Turnover machine and turnover method of grinding tray for grinding glass substrate

Abstract

The invention discloses a turnover machine of a grinding tray for grinding a glass substrate and a turnover method. The turnover machine comprises a left supporting leg, a right supporting leg, a turnover frame and a lifting platform. A left rotating shaft is fixed to the left end of the overturning frame, a right rotating shaft is fixed to the right end of the overturning frame, a positioning and clamping mechanism used for positioning and clamping the grinding tray is arranged on the overturning frame, and an overturning driving mechanism used for driving the right rotating shaft to rotate is fixed to the right supporting leg. The right supporting leg is further fixedly provided with an overturning positioning mechanism used for positioning the overturned overturning frame and the right supporting leg. The lifting platform is located below the overturning frame and used for lifting the grinding tray. According to the overturning machine, the grinding tray can be overturned, the accuracy of the overturning angle can be guaranteed, the safety of workers can be guaranteed when an adsorption pad on the grinding tray is replaced, and the replacement quality of the adsorption pad on the grinding tray can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of glass substrate grinding, and particularly relates to a turnover machine and turnover method for a grinding tray for glass substrate grinding. BACKGROUND

[0002] A high-generation TFT-LCD glass substrate needs a special grinding tray when being ground, wherein the grinding tray is composed of a tray frame, a raw film, an aluminum plate, etc. Before grinding the glass substrate, an adsorption pad needs to be attached to the surface of the aluminum plate of the grinding tray to adsorb the glass substrate. Since the grinding tray and the glass substrate need to be in an inverted state when the glass substrate is being ground, the adsorption pad on the grinding tray needs to be replaced after the grinding operation is completed. At this time, a special device is needed to turn over the grinding tray so as to peel off the adsorption pad from the grinding tray and replace a new adsorption pad. After the attachment of the new adsorption pad is completed, the grinding tray needs to be turned over for the grinding production of the glass substrate.

[0003] At present, after the grinding operation is completed, the grinding tray is mainly lifted by a crane above the production line, and then the peeling and replacement of the adsorption pad are completed by manual operation. The advantage is that the operation is simple, and the disadvantage is that the manual replacement needs to be operated below the grinding tray, which has a certain risk. Moreover, it is difficult for the manual operation to well attach the adsorption pad under the inverted condition of the grinding tray, and many air bubbles are likely to appear between the adsorption pad and the aluminum plate of the grinding tray, thereby affecting the grinding quality of the subsequent glass substrate and making it difficult to improve the yield rate of the production line. SUMMARY

[0004] In view of the defects of the prior art, the present application provides a turnover machine and turnover method for a grinding tray for glass substrate grinding, which can turn over the grinding tray, ensure the accuracy of the turning angle, ensure the safety of the operator when replacing the adsorption pad on the grinding tray, and significantly improve the replacement quality of the adsorption pad on the grinding tray.

[0005] The technical solution adopted by the present application to solve its technical problems is:

[0006] The application discloses a turnover machine for a grinding tray used for grinding a glass substrate, which comprises a left supporting leg, a right supporting leg, a turnover frame and a lifting platform; a left rotating shaft horizontally arranged along the left-right direction is fixed to the left end of the turnover frame, and a right rotating shaft with the same axis as the left rotating shaft is fixed to the right end of the turnover frame; the left rotating shaft is rotatably arranged above the left supporting leg through a left bearing seat; the right rotating shaft is rotatably arranged above the right supporting leg through a right bearing seat; a positioning and clamping mechanism for positioning and clamping the grinding tray is arranged on the turnover frame; a turnover driving mechanism for driving the right rotating shaft to rotate is fixed to the right supporting leg; a turnover positioning mechanism for positioning the turnover frame and the right supporting leg after turnover is also fixed to the right supporting leg; and the lifting platform is arranged below the turnover frame and is used for lifting the grinding tray.

[0007] Further,

[0008] The turnover driving mechanism comprises a first linear driving source, a gear, a rack, a sliding rail, a rack and sliding rail mounting bracket, a sliding block and a sliding block mounting bracket; the cylinder body of the first linear driving source is fixed to the right supporting leg; the upper end of the rod body of the first linear driving source is fixedly connected with the lower end of the rack and sliding rail mounting bracket; the rack and the sliding rail are respectively fixed to the two sides of the rack and sliding rail mounting bracket; the gear sleeve is fixed to the right end of the right rotating shaft and is engaged with the rack; the sliding block is fixedly connected with the right supporting leg through the sliding block mounting bracket; and the sliding rail is slidingly matched with the sliding block.

[0009] Alternatively, the turnover driving mechanism comprises a first servo motor and a first speed reducer; the housing of the first servo motor is fixed to the right supporting leg; and the output shaft of the first servo motor is in transmission connection with the right rotating shaft through the first speed reducer.

