Glass edge covering automatic processing device and processing method

Abstract

The invention relates to an automatic processing device and method for glass edge covering, and the device comprises a feeding mechanism which is used for positioning to-be-processed glass; the manipulator and the feeding mechanism are arranged in a matched mode, and the manipulator is provided with a cutter used for machining the covered edge of the glass; and the visual detector is arranged on the manipulator, and the visual detector is used for detecting the processing size of the covered edge of the glass. Compared with the prior art, the visual detector can realize automatic on-line detection, greatly improves the detection efficiency, avoids manual detection errors, improves the detection accuracy, is helpful for guaranteeing the product delivery quality, is good in universality, can replace traditional multiple types of detection tools, reduces the number and cost of the detection tools, and improves the product quality. The problem of difficult gauge management is overcome.

Description

Technical Field

[0001] The present application relates to the technical field of glass production, and in particular to an automatic glass edge processing device and a processing method. Background Art

[0002] Nowadays, more and more cars are using large-size sunroof designs to obtain better in-car vision and in-car light environment, and enhance the driving experience. In order to facilitate installation and ensure structural safety, PU edging will be installed on the outer periphery of the sunroof glass. In order to meet customer requirements, the PU edging needs to be milled before delivery to customers so that the milling amount (i.e. milling height) of the PU edging meets the design requirements.

[0003] However, in traditional technology, after the PU hemming is milled, the processing height of the PU hemming is generally inspected manually using a gauge. The existing inspection method cannot achieve online monitoring and has the disadvantage of low efficiency. In addition, the accuracy of manual inspection is low, which affects the quality of product delivery. At the same time, the versatility of the gauge is poor, the number of gauges is complicated, and management is difficult. Summary of the invention

[0004] Based on this, it is necessary to provide an automatic glass edging processing device and method to address the problems of low detection efficiency and accuracy, poor versatility of inspection tools, and difficult management.

[0005] In a first aspect of the present application, there is provided an automatic glass edge processing device, comprising:

[0006] A feeding mechanism, the feeding mechanism is used to position the glass to be processed;

[0007] A manipulator, the manipulator is arranged in cooperation with the feeding mechanism, and the manipulator is provided with a tool for processing the edging of the glass; and

[0008] A visual detector is arranged on the robot arm, and is used to detect the processing size of the edging of the glass.

[0009] The automatic glass edge processing device of the present scheme is used in occasions for automatically processing the edge of glass and automatically detecting the processing size of the edge. When in use, the glass to be processed is first positioned by the feeding mechanism; then the robot is controlled to drive the visual detector to shoot the edge of the glass area by area to form a first point cloud data, and the software can fit the pre-processing surface data of the edge according to the first point cloud data; then the tool is started to process the edge; after the processing is completed, the robot is controlled to drive the visual detector to shoot the processed edge area by area to form a second point cloud data, and the software can fit the post-processing surface data of the edge according to the second point cloud data; finally, the pre-processing surface data of the edge and the post-processing surface data of the edge are calculated as a difference to obtain the processing size of the edge, so as to judge whether the actual processing size of the edge meets the design processing size requirements. Compared with existing technologies, visual detectors can realize automatic online detection, greatly improving detection efficiency, avoiding manual detection errors, improving detection accuracy, and helping to ensure product delivery quality. In addition, visual detectors have good versatility and can replace traditional multi-type inspection tools, reducing the number and cost of inspection tools, and overcoming the problem of difficult inspection tool management.

[0010] The technical solution of this application is further described below:

[0011] In one embodiment, the feeding mechanism includes a base, a conveying assembly and a plurality of supporting assemblies, the top surface of the base defines a centering positioning station, a plurality of supporting assemblies are dispersedly arranged in the centering positioning station, and the conveying assembly can be raised and lowered in the centering positioning station; wherein the conveying assembly is used to connect and cooperate with an external glass conveying mechanism.

[0012] In one embodiment, the conveying assembly includes a first lifting drive and a conveying unit, the first lifting drive is disposed on the base, and the conveying unit is connected to a telescopic shaft of the first lifting drive;

[0013] Wherein, the first lifting drive is used to drive the conveying unit to switch between an ascending position and a descending position. When the conveying unit is in the ascending position, the conveying unit is engaged with the glass conveying mechanism to receive the glass conveyed by the glass conveying mechanism; when the conveying unit is in the descending position, the height of the conveying unit is lower than the height of the supporting assembly to transfer the glass to the supporting assembly.

