Full-automatic intelligent polishing machine

Abstract

The present application relates to the field of automation processing, and particularly relates to a full-automatic intelligent polishing machine. The full-automatic intelligent polishing machine comprises a main frame, a polishing lower turntable assembly fixed on the main frame for polishing a product processing surface; a polishing upper turntable assembly fixed on the main frame above the product, comprising a first self-rotating disc, a second self-rotating disc, a rotating shaft, a turnover device and a lifting mechanism. A material moving assembly is used for moving an external product into the polishing upper turntable assembly or moving the processed product on the polishing upper turntable assembly out. A plug assembly is used for distributing the to-be-processed products, receiving the processed products moved out by the material moving assembly, and inserting the processed products into a toughening frame assembly after the processed products are arranged and positioned. The full-automatic intelligent polishing machine provided by the present application effectively realizes the automatic and intelligent production of glass products.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic processing, in particular to a full-automatic intelligent polishing machine. BACKGROUND

[0002] At present, the polishing and rack inserting of 3C glass, composite board and other products in the industry are mainly placed manually or using a single polishing machine. Since manual operation is still required in the production process, the production efficiency is low, and the overall automation and intelligence of the production line cannot be realized.

[0003] For example, the patent document with publication number CN111300234A and publication date of June 19, 2020 discloses a polishing machine for rough and fine polishing, which includes a rotatable turntable, a side rough polishing device, a side fine polishing device, a top rough polishing device and a top fine polishing device arranged circumferentially along the turntable. The edge of the turntable is provided with a plurality of clamps for fixing products and a first motor for driving the clamps to rotate horizontally. The polishing machine can efficiently polish the side and top surfaces of the products, improving the polishing efficiency and automation degree.

[0004] However, the above-mentioned scheme cannot perform polishing work simultaneously when feeding and discharging, affecting the production efficiency. At the same time, manual rack inserting operation is still required for the discharged products, which is not intelligent enough to complete the whole production process of polishing and placing. SUMMARY

[0005] To solve the problems of insufficient production efficiency and intelligence of the existing polishing machine, the present application provides a full-automatic intelligent polishing machine, which includes

[0006] A main frame provides an overall support frame.

[0007] A polishing lower turntable assembly is fixed to the main frame and located below the product processing surface for polishing the product processing surface.

[0008] A polishing upper turntable assembly is fixed to the main frame above the product and includes a first self-rotating disc, a second self-rotating disc, a rotating shaft, a turnover device and a lifting mechanism. The first self-rotating disc and the second self-rotating disc are used to adsorb the non-processing surface of the product. The first self-rotating disc and the second self-rotating disc are symmetrically installed on the rotating shaft through a connecting rotating structure. The connecting rotating structure includes a connecting shaft and a connecting turnover device, and the first self-rotating disc and the second self-rotating disc are symmetrically connected to the two ends of the connecting shaft. The connecting turnover device drives the connecting shaft to rotate, thereby driving the first self-rotating disc and the second self-rotating disc to rotate. The turnover device is arranged at one end of the rotating shaft and drives the rotating shaft to rotate, so that the first self-rotating disc and the second self-rotating disc are turned along the rotating shaft. The rotating shaft is lifted and lowered under the drive of the lifting mechanism, thereby driving the first self-rotating disc and the second self-rotating disc to lift and lower.

[0009] A material moving assembly is used to move the products to be processed into the polishing upper turntable assembly or move the processed products out of the polishing upper turntable assembly.

[0010] A product inserting assembly is used to place the products to be processed into the material moving assembly, receive the processed products moved out of the material moving assembly, and arrange and position the processed products before inserting them into the toughening frame assembly.

[0011] In an embodiment, the polishing lower turntable assembly comprises a polishing lower turntable driving structure, a polishing sponge, and a water receiving box.

[0012] The polishing sponge is arranged inside the water receiving box and rotates under the driving of the polishing lower turntable driving structure. The bottom of the water receiving box is arranged obliquely.

[0013] In an embodiment, the material moving assembly comprises a transfer platform, a polishing robot, and a product arranging robot.

[0014] The transfer platform is arranged horizontally on the main frame and is perpendicular to the axis direction of the rotating shaft. The polishing robot is arranged on the top of the main frame and moves horizontally and vertically between the polishing upper turntable assembly and the transfer platform, thereby moving the products adsorbed by the polishing robot.

[0015] The product arranging robot is arranged on the main frame above the transfer platform and moves horizontally and vertically along the transfer platform to move the products to be processed from the product inserting assembly to the transfer platform and arrange the processed products on the transfer platform to the product inserting assembly.

[0016] In an embodiment, the polishing robot is a gantry four-axis structure comprising a polishing Y-axis, a polishing X-axis, a polishing Z-axis, a polishing U-axis, and a grabbing device. The polishing X-axis is fixed on the top end of the main frame, the polishing Y-axis is fixed on the polishing X-axis, and the polishing Z-axis is arranged on the polishing Y-axis. The polishing Y-axis, the polishing X-axis, and the polishing Z-axis are motor guide rail structures, enabling the grabbing device to move linearly along the X-axis, the Y-axis, and the Z-axis.

[0017] The polishing U-axis is a motor or a rotary cylinder and is arranged on the polishing Z-axis. The grabbing device is arranged on the polishing U-axis, and the polishing U-axis drives the grabbing device to flip.

