A fully automatic grinding and polishing device and a polishing control method thereof

Abstract

This invention discloses a fully automatic grinding and polishing equipment, including a feeding mechanism, a first transfer mechanism, a clamping mechanism, a correction mechanism, a grinding mechanism, and a monitoring mechanism. The feeding mechanism includes multiple first conveyor belts and a transfer mechanism. The first conveyor belts are used to transport trays, which are used to hold spaced-apart sheet glass. The first transfer mechanism includes an upper conveyor belt, a lower conveyor belt, and a lifting assembly located between the upper and lower conveyor belts. The transfer mechanism is used to clamp the trays, and the lifting assembly is used to move empty trays from the upper conveyor belt to the lower conveyor belt. Through the cooperation of the detection mechanism and the first, second, and third servo rotary motors, precise control of the grinding (i.e., removal amount) of the sheet glass is achieved.

Description

Technical Field

[0001] This invention relates to the field of lens processing equipment, and in particular to a fully automatic grinding and polishing equipment and its grinding control method. Background Technology

[0002] With the development of optical equipment, the processing requirements for lenses (such as mobile phone glass screens) have also increased, especially for the polishing of precision lenses. However, existing automated polishing equipment still relies mainly on manual labor, making it difficult to achieve large-scale polishing. Furthermore, achieving precision control is also a key design challenge.

[0003] For example, Chinese patent CN202110045187.7, this design is difficult to achieve large-scale precision machining, and the accuracy is also difficult to control. Summary of the Invention

[0004] The main objective of this invention is to propose a fully automated grinding and polishing equipment, which aims to achieve automated processing of lenses and can obtain real-time processing data according to actual needs, thereby improving or changing processing requirements, enhancing the precision and applicability of automated processing.

[0005] To achieve the above objectives, the present invention proposes a fully automatic grinding and polishing device, comprising:

[0006] The feeding mechanism includes multiple first conveyor belts and a transfer mechanism. The first conveyor belts are used to transport trays, and the trays are used to place spaced sheet glass.

[0007] A first transfer mechanism includes an upper conveyor belt, a lower conveyor belt, and a lifting assembly disposed between the upper and lower conveyor belts. The transfer mechanism is used to grip a pallet.

[0008] The lifting assembly is used to move an empty pallet from the upper conveyor belt to the lower conveyor belt;

[0009] Clamping mechanism;

[0010] The calibration mechanism includes a calibration rotary servo motor and a turntable that cooperates with the calibration rotary servo motor. The turntable is provided with two centering positioning devices distributed around the axis. The clamping mechanism is used to place the sheet glass of the tray horizontally from a vertical position onto the centering positioning device.

[0011] The grinding mechanism includes two units spaced apart. Each grinding mechanism comprises a frame, a lower grinding disc rotatably mounted on the frame, and an upper grinding disc slidably mounted vertically on the frame.

[0012] The frame is equipped with a first vertical drive device for driving the upper grinding disc to move vertically;

[0013] A planetary wheel is disposed on the upper wall of the lower grinding disc. An internal gear ring is provided on the inner circumference of the lower grinding disc, and an external gear ring is provided on the outer circumference of the lower grinding disc.

[0014] The planetary gears are provided in multiple ways and are distributed circumferentially along the axis of the lower grinding disc. The two ends of the planetary gears are respectively engaged with the outer gear ring and the inner gear ring.

[0015] The planetary wheel includes a rotational position and a revolution position. The rotational position is the direction of rotation of the planetary wheel with respect to its axis, and the revolution position is the relative position of the planetary wheel with respect to the axis of the grinding disc.

[0016] A monitoring device is disposed between the upper grinding disc and the base located on the lower grinding disc, and the monitoring device is used to obtain the grinding feed amount of the sheet glass;

[0017] The polishing mechanism is provided in one or two parts;

[0018] The lower grinding disc, the inner gear ring, and the outer gear ring are respectively connected to the first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder.

[0019] The first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder can acquire first rotation data, second rotation data, and third rotation data;

[0020] The planetary wheel is provided with multiple irregularly arranged polishing grooves, which are used to place sheet glass.

[0021] A multi-axis robotic arm is provided with multiple gripping seats that are distributed in the same position as the grinding groove. The gripping seats are mounted on telescopic devices, and each telescopic device can drive the gripping seats to move vertically.

[0022] The multi-axis robotic arm is used to grip the same number of sheet glass pieces as the number of grinding slots, and to move the sheet glass pieces between the material picking position and the grinding slot position.

[0023] The multi-axis manipulator is equipped with multiple sets;

[0024] The unloading mechanism is used to receive the polished sheet glass. The unloading mechanism is equipped with a lifting mechanism to lift the sheet glass to a predetermined height and then clamp it.

[0025] A grinding control method for a fully automatic grinding and polishing equipment, comprising the aforementioned fully automatic grinding and polishing equipment, wherein the control steps include:

[0026] S1. Image retrieval and centralized positioning:

[0027] The multi-axis robot uses multiple grippers at the end of its drive rod to pick up sheet-like glass and move it to a centralized positioning area for coordinate calibration, memorizing the reference coordinates of each glass relative to the robot.

[0028] S2. Transfer and Placement: The multi-axis robot moves the sheet glass above the planetary wheel, so that the gripper is aligned with the polishing groove on the planetary wheel. At this time, the polishing groove is aligned with the sheet glass. Then, the glass is placed into the polishing groove through the telescopic device.

[0029] S3. Placement status detection and correction:

[0030] After placement, the telescopic device raises the preset height H (0.2mm ≤ H ≤ 0.5mm) and restarts the vacuum detection function on the gripper.

[0031] If the vacuum sensor does not alarm, the glass is considered to be placed normally.

[0032] If the vacuum sensor alarms and determines that the glass is placed abnormally, the robotic arm drives the outer periphery of the gripper to perform a bionic wiping action to smooth the glass into the correct position in the polishing groove.

