Automatic feeding and discharging multi-station glass grinding machine

Abstract

The present application relates to the technical field of glass grinding machine, specifically to a multi-station glass grinding machine with automatic feeding and discharging, comprising a base and a machine table shell installed on the surface of the base, one side of the base is provided with a feeding and discharging mechanism, the inside of the base is fixed with a large surface grinding mechanism, which is composed of a rotary table assembly and a driving assembly, the top of the machine table shell and above the large surface grinding mechanism is connected with a convex surface grinding mechanism for grinding and polishing, and the surface of the convex surface grinding mechanism is connected with a detection mechanism for sensing pressure; the surface of the machine table shell and outside the convex surface grinding mechanism is provided with four groups of self-rotation mechanisms capable of rotating the product. The present application not only solves the scar phenomenon caused by the liquid remaining on the surface of the product for a long time, avoids leaving marks on the product when taking the product next time, but also ensures the cutting force and removal amount of the large surface and the convex surface under the same pressure.

Description

Technical Field

[0001] This invention relates to the field of glass grinding machine technology, specifically to a multi-station glass grinding machine with automatic loading and unloading. Background Technology

[0002] Glass is an amorphous inorganic non-metallic material, generally made from a variety of inorganic minerals (such as quartz sand, borax, boric acid, barite, barium carbonate, limestone, feldspar, soda ash, etc.) as the main raw materials, with the addition of a small amount of auxiliary materials. There are many types and shapes of glass. Among them, glass with a large front and a camera protrusion on the back requires the use of a grinding machine for polishing.

[0003] Currently, most existing equipment used for grinding glass products is flat disc double-sided grinding. Consumables are attached to one lower disc and one upper disc. The product is fed onto the surface of the lower disc and positioned by a rotating wheel around its perimeter. It is then pressed between the two discs and rotates for polishing and grinding. However, this type of machine is not suitable for situations where the front is a large surface and the back is a protruding camera surface. Because the contact areas of the two sides are different, the cutting force and removal amount cannot be unified under the same pressure on the large and small surfaces. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic loading and unloading multi-station glass grinding machine to solve the problem mentioned in the background art that the cutting force and removal amount of the grinding machine cannot be unified under the same pressure when grinding the large and small surfaces.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-station glass grinding machine with automatic loading and unloading, comprising a base and a machine housing mounted on the surface of the base. A control panel is fixed on the outer wall of one side of the machine housing, which is used to control the operation of the entire grinding machine. A loading and unloading mechanism is provided on one side of the base, which consists of a material rack, a robotic arm, a discharge water frame, a loading water frame, and a transfer and precision positioning platform. The material rack is located on one side of the base, and a robotic arm is fixed at the center of the surface of the material rack. A loading water frame for loading is provided on one side of the robotic arm, and a loading water frame for loading is provided on the side of the robotic arm away from the loading water frame. The material unloading water frame has a transfer and precision positioning platform installed on its surface for accurate positioning. A large-surface grinding mechanism is fixed inside the base, consisting of a turntable assembly and a drive assembly. The turntable assembly is rotatably connected to the surface of the base, and a drive assembly is connected to the bottom of the turntable assembly for driving. A boss surface grinding mechanism for grinding and polishing is connected to the top of the machine housing and directly above the large-surface grinding mechanism, and a pressure sensing mechanism is connected to the surface of the boss surface grinding mechanism. Four sets of self-rotating mechanisms that enable product rotation are arranged on the surface of the machine housing and outside the boss surface grinding mechanism.

[0006] Preferably, the turntable assembly consists of a lower plate and an inner ring fixture, wherein the lower plate is rotatably connected to the surface of the base.

[0007] Preferably, an inner ring fixture is fixedly connected to the center of the top of the lower platen by screws, and four sets of feeding fixtures are provided on the surface of the inner ring fixture.

[0008] Preferably, the driven components include a servo motor, a pulley assembly, and a rotating shaft, with the servo motor fixedly connected to the surface of the base.

