Accurate positioning and conveying device for automobile glass production line and positioning method thereof

Abstract

The invention discloses a precise positioning and conveying device for an automobile glass production line and a positioning method of the precise positioning and conveying device, and belongs to the field of automobile glass processing. The device mainly comprises a rack, a workbench is arranged on the rack, a positioning moving mechanism is arranged on the workbench, a plurality of preliminary positioning mechanisms and supporting mechanisms are connected to the positioning moving mechanism in a sliding mode, the supporting mechanisms are fixedly connected with the preliminary positioning mechanisms, and each preliminary positioning mechanism is provided with a floating positioning mechanism. A dome supporting head or a conical positioning assembly is fixedly installed on the floating positioning mechanism, and at least three evenly-distributed accurate positioning mechanisms are arranged between the conical positioning assembly and the floating positioning mechanism. The automatic positioning and conveying device is used in cooperation with an existing automobile glass production line, batch automatic precise positioning and conveying of special-shaped automobile glass and regular automobile glass are achieved, follow-up precise trimming work is facilitated, and the machining precision and the working efficiency are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle glass processing such as automobiles, engineering vehicles, and agricultural machinery assembly, and more specifically, relates to a precise positioning and conveying device for an automobile glass production line and a positioning method thereof. Background Art

[0002] Due to its unique safety properties, automotive glass has higher performance and safety requirements than the construction industry. Traditional automotive glass production lines do not include the water jet drilling process, which needs to be completed as a separate process. There are many special-shaped glasses in automotive glass. Special-shaped glass usually has a certain curvature and different shapes. After the perimeter is ground on the edge grinding production line, high-pressure water jet equipment is required, hereinafter referred to as "water jet" to cut specific holes. The edges of the holes cut by the water jet are relatively sharp. If the edges are not chamfered and trimmed, the glass will explode when it is subsequently tempered in the tempering furnace. At the same time, the risk of self-explosion of the static glass in the later stage will also greatly increase, and it is not conducive to personnel installation. When the sharp edge of the inner hole of the glass contacts a hard object, the tempered glass will also shatter.

[0003] Currently, there are two ways to process the edges of holes in the industry. One is that professionals use a handheld conical chamferer to grind and blunt the surface of the hole. After processing one side, the glass is turned over to process the other side. This leads to high labor intensity during transportation, unstable chamfering quality, and easy scratches and abrasions on the glass, resulting in poor product quality and low efficiency.

[0004] Another method is to use a three-axis CNC machine tool to install a small grinding wheel to grind the edge of the inner hole. In combination with a glass positioning platform disclosed in the patent with the authorization announcement number "CN116142794B", the automated glass positioning platform includes an operating table, a placement frame, a longitudinal adjuster, a transverse pusher, a flip-type clamping mechanism and a movable support plate. The placement frames are divided into two groups and are symmetrically installed on both sides of the operating table. The side walls of the placement frames are longitudinally provided with two groups of guide grooves and the top is provided with a strip groove. The longitudinal adjuster is movably arranged in the two groups of guide grooves and the power output end is connected to a bearing plate. The bearing plate is located on the inner side of the placement groove. The transverse pusher includes a driver and a push plate installed on the driver. The push plate is slidably arranged on the top of the placement frame. Two groups of side panels are symmetrically installed on the left and right ends of the operating table. The glass positioning platform can realize the automated loading, placement and positioning and fixing of the glass, thereby improving the efficiency of glass processing.

[0005] Although the above positioning table realizes the automatic loading, placement and positioning and fixing of glass; however, there are still the following deficiencies in actual use: 1. The above structure is only applicable to flat and regular plane glass, and is not suitable for the positioning and fixing of special-shaped automobile glass, resulting in substandard positioning accuracy and inability to achieve automatic trimming operations; 2. Since the tolerance bands of various processes in the automobile glass production line are different, such as the tolerance of water jet cutting holes is ±1.5mm, while the tolerance of inner hole trimming is 0.5-1mm, if the positioning of the inner hole trimming is inaccurate and deviates from the above tolerances, during actual trimming, it will result in the inability to trim the edge of the inner hole at all, making it extremely easy for the glass to explode during subsequent tempering, and the product scrap rate is high; 3. At present, there is no machine that can replace manual high-precision positioning of automobile special-shaped glass to assist in the automated production of automobile special-shaped glass. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: to overcome the shortcomings of the existing technology and provide a precise positioning and conveying device for an automobile glass production line and a positioning method thereof, which can be used in conjunction with the existing automobile glass production line to realize batch automated precise positioning and conveying of special-shaped automobile glass and regular automobile glass, facilitate subsequent precise trimming work, and greatly improve processing accuracy and work efficiency.

[0007] The precise positioning and conveying device for the automobile glass production line includes a frame with a workbench on the frame, a positioning and moving mechanism on the workbench, a plurality of preliminary positioning mechanisms and a supporting mechanism slidably connected to the positioning and moving mechanism, the supporting mechanism is fixedly connected to the preliminary positioning mechanism, each preliminary positioning mechanism is provided with a floating positioning mechanism, a dome support head or a conical positioning assembly is fixedly installed on the floating positioning mechanism, and at least three evenly distributed precise positioning mechanisms are provided between the conical positioning assembly and the floating positioning mechanism.

