A grinding device for glass substrates

Abstract

This invention discloses a glass substrate grinding device, relating to the field of material processing technology. It includes a base and a grinding disc. A robotic arm is mounted on the top of the base. The outer periphery of the grinding disc is covered with V-shaped grinding grooves. It includes a connecting ball, one end of which is connected to a rotating rod. The rotating rod is rotatably connected to the side wall of the base via a ball-shaft. An installation port is provided on the connecting ball. In this invention, the grinding disc is connected to a connecting frame and a rotating shaft. The robotic arm drives a switching mechanism to move these components. The outer periphery of the grinding disc has V-shaped grinding grooves pointing in the same direction. During rotation, the glass substrate is ground, and debris is ejected from the grinding grooves under centrifugal force. The grinding disc rotates towards the grinding grooves. When the left-right movement direction changes, the robotic arm pulls an elastic coil, which in turn pulls the rotating shaft and causes the grinding disc to rotate, so that the tips of the grinding grooves face the direction of movement, thereby achieving grinding and finishing of the glass substrate.

Description

Technical Field

[0001] This invention relates to the field of materials processing technology, specifically to a grinding device for glass substrates. Background Technology

[0002] As an important basic material, glass substrates have a wide range of applications in many fields. In the electronics industry, they are a key component of the screens of devices such as smartphones, tablets, and LCD displays. With the continuous advancement of technology and the sustained growth of market demand, the requirements for the quality and performance of glass substrates are becoming increasingly stringent, which has spurred the continuous development and innovation of glass substrate post-processing equipment.

[0003] Glass substrates typically require two grinding processes: coarse grinding and fine grinding. This is because the surface of glass substrates has significant defects and unevenness. Fine grinding uses finer abrasives and lower cutting forces. If fine grinding is performed directly, it will be very inefficient in removing larger defects. Therefore, it is necessary to first coarse grind the glass substrate.

[0004] The purpose of coarse grinding is to quickly remove larger defects and excess material from the surface of the glass substrate. Therefore, the amount of material removed is large. During coarse grinding, the grinding roller uses larger abrasive particles and higher cutting force to deeply cut the glass substrate, removing several millimeters or even more of material thickness. This generates a large amount of debris. The debris produced by coarse grinding varies in size, and the size of some of the debris matches the gap size between the friction particles on the outer wall of the grinding roller. When the debris is subjected to external force during the grinding process, it is easy to get embedded in these gaps.

[0005] During the rotation of the grinding roller, centrifugal force and friction are generated. These forces make it easier for the debris to be pushed into the gap and tightly clamped in the gap. Once the debris enters the gap, it is difficult for it to fall out on its own due to the obstruction of the surrounding friction particles. The accumulation of debris will change the actual diameter and shape of the grinding roller, thereby affecting the cutting amount and processing accuracy of the glass substrate. Moreover, as the debris accumulates, it will hinder the effective contact between the abrasive and the glass substrate. Therefore, the cutting ability of the grinding roller will gradually decrease, reducing the amount of abrasive actually involved in the grinding and reducing the grinding efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a grinding apparatus for glass substrates to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention provides a glass substrate grinding device, including a base and a grinding disc. A robotic arm is mounted on the top of the base. The outer periphery of the grinding disc is provided with "V"-shaped grinding marks. The device includes a connecting ball, one end of which is connected to a rotating rod. The rotating rod is rotatably connected to the side wall of the base via a ball shaft. The connecting ball has an installation port. A rotating shaft is rotatably connected to the connecting ball opposite to the rotating rod. One end of the rotating shaft is rotatably connected to the grinding disc via a connecting frame. A switching mechanism is provided in the installation port. The switching mechanism includes at least an elastic coil with torque, which is sleeved on the rotating shaft. One end is connected to the outer wall of the rotating shaft, and the other end is connected to the robotic arm. The switching mechanism is used to ensure that the tip of the grinding marks always faces the direction of movement when the robotic arm moves from left to right or from right to left.

[0008] Includes a triggering mechanism, and at least includes a trapezoidal block that can slide left and right. The free end of the elastic roll is connected to the bottom of the trapezoidal block. When the switching mechanism controls the trapezoidal block to move left and right, the trapezoidal block pulls the free end of the elastic roll to move and triggers the rotating shaft to rotate.

[0009] The triggering mechanism also includes two inclined plates, symmetrically arranged on both sides of the trapezoidal block. A support rod is connected between the two inclined plates, which is used to pull the support rod and the inclined plates upward when the switching mechanism moves upward and push the trapezoidal block to move closer to the center of the support rod.

[0010] The switching mechanism also includes a first fixed rod, one end of which is connected to the robotic arm. A collar is installed at the end of the first fixed rod away from the base. A sleeve is fitted on the outer wall of the rotating shaft. Multiple protruding teeth are installed on the outer wall of the rotating shaft. The protruding teeth are located at the end of the rotating shaft away from the elastic coil. The inner wall of the sleeve has a tooth groove that matches the protruding teeth. The protruding teeth and the tooth groove are slidably connected. The collar is fitted on the outer wall of the sleeve. One end of the sleeve is connected to the outer wall of the connecting frame. A circular baffle is installed at the end of the sleeve away from the connecting frame. The circular baffle has an insertion hole. The rotating shaft is inserted into the insertion hole. The inner wall of the insertion hole abuts against the outer wall of the rotating shaft.

[0011] Furthermore, an elliptical connecting ring is fitted onto the outer wall of the first fixing rod, and a connecting block is fitted onto the outer wall of the elliptical connecting ring. The connecting block has a strip-shaped opening, through which the elliptical connecting ring passes and abuts against the inner wall of the strip-shaped opening. The trapezoidal block has two slots, and a multi-stage telescopic rod is installed on the inner wall of the slots. The top of the multi-stage telescopic rod is connected to the bottom of the connecting block. A portion of the support rod is located inside the strip-shaped opening, and the outer wall of the support rod does not contact the inner wall of the strip-shaped opening.

[0012] Furthermore, the connecting ball has a cavity, and two fixing plates are installed on the inner wall of the cavity. Two connecting plates are connected between the inner walls of the two fixing plates, and a gap is left between the two connecting plates. The trapezoidal block is slidably disposed within the gap between the two connecting plates. The outer wall of the connecting plate has a sliding groove. Two rollers are rotatably connected to both outer walls of the trapezoidal block. The rollers are located inside the sliding groove and are slidably connected to the sliding groove.

[0013] Furthermore, two sliding rods are installed between the inner bottom wall and the inner top wall of the fixed plate, the inclined plate is slidably connected to the outer wall of the sliding rods, the inclined plate has an opening, two support rods are installed on the inner wall of the chamber, the free end of the elastic roll passes through the space between the two support rods and the opening and is connected to the bottom of the trapezoidal block, and the end of the rotating shaft away from the connecting frame is inserted into the interior of the connecting ball and is rotatably connected to the inner wall of the chamber.

[0014] Furthermore, the outer wall of the connecting ball is connected to one end of the rotating rod, and a conical block is installed at the end of the rotating rod away from the connecting ball. The conical block is conical in shape, and the end of the conical block with a larger area is connected to one end of the rotating rod, while the end of the conical block with a smaller area is connected to the ball shaft. The base has a circular groove.

[0015] The ball shaft is located inside the circular groove and is rotatably connected to the circular groove. The connecting ball has an installation port. Two second rotating shafts are installed on the inner wall of the installation port. The two second rotating shafts are located around the two fixed plates. A second fixed rod is rotatably connected to the outer wall of the second rotating shaft. A steel ball is installed at the bottom end of the second fixed rod. An extrusion plate is installed on the outer wall of the connecting block.