[0014] In one embodiment, the conveying unit includes a conveying frame, a conveying wheel set and a conveying belt, wherein the conveying wheel set is rotatably arranged on the conveying frame, and the conveying belt is sleeved on the outside of the conveying wheel set and can follow the conveying wheel set;

[0015] Alternatively, the conveying unit includes a conveying frame, a power source, a conveying wheel group and a conveyor belt, the power source is arranged on the conveying frame, the conveying wheel group is rotatably arranged on the conveying frame and is drivingly connected to the power source, and the conveyor belt is mounted on the outside of the conveying wheel group and can follow the conveying wheel group.

[0016] In one embodiment, the support assembly includes a second lifting drive, a support and a rolling body, the support is connected to the telescopic shaft of the second lifting drive, the support is provided with a rolling groove, the rolling body is rotatably arranged in the rolling groove, and a portion of the rolling body extends to the outside of the groove opening of the rolling groove.

[0017] In one embodiment, the automatic glass edging processing device also includes a first positioning mechanism, the first positioning mechanism includes a first positioning component and a second positioning component, the first positioning component and the second positioning component are arranged at intervals along the first direction of the center positioning station, and the first positioning component and the second positioning component are used to respectively abut against the opposite sides of the glass along the first direction.

[0018] In one embodiment, the first positioning assembly and the second positioning assembly both include a positioning seat, a first telescopic drive and a first positioning wheel, the first telescopic drive is disposed on the positioning seat, and the first positioning wheel is connected to the telescopic shaft of the first telescopic drive.

[0019] In one embodiment, the automatic glass edging processing device also includes a second positioning mechanism, which is arranged at intervals along the second direction of the central positioning station, and the second positioning mechanism is used to abut against the opposite sides of the glass along the second direction; wherein the second direction intersects with the first direction.

[0020] In one embodiment, the second positioning mechanism includes a second telescopic drive, a first linkage rod, a second linkage rod, a first guide rail, a second guide rail, a second positioning wheel and a third positioning wheel, one end of the first linkage rod is connected to the first telescopic shaft of the second telescopic drive, the other end of the first linkage rod is connected to the second positioning wheel, the second positioning wheel is movably arranged on the first guide rail, one end of the second linkage rod is connected to the second telescopic shaft of the second telescopic drive, the other end of the second linkage rod is connected to the third positioning wheel, and the second positioning wheel and the third positioning wheel can move towards or away from each other.

[0021] In one embodiment, the automatic glass edging processing device also includes an adsorption positioning mechanism, which includes a third lifting drive, a positioning carrier and a plurality of first positioning suction cups, the positioning carrier is connected to the telescopic shaft of the third lifting drive, the positioning carrier has a first end and a second end relative to each other, at least one of the first positioning suction cups is arranged at the first end, and at least one of the first positioning suction cups is arranged at the second end.

[0022] In one embodiment, the adsorption positioning mechanism further includes a contoured support block, which is disposed on the base and is used to support the glass.

[0023] In one of the embodiments, the adsorption and positioning mechanism further includes a plurality of second positioning suction cups, and the plurality of second positioning suction cups are dispersedly arranged on the base, and the second positioning suction cups are arranged in coordination with the contoured support block.

[0024] In one of the embodiments, the automatic glass edging processing device further includes a dust suction mechanism, which is disposed on the manipulator and is used to absorb and remove debris generated when the tool processes the edging.

[0025] In one embodiment, the dust suction mechanism includes a dust hood, a dust suction tube, a dust collector, a connecting plate, a main shaft, a clamp and a flange. The dust hood is assembled and fixed to the main shaft through the clamp, the main shaft is assembled and fixed to the flange through the connecting plate, the flange is assembled and fixed to the manipulator, one end of the dust suction tube is connected to the dust hood, and the other end of the dust suction tube is connected to the vacuum cleaner.

[0026] In a second aspect of the present application, there is also provided a processing method of the automatic glass edging processing device as described above, which comprises the following steps:

[0027] Positioning the glass to be processed by means of a feeding mechanism;

[0028] The manipulator drives the visual detector to photograph the edge of the glass area by area to form first point cloud data, and fits the pre-processing profile data of the edge according to the first point cloud data;

[0029] Start the tool to process the hemming;

[0030] The manipulator drives the visual detector to photograph the hemming after processing area by area to form second point cloud data, and fits the processed surface data of the hemming according to the second point cloud data;

[0031] The surface data before the hemming is processed and the surface data after the hemming is processed are calculated by difference to obtain the processing size of the hemming. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] FIG1 is a schematic structural diagram of an automatic glass edging processing device according to an embodiment of the present application.

[0035] FIG. 2 is a schematic diagram of a local enlarged structure of point A in FIG. 1 .

