel to ensure the cleanliness of the edge of the medium and large-sized glass panel, so as to facilitate subsequent processing, which makes the present invention have extremely strong market competitiveness.

[0053] The first front cleaning module 553 includes a first front cleaning seat 5531 and a plurality of first front air nozzles 5532 installed in the first front cleaning seat 5531. The first front cleaning seat 5531 has a first front cleaning channel 5533 for the edge of the medium and large-sized glass panel to pass through. When working, the edge of the medium and large-sized glass panel passes through the first front cleaning channel 5533, and the first front air nozzle 5532 sprays gas to clean the edge of the medium and large-sized glass panel. The upper and lower inner walls of the first front cleaning channel 5533 are both formed with first front inverted tooth bevel grooves 5534. The end of the first front air nozzle 5532 is placed in the first front cleaning channel 5533, so that the gas sprayed by the first front air nozzle 5532 is blocked by the first front inverted tooth bevel grooves 5534 to increase the cleaning area and further ensure the cleaning quality. The structure of the first rear cleaning module 554 is the same as that of the first front cleaning module 553, and will not be repeated here.

[0054] The first detection module 555 includes a first lens 5551 horizontally installed at the upper end of the outer side of the first cleaning box 551, a first detection CCD camera 5550 installed in cooperation with the first lens 5551, a first reflector module 5552 installed in the first cleaning box 551 and adapted to the first lens 5551, and a first light source array 5553 installed below the first reflector module 5552, and the first opening 552 is located between the first reflector module 5552 and the first light source array 5553; The second detection module 556 includes a second lens 5561 horizontally installed at the lower end of the outer side of the first cleaning box 551, a second detection CCD camera 5562 installed in cooperation with the second lens 5561, a second reflector module 5563 installed in the first cleaning box 551 and adapted to the second lens 5561, and a second array light source 5564 installed above the second reflector module 5563, and the first opening 552 is located between the second reflector module 5563 and the second array light source 5564. The first detection module 555 and the second detection module 556 in the present invention respectively use the first reflector module 5552 and the second reflector module 5563 to reflect images, so that the first lens 5551, the first detection CCD camera 5550, the second lens 5561, and the second detection CCD camera 5562 are all installed horizontally without vertical completion, which reduces the installation height, increases the installation space, and makes the entire first detection module 555 and the second detection module 556 more convenient to install.

[0055] The first reflector module 5552 includes a first mirror seat 501 installed in the first cleaning box 551 and connected to the first lens 5551, and a first reflector 502 installed in the first mirror seat 501 and distributed at an angle of 45°, through which the image is reflected, the first mirror seat 501 has a first window 503 and a first connecting portion 504 connected to the first lens 5551, and the first window 503 faces the first opening 552; the structure of the second reflector module 5563 is the same as that of the first reflector module 5552.

[0056] The structures of the loading and handling reversing robot 2 and the unloading and handling robot 8 are the same, and will not be described in detail here.

[0057] In summary, the present invention adopts the adsorption load-carrying conveying work platform 1 and the CCD positioning module 4 to realize the carrying, positioning and deviation correction of the medium and large-sized glass panels, effectively ensuring the grinding quality of the medium and large-sized glass panels by the later horizontal CNC grinding device 3; and the present invention adopts the horizontal CNC grinding device 3 to grind the upper and lower end faces of the two long sides of the medium and large-sized glass panels at the same time, and immediately after the grinding is completed, the cleaning detection device 5 is used to simultaneously clean, detect and clean the upper and lower end faces of the two long sides of the medium and large-sized glass panels; then the loading and handling reversing robot 2 is used to reverse the medium and large-sized glass panels by 90° and then place them on the adsorption load-carrying conveying work platform 1, and then the horizontal CNC grinding device 3 is used to grind the upper and lower end faces of the two short sides of the medium and large-sized glass panels The end faces are ground simultaneously, and after the grinding is completed, the cleaning and detection device 5 is immediately used to simultaneously clean, detect and clean the upper and lower end faces of the two short sides of the medium and large-sized glass panel. Because only one horizontal CNC grinding device 3 and one cleaning and detection device 5 are installed, the structure of the present invention can be made more compact, and an automated production line is formed to improve the smoothness of work and reduce labor intensity, and the upper and lower end faces of the four sides of the medium and large-sized glass panel can be ground in two times, the work efficiency is extremely high, and cleaning and detection are performed immediately after grinding, which greatly improves the production efficiency, and a robot is used to realize the transportation between workstations, which will not cause damage to the medium and large-sized glass panels, making the present invention have strong market competitiveness.

