An automatic polishing machine

Abstract

The present invention discloses an automatic polishing machine, which comprises a frame, a grinding disc assembly, a wet sheet separating device, a lifting and flipping tray assembly and a loading and unloading manipulator; characterized in that the wet sheet separating device comprises a liquid tank, a rack for placing sheet bodies placed in the liquid tank, and a liquid spraying device for spraying liquid on the sheet bodies in the rack; the lifting and flipping tray assembly is fixedly arranged beside the grinding disc assembly, and the lifting and flipping tray assembly comprises a sheet placing turntable, and the sheet placing turntable is located above the grinding disc assembly; when the loading and unloading manipulator of the present invention picks up materials, a liquid-filled gap is formed between the sheet bodies in the sheet placing groove by the liquid spraying device, and the problem of sheet body adhesion will not occur during material picking. It is convenient for the manipulator to automatically load materials.

Description

Technical Field

[0001] The present invention relates to glass processing equipment, and particularly to an automatic polishing machine. Background Art

[0002] With the rapid development of large-screen mobile phones, in order to better protect the screen and improve the usage effect, a tempered film is generally pasted on the mobile phone screen for protection. In order for the tempered film to better fit the mobile phone screen and achieve the required transparency and smoothness, a polishing machine is usually used to polish the tempered film during the production process to grind and polish the burrs around the tempered film.

[0003] The invention patent application with the application number CN202111202889 discloses a full-automatic polishing machine for mobile phone tempered films, which adopts a feeding mechanism, a film taking mechanism, a turntable mechanism, a grinding mechanism, and a lifting and flipping mechanism sequentially arranged in the order of the tempered film grinding process. The grinding mechanism and the turntable mechanism are used to grind the tempered film. The feeding mechanism is arranged on one side of the grinding disc and is used to carry the tempered film and place the tempered film at a fixed point. The lifting and flipping mechanism is distributed beside the grinding disc and is rotatably connected to the turntable mechanism and is used to adjust the position and direction of the turntable mechanism. The film taking mechanism is arranged above the turntable mechanism and is used to transfer the tempered film between the feeding mechanism and the turntable mechanism, thereby automatically completing the processes of placing the tempered film on the tray, feeding, grinding, polishing, and discharging. This machine needs to be equipped with a feeding machine to load glass sheets for feeding, take the glass sheets out of the material supporting table and place them on a preset platform with the same glass placement position as the turntable of the polishing machine. To fill the 9 glass sheets on the preset platform once by taking the glass sheets from the material supporting table, it needs to be taken and placed 9 times. This will result in too long time required for loading the sheets, affecting the production capacity. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] The technical problem to be solved by the present invention is to provide an automatic polishing machine that is convenient for loading and unloading and has a high loading and unloading efficiency.

[0006] (II) Technical Solutions

[0007] To solve the above technical problems, the technical solution adopted by the present invention is an automatic polishing machine, which includes a machine frame, a grinding disc assembly, a wet sheet separation device, a lifting and flipping tray assembly, and a loading and unloading manipulator; the wet sheet separation device includes a liquid tank, a rack for placing sheet bodies placed in the liquid tank, and a liquid spraying device for spraying liquid on the sheet bodies in the rack; the lifting and flipping tray assembly is fixedly arranged beside the grinding disc assembly, and the lifting and flipping tray assembly includes a sheet placing turntable, and the sheet placing turntable is located above the grinding disc assembly.

[0008] In the above-mentioned automatic polishing machine, either the liquid spraying device of the wet sheet separation device or the material rack is moved along a track arranged in the direction of sheet stacking under the traction of the potential energy conversion mechanism or the push of the driving mechanism, so that the stopper of the liquid spraying device always keeps in contact with the first sheet in the sheet placing groove;

[0009] In the above-mentioned automatic polishing machine, the material rack of the wet sheet separation device includes at least one sheet placing groove for placing stacked sheets; the sheet placing groove is provided with a width adjusting device to adapt to the placement of sheets of different sizes; the liquid spraying device is provided with a nozzle group corresponding to the number of sheet placing grooves, and the distance between the left nozzle and the right nozzle of the nozzle group can be adjusted to adapt to sheets of different sizes;

[0010] In the above-mentioned automatic polishing machine, the potential energy conversion mechanism is a gravitational potential energy conversion mechanism or an elastic potential energy conversion mechanism; the potential energy conversion mechanism includes a guide rail consistent with the direction of sheet stacking in the material rack; when either the liquid spraying device or the material rack is fixed relative to the liquid tank, the other can move along the guide rail under the action of the potential energy conversion mechanism.