[0036] Figure 3 It is a schematic diagram of the local enlarged structure of point B in Figure 1.

[0037] Figure 4 It is a schematic diagram of the local enlarged structure of point C in Figure 1.

[0038] Figure 5 It is a schematic diagram of the local enlarged structure of point D in Figure 1.

[0039] Figure 6 It is a schematic diagram of the local enlarged structure of point E in Figure 1.

[0040] Figure 7 The present invention is a flowchart of the steps of a processing method of an automatic glass edge encapsulation processing device according to an embodiment.

[0041] Description of reference numerals:

[0042] 100. Automatic glass edging processing device; 10. Feeding mechanism; 11. Base; 12. Conveying assembly; 13. Support assembly; 131. Second lifting drive; 132. Support; 133. Rolling body; 20. Manipulator; 30. Visual detector; 40. First positioning mechanism; 41. First positioning assembly; 411. Positioning seat; 412. First telescopic drive; 413. First positioning wheel; 50. Second positioning mechanism; 60. Adsorption positioning mechanism; 61. Third lifting drive; 62. Positioning carrier plate; 63. First positioning suction cup; 64. Contour support block; 65. Second positioning suction cup; 70. Dust suction mechanism; 71. Dust hood; 72. Dust suction pipe; 73. Dust collector; 74. Connecting plate; 75. Spindle; 76. Clamp; 77. Flange; 80. Gantry; 200. Glass. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0044] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0046] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0047] Please refer to FIG. 1 , which shows an automatic glass edge processing device 100 according to an embodiment of the present application. The device is installed in a glass 200 processing production line to complete the production process of automatic edge processing and detection of the glass 200 .

[0048] Exemplarily, the automatic glass hemming processing device 100 includes a feeding mechanism 10, a robot 20, and a visual detector 30. In addition, the automatic glass hemming processing device 100 also includes a gantry 80, and the robot 20 is installed on the gantry 80, and the installation support is realized by the gantry 80.

[0049] According to actual needs, the manipulator 20 can be movable on the gantry 80 or fixedly installed on the gantry 80 .

[0050] Optionally, the manipulator 20 can be any one of a three-axis manipulator, a five-axis manipulator, a six-axis manipulator, etc., and can be selected according to actual needs. For example, in the present application, the manipulator 20 adopts a six-axis manipulator, which has more degrees of freedom of movement and rotation, and has better adaptability to complex spaces and hemming shapes, so it can meet the requirements of obstacle avoidance, auxiliary tools for hemming shape processing, etc.

[0051] In the present application, the feeding mechanism 10 is used to position the glass 200 to be processed. It is necessary to explain that the glass 200 mentioned in the present case can refer to any one of the front windshield, sunroof glass, rear windshield, triangular window glass, etc. used on the vehicle. For example, the glass 200 in the present application is sunroof glass, which includes not only the glass body but also a circle of edging installed on the outer periphery of the glass body.

[0052] Optionally, the hemming is made of PU material. Of course, in other optional embodiments, the hemming can also be made of other materials.

[0053] The edging and the glass body may be assembled and fixed by, but not limited to, clamping, integral injection molding, bonding, or any other method.

[0054] In addition, in the present application, the manipulator 20 is arranged in coordination with the feeding mechanism 10 , for example, the feeding mechanism 10 is arranged below the manipulator 20 , and the manipulator 20 moves in an empty area above the feeding mechanism 10 .

[0055] The manipulator 20 is provided with a tool for processing the hemming of the glass 200. Specifically, the tool is installed on the manipulator 20 via a high-speed rotating shaft, and the high-speed rotating shaft drives the tool to rotate to realize processing on the hemming.

[0056] For example, the tool may be a milling cutter, which performs milling processing on the hemming. During processing, in order to obtain higher quality, the milling cutter needs to perform milling processing on the hemming perpendicular to the direction of the hemming.

[0057] In order to more accurately control the processing angle of the tool, the automatic glass hemming processing device 100 of the present solution is also equipped with an offline programming system, which automatically produces a trajectory program perpendicular to the hemming direction through digital modeling, which helps to greatly improve programming efficiency and processing quality.

[0058] Please continue to refer to Figure 1 and Figure 6The visual detector 30 is disposed on the robot 20, and the visual detector 30 is used to detect the processing size of the hemming of the glass 200. For example, the visual detector 30 can be, but is not limited to, a 3D camera, a visual camera, and the like.