[0016] Both of the fixed plates are provided with square sockets for inserting the extrusion plate. The two square sockets are horizontally symmetrically arranged on the two fixed plates. An mounting plate is installed on the outer wall of the fixed plate. The bottom of the mounting plate is parallel to the inner top wall of the square socket. The top of the second fixing rod is located above the mounting plate and abuts against the top of the mounting plate. Two first rotating shafts are installed on the inner wall of the mounting port. The first rotating shafts are located below the steel ball.

[0017] A lever is rotatably connected to the outer wall of the first rotating shaft. One end of the lever, located inside the mounting opening, abuts against the outer wall of the steel ball. The base has two trapezoidal grooves, located on the left and right sides of the conical block, respectively. The end of the lever away from the steel ball extends into the trapezoidal groove. A semi-circular support plate is installed on the outer wall of the conical block. The semi-circular support plate is located at the end of the conical block with a larger area. The outer wall of the lever abuts against the top of the semi-circular support plate. The trapezoidal groove is a trapezoid that is wider at the top and narrower at the bottom.

[0018] Furthermore, a fixing block is installed on the outer wall of the rotating shaft, and a gap is left between the fixing block and the elastic roll. Two strip plates are installed on the inner wall of the connecting ball. The two strip plates are located on the left and right sides of the rotating shaft, respectively. A first push switch electrically connected to the servo motor is installed on the top of the strip plate. A second push switch electrically connected to the servo motor is installed on the inner top wall of one of the fixing plates. The second push switch is located between the two slide rods.

[0019] Furthermore, the outer wall of the ball shaft is provided with an arc-shaped limiting groove, and a friction block is slidably connected to the inner wall of the arc-shaped limiting groove. The base is provided with an arc-shaped guide groove, and one end of the friction block extending to the outside of the arc-shaped limiting groove is in close contact with the outer wall of the arc-shaped guide groove. One end of the connecting frame is connected to the cavity. The outer wall of the servo motor is connected to the inner wall of the cavity, and the drive end of the servo motor is connected to the top of the grinding disc.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. In this invention, the grinding disc is connected to the connecting frame and the rotating shaft. The robotic arm drives the switching mechanism to move them. The outer peripheral wall of the grinding disc has V-shaped grinding marks pointing in the same direction. When rotating, it grinds the glass substrate. The debris can be thrown out from the grinding marks under the action of centrifugal force. The grinding disc rotates in the direction of the grinding marks. When the left and right movement direction changes, the robotic arm pulls the elastic roll, which in turn pulls the rotating shaft to rotate and drives the grinding disc to flip, so that the tip of the grinding marks faces the direction of movement, so as to achieve grinding and trimming of the glass substrate.

[0022] 2. In this invention, when the initial grinding pattern of the grinding disc faces right, the robotic arm drives the switching mechanism to move to the right, and the grinding disc does not need to be flipped. When it needs to be moved to the left for grinding, the switching mechanism first drives the trapezoidal block to move to the left, pulling the elastic roll. The friction between the elastic roll and the rotating shaft causes the rotating shaft to rotate, which in turn drives the connecting frame and the grinding disc to flip. After the trapezoidal block moves to the far left, the grinding disc is flipped and the grinding pattern points to the left. The switching mechanism continues to move to the left, driving each component to move to the left for grinding, and the debris is thrown to the right.

[0023] 3. In this invention, the fixing block corresponds to the direction of the grinding pattern. There are strip plates and a first pressing switch on the left and right sides of the rotating shaft. When the fixing block is on the right side of the rotating shaft, pressing the first pressing switch on the right side starts the servo motor and the grinding pattern points to the right. The same applies to the left side. If the switch is not pressed, it means that the grinding disc is tilted and the servo motor will not start. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the connection structure between the conical block and the rotating rod in this invention;

[0026] Figure 3 This is a schematic diagram of the connection structure between the second fixing rod and the steel ball in this invention;

[0027] Figure 4 This is a schematic diagram of the connection structure between the connecting block and the extrusion plate in this invention;

[0028] Figure 5 This is a schematic diagram of the connection structure between the slide rod and the inclined plate in this invention;

[0029] Figure 6 This is a schematic diagram of the connection structure between the grinding disc and the connecting frame in this invention;

[0030] Figure 7 This is a schematic diagram of the connection structure between the rotating shaft and the elastic roll in this invention;

[0031] Figure 8 This is a schematic diagram of the connection structure between the trapezoidal block and the elastic roll in this invention;

[0032] Figure 9 This is a schematic diagram of the connection structure between the trapezoidal block and the roller in this invention;

[0033] Figure 10 This is a schematic diagram of the connection structure between the ball shaft and the friction block in this invention;

[0034] Figure 11 This is a schematic diagram of the connection structure between the multi-stage telescopic rod and the strip-shaped protrusion in this invention;

[0035] Figure 12 This is a schematic diagram of the connection structure between the connecting frame and the servo motor in this invention;

[0036] Figure 13 This is a schematic diagram of the connection structure between the rotating shaft and the tooth in this invention;

[0037] Figure 14 This is a schematic diagram of the connection structure between the sleeve and the circular baffle in this invention;

[0038] Figure 15 This is a schematic diagram of the connection structure between the fixing plate and the second push switch in this invention;

[0039] Figure 16 for Figure 2 Enlarged view of the structure at point A in the middle;

[0040] Figure 17 for Figure 3 Enlarged view of the structure at point B;

[0041] Figure 18 for Figure 5 Enlarged view of the structure at point C.

[0042] In the picture: 1. Base;

[0043] 2. Grinding disc; 3. Grinding groove; 4. Connecting frame; 5. Rotating shaft; 6. Collar; 7. First fixing rod; 8. Connecting ball; 9. Conical block; 10. Rotating rod; 11. Ball shaft; 12. Mounting port; 13. Fixing plate; 14. Elliptical connecting ring; 15. Trapezoidal block; 16. Elastic coil; 17. Support rod; 18. Slide rod; 19. Connecting plate; 20. Support rod; 21. Inclined plate; 22. Through opening; 23. Slide groove; 24. Connecting block; 25. Strip opening; 26. Roller; 27. Arc-shaped guide groove; 28. Slot; 29. ​​Multi-stage telescopic rod; 291. Through groove; 292. Strip-shaped protrusion; 30. Friction block; 31. Servo motor; 32. Circular groove; 33. Arc-shaped limiting groove; 34. Lever; 35. First rotating shaft; 36. Second fixing rod; 37. Steel ball; 38. Trapezoidal groove; 39. Second rotating shaft; 40. Semi-circular support plate; 41. Extrusion plate; 42. Sleeve; 43. Protruding tooth; 44. Tooth groove; 45. Circular baffle; 46. Insertion hole; 47. Square insertion port; 48. Mounting plate; 49. Strip plate; 50. First push switch; 51. Fixing block; 52. Second push switch. Detailed Implementation

[0044] 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, and not all embodiments. 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.

[0045] This invention provides a technical solution:

[0046] See Figures 1-18 As shown, a glass substrate grinding device includes a base 1 and a grinding disc 2. A robotic arm is mounted on the top of the base 1. The outer periphery of the grinding disc 2 is provided with "V"-shaped grinding grooves 3. It includes a connecting ball 8, one end of which is fixedly connected to a rotating rod 10. The rotating rod 10 is rotatably connected to the side wall of the base 1 via a ball shaft 11. The connecting ball 8 has an installation port 12. A rotating shaft 5 is rotatably connected to the connecting ball 8 opposite to the rotating rod 10. One end of the rotating shaft 5 is rotatably connected to the grinding disc 2 via a connecting frame 4. A switching mechanism is also included. In the mounting port 12, the switching mechanism includes at least a torsional elastic roll 16, which is sleeved on the rotating shaft 5. One end is fixedly connected to the outer wall of the rotating shaft 5, and the other end is connected to the robotic arm. When the robotic arm moves from left to right or from right to left, the rotating shaft 5 drives the grinding disc 2 to rotate so that the tip of the grinding pattern 3 always faces the direction of movement. The two ends of the connecting frame 4 are rotatably connected to the top and bottom of the grinding disc 2, respectively. The connecting frame 4 has a cavity, and a servo motor 31 for driving the grinding disc 2 to rotate is connected inside the cavity.

