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Abstract

The present invention provides a sweeping machine comprising: a loading mechanism, a sweeping mechanism, and a discharge mechanism; the loading mechanism comprises: a loading frame, a side material box, a retrieving robot, and a discharge conveyor belt; the side material box, retrieving robot, and discharge conveyor belt are all mounted on the loading frame; the side material box includes two hoppers that can be switched at the retrieving robot; the retrieving robot retrieves workpieces from the hoppers and places them onto the discharge conveyor belt. Due to the adoption of the above technical solution, the loading mechanism, sweeping mechanism, and discharge mechanism of the present invention can be more rationally coordinated, which is conducive to improving sweeping efficiency.

Description

Technical Field

[0001] The present invention relates to the field of machinery, and in particular to a light sweeper. Background Art

[0002] In recent years, smartphone sales have continued to rise, driving the development of the mobile phone accessories industry. Mobile phone glass protectors are the most frequently used and replaced accessory. During the manufacturing process, mobile phone glass protectors require polishing using a polishing machine. However, existing polishing machines suffer from time-consuming and inefficient processes in loading, polishing, and unloading, as well as their coordination. This is particularly evident in the following aspects:

[0003] In the prior art, when a mobile phone glass protective sheet is polished on a polishing machine, it is placed on a circular discharge suction cup for material removal. In order to fit as many mobile phone glass protective sheets as possible into the circular discharge suction cup, the mobile phone glass protective sheets are also arranged along the circumference to improve efficiency. Considering time, the robot should be able to load and unload multiple mobile phone glass protective sheets at a time to maximize equipment efficiency. During the subsequent processing of the polishing machine, the mobile phone glass protective sheet needs to be placed on the positioning table assembly. However, the spacing and placement angle of the mobile phone glass protective sheets that need to be processed between the previous and subsequent processes will change. This field requires a robot that can grasp workpieces in multiple variable distances or rotations.

[0004] In the prior art, a polishing machine can be used to polish the glass protective sheet on a mobile phone screen. The suction cup flipping polishing mechanism in the polishing machine is used to suck up the workpiece. It has eight suction cups, and the workpiece on the suction cups contacts the polishing felt for polishing. Among them, four suction cups are set on each of the front and back sides (upper and lower sides), which can be flipped together at the same time. Therefore, the flipping radius is large, the structure is bulky, and the flipping speed is slow. During use, when the workpiece on the four suction cups on the front is being polished, the four suction cups on the back are in the material exchange state. Each time the material on the four suction cups needs to be exchanged, the quantity is large, the time is long, and the production efficiency is low. In addition, in the single set of suction cups in the prior art, the bearing and the sleeve are tightly fitted. Due to assembly errors and processing errors, the glass protective sheet on the single set of suction cups does not fit the felt, affecting the polishing quality.

[0005] In the prior art, after being polished by a scanner, a mobile phone glass cover is removed from a horizontal position by an insertion robot, then vertically inserted into a stacking rack. The spacing and orientation of the workpieces on the positioning assembly and stacking rack are different. However, the insertion robot in the prior art typically picks and places each piece individually, resulting in low efficiency.

[0006] Furthermore, the receiving and positioning device in the fully automatic scanning machine is used to position the receiving material in the final unloading device. After the scanning machine's robotic arm places the scanned mobile phone glass protective sheet in the receiving and positioning device, the receiving and positioning device positions the mobile phone glass protective sheet in a fixed position, allowing the scanning machine's plug-in robotic arm to remove the positioned mobile phone glass protective sheet from the receiving and positioning device and insert it into the receiving rack. However, the current conventional receiving and positioning device for scanning machines only positions a single mobile phone glass protective sheet at a time, which affects efficiency. If the existing single-sheet receiving and positioning device is simply stacked into multiple units, the volume would be large. Summary of the Invention

[0007] The present invention provides a light scanner to solve at least one of the above technical problems.

[0008] To solve the above problems, as one aspect of the present invention, a light sweeping machine is provided, comprising: a loading mechanism, a light sweeping mechanism and a material unloading mechanism;

[0009] The feeding mechanism includes: a feeding frame, a side material box, a material taking manipulator and a discharge conveyor belt, wherein the side material box, the material taking manipulator and the discharge conveyor belt are all arranged on the feeding frame, the side material box includes two material bins that can be switched at the material taking manipulator, and the material taking manipulator takes the workpieces in the material bins and places them on the discharge conveyor belt;

[0010] The sweeping mechanism includes: a sweeping frame, a sweeping manipulator, a grinding disc assembly, and a flip-up and liftable suction cup assembly. The sweeping manipulator, the grinding disc assembly, and the suction cup assembly are all mounted on the sweeping frame. The workpiece on the discharge conveyor belt is transferred to the suction cup assembly by the sweeping manipulator. The grinding disc assembly is arranged below the suction cup assembly.

[0011] The unloading mechanism includes: an unloading frame, a receiving and positioning device, a rack linkage module, a rack manipulator and a material rack. The rack linkage module, the receiving and positioning device and the material rack are all arranged on the unloading frame. The rack linkage module is connected to the rack manipulator and drives the rack manipulator to move between the receiving and positioning device and the material rack.

[0012] The workpiece processed by the grinding disc assembly of the suction cup assembly is transferred to the material receiving and positioning device by the sweeping robot, and the rack inserting robot transfers the workpiece on the material receiving and positioning device to the material rack.

[0013] Preferably, the side material box includes a lower slide and a translation cylinder, and the translation cylinder drives the lower slide to move horizontally in the left and right directions; the first adjusting baffle, the first fixed baffle, the second fixed baffle and the second adjusting baffle are vertically arranged on the sliding plate in sequence, and the sliding plate is also provided with a lifting vertical plate, a first adjustable front baffle and a second adjustable front baffle, the first adjusting baffle, the second adjusting baffle, the first adjustable front baffle and the second adjustable front baffle are all connected to the lower slide in a sliding manner and can be locked in position; a first material bin is formed between the first adjusting baffle, the first fixed baffle, the lifting vertical plate and the first adjustable front baffle, and the second adjusting baffle, the second fixed baffle, the lifting vertical plate and the first adjustable front baffle A second material bin is formed between the lowering plate and the second adjustable front baffle; a closed-loop stepper motor and a synchronous pulley are provided on the back of the lifting plate, and the output end of the closed-loop stepper motor drives the lifting material carrier plate arranged on the front of the lifting plate to move up and down through a synchronous belt that cooperates with the synchronous pulley; the lifting plate is also equipped with a fiber optic sensor located at the upper end of the lifting path of the lifting material carrier plate and a photoelectric switch located at the lower end of the lifting path of the lifting material carrier plate; the lifting plate, and / or the first adjusting baffle, and / or the first fixed baffle, and / or the second fixed baffle, and / or the second adjusting baffle, and / or the first adjustable front baffle, and / or the second adjustable front baffle are provided with an air nozzle.

[0014] Preferably, the material picking robot includes: a belt module, a suction nozzle, a rotary cylinder and a material picking lifting cylinder. The belt module drives the material picking lifting cylinder to move horizontally, and the material picking lifting cylinder drives the rotary cylinder to move up and down. The suction nozzle is installed at the output end of the rotary cylinder.