[0033] S4. Thickness monitoring and grinding control:

[0034] After the glass enters the grinding area with the planetary wheel, the glass thickness is monitored in real time by a high-precision displacement sensor. The control system dynamically adjusts the grinding amount based on the difference between the real-time thickness data and the target thickness.

[0035] In step S4, the adjustment model for the grinding amount is as follows:

[0036] MRR = K * P^α * V^β * (1 - e^(-t / τ))

[0037] In the formula:

[0038] MRR stands for Material Removal Rate (in μm / s), which is a parameter that needs to be controlled. A specific MRR can be achieved by adjusting the equipment's downward pressure, rotation speed, etc.

[0039] P is the grinding pressure (in N);

[0040] V is the relative velocity (unit: mm / s);

[0041] t is the effective grinding time (in seconds);

[0042] K is a comprehensive coefficient related to abrasive and workpiece material;

[0043] α is the pressure effect index (usually close to 1);

[0044] β is the velocity influence index;

[0045] τ is the process time constant;

[0046] The control logic is as follows: Set the target thickness T_target.

[0047] The sensor measures the thickness in real time as T_current.

[0048] The thickness difference ΔT = T_current - T_target. To ensure ΔT is eliminated within the remaining processing time t_remaining,

[0049] The required instantaneous material removal rate (MRR_required) is determined by the following formula:

[0050] MRR_required = ΔT / t_remaining

[0051] Then, based on the value of MRR_required and the above MRR model, the control system calculates and adjusts the grinding pressure P and / or relative motion speed V in reverse to make the actual material removal rate approach MRR_required, thereby ensuring the final thickness consistency of the sheet glass and the double-sided grinding accuracy.

[0052] In step S3, the positional accuracy of the glass after placement is ensured to be ≤ ±0.25mm by using the bionic wiping action in conjunction with the single-sided gap of the planetary wheel polishing groove.

[0053] The advantages of this application are:

[0054] 1. The calibration mechanism uses a turntable and a centering positioning device to ensure that the glass is accurately placed in the grinding groove of the planetary wheel; it achieves secondary calibration, avoids error accumulation, and improves the consistency of processing. Especially for the grinding industry, where powder and liquid are present, it is difficult to achieve visual positioning. It mainly relies on reference positioning to achieve consistency at each position.

[0055] Strict control over the placement is the foundation for high-quality polishing, preventing uneven polishing or glass breakage due to placement deviations.

[0056] 2. Parallel grinding mechanism layout: Setting up two grinding mechanisms improves the overall equipment efficiency; when one grinding mechanism is performing polishing operations, the other can simultaneously perform loading and unloading or process preparation, thereby minimizing equipment waiting time and bringing the production capacity close to the theoretical maximum.

[0057] Furthermore, the two grinding mechanisms can also be designed in series, for example, one for rough grinding and the other for fine grinding, thereby achieving automated loading and unloading;

[0058] 3. Especially for the planetary wheel design for 2.5D polishing or double-sided grinding: The "irregularly arranged grinding grooves" on the planetary wheel have been optimized and calculated to ensure that the grinding surface maintains the best and even contact with the lower and upper grinding discs during the polishing process, effectively reducing the problem of edge chipping.

[0059] 4. The precise control of the glass sheet polishing (i.e. the amount of glass removed) is achieved through the cooperation of the detection mechanism and the first servo rotary motor, the second servo rotary motor and the third servo rotary motor. Attached Figure Description

[0060] Figure 1 This is a three-dimensional illustration of the present invention. Figure 1 ;

[0061] Figure 2 This is a planar schematic diagram of the present invention;

[0062] Figure 3 This is a three-dimensional illustration of the present invention. Figure 2 ;

[0063] Figure 4 This is an enlarged schematic diagram of the transfer mechanism;

[0064] Figure 5 Side view of the transfer mechanism;

[0065] Figure 6 This is a schematic diagram of the first conveyor belt;

[0066] Figure 7 This is a schematic diagram showing the coordination between the upper and lower conveyor belts.

[0067] Figure 8 This is a schematic diagram of the lifting assembly;

[0068] Figure 9 This is a schematic diagram of a multi-axis robotic arm.

[0069] Figure 10 Schematic diagram of the calibration mechanism Figure 1 ;

[0070] Figure 11 Schematic diagram of the calibration mechanism Figure 2 ;

[0071] Figure 12 Schematic diagram of the calibration mechanism Figure 3 ;

[0072] Figure 13 Schematic diagram of the calibration mechanism Figure 4 ;

[0073] Figure 14 Schematic diagram of the grinding mechanism Figure 1 ;

[0074] Figure 15 Schematic diagram of the grinding mechanism Figure 2 ;

[0075] Figure 16 Schematic diagram of the grinding mechanism Figure 3 ;

[0076] Figure 17 Schematic diagram of the grinding mechanism Figure 4 ;

[0077] Figure 18 This is a diagram of the upper millstone. Figure 1 ;

[0078] Figure 19 This is a diagram of the upper millstone. Figure 2 ;

[0079] Figure 20 This is a diagram of the upper millstone. Figure 3 ;

[0080] Figure 21 This is a schematic diagram of the material cutting process;

[0081] Figure 22 This is a schematic diagram of the lifting mechanism.