[0047] The switching mechanism is connected to the rotating shaft 5. The robotic arm drives the switching mechanism, which in turn moves the rotating shaft 5, the connecting frame 4, and the grinding disc 2, allowing the grinding disc 2 to grind along the glass substrate. The connecting frame 4 has two ends, which are vertically aligned vertically. The initial state of the grinding disc 2 and the connecting frame 4 is as follows... Figure 2 Therefore, as shown in the text, Figure 1 In the middle, one end of the connecting frame 4 is rotatably connected to the top of the grinding disc 2, while the lower end of the connecting frame 4 is rotatably connected to the bottom of the grinding disc 2, as shown below. Figure 12 As shown, the cavity opened in the connecting frame 4 is located at one end above the connecting frame 4, and the servo motor 31 is fixedly installed in the cavity. The driving end of the servo motor 31 is fixedly connected to the top of the grinding disc 2. Therefore, the servo motor 31 is used to drive the grinding disc 2 to rotate, and the connecting frame 4 can move together with the grinding disc 2 and continuously drive the grinding disc 2 to rotate through the servo motor 31.

[0048] Multiple polishing marks 3 are fixed on the outer peripheral wall of the polishing disc 2. Unlike the irregularly shaped polishing marks in the prior art, all the polishing marks 3 point in the same direction. When the polishing disc 2 rotates in the direction pointed by the polishing marks 3 and polishes the glass substrate, the raised polishing marks 3 on the outer peripheral wall of the polishing disc 2 will contact the glass substrate. As the polishing disc 2 applies a certain pressure during rotation or movement, these raised polishing marks 3 will cut the surface of the glass substrate. The sharper polishing marks 3 will first scrape the surface of the glass substrate and remove the small protrusions or uneven parts of the surface of the glass substrate. During this process, a large amount of debris will enter the gap between the multiple polishing marks 3.

[0049] Since the V-shaped polishing grooves 3 are inclined outwards at a certain angle to the polishing disc 2, after the dust enters the V-shaped gaps between the multiple polishing grooves 3, under the centrifugal force generated by the rotation of the polishing disc 2, it will be thrown out to both sides of the polishing disc 2 along the direction of the V-shaped gaps. Since the two ends of the edge of the polishing grooves 3 are parallel to the edge of the polishing disc 2, after the dust is thrown out from the gaps between the multiple polishing grooves 3, it can be directly thrown out onto the polishing disc 2, effectively preventing the dust from accumulating in the gaps between the multiple polishing grooves 3 on the polishing disc 2.

[0050] To ensure that the polishing disc 2 can throw out the dust, the polishing disc 2 needs to always rotate in the direction indicated by the polishing groove 3. Figure 2In the direction of the grinding groove 3, the grinding disc 2 needs to rotate counterclockwise. While the grinding disc 2 is rotating counterclockwise, if it is grinding the glass substrate, it will generate a thrust to the right along the glass substrate. At this time, it can move to the right along the glass substrate while grinding, or stop in place to grind. The debris will be thrown out from the left side of the grinding disc 2. When the grinding disc 2 needs to move to the left along the glass substrate and grind, since the direction of the grinding disc 2 cannot be changed, it is necessary to flip the grinding disc 2 to the position where the grinding groove 3 points to the direction of movement, that is, flip the grinding disc 2 to the position where the grinding groove 3 points to the left.

[0051] If the polishing disc 2 is not rotated, its rotation direction will be opposite to its movement direction. This will make the contact between the polishing grooves 3 on the polishing disc 2 and the glass substrate more complex and unstable. Under the friction of the reverse movement, the wear of the polishing grooves 3 on the surface of the polishing disc 2 will be accelerated. Moreover, due to uneven force, the wear of the polishing grooves 3 will also be uneven, leading to a shortened service life of the polishing disc 2. Furthermore, when the polishing grooves 3 are facing to the right and the polishing disc 2 moves to the right, the debris will be thrown to the left. Conversely, if the polishing grooves 3 are facing to the right and the polishing disc 2 moves to the left, the debris will be thrown to the left. Some of the debris on the left will adhere to the glass substrate. When the grinding disc 2 moves to the left and grinds the glass substrate, it will grind the debris again. The debris has a certain hardness and sharpness. When it is moved by the grinding disc 2 and the grinding pattern 3 and comes into contact with the glass substrate again, it can easily cause scratches on the glass surface. It will also hinder the effective contact between the grinding pattern 3 and the glass substrate and increase the friction between the grinding disc 2 and the glass substrate, thus accelerating the wear rate of the grinding disc 2 and the grinding pattern 3. Therefore, when changing the left and right movement direction, the grinding pattern 3 needs to be aligned with the direction of movement.

[0052] The grinding process of the glass substrate by the grinding disc 2 and the grinding groove 3 is coarse grinding. The purpose of coarse grinding is to quickly remove excess material from the surface of the glass substrate and improve processing efficiency. Since coarse grinding requires a large grinding force and chip removal space, the spacing between the multiple grinding grooves 3 is large. The larger groove spacing can accommodate more grinding chips, which facilitates the smooth discharge of grinding chips during the grinding process and avoids affecting grinding efficiency and quality due to grinding chip blockage.

[0053] When the robotic arm moves to the left or right, it pulls the elastic roll 16, which in turn pulls the rotating shaft 5 to rotate. This, in turn, causes the grinding disc 2 to rotate so that the tip of the grinding pattern 3 faces the direction of movement.

[0054] See Figures 4-18 It includes a triggering mechanism, which includes at least a trapezoidal block 15 that can slide left and right. The free end of the elastic roll 16 is fixedly connected to the bottom of the trapezoidal block 15. When the switching mechanism controls the trapezoidal block 15 to move left and right, the trapezoidal block 15 pulls the free end of the elastic roll 16 to move and triggers the rotating shaft 5 to rotate.

[0055] When it is necessary to move the polishing disc 2 to the right along the glass substrate for polishing, the robotic arm drives the switching mechanism to move to the right. This switching mechanism, in turn, moves the polishing disc 2 to the right. Since the initial orientation of the polishing marks 3 on the polishing disc 2 is to the right, the polishing disc 2 does not need to be rotated. Figure 4 As shown in the figure, the trapezoidal block 15 is initially located on the right side of the rotating shaft 5, and the elastic roll 16 is wrapped around the outer wall of the rotating shaft 5, with the outer wall of the elastic roll 16 in close contact with the outer wall of the rotating shaft 5.

[0056] When the grinding disc 2 needs to be moved to the left along the glass substrate for grinding, the switching mechanism first drives the trapezoidal block 15 to move to the left. When the trapezoidal block 15 moves to the left, it will pull the free end of the elastic roll 16 to move to the left as well. The elastic roll 16 is wound on the rotating shaft 5, and there is a certain friction between the two. When the trapezoidal block 15 pulls the elastic roll 16, a tangential friction will be generated at the contact point between the elastic roll 16 and the rotating shaft 5. This friction will generate a torque on the rotating shaft 5, causing the rotating shaft 5 to rotate. When the rotating shaft 5 rotates, it will cause the connecting frame 4 and the grinding disc 2 to flip. It is like pulling a cylindrical object placed on the ground that can rotate freely. A horizontal pulling force is applied to it by a rope. The cylinder will rotate due to the friction between the rope and the surface of the cylinder.

