Automatic processing device and processing method for glass edging

Abstract

The application relates to a glass edge covering automatic processing device and processing method, which comprises a feeding mechanism for positioning glass to be processed, a mechanical arm arranged in cooperation with the feeding mechanism, a cutter arranged on the mechanical arm for processing the edge covering of the glass, and a visual detector arranged on the mechanical arm and used for detecting the processing size of the edge covering of the glass. Compared with the prior art, the visual detector can realize automatic online detection, greatly improves the detection efficiency, avoids manual detection errors, improves the detection accuracy, helps to guarantee the product delivery quality, and has good universality, can replace various traditional detection tools, reduces the number and cost of detection tools, and overcomes the detection tool management difficulty.

Description

Technical Field

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

[0002] Nowadays, more and more cars are adopting large sunroof designs to provide better in-cabin visibility and lighting, enhancing the driving experience. To facilitate installation and ensure structural safety, the outer perimeter of the sunroof glass is equipped with PU edging. To meet customer requirements, the PU edging needs to be milled before delivery to ensure that the milling depth (i.e., milling height) 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 complex, and management is difficult. Summary of the Invention

[0004] Based on this, it is necessary to provide an automatic glass edging processing device and processing 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 edging processing device, comprising:

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

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

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

[0009] The automatic glass edging processing device of this scheme is used in occasions where the edging of glass is automatically processed and the processing size of the edging is automatically detected. 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 edging 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 edging according to the first point cloud data; then the tool is started to process the edging; after the processing is completed, the robot is controlled to drive the visual detector to shoot the processed 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 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 support assembly to transfer the glass to the support 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 disposed 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 driven and 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 the opposite sides of the glass along the first direction.

[0018] In one embodiment, the first positioning assembly and the second positioning assembly each 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 and positioning mechanism further includes a contoured support block, which is disposed on the base and is used to support the glass.

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

[0024] In one embodiment, the automatic glass edging processing device further includes a dust suction mechanism, which is arranged 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 suction 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, a method for processing the above-mentioned automatic glass edging processing device is further provided, which comprises the following steps:

[0027] Positioning the glass to be processed through the 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 surface data of the edge according to the first point cloud data;

[0029] Start the tool to process the edge;

[0030] The manipulator drives the visual detector to photograph 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;

[0031] The processing dimensions of the hemming are obtained by performing a difference calculation between the profile data of the hemming before processing and the profile data of the hemming after processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings that constitute a part of this application are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0034] Figure 1 This is a schematic structural diagram of an automatic glass edging processing device according to an embodiment of the present application.

[0035] Figure 2 for Figure 1 Schematic diagram of the locally enlarged structure at point A in the middle.

[0036] Figure 3 for Figure 1 Schematic diagram of the local enlarged structure at point B in the middle.

[0037] Figure 4 for Figure 1 Schematic diagram of the locally enlarged structure at point C in the middle.

[0038] Figure 5 for Figure 1 Schematic diagram of the local enlarged structure at point D in the middle.

[0039] Figure 6 for Figure 1 Schematic diagram of the local enlarged structure at E in the middle.

[0040] Figure 7 The present invention is a flowchart of the steps of a processing method of an automatic glass edging processing device according to one 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 element; 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. Contoured support block; 65. Second positioning suction cup; 70. Dust collection mechanism; 71. Dust hood; 72. Dust collection pipe; 73. Dust collector; 74. Connecting plate; 75. Spindle; 76. Clamp; 77. Flange; 80. Gantry; 200. Glass. DETAILED DESCRIPTION

[0043] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to 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 to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0045] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on 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 an intermediate 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 an intermediate element. 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 embodiment.