[0015] Preferably, the discharge conveyor belt includes: a discharge motor, a baffle synchronous belt, a brush bar, a push bar and a push bar cylinder for moving the push bar. The discharge motor drives the baffle synchronous belt to move. The brush bar is arranged above the inlet side of the baffle synchronous belt in a direction perpendicular to the movement path of the baffle synchronous belt. There is a push bar on each side of the baffle synchronous belt.

[0016] Preferably, the sweeping robot includes a sweeping robot base plate, two sets of variable pitch assemblies and two suction nozzle assemblies, the two sets of variable pitch assemblies are symmetrically arranged along the extension direction of the sweeping robot base plate, and each of the suction nozzle assemblies includes an inner suction nozzle assembly and an outer suction nozzle assembly; each of the variable pitch assemblies includes a first cylinder, a second cylinder arranged opposite to the first cylinder, and a third cylinder arranged in the same direction as the second cylinder, the first cylinder is mounted on the sweeping robot base plate, the second cylinder is connected to the output end of the first cylinder, the output end of the second cylinder is connected to the inner suction nozzle assembly, the third cylinder is mounted on the inner suction nozzle assembly, and the output end of the third cylinder is connected to the outer suction nozzle assembly.

[0017] Preferably, the variable distance assembly also includes a first limit plate and a second limit plate, the first limit plate is provided with a first stroke limit groove, and the second limit plate is provided with a second stroke limit groove; the first limit plate is connected to the output end of the first cylinder, and the second limit plate is installed on the inner suction nozzle assembly; the inner suction nozzle assembly is movably set in the first stroke limit groove, and the outer suction nozzle assembly is movably set in the second stroke limit groove.

[0018] Preferably, the suction cup assembly comprises: a sleeve, a hollow shaft, a suction cup body and a ball screw, the hollow shaft is mounted in the sleeve via a bearing, a plurality of ball screws are mounted in the circumferential mounting hole of the sleeve, a gap exists between the bearing and the sleeve, one end of the ball screw is pressed against the outer peripheral wall of the bearing, the suction cup body is mounted on the end of the hollow shaft and is in communication with the inner hole of the hollow shaft;

[0019] The light sweeping mechanism is provided with two groups of lifting mechanisms and a turning mechanism. Each group of the lifting mechanisms is equipped with the turning mechanism, and the turning mechanism is provided with the suction cup assembly.

[0020] Preferably, the rack manipulator includes: a flipping assembly and a distance-changing assembly, the distance-changing assembly includes a first base plate and two suction nozzle adjustment mechanisms symmetrically arranged on the first base plate, the flipping assembly drives the suction nozzle adjustment mechanism to switch between a horizontal position and a vertical position; the material receiving and positioning device includes: a plurality of L-shaped positioning members, a plurality of unloading tables and a material receiving and positioning cylinder, a limit block is provided at each of the two vertical edges of the unloading table, the plurality of L-shaped positioning members are provided on the positioning plate and are provided one-to-one with the plurality of unloading tables, the output end of the material receiving and positioning cylinder is connected to the positioning plate, and a rectangular workpiece positioning space is enclosed between the L-shaped positioning member and the two limit blocks.

[0021] Preferably, the suction nozzle adjustment mechanism includes a variable distance cylinder, a first distance plate, an inner suction nozzle and an outer suction nozzle, the variable distance cylinder is installed on the first base plate, the output end of the variable distance cylinder is connected to the outer suction nozzle, the first distance plate is provided with a first limit groove and a second limit groove, the outer suction nozzle is movably connected to the first distance plate through the first limit groove, the inner suction nozzle is movably connected to the first distance plate through the second limit groove, the inner suction nozzle and the outer suction nozzle are both slidably set on the guide rail on the first base plate, and one side of the first base plate is pivotally connected to the flip assembly.

[0022] Preferably, the unloading mechanism also includes a material rack positioning device, and the material rack positioning device includes a first positioning cylinder, a second positioning cylinder, a clamping shaft, a first positioning bar and a second positioning bar. The first positioning cylinder, the second positioning cylinder, the first positioning bar and the second positioning bar are all installed on the unloading rack. The first positioning cylinder and the second positioning cylinder are arranged perpendicular to each other, and the first positioning bar and the second positioning bar are arranged perpendicular to each other. The first positioning cylinder pushes the material rack to move in the direction of the first positioning bar to be positioned in the first direction. The second positioning cylinder drives the clamping shaft to rotate to push the material rack to move in the direction of the second positioning bar through the clamp installed on the clamping shaft to be positioned in the second direction. The first direction is perpendicular to the second direction.

[0023] Due to the adoption of the above technical solution, the loading mechanism, the sweeping mechanism and the unloading mechanism in the present invention can be coordinated more reasonably, which is beneficial to improving the sweeping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematically shows the overall structural diagram of the present invention;

[0025] Figure 2 A perspective view of a feeding mechanism is schematically shown;

[0026] Figure 3 Schematically shows an exploded view of the side box;

[0027] Figure 4 The rear structure of the side material box is schematically shown;

[0028] Figure 5 Schematically shows an exploded view of the discharge conveyor;

[0029] Figure 6 The structural diagram of the reclaiming manipulator is schematically shown;

[0030] Figure 7 The schematic diagram of the structure of the sweeping robot is shown schematically;

[0031] Figure 8 The back structure diagram of the pitch-changing mechanism is schematically shown;

[0032] Figure 9 The schematic diagram of the installation structure of the third cylinder is shown schematically;

[0033] Figure 10 The structure diagram of the pitch-changing mechanism from another perspective is schematically shown;

[0034] Figure 11 The structure diagram of the nozzle assembly is schematically shown;

[0035] Figure 12 The schematic diagram of the structure of the three-dimensional motion platform is shown schematically;

[0036] Figure 13 schematically shows a perspective view of a suction cup assembly;

[0037] Figure 14 schematically shows an exploded view of the suction cup assembly;

[0038] Figure 15 The structure diagram of the suction cup assembly is schematically shown;

[0039] Figure 16 schematically illustrates a cross-sectional view of a suction cup assembly;

[0040] Figure 17 The structural diagram of the blanking mechanism is schematically shown;

[0041] Figure 18 The schematic diagram of the structure of the rack linkage module is shown schematically;

[0042] Figure 19 The schematic diagram of the structure of the rack inserting robot is shown schematically;

[0043] Figure 20 Schematically shows a front view of the rack insertion robot;

[0044] Figure 21 A side view of a rack inserting robot is schematically shown;

[0045] Figure 22 Schematically shows an exploded view of the pitch change assembly;

[0046] Figure 23 A perspective view of a material receiving and positioning device is schematically shown;

[0047] Figure 24 Schematically shows a top view of the material receiving and positioning device;

[0048] Figure 25 Schematically shows an exploded view of the material receiving and positioning device;

[0049] Figure 26 A perspective view of a rack positioning device is schematically shown;

[0050] Figure 27 An exploded view of the rack positioning device is schematically shown.