[0057] When the trapezoidal block 15 moves from the rightmost position to the leftmost position where it can no longer move, the polishing disc 2 has been flipped. At this time, the polishing pattern 3 will point to the left. Then the switching mechanism can continue to move to the left, and drive the rotating shaft 5, the connecting frame 4 and the polishing disc 2 to move to the left. The glass substrate is polished by the polishing disc 2 and the polishing pattern 3. At this time, the debris will be thrown to the right.

[0058] See Figures 4-18 The triggering mechanism also includes two inclined plates 21, symmetrically arranged on both sides of the trapezoidal block 15. A support rod 20 is fixedly connected between the two inclined plates 21, which is used to pull the support rod 20 and the inclined plates 21 upward when the switching mechanism moves upward, and push the trapezoidal block 15 to move closer to the center of the support rod 20.

[0059] When the switching mechanism moves upward, it pulls the support rod 20 and causes the two inclined plates 21 to move upward together. The inclined surfaces of the inclined plates 21 are aligned with the trapezoidal block 15. When the inclined plates 21 rise, their inclined surfaces will squeeze and push the trapezoidal block 15, causing it to move towards the center between the two inclined plates 21. When the trapezoidal block 15 moves from the rightmost to the leftmost, or from the leftmost to the rightmost, it will rotate the grinding disc 2 180 degrees. When the trapezoidal block 15 moves to the middle, it will rotate the grinding disc 2 90 degrees. Figure 5 As shown, this allows the top or bottom of the glass substrate to be polished using the polishing disc 2 and the polishing groove 3;

[0060] Then the switching mechanism can move the trapezoidal block 15 to the left or right at any time. When the trapezoidal block 15 moves, it will also squeeze and push the inclined plate 21, causing the inclined plate 21 to move downward. Therefore, it will not affect the movement of the trapezoidal block 15.

[0061] See Figures 1-14 The switching mechanism also includes a first fixed rod 7, one end of which is fixedly connected to the robotic arm. A collar 6 is fixedly installed at the end of the first fixed rod 7 away from the base 1. A sleeve 42 is fitted on the outer wall of the rotating shaft 5. Multiple protruding teeth 43 are fixedly installed on the outer wall of the rotating shaft 5. The protruding teeth 43 are located at the end of the rotating shaft 5 away from the elastic coil 16. The inner wall of the sleeve 42 is provided with a tooth groove 44 that matches the protruding teeth 43. The protruding teeth 43 and the tooth groove 44 are slidably connected. The collar 6 is fitted on the outer wall of the sleeve 42. One end of the sleeve 42 is fixedly connected to the outer wall of the connecting frame 4. A circular baffle 45 is fixedly installed at the end of the sleeve 42 away from the connecting frame 4. The circular baffle 45 is provided with an insertion hole 46. The rotating shaft 5 is inserted into the insertion hole 46. The inner wall of the insertion hole 46 abuts against the outer wall of the rotating shaft 5.

[0062] One end of the first fixed rod 7 is fixedly connected to the robotic arm on the base 1, while the other end of the first fixed rod 7 is sleeved on the sleeve 42 through the collar 6, and the connection with the sleeve 42 is achieved through the collar 6. The robotic arm drives the first fixed rod 7 to move, and the first fixed rod 7 and the collar 6 then drive the sleeve 42 and the rotating shaft 5 to move, and then drive the connecting frame 4 and the connecting ball 8 to move together through the rotating shaft 5. The collar 6 is only sleeved on the sleeve 42 and is not connected to the sleeve 42.

[0063] When the trapezoidal block 15 is at the far right, the collar 6 will also be biased to the right. At this time, the inner wall of the left side of the collar 6 will abut against the outer wall of the sleeve 42. When the base 1 drives the first fixing rod 7 to move to the left, the collar 6 and the first fixing rod 7 will move simultaneously. Since there is a certain distance between the outer wall of the sleeve 42 and the inner wall of the right side of the collar 6, the sleeve 42 and the rotating shaft 5 will not be immediately driven to move to the left before the inner wall of the right side of the collar 6 contacts the sleeve 42. During the time when the inner wall of the right side of the collar 6 moves towards the sleeve 42, the first fixing rod 7 will first pull the trapezoidal block 15 to move to the left. When the trapezoidal block 15 is pulled to the far left, the grinding disc 2 is rotated 180 degrees. The inner wall of the right side of the collar 6 is also abutting against the sleeve 42. Therefore, the collar 6 can push the circular baffle 45 and the rotating shaft 5 to move, thereby driving the connecting frame 4 and the grinding disc 2 to move.

[0064] Since the initial position of the rotating shaft 5 is at the center of the collar 6, when the first fixing rod 7 and the collar 6 move upward, the first fixing rod 7 will first pull the support rod 20 and the inclined plate 21 upward. After the trapezoidal block 15 is pushed to the middle part between the two inclined plates 21 by the inclined plate 21, the grinding disc 2 is flipped to 90 degrees, and the inner bottom wall of the collar 6 is just abutting against the outer wall of the sleeve 42. If the distance between the flipped grinding disc 2 and the glass substrate is too far, the grinding disc 2 can also be pulled upward by the collar 6 to continue to move closer to the glass substrate.

[0065] See Figures 3-9 An elliptical connecting ring 14 is fitted on the outer wall of the first fixed rod 7. A connecting block 24 is fitted on the outer wall of the elliptical connecting ring 14. The connecting block 24 has a strip-shaped opening 25. The elliptical connecting ring 14 passes through the strip-shaped opening 25 and abuts against the inner wall of the strip-shaped opening 25. The trapezoidal block 15 has two slots 28. A multi-stage telescopic rod 29 is fixedly installed on the inner wall of the slot 28. The top of the multi-stage telescopic rod 29 is fixedly connected to the bottom of the connecting block 24. A part of the support rod 20 is located inside the strip-shaped opening 25. The outer wall of the support rod 20 does not contact the inner wall of the strip-shaped opening 25.

[0066] When the first fixed rod 7 moves to the left or right, it first drives the elliptical connecting ring 14 to move. When the elliptical connecting ring 14 moves, it drives the connecting block 24 to move. The connecting block 24 has a strip opening 25 through it. Therefore, the elliptical connecting ring 14 passes through the strip opening 25 and is fitted onto the connecting block 24. When the connecting block 24 moves, it drives the multi-stage telescopic rod 29 and the trapezoidal block 15 to move together. Thus, the switching mechanism drives the trapezoidal block 15 to move left and right. The support rod 20 passes through the strip opening 25. Therefore, when the trapezoidal block 15 moves left and right, the connecting block 24 and the strip opening 25 will move along the support rod 20. When the first fixed rod 7 moves upward, the first fixed rod 7 pulls the connecting block 24 to move upward. When the connecting block 24 moves upward until the inner bottom wall of the strip opening 25 abuts against the outer wall of the support rod 20, the connecting block 24 continues to move upward. The connecting block 24 will pull the support rod 20 to move upward together, thereby causing the two inclined plates 21 to move upward together.