[0011] In the above-mentioned automatic polishing machine, the driving mechanism of the liquid spraying device or the material rack includes a linear motion mechanism in which a motor drives a screw rod to reciprocate along a linear guide rail; or a linear motion mechanism in which a motor drives a synchronous pulley, and the synchronous pulley drives a synchronous belt engaged with it to reciprocate along a linear guide rail; or a linear motion mechanism in which a motor drives a gear, and the gear drives a rack engaged with it to reciprocate along a linear guide rail; or a linear motion mechanism in which a linear motor reciprocates along a linear guide rail; when either the liquid spraying device or the material rack is fixed relative to the liquid tank, the other can move along the guide rail under the push of the driving mechanism.

[0012] In the above-mentioned automatic polishing machine, it includes a plurality of lifting and flipping tray assemblies, and each lifting and flipping tray assembly includes a lifting mechanism, a turntable flipping device and a turntable mechanism. The turntable mechanism is installed on the rotating shaft of the turntable flipping device, and the turntable flipping device is arranged on the lifting mechanism;

[0013] In the above-mentioned automatic polishing machine, the turntable mechanism of the lifting and flipping tray assembly includes a bearing seat, and the sheet placing turntable is fixed on the main shaft supported by the bearing seat; the sheet placing turntable is provided with a sheet placing turntable stop angle positioning device driven by a rotating motor.

[0014] In the above-mentioned automatic polishing machine, the loading and unloading manipulator includes a motion mechanism moving in three directions of XYZ and a material picking and placing device. The material picking and placing device includes a swinging device and a suction cup device; the suction cup device is installed on the swinging device, and the swinging device drives the suction cup device to make horizontal and vertical reciprocating rotational swings.

[0015] In the above-mentioned automatic polishing machine, the number of suction cup assemblies of the suction cup device corresponds to the number of sheet placing grooves of the material rack of the wet sheet separation device.

[0016] When the loading and unloading manipulator of the automatic polishing machine of the present invention picks up materials, a liquid-filled gap is formed between the sheets in the sheet placing groove by the liquid spraying device, and there will be no problem of sheet adhesion during material picking. It is convenient for the manipulator to automatically load materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0018] Figure 1 It is a perspective view of the automatic polishing machine of Embodiment 1 of the present invention.

[0019] Figure 2 It is a perspective view of the automatic polishing machine of Embodiment 1 of the present invention with the manipulator removed.

[0020] Figure 3 It is a cross-sectional view of the automatic polishing machine of the embodiment of the present invention with the manipulator removed.

[0021] Figure 4 It is a perspective view of the manipulator of the automatic polishing machine of Embodiment 1 of the present invention.

[0022] Figure 5 It is a perspective view of the lifting and flipping tray assembly of Embodiment 1 of the present invention.

[0023] Figure 6 It is a cross-sectional view of the lifting and flipping tray assembly of Embodiment 1 of the present invention.

[0024] Figure 7 It is a schematic perspective view of the wet sheet separation device of Embodiment 1 of the present invention.

[0025] Figure 8 It is a schematic perspective view of the rack of Embodiment 1 of the present invention.

[0026] Figure 9 It is a partial cross-sectional view of the wet sheet separation device of Embodiment 1 of the present invention.

[0027] Figure 10 It is a schematic diagram of the nozzle group spacing adjustment mechanism of the liquid spraying device of Embodiment 1 of the present invention.

[0028] Figure 11 It is a schematic diagram of the liquid spraying device of Embodiment 1 of the present invention.

[0029] Figure 12 It is a schematic diagram of the traction device of the gravitational potential energy conversion mechanism of Embodiment 1 of the present invention.

[0030] Figure 13 It is a schematic diagram of the traction device of the elastic potential energy conversion mechanism of Embodiment 2 of the present invention.

[0031] Figure 14 It is a schematic layout diagram of the glass sheets to be processed on the sheet placing turntable of the embodiment of the present invention.

[0032] Figure 15 It is a perspective view of the material picking state of the material picking and placing device in Embodiment 1 of the present invention.

[0033] Figure 16 It is a perspective view of the material placing state of the material picking and placing device in Embodiment 1 of the present invention.

[0034] Figure 17 It is a perspective view of the material picking of the material picking and placing device in Embodiment 4 of the present invention.