[0009] Preferably, the output end of the servo motor is equipped with a pulley assembly via a coupling, and one end of the pulley assembly is fixedly connected to a rotating shaft, with the top end of the rotating shaft fixedly connected to the bottom of the lower plate.

[0010] Preferably, the boss surface grinding mechanism includes a support frame, a Z-axis linear module, a lifting frame, a grinding motor, and an upper plate. The support frame is fixedly connected to the surface of the machine base housing by four bolts, and the Z-axis linear module is fixedly connected inside the support frame.

[0011] Preferably, a grinding motor is fixedly connected to the sliding table of the Z-axis linear module, and a lifting frame is fixedly connected to the surface of the grinding motor. The bottom of the grinding motor is rotatably connected to an upper plate, and the top of the upper plate is fixedly connected to the output end of the lifting frame through a coupling.

[0012] Preferably, the self-rotating mechanism is composed of a Y-axis lead screw module, a Z-axis lead screw module, a rotating motor, and a suction cup fixture. There are four sets of Y-axis lead screw modules, and the included angle between adjacent Y-axis lead screw modules is 90 degrees. All four sets of Y-axis lead screw modules are horizontally fixed to the surface of the machine base housing by bolts.

[0013] Preferably, the sliding end of the Y-axis lead screw module is longitudinally fixedly connected to the Z-axis lead screw module, and the sliding end of the Z-axis lead screw module is fixed with a rotary motor, and the output end of the rotary motor is equipped with a suction cup fixture for picking up products.

[0014] Preferably, the detection mechanism includes a support frame and a force sensing module. The support frame is fixedly connected to the surface of the grinding motor, and one end of the support frame is fixedly connected to a force sensing module for detecting pressure.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the automatic loading and unloading multi-station glass grinding machine not only solves the problem of stains caused by liquids that remain on the surface of the product for a long time, avoiding marks on the product when picking up the material again, but also ensures the cutting force and removal amount of the large surface and the boss surface under the same pressure.

[0016] This invention features a loading and unloading mechanism. During loading and unloading, the product rises out of the water surface, and a robotic arm picks up individual pieces from the loading water frame and places them into a transfer and precision positioning platform. After precision positioning, the transfer and precision positioning platform sucks the product back into the machine for loading and unloading. During unloading, the product is also taken out from inside the machine and placed in the transfer and precision positioning platform for precision positioning. After being removed individually, it is inserted into the unloading water frame and then dropped into the water for immersion. This effectively solves the problem of stains caused by liquid remaining on the product surface for a long time. At the same time, immersion cleaning cleans the suction cups on the robotic arm, preventing marks from being left on the product during the next loading.

[0017] The equipment of this invention includes a boss surface grinding mechanism, a detection mechanism, and a rotation mechanism. The product is first loaded onto the inner ring fixture by a robotic arm. Consumables are attached to the upper plate of the inner ring, pressing the product down for grinding and polishing. The four sets of fixtures in the inner ring share a force sensing module to monitor the pressure. The Z-axis compensation of the inner ring disc meets the removal amount requirements. After the small surface is completed, the rotation mechanism, with a suction cup fixture, picks up the product and presses it onto the lower plate, which is also attached with consumables. The force control module of the rotation mechanism monitors the pressure and performs supplementary processing to meet the removal amount requirements. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the three-dimensional front view structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the three-dimensional rear view structure of the present invention;

[0020] Figure 3 This is an enlarged structural schematic diagram of the loading and unloading mechanism of the present invention;

[0021] Figure 4 This is a partially enlarged structural schematic diagram of the present invention;

[0022] Figure 5 This is a schematic diagram of the enlarged internal structure of the present invention;

[0023] Figure 6 This is an enlarged structural schematic diagram of the large-surface grinding mechanism of the present invention;

[0024] Figure 7 This is a schematic diagram of the main structure of the boss surface grinding mechanism of the present invention;

[0025] Figure 8 This is an enlarged schematic diagram of the self-rotation mechanism of the present invention.