[0067] Since the upward movement of the inclined plate 21 requires the movement of the trapezoidal block 15, the trapezoidal block 15 can only move left and right, and cannot move up and down. Therefore, when the connecting block 24 moves upward, it will pull the multi-stage telescopic rods 29 upward. There are four multi-stage telescopic rods 29, arranged in descending order of size. Figure 10As shown in the diagram, the three lower multi-stage telescopic rods 29 are hollow inside and arranged sequentially from bottom to top. Each of the three lower multi-stage telescopic rods 29 has a through groove 291 at its top, allowing the multi-stage telescopic rod 29 to move along the through groove 291. When the connecting block 24 moves upward, it will pull the uppermost multi-stage telescopic rod 29 upward. The bottom of each of the three upper multi-stage telescopic rods 29 is fixedly installed with a strip-shaped protrusion 292. The lowermost multi-stage telescopic rod 29 is fixed inside the slot 28. Therefore, when the uppermost multi-stage telescopic rod 29 is pulled to the bottom near the through groove 291 of the second multi-stage telescopic rod 29, the strip-shaped protrusion 292 at the bottom of the first multi-stage telescopic rod 29 will abut against the inner top wall of the second multi-stage telescopic rod 29. The same applies to the subsequent multi-stage telescopic rods 29 that are pulled below. Therefore, the multi-stage telescopic rods 29 will not be pulled out from the other multi-stage telescopic rods 29.

[0068] Therefore, after the inclined plate 21 and the support rod 20 are pulled upward, the multiple multi-stage telescopic rods 29 will extend. Thus, the trapezoidal block 15 will not be pulled upward, nor will it obstruct the upward movement of the inclined plate 21 and the support rod 20. It is only necessary to pull the inclined plate 21 upward until the trapezoidal block 15 moves to the middle part between the two inclined plates 21. The upward movement distance is limited. When the inner bottom wall of the collar 6 contacts the rotating shaft 5, it can drive the rotating shaft 5 to move upward, and the connecting block 24 will also stop its own independent upward movement.

[0069] Since the first fixed rod 7 may be on the left or right side of the rotating shaft 5 when it moves upward, the connecting block 24 is connected by an elliptical connecting ring 14. When the connecting block 24 is pulled upward, the trapezoidal block 15 and the connecting block 24 will move. If the first fixed rod 7 is on the right or left side of the rotating shaft 5, the elliptical connecting ring 14 will tilt when the trapezoidal block 15 and the connecting block 24 move towards the middle. In this way, the trapezoidal block 15 can move even when the first fixed rod 7 does not move left or right, and even if the trapezoidal block 15 moves, the first fixed rod 7 will not have to move left or right.

[0070] When the first fixed rod 7 moves downward, it will push the connecting block 24 downward through the elliptical connecting ring 14. The connecting block 24 will also press down on the multi-stage telescopic rod 29 and cause the multi-stage telescopic rod 29 to retract. At this time, the support rod 20 will also move downward by being pushed down by the inner top wall of the strip opening 25, and the inclined plate 21 will also move downward. After the inclined plate 21 moves downward and releases its resistance to the trapezoidal block 15, the trapezoidal block 15 will have no resistance. The elastic roll 16 will also use its own elasticity to wind the pulled-out part back onto the rotating shaft 5, and the rotating shaft 5 will also rotate.

[0071] This is because, according to Hooke's Law, the elastic coil 16 will generate a restoring force after being stretched. This restoring force will cause the elastic coil 16 to return to its initial state. Since one end of the elastic coil 16 is fixed on the rotating shaft 5, the restoring force of the elastic coil 16 will act on the rotating shaft 5, causing it to generate a reverse torque, thereby causing the rotating shaft 5 to rotate back to its original position. Then the trapezoidal block 15 will return to the rightmost position, which is the initial position. The elastic coil 16 can be made of materials such as piano wire, alloy spring steel, or high carbon steel. These materials have high elasticity and restoring ability, which can ensure the rotation of the rotating shaft 5 and the restoring ability of the elastic coil 16 after being stretched.

[0072] See Figures 3-9 The connecting ball 8 has a cavity, and two fixing plates 13 are fixedly installed on the inner wall of the cavity. Two connecting plates 19 are fixedly connected between the inner walls of the two fixing plates 13. There is a gap between the two connecting plates 19. The trapezoidal block 15 is slidably disposed in the gap between the two connecting plates 19. The outer wall of the connecting plate 19 has a sliding groove 23. Two rollers 26 are rotatably connected to the outer walls on both sides of the trapezoidal block 15. The rollers 26 are located inside the sliding groove 23 and are slidably connected to the sliding groove 23.

[0073] The fixing plate 13 is fixed inside the connecting ball 8 and fixes the connecting plate 19, so that the trapezoidal block 15 can move along the gap between the two connecting plates 19. The gap between the two connecting plates 19 provides guidance for the direction of movement of the trapezoidal block 15, and at the same time limits the trapezoidal block 15 to ensure that the trapezoidal block 15 will not deviate. The two sliding grooves 23 are horizontally corresponding, and the trapezoidal block 15 slides along the sliding grooves 23 through the rollers 26 to ensure that the trapezoidal block 15 will not fall and to allow the trapezoidal block 15 to move smoothly.

[0074] See Figures 3-15 Two sliding rods 18 are fixedly installed between the inner bottom wall and the inner top wall of the fixed plate 13. The inclined plate 21 is slidably connected to the outer wall of the sliding rods 18. The inclined plate 21 has an opening 22. Two support rods 17 are fixedly installed on the inner wall of the chamber. The free end of the elastic roll 16 passes through the space between the two support rods 17 and the opening 22 and is connected to the bottom of the trapezoidal block 15. The end of the rotating shaft 5 away from the connecting frame 4 is inserted into the interior of the connecting ball 8 and is rotatably connected to the inner wall of the chamber.

[0075] The connecting ball 8 is used to support the rotating shaft 5, so that the rotating shaft 5 can rotate along the connecting ball 8. The sliding rod 18 is fixed on the fixed plate 13. When the inclined plate 21 moves, it will slide along the outer wall of the sliding rod 18. When the top of the inclined plate 21 abuts against the inner top wall of the fixed plate 13, it means that the trapezoidal block 15 has moved to the middle position between the two inclined plates 21. The sliding rod 18 makes the inclined plate 21 more stable when it moves up and down. The support rod 17 supports the elastic roll 16. When the trapezoidal block 15 moves to the right, it will pull the elastic roll 16 to move along the support rod 17.

[0076] See Figures 1-18 The outer wall of the connecting ball 8 is fixedly connected to one end of the rotating rod 10. A conical block 9 is fixedly installed on the end of the rotating rod 10 away from the connecting ball 8. The conical block 9 is conical. The end of the conical block 9 with a larger area is fixedly connected to one end of the rotating rod 10, and the end of the conical block 9 with a smaller area is fixedly connected to the ball shaft 11. The base 1 has a circular groove 32. The ball shaft 11 is located inside the circular groove 32 and is rotatably connected to the circular groove 32. The connecting ball 8 has an installation port 12. Two second rotating shafts 39 are fixedly installed on the inner wall of the installation port 12. Both second rotating shafts 39 are located on the periphery of the two fixed plates 13.

[0077] The outer wall of the second rotating shaft 39 is rotatably connected to the second fixed rod 36. The bottom end of the second fixed rod 36 is fixedly installed with a steel ball 37. The outer wall of the connecting block 24 is fixedly installed with an extrusion plate 41. Both fixed plates 13 are provided with square sockets 47 for the extrusion plate 41 to be inserted. The two square sockets 47 are horizontally symmetrically arranged on the two fixed plates 13. The outer wall of the fixed plate 13 is fixedly installed with an installation plate 48. The bottom of the installation plate 48 is parallel to the inner top wall of the square socket 47. The top end of the second fixed rod 36 is located above the installation plate 48 and abuts against the top of the installation plate 48. The inner wall of the installation opening 12 is fixedly installed with two first rotating shafts 35.