[0035] Figure 18 It is a perspective view of the material placing state of the material picking and placing device in Embodiment 4 of the present invention.

[0036] Figure 19 It is a perspective view of the material picking state of the material picking and placing device in Embodiment 5 of the present invention.

[0037] Figure 20 It is a side view of the material picking state of the material picking and placing device in Embodiment 5 of the present invention.

[0038] Figure 21 It is a side view of the material placing state of the material picking and placing device in Embodiment 5 of the present invention. Detailed implementation manners

[0039] The structure of the automatic polishing machine in Embodiment 1 of the present invention is as Figures 1 to 12 and Figure 17 and Figure 18 shown, including a frame 100, a wet sheet separating device 200, a grinding wheel assembly 300, 4 sets of lifting and flipping tray assemblies 400, and a loading and unloading manipulator 500.

[0040] The loading and unloading manipulator 500 includes an XYZ three-axis motion mechanism and a material picking and placing device. The XYZ three-axis motion mechanism includes an X-axis motion mechanism 500X, a Y-axis motion mechanism 500Y, and a Z-axis motion mechanism 500Z. (There are various implementation manners for each axis of the XYZ three-axis motion mechanism, including a linear motion mechanism in which a motor drives a screw to rotate, driving a nut cooperating with the screw to move along a linear guide rail; or a linear motion mechanism in which a synchronous belt is installed between two synchronous wheels and meshes with them, one part of the synchronous belt is fixedly connected to the slider of the linear guide rail, the direction of the linear guide rail is the same as the direction of the line connecting the centers of the two synchronous wheels, and the motor drives the synchronous wheel to rotate, driving the synchronous belt and the slider fixedly connected to the synchronous belt to reciprocate along the linear guide rail; or a linear motion mechanism in which a motor and a gear are fixedly installed on the slider of the linear guide rail, the direction of the rack meshing with the gear is the same as the linear guide rail, and the motor drives the gear to move on the rack; or a linear motion mechanism in which the mover of a linear electric drive linear motor moves along the linear guide rail). The material picking and placing device includes a swing device 500A and a suction cup device 500B. The swing device 500A of the material picking and placing device is fixed on the moving part of the Z-axis motion mechanism 500Z of the loading and unloading manipulator.

[0041] Four sets of lifting and flipping tray assemblies 400 are arranged beside the grinding wheel assembly 300. The lifting and flipping tray assembly 400 includes a lifting mechanism 10A, a turntable flipping device 10B, and a turntable mechanism 20. The turntable mechanism 20 is installed on the turntable flipping device 10B, the turntable flipping device 10B is installed on the lifting mechanism 10A, and the lifting mechanism 10A is installed on the frame 100. The turntable mechanism 20 includes a bearing seat 21, a film placing turntable 22, and a film placing turntable stop angle positioning device 23 driven by a motor. The bearing seat 21 is installed at the inner end of the rotating shaft 16 of the turntable flipping device 10B, and the main shaft of the film placing turntable 22 is supported by the bearing seat 21. One end of the main shaft of the film placing turntable 22 is connected to the film placing turntable stop angle positioning device, which is convenient for adjusting the rotation stop position of the film placing turntable 22 when the manipulator 500 places and picks up the film. The film placing turntable 22 is driven by a motor and can stop at a certain set position to achieve precise positioning. There are various implementation methods for the film placing turntable stop angle positioning device to reach the rotation stop position of the film placing turntable, including the servo motor itself to achieve precise position or methods such as using a rotating motor + encoder, rotating motor + sensor, etc.

[0042] The lifting mechanism 10A includes two sets of guide rod and guide sleeve pairs 11 and a lifting cylinder 12. The guide columns 111 of the two sets of guide rod and guide sleeve pairs and the top plate 13 and the base plate 14 form a frame-shaped lifting bracket, and the lifting bracket is vertically fixed on the frame 100. The turntable flipping device 10B includes a lifting table 15, a rotating shaft 16, a swing cylinder 17, and a transmission gear 18. The lifting table 15 is fixed on the four sliders 112 of the two sets of guide rod and guide sleeve pairs. The rotating shaft 16 is supported by a bearing seat on the lifting table 15, and one end of the rotating shaft 16 is driven by the swing cylinder 17 through the transmission gear 18. The lifting cylinder 12 is vertically fixed on the lifting bracket, and the piston rod of the lifting cylinder 12 is connected to the lifting table 15. (In different embodiments, the number of guide rod and guide sleeve pairs can be more than two; there are also various implementation methods for the turntable flipping device 10B to drive the rotating shaft 16 to rotate, including pneumatically driving the rack to make a linear telescopic movement, and the rack drives the gear meshing with it and fixed on the rotating shaft 16 to rotate; or a rotating motor drives the rotating shaft 16 to rotate through a transmission pair or a coupling.)