[0026] In the diagram: 1. Base; 11. Machine housing; 12. Control panel; 2. Loading / unloading mechanism; 21. Material rack; 22. Robotic arm; 23. Unloading water frame; 24. Loading water frame; 25. Transfer and precision positioning platform; 3. Large surface grinding mechanism; 31. Turntable assembly; 311. Lower plate; 312. Inner ring fixture; 32. Drive assembly; 321. Servo motor; 322. Pulley assembly; 323. Rotating shaft; 4. Boss surface grinding mechanism; 41. Support frame; 42. Z-axis linear module; 43. Lifting frame; 44. Grinding motor; 45. Upper plate; 5. Rotation mechanism; 51. Y-axis lead screw module; 52. Z-axis lead screw module; 53. Rotation motor; 54. Suction cup fixture; 6. Detection mechanism; 61. Support frame; 62. Force sensing module. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. In addition, the terms "first," "second," "third," "upper," "lower," "left," "right," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The present invention provides a structure for an automatic loading and unloading multi-station glass grinding machine as follows: Figure 1 as well as Figure 3 As shown, the machine includes a base 1 and a machine housing 11 mounted on the surface of the base 1. A control panel 12 is fixed on the outer wall of one side of the machine housing 11. The control panel 12 is used to control the operation of the entire grinding machine. A loading and unloading mechanism 2 is provided on one side of the base 1. The loading and unloading mechanism 2 consists of a material rack 21, a robot arm 22, a discharge water frame 23, a loading water frame 24, and a transfer and precision positioning platform 25. The material rack 21 is located on one side of the base 1, and a robot arm 22 is fixed at the center of the surface of the material rack 21. A loading water frame 24 for loading is provided on one side of the robot arm 22, and a discharge water frame 23 for unloading is provided on the side of the robot arm 22 away from the loading water frame 24. A transfer and precision positioning platform 25 for precise positioning is also installed on the surface of the material rack 21.

[0029] During implementation, the products are arranged in a row at intervals on the feeding water frame 24. Before and after feeding, the entire frame is immersed in water. During feeding and unloading, the frame is raised out of the water. The robot arm 22 picks up individual products from the feeding water frame 24 and places them into the transfer and precision positioning platform 25. After precision positioning, the transfer and precision positioning platform 25 sucks the products into the machine for feeding and unloading. During unloading, the products are also taken out from inside the machine and placed in the transfer and precision positioning platform 25 for precision positioning. After being taken out individually, the products are inserted into the unloading water frame 23 and then dropped into the water for immersion. This promptly solves the problem of stains caused by liquid that has been left on the product surface for a long time. At the same time, the immersion cleans the suction cup in the robot arm 22 to prevent marks from being left on the product during the next feeding.

[0030] Furthermore, such as Figure 2 as well as Figure 6 As shown, a large-surface grinding mechanism 3 is fixed inside the base 1. The large-surface grinding mechanism 3 consists of a turntable assembly 31 and a drive assembly 32. The turntable assembly 31 is rotatably connected to the surface of the base 1, and the bottom end of the turntable assembly 31 is connected to the drive assembly 32 for driving. The turntable assembly 31 consists of a lower plate 311 and an inner ring fixture 312. The lower plate 311 is rotatably connected to the surface of the base 1. The inner ring fixture 312 is fixedly connected to the center of the top of the lower plate 311 by screws. The surface of the inner ring fixture 312 is provided with four sets of feeding fixtures. The drive assembly 32 includes a servo motor 321, a pulley assembly 322 and a rotating shaft 323. The servo motor 321 is fixedly connected to the surface of the base 1. The output end of the servo motor 321 is mounted with the pulley assembly 322 through a coupling. One end of the pulley assembly 322 is fixedly connected to the rotating shaft 323, and the top end of the rotating shaft 323 is fixedly connected to the bottom of the lower plate 311.