[0082] In the picture,

[0083] 1. Feeding mechanism; 10. First conveyor belt; 11. Transfer mechanism;

[0084] 111. Elevating frame; 112. Horizontal moving device; 1121. Horizontal guide rail; 1122. Horizontal slider; 113. Second vertical drive device; 1131. Rack; 114. Bidirectional clamping device; 115. Arc-shaped part; 116. Claw groove; 117. Hollow tube body;

[0085] 2. Tray; 20. Sheet glass; 21. Gripping roller; 22. Guide roller; 23. Limiting groove;

[0086] 31. Upper conveyor belt; 32. Lower conveyor belt; 33. Lifting assembly; 331. Guide sleeve; 332. Guide rod; 34. Lifting cylinder; 341. Support platform; 342. Support seat; 35. Horizontal telescopic cylinder; 36. Arc hook; 37. Limiting part;

[0087] 4. Clamping mechanism;

[0088] 5. Calibration mechanism; 51. Calibration rotary servo motor; 52. Turntable; 53. Centering positioning device;

[0089] 531. Central seat; 532. Corner section;

[0090] 541. First position sensor; 542. Second position sensor;

[0091] 561. Central shaft; 562. Tie rod; 563. Correction telescopic cylinder; 67. Correction ring; 681. Rotating shaft; 682. Torsion spring;

[0092] 6. Grinding mechanism; 60. Frame; 61. Upper grinding disc; 62. Lower grinding disc; 63. Planetary wheel; 64. Internal gear ring; 65. External gear ring;

[0093] 631. Grinding groove;

[0094] 66. First vertical drive device; 661. First vertical telescopic motor; 662. Second vertical telescopic motor; 663. Upper plate;

[0095] 67. Vertical rod; 671. Limiting cavity; 672. Top spring;

[0096] 7. Multi-axis robotic arm; 70. Gripping seat; 711. Base; 712. First swing arm; 713. Second swing arm; 714. Gripping seat; 715. Plate-shaped suction cup; 716. Edge screw; 72. Tentacle; 73. Telescopic device;

[0097] 8. Feeding mechanism; 81. Rotary roller; 82. Lifting frame; 83. Lifting seat; 841. Copying seat; 842. Support; 851. Protrusion; 852. Lifting groove;

[0098] 9. Detection device; 91. High-precision displacement sensor; 92. Sapphire glass surface. Detailed Implementation

[0099] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0100] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0101] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0102] like Figures 1 to 22 As shown, a fully automatic grinding and polishing device includes:

[0103] The feeding mechanism 1 includes a plurality of first conveyor belts 10 and a transfer mechanism 11, wherein the first conveyor belts 10 are used to transport the pallet 2;

[0104] Specifically, it includes a tray 2 for conveying a sheet of glass 20, and can also be used to convey an empty tray 2 (i.e., tray 2 return), the tray 2 being used to place the sheet of glass 20 spaced apart;

[0105] The first transfer mechanism includes an upper conveyor belt 31, a lower conveyor belt 32, and a lifting assembly 33 disposed between the upper conveyor belt 31 and the lower conveyor belt 32. The transfer mechanism 11 is used to grip the pallet 2.

[0106] Specifically, the tray 2 containing the sheet glass 20 can be moved to the upper conveyor belt 31, or the empty tray 2 can be moved from the lower conveyor belt 32 to the first conveyor belt 10.

[0107] The lifting assembly 33 is used to move the empty pallet 2 from the upper conveyor belt 31 to the lower conveyor belt 32;

[0108] The clamping mechanism 4 uses a multi-axis robotic arm, a flipping cylinder, and a suction cup to switch the sheet glass 20 from a vertical to a horizontal state.

[0109] The calibration mechanism 5 includes a calibration rotary servo motor 51 and a turntable 52 that cooperates with the calibration rotary servo motor 51. The turntable 52 is provided with two centering positioning devices 53 distributed around the axis. The clamping mechanism 4 is used to place the sheet glass 20 of the tray 2 horizontally from a vertical position onto the centering positioning device 53. The centering positioning device 53 is detachably installed on the turntable 52 by means of clamps.

[0110] The grinding mechanism 6 includes two units spaced apart. Each grinding mechanism 6 comprises a frame 60, a lower grinding disc 62 rotatably mounted on the frame 60, and an upper grinding disc 61 vertically slidably mounted on the frame 60.

[0111] The frame 60 is provided with a first vertical drive device 66 for driving the upper grinding disc 61 to move vertically.

[0112] A planetary wheel 63 is disposed on the upper wall of the lower grinding disc 62. An internal gear ring 64 is provided on the inner circumference of the lower grinding disc 62, and an external gear ring 65 is provided on the outer circumference of the lower grinding disc 62.

[0113] The planetary gear 63 is provided in multiple parts and is distributed circumferentially along the axis of the lower grinding disk 62. The two ends of the planetary gear 63 are respectively engaged with the outer gear ring 65 and the inner gear ring 64.

[0114] The planetary wheel 63 includes a rotational position and a revolution position. The rotational position is the direction of rotation of the planetary wheel 63 with respect to its axis, and the revolution position is the relative position of the planetary wheel 63 with respect to the axis of the lower grinding disc 62.

[0115] A monitoring device is provided between the upper grinding disc 61 and the base located on the lower grinding disc 62. The monitoring device is used to obtain the grinding feed amount of the sheet glass 20.

[0116] The polishing mechanism 6 is provided in one or two parts;

[0117] The lower grinding disc 62, the inner gear ring 64, and the outer gear ring 65 are respectively connected to the first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder.

[0118] The first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder can acquire first rotation data, second rotation data, and third rotation data;

[0119] The planetary wheel 63 is provided with a plurality of irregularly arranged polishing grooves 631, which are used to place sheet glass 20;

[0120] The multi-axis robot 7 is provided with multiple gripping seats 70 that are distributed in the same position as the grinding groove 631. The gripping seats 70 are provided on the telescopic device 73, and each telescopic device 73 can drive the gripping seat 70 to move vertically.

[0121] The multi-axis robotic arm 7 is used to grip the same number of sheet glass 20 as the number of grinding grooves 631, and to move the sheet glass 20 between the material picking position and the grinding groove 631.

[0122] The multi-axis robotic arm 7 is equipped with multiple sets;

[0123] The unloading mechanism 8 is used to receive the polished sheet glass 20. The unloading mechanism 8 is equipped with a lifting mechanism to lift the sheet glass 20 to a predetermined height and then clamp it.