[0043] In the embodiment of the present invention, the layout of the glass sheets (sheet bodies) 32 to be polished on the film placing turntable 22 of the automatic polishing machine is as Figure 14 shown. Nine glass sheets (sheet bodies) 32 to be polished are divided into three groups, each group contains three glass sheets (sheet bodies) 32. The three sheet bodies 32 in the same group are linearly arranged along the diameter line passing through the center of the film placing turntable 22. The distance between the first glass sheet and the second glass sheet is smaller, and the distance between the second glass sheet and the third glass sheet is larger. The three groups of glass sheets are arranged in a circumferential array around the center of the film placing tray.

[0044] The wet sheet separation device 500 of Embodiment 1 of the present invention is as follows Figures 7 to 12 As shown, a drain port 52 is provided at the bottom of the liquid tank 50. The drain port 52 is connected to a valve and a pipe. Through the connection of the pipe, the liquid in the liquid tank can be discharged to other designated places. To prevent the liquid level in the liquid tank 50 from being too high and overflowing the liquid tank 50, an overflow port 51 is provided above the liquid tank 50. When the liquid level height of the liquid tank 50 reaches or exceeds the overflow port 51, the liquid will flow out along the overflow port 51 and flow to the designated place through the set pipe.

[0045] The rack 30 is placed in the liquid tank 50 and is relatively fixed to the liquid tank 50. The rack 30 is provided with positions where three rows of sheet bodies 32 can be placed. On the bottom plate 31 of the rack 30, there are three juxtaposed sheet placing grooves 39 where the sheet bodies 32 can be placed. Each sheet placing groove 39 can place a row of vertically arranged sheet bodies 32. All the sheet bodies 32 in the sheet placing groove 39 are adjacent to each other and there is no other object separating them in the middle. On both sides of each row of sheet bodies, there is a fixed side plate 33, a movable side plate 34, and a rear support plate 35. The side plate 33 and the rear support plate 35 are fixed on the bottom plate 31, and the three inner side surfaces of the side plate 33, the rear support plate 35, and the bottom plate 31 form mutually perpendicular positional references. When manually placing the stacked sheet bodies into the sheet placing groove 39, the sheet bodies can be easily arranged in a neat row according to this position. Under the restriction of the guiding mechanism, the movable side plate 34 can move in the width direction of the sheet body and open or close while remaining parallel to the side plate 33. In this way, the width of the sheet placing groove 39 can be adjusted to accommodate sheet bodies of different sizes. The movable side plate 34 is fixed by a locking screw 36 to maintain the groove width. In this embodiment, guide sleeves 38 are fixed at both ends of the movable side plate 34, and the guide rod 37 is fixed relative to the rack 30; in this embodiment, the spacing between each row of sheet bodies is equal. (In different embodiments, the spacing between each row of sheet bodies can also be unequal; the number of sheet placing grooves can also be at least one to multiple).

[0046] On both sides of the rack 30, guide rails 42 are installed. The axis of the guide rail 42 is consistent with the overlapping direction of the sheet bodies in the sheet placing groove 39 of the rack 30. Corresponding sliders 42A are fixedly installed on the mounting plate 41 of the liquid spraying device 40 and cooperate with the guide rail 42, so that the liquid spraying device 40 can move along the direction of the guide rail 42. The mounting plate 41 of the liquid spraying device 40 is provided with sheet placing grooves 39 corresponding to the number of nozzle groups. Each nozzle group has a fixed liquid spraying block 43 and a movable liquid spraying block 44. Both the fixed liquid spraying block 43 and the movable liquid spraying block 44 are provided with a liquid inlet 47 and two liquid spraying ports 45. The liquid spraying directions of the liquid spraying ports of the fixed liquid spraying block 43 and the movable liquid spraying block 44 are both towards the liquid spraying ports of each other. The liquid inlets of the fixed liquid spraying block 43 and the movable liquid spraying block 44 are both connected to the liquid supply pipeline. When the stop portion 46 of the liquid spraying device 40 touches the first sheet body in the sheet placing groove 39 under the traction of the gravitational potential energy conversion mechanism, at this time, the liquid spraying port 45 is exactly facing the side of the sheet body at the front end of the sheet placing groove 39. The liquid sprayed from the liquid spraying port 45 enters through the gap between the sheet bodies, so that an obvious liquid-filled gap is formed between the sheet bodies, and the sheet bodies are separated. The picking and placing device of the loading and unloading manipulator 500 can smoothly pick up the first sheet bodies in the three sheet placing grooves 39 at the same time, and there will be no problem of sheet body adhesion. When the first sheet body is picked up, the original second sheet body in the sheet placing groove 39 becomes the first sheet.