[0031] During implementation, the servo motor 321 drives the rotating shaft 323 to rotate under the action of the pulley group 322. When the rotating shaft 323 rotates, it will drive the lower plate 311 to rotate together.

[0032] Furthermore, such as Figure 4 as well as Figure 7As shown, a boss surface grinding mechanism 4 for grinding and polishing is connected to the top of the machine housing 11 and directly above the large surface grinding mechanism 3. The boss surface grinding mechanism 4 includes a support frame 41, a Z-axis linear module 42, a lifting frame 43, a grinding motor 44, and an upper plate 45. The support frame 41 is fixedly connected to the surface of the machine housing 11 by four bolts, and the Z-axis linear module 42 is fixedly connected inside the support frame 41. The grinding motor 44 is fixedly connected to the sliding table of the Z-axis linear module 42, and the lifting frame 43 is fixedly connected to the surface of the grinding motor 44. The bottom of the grinding motor 44 is rotatably connected to the upper plate 45, and the top of the upper plate 45 is fixedly connected to the output end of the lifting frame 43 through a coupling. The surfaces of the upper plate 45 and the lower plate 311 are both covered with consumables for product polishing and grinding, which are red abrasive leather.

[0033] During implementation, the product entering the machine is first fed onto the feeding fixture of the inner ring fixture 312. At this time, the inner ring fixture 312 will attract the large surface of the product, exposing the small boss surface. Then, the Z-axis linear module 42 inside the support frame 41 works. The Z-axis linear module 42 drives the lifting frame 43 to move down, so that the upper plate 45 presses the product down. Then, the grinding motor 44 drives the upper plate 45 to grind and polish the product.

[0034] Furthermore, such as Figure 7 As shown, the surface of the boss surface grinding mechanism 4 is connected to a detection mechanism 6 for sensing pressure. The detection mechanism 6 includes a support frame 61 and a force sensing module 62. The support frame 61 is fixedly connected to the surface of the grinding motor 44, and one end of the support frame 61 is fixedly connected to the force sensing module 62 for detecting pressure. In practice, the polishing of products in the four sets of inner ring fixtures 312 will share a single detection mechanism 6 for pressure compensation. When the detection mechanism 6 is implemented, the pressure on the upper plate 45 during the grinding process is monitored by the force sensing module 62 on the surface of the support frame 61 to adjust the small surface polishing pressure compensation and control the removal amount to complete the small surface grinding.

[0035] Furthermore, such as Figure 5 as well as Figure 8As shown, four sets of rotating mechanisms 5 capable of rotating the product are provided on the surface of the machine housing 11 and outside the boss surface grinding mechanism 4. Each set of rotating mechanisms 5 is equipped with a force control module for controlling pressure. The force control module can be a pressure sensor. The rotating mechanism 5 is composed of a Y-axis lead screw module 51, a Z-axis lead screw module 52, a rotary motor 53, and a suction cup fixture 54. There are four sets of Y-axis lead screw modules 51, and the included angle between adjacent Y-axis lead screw modules 51 is 90 degrees. The four sets of Y-axis lead screw modules 51 are all horizontally fixed to the surface of the machine housing 11 by bolts. The sliding end of the Y-axis lead screw module 51 is vertically fixed to the Z-axis lead screw module 52, and the sliding end of the Z-axis lead screw module 52 is fixed to the rotary motor 53. The output end of the rotary motor 53 is equipped with a suction cup fixture 54 for picking up the product.

[0036] During implementation, four sets of Y-axis lead screw modules 51 and Z-axis lead screw modules 52 drive the central rotary motor 53 and suction cup fixture 54 to move in the Y and Z directions. The suction cup fixture 54 picks up the product and uses the rotary motor 53 to move it, so that the large surface is exposed and attached to the consumable on the lower plate 311. Then, the large surface grinding mechanism 3 is used to grind the large surface of the product. During processing, the pressure of the four products is monitored and supplemented by the force control module on each self-rotating mechanism 5 to complete the processing of the large surface.