[0008] Preferably, the positioning and moving mechanism includes at least one group of longitudinal sliding components, the longitudinal sliding component includes two parallel longitudinal guide rails, and longitudinal racks are respectively provided on the side away from the two longitudinal guide rails. The longitudinal racks are arranged parallel to the longitudinal guide rails, and multiple groups of transverse sliding components are slidably connected to the longitudinal sliding component. The transverse sliding component includes parallel transverse guide rails, transverse racks and transmission shafts. The bottoms of both ends of the transverse guide rails and the transverse racks are fixedly connected with a first slider slidably connected to the longitudinal guide rails. The transmission shaft is rotatably connected to the first slider through a bearing seat. The two ends of the transmission shaft are respectively fixedly connected with a first gear meshing with the longitudinal racks. A sliding groove is provided in the length direction of the transmission shaft to facilitate the transverse sliding of the preliminary positioning mechanism.

[0009] Preferably, the preliminary positioning mechanism includes a positioning plate, a floating positioning mechanism is arranged on the positioning plate, a transverse motor is fixedly connected to one side of the positioning plate, the output end of the transverse motor is provided with a transverse driving gear meshing with the transverse rack, the bottom of the positioning plate is fixedly connected with a second slider cooperating with the transverse guide rail, and a longitudinal motor for driving the positioning plate to move transversely, the output end of the longitudinal motor is provided with a gear box, the gear box is fixedly installed at the bottom of the positioning plate, and the transmission shaft passes through the gear box.

[0010] Preferably, the positioning plate is provided with a high-position water outlet and a low-position water outlet, the high-position water outlet is in a normally open state, the low-position water outlet is in a normally closed state, and a detachable sealing plug is provided on the low-position water outlet.

[0011] Preferably, the gear box includes a shell, and mounting holes matching the transmission shaft are respectively opened on both sides of the shell, and a meshing sliding gear and a longitudinal drive gear are provided in the shell, the longitudinal drive gear is connected to the longitudinal motor, the sliding gear is sleeved on the transmission shaft, and an inner slider matching the slide groove is fixedly connected to the sliding gear, and the two sides of the sliding gear are respectively fixedly connected to the optical axis, and a limit bearing is sleeved on the outer wall of the optical axis, and the outer rings of the two limit bearings are fixedly connected to a shift fork, and the shift fork is fixedly connected to the shell.

[0012] Preferably, the support mechanism includes an upper support suction cup and a lower support suction cup which are arranged up and down and fixedly connected. The upper support suction cup and the lower support suction cup are fixedly connected to the positioning plate through a clamp. The upper support suction cup and the lower support suction cup are respectively connected to an exhaust pipe 2, and the exhaust pipe 2 is connected to the fan through a hose.

[0013] Preferably, the floating positioning mechanism includes a floating suction cup, which is provided with an exhaust pipe for vacuuming the floating suction cup, and the exhaust pipe is connected to the negative pressure mechanism through a hose. A positioning cylinder is fixedly connected to the floating suction cup, and the bottom of the dome support head or the conical positioning assembly is connected to the protruding end of the positioning cylinder.

[0014] Preferably, the conical positioning assembly includes a conical positioning head, a fixing plate is provided at the bottom of the conical positioning head, and at least three evenly distributed elastic ball head sleeves are fixedly connected to the bottom of the fixing plate.

[0015] Preferably, the precise positioning mechanism includes a positioning seat, a fine-tuning sliding seat slidingly connected in the positioning seat, a guide block fixed on the fine-tuning sliding seat, a guide groove cooperating with the guide block is provided on the positioning seat, a limit plate for fine-tuning the sliding seat rising limit is provided above the positioning seat, the fine-tuning sliding seat is rotatably connected with a rotating shaft, the rotating shaft is fixedly connected to the fine-tuning gear and ratchet, the outer periphery of the ratchet is provided with a matching pawl, the pawl is rotatably connected to the fine-tuning sliding seat through a connecting shaft, the connecting shaft passes through the fine-tuning sliding seat, and a reset knob is provided at one end of the connecting shaft located outside the fine-tuning sliding seat; the fine-tuning sliding seat is slidably connected with a fine-tuning rack meshing with the fine-tuning gear, the upper end of the fine-tuning rack passes through the fine-tuning sliding seat, and is fixedly connected with a positioning ball head rotatably cooperating with the elastic ball head sleeve, the fine-tuning sliding seat is fixedly connected with a fixed block, and a spring is provided between the fixed block and the end of the pawl away from the ratchet.