[0047] In the gravitational potential energy conversion mechanism in this embodiment, one end of two traction ropes 56 is fixed on both sides of the liquid spraying device 40, and the other end of the traction rope 56 is connected with a counterweight 54. Through the guidance of the guide wheel 53 fixed above the liquid tank, the gravity of the counterweight 54 is converted into a horizontal traction force, so that the liquid spraying device 40 moves along the axial direction of the guide rail 42, and the stop portion on the liquid spraying device 40 is always in contact with the first sheet body in the sheet placing groove 39. When the counterweight 54 rises and falls, a guiding mechanism can also be set to restrict its freedom degrees in other directions, so that it can only move up and down along the set track.

[0048] The wet sheet separation device of Embodiment 2 of the present invention is as Figure 13 shown. Different from Embodiment 1, a spring potential energy conversion mechanism is used to generate potential energy by stretching the spring 55, or potential energy generated by a rubber band or a pneumatic spring. In other embodiments, the traction rope 56 and the guide wheel 53 may not be adopted, the spring is placed horizontally, one end of the spring is fixed, and the other end is connected with the liquid spraying device 40, and the spring can generate potential energy to move the liquid spraying device 40. [[ID=!0]]

[0049] The wet sheet separation device of Embodiment 3 of the present invention is different from Embodiments 1 and 2 above in that a linear motion mechanism is used instead of the potential energy conversion mechanism. The motion direction of the linear motion mechanism is the same as the overlapping direction of the sheets in the sheet placing groove 39 of the rack 30. The moving part of the linear motion mechanism is fixedly connected to the liquid spraying device 40. Thus, the linear motion mechanism can push the liquid spraying device 40 to move along the axial direction of the guide rail 42. (There are also various specific implementation manners of the linear motion mechanism, including a linear motion mechanism in which a motor drives a screw rod to rotate, and a nut cooperating with the screw rod moves along a linear guide rail; or a synchronous belt is installed between two synchronous wheels and meshes with them, and one part of the synchronous belt is fixedly connected to the slider of the linear guide rail. The direction of the linear guide rail is the same as the direction of the line connecting the centers of the two synchronous wheels. The motor drives the synchronous wheels to rotate, and the synchronous belt and the slider fixedly connected to the synchronous belt move reciprocally along the linear guide rail; or a motor and a gear are fixedly installed on the slider of the linear guide rail, the direction of the rack meshing with the gear is the same as that of the linear guide rail, and the motor drives the gear to move on the rack; or a linear motion mechanism in which the moving part of a linear electric drive linear motor moves along the linear guide rail, etc.).

[0050] In Embodiments 1, 2, and 3, the rack 30 of the wet sheet separation device 500 is fixedly relative to the liquid tank 50, and the liquid spraying device 40 moves. If the liquid spraying device is fixed relative to the liquid tank and does not move, the rack 30 is moved by the potential energy conversion mechanism or driven by the linear motion mechanism, and the same effect can be achieved.

[0051] The structure of the pick-and-place device of the loading and unloading manipulator of the polishing machine in Embodiment 1 of the present invention is as Figure 15 and Figure 16 shown, and includes a swing device 500A and a suction cup device 500B.

[0052] The swing device 500A includes a swing mechanism 70 and a mounting plate 60; the swing mechanism 70 is fixed on the mounting plate 60, and the mounting plate 60 is fixed on the moving part of the XYZ three-axis motion mechanism 500Z of the loading and unloading manipulator (the mounting plate 60 can also be integrated with the moving part on the Z-axis motion mechanism). The loading and unloading are carried out by the XYZ three-axis motion mechanism of the loading and unloading manipulator 500.

[0053] The suction cup device 500B includes a cross beam 80 and three suction cup assemblies 90. The three suction cup assemblies 90 are fixed on the cross beam 80 and arranged in a horizontal linear direction. In different embodiments, the number of suction cup assemblies can be different.