[0010] Alternatively, the turnover driving mechanism comprises a worm gear, a worm and a second servo motor; the housing of the second servo motor is fixed to the right supporting leg; the output shaft of the second servo motor is fixedly connected with the worm; and the worm gear sleeve is fixed to the right end of the right rotating shaft and is engaged with the worm.

[0011] Further, the turnover positioning mechanism comprises a second linear driving source and a turnover positioning pin; the cylinder body of the second linear driving source is fixedly connected with the right supporting leg through a turnover positioning bracket; a turnover positioning pin sleeve is fixedly arranged in the turnover positioning bracket; the left end of the rod body of the second linear driving source is fixedly connected with the right end of the turnover positioning pin which is inserted into the turnover positioning pin sleeve; a turnover connecting frame is fixed between the right end of the turnover frame and the left end of the right rotating shaft; a turnover positioning rod horizontally arranged along the front-rear direction is fixed to the turnover connecting frame; turnover positioning pin holes horizontally arranged along the left-right direction are respectively arranged at the front end and the rear end of the turnover positioning rod; and the left end of the turnover positioning pin is used for being inserted into the turnover positioning pin hole on the corresponding side of the turnover positioning rod.

[0012] Further, the left end of the turnover positioning pin is in a conical shape, and the turnover positioning pin hole is a conical hole or a circular hole.

[0013] Further, the tray frame of the grinding tray comprises a main tray frame and two auxiliary tray frames, and the two auxiliary tray frames are arranged at the left and right ends of the main tray frame respectively. In the case that the grinding tray is in an inverted state, each side of the auxiliary tray frame is fixed above the corresponding side of the main tray frame, and a vertical tray positioning hole is formed on each side of the auxiliary tray frame. A plurality of tray clamping heads fixedly connected with the main tray frame are distributed from front to back in the gap between each side of the auxiliary tray frame and the corresponding side of the main tray frame. The positioning and clamping mechanism comprises a tray positioning component matched with the tray positioning hole on each side of the auxiliary tray frame and a tray clamping component matched with each tray clamping head at the corresponding side of the main tray frame.

[0014] Further, each side of the tray positioning component comprises a tray positioning bracket fixed on the turnover frame, and a third linear driving source is arranged on the tray positioning bracket. The cylinder body of the third linear driving source is fixedly connected with the tray positioning bracket, and the free end of the rod body of the third linear driving source is fixedly connected with one end of the tray positioning pin or the tray positioning wedge-shaped block. The other end of the tray positioning pin or the tray positioning wedge-shaped block is used for being inserted into the tray positioning hole on the corresponding side of the auxiliary tray frame.

[0015] Further, each side of the tray clamping component comprises a clamping driving assembly and a plurality of hooks corresponding in number and position to the tray clamping heads at the corresponding side of the main tray frame. One end of each of the hooks is hinged to the turnover frame through a hinge shaft, and the hooks are fixedly connected through a hook bracket. The clamping driving assembly is used for driving each of the hooks at the corresponding side to rotate relative to the turnover frame through the hook bracket, so that the other end of each of the hooks hooks or moves away from the corresponding tray clamping head.

[0016] Further,

[0017] The clamping driving assembly comprises a fourth linear driving source, the cylinder body of the fourth linear driving source is hinged to the clamping driving support through a hinge shaft, the clamping driving support is fixed to the turnover frame, and the free end of the rod body of the fourth linear driving source is hinged to the hook bracket through a fisheye joint.

[0018] Alternatively, the clamping driving assembly comprises a third servo motor and a second speed reducer, the housing of the third servo motor is fixed to the turnover frame, and the output shaft of the third servo motor is in transmission connection with the hook bracket through the second speed reducer.

[0019] Or, the clamping drive assembly is a rotary angle cylinder, a cylinder body of the rotary angle cylinder is fixed on the turnover frame, and an output shaft of the rotary angle cylinder is fixedly connected with the hook bracket.

[0020] Further, a plurality of pulleys are arranged side by side from front to back at positions corresponding to the tray sub-frames on each side of the turnover frame, limit wheels are arranged on the left and right sides of each pulley, and the plurality of pulleys on the corresponding side of the turnover frame cooperate to form a sliding track of the tray sub-frame on the corresponding side, and the limit wheels on the left and right sides of each pulley cooperate to limit the tray sub-frame on the corresponding side left and right.