[0018] In an embodiment, the product arranging robot is a gantry four-axis structure comprising a product arranging X-axis, a product arranging Y-axis, a product arranging Z-axis, a product arranging U-axis, and a product arranging device. The product arranging Y-axis is fixed on the main frame, the product arranging X-axis is fixed on the product arranging Y-axis, and the product arranging Z-axis is arranged on the product arranging X-axis. The product arranging X-axis, the product arranging Y-axis, and the product arranging Z-axis are motor guide rail structures, enabling the product arranging device to move linearly along the X-axis, the Y-axis, and the Z-axis.

[0019] The product arranging U-axis is a motor or a rotary cylinder and is arranged on the product arranging Z-axis. The product arranging device is arranged on the product arranging U-axis, and the product arranging U-axis drives the product arranging device to rotate horizontally.

[0020] In an embodiment, the insert assembly comprises a staggered circulation distribution mechanism and an insert mechanism.

[0021] The staggered circulation distribution mechanism is arranged on the main frame at the end of the material moving assembly. The insert mechanism comprises an insert Z shaft, an insert U shaft, an insert split and combination rotating device, and an insert device. The insert Z shaft is fixed on the main frame, the insert U shaft is fixed on the insert Z shaft, the insert split and combination device is fixed on the insert U shaft, and the insert device is flipped under the action of the insert split and combination device.

[0022] In an embodiment, the staggered circulation distribution mechanism comprises a first positioning platform, a second positioning platform, and a motor transmission mechanism. The motor transmission mechanism is fixed on the main frame, the first positioning platform is arranged on the upper side of the motor transmission mechanism, and the second positioning platform is arranged on the lower side of the motor transmission mechanism. The motor transmission mechanism drives the first positioning platform and the second positioning platform to move in a staggered circulation manner in the horizontal direction.

[0023] In an embodiment, the staggered circulation distribution mechanism further comprises a short edge positioning plate, which is vertically arranged on the non-material feeding side of the first positioning platform and the second positioning platform.

[0024] In an embodiment, the tempering rack assembly comprises a tempering rack and a tempering rack displacement mechanism.

[0025] The tempering rack displacement mechanism is fixed on the main frame below the insert assembly, and the tempering rack displacement mechanism drives the tempering rack to move horizontally.

[0026] In an embodiment, the tempering rack assembly is further provided with a tempering rack secondary positioning mechanism for precise positioning of the tempering rack. The tempering rack secondary positioning mechanism comprises a horizontal driving assembly and a lifting fixing assembly.

[0027] Based on the above, compared with the prior art, the full-automatic intelligent polishing machine provided by the present application effectively improves the polishing work efficiency through the cooperation of the coaxially rotating double-face rotation disc and the revolution disc. The four-axis gantry type mechanical hand is matched to realize the accurate feeding and discharging process. The insert assembly and the tempering rack assembly are arranged to automatically and efficiently accurately insert the processed products into the rack, and automatically convey the completed tempering rack, so that the overall production process is automated and intelligentized.

[0028] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and achieved by the structures particularly pointed out in the specification, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings; in the following description, the positional relationship described in the drawings is the direction of the components shown in the drawings as the reference, unless otherwise specified.

[0030] Figure 1 A perspective view of an embodiment of the full-automatic intelligent polishing machine provided by the present application.

[0031] Figure 2 A perspective view of the internal structure of an embodiment of the present application.

[0032] Figure 3 A top view of an embodiment of the present application.

[0033] Figure 4 A perspective view of the polishing lower turntable assembly in an embodiment of the present application.

[0034] Figure 5 A Figure 4 front view.

[0035] Figure 6 A perspective view of the polishing upper turntable assembly in an embodiment of the present application.

[0036] Figure 7 A Figure 6 top view.

[0037] Figure 8 A Figure 6 front view.

[0038] Figure 9 A perspective view of the polishing manipulator in an embodiment of the present application.

[0039] Figure 10 A front view of the polishing manipulator in an embodiment of the present application.

[0040] Figure 11 A perspective view of the transfer platform and the film placing manipulator in an embodiment of the present application.

[0041] Figure 12 A perspective view of the film inserting and taking mechanism in an embodiment of the present application.

[0042] Figure 13 A Figure 12 left view.

[0043] Figure 14 A perspective view of the misaligned circulation material distributing mechanism in an embodiment of the present application.

[0044] Figure 15 Fig. 1 is a perspective view of a polishing machine according to an embodiment of the present application. Figure 14 Fig. 2 is a plan view of the polishing machine according to an embodiment of the present application.

[0045] Figure 16 Fig. 3 is a perspective view of a polishing frame assembly according to an embodiment of the present application. Figure 14 Fig. 4 is a perspective view of a polishing frame according to an embodiment of the present application.

[0046] Figure 17 Fig. 5 is a perspective view of a displacement mechanism of the polishing frame according to an embodiment of the present application.

[0047] Figure 18 Fig. 6 is a perspective view of a secondary positioning mechanism of the polishing frame according to an embodiment of the present application.

[0048] Figure 19 Fig. 7 is a perspective view of the polishing frame and the secondary positioning mechanism according to an embodiment of the present application.

[0049] Figure 20 Fig. 8 is a left view of the secondary positioning mechanism according to an embodiment of the present application. Figure 19

[0050] Fig. 9 is a perspective view of the polishing frame according to an embodiment of the present application. Figure 21

[0051] Fig. 10 is a left view of the polishing frame according to an embodiment of the present application. Figure 22

[0052] Fig. 11 is a perspective view of the polishing frame according to an embodiment of the present application.