[0054] The suction cup assembly 90 includes a suction cup mounting plate 91 and two vacuum suction cups 92. The two vacuum suction cups 92 are mounted at the lower end of the suction cup mounting plate 91 and are arranged separately in the vertical direction. The upper end of the suction cup mounting plate 91 is fixed to the cross beam 80, and the working surfaces of the vacuum suction cups 92 of the three suction cup assemblies 90 are located on the same plane. The second suction cup assembly 90B is arranged between the first suction cup assembly 90A and the third suction cup assembly 90C. The distance between the second suction cup assembly 90B and the first suction cup assembly 90A is less than the distance between the second suction cup assembly 90B and the third suction cup assembly 90C. The distances between the three suction cup assemblies 90 correspond to the distances between the three sheet bodies 32 in the diameter direction of the wafer placing turntable 22 of the polishing machine.

[0055] Since the distances between the three suction cup assemblies 90 of the loading and unloading device in Embodiment 1 are fixed, for the convenience of loading and unloading, the distances between the three glass workpieces on the material rack 30 and the unloading rack of the wet sheet separating device 500 need to correspond to the distances between the three suction cup assemblies 90 and also be arranged in unequal distances.

[0056] The sheet body 32 on the wafer placing turntable 22 of the polishing machine is placed horizontally, while the sheet body 32 in the sheet placing groove 39 is placed vertically, so the suction cup device 500B needs to be flipped by 90°. The swing mechanism 70 in Embodiment 3 includes a flipping cylinder 71. The upper end of the flipping cylinder 71 is hinged to the upper end of the mounting plate 60. The rear end of the cross beam 80 of the suction cup device 500B is hinged to the lower end of the mounting plate 60 through a hinge shaft 61. The front end of the cross beam 80 is also hinged to the lower end of the piston rod of the flipping cylinder 71. When the piston rod of the flipping cylinder 71 expands and contracts, it drives the cross beam 80 and the suction cup assembly 90 to flip, and the suction cup device 500B can rotate by 90°.

[0057] The loading and unloading device in Embodiment 1 of the present invention can suck three sheet bodies 32 from the material rack 30 at a time and place the three sheet bodies 32 on three glass workstations on the wafer placing turntable (rotating turntable) 22 of the polishing machine simultaneously. Each time a sheet body 32 is placed on the wafer placing disk (rotating turntable) 22, the wafer placing disk rotates 120° relative to the loading and unloading device. For the 9 sheet bodies 32 on one wafer placing disk 22, the manipulator only needs to pick up and place them three times, greatly improving the efficiency.

[0058] The main difference between the loading and unloading device in Embodiment 4 of the present invention and the loading and unloading device in Embodiment 1 is that the suction cup device 500B includes a distance adjusting mechanism for the suction cup assemblies. The distance adjusting mechanism for the suction cup assemblies is used to move the second suction cup assembly 90B or the third suction cup assembly 9JC to adjust the distance between the second suction cup assembly 90B and the third suction cup assembly 90C so as to respectively adapt to the distances between the three sheet bodies 32 on the polishing machine material rack 30 and / or the unloading rack.

[0059] The structure of the loading and unloading device in Embodiment 4 of the present invention is as Figure 17 and Figure 18As shown in the figure, the spacing adjustment mechanism of the suction cup assembly includes a driving device for the suction cup mounting plate of the third suction cup assembly 90C, two sets of guide rod and guide sleeve pairs, and two guide rod mounting plates 81. The upper ends of the suction cup mounting plates 91 of the first suction cup assembly 90A and the second suction cup assembly 90B are fixed on the cross beam 80. The two guide rod mounting plates 81 are fixed on the cross beam 80. The first guide rod mounting plate 81 is arranged between the second suction cup assembly 90B and the third suction cup assembly 90C, and is close to the second suction cup assembly 90B. The second guide rod mounting plate 81 is arranged outside the third suction cup assembly 90C. The first ends of the two guide rods 64 are fixed on the first guide rod mounting plate 81, and pass through the upper ends of the suction cup mounting plates 91 of the first suction cup assembly 90A and the second suction cup assembly 90B. The second ends of the two guide rods 64 are fixed on the second guide rod mounting plate 81, and the two guide rods 64 are arranged in parallel. The guide sleeves 65 of the two sets of guide rod and guide sleeve pairs are fixed on the upper end of the suction cup mounting plate 91 of the third suction cup assembly 90C, and the suction cup mounting plate 91 of the third suction cup assembly 90C is driven by the driving device.