[0037] The equipment of this invention is applied to double-sided grinding and polishing of the front and back sides of glass and ceramic products in four workstations. The front side is a large surface, and the back side is a camera protrusion surface. Two processes can be completed automatically in sequence with a single loading. The four workstations are independent YZ modules, equipped with pressure sensor devices, and have an automatic grinding pressure replenishment function to effectively control the amount of product removed and prevent over-polishing. At the same time, it has an automatic loading and unloading mechanism for directly picking up and putting down materials from the water-soaked cleaning material frame.

[0038] Working principle: The product of this invention is a cleaning material frame. The back of the product is a large surface, and the front has a small raised surface. Before polishing, the product is placed in a row of spaced-out water frame 24. The entire frame is immersed in water before loading and unloading. When loading and unloading, it rises out of the water surface. The robot arm 22 picks up the material piece by piece from the water frame 24 and places it into the intermediate precision positioning platform 25. After precision positioning, the intermediate precision positioning platform 25 picks up the product and puts it into the machine for loading.

[0039] The product entering the machine is first fed onto the feeding fixture of the inner ring fixture 312. At this time, the inner ring fixture 312 will attract the large surface of the product, exposing the small boss surface. Then, the Z-axis linear module 42 inside the support frame 41 works. The Z-axis linear module 42 drives the lifting frame 43 to move down, so that the consumable on the surface of the upper plate 45 presses the product. Then, the polishing motor 44 drives the consumable on the surface of the upper plate 45 to grind and polish the product. During the polishing process, the polishing of the products in the four sets of inner ring fixtures 312 will share a detection mechanism 6 for pressure compensation. When the detection mechanism 6 is implemented, the force sensing module 62 on the surface of the support frame 61 monitors the pressure on the upper plate 45 during the polishing process, thereby controlling the Z-axis displacement of the Z-axis linear module 42, adjusting the small surface polishing pressure compensation, and controlling the removal amount to complete the small surface polishing.

[0040] After the small surface is completed, the rotating mechanism 5 rotates the product. When the rotating mechanism 5 is in operation, four sets of Y-axis lead screw modules 51 and Z-axis lead screw modules 52 drive the central rotary motor 53 and suction cup fixture 54 to move in the Y and Z directions. The suction cup fixture 54 picks up the product and uses the rotary motor 53 to move it, so that it protrudes from the large surface and is attached to the consumable on the lower plate 311. Then, the large surface grinding mechanism 3 grinds the large surface of the product. During the processing, the pressure of the four products is monitored and supplemented by the force control module on each rotating mechanism 5 to complete the processing of the large surface. This achieves the function of automatic processing of the two processes of large and small surfaces, and can also meet the requirements of removal volume.

