A processing method for automatically chamfering glass

Abstract

The application relates to the technical field of automatic chamfering of glass, in particular to a processing method for automatic chamfering of glass, which comprises the following steps: (1) obtaining a glass corner point P Corner and a first chamfer end point P h and a second chamfer end point P v adjacent to the glass corner point, and obtaining a glass position; (2) planning a chamfer motion track of a chamfering process according to the glass position, a grinding wheel parameter and a process requirement parameter; and (3) completing chamfering operation according to the chamfer motion track. According to the scheme, the C corner and the safety angle at both ends of the C corner are processed in one round of chamfering, the processing efficiency is improved, and secondary chamfering after processing the C corner is avoided; three grinding operations are combined into one, and the polishing effect is obviously improved; and the precision loss caused by multiple positioning of the glass position is avoided.

Description

Technical Field

[0001] This invention relates to the field of automatic glass beveling technology, and more particularly to a processing method for automatic glass beveling. Background Technology

[0002] Glass beveling refers to the processing of glass edges to create rounded or beveled shapes that are not sharp. It is widely used in various buildings, such as glass curtain walls and suspended glass in public places like shopping malls, schools, hospitals, and hotels, and also in home decoration, such as dining tables, coffee tables, and desks.

[0003] Existing automatic glass chamfering methods generally fall into two categories: C-corner and R-corner. After chamfering one corner of the glass, to improve the corner's strength and prevent the sharp corner from scratching the skin, it is necessary to chamfer each of the two new corners created by the C-corner chamfering process once more, using an R-corner (safety corner) process. In a single chamfering process, current technology requires at least one round of rough grinding, fine grinding, and polishing of the glass. Using traditional methods for C-cornering and R-cornering is not only inefficient but also detrimental to mass production of glass.

[0004] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of the prior art and provide an automatic glass chamfering process to solve the technical problem that the prior art requires at least one rough grinding, fine grinding and polishing of the glass in a single chamfering process, which not only results in low glass chamfering efficiency but also hinders the mass production of glass.

[0006] The above objectives are achieved through the following technical solutions:

[0007] A method for automatically beveling glass, comprising:

[0008] Step (1) Obtain the glass corner point P at the location to be chamfered. Corner And the first chamfer endpoint P adjacent to the glass corner point h Second chamfer endpoint P v To determine the glass position;

[0009] Step (2) Plan the chamfering motion trajectory of the chamfering process according to the glass position, grinding wheel parameters, and process requirements;

[0010] Step (3) Complete the chamfering operation according to the chamfering motion trajectory.

[0011] Furthermore, the process requirement parameters mentioned in step (2) are user-defined.

[0012] Furthermore, step (2) specifically includes:

[0013] Step (201) Calculate the glass corner point P Corner To the first chamfer endpoint P h The first reference point P of the direction chamfer distance d ref1 And glass corner point P Corner To the second chamfer endpoint P v The second reference point P, with a chamfer distance d. ref2 ;

[0014] The d represents the input parameter, which is a user-defined input.

[0015] Step (202) Calculate ∠P h P ref1 P ref2 and ∠P v P ref2 P ref1 The first angle an of the angle bisector Bisector1 Second angle an Bisector2 ;

[0016] Step (203) Calculate the first reference point P ref1 To the first angle an Bisector1 Direction distance chamfer radius r+d offset Point P Center1 ;

[0017] Calculate the second reference point P ref1 To the second angle an Bisector2 Direction distance chamfer radius r+d offset Point P Center2 ;

[0018] The r represents the input parameter, which is a user-defined input; the d offset This represents the offset input parameter, which is a user-defined input.

[0019] Step (204) Calculate P Center1 On line P h P ref1 and P ref1 P ref2 The foot of the perpendicular is used to obtain the starting point P of the safety angle 1. Ast1 and endpoint P Aed1 ;

[0020] Calculate P Center2 On line P ref1 P ref2 and P v P ref2 The foot of the perpendicular is used to obtain the starting point P of the safety angle 2. Ast2 and endpoint PAed2 ;

[0021] Step (205) shift safety angle 1 and safety angle 2 to the side away from the center of the circle by a shift distance equal to the radius R of the grinding wheel, and obtain the grinding wheel motion trajectory between the trajectory cut-out point and the trajectory cut-in point.