[0124] The advantages of this application are:

[0125] 1. The calibration mechanism 5 uses a turntable 52 and a centering positioning device 53 to ensure that the glass is accurately placed in the grinding groove 631 of the planetary wheel 63; to achieve secondary calibration, avoid error accumulation, and improve the consistency of processing. Especially for the grinding industry, where powder and liquid are present, it is difficult to achieve visual positioning. The consistency of each position is mainly achieved by relying on the reference positioning.

[0126] Strict control over the placement is the foundation for high-quality polishing, preventing uneven polishing or glass breakage due to placement deviations.

[0127] 2. Parallel Grinding Mechanism 6 Layout: Setting up two grinding mechanisms 6 improves the overall equipment efficiency; when one grinding mechanism 6 is performing polishing operations, the other can simultaneously perform loading and unloading or process preparation, thereby minimizing equipment waiting time and bringing the production capacity close to the theoretical maximum value.

[0128] Furthermore, the two grinding mechanisms 6 can also be designed in series, for example, one for rough grinding and the other for fine grinding, thereby realizing automated loading and unloading;

[0129] 3. In particular, the planetary wheel 63 is designed for 2.5D polishing or double-sided grinding: The irregularly arranged grinding grooves 631 on the planetary wheel 63 have been optimized and calculated to ensure that the grinding surface maintains the best and even contact with the lower grinding disc 62 and the upper grinding disc 61 during the polishing process, effectively reducing the problem of edge chipping.

[0130] 4. Through the cooperation of the detection mechanism and the first servo rotary motor, the second servo rotary motor and the third servo rotary motor, the precise control of the polishing (i.e. the amount of glass removed) of the sheet glass 20 is achieved.

[0131] The number of polishing grooves 631 is 3-7, and the arrangement is improved according to the different products and their sizes.

[0132] Specifically, the transfer mechanism 11 includes a lifting frame 111, a horizontal moving device 112 provided on the lifting frame 111, a second vertical driving device 113 provided on the horizontal moving device 112, and a bidirectional clamping cylinder 114 provided on the second vertical driving device 113. The driving end of the bidirectional clamping cylinder 114 is provided with a gripper.

[0133] The horizontal moving device 112 includes a horizontal guide rail 1121 provided on the lifting frame 111, a horizontal slider 1122 provided on the horizontal guide rail 1121, and a horizontal lead screw pair for driving the horizontal slider 1122 to move.

[0134] The second vertical drive device 113 includes a rotary cylinder and a drive gear disposed on the drive end of the rotary cylinder. The rotary cylinder is disposed on the horizontal slider 1122.

[0135] Specifically, a clamping structure can be provided on one side of the rotary cylinder to ensure sliding stability. The clamping structure consists of a clamping slider and a clamping track.

[0136] The second vertical drive device 113 also includes a rack 1131 that meshes with the drive gear. The rack 1131 is fixed with a hollow tube 117. The hollow tube 117 is also provided with a movable drag chain for installing cables.

[0137] The bidirectional clamping cylinder 114 is mounted on the hollow tube 117.

[0138] The gripper includes an arc-shaped portion 115 and a gripper groove 116 provided in the arc-shaped portion 115.

[0139] The transfer mechanism 11 can move the pallet 2 horizontally and vertically, thereby realizing the transfer of the pallet 2 and placing the full pallet 2 on the upper conveyor belt 31 to facilitate the clamping mechanism 4.

[0140] When the pallet 2 is empty, it is returned through the lifting assembly 33. At this time, the transfer mechanism 11 can clamp the perforated pallet 2 onto the first conveyor belt 10 to realize the return of the empty pallet 2.

[0141] Meanwhile, the hollow tube 117 can be used for cable or pipe routing, thereby reducing the problem of wire tangling and improving the stability of use.

[0142] Specifically, the tray 2 is a frame with an opening at the top, and the two sides of the frame are provided with gripping rollers 21 that are adapted to the shape of the claw groove 116;

[0143] The frame is provided with guide rollers 22 on both sides, and the guide rollers 22 are provided with spaced limiting grooves 23. The cross-section of the limiting grooves 23 is trapezoidal. The guide rollers 22 are provided with at least two sets along the height direction, thereby ensuring stable positioning of the sheet glass 20 and ensuring stable movement.

[0144] Specifically, the lifting assembly 33 is located at the rear end of the upper conveyor belt 31 and the lower conveyor belt 32. The lifting assembly 33 includes a guide sleeve 331 on the base, a guide rod 332 that cooperates with the guide sleeve 331, and a support platform 341 on the guide rod 332. The base is equipped with a lifting cylinder 34 to drive the support platform 341 to move vertically.

[0145] The support platform 341 is provided with a horizontally sliding receiving seat 342, and the support platform 341 is provided with a horizontal telescopic cylinder 35 to drive the receiving seat to slide horizontally.

[0146] The receiving seat 342 has an arc-shaped hook 36 at the front end and a limiting part 37 at the rear end. The arc-shaped hook 36 is used to move the pallet 2 from the upper conveyor belt 31 to the receiving seat 342, and the limiting part 37 is used to limit the pallet 2. The pallet 2 is then received between the upper and lower conveyor belts through the height misalignment.

[0147] Specifically, the multi-axis manipulator 7 includes a base 711, a first swing arm 712 horizontally oscillating on the base 711, a second swing arm 713 oscillating on the first swing arm 712, and a drive rod disposed on the second swing arm 713.

[0148] The drive rod can slide and rotate vertically;

[0149] The drive rod is provided with at least two sets of support parts for mounting the telescopic device 73.

[0150] The telescopic device 73 is a telescopic cylinder, and the driving end of the telescopic cylinder is provided with a gripping seat 714.