[0047] See Figure 1 , is an automatic glass edging processing device 100 shown in an embodiment of the present application, which is equipped in a glass 200 processing production line and is used to complete the production process of automatic edging 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 achieved through 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 the specific selection can be based on actual needs. For example, in this application, the manipulator 20 is a six-axis manipulator. The six-axis manipulator has more degrees of freedom of movement and rotation, and has better adaptability to complex spaces and edge-wrapped topography, thus meeting the requirements of obstacle avoidance and assisting tools in edge-wrapped topography processing.

[0051] In this application, the feed mechanism 10 is used to position the glass 200 to be processed. It should be noted that the glass 200 mentioned in this case can refer to any type of vehicle glass, such as a front windshield, sunroof glass, rear windshield, or triangular window glass. For example, the glass 200 in this application is sunroof glass, which includes not only the glass body but also a rim mounted on the outer periphery of the glass body.

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

[0053] The edging and the glass body can be assembled and fixed by, but not limited to, snap connection, 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 edge of the glass 200. Specifically, the tool is mounted on the manipulator 20 via a high-speed rotating shaft, and the high-speed rotating shaft drives the tool to rotate to process the edge.

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

[0057] In order to more accurately control the processing angle of the tool, the glass hemming automatic processing device 100 of this 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 reading Figure 1 and Figure 6 The visual detector 30 is provided on the robot 20, and 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 situations where the edging of glass 200 is automatically processed and the processing size of the edging is automatically detected. 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 processed 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 improving the detection efficiency, avoiding manual detection errors, improving detection accuracy, and helping to ensure the quality of product delivery. In addition, the visual detector 30 has 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.

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

[0061] Please continue reading Figure 1 On the basis of the above embodiment, the feeding mechanism 10 includes a base 11, a conveying assembly 12 and a plurality of supporting assemblies 13. The top surface of the base 11 defines a central positioning station, and the plurality of supporting assemblies 13 are dispersedly arranged in the central positioning station. The conveying assembly 12 can be raised and lowered in the central positioning station; wherein, the conveying assembly 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 workstation 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 a 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 support assembly 13 to transfer the glass 200 to the support 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 support 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 assembly, and a conveyor belt. The conveying wheel assembly is rotatably mounted on the conveying frame, and the conveyor belt is mounted on the exterior of the conveying wheel assembly and can move with the conveying wheel assembly. When the glass 200 is conveyed from the glass conveying mechanism to the conveying unit, the glass 200 contacts the conveyor belt, generating friction. As the glass 200 continues to move, the conveyor belt rotates synchronously with the glass 200 under the action of friction, ultimately transferring the glass 200 to the conveying unit. The conveying wheel assembly supports the conveyor belt and moves with the glass 200, resulting in low resistance to the movement of the glass 200 and low friction loss, which helps facilitate the quick and smooth transfer of the glass 200 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 driven and 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.

[0069] The difference from the above 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, which can make the glass 200 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 reading Figure 2 In addition, in another embodiment, the support assembly 13 includes a second lifting driver 131, a support 132 and a rolling body 133. The support 132 is connected to the telescopic shaft of the second lifting driver 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 rising position to the falling 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 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 move laterally 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 element 133 may be a ball, a roller, or the like.

[0074] Considering that the support assembly 13 needs to ensure that the glass 200 is firmly supported to prevent the glass 200 from falling and breaking, the number of the support assemblies 13 is at least three. 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 when it is transferred from the glass conveying mechanism to the conveyor 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. To address this, it is necessary to perform centering and 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 processing quality. Please continue to refer to Figure 1 and Figure 3 Based 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). 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 this application, the glass 200 to be processed is rectangular, with the length of the rectangle being consistent with the first direction of the centering position, and the width being consistent with the second direction of the centering position. It can be understood that the centering position is actually a rectangular area on the surface of the base 11, which serves as a workplace for positioning, hemming, and hemming size detection of the glass 200. Thus, by using the first positioning assembly 41, the second positioning assembly, and the second positioning mechanism 50 to abut the four sides of the glass 200 separately or simultaneously, the offset glass 200 can be positioned and corrected to the set reference position, resulting in a simple positioning method and high positioning accuracy.