[0016] The method for accurately positioning an automobile glass production line adopts the above-mentioned accurate positioning and conveying device for an automobile glass production line, and comprises the following steps: S1. The robot moves the glass to be processed onto the workbench and pauses at a position 5-10mm away from the bottom of the glass from the support mechanism; S2. The preliminary positioning mechanism starts after sensing the glass. Under the guidance of the positioning movement mechanism, the preliminary positioning mechanism and the floating positioning mechanism with the tapered positioning component move toward the bottom of the glass inner hole. When the tapered positioning component senses the glass inner hole, the preliminary positioning mechanism stops moving. At this time, the floating positioning mechanism is in a movable state. The floating positioning mechanism with the dome support head and the preliminary positioning mechanism move toward the position where the glass has not been drilled, playing an auxiliary support role. S3. After the preliminary positioning mechanism moves to the appropriate position, the manipulator places the glass to be processed on the support mechanism. At this time, the lower support suction cup is vacuumed to fix it to the workbench. At the same time, air is blown to the upper support suction cup to make the glass on the upper support suction cup float and free. S4. The positioning cylinder in the floating positioning mechanism is activated, driving the corresponding conical positioning assembly and dome support head to rise. The conical positioning assembly pulls multiple precise positioning mechanisms to rise. Since some glass has a curved special-shaped structure, the conical positioning head will deflect at an angle when it fits with the inner hole of the glass. That is, the extension amount of multiple precise positioning mechanisms is different. During the rising process of the conical positioning head in the conical positioning assembly, the conical positioning head and the inner hole of the glass gradually become concentric, and its conical surface is fully integrated with the inner hole of the glass. During this process, the conical positioning assembly drives the floating positioning mechanism and the glass to make fine adjustments in position. S5. After the conical positioning head is fully matched with the inner hole of the glass, the negative pressure mechanism is activated to vacuum the floating suction cup, so that the floating positioning mechanism and the preliminary positioning mechanism are fixed together; S6. After the inner holes of multiple glasses are properly matched with the corresponding conical positioning heads, all the positioning cylinders are contracted synchronously, driving the glass to fall to the top of the support mechanism. At this time, the upper support suction cup is vacuumed to fix the bottom of the glass to the upper support suction cup, thereby facilitating the subsequent trimming of the inner holes of the glass. After the trimming is completed, the glass is transported away by the robot arm; S7. Repeat S3 to S6 until all the glass in this batch is processed.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention sets a positioning movement mechanism, a preliminary positioning mechanism and a supporting mechanism. The positioning movement mechanism realizes automatic lateral movement and automatic longitudinal movement of the preliminary positioning mechanism, and the lateral movement does not interfere with the supporting mechanism. A floating positioning mechanism is added to the preliminary positioning mechanism. The floating positioning mechanism cooperates with the conical positioning assembly to realize that during the cooperation between the conical positioning assembly and the inner hole of the glass, the floating positioning mechanism and the glass can be adaptively fine-tuned in position, so that the positioning of the inner hole of the glass is more accurate.

[0018] 2. Multiple evenly distributed precise positioning mechanisms are added between the conical positioning assembly and the positioning cylinder. The precise positioning mechanism is used for precise angular positioning of the inner hole of special-shaped glass with an arc. The conical positioning assembly rises, causing the elastic ball head sleeve to pull the positioning ball head to rise. Due to the limitation of the pawl and the ratchet, during the initial rise, the fine-tuning rack will pull the entire fine-tuning sliding seat up along the guide groove. When the fine-tuning sliding seat touches the limit plate, the fine-tuning sliding seat is blocked and no longer rises. At this time, the positioning cylinder drives the conical positioning head to continue to rise, and the conical positioning head pulls the fine-tuning rack to extend. Since the inner hole of the special-shaped glass has a certain deflection angle, the conical positioning head will also deflect at an angle when it cooperates with the inner hole of the glass. At this time, the extension amount of the fine-tuning racks in different precise positioning mechanisms is different, which will fix the deflection angle of the conical positioning assembly. This will be used as a benchmark for subsequent glass positioning, thereby achieving fast and accurate positioning.

[0019] 3. The present invention can be used in conjunction with the existing automobile glass production line to achieve batch automatic and precise positioning of special-shaped automobile glass and regular automobile glass, facilitate subsequent trimming work, and greatly improve processing accuracy and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 A partial enlarged view of part A; Figure 3 It is a schematic diagram of the coordination between the positioning movement mechanism and the preliminary positioning mechanism; Figure 4 It is a schematic diagram of the connection between the preliminary positioning mechanism and the supporting mechanism; Figure 5 It is a schematic diagram of the top view of the preliminary positioning mechanism and the supporting mechanism; Figure 6 It is a schematic diagram of the connection between the tapered positioning component and the precise positioning mechanism; Figure 7 A schematic diagram of the external structure of the precise positioning mechanism; Figure 8 Schematic diagram of the internal structure of the precise positioning mechanism; Figure 9 It is a structural diagram of the fine-tuning sliding seat; Figure 10 It is a structural schematic diagram of the tapered positioning component; Figure 11 Schematic diagram of the internal structure of the gearbox; Figure 12 This is a schematic diagram of the gearbox disassembly; Figure 13 Schematic diagram of the internal structure of the sliding gear; Figure 14 This is a reference diagram of the present invention in use.

[0021] In the figure, 1. frame; 101. water outlet; 102. workbench; 2. positioning and moving mechanism; 201. longitudinal guide rail; 202. limit seat; 203. longitudinal rack; 204. first slider; 205. transmission shaft; 2051. slide; 206. first gear; 207. transverse rack; 208. transverse guide rail; 3. preliminary positioning mechanism; 301. positioning plate; 302. high-position water outlet; 303. low-position water outlet; 304. water outlet guide hose; 305. transverse motor; 306. transverse drive gear; 307. longitudinal motor; 308. second slider; 309. gear box; 3091. shift fork; 30911. limit bearing; 3092. longitudinal drive gear; 3093. sliding gear; 30931. optical axis; 30932. inner slider; 3094. mounting hole; 4. Dome support head; 5. Conical positioning assembly; 501. Conical positioning head; 502. Fixed plate; 503. Elastic ball head sleeve; 6. Floating positioning mechanism; 601. Floating suction cup 1; 602. Exhaust pipe 1; 603. Positioning cylinder; 7. Support mechanism; 701. Upper support suction cup; 702. Lower support suction cup; 703. Clamp; 704. Exhaust pipe 2; 8. Precise positioning mechanism; 801. Positioning seat; 8011. Guide groove; 8012. Limiting plate; 802. Fine-tuning sliding seat; 8021. Guide block; 8022. Fixed block; 8023. Through hole; 803. Positioning ball head; 804. Reset knob; 805. Fine-tuning gear; 806. Ratchet; 807. Pawl; 808. Spring; 809. Fine-tuning rack; 9. Manipulator. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings: The directional terms used in the detailed description are intended solely to facilitate understanding of the technical solutions described herein by those skilled in the art based on the visual orientation shown in the accompanying drawings. Unless otherwise specified or limited, the terms "dispose," "install," and "connect" are to be interpreted broadly, and those skilled in the art will understand their specific meanings within the present invention based on the specific circumstances.