[0151] The clamping seat 714 is provided with a plate-shaped suction cup 715 in the middle. The plate-shaped suction cup 715 is connected to an air blowing device and an air suction device (i.e., a vacuum device and an air blowing pump, wherein the air blowing pump is used to prevent the plate-shaped suction cup 715 from being blocked).

[0152] The clamping seat 714 is provided with at least one set of adjusting edge screws 716 along the outer periphery of the plate-shaped suction cup 715, and the bottom end of the adjusting edge screw 716 is provided with a tentacle 72;

[0153] The lap screw 716 can be adjusted according to actual needs, such as by turning it. An elastic element can also be provided between the lap screw 716 and the clamping seat 714, so that it can elastically contact the planetary wheel 63.

[0154] The distribution position of the clamping seat 714 is consistent with the distribution position and direction of the grinding groove 631 on the planetary wheel 63.

[0155] In the actual design, because there are multiple clamping seats 714, but the gap between the polishing groove 631 and the sheet glass 20 is about 0.02mm, the key to the design is how to ensure that each sheet glass 20 is placed in place.

[0156] Therefore, the SCARA robot (i.e., the multi-axis manipulator 7) has 7 arrayed grippers 714 in its palm. Each individual cylinder lifts and lowers the glass to the centralized position area, and after centralized positioning, it absorbs and memorizes the robot's coordinate values.

[0157] The multi-axis robot arm 7 moves to the feeding position of the planetary wheel 63.

[0158] The planetary wheel 63 has a repeatability of ±0.1mm;

[0159] The multi-axis robotic arm can repeatedly position glass with a accuracy of ±0.02mm in 7-piece glass handling.

[0160] The plate-shaped suction cup 715 has a vacuum pressure switch for detection. When it is necessary to determine whether the sheet glass 20 is placed in place, the telescopic device 73 rises to a predetermined height, for example, 0.2mm-0.5mm. If the sheet glass 20 is not placed in place, it is partially or completely stacked on the upper wall of the planetary wheel 63.

[0161] The sheet glass 20 will then adhere to the plate-shaped suction cup 715, and the vacuum pressure switch will detect the object.

[0162] The multi-axis robotic arm 7 moves the tentacle 72, thereby moving the sheet glass 20 into the polishing groove 631 by smoothing its outer edge in a manner similar to that of a human hand.

[0163] This solves the problem that existing grinding equipment cannot achieve visual positioning, and that existing position sensors are also difficult to use for positioning. Furthermore, visual positioning is easily contaminated by grinding fluid during reciprocating movement.

[0164] The position sensor is also prone to being accidentally triggered by polishing fluid.

[0165] Another approach is to reduce the accumulation of tolerances through high-precision coordination of each step. However, in actual equipment manufacturing, it is still difficult to achieve (i.e., in this scenario, the problem of polishing fluid residue or contamination is easy to occur), so the spacing will also be affected by the polishing fluid.

[0166] The polishing fluid contains not only liquid but also fine polishing shavings. Therefore, this biomimetic design effectively improves production stability and precision, while also enabling rapid loading and unloading.

[0167] Other precision control includes the precision control of the planetary wheel 63, preferably ±0.2 mm; therefore, when the sheet glass 20 is moved by the tentacle 72, its range is also within 0.2 mm.

[0168] If the gap between the sheet glass 20 and the grinding groove 631 is too large, it is easy for the edge to chip. If the gap is too small, it is difficult to insert (that is, fine debris will also affect insertion).

[0169] Specifically, the tentacle 72 is a flexible tentacle 72, which is elliptical in shape or cylindrical with arc-shaped chamfers, thereby enabling the movement of the sheet glass 20.

[0170] Specifically, the turntable 52 is circular in shape, thereby minimizing its volume.

[0171] A first position sensor 541 and a second position sensor 542 are respectively provided between the drive end of the correction rotary servo motor 51 and the turntable 52.

[0172] The centering positioning device 53 includes a centering seat 531, a corner part 532 located at the corner end of the centering seat 531, and a correction drive device for driving the corner part 532 at the corner end to rotate.

[0173] The corner portion 532 is provided with a pivot shaft 681 in the middle, and the pivot shaft 681 is provided with a torsion spring 682 so that the corner portion 532 coincides with the right-angle side of the center seat 531 or is located on the same diagonal.

[0174] The correction drive device is used to drive the corner section 532 to rotate.

[0175] Specifically, the correction drive device includes a central shaft 561, and the two ends of the central shaft 561 are connected to the pivot shaft 681 of the corner section 532 via tie rods 562.

[0176] One end of the central shaft 561 is connected to the correction telescopic cylinder 563 or the correction telescopic motor, and drives the corner part 532 at the opposite end to swing.

[0177] The corner section 532 is provided with correction rings 67 at both ends, thereby realizing secondary positioning of the sheet glass 20, thus ensuring the precise gripping of the multi-axis robot 7. In the actual gripping process, the drive rod rotates relative to each other, thereby making the gripping position of the gripping seat 714 consistent with the grinding groove 631, thus realizing the simultaneous gripping of multiple sheet glass 20 and the simultaneous placement of multiple sheet glass 20, thereby improving production efficiency.

[0178] Specifically, the upper grinding disc 61 has uneven surfaces to prevent adhesion between the sheet glass 20.

[0179] The first vertical drive device 66 includes a first vertical telescopic motor 661, an upper plate 663 disposed on the first vertical telescopic motor 661, a second vertical telescopic motor 662 disposed on the upper plate 663, and an upper grinding disc 61 disposed on the drive end of the second vertical telescopic motor 662.

[0180] A vertical rod 67 is also provided between the upper grinding disc 61 and the upper plate 663.

[0181] The end of the vertical rod 67 is adjustablely installed in the limiting cavity 671 of the upper grinding disc 61, and a top spring 672 is provided between the end of the vertical rod 67 and the limiting cavity 671.