[0021] A turnover method of the grinding tray for grinding glass substrates, which is turned over by using the turnover machine for grinding glass substrates, specifically comprising the following steps: first, the lifting platform lifts the inverted grinding tray to the position, then the positioning and clamping mechanism positions and clamps the grinding tray, so that the grinding tray is fixed with the turnover frame, then the lifting platform is lowered to reset, then the right rotating shaft is driven to rotate 180° relative to the right supporting leg by the turnover drive mechanism, the left rotating shaft is driven to rotate 180° relative to the left supporting leg by the turnover frame and the right rotating shaft, so that the turnover frame drives the grinding tray to turn over 180° relative to the left and right supporting legs, and finally the turnover frame after turnover is positioned with the right supporting leg by the turnover positioning mechanism.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] The present invention discloses a flipping machine for a grinding tray used in glass substrate grinding, comprising a left support leg, a right support leg, a flipping frame, and a lifting platform. A left rotating shaft arranged horizontally in the left-right direction is fixed to the left end of the flipping frame, and a right rotating shaft whose axis coincides with the axis of the left rotating shaft is fixed to the right end. The left rotating shaft is rotatably positioned above the left support leg via a left bearing seat, and the right rotating shaft is rotatably positioned above the right support leg via a right bearing seat. The flipping frame is provided with a positioning and clamping mechanism for positioning and clamping the grinding tray. A flipping drive mechanism for driving the right rotating shaft to rotate is fixed to the right support leg. A mechanism for connecting the flipping frame after flipping to the right support leg is also fixed to the right support leg. A flipping positioning mechanism is used for positioning; the lifting platform is located below the flipping frame and is used to lift and lower the grinding tray; after the lifting platform raises the inverted grinding tray to the correct position, the positioning and clamping mechanism positions and clamps the grinding tray, fixing the grinding tray to the flipping frame. The flipping drive mechanism drives the right rotating shaft to rotate 180° relative to the right support leg, and the left rotating shaft rotates 180° relative to the left support leg along with the right rotating shaft through the flipping frame, so that the flipping frame drives the grinding tray to flip 180° relative to the left and right support legs. The flipping positioning mechanism positions the flipping frame and the right support leg after flipping. This design utilizes a positioning and clamping mechanism to position and clamp the grinding tray, a flipping drive mechanism to flip the frame and grinding tray, and a flipping positioning mechanism to position the flipped frame and right support leg, ensuring the accuracy of the grinding tray's flipping angle. When replacing the adsorption pads on the grinding tray, the tray is upright, eliminating the need for operators to work under an inverted tray. This ensures operator safety during pad replacement. Furthermore, attaching the adsorption pads while the tray is upright reduces the likelihood of air bubbles forming between the pads and the aluminum plate, significantly improving the quality of pad replacement and consequently ensuring the grinding quality of the glass substrates, thus increasing the production line's yield. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the glass substrate grinding tray flipping machine with a flipped grinding tray according to the present invention.

[0025] Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle circle;

[0026] Figure 3 This is a three-dimensional structural diagram of a glass substrate grinding tray flipping machine without a grinding tray in the present invention from another perspective.

[0027] Figure 4 for Figure 1The main view structure schematic diagram of the overturning driving mechanism after the partial structure of the hidden slider mounting support is hidden;

[0028] Figure 5 The three-dimensional structure schematic diagram of another power form of the overturning driving mechanism in the application;

[0029] Figure 6 The three-dimensional structure schematic diagram of the grinding tray;

[0030] Figure 7 The partial structure schematic diagram of the overturning machine for the glass substrate grinding grinding tray adopting the overturning driving mechanism in the application; Figure 5

[0031] Figure 8 The partial enlarged structure schematic diagram of the tray clamping component in the application; Figure 7

[0032] Figure 9 The sectional structure schematic diagram of the overturning positioning mechanism;

[0033] Figure 10 The structure schematic diagram of the tray positioning component.

[0034] Explanation of reference numerals in the drawing: 101, left leg, 102, right leg, 10301, overturning frame, 10302, left rotating shaft, 10303, right rotating shaft, 10304, overturning connecting frame, 10305, overturning positioning rod, 10306, overturning positioning pin hole, 104, lifting platform, 105, left bearing seat, 106, right bearing seat, 10701, first linear cylinder, 10702, gear, 10703, rack, 10704, slide rail, 10705, rack slide rail mounting support, 10706, slider, 10707, slider mounting support, 10801, first servo motor, 10802, first speed reducer, 10901, second linear cylinder, 10902, overturning positioning pin, 10903, overturning positioning support, 10904, overturning positioning pin sleeve, 11001, tray positioning support, 11002, third linear cylinder, 11003, tray positioning pin, 11101, hook claw, 11102, hook claw support, 11103, fourth linear cylinder, 11104, clamping driving support, 11105, fish eye joint, 11106, hinged shaft, 11201, pulley, 11202, limit wheel, 2, grinding tray, 201, tray main frame, 202, tray auxiliary frame, 203, tray positioning hole, 204, tray clamping head, 205, adsorption pad. DETAILED DESCRIPTION

[0035] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings. These embodiments are only used to illustrate the application, and are not limiting to the application.​​