[0051] 1. Material feeding mechanism; 2. Sweeping mechanism; 3. Material unloading mechanism; 4. Material feeding frame; 5. Side material box; 6. Material taking manipulator; 7. Material discharging conveyor belt; 8. Sweeping frame; 9. Sweeping manipulator; 10. Grinding disc assembly; 11. Suction cup assembly; 12. Material unloading frame; 13. Material receiving and positioning device; 14. Insertion rack linkage module; 15. Insertion rack manipulator; 16. Material rack; 17. Lower slide plate; 18. Translation cylinder; 19. First adjustment baffle; 20. First fixed baffle; 21. Second fixed baffle; 22. Second adjustment baffle; 23. Lifting plate; 24. First adjustable front baffle; 25. Second adjustable front baffle; 26. Closed-loop stepping motor; 27. Synchronous pulley; 28. Step belt; 29, lifting material carrier; 30, fiber optic sensor; 31, photoelectric switch; 32, air nozzle; 33, belt module; 34, suction nozzle; 35, rotary cylinder; 36, material lifting cylinder; 37, discharge motor; 38, baffle synchronous belt; 39, brush bar; 40, push bar; 41, push bar cylinder; 42, flip assembly; 43, variable pitch assembly; 44, first bottom plate; 45, L-shaped positioning piece; 46, unloading table; 47, receiving material positioning cylinder; 48, limit block; 49, positioning plate; 50, variable pitch cylinder; 51, first distance plate; 52, inner suction nozzle; 53, outer suction nozzle; 54, first limit slot; 55, second limit slot; 56, guide rail; 57, first positioning cylinder; 58, second limit 6. Clamping shaft; 60. First positioning bar; 61. Second positioning bar; 62. Clamp; 63. Sweeping robot base plate; 64. Inner nozzle assembly; 65. Outer nozzle assembly; 66. First cylinder; 67. Second cylinder; 68. Third cylinder; 69. First limit plate; 70. Second limit plate; 71. First stroke limit groove; 72. Second stroke limit groove; 73. Bushing; 74. Hollow shaft; 75. Suction cup body; 76. Ball head screw; 77. Bearing; 78. Mobile phone glass protection sheet; 79. Locking handle; 80. Slide rail; 81. Plate; 82. Slider plate; 83. Slide cylinder; 84. Suction plate; 85. Suction cup; 86. Joint shaft; 87. Mounting bracket; 88. Step Inlet motor; 89, connecting shaft; 90, proximity switch; 91, position detection seat; 92, three-dimensional motion platform; 93, Z-axis module; 94, oil seal; 95, silicone plug; 96, limit plate; 97, positioning cylinder; 98, positioning notch; 99, installation box; 100, lifting cylinder; 101, support column; 102, seat plate; 103, support; 104, motor; 105, rotating shaft; 106, sensor; 107, support plate; 108, frame; 109, flip cylinder; 110, joint seat; 111, second distance plate; 112, third limit slot; 113, second bottom plate; 114, slide rail; 115, notch; 116, shaft; 117, storage slot; 118, pagoda joint. DETAILED DESCRIPTION

[0052] The following is a detailed description of embodiments of the present invention, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0053] As one aspect of the present invention, a polishing machine is provided, comprising: a loading mechanism 1, a polishing mechanism 2, and a discharging mechanism 3, for polishing a mobile phone glass protective sheet. The main working principle is to achieve a flat and smooth process of the glass surface through the rotational grinding of the grinding disc assembly in the polishing mechanism 2 and the chemical corrosion of the polishing liquid.

[0054] The loading mechanism 1 includes a loading frame 4, a side magazine 5, a retrieving robot 6, and a discharge conveyor 7. The side magazine 5, retrieving robot 6, and discharge conveyor 7 are all mounted on the loading frame 4. The side magazine 5 includes two silos that can be switched at the retrieving robot 6. The retrieving robot 6 removes workpieces from the silos and places them on the discharge conveyor 7. The loading frame 4 is responsible for the erection and electrical installation of other structures, while the side magazine 5 is responsible for material loading and stacking. The retrieving robot 6 moves to pick up stacked materials piece by piece and place them on the discharge conveyor 7. The discharge conveyor 7 moves in an orderly and equidistant manner to cooperate with the robot assembly in the sweeping mechanism 2 to grasp and load materials.

[0055] The sweeping mechanism 2 comprises a sweeping frame 8, a sweeping robot 9, a grinding disc assembly 10, and a reversible and elevating suction cup assembly 11. The sweeping robot 9, grinding disc assembly 10, and suction cup assembly 11 are all mounted on the sweeping frame 8. Workpieces on the discharge conveyor 7 are transferred to the suction cup assembly 11 by the sweeping robot 9. The grinding disc assembly 10 is positioned below the suction cup assembly 11. The sweeping robot 9 grabs workpieces from the discharge conveyor 7 and places them onto the idle suction cups of the reversible and elevating suction cup assembly 11. When the idle suction cups above the suction cup assembly 11 are filled with workpieces, they flip downward, allowing unprocessed workpieces to flip to the side corresponding to the grinding disc assembly 10. This pulls the workpieces downward and into contact with the grinding disc assembly 10 for sweeping. After the scanning process is completed, the suction cup assembly moves the processed workpiece upward and flips it to the top, and then the scanning robot 9 transfers the workpiece that has been scanned to the receiving and positioning device 13 of the unloading mechanism 3.

[0056] The unloading mechanism 3 includes: an unloading frame 12, a receiving and positioning device 13, a rack insertion linkage module 14, a rack insertion manipulator 15, and a material rack 16. The rack insertion linkage module 14, the receiving and positioning device 13, and the material rack 16 are all arranged on the unloading frame 12. The rack insertion linkage module 14 is connected to the rack insertion manipulator 15 and drives the rack insertion manipulator 15 to move between the receiving and positioning device 13 and the material rack 16. The rack insertion linkage module 14 drives the rack insertion manipulator 15 to move, thereby vertically positioning the workpiece on the receiving and positioning device 13 and inserting it into the material rack 16.

[0057] The workpiece processed by the grinding disc assembly 10 of the suction cup assembly 11 is transferred to the material receiving and positioning device 13 through the sweeping robot 9 , and the rack inserting robot 15 transfers the workpiece on the material receiving and positioning device 13 to the material rack 16 .

[0058] Due to the adoption of the above technical solution, the loading mechanism 1, the sweeping mechanism 2 and the unloading mechanism 3 in the present invention can be coordinated more reasonably, which is beneficial to improving the sweeping efficiency.

[0059] Next, the feeding mechanism 1 will be described in detail.

[0060] Preferably, the side material box 5 includes a lower slide 17 and a translation cylinder 18, and the translation cylinder 18 drives the lower slide 17 to move horizontally in the left and right directions; the lower slide 17 is vertically provided with a first adjusting baffle 19, a first fixed baffle 20, a second fixed baffle 21 and a second adjusting baffle 22 in sequence, and the lower slide 17 is also provided with a lifting vertical plate 23, a first adjustable front baffle 24 and a second adjustable front baffle 25, the first adjusting baffle 19, the second adjusting baffle 22, the first adjustable front baffle 24 and the second adjustable front baffle 25 are all connected to the lower slide 17 in a sliding and position-lockable manner; a first material bin is formed between the first adjusting baffle 19, the first fixed baffle 20, the lifting vertical plate 23 and the first adjustable front baffle 24, and the second adjusting baffle 22, the second fixed baffle 21, A second material bin is formed between the lifting plate 23 and the second adjustable front baffle 25; a closed-loop stepping motor 26 and a synchronous pulley 27 are provided on the back of the lifting plate 23, and the output end of the closed-loop stepping motor 26 drives the lifting material loading plate 29 arranged on the front of the lifting plate 23 to move up and down through a synchronous belt 28 cooperating with the synchronous pulley 27. The lifting plate 23 is also equipped with a fiber optic sensor 30 located at the upper end of the lifting path of the lifting material loading plate 29 and a photoelectric switch 31 located at the lower end of the lifting path of the lifting material loading plate 29. An air nozzle 32 is provided on the lifting plate 23, and / or the first adjusting baffle 19, and / or the first fixed baffle 20, and / or the second fixed baffle 21, and / or the second adjusting baffle 22, and / or the first adjustable front baffle 24, and / or the second adjustable front baffle 25.