[0078] Please continue reading Figure 3Specifically, in the above embodiment, both the first positioning assembly 41 and the second positioning assembly include a positioning seat 411, a first telescopic actuator 412, and a first positioning wheel 413. The first telescopic actuator 412 is mounted on the positioning seat 411, and the first positioning wheel 413 is connected to the telescopic shaft of the first telescopic actuator 412. Specifically, the first telescopic actuator 412 drives the first positioning wheel 413 against the side of the glass 200, thereby pushing the offset glass 200 to move laterally supported by the rolling element 133, thereby achieving the purpose of positioning correction. The first and second positioning assemblies have simple structures and operating principles, and highly effective positioning.

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

[0080] Furthermore, 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] During operation, the second telescopic actuator synchronously drives the first and second telescopic shafts to retract toward each other. This, in turn, pulls the second and third positioning wheels against opposite sides of the glass 200 via the first and second linkage rods, thereby correcting the positioning of the glass 200. Compared to the first positioning mechanism 40, this solution only requires one second telescopic actuator, reducing the number of actuators used, lowering costs, and conserving installation space.

[0082] Optionally, the first telescopic actuator 412 may be any one of an air cylinder, an electric push rod, an oil cylinder, etc. The second telescopic actuator may be any one of a bidirectional air cylinder, a bidirectional motor, etc. The selection may be made based on actual needs.

[0083] Please continue reading Figure 4 and Figure 5During processing, the tool rotates at high speed and contacts the hemming to mill away excess hemming material, which causes the glass 200 to be subjected to a large external force. If the glass 200 is displaced, the processing accuracy of the hemming will inevitably be affected. To address this, in one embodiment, the automatic glass hemming processing device 100 further includes an adsorption positioning mechanism 60. The adsorption positioning mechanism 60 includes a third lifting driver 61, a positioning carrier 62, and a plurality of first positioning suction cups 63. The positioning carrier 62 is connected to the telescopic shaft of the third lifting driver 61. The positioning carrier 62 has a first end and a second end opposite to each other. At least one first positioning suction cup 63 is disposed at the first end, and at least one first positioning suction cup 63 is disposed at the second end.

[0084] After the first positioning mechanism 40 and the second positioning mechanism 50 have completed centering the glass 200, the third lifting actuator 61 drives the positioning carrier 62 upward, causing the multiple first positioning suction cups 63 to simultaneously absorb and secure the central portion of the glass 200. This suction force secures the glass 200, preventing it from shifting due to force during hemming. For example, there are two first positioning suction cups 63 located at the first end and two at the second end. By distributing the four first positioning suction cups 63 in a rectangular arrangement, the glass 200 can be securely secured.

[0085] Furthermore, the suction and positioning mechanism 60 includes a contoured support block 64, which is mounted on the base 11 and is used to support the glass 200. After the first positioning suction cup 63 has attached to the glass 200, the third lifting actuator 61 drives the positioning carrier 62 downward by a predetermined stroke, pulling the glass 200 against the contoured support block 64. Because the contoured support block 64 is designed to conform to the shape of the glass 200, it has a large contact area with the glass 200, providing good longitudinal support and positioning for the glass 200.

[0086] Furthermore, the suction and positioning mechanism 60 also includes a plurality of second positioning suction cups 65, which are dispersedly disposed on the base 11 and cooperate with the contoured support blocks 64. Specifically, the plurality of second positioning suction cups 65 are positioned at both ends of the glass 200 in the longitudinal direction. In other words, in addition to the first positioning suction cups 63 securing the central region of the glass 200, the second positioning suction cups 65 securely secure the glass 200 in the longitudinal direction, further improving the securement of the glass 200.