[0036] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] like Figure 1 and Figure 3 As shown, a glass substrate grinding tray flipping machine includes a left support leg 101, a right support leg 102, a flipping frame 10301, and a lifting platform 104. The left support leg 101 and right support leg 102 are fixed to the ground. A left rotating shaft 10302, horizontally arranged in the left-right direction, is fixed to the left end of the flipping frame 10301, and a right rotating shaft 10303, whose axis coincides with the axis of the left rotating shaft 10302, is fixed to the right end. The left rotating shaft 10302 is rotatably mounted above the left support leg 101 via a left bearing seat 105. The right rotating shaft... 10303 is rotatably mounted above the right support leg 102 via the right bearing seat 106. The flipping frame 10301 is provided with a positioning and clamping mechanism for positioning and clamping the grinding tray 2. The right support leg 102 is fixed with a flipping drive mechanism for driving the right rotating shaft 10303 to rotate. The right support leg 102 is also fixed with a flipping positioning mechanism for positioning the flipping frame 10301 and the right support leg 102 after flipping. The lifting platform 104 is located below the flipping frame 10301 and is used to lift the grinding tray 2.

[0040] When the lifting platform 104 lifts the grinding tray 2 in the upside-down state to the position, the positioning and clamping mechanism positions and clamps the grinding tray 2, so that the grinding tray 2 is fixed with the turnover frame 10301, the right rotating shaft 10303 is driven to rotate 180° relative to the right supporting leg 102 through the turnover driving mechanism, the left rotating shaft 10302 rotates 180° relative to the left supporting leg 101 through the turnover frame 10301 together with the right rotating shaft 10303, so that the turnover frame 10301 drives the grinding tray 2 to turn 180° relative to the left supporting leg 101 and the right supporting leg 102, and the turnover frame 10301 after turnover is positioned with the right supporting leg 102 through the turnover positioning mechanism. In this way, the positioning and clamping of the grinding tray 2 can be realized through the positioning and clamping mechanism, the turnover of the turnover frame 10301 and the grinding tray 2 can be realized through the turnover driving mechanism, the turnover frame 10301 after turnover can be positioned with the right supporting leg 102 through the turnover positioning mechanism, and the accuracy of the turning angle of the grinding tray 2 can be ensured. In the subsequent replacement operation of the adsorption pad 205 on the grinding tray 2, the grinding tray 2 is in the upright state, so the staff does not need to operate below the grinding tray 2 in the upside-down state, thereby ensuring the safety of the staff during the replacement operation of the adsorption pad 205 on the grinding tray 2. Moreover, since the adsorption pad 205 is attached in the upright state of the grinding tray 2, there are few bubbles between the adsorption pad 205 and the aluminum plate of the grinding tray 2, so the replacement quality of the adsorption pad 205 on the grinding tray 2 can be significantly improved, thereby ensuring the grinding quality of the subsequent glass substrate and improving the yield rate of the production line.

[0041] The turnover machine is rapid in turnover and high in turnover precision, and the angle error before and after turnover is within ±0.1°. The turnover machine can be used alone or placed in a glass substrate grinding production line and used in combination with an adsorption pad 205 attaching and stripping machine. If used in combination with the adsorption pad 205 attaching and stripping machine, the replacement speed of the adsorption pad 205 on the grinding tray 2 can be significantly improved, thereby significantly improving the production efficiency of the glass substrate grinding production line. Moreover, the combination with the adsorption pad 205 attaching and stripping machine can also significantly improve the replacement quality of the adsorption pad 205 on the grinding tray 2, thereby improving the yield rate of the glass substrate grinding.

[0042] In the present application, the turnover frame 10301 can be driven by the turnover driving mechanism to realize ±180° turnover motion.

[0043] In one embodiment,

[0044] As Figures 1-4As shown, the overturning driving mechanism comprises a first linear driving source, a gear 10702, a rack 10703, a sliding rail 10704, a rack sliding rail mounting bracket 10705, a sliding block 10706 and a sliding block mounting bracket 10707. The cylinder body of the first linear driving source is fixed on the right leg 102. The upper end of the rod body of the first linear driving source is fixedly connected with the lower end of the rack sliding rail mounting bracket 10705. The rack 10703 and the sliding rail 10704 are respectively fixed on the two sides of the rack sliding rail mounting bracket 10705. The gear 10702 is sleeved and fixed on the right end of the right rotating shaft 10303 and is engaged with the rack 10703. The sliding block 10706 is fixedly connected with the right leg 102 through the sliding block mounting bracket 10707. The sliding rail 10704 is in sliding cooperation with the sliding block 10706. Preferably, the first linear driving source is one of a first linear cylinder 10701, a first linear motor and a first linear electric cylinder.

[0045] Thus, the rod body of the first linear driving source moves linearly in the vertical direction to drive the rack sliding rail mounting bracket 10705, on which the rack 10703 and the sliding rail 10704 are mounted, to move linearly in the vertical direction along the sliding block 10706, thereby driving the gear 10702 and the right rotating shaft 10303 fixedly connected with the gear 10702 to rotate, so as to complete the overturning of the overturning frame 10301 and the grinding tray 2.