[0182] This avoids the problem of sheet sticking, i.e., the elastic stroke, and also reduces the breakage caused by rigid contact of the sheet glass 20. The displacement stroke can also be adjusted for secondary precision according to different products, i.e., the second vertical telescopic motor 662 drives the lower grinding disc 62 to move secondary, further ensuring the grinding precision.

[0183] The monitoring device includes a high-precision displacement sensor mounted on the upper plate 663, and a central shaft located in the middle of the lower grinding plate 62. The central shaft has a sapphire glass surface that mates with the high-precision displacement sensor. The high-precision displacement sensor has a resolution of 2µm. By measuring the thickness variation data of the sapphire substrate using the high-precision displacement sensor, the processing amount of the system actuator is controlled. Online high-precision displacement sensor settings control the glass thinning thickness during processing, ensuring product thinning consistency and yield.

[0184] The feeding mechanism 8 includes a conveying structure composed of multiple spaced rotating rollers 81. Each rotating roller 81 is provided with multiple wheel-shaped objects, thereby realizing the drainage of water from the polished sheet glass 20.

[0185] The lifting mechanism includes a lifting frame 82, lifting rods spaced apart from the lifting frame 82, a lifting seat 83 slidably mounted on the lifting rods, and a contour seat 841 extending forward from the lifting seat 83. The lifting frame 82 is equipped with a lifting cylinder to drive the contour seat 841 to move.

[0186] The end of the molding seat 841 is provided with a protrusion 851, and multiple protrusions 851 form a lifting groove 852 that is compatible with the sheet glass 20.

[0187] The lifting seat 83 consists of two spaced supports 842 located between the two wheel-shaped objects, which facilitates the lifting and movement of the sheet glass 20, thereby enabling multiple drainage operations.

[0188] A grinding control method for a fully automatic grinding and polishing equipment, comprising the aforementioned fully automatic grinding and polishing equipment, wherein the control steps include:

[0189] S1. Image retrieval and centralized positioning:

[0190] The multi-axis robot 7 uses multiple grippers 714 at the end of its drive rod to pick up sheet glass 20 and move it to a centralized positioning area for coordinate calibration, memorizing the reference coordinates of each glass relative to the robot.

[0191] S2. Transfer and Placement: The multi-axis robot arm 7 carries the sheet glass 20 and moves it above the planetary wheel 63, so that the gripper 714 is positioned opposite the polishing groove 631 on the planetary wheel 63. At this time, the polishing groove 631 is aligned with the sheet glass 20. Then, the glass is placed into the polishing groove 631 through the telescopic device 73.

[0192] S3. Placement status detection and correction:

[0193] After placement, the telescopic device 73 raises the preset height H (0.2mm ≤ H ≤ 0.5mm) and restarts the vacuum detection function on the gripper 714;

[0194] If the vacuum sensor does not alarm, the glass is considered to be placed normally.

[0195] If the vacuum sensor alarms and determines that the glass is placed abnormally, the robotic arm drives the peripheral tentacles 72 of the gripper 714 to perform a bionic wiping action to smooth the glass into the correct position in the polishing groove 631.

[0196] S4. Thickness monitoring and grinding control:

[0197] After the glass enters the grinding area with the planetary wheel 63, the glass thickness is monitored in real time by a high-precision displacement sensor. The control system dynamically adjusts the grinding amount based on the difference between the real-time thickness data and the target thickness.

[0198] In step S4, the adjustment model for the grinding amount is as follows:

[0199] MRR = K * P^α * V^β * (1 - e^(-t / τ))

[0200] In the formula:

[0201] MRR stands for Material Removal Rate (μm / s), which is a parameter that needs to be controlled. A specific MRR can be achieved by adjusting the equipment's downward pressure, rotation speed, etc.

[0202] P is the grinding pressure (N);

[0203] V is the relative velocity (mm / s);

[0204] t is the effective grinding time (s);

[0205] K is a comprehensive coefficient related to abrasive and workpiece material;

[0206] α is the pressure effect index (usually close to 1);

[0207] β is the velocity influence index;

[0208] τ is the process time constant;

[0209] The control logic is as follows: Set the target thickness T_target.

[0210] The sensor measures the thickness in real time as T_current.

[0211] The thickness difference ΔT = T_current - T_target. To ensure ΔT is eliminated within the remaining processing time t_remaining,

[0212] The required instantaneous material removal rate (MRR_required) is determined by the following formula:

[0213] MRR_required = ΔT / t_remaining

[0214] Then, based on the value of MRR_required and the above MRR model, the control system calculates and adjusts the grinding pressure P and / or relative motion speed V in reverse to make the actual material removal rate approach MRR_required, thereby ensuring the final thickness consistency and double-sided grinding accuracy of the sheet glass 20.

[0215] In step S3, the positional accuracy of the glass after placement is ensured to be ≤ ±0.25mm by the bionic wiping action and the single-sided gap of the planetary wheel 63 polishing groove 631.

[0216] The aforementioned control method incorporates a biomimetic smear action:

[0217] When state two is detected, the robotic arm immediately performs a "human-hand-like smoothing" action. It drives the gripper 714, using the tentacle 72 at the bottom of its peripheral adjusting edge screw 716 to gently contact and move the edge of the glass. At this time, the side wall of the polishing groove 631 of the planetary wheel 63 acts as a natural positioning reference, and the tentacle 72 smooths the glass along the groove wall, allowing it to fall completely into the bottom of the groove. This design cleverly avoids the problem of visual sensors and traditional position sensors easily failing in an environment contaminated by polishing fluid.

[0218] Real-time thickness monitoring: Accurately placed glass enters the double-sided grinding area formed by the upper and lower grinding discs 62 along with the planetary wheel 63. A high-precision displacement sensor (resolution up to 2μm) is installed along the grinding path to monitor the thickness of the sheet glass 20 passing below in real time.