[0053] 100 main frame 200 polishing lower turntable assembly 210 polishing lower turntable driving structure

[0054] 220 polishing sponge 230 water receiving box 300 polishing upper turntable assembly

[0055] 310 rotating shaft 311 co-rotating gear 312 connecting rotating structure

[0056] 3121 connecting shaft 3122 connecting rotating device 313 transmission shaft

[0057] 314 fixed seat 320 first rotating disc 330 second rotating disc

[0058] 340 lifting mechanism 350 overturning device 400 material moving assembly

[0059] 410 polishing robot 411 polishing X-axis 412 polishing Y-axis

[0060] 413 polishing Z-axis 414 polishing U-axis 415 grabbing device

[0061] 420 sheet swinging robot 421 sheet swinging Y-axis 422 sheet swinging X-axis

[0062] 423 sheet swinging Z-axis 424 sheet swinging U-axis 425 sheet swinging device ​

[0063] 430 transfer platform 431 waste box 500 plug-in assembly

[0064] 510 plug-in mechanism 511 plug-in Z-axis 512 plug-in U-axis

[0065] 513 plug-in combination device 514 plug-in device 520 staggered circulation distribution mechanism

[0066] 521 first positioning platform 522 second positioning platform 523 motor transmission mechanism

[0067] 5231 drive motor 5232 synchronous belt 5233 positioning cylinder

[0068] 5234 buffer 524 short edge positioning plate 600 toughening frame assembly

[0069] 610 toughening frame 611 frame 612 side plate

[0070] 613 upper clamping groove 614 lower clamping groove 615 reinforcing rib

[0071] 620 toughening frame displacement mechanism 621 first chain 622 second chain

[0072] 623 drive motor 624 driving shaft 625 driven shaft

[0073] 630 toughening frame secondary positioning mechanism 631 horizontal drive assembly 632 lifting fixed assembly

[0074] 6321 positioning pin 6322 positioning pin mounting block 6323 top plate

[0075] 6324 secondary positioning cylinder 6325 guide column 6326 bottom plate DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. The technical features designed in the different embodiments of the present application can be combined with each other as long as they do not conflict with each other. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0077] In the description of this invention, it should be noted that all terms used in this invention (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains, and should not be construed as limiting the invention. It should be further understood that the terms used in this invention should be understood to have the same meaning as those in the context of this specification and the relevant field, and should not be interpreted in an idealized or overly formal sense, except as expressly defined herein.

[0078] This invention provides a fully automatic intelligent polishing machine, including...

[0079] The main unit rack 100 provides an overall support frame.

[0080] The polishing turntable assembly 200 is fixed on the main frame 100 and located below the product processing surface for polishing the product processing surface.

[0081] The polishing turntable assembly 300, fixed to the main frame 100 above the product, includes a first rotating disk 320, a second rotating disk 330, a rotating shaft 310, a flipping device 350, and a lifting mechanism 340. The first rotating disk 320 and the second rotating disk 330 are used to adsorb the non-processed surfaces of the product. The first rotating disk 320 and the second rotating disk 330 are symmetrically mounted on the rotating shaft 310 via a connecting rotating structure 312. The connecting rotating structure 312 includes a connecting shaft 3121 and a connecting rotating device 3122, with the first rotating disk 320 and the second rotating disk 330 symmetrically connected to both ends of the connecting shaft 312. The rotating motor 3122 drives the connecting shaft 3121 to rotate, thereby causing the first rotating disk 320 and the second rotating disk 330 to rotate. The flipping device 350 is located at one end of the rotating shaft 310, driving the rotating shaft 310 to rotate, causing the first rotating disk 320 and the second rotating disk 330 to flip along the rotating shaft 310. The rotating shaft 310 is raised and lowered under the drive of the lifting mechanism 340, which in turn drives the first rotating disk 320 and the second rotating disk 330 to rise and fall.

[0082] The transfer assembly 400 is used to transfer incoming products onto the polishing upper turntable assembly 300 or to remove processed products from the polishing upper turntable assembly 300.

[0083] The insert assembly 500 is used to place the products to be processed onto the transfer assembly after they are divided, to receive the processed products transferred out by the transfer assembly 400, and to arrange and position the processed products before inserting them into the tempered frame assembly 600.

[0084] In specific implementation, such as Figures 1-22 As shown, the fully automatic intelligent polishing machine consists of a main frame 100, a lower polishing turntable assembly 200, an upper polishing turntable assembly 300, a material transfer assembly 400, a blade insertion assembly 500, and a tempering frame assembly 600.

[0085] The main frame 100 provides a support frame 611 for the whole. The polishing lower turntable assembly 200 is fixed on the main frame 100 and is arranged below the product processing surface for polishing the product processing surface.