[0022] Step (206) Calculate P Center1 To the starting point P of safety angle 1 Ast1 directional distance r+R+d offset +R out Point P outC1 This point is the center of the entry arc;

[0023] Calculate P Center2 Point P Aed2 directional distance r+R+d offset +R out Point P outC2 This point is the center of the retraction arc;

[0024] The R out The radius of the infeed / outfeed arc;

[0025] Step (207) involves moving the trajectory entry point around P. outC1 Rotate counterclockwise by 90° to obtain the starting point P of the entry arc. outSt ;

[0026] The trajectory cut-out point is around P. outC2 Rotate 90° clockwise to obtain the endpoint P of the retraction arc. outEd ;

[0027] Step (208) Set the retraction distance to d out Then the first retraction / lifting point P up1 Second retraction / lifting point P up2 They are respectively:

[0028] P up1 (P outSt x, P outSt yd out )

[0029] P up2 (P outEd x+d out P outEd y).

[0030] Furthermore, the calculations for steps (201), (202), (203), and (206) are performed using the following formula:

[0031] P ret (P in x+din ×cos(α in ), P in y+d in ×sin(α in )) (1)

[0032] Equation (1) is used to calculate a specified point P. in To the specified direction α in Specified distance d in Point P ret .

[0033] Furthermore, the calculation in step (207) is performed using the following formula:

[0034] P ret ((P in xP Center x)×cos(α in )-(P in yP Center y)×sin(α in )+P Center x,

[0035] (P in yP Center y)×cos(α in )+(P in xP Center x)×sin(α in )+P Center y) (2)

[0036] Equation (2) is used to calculate a specified point P. in Around the specified center P Center Rotate by a specified angle α in Point P ret .

[0037] Furthermore, the calculation in step (207) is performed using the following formula:

[0038] Calculate point P in The foot of the perpendicular from the line (points P1 and P2 are two points on the line) is P. ret (Assume the equation of the line is y = kx + b);

[0039] If the slope k does not exist, then:

[0040] P ret (P1x, P) in y) (3)

[0041] Otherwise, there is

[0042]

[0043] Furthermore, the chamfering operation in step (3) includes a chamfering trajectory and a chamfering process; the chamfering trajectory includes:

[0044] Feed: Used for the mold to come close to the glass;

[0045] Feed: Used to eliminate the impact of wear on the glass and abrasive on the polishing effect;

[0046] Chamfering: The grinding wheel rotates to grind the glass corners, completing the grinding of the C-corner and the safety corners on both sides of the C-corner in one go;

[0047] Retracting the blade: Used for obstacle avoidance;

[0048] Lift tool: Used to switch molds;

[0049] The chamfering process includes three types: rough grinding, fine grinding, and polishing. When switching processes, the machine head is raised or lowered to the required grinding wheel height at the tool retraction / lifting point.

[0050] Furthermore, the machine head consists of a coarse grinding wheel, a fine grinding wheel, and a polishing wheel that fit together.

[0051] Furthermore, the centers of the coarse grinding wheel, fine grinding wheel, and polishing wheel are coaxial.

[0052] The present invention provides an automatic glass chamfering method that, by employing chamfering trajectory planning, achieves the completion of C-corners and safety angles in a single chamfering operation, thereby improving chamfering efficiency. During the processing, the C-corner and the safety angles at both ends of the C-corner are performed in a single chamfering cycle, improving processing efficiency and avoiding secondary chamfering after the C-corner is processed; the three-stage grinding operation is combined into one stage, significantly improving the grinding effect; and the accuracy loss due to multiple positioning of the glass is avoided. Attached Figure Description

[0053] Figure 1 This is a diagram showing the positional relationship between the visual camera frame and the glass substrate in the automatic glass chamfering processing method described in this invention.

[0054] Figure 2 The image shows a comparison of the glass automatic chamfering process described in this invention before and after processing.

[0055] Figure 3 This is a side view of the machine head in the automatic glass chamfering processing method described in this invention;

[0056] Figure 4 This is a diagram showing the movement trajectory of the machine head in the automatic glass chamfering processing method described in this invention.

[0057] Illustration markings:

[0058] 1-Glass substrate, 2-Camera sensor size, 3-A point on the edge of the glass, 4-Corner of the glass, 5-A point on the other edge of the glass, 6-Chamfered straight segment, 7-Safety angle 1, 8-Safety angle 2, 9-Rough grinding wheel, 10-Fine grinding wheel, 11-Polishing wheel, 12-Machine head, 13-Retraction / lifting point, 14-Trajectory exit point, 15-Trajectory entry point, 16-Retraction / lifting point, 17-Entry arc, 18-Retraction arc Detailed Implementation

[0059] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. 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.