[0023] Since the inner holes of automotive glass are opened by CNC control, the spacing between the inner holes in the same piece of automotive glass is fixed, while there is a certain tolerance between the inner holes and the edge of the automotive glass. When positioning the inner holes of the glass, the inner holes cannot be accurately positioned by the edge of the glass. When trimming, the trimming parameters usually refer to the opening parameters. The disadvantage is that if one of the inner holes is not positioned accurately, the trimming of all the inner holes will be offset. The risk of self-explosion when the glass is subsequently put into the tempering furnace for tempering is very high, and the product qualification rate is low. Therefore, it is very important to accurately position the inner holes.

[0024] like Figures 1 to 13 As shown, the precise positioning and conveying device of the automobile glass production line includes a frame 1, which plays a supporting role. A workbench 102 is provided on the frame 1, and baffles are provided around the workbench 102. The baffles are used to prevent water flowing out of the trimming equipment from polluting the ground during processing. A water outlet 101 is provided on the workbench 102, and the water outlet 101 is in a normally closed state. A drain pipe is provided at the bottom of the water outlet 101, and the drain pipe is connected to the sewage discharge equipment. When drainage is required, the water outlet 101 is opened to clean the water on the workbench 102 uniformly. A positioning movement mechanism 2 is provided on the workbench 102. A plurality of preliminary positioning mechanisms 3 and support mechanisms 7 are slidably connected to the positioning movement mechanism 2. The positioning movement mechanism 2 is used for automatic positioning of the preliminary positioning mechanism 3 and the support mechanism 7. The support mechanism 7 is fixedly connected to the preliminary positioning mechanism 3 to achieve synchronous movement of the support mechanism 7 and the preliminary positioning mechanism 3. Each preliminary positioning mechanism 3 is provided with a floating positioning mechanism 6. The floating positioning mechanism 6 can move within the preliminary positioning mechanism 3. When accurately positioning, the position is adjusted according to the specific position of the inner hole of the glass. A dome support head 4 or a conical positioning assembly 5 is fixedly installed on the floating positioning mechanism 6. The dome support head 4 is used for auxiliary support of glass without openings, and the conical positioning assembly 5 is used for precise positioning with the inner hole of the glass. Three or more evenly distributed precise positioning mechanisms 8 are provided between the conical positioning assembly 5 and the floating positioning mechanism 6. In this embodiment, it is preferred that there are three precise positioning mechanisms 8. The precise positioning mechanism 8 is used for precise angular positioning of the inner hole of the curved special-shaped glass.

[0025] like Figure 3As shown, the positioning movement mechanism 2 includes at least one set of longitudinal sliding components. In this embodiment, there are two sets of longitudinal sliding components. Each set of longitudinal sliding components includes two parallel longitudinal guide rails 201. The two ends of the longitudinal guide rails 201 are respectively fixedly connected with a limit seat 202 for limiting. A longitudinal rack 203 is provided on the side away from the two longitudinal guide rails 201. The longitudinal rack 203 is arranged on the outer side away from the longitudinal guide rails 201 to avoid interference with the longitudinal rack 203 when the preliminary positioning mechanism 3 and the support mechanism 7 move horizontally. The longitudinal rack 203 and the longitudinal guide rails 201 is arranged in parallel, and multiple groups of transverse sliding components are slidably connected to the longitudinal sliding component. The transverse sliding component includes a transverse guide rail 208, a transverse rack 207 and a transmission shaft 205 arranged in parallel. The transverse guide rail 208 is arranged perpendicular to the longitudinal guide rail 201. The bottom of both ends of the transverse guide rail 208 and the transverse rack 207 are fixedly connected to the first slider 204 that is slidably connected to the longitudinal guide rail 201. The transmission shaft 205 is rotatably connected to the first slider 204 through a bearing seat. The two ends of the transmission shaft 205 are respectively fixedly connected to the first gear 206 that meshes with the longitudinal rack 203. Figure 11 and Figure 12 As shown, a sliding groove 2051 is provided in the length direction of the transmission shaft 205 to facilitate the horizontal sliding of the preliminary positioning mechanism 3.

[0026] like Figure 4 and Figure 5 As shown, the preliminary positioning mechanism 3 includes a positioning plate 301, the upper end surface of which is sealed with a water retaining plate for retaining water. The floating positioning mechanism 6 is movably arranged on the positioning plate 301. A transverse motor 305 is fixedly connected to one side of the positioning plate 301. The output end of the transverse motor 305 is provided with a transverse drive gear 306 that meshes with the transverse rack 207. The bottom of the positioning plate 301 is fixedly connected to a second slider 308 that cooperates with the transverse guide rail 208 and a longitudinal motor 307 for driving the positioning plate 301 to move laterally. The output end of the longitudinal motor 307 is provided with a gear box 309, which is fixedly mounted on the bottom of the positioning plate 301 and the transmission shaft 205 passes through the gear box 309. The gear box 309 can slide back and forth on the transmission shaft 205 following the positioning plate 301.