[0060] In Embodiment 4, the driving device of the pick-and-place device includes a cylinder 66. The cylinder body of the cylinder 66 is fixed on the first guide rod mounting plate 81, and the piston rod of the cylinder 66 is connected to the suction cup mounting plate 91 of the third suction cup assembly 90C. The cylinder 66 is located between the two guide rods. When the piston rod of the cylinder 66 moves, it drives the third suction cup assembly 90C to move horizontally along the guide rod, so as to change the spacing between the third suction cup assembly 90C and the second suction cup assembly 90B.

[0061] When the piston rod of the cylinder 66 extends, the spacing between the three suction cup assemblies 90 corresponds to the spacing between the three sheet bodies 32 in the diameter direction of the wafer placing turntable 22 of the polishing machine; when the piston rod of the cylinder 66 retracts, the spacing between the three suction cup assemblies 90 corresponds to the spacing between the three sheet bodies 32 on the rack 30 of the wet wafer separating device 500 and the unloading rack. In this way, the spacing between the second and the three sheet bodies 32 on the rack 30 of the wet wafer separating device 500 and the unloading rack can be smaller, and even the spacing between the three sheet bodies 32 can be exactly equal, which can effectively reduce the lateral dimension of the rack 30 of the wet wafer separating device 500 and the unloading rack.

[0062] The swing mechanism 70 of the pick-and-place device in Embodiment 4 of the present invention is the same as that of the pick-and-place device in Embodiment 1.

[0063] The structure of the pick-and-place device of the loading and unloading manipulator of the polishing machine in Embodiment 5 of the present invention is as Figure 19 shown, and the difference from Embodiment 1 is only that the driving device and the swing mechanism 70 are slightly different.

[0064] The driving device of Embodiment 5 includes a motor 67 and a screw-nut pair. The motor 67 is fixed on the first guide rod mounting plate 81, and the nut 62 of the screw-nut pair is mounted on the suction cup mounting plate 91 of the third suction cup assembly 90C. The screw 63 of the screw-nut pair is connected to the motor 67, and the screw-nut pair is located between two guide rods 64.

[0065] The swing mechanism 70 of the pick-and-place device in Embodiment 5 includes a tilting cylinder 71 and a rack-and-pinion pair. The upper end of the tilting cylinder 71 is hinged to the upper end of the mounting plate 60, and the cross beam 80 of the suction cup device 500B is hinged to the lower end of the mounting plate 60. The cross beam 80 is hinged to the lower end of the piston rod of the tilting cylinder 71. The rack-and-pinion pair includes a rack 73 and a gear shaft 72. The cross beam 80 of the suction cup device 500B is hinged to the lower end of the mounting plate 60 through the journal necks at both ends of the gear shaft 72. The upper end of the tilting cylinder 71 is fixed to the upper end of the mounting plate 60, and the rack of the rack-and-pinion pair is connected to the lower end of the piston rod of the tilting cylinder 71.

[0066] The structure of the pick-and-place device of the loading and unloading manipulator of the polishing machine in Embodiment 5 of the present invention is as Figure 20 and Figure 21 shown, which is similar to the structures of Embodiments 1 and 4, except that the swing mechanism 70 of Embodiment 1 and the driving device of Embodiment 4 are adopted.

[0067] The pick-and-place device of the above embodiments of the present invention can suck three glass workpieces from the rack 30 at a time and place the three glass workpieces on three glass workstations in the diametrical direction of the glass placing turntable of the polishing machine simultaneously. Each time a glass workpiece is placed on the placing turntable, the placing turntable rotates 120° relative to the pick-and-place device. For 9 glass workpieces on one placing turntable, the loading and unloading manipulator only needs to pick and place three times, greatly improving the loading and unloading efficiency.