[0046] Alternatively, as shown in Figure 5 and Figure 7 , the overturning driving mechanism comprises a first servo motor 10801 and a first speed reducer 10802. The housing of the first servo motor 10801 is fixed on the right leg 102. The output shaft of the first servo motor 10801 is in transmission connection with the right rotating shaft 10303 through the first speed reducer 10802.

[0047] Thus, the first servo motor 10801 and the first speed reducer 10802 are cooperated to directly drive the right rotating shaft 10303 to rotate, so as to realize the overturning of the overturning frame 10301 and the grinding tray 2.

[0048] Alternatively, the overturning driving mechanism comprises a worm gear, a worm and a second servo motor. The housing of the second servo motor is fixed on the right leg 102. The output shaft of the second servo motor is fixedly connected with the worm. The worm gear is sleeved and fixed on the right end of the right rotating shaft 10303 and is engaged with the worm.

[0049] Thus, the second servo motor drives the worm to rotate, thereby driving the worm gear and the right rotating shaft 10303 fixedly connected with the worm gear to rotate, so as to realize the overturning of the overturning frame 10301 and the grinding tray 2.

[0050] In one embodiment, as Figure 2 , Figure 3 , Figure 4 ,Figure 5 and Figure 9 As shown in FIG. 10, the overturning positioning mechanism comprises a second linear driving source and an overturning positioning pin 10902, a cylinder body of the second linear driving source is fixedly connected with the right leg 102 through an overturning positioning support 10903, an overturning positioning pin sleeve 10904 is fixedly arranged in the overturning positioning support 10903, and a rod body left end of the second linear driving source is fixedly connected with a right end of the overturning positioning pin arranged in the overturning positioning pin sleeve 10904; an overturning connecting frame 10304 is fixedly arranged between a right end of the overturning frame 10301 and a left end of the right rotating shaft 10303, and an overturning positioning rod 10305 horizontally arranged along a front-rear direction is fixedly arranged on the overturning connecting frame 10304, and overturning positioning pin holes 10306 horizontally arranged along a left-right direction are respectively arranged at front and rear ends of the overturning positioning rod 10305; a left end of the overturning positioning pin 10902 is arranged in the overturning positioning pin hole 10306 on a corresponding side of the overturning positioning rod 10305. Preferably, the second linear driving source is one of a second linear cylinder 10901, a second linear motor and a second linear electric cylinder.

[0051] In this way, when the overturning frame 10301 and the grinding tray 2 are completed overturning, the rod body of the second linear driving source is horizontally extended to the right to drive the overturning positioning pin 10902 to be horizontally moved to the right along the overturning positioning pin sleeve 10904 and arranged in the overturning positioning pin hole 10306 on the corresponding side of the overturning positioning rod 10305, so as to realize the positioning of the overturned overturning frame 10301 relative to the right leg 102, and if the overturning driving mechanism is a structure of the gear 10702 and the rack 10703, the overturning positioning mechanism can also correct the angle error in the overturning process caused by the tooth gap between the gear 10702 and the rack 10703, so as to further ensure the accuracy of the overturning angle of the grinding tray 2.

[0052] Preferably, the left end of the overturning positioning pin 10902 is in a conical shape, and the overturning positioning pin hole 10306 is a conical hole or a circular hole.

[0053] In this way, through the contact and cooperation between the conical overturning positioning pin 10902 and the conical surface of the overturning positioning pin hole 10306, the positioning accuracy of the overturned overturning frame 10301 relative to the right leg 102 can be ensured.

[0054] In one embodiment, as shown in FIG. 10, Figure 6As shown, the grinding tray 2's tray frame includes a main tray frame 201 and two secondary tray frames 202. The two secondary tray frames 202 are respectively arranged at the left and right ends of the main tray frame 201. When the grinding tray 2 is in an inverted state, each secondary tray frame 202 is fixed above the corresponding side of the main tray frame 201. Each secondary tray frame 202 has a vertical tray positioning hole 203. Multiple tray clamping heads 204, fixedly connected to the main tray frame 201, are distributed from front to back in the gap between each secondary tray frame 202 and the corresponding side of the main tray frame 201. The positioning and clamping mechanism includes tray positioning components that mate with the tray positioning holes 203 on each secondary tray frame 202, and tray clamping components that mate with each tray clamping head 204 on the corresponding side of the main tray frame 201. Preferably, the tray positioning holes 203 on both sides are located diagonally opposite each other.