[0087] As will be readily understood, the first and second positioning suction cups 63, 65 are both connected to a negative pressure generator via a vacuum line, so that the negative pressure generator generates the desired negative pressure suction force on the first and second positioning suction cups 63, 65. Depending on actual needs, the first and second positioning suction cups 63, 65 can be connected to the same negative pressure generator or to different negative pressure generators.

[0088] Please continue reading Figure 1 and Figure 6 In the process of tool milling and edge wrapping, a lot of small debris will be generated. In traditional technology, workers usually rely on handheld vacuum cleaners 73 to suck away 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, which affects the production rhythm and efficiency. In response to this, in one embodiment, the automatic glass edge wrapping processing device 100 also includes a dust suction mechanism 70. 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. It has 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 tube 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 via the clamp 76. The main shaft 75 is assembled and fixed to the flange 77 via the connecting plate 74. The flange 77 is assembled and fixed to the manipulator 20. One end of the dust collection tube 72 is connected to the dust collection hood 71, and the other end of the dust collection tube 72 is connected to the dust collector 73. The main shaft 75 is connected to the manipulator 20 via the flange 77, which enables the dust collection mechanism 70 to be integrally mounted on the manipulator 20 with a simple mounting structure. When removing debris, under the movement of the robot 20, the dust hood 71 can be placed 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, thereby sucking away the debris and achieving the effect of cleaning the glass 200.

[0090] In this 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 using positioning pins and thumb locks. 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 glass 200 types. 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 includes 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 edge of the glass 200 area by area to form first point cloud data, and fits the pre-processing surface data of the edge according to the first point cloud data.

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

[0095] S40: the robot 20 drives the visual detector 30 to photograph 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-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A glass edge automatic processing device, characterized in that: include: A feeding mechanism, the feeding mechanism being 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; A visual detector is provided on the manipulator, and is used to detect the processing size of the edging of the glass; 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, and the plurality of supporting assemblies are dispersedly arranged in the centering position. The conveying assembly is arbitrarily arranged in the centering position. The conveying assembly is used to engage with an external glass conveying mechanism. The automatic glass edging processing device further 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, and 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 disposed on the first end, and at least one of the first positioning suction cups is disposed on the second end. The adsorption and positioning mechanism further includes a contoured support block, which is disposed on the base and is used to support the glass; and The adsorption and positioning mechanism further includes a plurality of second positioning suction cups, which are dispersedly arranged on the base, and the second positioning suction cups are arranged in coordination with the contoured support block.

2. The automatic glass edging processing device according to claim 1, characterized in that: The conveying assembly includes 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 the 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 support assembly to transfer the glass to the support assembly.

3. The automatic glass edging processing device according to claim 2, characterized in that: The conveying unit includes a conveying frame, a conveying wheel group and a conveying belt. The conveying wheel group is rotatably arranged on the conveying frame, and the conveying belt is sleeved on the outside of the conveying wheel group and can move with the conveying wheel group. 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 driven and 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.

4. The automatic glass edging processing device according to claim 1, 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 to the outside of the groove opening of the rolling groove.

5. The automatic glass edging processing device according to claim 1, 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.

6. The automatic glass edging processing device according to claim 5, 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.

7. The automatic glass edging processing device according to claim 5, 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.

8. The automatic glass edging processing device according to claim 7, 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.

9. The automatic glass edging processing device according to claim 1, characterized in that: The automatic glass edging processing device further includes a dust suction mechanism, which is arranged on the manipulator and is used to absorb and remove debris generated when the tool processes the edging.

10. The automatic glass edging processing device according to claim 9, 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 suction hood, and the other end of the dust suction tube is connected to the dust collector.

11. A processing method of the automatic glass edging processing device according to any one of claims 1 to 10, characterized in that: The steps include: Positioning the glass to be processed through the 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 surface data of the edge according to the first point cloud data; Start the tool to process the edge; The manipulator drives the visual detector to photograph 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; The processing dimensions of the hemming are obtained by performing a difference calculation between the profile data of the hemming before processing and the profile data of the hemming after processing.

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