[0060] A method for automatically beveling glass includes the following steps:

[0061] Step (1) Obtain the glass corner point P at the location to be chamfered. Corner And the first chamfer endpoint P adjacent to the glass corner point h Second chamfer endpoint P v To determine the glass position;

[0062] Step (2) Plan the chamfering motion trajectory of the chamfering process according to the glass position, grinding wheel parameters, and process requirement parameters; the process requirement parameters are user-defined.

[0063] Step (3) Complete the chamfering operation according to the chamfering motion trajectory.

[0064] It should be noted that this solution also includes the initial glass feeding and positioning photography steps, specifically:

[0065] Feeding: The glass is transported to the chamfering area via a conveyor belt. When the sensor detects that the glass has reached the designated position, the conveyor belt stops and the glass is clamped. After the chamfering process is completed, the glass is sent out through this device.

[0066] Location: Take photos with a camera before trajectory planning, such as... Figure 1 As shown, based on the mapping relationship between pixel coordinates and mechanical coordinates in the photo, the mechanical coordinates of the three points required in step (1) of this embodiment are obtained.

[0067] In this embodiment, the first chamfer endpoint P h Point P on the horizontal edge of the glass is the endpoint of the second chamfer. v It is a point on the vertical edge of the glass.

[0068] In step (2), the following algorithm is used in this embodiment:

[0069] Algorithm 1: Used to calculate a specified point P in To the specified direction α in Specified distance d in Point P ret The formula is as follows:

[0070] P ret (P in x+d in ×cos(α in ), P in y+d in ×sin(α in )) (1)

[0071] Algorithm 2: Used to calculate a specified point P in Around the specified center P Center Rotate by a specified angle α in Point P ret The formula is as follows:

[0072] P ret ((P in xP Center x)×cos(α in )-(P in yP Center y)×sin(α in )+P Center x,

[0073] (P in yP Center y)×cos(α in )+(P in xP Center x)×sin(α in )+P Center y) (2)

[0074] Algorithm 3: Used to calculate point P in The foot of the perpendicular from the line (points P1 and P2 are two points on the line) is P. ret (Assume the equation of the line is y = kx + b);

[0075] If the slope k does not exist, then:

[0076] P ret (P1x, P) in y) (3)

[0077] If the slope k exists, then:

[0078]

[0079] Step (2) specifically includes:

[0080] Step (201) uses Algorithm 1 to calculate the glass corner point P. Corner To the first chamfer endpoint P h The first reference point P of the direction chamfer distance d ref1 And glass corner point P Corner To the second chamfer endpoint P v The second reference point P, with a chamfer distance d. ref2 ;

[0081] The d represents the input parameter, which is a user-defined input.

[0082] Step (202) Calculate ∠P respectively h P ref1 P ref2 and ∠P v P ref2 P ref1 The first angle an of the angle bisector Bisector1 Second angle an Bisector2 ;

[0083] Step (203) uses Algorithm 1 to calculate the first reference point P. ref1 To the first angle an Bisector1 Direction distance chamfer radius r+d offset Point P Center1 ;Right now Figure 2 The center of the circle at the safe angle 1;

[0084] Calculate the second reference point P using Algorithm 1. ref1 To the second angle an Bisector2 Direction distance chamfer radius r+d offset Point P Center2 ;Right now Figure 2 The center of the circle at the safe angle 2;

[0085] The r represents the input parameter, which is a user-defined input; the d offset This represents the offset input parameter, which is a user-defined input.

[0086] Step (204) uses Algorithm 3 to calculate P. Center1 On line P h P ref1 and P ref1 P ref2 The foot of the perpendicular is used to obtain the starting point P of the safety angle 1. Ast1 and endpoint P Aed1 ;

[0087] Calculate P using Algorithm 3. Center2 On line P ref1 P ref2and P v P ref2 The foot of the perpendicular is used to obtain the starting point P of the safety angle 2. Ast2 and endpoint P Aed2 ;

[0088] Wherein, the straight line segment P from the endpoint of safety angle 1 to the starting point of safety angle 2 Aed1 P Ast2 for Figure 2 A straight line segment with a chamfered center;

[0089] Step (205) shift safety angle 1 and safety angle 2 to the side away from the center of the circle by a shift distance equal to the radius R of the grinding wheel, and obtain the grinding wheel motion trajectory between the trajectory cut-out point and the trajectory cut-in point.