[0055] Among them, such as Figure 3 and Figure 10 As shown, each side pallet positioning component includes a pallet positioning bracket 11001 fixed to the flipping frame 10301. A third linear drive source is provided on the pallet positioning bracket 11001. The cylinder of the third linear drive source is fixedly connected to the pallet positioning bracket 11001. The free end of the rod of the third linear drive source is fixedly connected to one end of a pallet positioning pin 11003 or a pallet positioning wedge. The other end of the pallet positioning pin 11003 or the pallet positioning wedge is used to insert into the pallet positioning hole 203 on the corresponding side pallet sub-frame 202. Preferably, the third linear drive source is one of a third linear cylinder 11002, a third linear motor, or a third linear electric cylinder.

[0056] When the lifting platform 104 raises the inverted grinding tray 2 to its position, the rod of the third linear drive source in each side tray positioning component moves linearly in the vertical direction, thereby driving the tray positioning pin 11003 or the tray positioning wedge block to move linearly in the vertical direction. The other end of the tray positioning pin 11003 or the tray positioning wedge block is inserted into the tray positioning hole 203 on the corresponding side tray sub-frame 202, thereby achieving the positioning of the grinding tray 2 relative to the flipping frame 10301 and preventing the grinding tray 2 from moving horizontally relative to the flipping frame 10301.

[0057] Preferably, the other end of the pallet positioning pin 11003 is conical or hemispherical; if the pallet positioning hole 203 is used in conjunction with the pallet positioning pin 11003, the shape of the pallet positioning hole 203 is adapted to the shape of the other end of the pallet positioning pin 11003; if the pallet positioning hole 203 is adapted to the pallet positioning wedge block, the shape of the pallet positioning hole 203 is adapted to the shape of the other end of the pallet positioning wedge block.

[0058] Among them, such asFigure 3 , Figure 7 and Figure 8 As shown, each pallet clamping component includes a clamping drive assembly and a plurality of hooks 11101 that are equal in number and position to the pallet clamping heads 204 on the corresponding side of the pallet main frame 201. One end of each hook 11101 is hinged to the flipping frame 10301 via a hinge shaft 11106, and each hook 11101 is fixedly connected to the others via a hook bracket 11102. The clamping drive assembly is used to drive each hook 11101 on the corresponding side to rotate relative to the flipping frame 10301 via the hook bracket 11102, so that the other end of each hook 11101 hooks onto or moves away from the corresponding pallet clamping head 204.

[0059] After the grinding tray 2 is positioned, the clamping drive component in the tray clamping component on each side drives the corresponding claws 11101 on the corresponding side to rotate relative to the flipping frame 10301 through the claw bracket 11102, so that the other end of each claw 11101 hooks the corresponding tray clamping head 204, thereby clamping the grinding tray 2 and preventing the grinding tray 2 from relative displacement and shaking with the flipping frame 10301 during the flipping process.

[0060] Preferably,

[0061] like Figure 7 and Figure 8 As shown, the clamping drive assembly includes a fourth linear drive source. The cylinder of the fourth linear drive source is hinged to the clamping drive support 11104 via a hinge shaft 11106. The clamping drive support 11104 is fixed to the flipping frame 10301. The free end of the rod of the fourth linear drive source is hinged to the claw bracket 11102 via a fisheye joint 11105. Preferably, the fourth linear drive source is one of a fourth linear cylinder 11103, a fourth linear motor, or a fourth linear electric cylinder.

[0062] In this way, the rod of the fourth linear drive source in each side of the tray clamping component extends out, so as to drive the other end of each hook 11101 on the corresponding side to hook the corresponding tray clamping head 204 through the fisheye connector 11105 and the hook bracket 11102, thereby achieving the clamping of the grinding tray 2.

[0063] Alternatively, the clamping drive assembly includes a third servo motor and a second reducer. The housing of the third servo motor is fixed to the flipping frame 10301, and the output shaft of the third servo motor is connected to the claw bracket 11102 via the second reducer.

[0064] In this way, the third servo motor and the second reducer in the pallet clamping component on each side directly drive the hook bracket 11102 to rotate, so as to drive the other end of each hook 11101 on the corresponding side to hook the corresponding pallet clamping head 204, thereby achieving the clamping of the grinding pallet 2.

[0065] Alternatively, the clamping drive assembly is a rotary cylinder, with the cylinder body fixed to the tilting frame 10301 and the output shaft of the rotary cylinder fixedly connected to the claw bracket 11102.

[0066] In this way, the rotation of the corner cylinder in the pallet clamping component on each side directly drives the hook support 11102 to rotate, and drives the other end of each hook 11101 on the corresponding side to hook the corresponding pallet clamping head 204, thereby clamping the grinding pallet 2.

[0067] Among them, such as Figure 3 , Figure 7 and Figure 8 As shown, multiple pulleys 11201 are arranged side by side from front to back on the flip frame 10301 at positions corresponding to each side of the pallet sub-frame 202. Each pulley 11201 has a limiting wheel 11202 on its left and right sides. The multiple pulleys 11201 on the corresponding side of the flip frame 10301 cooperate to form a sliding track for the pallet sub-frame 202 on the corresponding side. The limiting wheels 11202 on the left and right sides of each pulley 11201 are used to limit the pallet sub-frame 202 on the corresponding side to the left and right.