[0027] The positioning disk 301 is provided with a plurality of high-position water outlets 302 and a low-position water outlet 303. The high-position water outlets 302 and the low-position water outlets 303 are respectively arranged at the four corners of the positioning disk 301. The high-position water outlets 302 are in a normally open state and are 5-8 mm higher than the end surface of the positioning disk 301. The low-position water outlets 303 are in a normally closed state and are provided with removable sealing plugs. The low-position water outlets 303 are flush with the end surface of the positioning disk 301. The high-position water outlets 302 allow a certain height of water to be stored in the positioning disk 301. The water can reduce the friction between the floating positioning mechanism 6 and the positioning disk 301, making it easier for the floating positioning mechanism 6 to slide.

[0028] like Figure 11 and Figure 12 As shown, the gear box 309 includes a shell, and mounting holes 3094 that match the transmission shaft 205 are respectively opened on both sides of the shell. The gear box 309 can slide better through the mounting holes 3094. A meshing sliding gear 3093 and a longitudinal drive gear 3092 are provided in the shell. The longitudinal drive gear 3092 is connected to the output end of the longitudinal motor 307. The sliding gear 3093 is sleeved on the transmission shaft 205, and an inner slider 30932 that matches the slide groove 2051 is fixedly connected to the sliding gear 3093. Optical shafts 30931 are respectively fixedly connected on both sides of the sliding gear 3093. A limit bearing 30911 is sleeved on the outer wall of the optical shaft 30931. The optical shaft 30931 can rotate in the limit bearing 30911. The outer rings of the two limit bearings 30911 are fixedly connected to a shift fork 3091, and the shift fork 3091 is fixedly connected to the shell. Start the longitudinal motor 307, which drives the sliding gear 3093 to rotate through the meshing longitudinal drive gear 3092 and the sliding gear 3093, and the sliding gear 3093 drives the transmission shaft 205 to rotate, and the first gear 206 on the transmission shaft 205 meshes with the longitudinal rack 203, thereby driving the entire preliminary positioning mechanism 3 to move longitudinally; when horizontal movement is required, start the horizontal motor 305, and mesh the horizontal drive gear 306 with the horizontal rack 207, and the positioning plate 301 and the gear box 309 drive the shift fork 3091 to drive the sliding gear 3093 to slide horizontally on the transmission shaft 205, thereby realizing the horizontal movement of the preliminary positioning mechanism 3.

[0029] The support mechanism 7 includes an upper support suction cup 701 and a lower support suction cup 702, which are arranged vertically and fixedly connected. The suction cup structures of the upper support suction cup 701 and the lower support suction cup 702 are conventional. The upper support suction cup 701 and the lower support suction cup 702 are fixedly connected to the positioning plate 301 via a clamp 703. The support mechanism 7 can slide on the workbench 102 along with the positioning plate 301. The upper support suction cup 701 and the lower support suction cup 702 are each connected to an exhaust pipe 2 704, which is connected to a blower via a hose. During installation, the support mechanism 7 is preferably located on the side away from the edge of the glass. The support mechanism 7 can be adjusted on the installation side of the positioning plate 301 according to the position of the inner hole.

[0030] The floating positioning mechanism 6 includes a floating suction cup 601. The structure of the floating suction cup 601 is the same as the suction cup structure in the support mechanism 7. The floating suction cup 601 is provided with an exhaust pipe 602 for vacuuming it. The exhaust pipe 602 is connected to the negative pressure mechanism through a hose. The floating suction cup 601 is fixedly connected to a positioning cylinder 603. The bottom of the dome support head 4 or the conical positioning assembly 5 is connected to the protruding end of the positioning cylinder 603. During installation, the dome support head 4 is threadedly connected to the protruding end of the positioning cylinder 603.

[0031] like Figure 10 As shown, the conical positioning assembly 5 includes a conical positioning head 501, and a fixing plate 502 is provided at the bottom of the conical positioning head 501. During processing, the fixing plate 502 and the conical positioning head 501 can be molded together, or the fixing plate 502 and the conical positioning head 501 can be designed as a split type. When in use, they are fixed as a whole through a card slot. At least three evenly distributed elastic ball head sleeves 503 are fixedly connected to the bottom of the fixing plate 502. The elastic ball head sleeve 503 facilitates the installation of the positioning ball head 803, and there is a certain friction between the elastic ball head sleeve 503 and the positioning ball head 803 to prevent it from rotating at will.