[0090] Step (206) uses Algorithm 1 to calculate P Center1 To the starting point P of safety angle 1 Ast1 directional distance r+R+d offset +R out Point P outC1 This point is the center of the entry arc; that is... Figure 4 The cutter enters the arc in the middle;

[0091] Calculate P Center2 Point P Aed2 directional distance r+R+d offset +R out Point P outC2 This point is the center of the retraction arc; that is... Figure 4 The tool retracts in a circular arc.

[0092] The R out The radius of the infeed / outfeed arc;

[0093] Step (207) uses Algorithm 2 to reposition the trajectory entry point around P. outC1 Rotate counterclockwise by 90° to obtain the starting point P of the entry arc. outSt ;

[0094] Using Algorithm 2, the trajectory cut-out point is rotated around P. outC2 Rotate 90° clockwise to obtain the endpoint P of the retraction arc. outEd ;

[0095] Step (208) Set the retraction distance to d out Then the first retraction / lifting point P up1 Second retraction / lifting point P up2 (like Figure 4 The two tool retraction / lifting points are as follows:

[0096] P up1 (P outSt x, P outSt ydout )

[0097] P up2 (P outEd x+d out P outEd y).

[0098] At this point, the key point calculations for a single process are complete.

[0099] The chamfering operation in step (3) of this embodiment includes chamfering trajectory and chamfering process;

[0100] The chamfer trajectory includes:

[0101] Feed: Used for the mold to come close to the glass;

[0102] Feed: Used to eliminate the impact of wear on glass and abrasive on the grinding effect. For workpieces with large processing size, multiple feeds can be used to avoid damage caused by excessive grinding amount in a single pass.

[0103] Chamfering: The grinding wheel rotates to grind the glass corners, completing the grinding of the C-corner and the safety corners on both sides of the C-corner in one go;

[0104] Retracting the blade: Used for obstacle avoidance;

[0105] Lift tool: Used to switch molds;

[0106] The chamfering process includes three types: rough grinding, fine grinding, and polishing. When switching processes, simply raise or lower the machine head 12 to the required grinding wheel height at the tool retraction / lifting point.

[0107] like Figure 3 As shown, the chamfering tool in this embodiment consists of a coarse grinding wheel 9, a fine grinding wheel 10, and a polishing wheel 11 that fit together; the centers of the coarse grinding wheel 9, the fine grinding wheel 10, and the polishing wheel 11 are coaxial.

[0108] This solution can be combined with a chamfering software control system to achieve intelligent chamfering control. Users only need to input the white definition parameters to achieve automated chamfering of the glass.

[0109] This is the first specific embodiment of the solution.

[0110] User input:

[0111] Chamfer distance (200), chamfer radius (100), infeed / outfeed radius (50), retraction distance (30), grinding wheel radius (100), offset distance (10), grinding wheel height (-80).

[0112] Visual acquisition:

[0113] Point 1 (-704.9468, 207.2532)

[0114] Point 2 (-305.507, 192.1316)

[0115] Point 3 (-293.7943, 501.5250)

[0116] Path planning results:

[0117] (1) Starting point (-602.7725, 13.2706, -80)

[0118] (2) Take a straight line to (-602.7725, 43.2706, -80)

[0119] (3) Move clockwise in an arc to (-550.9168, 91.3433, -80), with the center at (-552.8083, 41.3791, -80).

[0120] (4) Move in a counterclockwise arc to (-400.2039, 147.1894, -80), with the center at (-542.9726, 301.193, -80).

[0121] (5) Move in a straight line to (-253.5338, 283.1596, -80)

[0122] (6) Move in a counterclockwise arc to (-186.4528, 429.2189, -80), with the center at (-396.3025, 437.1632, -80).

[0123] (7) Move clockwise in an arc to (-134.5971, 477.2916, -80), with the center at (-136.4886, 427.3274, -80).

[0124] (8) Move in a straight line to (-104.5971, 477.2916, -80)

[0125] As a second specific embodiment of this solution

[0126] User input:

[0127] Chamfer distance (40), chamfer radius (30), infeed / outfeed radius (30), retraction distance (20), grinding wheel radius (150), offset distance (2.5), grinding wheel height (-50).

[0128] Visual acquisition:

[0129] Point 1 (-139.949, 19.1467)

[0130] Point 2 (-56.1402, 18.2077)

[0131] Point 3 (-54.261, 93.7046)

[0132] Path planning results

[0133] (1) Starting point (-140.486, -183.3588, -50)

[0134] (2) Take a straight line to (-140.486, -163.3588, -50)

[0135] (3) Move clockwise in an arc to (-110.1518,-133.6967,-50), with the center at (-110.4879,-163.6949,-50).