[0078] The first rotating shaft 35 is located below the steel ball 37. The outer wall of the first rotating shaft 35 is rotatably connected to a lever 34. One end of the lever 34 located inside the mounting port 12 abuts against the outer wall of the steel ball 37. The base 1 has two trapezoidal grooves 38, which are located on the left and right sides of the conical block 9, respectively. The end of the lever 34 away from the steel ball 37 extends into the trapezoidal groove 38. A semi-circular support plate 40 is fixedly installed on the outer wall of the conical block 9. The semi-circular support plate 40 is located at the end of the conical block 9 with a larger area. The outer wall of the lever 34 abuts against the top of the semi-circular support plate 40. The trapezoidal groove 38 is a trapezoid with a wider top and a narrower bottom.

[0079] One end of the rotating rod 10 is fixedly connected to the outer wall of the connecting ball 8, and the other end of the rotating rod 10 is fixedly connected to the center of the larger end of the conical block 9. The smaller end of the conical block 9 is fixedly connected to the outer wall of the ball shaft 11. The ball shaft 11 is rotatably connected to the base 1. Therefore, when the first fixed rod 7 drives the connecting ball 8 to move left and right, the ball shaft 11 will tilt and swing left and right, and the conical block 9 and the rotating rod 10 will also swing left and right. The purpose is to follow the movement of the connecting ball 8 and to support the connecting ball 8 at all times. Since the size of the polished glass substrate is small, the range of movement of the connecting ball 8 is not far, which is just enough to adapt to the swing amplitude of the ball shaft 11.

[0080] When trapezoidal block 15 is located Figure 3When the right side of the right fixed plate 13 is pressed, the right end of the pressing plate 41 will pass through the square insertion 47 opened in the right fixed plate 13 and push the second fixed rod 36 close to the outer wall of the top end, pushing the top end of the second fixed rod 36 away from the fixed plate 13. The second fixed rod 36 is rotatably connected to the second rotating shaft 39. Since the second rotating shaft 39 is fixed to the connecting ball 8, when the top end of the second fixed rod 36 is pushed away from the fixed plate 13, the bottom end of the second fixed rod 36 will drive the steel ball 37 to swing towards the fixed plate 13. The steel ball 37 will swing in an arc trajectory from left to right. When the steel ball 37 swings, it will press one end of the lever 34. The lever 34 is rotatably connected to the outer wall of the first rotating shaft 35. The first rotating shaft 35 is also fixed to the connecting ball 8. Therefore, when the end of the lever 34 located inside the connecting ball 8 is pressed, the end of the lever 34 pressed by the steel ball 37 will move downward, while the other end of the lever 34 will move upward.

[0081] When the outer walls of both levers 34 abut against the top of the semi-circular support plate 40, the rotating rod 10 is parallel to the levers 34, and the end of the lever 34 located inside the trapezoidal groove 38 abuts against the inner wall of the trapezoidal groove 38. This prevents the cone block 9 from swinging left and right, as the levers 34 block its sides. If the cone block 9 were to swing left and right, it would abut against the outer wall of the levers 34. Therefore, when the two levers 34 are in contact with the semi-circular support plate 40, the cone block 9 cannot swing left and right. This is because when the trapezoidal block 15 moves, it pulls the elastic coil 16, and the force of the elastic coil 16 being pulled is transmitted to the rotating shaft 5, and then to the connecting ball 8, causing the connecting ball 8 to move. Thus, when the trapezoidal block 15 moves, it is very likely that... By pulling the elastic coil 16 and causing the connecting ball 8 to move together, the trapezoidal block 15 cannot be rotated independently. Therefore, when the trapezoidal block 15 is at its rightmost position, the end of the right lever 34 inside the trapezoidal groove 38 moves upward. Since the upward movement of the lever 34 also follows an arc-shaped trajectory, after swinging upward, the end of the lever 34 inside the trapezoidal groove 38 will move away from the inner wall of the trapezoidal groove 38 and towards the wider area above the trapezoidal groove 38, no longer abutting against the inner wall of the trapezoidal groove 38. The area above the trapezoidal groove 38 is wider and arc-shaped. Thus, when the cone block 9 swings to the right, the end of the lever 34 will tilt within the wider area of ​​the trapezoidal groove 38, allowing the cone block 9 to swing.

[0082] Therefore, when the robotic arm drives the trapezoidal block 15 to the far right, the grinding marks 3 point to the right, and the grinding disc 2 also moves to the right. At this time, the end of the lever 34 on the right side located inside the trapezoidal groove 38 does not contact the inner wall of the trapezoidal groove 38, so the conical block 9 can tilt to the right. When the trapezoidal block 15 is on the left side, the grinding marks 3 point to the left, and the end of the lever 34 on the left side located inside the trapezoidal groove 38 does not contact the inner wall of the trapezoidal groove 38, so the conical block 9 can tilt to the left and the grinding disc 2 can move to the left. Only when the trapezoidal block 15 and the extrusion plate 41 approach the fixed plate 13... Only when the first rotating shaft 35 is located inside the connecting ball 8 can the fulcrum of the lever 34 be inserted into the square socket 47 and then contact the second fixed rod 36. Since the first rotating shaft 35 is located inside the connecting ball 8, the fulcrum of the lever 34 is biased towards the end of the lever 34 located below the steel ball 37. When the steel ball 37 presses the end of the lever 34 located inside the connecting ball 8, it is only necessary to press down a small distance, which is enough to make the end of the lever 34 located inside the trapezoidal groove 38 move up a large distance. Therefore, when the trapezoidal block 15 is close to the fixed plate 13, the pressing plate 41 can touch the second fixed rod 36 and push the top of the second fixed rod 36.

[0083] The second fixing rod 36 is initially tilted, while the steel ball 37 rests on the lever 34. The top of the second fixing rod 36 is supported by the mounting plate 48 to prevent the top of the second fixing rod 36 from going over the square socket 47. The mounting plate 48 supports the top of the second fixing rod 36 above the square socket 47, so that the pressing plate 41 can directly contact the second fixing rod 36 after extending from the square socket 47 and push the top of the second fixing rod 36 upward. The semi-circular support plate 40 supports the lever 34, so that the lever 34 is in a parallel state in the initial state and close to both sides of the conical block 9.

[0084] Because the rotating rod 10 and the conical block 9 will swing when the connecting ball 8 moves left and right, the swing trajectory of the grinding disc 2 will be arc-shaped. In order to ensure that the grinding disc 2 can be parallel when it moves, if the grinding disc 2 moves away from the glass substrate when the collar 6 drives the sleeve 42 and the rotating shaft 5 to move left and right, the robotic arm can control the first fixed rod 7 and the collar 6 to move forward. The collar 6 will drive the sleeve 42 to move forward, and through the sleeve 42, it will drive the connecting frame 4 and the grinding disc 2. Since the lengths of the connecting ball 8 and the rotating rod 10 are fixed, when the sleeve 42 is driven to move forward, the sleeve 42 will slide along the outer wall of the rotating shaft 5, and the toothed groove 44 inside the sleeve 42 will slide along the outer wall of the rotating shaft 5. The outer wall of the protruding tooth 43 moves along the tooth 43. The meshing connection between the protruding tooth 43 and the tooth groove 44 is to ensure that when the rotating shaft 5 rotates, it can drive the tooth groove 44 and the sleeve 42 to rotate through the protruding tooth 43, and then drive the connecting frame 4 and the grinding disc 2 to rotate through the sleeve 42. It can also ensure that the sleeve 42 can slide along the outer wall of the rotating shaft 5. The circular baffle 45 blocks the collar 6, so that when the collar 6 moves towards the base 1, it can abut against the circular baffle 45 and drive the sleeve 42 to move towards the connecting ball 8. At the same time, the insertion hole 46 can block the protruding tooth 43 to prevent the protruding tooth 43 from passing through the insertion hole 46 and causing the rotating shaft 5 to move out of the circular baffle 45. Therefore, the insertion hole 46 only allows the rotating shaft 5 to slide.