[0086] The polishing upper turntable assembly 300 is fixed on the main frame 100 above the product and includes a first self-rotating disc 320, a second self-rotating disc 330, a rotating shaft 310, a turnover motor 350, and a lifting mechanism 340. The first self-rotating disc 320 and the second self-rotating disc 330 are used to adsorb the non-processing surface of the product. The first self-rotating disc 320 and the second self-rotating disc 330 are symmetrically mounted on the rotating shaft 310 through a connecting rotating structure 312. The connecting rotating structure 312 includes a connecting shaft 3121 and a connecting rotating device 3122. The two ends of the connecting shaft 3121 are respectively connected with the corresponding first self-rotating disc 320 or second self-rotating disc 330. Specifically, the connecting shaft 3121 can be connected with the first self-rotating disc 320 through a transmission shaft 313. The connecting rotating device 3122 can drive multiple connecting shafts 3121 to rotate through a chain or a synchronous belt, thereby driving multiple first self-rotating discs 320 and second self-rotating discs 330 to rotate synchronously. The connecting rotating device 3122 can also be paired with the connecting shaft 3121 one by one, that is, one connecting rotating device 3122 drives one connecting shaft 3121. The turnover device 350 is arranged at one end of the rotating shaft 310 and drives the rotating shaft 310 to rotate, so that the first self-rotating disc 320 and the second self-rotating disc 330 are turned along the rotating shaft 310. The rotating shaft 310 is lifted under the drive of the lifting mechanism 340, thereby driving the first self-rotating disc 320 and the second self-rotating disc 330 to lift. Specifically, the lifting mechanism 340 can adopt a lifting air cylinder or a lifting electric cylinder, a lifting motor mechanism, etc., thereby enabling the polishing upper turntable assembly 300 to lift, turn over, and better perform polishing work. Specifically, the turnover device 350 can be an air cylinder or a motor, and the connecting rotating device 3122 can be an air cylinder or a motor.

[0087] The material moving assembly 400 is used to move the external product into the polishing upper turntable assembly 300 or to move the processed product on the polishing upper turntable assembly 300 out. The insert piece assembly 500 is used to receive the processed product moved out by the material moving assembly 400 and to arrange and position the processed product before inserting it into the tempering rack assembly 600. Specifically, the material moving assembly 400 and the insert piece assembly 500 can adopt a combination of multi-axis mechanical hands and positioning mechanisms to separate and move the to-be-processed products to the self-rotating disc and to position the external to-be-processed products before carrying out the feeding, inserting, and piece inserting work.

[0088] In actual operation, taking the first rotating disk 320 being idle and the second rotating disk 330 being in operation as an example, the material transfer component 400 adsorbs the processing surface of the external product to be processed and places it on the first rotating disk 320. At this time, the first rotating disk 320 adsorbs the non-processing surface of the product to be processed. After placement, the second rotating disk 330 is polished, the transfer component 400 is removed, the lifting mechanism 340 drives the rotating shaft 310 to rise to the set rotation position, the flipping motor 350 drives the rotating shaft 310 to rotate, the first rotating disk 320 and the second rotating disk 330 flip around the rotating shaft 310 as the rotation axis, the first rotating disk 320 stops rotating when it rotates to vertical downward, at this time the first rotating disk 320 is vertical downward and the second rotating disk 330 is vertical upward, the lifting mechanism 340 drives the rotating shaft 310 to descend to the working position, the first rotating disk starts to rotate driven by the rotating motor 3122, the polishing lower rotating disk component 200 starts to revolve, and the whole thing is polished. At the same time as polishing, the transfer component 400 takes away the processed product from the second rotating disk 330, the polishing Z axis rises to the highest position, the polishing U axis 414 rotates again, then the polishing Z axis 413 moves down, and the polishing gripping device 415 places the product to be processed on the second automatic disk 330. After polishing, the lifting mechanism 340 drives the rotating shaft 310 to rise to the set position. The flipping motor 350 drives the rotating shaft 310 to rotate and flip again, causing the first rotating disk 320 to flip to a vertically upward position. The flipping motor 350 then stops driving, and the transfer assembly 400 removes the processed product from the first rotating disk 320. The insert assembly 500 receives the processed product removed by the transfer assembly 400 and positions it to insert into the tempered frame 610 delivered by the tempered frame assembly 600. The subsequent process repeats in this cycle.

[0089] In one embodiment, the polishing lower turntable assembly 200 includes a polishing lower turntable drive structure 210, a polishing sponge 220, and a water receiving box 230.

[0090] The polishing sponge 220 is located inside the water receiving box 230 and rotates under the drive of the polishing turntable drive structure 210. The bottom of the water receiving box 230 is angled.

[0091] In specific implementation, such as Figures 2-5 As shown, the polishing lower turntable assembly 200 consists of a polishing lower turntable drive structure 210, a polishing sponge 220, and a water receiving box 230. The polishing sponge 220 is located inside the water receiving box 230 and rotates under the drive of the polishing lower turntable drive structure 210. The bottom of the water receiving box 230 is angled. Specifically, the polishing lower turntable drive structure 210 can be a motor chain coupling transmission, or a motor chain or synchronous belt 5232 transmission structure, which can be configured according to actual conditions by those skilled in the art. The angled design of the bottom of the water receiving box 230 makes it difficult for polishing sludge to accumulate.

[0092] Preferably, as shown in Figures 2-3 and Figures 6-8 At least one set of first rotation disc 320 and second rotation disc 330 is arranged on the rotation shaft 310. The skilled in the art can adjust the size of the processing area and the specifications of the polishing lower turntable assembly 200 to enhance the work efficiency. Preferably, when multiple sets of first rotation disc 320 and second rotation disc 330 are arranged, a protective shell can be used to protect the connecting rotation structure 312 from the polishing dust, preventing the equipment from wearing out.