[0061] During loading, the mobile phone glass protective sheets 78 to be cleaned are placed horizontally in the first and second hoppers, stacked above the lifting loading plate 29. The first and second adjustable baffles 19, 22 can then be manually adjusted to move from both sides to accommodate changes in the length of the mobile phone glass protective sheet 78. Similarly, the first and second adjustable front baffles 24, 25 can be manually adjusted to accommodate changes in the width of the mobile phone glass protective sheet 78. After adjustment, the positions of the first and second adjustable baffles 19, 22, 24, and 25 can be locked using the corresponding locking handles 79.

[0062] Driven by the closed-loop stepper motor 26, the lifting and lowering plate 29 is raised or lowered via the synchronous belt 28. When the lifting and lowering plate 29 rises, it rises by the thickness of one mobile phone glass protective sheet 78 at a time. After it is removed by the material-retrieving robot 6, it continues to rise. The air nozzle 32 is used to separate the stacked mobile phone glass protective sheets 78 by blowing air, making it easier for the material-retrieving robot 6 to remove them. When the mobile phone glass protective sheets 78 in the first silo are used up, the fiber optic sensor 30 cannot sense the mobile phone glass protective sheets 78, and can control the closed-loop stepper motor 26 to move, driving the lifting and lowering plate 29. When the photoelectric switch 31 senses that the lifting and lowering plate 29 has moved into place, the closed-loop stepper motor 26 stops moving, and the translation cylinder 18 moves at the same time, switching the mobile phone glass protective sheets 78 in the second silo to the bottom of the material-retrieving robot 6 to continue working, and then continues to replenish the first silo that has run out of glass, allowing the equipment to operate uninterruptedly.

[0063] Preferably, the retrieving robot 6 comprises a belt module 33, a suction nozzle 34, a rotary cylinder 35, and a retrieving lift cylinder 36. The belt module 33 drives the retrieving lift cylinder 36 for horizontal movement, while the retrieving lift cylinder 36 drives the rotary cylinder 35 for vertical movement. The suction nozzle 34 is mounted at the output end of the rotary cylinder 35. During operation, the belt module 33 drives the suction nozzle 34 to move above a silo. The retrieving lift cylinder 36 then drives the suction nozzle 34 and the rotary cylinder 35 downward to pick up the workpiece. The retrieving lift cylinder 36 then drives the suction nozzle 34 and the workpiece held thereon upward, after which the belt module 33 drives the suction nozzle 34 and the workpiece held thereon to the discharge conveyor 7. Furthermore, as the workpiece ascends, the rotary cylinder 35 operates, causing the workpiece held by the suction nozzle 34 at its output end to rotate 90 degrees to accommodate the discharge position of the discharge conveyor 7. Then, the material taking and lifting cylinder 36 descends to place the workpiece onto the discharge conveyor belt 7 .

[0064] The discharge conveyor 7 preferably includes a discharge motor 37, a baffle timing belt 38, a brush bar 39, a push bar 40, and a push bar cylinder 41 for moving the push bar 40. The discharge motor 37 drives the baffle timing belt 38. The brush bar 39 is positioned above the inlet side of the baffle timing belt 38 in a direction perpendicular to the baffle timing belt 38's motion path. A push bar 40 is positioned on each side of the baffle timing belt 38. The baffle timing belt 38 is provided with multiple baffles. During operation, the discharge motor 37 drives the glass on it via the baffle timing belt 38. When the glass passes the brush bar 39, it is pushed by the brush bar 39 until it is flush with the stopper on the baffle timing belt 38. Furthermore, the push bar cylinder 41 drives the push bars 40 on both sides to push the glass to the appropriate position. This ensures that the glass is delivered to a suitable fixed position for the robot in the sweeping mechanism to retrieve the glass.

[0065] Next, the light sweeping mechanism will be described in detail.

[0066] Preferably, the sweeping robot 9 includes a sweeping robot base plate 63, two sets of variable pitch assemblies, and two nozzle assemblies. The two sets of variable pitch assemblies are symmetrically arranged along the extension direction of the sweeping robot base plate 63. Each nozzle assembly includes an inner nozzle assembly 64 and an outer nozzle assembly 65. Each variable pitch assembly includes a first cylinder 66, a second cylinder 67 arranged opposite to the first cylinder 66, and a third cylinder 68 arranged in the same direction as the second cylinder 67. The first cylinder 66 is mounted on the sweeping robot base plate 63, the second cylinder 67 is connected to the output end of the first cylinder 66, and the output end of the second cylinder 67 is connected to the inner nozzle assembly 64. The third cylinder 68 is mounted on the inner nozzle assembly 64, and the output end of the third cylinder 68 is connected to the outer nozzle assembly 65. Preferably, a slide rail 80 is provided on the sweeping robot base plate 63, and the nozzle assembly is slidably mounted on the slide rail 80.

[0067] The first cylinder 66 can be connected to the first cylinder 66 via a plate 81. When the first cylinder 66 extends, the distance between the two plates 81 and the first cylinder 66 on them decreases, simultaneously driving the second cylinder 67, the third cylinder 68, the inner suction nozzle assembly 64, and the outer suction nozzle assembly 65 to move toward each other. During this process, the extension or contraction of the second cylinder 67 can simultaneously cause the third cylinder 68, the inner suction nozzle assembly 64, and the outer suction nozzle assembly 65 to move away from or toward each other. At the same time, during the process of the inner suction nozzle assembly 64 moving away from or toward each other, the outer suction nozzle assembly 65 can be moved away from or toward each other via the third cylinder 68.

[0068] Due to the adoption of the above-mentioned technical solution, the present invention, through the simultaneous operation of the first cylinder 66, the second cylinder 67, and the third cylinder 68, can simultaneously cause the two inner nozzle assemblies 64 to move synchronously with each other, the two outer nozzle assemblies 65 to move synchronously with each other, and also cause relative movement between the inner nozzle assemblies 64 and the outer nozzle assemblies 65. Therefore, various spacings can be created between the two inner nozzle assemblies 64, between the two outer nozzle assemblies 65, and between the inner nozzle assemblies 64 and the outer nozzle assemblies 65, respectively, to accommodate the different spacing requirements during different working processes and improve the speed and efficiency of pitch change.

[0069] Preferably, the variable distance assembly further includes a first limit plate 69 and a second limit plate 70. The first limit plate 69 is provided with a first travel limit slot 71, and the second limit plate 70 is provided with a second travel limit slot 72. The first limit plate 69 is connected to the output end of the first cylinder 66, and the second limit plate 70 is mounted on the inner suction nozzle assembly 64. The inner suction nozzle assembly 64 is movably disposed in the first travel limit slot 71, and the outer suction nozzle assembly 65 is movably disposed in the second travel limit slot 72. In this way, the first travel limit slot 71 and the second travel limit slot 72 can limit the movement range or stroke of the corresponding suction nozzle assembly.