[0085] When the first fixed rod 7 drives the sleeve 42 to move along the rotating shaft 5, the connecting ball 8 and the rotating shaft 5 cannot move forward. Therefore, the part where the first fixed rod 7 is connected to the elliptical connecting ring 14 will extend beyond the connecting ball 8. Since the first fixed rod 7 and the connecting block 24 are connected by the elliptical connecting ring 14, the elliptical connecting ring 14 will tilt when the first fixed rod 7 moves away from the connecting block 24. Since the glass substrate is small, the range of left and right movement of the grinding disc 2 will also be very short. Therefore, even if the first fixed rod 7 moves away from the connecting ball 8, it will not move too far, which is within the tilt range that the elliptical connecting ring 14 can withstand.

[0086] See Figure 3-15 A fixing block 51 is fixedly installed on the outer wall of the rotating shaft 5, and a gap is left between the fixing block 51 and the elastic roll 16. Two strip plates 49 are fixedly installed on the inner wall of the connecting ball 8. The two strip plates 49 are located on the left and right sides of the rotating shaft 5, respectively. A first push switch 50 electrically connected to the servo motor 31 is installed on the top of the strip plate 49. A second push switch 52 electrically connected to the servo motor 31 is installed on the inner top wall of one of the fixing plates 13. The second push switch 52 is located between the two slide rods 18.

[0087] The fixing block 51 corresponds to the direction of the grinding groove 3, such as... Figure 7The fixing block 51 is located on the right side of the rotating shaft 5, with the grinding marks 3 pointing to the right. The rotating shaft 5 has a strip plate 49 on each side and a first push-button switch 50 on each side. The strip plate 49 is fixed inside the connecting ball 8 to support the first push-button switch 50. Each first push-button switch 50 and second push-button switch 52 has two connection terminals: one connected to the positive terminal of the power supply or the high-potential terminal of the control signal, and the other connected to the input terminal of the servo motor 31 control circuit.

[0088] The input terminal of the servo motor 31 control circuit can be a relay, contactor, or the control port of the servo motor 31 driver. When the first push switch 50 or the second push switch 52 is pressed, the corresponding connection line is turned on, and a start signal is sent to the servo motor 31 control circuit.

[0089] The servo motor 31 is connected to the output of the motor control circuit. When the control circuit receives a start signal, it closes the corresponding switch or triggers the corresponding electronic components, energizing the servo motor 31. When the fixing block 51 is located on the right side of the rotating shaft 5, the fixing block 51 contacts the strip plate 49 on the right side of the rotating shaft 5 and presses the first push switch 50 on the right side. At this time, the servo motor 31 starts, and the grinding pattern 3 points to the right. When the rotating shaft 5 rotates to the left side of the rotating shaft 5, as... Figure 5 In the middle, the fixing block 51 will press the first pressing switch 50 on the left side of the rotating shaft 5, so that the servo motor 31 starts and drives the grinding disk 2 to rotate. At this time, the grinding pattern 3 points to the left. If the fixing block 51 does not press the first pressing switch 50 on both sides of the rotating shaft 5, it means that the grinding pattern 3 is not pointing to the right or left. At this time, the grinding pattern 3 and the grinding disk 2 are tilted, so the servo motor 31 will not rotate, avoiding the tilted grinding disk 2 and the grinding pattern 3 from causing the glass substrate to be ground in the wrong direction.

[0090] When the support rod 20 and the inclined plate 21 move upward, and the fixed block 51 is also located above the rotating shaft 5, when the top of the inclined plate 21 presses against the second push switch 52, the servo motor 31 is started. At this time, the grinding disc 2 is at 90 degrees, and the bottom of the glass substrate can be ground by the grinding disc 2 and the grinding groove 3.

[0091] See Figures 10-16 The outer wall of the ball shaft 11 is provided with an arc-shaped limiting groove 33, and a friction block 30 is slidably connected to the inner wall of the arc-shaped limiting groove 33. The base 1 is provided with an arc-shaped guide groove 27. One end of the friction block 30 extending to the outside of the arc-shaped limiting groove 33 is in close contact with the outer wall of the arc-shaped guide groove 27. One end of the connecting frame 4 is connected to the cavity. The outer wall of the servo motor 31 is fixedly connected to the inner wall of the cavity. The drive end of the servo motor 31 is fixedly connected to the top of the grinding disc 2.

[0092] The ball shaft 11 is rotatably connected to the base 1. The ball shaft 11 supports the connecting ball 8 through the rotating rod 10 and the conical block 9 to prevent the connecting ball 8 from falling. The connecting ball 8 is supported on one side of the base 1. When the mechanical arm on the base 1 drives the first fixed rod 7 and the collar 6 to move, the collar 6 drives the sleeve 42 and the rotating shaft 5 to move. When the sleeve 42 and the rotating shaft 5 move up or left or right, the connecting ball 8 will also move together. When the connecting ball 8 moves left or right, the rotating rod 10 and the conical block 9 will swing left and right accordingly, and the ball shaft 11 will swing left and right along the circular groove 32. The outer wall of the friction block 30 is in close contact with the inner wall of the arc-shaped guide groove 27, so the friction block 30 will not swing left or right. When the ball shaft 11 swings left and right, the arc-shaped limiting groove 33 will slide left and right along the friction block 30.

[0093] When the connecting ball 8 moves upward, the conical block 9 and the rotating rod 10 also swing upward, while the side of the ball shaft 11 connected to the rotating rod 10 swings upward, and the side of the ball shaft 11 located inside the circular groove 32 and the arc-shaped guide groove 27 swings downward. At this time, the ball shaft 11 will drive the friction block 30 to swing downward along the inner wall of the arc-shaped guide groove 27. Since the outer wall of the friction block 30 is in close contact with the inner wall of the arc-shaped guide groove 27, it will slow down the speed at which the friction block 30 slides along the inner wall of the arc-shaped guide groove 27. Furthermore, due to the friction between the friction block 30 and the arc-shaped guide groove 27, the friction block 30 will not easily slide along the arc-shaped guide groove 27. This will also cause the ball shaft 11 to not easily swing up and down. Therefore, when the non-collar ring 6 pulls the rotating shaft 5 upward, the connecting ball 8 will not easily move downward due to its weight. Moreover, the friction between the friction block 30 and the arc-shaped guide groove 27 is greater than the weight of the grinding disc 2 itself, so it will not press the ball shaft 11 to swing downward easily.

[0094] The cavity opened in the connecting frame 4 is located at one end above the connecting frame 4, and the servo motor 31 is fixedly installed in the cavity. The drive end of the servo motor 31 is fixedly connected to the top of the grinding disc 2. Therefore, the servo motor 31 is used to drive the grinding disc 2 to rotate, and the connecting frame 4 can move together with the grinding disc 2 to continuously drive the grinding disc 2 to rotate through the servo motor 31.