[0219] The servo motor can record and trace its rotation data, thereby achieving precise active control, such as the rotation and revolution positions of the planetary wheel 63, and the number of rotations of the planetary wheel 63 is also related to the calculation of the grinding amount.

[0220] It abandons visual and position sensors and adopts a physical contact vacuum pressure switch as the detection mechanism; it has strong anti-interference ability, high reliability, and is not affected by polishing fluid splashes or mist.

[0221] 2. Design an active calibration process of "micro-lifting-detection-smoothing": first lift by 0.2-0.5mm, use vacuum adsorption to determine if there is any jamming, and then use a tentacles to smooth the outer perimeter.

[0222] It achieves sub-millimeter level precision positioning, solving the problem of material jamming under minute tolerances.

[0223] 3. Multi-station synchronous pick-and-place to ensure consistency; adopts a multi-grip array design, whose distribution is completely consistent with the grinding grooves on the planetary wheel, and is independently controlled by a single telescopic cylinder; realizes the simultaneous and synchronous gripping and placement of multiple pieces of glass, greatly improving cycle time and efficiency.

[0224] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A fully automatic lapping and polishing apparatus, characterized by, include: The feeding mechanism includes multiple first conveyor belts and a transfer mechanism. The first conveyor belts are used to transport trays, and the trays are used to place spaced sheet glass. A first transfer mechanism includes an upper conveyor belt, a lower conveyor belt, and a lifting assembly disposed between the upper and lower conveyor belts. The transfer mechanism is used to grip a pallet. The lifting assembly is used to move an empty pallet from the upper conveyor belt to the lower conveyor belt; Clamping mechanism; The calibration mechanism includes a calibration rotary servo motor and a turntable that cooperates with the calibration rotary servo motor. The turntable is provided with two centering positioning devices distributed around the axis. The clamping mechanism is used to place the sheet glass of the tray horizontally from a vertical position onto the centering positioning device. The grinding mechanism includes two units spaced apart. Each grinding mechanism comprises a frame, a lower grinding disc rotatably mounted on the frame, and an upper grinding disc slidably mounted vertically on the frame. The frame is equipped with a first vertical drive device for driving the upper grinding disc to move vertically; A planetary wheel is disposed on the upper wall of the lower grinding disc. An internal gear ring is provided on the inner circumference of the lower grinding disc, and an external gear ring is provided on the outer circumference of the lower grinding disc. The planetary gears are provided in multiple ways and are distributed circumferentially along the axis of the lower grinding disc. The two ends of the planetary gears are respectively engaged with the outer gear ring and the inner gear ring. The planetary wheel includes a rotational position and a revolution position; A monitoring device is disposed between the upper grinding disc and the base located on the lower grinding disc, and the monitoring device is used to obtain the grinding feed amount of the sheet glass; The lower grinding disc, the inner gear ring, and the outer gear ring are respectively connected to the first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder. The first servo rotary cylinder, the second servo rotary cylinder, and the third servo rotary cylinder can acquire first rotation data, second rotation data, and third rotation data; The planetary wheel is provided with multiple irregularly arranged polishing grooves, which are used to place sheet glass. A multi-axis robotic arm is provided with multiple gripping seats that are distributed in the same position as the grinding groove. The gripping seats are mounted on telescopic devices, and each telescopic device can drive the gripping seats to move vertically. The multi-axis robotic arm is used to grip the same number of sheet glass pieces as the number of grinding slots, and to move the sheet glass pieces between the material picking position and the grinding slot position. The multi-axis manipulator is equipped with multiple sets; The unloading mechanism is used to receive the polished sheet glass. The unloading mechanism is equipped with a lifting mechanism to lift the sheet glass to a predetermined height and then clamp it. The upper grinding disc has concave and convex surfaces. The first vertical drive device includes a first vertical telescopic motor, an upper plate disposed on the first vertical telescopic motor, a second vertical telescopic motor disposed on the upper plate, and an upper grinding disc disposed on the drive end of the second vertical telescopic motor. A vertical rod is also provided between the upper grinding disc and the upper plate. The end of the vertical rod is adjustablely installed in the limiting cavity of the upper grinding disc, and a top spring is provided between the end of the vertical rod and the limiting cavity; The monitoring device includes a high-precision displacement sensor mounted on the upper plate, and a central shaft in the middle of the lower grinding plate, the central shaft having a sapphire glass surface that cooperates with the high-precision displacement sensor; The feeding mechanism includes a conveying structure composed of multiple spaced rotating rollers. The rotating rollers are provided with multiple wheel-shaped objects, thereby realizing the drainage of water from the polished sheet glass. The lifting mechanism includes a lifting frame, lifting rods spaced apart on the lifting frame, a lifting seat slidably mounted on the lifting rods, and a contouring seat extending forward from the lifting seat. The lifting frame is equipped with a lifting cylinder to drive the contouring seat to move. The end of the molding seat is provided with protrusions, and multiple protrusions form a lifting groove that is compatible with the sheet glass. The lifting seat consists of two spaced-apart supports located between the two wheel-shaped objects.

2. The fully automatic lapping and polishing apparatus according to claim 1, wherein: The transfer mechanism includes a lifting frame, a horizontal moving device provided on the lifting frame, a second vertical driving device provided on the horizontal moving device, and a bidirectional clamping cylinder provided on the second vertical driving device. The driving end of the bidirectional clamping cylinder is provided with a gripper. The horizontal moving device includes a horizontal guide rail mounted on the lifting frame, a horizontal slider mounted on the horizontal guide rail, and a horizontal lead screw assembly for driving the horizontal slider to move. The second vertical drive device includes a rotary cylinder and a drive gear located at the drive end of the rotary cylinder, wherein the rotary cylinder is located on a horizontal slider. The second vertical drive device also includes a rack that meshes with the drive gear, the rack having a hollow tube body fixed to it, and the hollow tube body having a movable drag chain for installing cables. The bidirectional clamping cylinder is mounted on the hollow tube body. The gripper includes an arc-shaped portion and a gripper groove located in the arc-shaped portion.