[0070] Preferably, the inner suction nozzle assembly 64 and the outer suction nozzle assembly 65 have the same structure, and the inner suction nozzle assembly 64 includes a slider plate 82, a slide cylinder 83, a suction plate 84 and a suction cup 85. The slide cylinder 83 is vertically mounted on the slider plate 82, the suction plate 84 is mounted on the output end of the slide cylinder 83, and the suction cup 85 is mounted on the suction plate 84. The slide cylinder 83 is arranged in a vertical direction, so that each suction nozzle assembly can be driven to rise and fall individually, so as to rise and fall the suction cup 85 thereon, so as to meet the needs of changing the number of suction nozzle assemblies. For example, when the suction cups 85 of two suction nozzle assemblies are raised, only the two suction cups 85 located in the lower position are available, thereby achieving the purpose of changing the number of suction nozzles.

[0071] Preferably, the slider plate 82 of the inner suction nozzle assembly 64 is connected to the output end of the second cylinder 67, and the slider plate 82 of the outer suction nozzle assembly 65 is connected to the output end of the third cylinder 68. The top end of the slider plate 82 can be connected to the piston rod of the corresponding cylinder via a joint shaft 86 or the like. For example, the joint shaft 86 is mounted on one end of the piston rod, and the joint shaft 86 is inserted into the corresponding travel limit groove and connected to the slider plate 82.

[0072] Preferably, the variable-pitch manipulator further includes a rotation mechanism comprising a mounting bracket 87 and a stepper motor 88. The stepper motor 88 is mounted on the mounting bracket 87, and the output end of the stepper motor 88 is connected to the sweeping manipulator base plate 63 via a connecting shaft 89. The rotation mechanism is used to change the rotation angle of the entire variable-pitch assembly within the horizontal plane to accommodate workpieces placed at different angles.

[0073] Preferably, a proximity switch 90 is provided on the mounting bracket 87, and a position detection seat 91 is provided at the output end of the stepping motor 88 for use with the proximity switch 90. When the pitch-changing assembly has finished taking the material and returns to the origin, the position detection seat 91 rotates synchronously with the entire pitch-changing assembly. When the proximity switch 90 detects the corresponding position on the position detection seat 91, a stop signal is generated to cause the external control unit to stop the rotation of the stepping motor, thereby achieving the angle reset function.

[0074] Preferably, the variable-pitch manipulator also includes a three-dimensional motion platform 92, with the rotation mechanism connected to the Z-axis module 93 of the three-dimensional motion platform 92. Preferably, the three-dimensional motion platform 92 utilizes a three-axis linkage belt module. The three-dimensional motion platform 92 enables the rotation mechanism and the variable-pitch assembly below it to move in three dimensions, thereby moving the suction cup 85 in the variable-pitch assembly to a predetermined position and height.

[0075] Next, the suction cup assembly will be described in detail.

[0076] Preferably, the suction cup assembly includes: a sleeve 73, a hollow shaft 74, a suction cup body 75, and a ball screw 76. The hollow shaft 74 is mounted within the sleeve 73 via a bearing 77. Multiple ball screws 76 are mounted in the circumferential mounting holes of the sleeve 73. A gap exists between the bearing 77 and the sleeve 73. One end of the ball screw 76 abuts against the outer peripheral wall of the bearing 77. The suction cup body 75 is mounted at the end of the hollow shaft 74 and communicates with the inner hole of the hollow shaft 74. The lower end of the hollow shaft 74 is connected to the negative pressure device via a pagoda joint 118. The suction cup body 75 is a spatial structure with suction holes provided therein. Therefore, the negative pressure device can generate negative pressure at the suction holes of the suction cup body 75 to suck the workpiece. The sweeping mechanism 2 is provided with two sets of lifting mechanisms and a flipping mechanism. Each set of lifting mechanisms is equipped with a flipping mechanism, and the flipping mechanism has the suction cup assembly.

[0077] There is a gap between the bearing 77 and the sleeve 73, allowing the bearing 77 to have a certain amount of space to move within the sleeve 73. In addition, the elasticity of the head band of the ball head screw 76 allows it to elastically expand and contract under the action of external force. Therefore, the unique elastic characteristics of the ball head screw 76 can be used to adjust the spatial posture of the hollow shaft 74, thereby adjusting the plane orientation of the suction cup body 75.

[0078] Therefore, when the workpiece (e.g., a cell phone screen) on the suction cup assembly does not conform to the surface of the polishing element (e.g., a polishing blanket), uneven force is applied to the suction cup body 75. Furthermore, because the bearing 77 has a certain amount of room to move within the sleeve 73 and the head of the ball-head screw 76 is elastic, this uneven force causes the hollow shaft 74 to oscillate, automatically correcting the fit between the suction cup body 75 and the blanket to a certain extent.

[0079] Preferably, an oil seal 94 is provided on the outer end of the bearing 77. Because polishing fluid, often used in polishing machines, contains polishing powder, the oil seal prevents the penetration of water and polishing powder, thereby protecting the parts and reducing malfunctions. Preferably, a silicone plug 95 is provided on the outer end of the ball screw 76 to prevent water penetration.

[0080] Preferably, a limit plate 96 is provided on the side of the hollow shaft 74 away from the suction cup body 75, and a positioning notch 98 is provided on the limit plate 96. The suction cup assembly further comprises a positioning cylinder 97 for use with the limit plate 96. The positioning cylinder 97 can be installed in a mounting box 99 of the flip mechanism. When the positioning cylinder 97 is extended, the free end of the piston rod can be inserted into the positioning notch 98 to define the circumferential position of the suction cup body 75, thereby stopping the suction cup body 75 at a desired position. This determined position facilitates the external robot assembly to pick up and place materials from the suction cup body 75 without deviation.

[0081] During operation, once the suction cup assemblies on one lifting mechanism have been loaded, they are flipped over by a flipping mechanism to the polishing assembly of the sweeper for polishing. Simultaneously, the already polished suction cup assemblies on the other lifting mechanism are flipped upward by the flipping mechanism to the loading position, where they are then loaded by the robot. This allows only one set of suction cup assemblies to be loaded at a time, and once loaded, they are flipped over for polishing. The suction cup assemblies on the two lifting mechanisms alternately load and polish. This reduces waiting time for loading and improves efficiency, compared to the prior art, which requires four suction cup assemblies to be loaded before polishing.

[0082] Preferably, each set of the lifting mechanisms includes a lifting cylinder 100 and support columns 101. A support column 101 is provided on each side of the lifting cylinder 100 via a support plate 107. The support column 101 passes through the flip mechanism, and the piston rod of the lifting cylinder 100 is connected to the flip mechanism. The support plate 107 can be connected to the cylinder body of the lifting cylinder 100. The piston rod of the lifting cylinder 100 is located between the two support columns 101. The support columns 101 serve to guide the flip mechanism. The flip mechanism achieves lifting and lowering motion under the action of the piston rod of the lifting cylinder 100.

[0083] Preferably, the flipping mechanism includes a base plate 102, a support 103, a motor 104, a rotating shaft 105, and an installation box 99. The piston rod of the lifting cylinder 100 is connected to the base plate 102, the support 103 and the motor 104 are connected to the base plate 102, and the output shaft of the motor 104 is connected to the installation box 99 via the rotating shaft 105. The suction cup assembly is installed on the installation box 99. When the motor 104 rotates, it drives the installation box 99 and the suction cup assembly thereon to flip or rotate together through the rotating shaft 105, so that the suction cup assembly, after loading, is rotated to the polishing assembly of the polishing machine for polishing. When the workpiece on one side of the suction cup assembly is polished, the lifting cylinder 100 rises, and the flip mechanism, under the action of the motor 104, rotates the workpiece on the other side of the suction cup assembly that has been loaded but not yet polished to the polishing position, and rotates the suction cup assembly that has been polished to a posture for loading and unloading workpieces, so as to facilitate the removal of the polished workpiece and the placement of the unpolished workpiece again.