[0093] Preferably, as shown in Figures 2-3 and Figures 6-8 The end of the rotation shaft 310 connected to the overturning motor 350 is provided with a co-rotation gear 311, and the overturning device 350 drives the rotation shaft 310 to rotate through the co-rotation gear 311. Further, the other end of the rotation shaft 310 is provided with a fixed seat 314, which stably fixes the rotation shaft 310 on the main frame 100.

[0094] Preferably, at least one set of polishing upper turntable assembly 300 is arranged on the whole equipment. The skilled in the art can adjust the polishing time, the size of the processing area, and the specifications of the polishing lower turntable assembly 200 to ensure that the production efficiency is not affected.

[0095] In an embodiment, the material moving assembly 400 includes a transfer platform 430, a polishing robot 410, and a piece placing robot 420.

[0096] The transfer platform 430 is horizontally arranged on the main frame 100, and the transfer platform 430 is perpendicular to the axis direction of the rotation shaft 310. The polishing robot 410 is arranged on the top of the main frame 100, and moves horizontally and vertically between the polishing upper turntable assembly 300 and the transfer platform 430, thereby driving the product adsorbed by the polishing robot 410 to move.

[0097] The piece placing robot 420 is arranged on the main frame 100 above the transfer platform 430, and moves horizontally and vertically along the transfer platform 430, to place the processed product on the transfer platform 430 into the piece inserting assembly 500.

[0098] In specific implementation, as shown in Figures 2-3 and Figures 9-11 The material moving assembly 400 includes a transfer platform 430, a polishing robot 410, and a piece placing robot 420.

[0099] The transfer platform 430 is horizontally mounted on the main frame 100, and is perpendicular to the axis of the rotating shaft 310. Specifically, the transfer platform 430 can remain horizontal with the highest point of the rotating shaft 310 to facilitate product transfer. The polishing robot 410 is mounted on top of the main frame 100. The polishing robot 410 can move horizontally and vertically between the polishing turntable assembly 300 and the transfer platform 430, thereby displacing the products adsorbed on the polishing robot 410.

[0100] The slab-positioning robot 420 is mounted on the main frame 100 above the transfer platform 430. It moves horizontally and vertically along the transfer platform 430 to place and transport the processed products on the transfer platform 430 to the insert assembly 500.

[0101] In one embodiment, the polishing robot 410 is a gantry four-axis structure, including a polishing Y-axis 412, a polishing X-axis 411, a polishing Z-axis 413, a polishing U-axis 414, and a gripping device 415. The polishing X-axis 411 is fixed to the top of the main frame 100, the polishing Y-axis 412 is fixed to the polishing X-axis 411, and the polishing Z-axis 413 is disposed on the polishing Y-axis 412. The polishing Y-axis 412, polishing X-axis 411, and polishing Z-axis 413 are all motor guide rail structures, enabling the gripping device 415 to move linearly along the X, Y, and Z axes.

[0102] The polishing U-axis 414 is a motor or a rotary cylinder, and it is mounted on the polishing Z-axis 413. The gripping device 415 is mounted on the polishing U-axis 414, and the polishing U-axis 414 drives the gripping device 415 to rotate.

[0103] In specific implementation, such as Figures 9-10 As shown, the polishing robot 410 is a gantry four-axis structure, including a polishing Y-axis 412, a polishing X-axis 411, a polishing Z-axis 413, a polishing U-axis 414, and a gripping device 415. The polishing X-axis 411 is fixed to the top of the main frame 100, the polishing Y-axis 412 is fixed to the polishing X-axis 411, and the polishing Z-axis 413 is set on the polishing Y-axis 412. Specifically, the polishing Y-axis 412, polishing X-axis 411, and polishing Z-axis are all motor guide rail structures, enabling the gripping device 415 to move linearly along the X, Y, and Z axes. This, in turn, drives the product it grips to move along the X, Y, and Z axes. Specifically, the direction from the feed point to the polishing upper turntable assembly 300 is the X-axis direction, and the Z-axis direction is the vertical direction.

[0104] The polishing U-axis 414 can be a motor or a rotary cylinder, and is mounted on the polishing Z-axis 413. A gripping device 415 is mounted on the polishing U-axis 414. Specifically, the gripping device 415 can be a vacuum suction cup or a vacuum suction plate. During operation, the polishing U-axis 414 rotates, thereby driving the gripping device 415 to rotate, allowing the gripping device 415 to pick up as many products as possible, increasing work efficiency. Preferably, the overall structure of the gripping device 415 can be configured according to the number of sets of the first rotating disk 320 and the second rotating disk 330 on a single rotating shaft 310, and can be configured as a flat plate type, a truncated triangular prism type, etc.

[0105] In one embodiment, the pendulum robot 420 is a gantry four-axis structure, including a pendulum X-axis 422, a pendulum Y-axis 421, a pendulum Z-axis 423, a pendulum U-axis 424, and a pendulum device 425. The pendulum Y-axis 421 is fixed on the main frame 100, the pendulum X-axis 422 is fixed on the pendulum Y-axis 421, and the pendulum Z-axis 423 is disposed on the pendulum X-axis 422. The pendulum X-axis 422, pendulum Y-axis 421, and pendulum Z-axis 423 are all motor guide rail structures, enabling the pendulum device 425 to move linearly along the X, Y, and Z axes.