[0032] like Figures 7 to 9As shown, the precise positioning mechanism 8 includes a positioning seat 801, and the bottoms of the positioning seats 801 of the multiple precise positioning mechanisms 8 are all fixed on the support, and the support is fixedly connected to the positioning cylinder 603. A fine-tuning sliding seat 802 is slidably connected in the positioning seat 801, and guide blocks 8021 are fixed on both sides of the fine-tuning sliding seat 802. A guide groove 8011 that cooperates with the guide block 8021 is provided in the positioning seat 801, and a limit plate 8012 for limiting the rise of the fine-tuning sliding seat 802 is provided above the positioning seat 801. The fine-tuning sliding seat 802 is rotatably connected with a rotating shaft, and a fine-tuning gear 805 and a ratchet 806 are fixedly connected to the rotating shaft. A matching pawl 807 is provided on the outer periphery of the ratchet 806. The pawl 807 is rotatably connected to the fine-tuning sliding seat 802 through a connecting shaft, and the connecting shaft passes through A fine-tuning sliding seat 802 is provided, and a reset knob 804 is provided at one end of the connecting shaft located outside the fine-tuning sliding seat 802. A fine-tuning rack 809 is slidably connected to the fine-tuning sliding seat 802 and meshes with the fine-tuning gear 805. A through-hole 8023 is provided at the upper end of the fine-tuning sliding seat 802. The upper end of the fine-tuning rack 809 passes through the through-hole 8023 and slidably engages with the through-hole 8023. The upper end of the fine-tuning rack 809 extends through the fine-tuning sliding seat 802 and is fixedly connected to a positioning ball 803 that rotatably engages with the elastic ball head sleeve 503. A fixed block 8022 is fixedly connected to the fine-tuning sliding seat 802. A spring 808 is provided between the fixed block 8022 and the end of the pawl 807 away from the ratchet 806. The ends of the spring 808 are respectively fixedly connected to the fixed block 8022 and the pawl 807. The pawl 807 prevents the fine-tuning rack 809 from ascending and descending, thereby locking the fine-tuning rack 809. When the inner hole of the glass of the same specification is trimmed, the pawl 807 is disengaged from the ratchet 806 by pressing the reset knob 804, and the fine-tuning rack 809 can be lowered and reset.

[0033] like Figure 14 As shown, a precise positioning method for an automobile glass production line is provided, which utilizes the precise positioning and conveying device for an automobile glass production line and the automobile glass production line. A manipulator 9 in the automobile glass production line is installed on one side of a frame 1 and is used for adsorbing and transporting automobile glass. Those skilled in the art can use existing technologies, such as installing corresponding mechanical limit switches or photoelectric sensors, to define the specified positions of each actuator during the following operation. To achieve automated operation, the present invention can utilize numerical control technology or PLC to control the operation of each actuator. Specifically, the method includes the following steps: S1, the robot 9 moves the glass to be processed to the top of the workbench 102 and pauses at a position 5-10 mm away from the bottom of the glass from the support mechanism. At this time, the glass is fixed by the robot 9; S2. An induction switch is installed on the preliminary positioning mechanism 3. After the induction switch senses the glass, the transverse motor 305 and the longitudinal motor 307 are started. The transverse motor 305 drives the transverse drive gear 306 to engage with the transverse rack 207, and the longitudinal motor 307 drives the longitudinal drive gear 3092 to engage with the sliding gear 3093. Under the guidance of the positioning and moving mechanism, the preliminary positioning mechanism 3 and the floating positioning mechanism 6 with the conical positioning component 5 move below the inner hole of the glass. The conical positioning component 5 is provided with a sensing device for sensing the inner hole of the glass. When the conical positioning component 5 senses the inner hole of the glass, the transverse motor 305 and the longitudinal motor 307 on the preliminary positioning mechanism 3 stop working, so that the preliminary positioning mechanism 3 stops moving. At this time, the floating positioning mechanism 6 is in a movable state; the floating positioning mechanism 6 with the dome support head 4 and the preliminary positioning mechanism 3 move to the position where the glass is not opened, playing the role of auxiliary support; S3. After the preliminary positioning mechanism 3 drives the support mechanism 7 to move to the appropriate position, which is determined by the ability of the tapered positioning assembly 5 to sense the inner hole of the glass, the robot 9 places the glass to be processed on the support mechanism 7. At this time, the lower support suction cup 702 is vacuumed to fix it to the workbench 102 to prevent the support mechanism 7 and the preliminary positioning mechanism 3 from moving. At the same time, air is blown on the upper support suction cup 701 to keep the glass on the upper support suction cup 701 in a floating and free state. S4, the positioning cylinder 603 in the floating positioning mechanism 6 is started, driving the corresponding conical positioning assembly 5 and the dome support head 4 to rise, and the conical positioning assembly 5 pulls the multiple precise positioning mechanisms 8 to rise. The specific process is as follows: the protruding end of the positioning cylinder 603 extends, driving the conical positioning assembly 5 to rise, and the elastic ball head sleeve 503 pulls the positioning ball head 803 to rise. Due to the limit of the pawl 807 and the ratchet 806, during the initial rise, the fine-tuning rack 809 will pull the entire fine-tuning sliding seat 802 to rise along the guide groove 8011. When the fine-tuning sliding seat 802 touches the limit plate 8012, the fine-tuning sliding seat 802 is blocked and no longer rises. At this time, the positioning cylinder 60 3 drives the conical positioning head 501 to continue to rise, and the conical positioning head 501 pulls the fine-adjustment rack 809 to extend. Since some glasses have a curved special-shaped structure, the conical positioning head 501 will deflect in angle when it cooperates with the inner hole of the glass. At this time, the extension amounts of the fine-adjustment racks 809 in different precise positioning mechanisms 8 are different, that is, the extension amounts of multiple precise positioning mechanisms 8 are different. During the rising process of the conical positioning head 501 in the conical positioning assembly 5, the conical positioning head 501 gradually becomes concentric with the inner hole of the glass, and its conical surface is fully combined with the inner hole of the glass. During this process, the conical positioning assembly 5 will drive the floating positioning mechanism 6 and the glass to fine-tune the position in order to cooperate with the inner hole of the glass. S5. After the conical positioning head 501 is fully matched with the inner hole of the glass, the negative pressure mechanism is activated to vacuum the floating suction cup 1 601, so that the floating positioning mechanism 6 and the preliminary positioning mechanism 3 are fixed together. At this time, the position and deflection angle of the conical positioning head 501 are fixed; S6. After the inner holes of multiple glasses are well matched with the corresponding conical positioning heads 501, all the positioning cylinders 603 are contracted synchronously, and the positioning cylinders 603 drive the conical positioning heads 501 to descend. Since the pawl 807 is stuck with the ratchet 806, the fine-adjustment rack 809 cannot descend, so that the different extension amounts of the multiple precise positioning mechanisms 8 are fixed. At this time, the fine-adjustment sliding seat 802 descends along the guide groove 8011 until the conical positioning head 501 descends and drives the glass to fall to the top of the supporting mechanism 7. At this time, the upper supporting suction cup 701 is vacuumed to fix the bottom of the glass to the upper supporting suction cup 701, thereby facilitating the subsequent trimming of the inner hole of the glass. After the trimming is completed, it is transported away by the robot 9; S7. Repeat S3 to S6 until all the glass in the batch is processed. Using the positioning position of the first glass as a reference, subsequent glasses can be automatically moved to the appropriate position while the position and deflection angle of the conical positioning head 501 are fixed. Trimming is then continued using the same opening parameters, resulting in high-precision glass with high uniformity and a tight tolerance range.