[0059] In summary, the implementation of the technical solution of this embodiment will have the following beneficial effects: the automatic glass edging processing device 100 of this solution is used in occasions for automatically processing the edging of glass 200 and automatically detecting the processing size of the edging. When in use, the glass 200 to be processed is first positioned by the feeding mechanism 10; then the robot 20 is controlled to drive the visual detector 30 to shoot the edging of the glass 200 area by area to form a first point cloud data, and the software can fit the pre-processing surface data of the edging according to the first point cloud data; then the tool is started to process the edging; after the processing is completed, the robot 20 is controlled to drive the visual detector 30 to shoot the completed edging area by area to form a second point cloud data, and the software can fit the post-processing surface data of the edging according to the second point cloud data; finally, the pre-processing surface data of the edging and the post-processing surface data of the edging are calculated as a difference to obtain the processing size of the edging, so as to judge whether the actual processing size of the edging meets the design processing size requirements. Compared with the existing technology, the visual detector 30 can realize automatic online detection, greatly improve the detection efficiency, avoid manual detection errors, improve detection accuracy, and help ensure the quality of product delivery. In addition, the visual detector 30 has good versatility and can replace various traditional inspection tools, reduce the number and cost of inspection tools, and overcome the problem of difficult inspection tool management.

[0060] It should be noted that the surface data before edging processing described in this article specifically refers to the height value protruding from the glass surface before edging processing, and the surface data after edging processing specifically refers to the height value protruding from the glass surface after edging processing. The difference between the two height values ​​(i.e., the height difference) is the height dimension removed by processing. For example, it is usually required that the height dimension removed by processing is greater than or equal to 1.5 mm.

[0061] Please continue to refer to Figure 1. Based on the above embodiment, the feeding mechanism 10 includes a base 11, a conveying component 12 and a plurality of supporting components 13. The top surface of the base 11 defines a central positioning station, and the plurality of supporting components 13 are dispersedly arranged in the central positioning station. The conveying component 12 can be raised and lowered in the central positioning station; wherein the conveying component 12 is used to connect and cooperate with an external glass conveying mechanism.

[0062] During processing, the glass 200 to be processed on the production line is transferred from the previous station to the raised conveying assembly 12 through the glass conveying mechanism. At this time, the glass 200 on the conveying assembly 12 is just above the multiple support assemblies 13 and is located in the center positioning station; then the conveying assembly 12 descends, driving the glass 200 to fall synchronously, and the glass 200 will automatically fall onto the multiple support assemblies 13, so that the support assembly 13 can initially support and fix the glass 200 in the center positioning station.

[0063] Specifically, in one embodiment, the conveying assembly 12 includes a first lifting drive and a conveying unit. The first lifting drive is disposed on the base 11, and the conveying unit is connected to the telescopic shaft of the first lifting drive.

[0064] Among them, the first lifting drive is used to drive the conveying unit to switch between the rising position and the falling position. When the conveying unit is in the rising position, the conveying unit is connected and cooperated with the glass conveying mechanism to receive the glass 200 conveyed by the glass conveying mechanism; when the conveying unit is in the falling position, the height of the conveying unit is lower than the height of the supporting assembly 13, so as to transfer the glass 200 to the supporting assembly 13.

[0065] That is, by driving the transmission unit to switch between the rising position and the falling position through the first lifting drive, the two steps of carrying the glass 200 and transferring the glass 200 can be completed, and the glass 200 can be quickly transferred to the supporting assembly 13, with high work efficiency and good safety and reliability.

[0066] For example, the first lifting drive adopts a linear cylinder, or other devices capable of outputting telescopic linear power, such as an electric push rod, etc.

[0067] Furthermore, in an optional embodiment, the conveying unit includes a conveying frame, a conveying wheel set and a conveyor belt, wherein the conveying wheel set is rotatably arranged on the conveying frame, and the conveyor belt is sleeved on the outside of the conveying wheel set and can move with the conveying wheel set. When the glass 200 is conveyed from the glass conveying mechanism to the conveying unit, the glass 200 contacts the conveyor belt and generates friction. As the glass 200 continues to move, the conveyor belt will also rotate synchronously with the glass 200 under the action of the friction, so that the glass 200 is finally transferred to the conveying unit; the conveying wheel set supports the conveyor belt to move with the glass 200, and the movement resistance of the glass 200 is small, and the friction loss is small, which helps the glass 200 to be quickly and smoothly transferred from the glass conveying mechanism to the conveying unit.

[0068] Alternatively, as an alternative to the above embodiment, the conveying unit includes a conveying frame, a power source, a conveying wheel group and a conveyor belt, the power source is arranged on the conveying frame, the conveying wheel group is rotatably arranged on the conveying frame and is drivingly connected to the power source, and the conveyor belt is mounted on the outside of the conveying wheel group and can move with the conveying wheel group.