[0106] The U-axis 424 of the oscillating plate is a motor or a rotary cylinder, and the U-axis 424 is mounted on the Z-axis 423 of the oscillating plate. The oscillating plate device 425 is mounted on the polishing U-axis 414, and the U-axis 424 drives the oscillating plate device 425 to rotate horizontally.

[0107] In specific implementation, such as Figure 11 As shown, the swaying robot 420 is a gantry four-axis structure, including a swaying X-axis 422, a swaying Y-axis 421, a swaying Z-axis 423, a swaying U-axis 424, and a swaying device 425. The swaying Y-axis 421 is fixed on the main frame 100, the swaying X-axis 422 is fixed on the swaying Y-axis 421, and the swaying Z-axis 423 is set on the swaying X-axis 422. The swaying X-axis 422, swaying Y-axis 421, and swaying Z-axis 423 are all motor guide rail structures, enabling the swaying device 425 to move linearly along the X, Y, and Z axes, thereby driving the product it grips to move along the X, Y, and Z axes.

[0108] The U-axis 424 of the oscillating vane is a motor or a rotary cylinder, and it is mounted on the Z-axis 423 of the oscillating vane. The oscillating vane device 425 is mounted on the polishing U-axis 414, and the U-axis 424 drives the oscillating vane device 425 to rotate horizontally, enabling it to be positioned in more locations. Specifically, the oscillating vane device 425 can be a vacuum chuck.

[0109] Preferably, a negative pressure detection sensor can be arranged on the grabbing device 415 and the sheet placing device 425 to detect whether the product is broken or missed. Further, a waste box 431 can be arranged on one side of the transfer platform 430 to receive the product detected as broken or missed by the grabbing device 415 and the sheet placing device 425.

[0110] In an embodiment, the sheet inserting assembly 500 includes a staggered circulation distribution mechanism 520 and a sheet inserting mechanism 510.

[0111] The staggered circulation distribution mechanism 520 is arranged on the main frame 100 at the end of the material moving assembly 400. The sheet inserting mechanism 510 includes a sheet inserting Z-axis 511, a sheet inserting U-axis 512, a sheet inserting on-off device 513, and a sheet inserting device 514. The sheet inserting Z-axis 511 is fixed on the main frame 100, the sheet inserting U-axis 512 is fixed on the sheet inserting Z-axis 511, the sheet inserting on-off device 513 is fixed on the sheet inserting U-axis 512, and the sheet inserting device 514 is flipped under the action of the sheet inserting on-off device 513. Specifically, the sheet inserting on-off device 513 is a combination of a motor and a cylinder, which enables the sheet inserting device 514 to flip and adsorb the product placed on the staggered circulation distribution mechanism 520, and then flip to a vertical position and insert into the toughening frame 610.

[0112] In specific implementation, as shown in Figures 12-16 the sheet inserting assembly 500 includes the staggered circulation distribution mechanism 520 and the sheet inserting mechanism 510.

[0113] The staggered circulation distribution mechanism 520 is arranged on the main frame 100 at the end of the material moving assembly 400. The sheet inserting mechanism 510 includes a sheet inserting Z-axis 511, a sheet inserting U-axis 512, a sheet inserting on-off device 513, and a sheet inserting device 514. The sheet inserting Z-axis 511 is fixed on the main frame 100, the sheet inserting U-axis 512 is fixed on the sheet inserting Z-axis 511, the sheet inserting on-off device 513 is fixed on the sheet inserting U-axis 512, and the sheet inserting device 514 is flipped under the action of the sheet inserting on-off device 513. Specifically, the sheet inserting on-off device 513 is a combination of a motor and a cylinder, which enables the sheet inserting device 514 to flip and adsorb the product placed on the staggered circulation distribution mechanism 520, and then flip to a vertical position and insert into the toughening frame 610.

[0114] In an embodiment, the staggered circulation distribution mechanism 520 includes a first positioning platform 521, a second positioning platform 522, and a motor transmission mechanism 523. The motor transmission mechanism 523 is fixed on the main frame 100, the first positioning platform 521 is arranged on the upper side of the motor transmission mechanism 523, and the second positioning platform 522 is arranged on the lower side of the motor transmission mechanism 523. The motor transmission mechanism 523 drives the first positioning platform 521 and the second positioning platform 522 to move in a staggered circulation manner in the horizontal direction.

[0115] In specific implementation, as shown in Figures 14-16As shown, the staggered circulation distribution mechanism 520 includes a first positioning platform 521, a second positioning platform 522, and a motor drive mechanism 523. The motor drive mechanism 523 is fixed on the main frame 100, the first positioning platform 521 is fixed on the upper side of the motor drive mechanism 523, and the second positioning platform 522 is fixed on the lower side of the motor drive mechanism 523. Specifically, the motor drive mechanism 523 can be a combination of a driving motor 5231 and a synchronous belt 5232, which can drive the first positioning platform 521 and the second positioning platform 522 to move in a staggered circulation in the horizontal direction. The first positioning platform 521 and the second positioning platform 522 can be fixed by positioning cylinders 5233 and the synchronous belt 5232, and buffers 5234 are arranged at both ends of the synchronous belt 5232 to buffer the first positioning platform 521 and the second positioning platform 522 to ensure accuracy.

[0116] In an embodiment, the staggered circulation distribution mechanism 520 further includes a short side positioning plate 524, which is vertically arranged on the non-material side of the first positioning platform 521 and the second positioning platform 522.