[0034] The tolerance range of the glass inner hole processed by the present invention can be controlled within 0.1-0.2 mm, and automatic precise positioning is achieved without the need for manual intervention, which greatly improves the accuracy and uniformity of subsequent inner hole trimming.

[0035] Finally, although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A precise positioning and conveying device for an automobile glass production line, comprising a frame (1), a workbench (102) being provided on the frame (1), and characterized in that: The workbench (102) is provided with a positioning movable mechanism (2), a plurality of preliminary positioning mechanisms (3) and a supporting mechanism (7) are slidably connected to the positioning movable mechanism (2), the supporting mechanism (7) is fixedly connected to the preliminary positioning mechanism (3), each preliminary positioning mechanism (3) is provided with a floating positioning mechanism (6), a dome supporting head (4) or a conical positioning component (5) is fixedly mounted on the floating positioning mechanism (6), and at least three uniformly distributed precise positioning mechanisms (8) are provided between the conical positioning component (5) and the floating positioning mechanism (6).

2. The precise positioning and conveying device for automobile glass production line according to claim 1, characterized in that: The positioning movement mechanism (2) comprises at least one set of longitudinal sliding components, the longitudinal sliding components comprising two longitudinal guide rails (201) arranged in parallel, longitudinal racks (203) being respectively arranged on the sides of the two longitudinal guide rails (201) which are far from each other, the longitudinal racks (203) being arranged in parallel with the longitudinal guide rails (201), a plurality of sets of transverse sliding components being slidably connected to the longitudinal sliding components, the transverse sliding components comprising transverse guide rails (208) arranged in parallel, transverse racks (207) and transmission shafts (205), first sliders (204) being slidably connected to the longitudinal guide rails (201) being fixedly connected at the bottoms of both ends of the transverse guide rails (208) and the transverse racks (207), the transmission shaft (205) being rotatably connected to the first sliders (204) via a bearing seat, first gears (206) meshing with the longitudinal racks (203) being respectively fixedly connected at both ends of the transmission shaft (205), and a slide groove (2051) being provided in the length direction of the transmission shaft (205) for facilitating the transverse sliding of the preliminary positioning mechanism (3).

3. The precise positioning and conveying device for automobile glass production line according to claim 2, characterized in that: The preliminary positioning mechanism (3) comprises a positioning plate (301), a floating positioning mechanism (6) being arranged on the positioning plate (301), a transverse motor (305) being fixedly connected to one side of the positioning plate (301), an output end of the transverse motor (305) being provided with a transverse driving gear (306) meshing with a transverse rack (207), a second slider (308) cooperating with a transverse guide rail (208) and a longitudinal motor (307) for driving the positioning plate (301) to move transversely being fixedly connected to the bottom of the positioning plate (301), a gear box (309) being fixedly mounted on the bottom of the positioning plate (301), and a transmission shaft (205) passing through the gear box (309).

4. The precise positioning and conveying device for automobile glass production line according to claim 3, characterized in that: The positioning plate (301) is provided with a high-position water outlet (302) and a low-position water outlet (303); the high-position water outlet (302) is in a normally open state, the low-position water outlet (303) is in a normally closed state, and a detachable sealing plug is provided on the low-position water outlet (303).

5. The precise positioning and conveying device for automobile glass production line according to claim 3, characterized in that: The gear box (309) comprises a housing, and mounting holes (3094) matching with the transmission shaft (205) are respectively provided on both sides of the housing. A meshing sliding gear (3093) and a longitudinal driving gear (3092) are provided in the housing. The longitudinal driving gear (3092) is connected to the longitudinal motor (307). The sliding gear (3093) is sleeved on the transmission shaft (205), and an inner sliding block (30932) matching with the sliding groove (2051) is fixedly connected in the sliding gear (3093). Optical axes (30931) are respectively fixedly connected on both sides of the sliding gear (3093). A limit bearing (30911) is sleeved on the outer wall of the optical axis (30931). The outer rings of the two limit bearings (30911) are fixedly connected to a shift fork (3091), and the shift fork (3091) is fixedly connected to the housing.