[0058] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. Horizontal medium and large size glass panel single CNC grinding and inspection machine, characterized by: It includes: A loading docking station (6), an adsorption load transfer work platform (1) installed beside the loading docking station (6), and a loading and transporting and reversing robot (2) for transporting or reversing medium and large-sized glass panels, a horizontal CNC grinding device (3) for simultaneously grinding the upper and lower end surfaces of two long sides or two short sides of the medium and large-sized glass panels, at least one CCD positioning module (4) working in conjunction with the adsorption load transfer work platform (1), a cleaning and detection device (5) for simultaneously cleaning and detecting the two long sides of the medium and large-sized glass panels, a unloading docking station (7) and an unloading and transporting robot (8) arranged beside the adsorption load transfer work platform (1); the horizontal CNC grinding device (3) comprises a first gantry (31), an installation A first X-axis moving module (34) and a second X-axis moving module (35) are mounted on both sides of the front end surface of the first gantry (31), a first horizontal CNC grinding mechanism (36) mounted on the first X-axis moving module (34), and a second horizontal CNC grinding mechanism (37) mounted on the second X-axis moving module (35), wherein the upper and lower end surfaces of two long sides or two short sides of a medium or large-sized glass panel are simultaneously ground by the first horizontal CNC grinding mechanism (36) and the second horizontal CNC grinding mechanism (37), and the first horizontal CNC grinding mechanism (36) and the second horizontal CNC grinding mechanism (37) are driven by the first X-axis moving module (34) and the second X-axis moving module (35) respectively to adjust the relative spacing; The adsorption carrier transfer work platform (1) comprises a first linear motion module (11), a first moving seat (12) mounted on the first linear motion module (11), a rotation correction mechanism (13) mounted on the first moving seat (12), a first rotating seat (14) mounted on the rotation correction mechanism (13) and driven to rotate by the rotation correction mechanism (13), a first adsorption carrier (15) mounted in the middle of the first rotating seat (14), and a second adsorption carrier (16) and a third adsorption carrier mounted on both sides of the first rotating seat (14) in an adjustable manner. (17), a first linear drive mechanism installed on the first rotating seat (14) and used to control the movement of the second adsorption stage (16), and a second linear drive mechanism (19) installed on the first rotating seat (14) and used to control the movement of the third adsorption stage (17), the upper end surfaces of the first adsorption stage (15), the second adsorption stage (16) and the third adsorption stage (17) are located in the same plane, and the upper end surfaces of the first adsorption stage (15), the second adsorption stage (16) and the third adsorption stage (17) are respectively provided with a first vacuum adsorption hole (151), a second vacuum adsorption hole (152) and a third vacuum adsorption hole (153). The first horizontal CNC grinding mechanism (36) comprises a first Z-axis driving mechanism (361) and a second Z-axis driving mechanism (362) installed on the first X-axis moving module (34), a first lifting seat (363) installed at the lower end of the first Z-axis driving mechanism (361), a second lifting seat (364) installed at the lower end of the second Z-axis driving mechanism (362), a first spindle motor module (365) installed on the first lifting seat (363), and a second spindle motor module (365) installed on the first spindle motor module (365). A first grinding head (366) driven to rotate by the first spindle motor module (365), a second spindle motor module (367) mounted on the second lifting seat (364), and a second grinding head (368) mounted on the second spindle motor module (367) and driven to rotate by the second spindle motor module (367), the second grinding head (368) being located above the first grinding head (366), and the interval between the first grinding head (366) and the second grinding head (368) being adjustable by a first Z-axis driving mechanism (361) and a second Z-axis driving mechanism (362); The cleaning detection device (5) comprises a third X-axis movable seat (51) and a fourth X-axis movable seat (52) mounted on both sides of the rear end surface of a first gantry (31) in a horizontal CNC grinding device (3), a third X-axis driving mechanism (53) and a fourth X-axis driving mechanism (54) for respectively driving the third X-axis movable seat (51) and the fourth X-axis movable seat (52) to move in the X-axis direction, a first cleaning detection mechanism (55) mounted on the third X-axis movable seat (51), and a second cleaning detection mechanism (56) mounted on the fourth X-axis movable seat (52). The first cleaning detection mechanism (55) comprises a first cleaning box (551) mounted on the third X-axis movable seat (51) and having a first opening (552) for the edge of the medium-to-large-sized glass panel to pass through, a first front cleaning module (553) and a first rear cleaning module (554) mounted on both sides of the first cleaning box (551) and used for cleaning the edge of the medium-to-large-sized glass panel, and a first detection module (555) and a second detection module (556) mounted in the first cleaning box (551) and used for detecting the upper and lower end surfaces of the edge of the medium-to-large-sized glass panel.

2. The horizontal medium and large size glass panel single CNC grinding and inspection machine according to claim 1 is characterized by: A plurality of first grinding sheets (3661) are formed on the periphery of the first grinding head (366), a gap is formed between two adjacent first grinding sheets (3661), and the grinding surfaces of the outer edges of the first grinding sheets (3661) are not on the same straight line; a plurality of second grinding sheets (3681) are formed on the periphery of the second grinding head (368), a gap is formed between two adjacent second grinding sheets (3681), and the grinding surfaces of the outer edges of the second grinding sheets (3681) are not on the same straight line; the second grinding sheets (3681) and the first grinding sheets (3661) are staggered, and a gap is formed between at least one second grinding sheet (3681) and one first grinding sheet (3661) for the edge of a medium or large-sized glass panel to pass through.