[0084] Preferably, two suction cup assemblies are provided on each of the upper and lower sides of the mounting box 99. This reduces the number of suction cup assemblies compared to the prior art, shortening the time required to replace workpieces on only two suction cup assemblies each time, enabling faster and more efficient loading and unloading. Furthermore, the structure becomes lighter, enabling faster turnover, thereby improving production efficiency.

[0085] Preferably, a sensor 106 for detecting whether the seat plate 102 is turned over is provided on the seat plate 102. The sensor 106 can be a fiber optic sensor, etc., so that when the seat plate 102 is turned over by 180 degrees, the sensor 106 can sense it and the motor 104 stops rotating.

[0086] Next, the blanking mechanism 3 will be described in detail.

[0087] Preferably, the rack manipulator 15 includes: a flipping component 42 and a distance changing component 43, the distance changing component 43 includes a first base plate 44 and two suction nozzle adjustment mechanisms symmetrically arranged on the first base plate 44, and the flipping component 42 drives the suction nozzle adjustment mechanism to switch between a horizontal position and a vertical position; the material receiving and positioning device 13 includes: a plurality of L-shaped positioning members 45, a plurality of unloading tables 46 and a material receiving and positioning cylinder 47, a limit block 48 is provided at each of the two vertical edges of the unloading table 46, the plurality of L-shaped positioning members 45 are provided on a positioning plate 49 and are arranged one-to-one with the plurality of unloading tables 46, the output end of the material receiving and positioning cylinder 47 is connected to the positioning plate 49, and a rectangular workpiece positioning space is enclosed between the L-shaped positioning member 45 and the two limit blocks 48.

[0088] In the above technical solution, the workpiece (mobile phone glass protective sheet 78) that has been polished by the sweeper is placed in the material receiving and positioning device 13 of the present invention, and the rack linkage module 14 is a three-dimensional motion mechanism that can drive the rack robot 15 to move in the horizontal plane and the vertical direction. It can be implemented using a structure known in the prior art and will not be repeated here.

[0089] Among them, the workpieces in the material receiving and positioning device 13 are placed horizontally, while the workpieces in the material rack 16 need to be placed vertically. To this end, the rack linkage module 14 first drives the rack manipulator 15 to move to the top of the material receiving and positioning device 13, and the flip component 42 in the rack manipulator 15 rotates its variable pitch component 43 to a state where the suction nozzle is downward and can suck the workpiece in the material receiving and positioning device 13. The rack linkage module 14 then drives the rack manipulator 15 to move downward to suck the workpiece in the material receiving and positioning device 13. Then, the rack linkage module 14 drives the rack manipulator 15 to move upward, and then moves horizontally to the top of the material rack 16. In this process, the suction nozzle adjustment mechanism of the variable pitch component 43 of the manipulator changes the suction nozzle spacing thereon, thereby changing the spacing of the sucked workpieces to adapt to the spacing of the workpieces in the material rack 16. Next, the flipping component 42 in the rack manipulator 15 rotates its pitch changing component 43 until the workpiece on the suction nozzle becomes vertical. Then, the rack linkage module 14 drives the rack manipulator 15 to move downward until the vertical workpiece is inserted into the material rack 16.

[0090] Due to the adoption of the above-mentioned technical solution, the present invention can simultaneously transfer multiple workpieces placed on the material receiving and positioning device 13 to the material rack 16. In addition, during the transfer process, the suction nozzle spacing on it can be changed through the suction nozzle adjustment mechanism of the robot, thereby changing the spacing of the sucked workpieces to adapt to the spacing of the workpieces in the material rack 16. Compared with the existing technology of sucking and placing a single piece each time, four workpieces can be sucked and placed at a time, thereby improving production efficiency.

[0091] Preferably, the suction nozzle adjustment mechanism includes a variable distance cylinder 50, a first distance plate 51, an inner suction nozzle 52 and an outer suction nozzle 53. The variable distance cylinder 50 is installed on the first base plate 44. The output end of the variable distance cylinder 50 is connected to the outer suction nozzle 53. The first distance plate 51 is provided with a first limiting groove 54 and a second limiting groove 55. The outer suction nozzle 53 is movably connected to the first distance plate 51 through the first limiting groove 54, and the inner suction nozzle 52 is movably connected to the first distance plate 51 through the second limiting groove 55. The inner suction nozzle 52 and the outer suction nozzle 53 are both slidably set on the guide rail 56 on the first base plate 44, and one side of the first base plate 44 is pivotally connected to the flip assembly 42.

[0092] Preferably, the flip assembly 42 includes a frame 108, a flip cylinder 109, and a joint seat 110. One end of the flip cylinder 109 is pivotally connected to the frame 108, the other end of the flip cylinder 109 is pivotally connected to one end of the joint seat 110, and the other end of the joint seat 110 is pivotally connected to the first base plate 44. The extension and retraction of the flip cylinder 109 can cause the first base plate 44 to rotate around an axis 116 connecting it to the frame 108 through the joint seat 110, thereby achieving switching between a horizontal state and a vertical state.

[0093] Preferably, the first bottom plate 44 is further provided with a second distance plate 111, which is provided with two third limiting grooves 112. The two inner suction nozzles 52 are each movably connected to the second distance plate 111 via one of the third limiting grooves 112. In this way, the third limiting grooves 112 on the second distance plate 111 can further limit the movement range or position of the inner suction nozzles 52.

[0094] Below, the working process and principle of the robot are described in detail.

[0095] When it is necessary to suck a workpiece placed horizontally on the scanner positioning assembly, the flip cylinder 109 is extended so that the extension and contraction of the flip cylinder 109 can rotate the first base plate 44 around the axis 116 connected to the frame 108 through the joint seat 110, thereby rotating the suction nozzles on the inner suction nozzle 52 and the outer suction nozzle 53 to above the horizontally placed workpiece, so as to facilitate the suction of the horizontally placed workpiece.

[0096] When the sucked workpiece needs to be inserted into the receiving rack of the scanner in a vertical state, the flip cylinder 109 contracts so that the extension and contraction of the flip cylinder 109 can rotate the first base plate 44 around the axis 116 connected to the frame 108 through the joint seat 110, thereby rotating the workpiece sucked on the inner suction nozzle 52 and the outer suction nozzle 53 to a vertical state, so as to facilitate its insertion into the receiving rack in a vertical direction through a lifting mechanism in subsequent processes.

[0097] When the distance between the corresponding inner suction nozzle 52 and the outer suction nozzle 53 needs to be increased, the two variable distance cylinders 50 extend at the same time to drive the outer suction nozzles 53 installed at the ends of the piston rods of the corresponding variable distance cylinders 50 to move away from each other. When the two outer suction nozzles 53 move to the ends of their respective first limiting grooves 54, they will drive the corresponding first distance plate 51 to move. At the beginning, since the second limiting groove 55 is provided on the first distance plate 51, the two inner suction nozzles 52 are in a stationary state. As the first distance plate 51 moves, when the end of the second limiting groove 55 contacts the corresponding inner suction nozzle 52, the first distance plate 51 will drive the corresponding inner suction nozzle 52 to move outward within the range of the third limiting groove 15, thereby realizing the function of variable distance to adapt to the different workpiece spacings between the positioning component and the material receiving rack.