6. The precise positioning and conveying device for automobile glass production line according to claim 3, characterized in that: The support mechanism (7) comprises an upper support suction cup (701) and a lower support suction cup (702) which are arranged up and down and fixedly connected. The upper support suction cup (701) and the lower support suction cup (702) are fixedly connected to the positioning plate (301) via a clamp (703). The upper support suction cup (701) and the lower support suction cup (702) are respectively connected to a second exhaust pipe (704), and the second exhaust pipe (704) is connected to the fan via a hose.

7. The precise positioning and conveying device for automobile glass production line according to claim 1, characterized in that: The floating positioning mechanism (6) comprises a floating suction cup (601), on which is provided an exhaust pipe (602) for evacuating the floating suction cup (601), the exhaust pipe (602) being connected to the negative pressure mechanism via a hose, a positioning cylinder (603) being fixedly connected to the floating suction cup (601), and the bottom of the dome support head (4) or the conical positioning assembly (5) being connected to the protruding end of the positioning cylinder (603).

8. The precise positioning and conveying device for automobile glass production line according to claim 1, characterized in that: The conical positioning assembly (5) comprises a conical positioning head (501), a fixing plate (502) being provided at the bottom of the conical positioning head (501), and at least three evenly distributed elastic ball head sleeves (503) being fixedly connected to the bottom of the fixing plate (502).

9. The precise positioning and conveying device for automobile glass production line according to claim 8, characterized in that: The precise positioning mechanism (8) comprises a positioning seat (801), a fine-tuning sliding seat (802) is slidably connected inside the positioning seat (801), a guide block (8021) is fixed on the fine-tuning sliding seat (802), a guide groove (8011) is provided on the positioning seat (801) and matches with the guide block (8021), a limit plate (8012) is provided above the positioning seat (801) and is used for limiting the upward movement of the fine-tuning sliding seat (802), a rotating shaft is rotatably connected inside the fine-tuning sliding seat (802), a fine-tuning gear (805) and a ratchet (806) are fixedly connected to the rotating shaft, a matching ratchet pawl (807) is provided on the outer periphery of the ratchet (806), and the ratchet pawl (807) is connected to the fine-tuning sliding seat (802) through a connecting shaft. The fine-tuning sliding seat (802) is rotatably connected, the connecting shaft passes through the fine-tuning sliding seat (802), and a reset knob (804) is provided at one end of the connecting shaft located outside the fine-tuning sliding seat (802); a fine-tuning rack (809) meshing with the fine-tuning gear (805) is slidably connected inside the fine-tuning sliding seat (802), the upper end of the fine-tuning rack (809) passes through the fine-tuning sliding seat (802) and is fixedly connected to a positioning ball head (803) rotatably matched with the elastic ball head sleeve (503); a fixed block (8022) is fixedly connected inside the fine-tuning sliding seat (802), and a spring (808) is provided between the fixed block (8022) and one end of the ratchet pawl (807) away from the ratchet (806).

10. A precise positioning method for an automobile glass production line, using the precise positioning and conveying device for an automobile glass production line according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the robot moves the glass to be processed to the top of the workbench (102), and stops at a position 5-10 mm away from the bottom of the glass from the support mechanism; S2, the preliminary positioning mechanism (3) starts after sensing the glass, and under the guidance of the positioning movement mechanism (2), the preliminary positioning mechanism (3) and the floating positioning mechanism (6) with the conical positioning component (5) move to the bottom of the inner hole of the glass. When the conical positioning component (5) senses the inner hole of the glass, the preliminary positioning mechanism (3) stops moving. At this time, the floating positioning mechanism (6) is in a movable state; the floating positioning mechanism (6) with the dome support head (4) and the preliminary positioning mechanism (3) move to the position where the glass has not been opened, playing the role of auxiliary support; S3, after the preliminary positioning mechanism (3) is moved to a suitable position, the robot places the glass to be processed on the supporting mechanism (7), at which time, the lower supporting suction cup (702) is vacuumed to fix it to the workbench (102), and at the same time, air is blown on the upper supporting suction cup (701) to make the glass on the upper supporting suction cup (701) float and free; S4, the positioning cylinder (603) in the floating positioning mechanism (6) is started, driving the corresponding conical positioning assembly (5) and the dome support head (4) to rise, and the conical positioning assembly (5) pulls the multiple precise positioning mechanisms (8) to rise. Since some of the glass is a special-shaped structure with an arc, when the conical positioning head (501) cooperates with the inner hole of the glass, an angle deflection occurs, that is, the extension amounts of the multiple precise positioning mechanisms (8) are different. During the rising process of the conical positioning head (501) in the conical positioning assembly (5), the conical positioning head (501) and the inner hole of the glass gradually become concentric, and its conical surface is fully combined with the inner hole of the glass. During this process, the conical positioning assembly (5) drives the floating positioning mechanism (6) and the glass to perform fine position adjustment; S5, after the conical positioning head (501) is completely matched with the inner hole of the glass, the negative pressure mechanism is started to evacuate the floating suction cup 1 (601), so that the floating positioning mechanism (6) and the preliminary positioning mechanism (3) are fixed together; S6, after the inner holes of the multiple glasses are matched with the corresponding conical positioning heads (501), all the positioning cylinders (603) are contracted synchronously, driving the glass to fall to the top of the supporting mechanism (7). At this time, the upper supporting suction cup (701) is vacuumed to fix the bottom of the glass to the upper supporting suction cup (701), thereby facilitating the subsequent trimming of the inner holes of the glass. After the trimming is completed, the glass is transported away by a robot. S7. Repeat S3 to S6 until all the glass in this batch is processed.

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