[0117] In specific implementation, as shown in Figures 14-16 The staggered circulation distribution mechanism 520 further includes a short side positioning plate 524, which is vertically arranged on the non-material side of the first positioning platform 521 and the second positioning platform 522.

[0118] In an embodiment, the tempering rack assembly 600 includes a tempering rack 610 and a tempering rack displacement mechanism 620.

[0119] The tempering rack displacement mechanism 620 is fixed on the main frame 100 below the plug-in piece assembly 500, and the tempering rack displacement mechanism 620 drives the tempering rack 610 to horizontally displace.

[0120] In specific implementation, as shown in Figures 17-22 The tempering rack assembly 600 includes a tempering rack 610 and a tempering rack displacement mechanism 620.

[0121] The tempering rack displacement mechanism 620 is fixed on the main frame 100 below the plug-in piece assembly 500, and the tempering rack displacement mechanism 620 drives the tempering rack 610 to horizontally displace. Specifically, the tempering rack displacement mechanism 620 can be a combination of a chain drive mechanism and a motor.

[0122] Further, as shown in Figures 17-18As shown, the tempering frame displacement mechanism 620 comprises a chain transmission mechanism and a driving motor 623, and the tempering frame 610 is placed on the chain transmission mechanism. The driving motor 623 drives the chain transmission mechanism, and then the tempering frame 610 moves horizontally and linearly to the starting position of the insertion frame, and then the insertion piece assembly 500 performs the insertion frame work to insert the product into the tempering frame 610. After the tempering frame 610 is fully inserted in the working range of the insertion piece assembly 500, the tempering frame 610 continues to move to insert the next part of the tempering frame 610, and the mode is repeated until the insertion frame is completed.

[0123] Preferably, as shown in the drawings, Figures 17-18 As shown, the chain transmission mechanism comprises a driving shaft 624, a driven shaft 625, a first chain 621 and a second chain 622. The driving shaft 624 is fixed at one end of the main frame 100. The first chain 621 and the second chain 622 are respectively sleeved on both ends of the driving shaft 624 and the driven shaft 625. The driving motor 623 drives the driving shaft 624 to rotate, and then drives the first chain 621 and the second chain 622. The driven shaft 625 is fixed at the other end of the main frame 100 to provide tension for the first chain 621 and the second chain 622.

[0124] In an embodiment, the tempering frame assembly 600 is further provided with a tempering frame secondary positioning mechanism 630 for precise positioning of the tempering frame. The tempering frame secondary positioning mechanism 630 comprises a horizontal driving assembly 631 and a lifting fixing assembly 632.

[0125] In particular implementation, as shown in the drawings, Figures 19-21 In particular implementation, as shown in the drawings,

[0126] Preferably, as shown in the drawings, Figure 22As shown, the toughening frame 610 can be composed of a frame 611, side plates 612, upper clamping grooves 613 and lower clamping grooves 614. The frame 611 is provided with side plates 612 on both sides. The upper clamping grooves 613 are fixed on the upper part of the frame 611, and the lower clamping grooves 614 are fixed on the lower part of the frame 611. Specifically, the upper clamping grooves 613 can be circular stainless steel strips, and the groove shape is a figure-eight shape, which can make the product easy to take and place. The lower clamping grooves 614 are strip-shaped stainless steel strips, and the groove shape is a figure-eight shape, which can make the glass easy to take and place. The number of upper clamping grooves 613 is twice that of lower clamping grooves 614, and the lower clamping grooves 614 are arranged between two upper clamping grooves 613 to ensure the stability of the product. Preferably, the upper clamping grooves 613 and the lower clamping grooves 614 can be adjusted in position on the frame 611 to facilitate the adaptation to products of different specifications. Further, the toughening frame 610 can also be provided with reinforcing ribs 615 arranged between the side plates 612, the number of which can be determined according to the requirements, for strengthening the strength of the toughening frame 610 to ensure that the overall deformation of the toughening frame 610 is controllable, and at the same time, the reinforcing ribs 615 can be used as handles of the toughening frame 610.

[0127] In addition, those skilled in the art should understand that although there are many problems in the prior art, each embodiment or technical solution of the present application can only be improved in one or several aspects, and it is not necessary to solve all the technical problems listed in the prior art or background art at the same time. Those skilled in the art should understand that what is not mentioned in a claim should not be regarded as a limitation of the claim.