[0069] The difference from the above-mentioned embodiment is that the power source provided can drive the transmission wheel group to drive the conveyor belt to rotate actively, and the friction between the conveyor belt and the glass 200 is superimposed, so that the conveyor belt has a pulling effect on the glass 200, and the glass 200 can be transferred from the glass conveying mechanism to the transmission unit more quickly and smoothly.

[0070] For example, the power source may be an electric motor, or other power equipment with equivalent technical effects.

[0071] Please continue to refer to Figure 2. In addition, in another embodiment, the support assembly 13 includes a second lifting drive 131, a support 132 and a rolling body 133. The support 132 is connected to the telescopic shaft of the second lifting drive 131. The support 132 is provided with a rolling groove. The rolling body 133 is rotatably arranged in the rolling groove, and a portion of the rolling body 133 extends to the outside of the groove of the rolling groove.

[0072] When the conveying unit switches from the ascending position to the descending position driven by the first lifting drive, the second lifting drive 131 synchronously drives the support 132 to drive the rolling body 133 to rise to a preset stroke, so that the part of the rolling body 133 extending to the outside of the groove of the rolling groove can abut against the bottom surface of the supporting glass 200. Since the rolling body 133 can rotate in the rolling groove, this provides freedom of movement for the glass 200 to produce lateral movement when the glass 200 is subsequently positioned, and the friction resistance between the rolling body 133 and the glass 200 is small, which can prevent the glass 200 from being scratched.

[0073] For example, the rolling body 133 may be a ball, a roller, or the like.

[0074] Considering that the support assembly 13 needs to ensure stable support for the glass 200 to prevent the glass 200 from falling and breaking, the number of the support assemblies 13 is at least three, and the three support assemblies 13 can form a stable triangular support for the glass 200.

[0075] In actual processing, the position of the glass 200 transferred from the glass conveying mechanism to the conveying assembly 12 is random, which causes the initial position of different glasses 200 in the centering position to be skewed, thereby affecting the processing positioning accuracy. In view of this, it is necessary to perform centering positioning processing on each glass 200 before the hemming process, so that all glasses 200 can be accurately located at the set reference position, thereby helping to ensure the processing quality. Please continue to refer to Figures 1 and Figure 3Based on this, on the basis of any of the above embodiments, the automatic glass edging processing device 100 also includes a first positioning mechanism 40, and the first positioning mechanism 40 includes a first positioning component 41 and a second positioning component (not shown in the figure), and the first positioning component 41 and the second positioning component are arranged at intervals along the first direction of the central positioning station, and the first positioning component 41 and the second positioning component are used to respectively abut against the opposite sides of the glass 200 along the first direction.

[0076] Furthermore, the automatic glass edging processing device 100 also includes a second positioning mechanism 50, which is arranged at intervals along the second direction of the central positioning station, and is used to abut against the opposite sides of the glass 200 along the second direction; wherein the second direction intersects with the first direction.

[0077] In the present application, the glass 200 to be processed is a rectangle, the length direction of the rectangle is consistent with the first direction of the centering position, and the width direction is consistent with the second direction of the centering position. That is to say, it can be understood that the centering position is actually a rectangular area on the surface of the base 11, which is a workplace for positioning, edge processing and edge size detection of the glass 200. In this way, by means of the first positioning component 41, the second positioning component and the second positioning mechanism 50 respectively or simultaneously abutting the four sides of the glass 200, the offset glass 200 can be positioned and corrected to the set reference position, and the positioning method is simple and the positioning accuracy is high.

[0078] Please continue reading Figure 3 Specifically, in the above embodiment, the first positioning assembly 41 and the second positioning assembly both include a positioning seat 411, a first telescopic driver 412 and a first positioning wheel 413. The first telescopic driver 412 is disposed on the positioning seat 411, and the first positioning wheel 413 is connected to the telescopic shaft of the first telescopic driver 412. That is, by driving the first positioning wheel 413 against the side of the glass 200 through the first telescopic driver 412, the offset glass 200 can be pushed to move laterally under the support of the rolling body 133, thereby achieving the purpose of positioning correction. The first positioning assembly 41 and the second positioning assembly have simple structural composition and working principle, and high positioning effectiveness.

[0079] It should be noted that, in order to avoid the glass 200 being crushed due to excessive squeezing force, the first positioning wheel 413 is a soft polyurethane roller.