[0136] (4) Move in a counterclockwise arc to (18.5903, -82.5626, -50), with the center at (-108.1072, 48.7918, -50).

[0137] (5) Move in a straight line to (46.8681, -60.1101, -50)

[0138] (6) Move in a counterclockwise arc to (97.6141, 66.7032, -50), with the center at (-84.8294, 71.2443, -50).

[0139] (7) Move clockwise in an arc to (128.3513, 95.9474, -50), with the center at (127.6048, 65.9567, -50).

[0140] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically beveling glass, characterized in that, include: Step (1) Obtain the glass corner point at the chamfering location. and the first chamfered endpoint adjacent to the glass corner point. Second chamfer endpoint To determine the glass position; Step (2) Plan the chamfering motion trajectory of the chamfering process according to the glass position, grinding wheel parameters, and process requirements; Step (3) Complete the chamfering operation according to the chamfering motion trajectory; Step (2) specifically includes: Step (201) Calculate the glass corner point To the first chamfer endpoint Directional chamfer distance First reference point and glass corners To the second chamfer endpoint Directional chamfer distance Second reference point ; The This represents input parameters, which are user-defined inputs. Step (202) Calculation and The first angle of the angle bisector Second angle ; Step (203) Calculate the first reference point To the first angle Direction Distance Chamfer Radius + point ; Calculate the second reference point To the second angle Direction Distance Chamfer Radius + point ; The The input parameters represent user-defined input; This represents the offset input parameter, which is a user-defined input. Step (204) Calculation In a straight line and The foot of the perpendicular is used to obtain the starting point of the safety angle 1. and endpoints ; calculate In a straight line and The foot of the perpendicular is used to obtain the starting point of the safety angle 2. and endpoints ; Step (205): Offset safety angles 1 and 2 to the side furthest from the center by a distance equal to the radius of the grinding wheel. The grinding wheel motion trajectory between the trajectory exit point and the trajectory entry point is obtained; Step (206) Calculation To the starting point of safety angle 1 Directional distance point This point is the center of the entry arc; calculate Time Directional distance point This point is the center of the retraction arc; The To determine the radius of the infeed or the radius of the cutout arc; Step (207) Circling the trajectory entry point Rotate 90° counterclockwise to obtain the starting point of the entry arc. ; The trajectory cut-out point is around Rotate 90° clockwise to obtain the endpoint of the retraction arc. ; Step (208) Set the retraction distance as follows: Then the first retraction point or the first lifting point The second retraction point or the second lifting point They are respectively: .

2. The automatic glass chamfering processing method according to claim 1, characterized in that, The process requirements parameters mentioned in step (2) are user-defined.

3. The automatic glass chamfering processing method according to claim 1, characterized in that, The calculations for steps (201), (202), (203), and (206) are performed using the following formula: (1) Equation (1) is used to calculate a specified point. To the designated direction Specified distance point .

4. The automatic glass chamfering processing method according to claim 1, characterized in that, The calculation in step (207) is completed by the following formula: (2) Equation (2) is used to calculate a specified point. Around the specified center Rotate by a specified angle point .

5. The automatic glass chamfering processing method according to claim 1, characterized in that, The calculation in step (207) is completed by the following formula: Calculation points The foot of the perpendicular on the straight line, point The equation of the straight line is ; If the slope If it does not exist, then: (3) Otherwise, there is (4).

6. A method for automatically chamfering glass according to claim 1, characterized in that, The chamfering operation in step (3) includes a chamfering trajectory and a chamfering process; the chamfering trajectory includes: Feed: Used for the mold to come close to the glass; Feed: Used to eliminate the impact of wear on the glass and abrasive on the polishing effect; Chamfering: The grinding wheel rotates to grind the glass corners, completing the grinding of the C-corner and the safety corners on both sides of the C-corner in one go; Retracting the blade: Used for obstacle avoidance; Lift tool: Used to switch molds; The chamfering process includes three types: rough grinding, fine grinding, and polishing. When switching processes, the machine head is raised or lowered to the required grinding wheel height at the tool retraction / lifting point.

7. The automatic glass chamfering method according to claim 6, characterized in that, The machine head consists of a coarse grinding wheel, a fine grinding wheel, and a polishing wheel that fit together.

8. The automatic glass chamfering processing method according to claim 7, characterized in that, The centers of the coarse grinding wheel, fine grinding wheel, and polishing wheel are coaxial.

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