[0128] Although terms such as main frame, polished lower turntable assembly, polished upper turntable assembly, material moving assembly, insert piece assembly, toughening frame assembly, etc. are used more frequently in this document, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present application; any additional limitation is contrary to the spirit of the present application; the terms "first", "second", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0129] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fully automatic intelligent polishing machine, characterized in that: Comprising a main frame, providing an overall support frame; a polishing lower turntable assembly fixed on the main frame, located below the product processing surface, for polishing the product processing surface; the polishing lower turntable assembly comprises a polishing lower turntable driving structure, a polishing sponge and a water receiving box; the polishing sponge is arranged inside the water receiving box, and the polishing sponge rotates under the driving of the polishing lower turntable driving structure; the bottom of the water receiving box is obliquely arranged; a polishing upper turntable assembly fixed on the main frame above the product, comprising a first self-rotating disc, a second self-rotating disc, a rotating shaft, a turnover device and a lifting mechanism; the first self-rotating disc and the second self-rotating disc are used for adsorbing the non-processing surface of the product; the first self-rotating disc and the second self-rotating disc are symmetrically installed on the rotating shaft through a connecting rotating structure; the connecting rotating structure comprises a connecting shaft and a connecting turnover device, and the first self-rotating disc and the second self-rotating disc are symmetrically connected at both ends of the connecting shaft; the connecting turnover device drives the connecting shaft to rotate, thereby driving the first self-rotating disc and the second self-rotating disc to rotate; the turnover device is arranged at one end of the rotating shaft and drives the rotating shaft to rotate, so that the first self-rotating disc and the second self-rotating disc are turned over along the rotating shaft; the rotating shaft is lifted under the driving of the lifting mechanism, thereby driving the first self-rotating disc and the second self-rotating disc to lift; a material moving assembly for moving the product to be processed into the polishing upper turntable assembly or moving the processed product on the polishing upper turntable assembly out; the material moving assembly comprises a transfer platform, a polishing manipulator and a piece placing manipulator; a piece inserting assembly for placing the incoming product to be processed on the material moving assembly, receiving the processed product moved out by the material moving assembly, and arranging and positioning the processed product before inserting it into the tempering rack assembly; the piece inserting assembly comprises a staggered circulation distributing mechanism and a piece inserting mechanism; the staggered circulation distributing mechanism is arranged on the main frame at the end of the material moving assembly; the piece inserting mechanism comprises a piece inserting Z-axis, a piece inserting U-axis, a piece inserting distributing and combining device and a piece inserting device; the piece inserting Z-axis is fixed on the main frame, the piece inserting U-axis is fixed on the piece inserting Z-axis, the piece inserting distributing and combining device is fixed on the piece inserting U-axis, and the piece inserting device is turned over under the action of the piece inserting distributing and combining device.

2. The full-automatic intelligent polishing machine according to claim 1, characterized in that: the transfer platform is horizontally arranged on the main frame, and the transfer platform is perpendicular to the axis direction of the rotating shaft; the polishing manipulator is arranged on the top of the main frame and moves horizontally and vertically between the polishing upper turntable assembly and the transfer platform, thereby driving the product adsorbed by the polishing manipulator to move; the piece placing manipulator is arranged on the main frame above the transfer platform and moves horizontally and vertically along the transfer platform, moves the product to be processed from the piece inserting assembly to the transfer platform, and places the processed product on the transfer platform to the piece inserting assembly.

3. The fully automatic intelligent polishing machine according to claim 2, characterized in that: The polishing mechanical hand is a gantry four-axis structure, comprising a polishing Y-axis, a polishing X-axis, a polishing Z-axis, a polishing U-axis and a grabbing device; the polishing X-axis is fixed at the top end of the main frame, the polishing Y-axis is fixed on the polishing X-axis, and the polishing Z-axis is arranged on the polishing Y-axis; the polishing Y-axis, the polishing X-axis and the polishing Z-axis are all motor guide rail structures, so that the grabbing device can move linearly along the X, Y and Z axes; The polishing U-axis is a motor or a rotary air cylinder, and the polishing U-axis is arranged on the polishing Z-axis; the grabbing device is arranged on the polishing U-axis, and the polishing U-axis drives the grabbing device to overturn.

4. The fully automatic intelligent polishing machine according to claim 2, characterized in that: The swing piece mechanical hand is a gantry four-axis structure, comprising a swing piece X-axis, a swing piece Y-axis, a swing piece Z-axis, a swing piece U-axis and a swing piece device; the swing piece Y-axis is fixed on the main frame, the swing piece X-axis is fixed on the swing piece Y-axis, and the swing piece Z-axis is arranged on the swing piece X-axis; the swing piece X-axis, the swing piece Y-axis and the swing piece Z-axis are all motor guide rail structures, so that the swing piece device can move linearly along the X, Y and Z axes; The swing piece U-axis is a motor or a rotary air cylinder, and the swing piece U-axis is arranged on the swing piece Z-axis; the swing piece device is arranged on the swing piece U-axis, and the swing piece U-axis drives the swing piece device to rotate horizontally.

5. The fully automatic intelligent polishing machine according to claim 1, characterized in that: The misplacement circulating material distribution mechanism comprises a first positioning platform, a second positioning platform and a motor transmission mechanism; the motor transmission mechanism is fixed on the main frame, the first positioning platform is arranged on the upper side of the motor transmission mechanism, and the second positioning platform is arranged on the lower side of the motor transmission mechanism; the motor transmission mechanism drives the first positioning platform and the second positioning platform to move in a misplacement cycle in the horizontal direction.

6. The fully automatic intelligent polishing machine according to claim 5, characterized in that: The misplacement circulating material distribution mechanism further comprises a short edge positioning plate, which is vertically arranged on the non-material feeding side of the first positioning platform and the second positioning platform.

7. The fully automatic intelligent polishing machine according to claim 1, characterized in that: The toughening frame assembly comprises a toughening frame and a toughening frame displacement mechanism. The toughening frame displacement mechanism is fixed on the main frame below the plug-in piece assembly, and the toughening frame displacement mechanism drives the toughening frame to displace horizontally.

8. The fully automatic intelligent polishing machine according to claim 7, characterized in that: The toughening frame assembly is further provided with a toughening frame secondary positioning mechanism for accurate positioning of the toughening frame; the toughening frame secondary positioning mechanism comprises a horizontal driving assembly and a lifting fixing assembly.

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