[0080] Further, the second positioning mechanism 50 includes a second telescopic drive, a first linkage rod, a second linkage rod, a first guide rail, a second guide rail, a second positioning wheel and a third positioning wheel, one end of the first linkage rod is connected to the first telescopic shaft of the second telescopic drive, the other end of the first linkage rod is connected to the second positioning wheel, the second positioning wheel is movably arranged on the first guide rail, one end of the second linkage rod is connected to the second telescopic shaft of the second telescopic drive, the other end of the second linkage rod is connected to the third positioning wheel, and the second positioning wheel and the third positioning wheel can move towards or away from each other.

[0081] When working, the second telescopic driver synchronously drives the first telescopic shaft and the second telescopic shaft to retract toward each other, and then the second positioning wheel and the third positioning wheel can be pulled against the two opposite sides of the glass 200 through the first linkage rod and the second linkage rod, respectively, to achieve positioning correction of the glass 200. Compared with the first positioning mechanism 40, this solution only needs to configure one second telescopic driver, which reduces the number of telescopic drivers used, reduces costs and saves installation space.

[0082] Optionally, the first telescopic actuator 412 adopts any one of a cylinder, an electric push rod, an oil cylinder, etc. The second telescopic actuator can adopt any one of a bidirectional cylinder, a bidirectional motor, etc.

[0083] Please continue reading Figure 4 and Figure 5 During processing, the tool rotates at high speed and contacts the hemming to remove the excess material of the hemming by milling, which will cause the glass 200 to bear a large external force. If the glass 200 is displaced, it will inevitably affect the processing accuracy of the hemming. In view of this, in one embodiment, the automatic processing device 100 for glass hemming also includes an adsorption positioning mechanism 60, which includes a third lifting driver 61, a positioning carrier plate 62 and a plurality of first positioning suction cups 63. The positioning carrier plate 62 is connected to the telescopic shaft of the third lifting driver 61. The positioning carrier plate 62 has a first end and a second end opposite to each other, at least one first positioning suction cup 63 is arranged at the first end, and at least one first positioning suction cup 63 is arranged at the second end.

[0084] After the first positioning mechanism 40 and the second positioning mechanism 50 complete the centering of the glass 200, the third lifting driver 61 drives the positioning carrier 62 to rise, so that the multiple first positioning suction cups 63 simultaneously adsorb and fix the middle part of the glass 200, so that the glass 200 can be adsorbed and fixed by the adsorption force, and the glass 200 can be prevented from being displaced by force when the tool is processing the edge. For example, there are two first positioning suction cups 63 arranged at the first end, and there are also two first positioning suction cups 63 arranged at the second end. The four first positioning suction cups 63 distributed in a rectangular shape can adsorb and fix the glass 200 more firmly.

[0085] Furthermore, the adsorption positioning mechanism 60 further includes a contour support block 64, which is disposed on the base 11 and is used to support the glass 200. When the first positioning suction cup 63 is adsorbed on the glass 200, the third lifting driver 61 drives the positioning carrier 62 to descend by a preset stroke to pull the glass 200 against the contour support block 64. Since the contour support block 64 is designed to match the shape of the glass 200, the contact support area with the glass 200 is large, and the glass 200 can be better supported and positioned longitudinally.

[0086] Furthermore, the adsorption and positioning mechanism 60 further includes a plurality of second positioning suction cups 65, which are dispersedly arranged on the base 11, and the second positioning suction cups 65 are arranged in cooperation with the contoured support block 64. Specifically, the plurality of second positioning suction cups 65 are respectively arranged at both ends of the length direction of the glass 200, that is, in addition to the first positioning suction cup 63 adsorbing and fixing the middle area of ​​the glass 200, the second positioning suction cups 65 adsorb and fix both ends of the length direction of the glass 200, which can further improve the fixing reliability of the glass 200.

[0087] It is easy to understand that the first positioning suction cup 63 and the second positioning suction cup 65 are both connected to the negative pressure generator through a vacuum pipeline, so that the first positioning suction cup 63 and the second positioning suction cup 65 can generate the required negative pressure suction force through the negative pressure generator. According to actual needs, the first positioning suction cup 63 and the second positioning suction cup 65 can be connected to the same negative pressure generator, or they can be connected to different negative pressure generators respectively.

[0088] Please continue to refer to Figure 1 and Figure 6 In the process of tool milling and edge wrapping, a lot of fine debris will be generated. In the traditional technology, workers usually rely on handheld vacuum cleaners 73 to suck and remove the debris. This cleaning method will cause high labor intensity for workers, low cleaning efficiency, and the cleaning speed cannot match the tool milling speed, thus affecting the production rhythm and efficiency. In view of this, in one embodiment, the automatic glass edge wrapping processing device 100 also includes a dust suction mechanism 70, and the dust suction mechanism 70 is arranged on the manipulator 20. The dust suction mechanism 70 is used to absorb and remove the debris generated when the tool is processing the edge wrapping. Since the tool and the dust suction mechanism 70 are both installed on the manipulator 20, the two move synchronously with the manipulator 20. When the tool completes the edge wrapping milling process at the previous moment, the dust suction mechanism 70 can quickly suck away the generated debris at the next moment to achieve the cleaning purpose, with a high degree of automation, high cleaning efficiency, and good cleaning effect.