[0098] Due to the adoption of the above technical solution, the present invention is provided with four suction nozzles with variable distances. Compared with the prior art which sucks and places a single piece at a time, it can suck and place four workpieces at a time, thereby improving production efficiency.

[0099] Preferably, the unloading mechanism also includes a material rack positioning device, which includes a first positioning cylinder 57, a second positioning cylinder 58, a clamping shaft 59, a first positioning bar 60 and a second positioning bar 61. The first positioning cylinder 57, the second positioning cylinder 58, the first positioning bar 60 and the second positioning bar 61 are all installed on the unloading frame 12. The first positioning cylinder 57 and the second positioning cylinder 58 are arranged perpendicular to each other. The first positioning bar 60 and the second positioning bar 61 are arranged perpendicular to each other. The first positioning cylinder 57 pushes the material rack 16 to move in the direction of the first positioning bar 60 to be positioned in the first direction. The second positioning cylinder 58 drives the clamping shaft 59 to rotate to push the material rack 16 to move in the direction of the second positioning bar 61 to be positioned in the second direction through the clamp 62 installed on the clamping shaft 59. The first direction is perpendicular to the second direction.

[0100] Preferably, the material receiving and positioning device 13 further includes a second base plate 113 and a slide rail 114 . The slide rail 114 , the material receiving and positioning cylinder 47 and the material unloading platform 46 are all arranged on the second base plate 113 , and the positioning plate 49 is arranged on the slide rail 114 .

[0101] Preferably, a notch 115 is formed on the underside of one end of the unloading platform 46. The slide rail 114 or the material receiving positioning cylinder 47 is positioned in this notch 115, and the positioning plate 49 is positioned at a position corresponding to the notch 115. The notch 115 serves to accommodate the slide rail 114 or the material receiving positioning cylinder 47, allowing them to be concealed beneath the unloading platform 46. This avoids occupying space, helps reduce the size, and prevents interference with the movement of other components. Furthermore, the notch 115 provides clearance for the positioning plate 49 during movement.

[0102] Preferably, the slide rail 114 is arranged to be inclined relative to the unloading platform 46, so that when moving, the L-shaped positioning member 45 moves along the diagonal direction of the unloading platform 46, which can adapt to workpieces of different sizes.

[0103] Preferably, the limit block 48 is connected to the unloading table 46 in an adjustable position. For example, a plurality of screw holes at different positions are provided on the unloading table 46. When a different position needs to be selected, the limit block 48 can be installed at the corresponding screw hole to adjust the installation position to accommodate workpieces of different sizes.

[0104] During use, the mobile phone glass protective sheet 78, cleaned by the sweeper, is placed on the unloading platform 46. The receiving and positioning cylinder 47 is then retracted to move the positioning plate 49 along the slide rail 114 toward the unloading platform 46 until the L-shaped positioning member 45 on the positioning plate 49 contacts the two right-angled sides of the mobile phone glass protective sheet 78. The two stoppers 48 cooperate to secure the two diagonal corners of the mobile phone glass protective sheet 78, thereby achieving positioning of the mobile phone glass protective sheet 78. The present invention can utilize one or two receiving and positioning cylinders 47 to achieve simultaneous positioning of multiple workpieces placed on the unloading platform 46, resulting in a compact design and reduced costs.

[0105] Due to the adoption of the above technical solution, the present invention can position multiple mobile phone glass protection sheets 78 at one time, which is beneficial to improving the efficiency of the scanner and has the characteristic of being small in size.

[0106] Preferably, the sweeper unloading device also includes a material rack positioning device, which includes a first positioning cylinder 57, a second positioning cylinder 58, a clamping shaft 59, a first positioning bar 60, and a second positioning bar 61. The first positioning cylinder 57, the second positioning cylinder 58, the first positioning bar 60, and the second positioning bar 61 are all mounted on the unloading frame 12. The first positioning cylinder 57 and the second positioning cylinder 58 are arranged perpendicular to each other, and the first positioning bar 60 and the second positioning bar 61 are arranged perpendicular to each other. The first positioning cylinder 57 pushes the material rack 16 toward the first positioning bar 60 to be positioned in the first direction. The second positioning cylinder 58 drives the clamping shaft 59 to rotate, thereby pushing the material rack 16 toward the second positioning bar 61 through the clamp 119 mounted on the clamping shaft 59 to be positioned in the second direction, the first direction being perpendicular to the second direction. Preferably, the material rack 16 is provided with a plurality of storage slots 117.

[0107] The material rack positioning device is used to position the material rack 16 in the correct position so that the rack insertion robot 15 can accurately insert the mobile phone glass protection sheet 78 into the corresponding storage slot 117 on the material rack 16. The material rack positioning device positions the material rack 16 in two directions, a first direction and a second direction, and the first direction is perpendicular to the second direction. In this way, with the cooperation of the first positioning bar 60 and the second positioning bar 61, the positioning of the material rack 16 can be achieved. The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A light sweeper, characterized in that: include: A feeding mechanism (1), a sweeping mechanism (2) and a discharging mechanism (3); The feeding mechanism (1) comprises: a feeding frame (4), a side material box (5), a material taking manipulator (6) and a discharge conveyor belt (7); the side material box (5), the material taking manipulator (6) and the discharge conveyor belt (7) are all arranged on the feeding frame (4); the side material box (5) comprises two material bins that can be switched at the material taking manipulator (6); the material taking manipulator (6) takes the workpiece in the material bin and places it on the discharge conveyor belt (7); The sweeping mechanism (2) comprises: a sweeping frame (8), a sweeping manipulator (9), a grinding disc assembly (10) and a flip-up and liftable suction cup assembly (11); the sweeping manipulator (9), the grinding disc assembly (10) and the suction cup assembly (11) are all mounted on the sweeping frame (8); the workpiece on the discharge conveyor belt (7) is transferred to the suction cup assembly (11) by the sweeping manipulator (9); and the grinding disc assembly (10) is arranged below the suction cup assembly (11); The unloading mechanism (3) comprises: an unloading frame (12), a receiving and positioning device (13), a rack linkage module (14), a rack insertion manipulator (15) and a material rack (16); the rack linkage module (14), the receiving and positioning device (13) and the material rack (16) are all arranged on the unloading frame (12); the rack linkage module (14) is connected to the rack insertion manipulator (15) and drives the rack insertion manipulator (15) to move between the receiving and positioning device (13) and the material rack (16); The workpiece processed by the grinding disc assembly (10) of the suction cup assembly (11) is transferred to the material receiving and positioning device (13) by the sweeping robot (9), and the rack inserting robot (15) transfers the workpiece on the material receiving and positioning device (13) to the material rack (16); The sweeping robot (9) includes a sweeping robot base plate (63), two sets of variable pitch components and two suction nozzle components. The two sets of variable pitch components are symmetrically arranged along the extension direction of the sweeping robot base plate (63). Each of the suction nozzle components includes an inner suction nozzle component (64) and an outer suction nozzle component (65). Each of the variable pitch components includes a first cylinder (66), a second cylinder (67) arranged in the opposite direction to the first cylinder (66), and a third cylinder (68) arranged in the same direction as the second cylinder (67). The first cylinder (66) is installed on the sweeping robot base plate (63). The second cylinder (67) is connected to the output end of the first cylinder (66). The output end of the second cylinder (67) is connected to the inner suction nozzle component (64). The third cylinder (68) is installed on the inner suction nozzle component (64). The output end of the third cylinder (68) is connected to the outer suction nozzle component (65). The suction cup assembly comprises: a sleeve (73), a hollow shaft (74), a suction cup body (75) and a ball head screw (76); the hollow shaft (74) is mounted in the sleeve (73) via a bearing (77); a plurality of ball head screws (76) are mounted in the circumferential mounting hole of the sleeve (73); a gap exists between the bearing (77) and the sleeve (73); one end of the ball head screw (76) is pressed against the outer peripheral wall of the bearing (77); the suction cup body (75) is mounted at the end of the hollow shaft (74) and is in communication with the inner hole of the hollow shaft (74); The light sweeping mechanism (2) is provided with two groups of lifting mechanisms and a turning mechanism, each group of the lifting mechanisms is provided with the turning mechanism, and the turning mechanism is provided with the suction cup assembly.