Claims

1. A glass substrate grinding device, comprising a base (1) and a grinding disc (2), wherein a robotic arm is mounted on the top of the base (1), and the outer periphery of the grinding disc (2) is provided with grinding grooves (3) in the shape of "V", characterized in that, include, A connecting ball (8) is connected to a rotating rod (10) at one end. The rotating rod (10) is rotatably connected to the side wall of the base (1) through a ball shaft (11). The connecting ball (8) is provided with an installation port (12), and a rotating shaft (5) is rotatably connected to the connecting ball (8) opposite to the rotating rod (10). One end of the rotating shaft (5) is rotatably connected to the grinding disc (2) through the connecting frame (4). The switching mechanism is set in the mounting port (12). The switching mechanism includes at least a torsional elastic roll (16) sleeved on the rotating shaft (5). One end is connected to the outer wall of the rotating shaft (5), and the other end is connected to the robotic arm. When the robotic arm moves from left to right or from right to left, the rotating shaft (5) drives the grinding disc (2) to rotate so that the tip of the grinding mark (3) always faces the direction of movement. Includes a triggering mechanism, including at least a trapezoidal block (15) that can slide left and right. The free end of the elastic roll (16) is connected to the bottom of the trapezoidal block (15). When the switching mechanism controls the trapezoidal block (15) to move left and right, the trapezoidal block (15) pulls the free end of the elastic roll (16) to move and triggers the rotating shaft (5) to rotate. The triggering mechanism also includes two inclined plates (21), which are symmetrically arranged on both sides of the trapezoidal block (15). A support rod (20) is connected between the two inclined plates (21) to pull the support rod (20) and the inclined plates (21) upward when the switching mechanism moves upward and push the trapezoidal block (15) to move to the center near the support rod (20). The switching mechanism also includes a first fixed rod (7), one end of which is connected to the robotic arm. A collar (6) is installed on the end of the first fixed rod (7) away from the base (1). A sleeve (42) is fitted on the outer wall of the rotating shaft (5). Multiple protruding teeth (43) are installed on the outer wall of the rotating shaft (5). The protruding teeth (43) are located at the end of the rotating shaft (5) away from the elastic coil (16). The inner wall of the sleeve (42) is provided with a tooth groove that matches the protruding teeth (43). 44), the protruding tooth (43) is slidably connected to the tooth groove (44), the collar (6) is sleeved on the outer wall of the sleeve (42), one end of the sleeve (42) is connected to the outer wall of the connecting frame (4), a circular baffle (45) is installed on the end of the sleeve (42) away from the connecting frame (4), the circular baffle (45) has an insertion hole (46), the rotating shaft (5) is inserted into the inside of the insertion hole (46), and the inner wall of the insertion hole (46) abuts against the outer wall of the rotating shaft (5).

2. The glass substrate grinding equipment as described in claim 1, characterized in that: The outer wall of the first fixing rod (7) is fitted with an elliptical connecting ring (14), and the outer wall of the elliptical connecting ring (14) is fitted with a connecting block (24). The connecting block (24) has a strip opening (25). The elliptical connecting ring (14) passes through the strip opening (25) and abuts against the inner wall of the strip opening (25). The trapezoidal block (15) has two slots (28). The inner wall of the slot (28) is fitted with a multi-stage telescopic rod (29). The top of the multi-stage telescopic rod (29) is connected to the bottom of the connecting block (24). A part of the support rod (20) is located inside the strip opening (25). The outer wall of the support rod (20) does not contact the inner wall of the strip opening (25).

3. The glass substrate grinding equipment as described in claim 2, characterized in that: The connecting ball (8) has a cavity, and two fixing plates (13) are installed on the inner wall of the cavity. Two connecting plates (19) are connected between the inner walls of the two fixing plates (13). There is a gap between the two connecting plates (19). The trapezoidal block (15) is slidably disposed in the gap between the two connecting plates (19). The outer wall of the connecting plate (19) has a groove (23). Two rollers (26) are rotatably connected to the outer walls on both sides of the trapezoidal block (15). The rollers (26) are located inside the groove (23) and are slidably connected to the groove (23).

4. The glass substrate grinding equipment as described in claim 3, characterized in that: Two sliding rods (18) are installed between the inner bottom wall and the inner top wall of the fixed plate (13). The inclined plate (21) is slidably connected to the outer wall of the sliding rods (18). The inclined plate (21) has an opening (22). Two support rods (17) are installed on the inner wall of the chamber. The free end of the elastic roll (16) passes through the two support rods (17) and the opening (22) and is connected to the bottom of the trapezoidal block (15). The end of the rotating shaft (5) away from the connecting frame (4) is inserted into the inside of the connecting ball (8) and is rotatably connected to the inner wall of the chamber.

5. The glass substrate grinding equipment as described in claim 4, characterized in that: The outer wall of the connecting ball (8) is connected to one end of the rotating rod (10). A conical block (9) is installed at the end of the rotating rod (10) away from the connecting ball (8). The conical block (9) is conical. The end of the conical block (9) with a larger area is connected to one end of the rotating rod (10), and the end of the conical block (9) with a smaller area is connected to the ball shaft (11). The base (1) has a circular groove (32). The ball shaft (11) is located inside the circular groove (32) and is rotatably connected to the circular groove (32). The connecting ball (8) has an installation port (12). Two second rotating shafts (39) are installed on the inner wall of the installation port (12). The two second rotating shafts (39) are located on the periphery of the two fixing plates (13). The outer wall of the second rotating shaft (39) is rotatably connected to a second fixing rod (36). A steel ball (37) is installed at the bottom end of the second fixing rod (36). An extrusion plate (41) is installed on the outer wall of the connecting block (24). Both of the fixed plates (13) are provided with square sockets (47) for inserting the extrusion plate (41). The two square sockets (47) are horizontally symmetrically arranged on the two fixed plates (13). An installation plate (48) is installed on the outer wall of the fixed plate (13). The bottom of the installation plate (48) is parallel to the inner top wall of the square socket (47). The top of the second fixing rod (36) is located above the installation plate (48) and abuts against the top of the installation plate (48). Two first rotating shafts (35) are installed on the inner wall of the installation port (12). The first rotating shafts (35) are located below the steel ball (37). The outer wall of the first rotating shaft (35) is rotatably connected to a lever (34). One end of the lever (34) located inside the mounting port (12) abuts against the outer wall of the steel ball (37). The base (1) has two trapezoidal grooves (38). The two trapezoidal grooves (38) are located on the left and right sides of the conical block (9). The end of the lever (34) away from the steel ball (37) extends into the trapezoidal groove (38). A semi-circular support plate (40) is installed on the outer wall of the conical block (9). The semi-circular support plate (40) is located at the end of the conical block (9) with a larger area. The outer wall of the lever (34) abuts against the top of the semi-circular support plate (40). The shape of the trapezoidal groove (38) is a trapezoid that is wider at the top and narrower at the bottom.

6. The glass substrate grinding equipment as described in claim 5, characterized in that: A fixing block (51) is installed on the outer wall of the rotating shaft (5). A gap is left between the fixing block (51) and the elastic roll (16). Two strip plates (49) are installed on the inner wall of the connecting ball (8). The two strip plates (49) are located on the left and right sides of the rotating shaft (5). A first push switch (50) electrically connected to the servo motor (31) is installed on the top of the strip plate (49). A second push switch (52) electrically connected to the servo motor (31) is installed on the inner top wall of one of the fixing plates (13). The second push switch (52) is located between the two slide rods (18).

7. The glass substrate grinding equipment as described in claim 6, characterized in that: The outer wall of the ball shaft (11) is provided with an arc-shaped limiting groove (33), and a friction block (30) is slidably connected to the inner wall of the arc-shaped limiting groove (33). The base (1) is provided with an arc-shaped guide groove (27). One end of the friction block (30) extending to the outside of the arc-shaped limiting groove (33) is in close contact with the outer wall of the arc-shaped guide groove (27). One end of the connecting frame (4) is connected to the cavity. The outer wall of the servo motor (31) is connected to the inner wall of the cavity. The driving end of the servo motor (31) is connected to the top of the grinding disc (2).

Images