Claims

1. An automatic polishing machine, comprising a frame, a grinding disc assembly, a wet sheet separation device, a lifting and turning tray assembly, and a loading and unloading manipulator; characterized in that: The wet flake separation device includes a liquid tank, a material rack placed in the liquid tank for placing flakes, and a liquid spraying device for spraying liquid on the flakes in the material rack; The lifting and flipping material tray assembly is fixedly arranged next to the grinding disc assembly. The lifting and flipping material tray assembly includes a film placing turntable, which is located above the grinding disc assembly; One of the liquid spraying device or the material rack of the wet sheet separation device moves toward a track arranged along the sheet stacking direction under the traction of the potential energy conversion mechanism or the push of the driving mechanism, so that the stopper of the liquid spraying device always keeps in contact with the first sheet in the sheet placement groove; The material rack of the wet flake separation device includes at least one flake placement slot for placing stacked flakes, the flake placement slot is provided with a width adjustment device to accommodate the placement of flakes of different sizes, and the liquid spraying device is provided with a number of nozzle groups corresponding to the number of flake placement slots, and the spacing between the left and right nozzles of the nozzle groups can be adjusted to accommodate flakes of different sizes; The potential energy conversion mechanism is a gravitational potential energy conversion mechanism or an elastic potential energy conversion mechanism, and the potential energy conversion mechanism includes a guide rail that is consistent with the stacking direction of the sheets in the material rack. When one of the liquid spraying device or the material rack is fixed relative to the liquid tank, the other can move along the guide rail under the action of the potential energy conversion mechanism. The lifting and flipping tray assembly comprises a plurality of the lifting and flipping tray assemblies, the lifting and flipping tray assembly comprises a lifting mechanism, a turntable flipping device and a turntable mechanism, the turntable mechanism is mounted on the rotating shaft of the turntable flipping device, and the turntable flipping device is arranged on the lifting mechanism; The turntable mechanism of the lifting and flipping tray assembly includes a bearing seat, and the film placing turntable is fixed on the main shaft supported by the bearing seat. The film placing turntable is provided with a film placing turntable stop angle positioning device driven by a rotating motor; The loading and unloading robot includes a motion mechanism that moves in the XYZ directions and a material picking and placing device. The material picking and placing device includes a rotary swing device and a suction cup device. The suction cup device is installed on the rotary swing device, and the rotary swing device drives the suction cup device to perform horizontal and vertical reciprocating rotation and swing. The swing device includes a swing mechanism and a mounting plate. The swing mechanism is fixed on the mounting plate, and the mounting plate is fixed on the moving part of the Z-axis moving mechanism of the loading and unloading robot. The suction cup device includes a crossbeam and three suction cup assemblies, and the three suction cup assemblies are fixed on the crossbeam and arranged in a horizontal straight line direction; The suction cup assembly includes a suction cup mounting plate and two vacuum suction cups. The two vacuum suction cups are mounted on the lower end of the suction cup mounting plate and are arranged separately in the vertical direction. The upper end of the suction cup mounting plate is fixed to the crossbeam. The working surfaces of the vacuum suction cups of the three suction cup assemblies are located on the same plane. The second suction cup assembly is arranged between the first suction cup assembly and the third suction cup assembly. The distance between the second suction cup assembly and the first suction cup assembly is smaller than the distance between the second suction cup assembly and the third suction cup assembly. The distance between the three suction cup assemblies corresponds to the distance between the three wafers in the diameter direction of the wafer placing turntable of the polishing machine. The swing mechanism includes a flip cylinder and a rack and pinion gear pair. The upper end of the flip cylinder is hinged to the upper end of the mounting plate, the crossbeam of the suction cup device is hinged to the lower end of the mounting plate, the crossbeam is hinged to the lower end of the piston rod of the flip cylinder, the rack and pinion pair includes a rack and a gear shaft, the crossbeam of the suction cup device is hinged to the lower end of the mounting plate through the journals at both ends of the gear shaft, the upper end of the flip cylinder is fixed to the upper end of the mounting plate, and the rack of the rack and pinion pair is connected to the lower end of the piston rod of the flip cylinder.

2. An automatic polishing machine according to claim 1, characterized in that, The driving mechanism of the liquid spraying device or the material rack includes a linear motion mechanism in which a motor drives a lead screw to move back and forth along a linear guide rail; or a linear motion mechanism in which a motor drives a synchronous wheel, and the synchronous wheel drives a synchronous belt meshing with it to move back and forth along a linear guide rail; or a linear motion mechanism in which a motor drives a gear, and the gear drives a rack meshing with it to move back and forth along a linear guide rail; or a linear motion mechanism in which a linear motor moves back and forth along a linear guide rail; when one of the liquid spraying device or the material rack is fixed relative to the liquid tank, the other can move along the guide rail under the drive of the driving mechanism.

3. An automatic polishing machine according to any one of claims 1 or 2, characterized in that: The number of the suction cup components of the suction cup device corresponds to the number of the film placing slots of the material rack of the wet film separation device.

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