2. The light sweeper according to claim 1, wherein: The side material box (5) includes a lower slide plate (17) and a translation cylinder (18), and the translation cylinder (18) drives the lower slide plate (17) to move horizontally in the left and right directions; the lower slide plate (17) is vertically provided with a first adjustment baffle (19), a first fixed baffle (20), a second fixed baffle (21) and a second adjustment baffle (22), and the lower slide plate (17) is also provided with a lifting vertical plate (23), a first adjustable front baffle (24) and a second adjustable front baffle (25), the first adjustment baffle (19), the second adjustment baffle (22), the first adjustable front baffle (24) and the second adjustable front baffle (25) are all connected to the lower slide plate (17) in a sliding and position-lockable manner; a first material bin is formed between the first adjustment baffle (19), the first fixed baffle (20), the lifting vertical plate (23) and the first adjustable front baffle (24), and the second adjustment baffle (22), the second fixed baffle (21), A second material bin is formed between the lifting plate (23) and the second adjustable front baffle (25); a closed-loop stepper motor (26) and a synchronous pulley (27) are provided on the back of the lifting plate (23); the output end of the closed-loop stepper motor (26) drives the lifting material loading plate (29) arranged on the front of the lifting plate (23) to move up and down through a synchronous belt (28) matched with the synchronous pulley (27); the lifting plate (23) is also provided with a lifting material loading plate (29) located on the lifting material loading plate (29). An optical fiber sensor (30) is provided at the upper end of the lifting path of the material plate (29) and a photoelectric switch (31) is provided at the lower end of the lifting path of the lifting material carrier plate (29); and an air nozzle (32) is provided on the lifting vertical plate (23), and / or the first adjusting baffle (19), and / or the first fixed baffle (20), and / or the second fixed baffle (21), and / or the second adjusting baffle (22), and / or the first adjustable front baffle (24), and / or the second adjustable front baffle (25).

3. The light sweeper according to claim 1, wherein: The material-retrieving manipulator (6) comprises: a belt module (33), a suction nozzle (34), a rotary cylinder (35) and a material-retrieving lifting cylinder (36); the belt module (33) drives the material-retrieving lifting cylinder (36) to move horizontally; the material-retrieving lifting cylinder (36) drives the rotary cylinder (35) to move up and down; and the suction nozzle (34) is installed at the output end of the rotary cylinder (35).

4. The light sweeper according to claim 1, wherein: The discharging conveyor belt (7) comprises: a discharging motor (37), a baffle synchronous belt (38), a brush bar (39), a push bar (40) and a push bar cylinder (41) for moving the push bar (40); the discharging motor (37) drives the baffle synchronous belt (38) to move; the brush bar (39) is arranged above the inlet side of the baffle synchronous belt (38) in a direction perpendicular to the movement path of the baffle synchronous belt (38); and one push bar (40) is arranged on each side of the baffle synchronous belt (38).

5. The light sweeper according to claim 1, wherein: The variable distance assembly further comprises a first limit plate (69) and a second limit plate (70), wherein the first limit plate (69) is provided with a first stroke limit groove (71), and the second limit plate (70) is provided with a second stroke limit groove (72); the first limit plate (69) is connected to the output end of the first cylinder (66), and the second limit plate (70) is installed on the inner suction nozzle assembly (64); the inner suction nozzle assembly (64) is movably arranged in the first stroke limit groove (71), and the outer suction nozzle assembly (65) is movably arranged in the second stroke limit groove (72).

6. The light sweeper according to claim 1, wherein: The rack manipulator comprises: a flip assembly (42) and a pitch-changing assembly (43), the pitch-changing assembly (43) comprises a first base plate (44) and two suction nozzle adjustment mechanisms symmetrically arranged on the first base plate (44), the flip assembly (42) drives the suction nozzle adjustment mechanism to switch between a horizontal position and a vertical position; the material receiving and positioning device (13) comprises: a plurality of L-shaped positioning members (45), a plurality of material discharge tables (46) and a material receiving and positioning cylinder (47), a limit block (48) is provided at each of the two vertical edges of the material discharge table (46), the plurality of L-shaped positioning members (45) are provided on a positioning plate (49) and are arranged one-to-one with the plurality of material discharge tables (46), the output end of the material receiving and positioning cylinder (47) is connected to the positioning plate (49), and a rectangular workpiece positioning space is formed between the L-shaped positioning member (45) and the two limit blocks (48).

7. The light sweeper according to claim 6, wherein: The suction nozzle adjustment mechanism comprises a variable distance cylinder (50), a first distance plate (51), an inner suction nozzle (52) and an outer suction nozzle (53); the variable distance cylinder (50) is mounted on the first base plate (44); the output end of the variable distance cylinder (50) is connected to the outer suction nozzle (53); the first distance plate (51) is provided with a first limiting groove (54) and a second limiting groove (55); the outer suction nozzle (53) is movably connected to the first distance plate (51) through the first limiting groove (54); the inner suction nozzle (52) is movably connected to the first distance plate (51) through the second limiting groove (55); the inner suction nozzle (52) and the outer suction nozzle (53) are both slidably arranged on a guide rail (56) on the first base plate (44); and one side of the first base plate (44) is pivotally connected to the flip assembly (42).

8. The light sweeper according to claim 7, wherein: The unloading mechanism also includes a material rack positioning device, which includes a first positioning cylinder (57), a second positioning cylinder (58), a clamping shaft (59), a first positioning bar (60) and a second positioning bar (61). The first positioning cylinder (57), the second positioning cylinder (58), the first positioning bar (60) and the second positioning bar (61) are all installed on the unloading frame (12). The first positioning cylinder (57) and the second positioning cylinder (58) are arranged perpendicular to each other. The first positioning bar (60) and the second positioning bar (61) are arranged perpendicular to each other. The first positioning cylinder (57) pushes the material rack (16) to move in the direction of the first positioning bar (60) so as to be positioned in the first direction. The second positioning cylinder (58) drives the clamping shaft (59) to rotate so as to push the material rack (16) to move in the direction of the second positioning bar (61) through a clamp (62) installed on the clamping shaft (59) so as to be positioned in the second direction. The first direction is perpendicular to the second direction.

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