[0068] When the grinding tray 2 is flipped to an upright position, the tray clamping components on each side are unlocked from the corresponding tray clamping heads 204, and the tray positioning components on each side are unlocked from the tray positioning holes 203 on the corresponding tray sub-frame 202. This allows the grinding tray 2 to move relative to the flipping frame 10301. Then, the tray sub-frame 202 on each side of the grinding tray 2 can move along the sliding track formed by the multiple pulleys 11201 on the flipping frame 10301 and enter the adsorption pad 205 attachment and peeling machine used with the flipping machine for subsequent adsorption pad 205 peeling and adsorption pad 205 reattaching operations. After the adsorption pad 205 is replaced, the grinding tray 2 moves back to the flipping machine along the sliding tracks on both sides and is positioned and clamped by the positioning and clamping mechanism. Then, the flipping drive mechanism drives the flipping frame 10301 and the grinding tray 2 to flip, so that the grinding tray 2 flips back to the inverted state for subsequent glass substrate grinding operations.

[0069] A method for flipping a grinding tray for glass substrate grinding, using the aforementioned grinding tray flipping machine, specifically involves: first, a lifting platform 104 raises the inverted grinding tray 2 to its position; then, a positioning and clamping mechanism positions and clamps the grinding tray 2, fixing it to the flipping frame 10301; next, the lifting platform 104 lowers to its reset position; then, a flipping drive mechanism drives the right rotating shaft 10303 to rotate 180° relative to the right support leg 102; the left rotating shaft 10302 rotates 180° relative to the left support leg 101 along with the right rotating shaft 10303 via the flipping frame 10301, causing the flipping frame 10301 to flip the grinding tray 2 180° relative to the left and right support legs 101 and 102; finally, a flipping positioning mechanism positions the flipping frame 10301 and the right support leg 102 after the flipping.

[0070] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A flipper for glass substrate polishing with a polishing tray, characterized by: The device comprises a left leg (101), a right leg (102), a turnover frame (10301) and a lifting platform (104); the left end of the turnover frame (10301) is fixed with a left rotating shaft (10302) arranged horizontally along the left-right direction, and the right end is fixed with a right rotating shaft (10303) with the same axis as the left rotating shaft (10302); the left rotating shaft (10302) is rotatably arranged above the left leg (101) through a left bearing seat (105); the right rotating shaft (10303) is rotatably arranged above the right leg (102) through a right bearing seat (106); the turnover frame (10301) is provided with a positioning and clamping mechanism for positioning and clamping a grinding tray (2); the right leg (102) is fixed with a turnover driving mechanism for driving the right rotating shaft (10303) to rotate; the right leg (102) is further fixed with a turnover positioning mechanism for positioning the turnover frame (10301) and the right leg (102) after turnover; and the lifting platform (104) is below the turnover frame (10301) and used for lifting the grinding tray (2).

2. The turnover machine for the grinding tray of the glass substrate according to claim 1, characterized in that: the turnover driving mechanism comprises a first linear driving source, a gear (10702), a rack (10703), a sliding rail (10704), a rack and sliding rail mounting bracket (10705), a sliding block (10706) and a sliding block mounting bracket (10707); the cylinder body of the first linear driving source is fixed on the right leg (102); the upper end of the rod body of the first linear driving source is fixedly connected with the lower end of the rack and sliding rail mounting bracket (10705); the rack (10703) and the sliding rail (10704) are fixed on the two sides of the rack and sliding rail mounting bracket (10705) respectively; the gear (10702) is fixedly sleeved on the right end of the right rotating shaft (10303) and engaged with the rack (10703); the sliding block (10706) is fixedly connected with the right leg (102) through the sliding block mounting bracket (10707); and the sliding rail (10704) is in sliding fit with the sliding block (10706); alternatively, the turnover driving mechanism comprises a first servo motor (10801) and a first speed reducer (10802); the housing of the first servo motor (10801) is fixed on the right leg (102); and the output shaft of the first servo motor (10801) is in transmission connection with the right rotating shaft (10303) through the first speed reducer (10802); alternatively, the turnover driving mechanism comprises a worm gear, a worm and a second servo motor; the housing of the second servo motor is fixed on the right leg (102); the output shaft of the second servo motor is fixedly connected with the worm; and the worm gear is fixedly sleeved on the right end of the right rotating shaft (10303) and engaged with the worm.

3. The turnover machine of the polishing tray for polishing glass substrates according to claim 1, wherein: The turnover positioning mechanism comprises a second linear driving source and a turnover positioning pin (10902), a cylinder body of the second linear driving source is fixedly connected with the right supporting leg (102) through a turnover positioning support (10903), a turnover positioning pin sleeve (10904) is fixedly arranged in the turnover positioning support (10903), and a rod body left end of the second linear driving source is fixedly connected with a right end of the turnover positioning pin arranged in the turnover positioning pin sleeve (10904).