[0089] Specifically, in one embodiment, the dust collection mechanism 70 includes a dust collection hood 71, a dust collection pipe 72, a dust collector 73, a connecting plate 74, a main shaft 75, a clamp 76 and a flange 77. The dust collection hood 71 is assembled and fixed to the main shaft 75 through the clamp 76, the main shaft 75 is assembled and fixed to the flange 77 through the connecting plate 74, the flange 77 is assembled and fixed to the manipulator 20, one end of the dust collection pipe 72 is connected to the dust collection hood 71, and the other end of the dust collection pipe 72 is connected to the dust collector 73. The main shaft 75 is connected to the manipulator 20 through the flange 77, so that the dust collection mechanism 70 can be installed on the manipulator 20 as a whole, and the installation structure is simple. When removing debris, under the movement of the robot 20, the dust hood 71 can be covered above the debris, and the vacuum cleaner 73 is started to suck the air in the dust hood 71 through the dust pipe 72, and negative pressure suction is generated in the dust hood 71, so that the debris can be sucked away, achieving the effect of cleaning the glass 200.

[0090] In the present application, the base 11 is specifically composed of a frame and a tooling plate. The tooling plate is detachably mounted on the top surface of the frame through positioning pins and thumb locks, and functional components such as the support assembly 13, the first positioning mechanism 40, and the second positioning mechanism 50 are respectively mounted on the tooling plate. Since the tooling plate is detachable, the corresponding tooling plate and functional components can be flexibly replaced outside the production line according to different types of glass 200. After replacement, it can be directly pushed into the center positioning station, which is highly efficient and highly applicable.

[0091] Please continue reading Figure 7 In addition to the above, the present application also provides a processing method of the automatic glass edging processing device 100 as described in any of the above embodiments, which comprises the following steps:

[0092] S10: Positioning the glass 200 to be processed by the feeding mechanism 10 .

[0093] S20: the robot 20 drives the visual detector 30 to photograph the hemming of the glass 200 area by area to form first point cloud data, and fits the pre-processing surface data of the hemming according to the first point cloud data.

[0094] S30: Start the tool to process the hemming.

[0095] S40: the robot 20 drives the visual detector 30 to take pictures of the hemming after processing area by area to form second point cloud data, and fit the processed surface data of the hemming according to the second point cloud data.

[0096] S50: performing difference calculation on the profile data before hemming and the profile data after hemming to obtain the processing size of the hemming.

[0097] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A glass edge automatic processing device, characterized in that: include: A feeding mechanism, the feeding mechanism is used to position the glass to be processed; A manipulator, the manipulator is arranged in cooperation with the feeding mechanism, and the manipulator is provided with a tool for processing the edging of the glass; as well as A visual detector is arranged on the robot arm, and is used to detect the processing size of the edging of the glass.

2. The automatic glass edge encapsulation processing device according to claim 1, characterized in that: The feeding mechanism includes a base, a conveying assembly and a plurality of supporting assemblies. The top surface of the base defines a centering position, a plurality of supporting assemblies are dispersedly arranged in the centering position, and the conveying assembly can be raised and lowered in the centering position; wherein the conveying assembly is used to engage with an external glass conveying mechanism.

3. The automatic glass edge encapsulation processing device according to claim 2, characterized in that: The conveying assembly comprises a first lifting drive and a conveying unit, wherein the first lifting drive is arranged on the base, and the conveying unit is connected to a telescopic shaft of the first lifting drive; Wherein, the first lifting drive is used to drive the conveying unit to switch between an ascending position and a descending position. When the conveying unit is in the ascending position, the conveying unit is engaged with the glass conveying mechanism to receive the glass conveyed by the glass conveying mechanism; when the conveying unit is in the descending position, the height of the conveying unit is lower than the height of the supporting assembly to transfer the glass to the supporting assembly.