3. The horizontal medium and large size glass panel single CNC grinding and inspection machine according to claim 2 is characterized by: The first lifting seat (363) is provided with a first clearance groove (3631) and a first protrusion (3632) on the side surface; the second lifting seat (364) is provided with a second clearance groove (3641) and a second protrusion (3642) on the side surface, the first protrusion (3632) is placed in the second clearance groove (3641), and a gap is formed between the outer periphery of the first protrusion (3632) and the inner wall of the second clearance groove (3641); the second protrusion (3642) is placed in the first clearance groove (3631), and a gap is formed between the outer periphery of the second protrusion (3642) and the inner wall of the first clearance groove (3631).

4. The horizontal medium and large size glass panel single CNC grinding and inspection machine according to claim 1 is characterized by: The first front cleaning module (553) comprises a first front cleaning seat (5531) and a plurality of first front air nozzles (5532) installed in the first front cleaning seat (5531); the first front cleaning seat (5531) has a first front cleaning channel (5533) for the edge of a medium or large-sized glass panel to pass through, and the upper and lower inner walls of the first front cleaning channel (5533) are both formed with first front inverted tooth bevel grooves (5534); the end of the first front air nozzle (5532) is placed in the first front cleaning channel (5533); the structure of the first rear cleaning module (554) is the same as that of the first front cleaning module (553).

5. The horizontal medium and large size glass panel single CNC grinding and inspection machine according to claim 1 is characterized by: The first detection module (555) comprises a first lens (5551) horizontally mounted on the upper end of the outer side of the first cleaning box (551), a first detection CCD camera (5550) mounted in cooperation with the first lens (5551), a first reflector module (5552) mounted in the first cleaning box (551) and adapted to the first lens (5551), and a first array of light sources (5553) mounted below the first reflector module (5552), wherein the first opening (552) is located between the first reflector module (5552) and the first array of light sources (5553).

6. The horizontal medium-to-large-sized glass panel single CNC grinding and inspection machine according to claim 5 is characterized by: The first reflector module (5552) comprises a first mirror seat (501) installed in the first cleaning box (551) and connected to the first lens (5551), and a first reflector (502) installed in the first mirror seat (501) and distributed at an angle of 45°, the first mirror seat (501) having a first window (503) and a first connecting portion (504) connected to the first lens (5551), the first window (503) facing the first opening (552).

7. The processing method of the horizontal medium-to-large-sized glass panel single CNC grinding and inspection integrated machine according to any one of claims 1 to 6, characterized in that: The processing method comprises: the medium and large-sized glass panel carried on the loading docking table is transported to the adsorption carrier conveying work platform by a loading and transporting reversing manipulator; the adsorption carrier conveying work platform adsorbs and positions the medium and large-sized glass panel; the CCD positioning module works to take a picture of the medium and large-sized glass panel to determine whether it is in a predetermined position; if it is not in the predetermined position, the adsorption carrier conveying work platform rotates to correct the deviation of the medium and large-sized glass panel, so that the medium and large-sized glass panel is placed in the predetermined position; the adsorption carrier conveying work platform conveys the medium and large-sized glass panel toward the horizontal CNC grinding device; the horizontal CNC The grinding device works to grind the upper and lower end surfaces of the two long sides of the medium and large-sized glass panel at the same time, and the cleaning and detection device also starts to work, which cleans and detects the parts of the two long sides of the medium and large-sized glass panel that have been ground. After completion, the adsorption carrier conveying work platform again conveys the ground medium and large-sized glass panel back to the front of the horizontal CNC grinding device. At this time, the adsorption carrier conveying work platform no longer adsorbs and positions the medium and large-sized glass panel. The loading and handling reversing robot grabs the medium and large-sized glass panel again, and puts it back on the adsorption carrier conveying work platform after 90° reversal. At this time, the two short sides of the medium and large-sized glass panel extend out of the two sides of the adsorption carrier conveying work platform. At this time, the CCD positioning module works to take a picture of the medium and large-sized glass panel to determine whether it is in the predetermined position, such as If it is not in the predetermined position, the adsorption load-carrying conveying work platform will rotate to correct the deviation of the medium and large-sized glass panel, so that the medium and large-sized glass panel is placed in the predetermined position; the adsorption load-carrying conveying work platform will convey the medium and large-sized glass panel toward the horizontal CNC grinding device, and the horizontal CNC grinding device will work to grind the upper and lower end surfaces of the two short sides of the medium and large-sized glass panel at the same time. At the same time, the cleaning and detection device will also start working, which will clean and detect the two long sides of the ground medium and large-sized glass panel at the same time. After completion, the adsorption load-carrying conveying work platform will no longer adsorb and position the medium and large-sized glass panel, and the medium and large-sized glass panel will be sucked up and transported to the unloading docking table by the unloading handling robot, and then the adsorption load-carrying conveying work platform will be reset to complete the grinding and inspection of the medium and large-sized glass panel.

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