4. The turnover machine of the polishing tray for polishing glass substrates according to claim 3, wherein: The left end of the turnover positioning pin (10902) is arranged in the turnover positioning pin hole (10306) on the corresponding side of the turnover positioning rod (10305).

5. The turnover machine of the polishing tray for polishing glass substrates according to claim 1, wherein: The tray frame of the grinding tray (2) comprises a tray main frame (201) and two tray auxiliary frames (202), the two tray auxiliary frames (202) are arranged at left and right ends of the tray main frame (201), in the case that the grinding tray (2) is in an inverted state, the tray auxiliary frame (202) on each side is fixed above the corresponding side of the tray main frame (201), the tray auxiliary frame (202) on each side is provided with a vertical tray positioning hole (203), and a plurality of tray clamping heads (204) fixedly connected with the tray main frame (201) are distributed from front to back in a gap between the tray auxiliary frame (202) on each side and the corresponding side of the tray main frame (201).

6. The turnover machine of the polishing tray for polishing glass substrates according to claim 5, wherein: The tray positioning component on each side comprises a tray positioning support (11001) fixed on the turnover frame (10301), the tray positioning support (11001) is provided with a third linear driving source, a cylinder body of the third linear driving source is fixedly connected with the tray positioning support (11001), a rod body free end of the third linear driving source is fixedly connected with one end of a tray positioning pin (11003) or a tray positioning wedge-shaped block, and the other end of the tray positioning pin (11003) or the tray positioning wedge-shaped block is arranged in the tray positioning hole (203) on the corresponding side of the tray auxiliary frame (202).

7. The turnover machine of the polishing tray for polishing glass substrates according to claim 5, wherein: Each side of the tray clamping part comprises a clamping drive assembly and a plurality of hook claws (11101) corresponding in number and position to the tray clamping heads (204) on the corresponding side of the tray main frame (201); one end of each of the hook claws (11101) is hinged to the turnover frame (10301) through a hinge shaft (11106), and each of the hook claws (11101) is fixedly connected through a hook claw support (11102); the clamping drive assembly is used to drive each of the hook claws (11101) on the corresponding side to rotate relative to the turnover frame (10301) through the hook claw support (11102), so that the other end of each of the hook claws (11101) hooks or moves away from the corresponding tray clamping head (204).

8. The turnover machine of the grinding tray for grinding glass substrates according to claim 7, characterized in that: the clamping drive assembly comprises a fourth linear drive source, the cylinder body of the fourth linear drive source is hinged to the clamping drive support (11104) through the hinge shaft (11106), the clamping drive support (11104) is fixed to the turnover frame (10301), and the free end of the rod body of the fourth linear drive source is hinged to the hook claw support (11102) through a fisheye joint (11105); alternatively, the clamping drive assembly comprises a third servo motor and a second speed reducer, the housing of the third servo motor is fixed to the turnover frame (10301), and the output shaft of the third servo motor is in transmission connection with the hook claw support (11102) through the second speed reducer; alternatively, the clamping drive assembly is a corner air cylinder, the cylinder body of the corner air cylinder is fixed to the turnover frame (10301), and the output shaft of the corner air cylinder is fixedly connected with the hook claw support (11102).

9. The turnover machine of the polishing tray for polishing glass substrates according to claim 5, wherein: A plurality of pulleys (11201) are arranged side by side from front to back on the turnover frame (10301) at positions corresponding to each side of the tray sub-frame (202), and each of the pulleys (11201) is provided with a limiting wheel (11202) on the left and right sides, respectively, and the plurality of pulleys (11201) on the corresponding side of the turnover frame (10301) cooperate to form a sliding track for the tray sub-frame (202) on the corresponding side, and the limiting wheels (11202) on the left and right sides of each of the pulleys (11201) cooperate to limit the tray sub-frame (202) on the corresponding side left and right.

10. A method for flipping a grinding tray for glass substrate grinding, comprising using a flipping machine for the grinding tray for glass substrate grinding as described in any one of claims 1-9, characterized in that, Specificly: when the lifting platform (104) is in the inverted state of the grinding tray (2) to rise in place, the positioning and clamping mechanism of the grinding tray (2) is positioned and clamped, so that the grinding tray (2) is fixed with the turnover frame (10301), the right rotating shaft (10303) is driven to rotate 180° relative to the right leg (102) through the turnover driving mechanism, the left rotating shaft (10302) rotates 180° relative to the left leg (101) through the turnover frame (10301) with the right rotating shaft (10303), so that the turnover frame (10301) drives the grinding tray (2) to turn over 180° relative to the left leg (101) and the right leg (102), and the turnover frame (10301) and the right leg (102) are positioned after turning over through the turnover positioning mechanism.

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