4. The automatic glass edge encapsulation processing device according to claim 3, characterized in that: The conveying unit comprises a conveying frame, a conveying wheel set and a conveying belt, wherein the conveying wheel set is rotatably arranged on the conveying frame, and the conveying belt is sleeved on the outside of the conveying wheel set and can move with the conveying wheel set; Alternatively, the conveying unit includes a conveying frame, a power source, a conveying wheel group and a conveyor belt, the power source is arranged on the conveying frame, the conveying wheel group is rotatably arranged on the conveying frame and is drivingly connected to the power source, and the conveyor belt is mounted on the outside of the conveying wheel group and can follow the conveying wheel group.

5. The automatic glass edge processing device according to claim 2, characterized in that: The support assembly includes a second lifting drive, a support and a rolling body. The support is connected to the telescopic shaft of the second lifting drive. The support is provided with a rolling groove. The rolling body is rotatably arranged in the rolling groove, and part of the rolling body extends out of the groove opening of the rolling groove.

6. The automatic glass edge encapsulation processing device according to claim 2, characterized in that: The automatic glass edging processing device also includes a first positioning mechanism, which includes a first positioning component and a second positioning component. The first positioning component and the second positioning component are arranged at intervals along the first direction of the center positioning station, and the first positioning component and the second positioning component are used to respectively abut against the opposite sides of the glass along the first direction.

7. The automatic glass edge encapsulation processing device according to claim 6, characterized in that: The first positioning assembly and the second positioning assembly both include a positioning seat, a first telescopic driver and a first positioning wheel. The first telescopic driver is disposed on the positioning seat, and the first positioning wheel is connected to the telescopic shaft of the first telescopic driver.

8. The automatic glass edge encapsulation processing device according to claim 6, characterized in that: The automatic glass edging processing device also includes a second positioning mechanism, which is arranged at intervals along the second direction of the central positioning station, and is used to abut against the opposite sides of the glass along the second direction; wherein the second direction intersects with the first direction.

9. The automatic glass edge encapsulation processing device according to claim 8, characterized in that: The second positioning mechanism includes a second telescopic drive, a first linkage rod, a second linkage rod, a first guide rail, a second guide rail, a second positioning wheel and a third positioning wheel, one end of the first linkage rod is connected to the first telescopic shaft of the second telescopic drive, the other end of the first linkage rod is connected to the second positioning wheel, the second positioning wheel is movably arranged on the first guide rail, one end of the second linkage rod is connected to the second telescopic shaft of the second telescopic drive, the other end of the second linkage rod is connected to the third positioning wheel, and the second positioning wheel and the third positioning wheel can move towards or away from each other.

10. The automatic glass edge encapsulation processing device according to claim 2, characterized in that: The automatic glass edging processing device also includes an adsorption positioning mechanism, which includes a third lifting drive, a positioning carrier and a plurality of first positioning suction cups. The positioning carrier is connected to the telescopic shaft of the third lifting drive. The positioning carrier has a first end and a second end opposite to each other. At least one of the first positioning suction cups is arranged at the first end, and at least one of the first positioning suction cups is arranged at the second end.

11. The automatic glass edge encapsulation processing device according to claim 10, characterized in that: The adsorption positioning mechanism also includes a contour support block, which is arranged on the base and used to support the glass.

12. The automatic glass edge encapsulation processing device according to claim 11, characterized in that: The adsorption and positioning mechanism further comprises a plurality of second positioning suction cups, which are dispersedly arranged on the base, and the second positioning suction cups are arranged in cooperation with the contoured support block.

13. The automatic glass edge encapsulation processing device according to claim 1, characterized in that: The automatic glass edging processing device further comprises a dust suction mechanism, which is arranged on the manipulator and is used for absorbing and removing debris generated when the tool processes the edging.

14. The automatic glass edge encapsulation processing device according to claim 13, characterized in that: The dust suction mechanism includes a dust hood, a dust suction tube, a dust collector, a connecting plate, a main shaft, a clamp and a flange. The dust hood is assembled and fixed to the main shaft through the clamp, the main shaft is assembled and fixed to the flange through the connecting plate, the flange is assembled and fixed to the manipulator, one end of the dust suction tube is connected to the dust hood, and the other end of the dust suction tube is connected to the dust collector.

15. A processing method of the automatic glass edge encapsulation processing device according to any one of claims 1 to 14, characterized in that: The steps include: Positioning the glass to be processed by means of a feeding mechanism; The manipulator drives the visual detector to photograph the edge of the glass area by area to form first point cloud data, and fits the pre-processing profile data of the edge according to the first point cloud data; Start the tool to process the hemming; The manipulator drives the visual detector to photograph the hemming after processing area by area to form second point cloud data, and fits the processed surface data of the hemming according to the second point cloud data; The surface data before the hemming is processed and the surface data after the hemming is processed are calculated by difference to obtain the processing size of the hemming.

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