3. The fully automated lapping and polishing apparatus of claim 2, wherein: The tray is a frame with an opening at the top, and the two sides of the frame are equipped with gripping rollers that are adapted to the shape of the claw groove. The frame is provided with guide rollers on both sides, and the guide rollers are provided with spaced limiting grooves. The cross-section of the limiting grooves is trapezoidal, and the guide rollers are provided with at least two sets along the height direction.

4. The fully automated lapping and polishing apparatus as claimed in claim 1, wherein: The lifting assembly is located at the rear end of the upper and lower conveyor belts. The lifting assembly includes a guide sleeve on the base, a guide rod that cooperates with the guide sleeve, and a support platform on the guide rod. The base is equipped with a lifting cylinder to drive the support platform to move vertically. The support platform is equipped with a horizontally sliding receiving seat, and the support platform is equipped with a horizontal telescopic cylinder to drive the receiving seat to slide horizontally. The receiving seat has an arc-shaped hook at the front end and a limiting part at the rear end.

5. The fully automated lapping and polishing apparatus as claimed in claim 1, wherein: The multi-axis manipulator includes a base, a first swing arm horizontally oscillating on the base, a second swing arm oscillating on the first swing arm, and a drive rod on the second swing arm. The drive rod can slide and rotate vertically; The drive rod is provided with at least two sets of support parts for mounting the telescopic device. The telescopic device is a telescopic cylinder, and the driving end of the telescopic cylinder is equipped with a gripping seat. The clamping seat is provided with a plate-shaped suction cup in the middle, and the plate-shaped suction cup is connected to an air blowing device and an air suction device. The clamping seat is provided with at least one set of adjusting overlap screws along the outer periphery of the plate-shaped suction cup, and the bottom end of the adjusting overlap screw is provided with a tenon; The distribution position of the gripper is consistent with the distribution position and direction of the grinding grooves on the planetary wheel.

6. The fully automated lapping and polishing apparatus of claim 5, wherein: The tentacles are flexible tentacles, which are elliptical in shape or cylindrical with curved chamfers.

7. The fully automated lapping and polishing apparatus as claimed in claim 1, wherein: The turntable is circular in shape; A first position sensor and a second position sensor are respectively provided between the drive end of the correction rotary servo motor and the turntable. The centering positioning device includes a centering seat, a corner part located at the corner end of the centering seat, and a correction drive device for driving the corner part at the opposite corner to rotate. The corner section is provided with a pivot shaft in the middle, and the pivot shaft is provided with a torsion spring so that the corner section coincides with the right-angle side of the central seat or is located on the same diagonal line. The correction drive device is used to drive the corner section to rotate.

8. The fully automated lapping and polishing apparatus of claim 7, wherein: The correction drive device includes a central shaft, and the two ends of the central shaft are connected to the pivot shaft of the corner section via tie rods. One end of the central shaft is connected to a correction telescopic cylinder or a correction telescopic motor, which drives the corner section at the opposite end to swing. The corner section is equipped with correction rings at both ends.

9. A polishing control method of a fully automatic lapping and polishing apparatus, characterized by, The fully automatic grinding and polishing equipment as described in any one of claims 1-8 includes the following control steps: S1. Image retrieval and centralized positioning: The multi-axis robot uses multiple grippers at the end of its drive rod to pick up sheet-like glass and move it to a centralized positioning area for coordinate calibration, memorizing the reference coordinates of each glass relative to the robot. S2. Transfer and Placement: The multi-axis robot moves the sheet glass above the planetary wheel, so that the gripper is aligned with the polishing groove on the planetary wheel. At this time, the polishing groove is aligned with the sheet glass. Then, the glass is placed into the polishing groove through the telescopic device. S3. Placement status detection and correction: After placement, the telescopic device raises the preset height H and restarts the vacuum detection function on the gripper. If the vacuum sensor does not alarm, the glass is considered to be placed normally. If the vacuum sensor alarms and determines that the glass is placed abnormally, the robotic arm drives the outer periphery of the gripper to perform a bionic wiping action to smooth the glass into the correct position in the polishing groove. S4. Thickness monitoring and grinding control: After the glass enters the grinding area with the planetary wheel, the glass thickness is monitored in real time by a high-precision displacement sensor. The control system dynamically adjusts the grinding amount based on the difference between the real-time thickness data and the target thickness. In step S4, the adjustment model for the grinding amount is as follows: MRR = K * P^α * V^β * (1 - e^(-t / τ)); In the formula: MRR stands for Material Removal Rate, measured in μm / s. It is a parameter that needs to be controlled, and a specific MRR can be achieved by adjusting the equipment's downward pressure and rotation speed. P represents the grinding pressure, measured in N. V represents the relative velocity, measured in mm / s. t represents the effective grinding time in seconds; K is a comprehensive coefficient related to abrasive and workpiece material; α is the pressure effect index; β is the velocity influence index; τ is the process time constant; The control logic is as follows: Set the target thickness T_target. The sensor measures the thickness in real time as T_current. Thickness difference ΔT = T_current - T_target; To ensure that ΔT is eliminated within the remaining processing time t_remaining, The required instantaneous material removal rate (MRR_required) is determined by the following formula: MRR_required = ΔT / t_remaining; Then, based on the value of MRR_required and the above MRR model, the control system calculates and adjusts the grinding pressure P and / or relative motion speed V in reverse to make the actual material removal rate approach MRR_required, thereby ensuring the final thickness consistency of the sheet glass and the double-sided grinding accuracy. In S3, the positional accuracy of the glass after placement is guaranteed to be ≤ ±0.25mm by using a bionic wiping action in conjunction with the single-sided gap of the planetary wheel grinding groove.

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