[0041] After large-area processing, the product is unloaded. During unloading, the robot arm 22 takes the processed product out of the machine and places it on the intermediate precision positioning platform 25 for precision positioning. Then, the robot arm 22 inserts the product into the unloading water frame 23. Since the product is immersed in water, the phenomenon of long-term liquid residue on the product surface causing marks is solved in time. At the same time, the suction cup of the robot arm 22 is soaked and cleaned to avoid leaving marks on the product during the next material retrieval. Finally, the multi-station glass grinding machine is used.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A multi-station glass grinding machine with automatic loading and unloading, comprising a base (1) and a machine housing (11) mounted on the surface of the base (1), characterized in that: A control panel (12) is fixed on the outer wall of one side of the machine base housing (11). The control panel (12) is used to control the operation of the entire grinding machine. A loading and unloading mechanism (2) is provided on one side of the base (1). The loading and unloading mechanism (2) consists of a material rack (21), a robot arm (22), a discharge water frame (23), a loading water frame (24), and a transfer precision positioning platform (25). The material rack (21) is located on one side of the base (1), and a robot arm (22) is fixed at the center of the surface of the material rack (21). A loading water frame (24) for loading is provided on one side of the robot arm (22). A material unloading water frame (23) is provided on the side of the robotic arm (22) away from the material loading water frame (24). A transfer and precision positioning platform (25) for precise positioning is also installed on the surface of the material rack (21). A large-surface grinding mechanism (3) is fixed inside the base (1). The large-surface grinding mechanism (3) is composed of a turntable assembly (31) and a drive assembly (32). The turntable assembly (31) is rotatably connected to the surface of the base (1), and the bottom end of the turntable assembly (31) is connected to the drive assembly (32) for driving. The top of the machine base housing (11) and directly above the large-surface grinding mechanism (3) is connected to A boss surface grinding mechanism (4) for grinding and polishing is provided, and a detection mechanism (6) for sensing pressure is connected to the surface of the boss surface grinding mechanism (4); four sets of self-rotating mechanisms (5) capable of rotating the product are provided on the surface of the machine base housing (11) and outside the boss surface grinding mechanism (4). The self-rotating mechanism (5) is composed of a Y-axis lead screw module (51), a Z-axis lead screw module (52), a rotating motor (53), and a suction cup fixture (54). There are four sets of Y-axis lead screw modules (51), and the included angle between adjacent Y-axis lead screw modules (51) is ninety degrees. The four sets of Y-axis lead screw modules (51) 51) All are horizontally fixed to the surface of the machine housing (11) by bolts. The sliding end of the Y-axis lead screw module (51) is longitudinally fixed to the Z-axis lead screw module (52), and the sliding end of the Z-axis lead screw module (52) is fixed to the rotary motor (53). The output end of the rotary motor (53) is equipped with a suction cup fixture (54) for picking up products. The detection mechanism (6) includes a support frame (61) and a force sensing module (62). The support frame (61) is fixedly connected to the surface of the grinding motor (44), and one end of the support frame (61) is fixedly connected to the force sensing module (62) for detecting pressure.

2. The multi-station glass grinding machine with automatic loading and unloading according to claim 1, characterized in that: The turntable assembly (31) consists of a lower plate (311) and an inner ring fixture (312), wherein the lower plate (311) is rotatably connected to the surface of the base (1).

3. The multi-station glass grinding machine with automatic loading and unloading according to claim 2, characterized in that: The inner ring fixture (312) is fixedly connected to the center of the top of the lower plate (311) by screws, and four sets of feeding fixtures are provided on the surface of the inner ring fixture (312).

4. The multi-station glass grinding machine with automatic loading and unloading according to claim 1, characterized in that: The drive assembly (32) includes a servo motor (321), a pulley assembly (322), and a rotating shaft (323), wherein the servo motor (321) is fixedly connected to the surface of the base (1).

5. The multi-station glass grinding machine with automatic loading and unloading according to claim 4, characterized in that: The output end of the servo motor (321) is equipped with a pulley assembly (322) via a coupling, and one end of the pulley assembly (322) is fixedly connected to a rotating shaft (323), and the top end of the rotating shaft (323) is fixedly connected to the bottom of the lower plate (311).

6. The multi-station glass grinding machine with automatic loading and unloading according to claim 1, characterized in that: The boss surface grinding mechanism (4) includes a support frame (41), a Z-axis linear module (42), a lifting frame (43), a grinding motor (44), and an upper plate (45). The support frame (41) is fixedly connected to the surface of the machine base housing (11) by four bolts, and the Z-axis linear module (42) is fixedly connected inside the support frame (41).

7. The multi-station glass grinding machine with automatic loading and unloading according to claim 6, characterized in that: A grinding motor (44) is fixedly connected to the sliding table of the Z-axis linear module (42), and a lifting frame (43) is fixedly connected to the surface of the grinding motor (44). The bottom of the grinding motor (44) is rotatably connected to an upper plate (45), and the top of the upper plate (45) is fixedly connected to the output end of the lifting frame (43) through a coupling.

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