A lifting and rotating positioning device for glass marking and tempering printing

Abstract

The application discloses a lifting and rotating positioning device for glass marking and tempering printing, and relates to the technical field of glass deep processing automation equipment. The lifting and rotating positioning device comprises a rack and a multi-axle wheel type conveying assembly arranged on the rack. The lifting and rotating positioning device further comprises a jacking assembly which is arranged in the wheel shaft gap of the multi-axle wheel type conveying assembly and is configured to vertically lift or lower the glass workpiece from the multi-axle wheel type conveying assembly. A rotating assembly is suspended directly above the jacking assembly. The application sets double distance measuring sensors on both sides of the conveying path to construct a non-contact visual attitude detection system. The edge coordinates of the transparent glass are accurately captured by using the diffuse reflection principle, and the width and the deflection angle of the glass are automatically calculated by using an algorithm. The design discards the traditional mechanical stop block and side pushing correction, completely eliminates the edge collapse risk and surface scratch hidden danger caused by physical collision on the glass edge, and realizes high-precision and lossless automatic deviation correction of different sizes of glass.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology for deep glass processing, and specifically to a lifting and rotating positioning device for tempered glass marking. Background Technology

[0002] In the deep processing of flat glass, especially in the screen printing, marking or laser engraving processes before entering the tempering furnace, there are extremely high requirements for the positional accuracy and angular orientation of the glass workpiece on the conveyor line. In order to meet the strict feeding rules of the tempering furnace (e.g., the short side must be fed first to ensure uniform heating) or to adapt to the width direction of the downstream printing equipment, the glass on the conveyor line is often required to maintain a specific longitudinal or transverse orientation, and there are millimeter-level control requirements for the centerline deviation.

[0003] However, in actual production, glass workpieces are usually directly transferred from upstream cutting equipment or loaded manually. Limited by the cutting accuracy of upstream equipment or the arbitrariness of manual operation, the feeding state of the glass often has considerable uncontrollability. This results in the glass entering the current station not only generally exhibiting positional offset and angular misalignment (such as...) Figure 11 This is known as "infeeding at an angle," and more seriously, the feeding direction is often wrong (i.e., "reversed horizontal and vertical"). For example, the process requires the glass to enter the printer vertically (vertically), but the upstream material is being fed horizontally (horizontally). If this directional error is not corrected in time, it will cause the printed content to deviate.

[0004] While some rotary table devices exist for glass turning in the existing technology, their positioning logic mostly adopts a mechanical limit and fixed angle rotation mode. That is, before and after rotation, the device relies on a cylinder-driven mechanical stop to physically impact or squeeze the glass edge, forcing the glass edge to fit with the reference surface to achieve alignment (this can only solve the alignment problem when there is a small deviation, but it cannot complete the alignment when the feeding direction is wrong). However, it lacks the ability to automatically detect the real-time actual posture of the glass (such as the specific tilt angle, the horizontal and vertical state of the feeding). It can only perform preset fixed actions (such as simply rotating 90 degrees). When there is a random small tilt angle (such as a tilt of 3°) or an incorrect feeding direction in the upstream material, the existing device cannot identify and perform targeted difference compensation. As a result, although the glass has been rotated, it still retains the initial angle error, which cannot meet the stringent requirements of the subsequent automatic rotation alignment of tempered glass printing equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a lifting and rotating positioning device for tempered glass marking, in order to solve the problems mentioned in the background art, such as mechanical positioning easily damaging the glass, the air circuit of traditional rotating mechanisms being prone to entanglement and breakage, and poor adsorption and gripping stability.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A lifting and rotating positioning device for tempered glass marking includes a frame and a multi-axis wheeled conveyor assembly mounted on the frame; it further includes: a lifting assembly, interposed in the wheel axle gap of the multi-axis wheeled conveyor assembly, configured to vertically lift or lower a glass workpiece from the multi-axis wheeled conveyor assembly; a rotating assembly, suspended directly above the lifting assembly, configured to grasp the glass workpiece by negative pressure adsorption after it is lifted, and drive the glass workpiece to rotate in a horizontal plane; a detection assembly, located on the conveying path of the multi-axis wheeled conveyor assembly, configured to collect edge position data of the glass workpiece in real time during the glass workpiece conveying process to obtain the current conveying posture and deflection angle of the glass workpiece; and a control unit, electrically connected to the detection assembly, the lifting assembly, and the rotating assembly respectively; the control unit is configured to execute the following positioning logic: calculate the angular deviation between the current conveying posture of the glass workpiece and the preset target posture based on the data fed back by the detection assembly; control the rotating assembly to adsorb the glass workpiece, and drive the glass workpiece to rotate to the compensated target angle according to the angular deviation, so as to complete the posture correction of the glass workpiece.

[0007] By adopting the above technical solution, through the coordinated operation of the detection component and the rotating component, and utilizing non-contact data acquisition technology and the suspension drive mechanism of vacuum negative pressure adsorption, the automatic identification of the initial conveying posture of the glass workpiece and the servo flexible compensation based on the angle deviation are realized. This completely replaces the traditional mechanical stop's forced physical correction method, effectively avoiding the risk of glass edge chipping or surface scratches caused by hard contact. At the same time, it significantly improves the equipment's flexibility and adaptability when handling glass of different sizes and specifications, and can achieve fully automatic precise positioning and line production without manual shape change.

[0008] A further improvement of the technical solution of the present invention is that: the detection component includes a first distance sensor and a second distance sensor respectively installed on the frame on both sides of the conveying path; the control unit stores the calibration distance data between the first distance sensor and the second distance sensor, and is configured to: control the first distance sensor and the second distance sensor to continuously collect real-time distance signals between themselves and the side edges of the glass workpieces they pass; calculate the projected width of the glass workpiece perpendicular to the conveying direction based on the calibration distance data and the collected real-time distance signals on both sides; compare the projected width with the preset length and width dimensions of the glass workpiece to determine whether the current conveying posture of the glass workpiece is transverse or longitudinal; and simultaneously calculate the deflection angle of the glass workpiece relative to the conveying direction based on the rate of change of the continuously collected distance signals.

[0009] By adopting the above technical solution, by setting up a first ranging sensor and a second ranging sensor on both sides of the conveying path, and utilizing the diffuse reflection optical characteristics of the rough side edge of the glass and the geometric difference calculation model inside the control unit (i.e., the total width minus the distance between the two sides), the actual physical projection width of the glass workpiece can be calculated and locked in real time. This effectively overcomes the transmission omission problem that is prone to occur in traditional top photoelectric detection of high-transmittance glass, as well as the problem of size misjudgment caused by the workpiece being conveyed at an angle. It ensures the high reliability of the system in judging the horizontal and vertical attitude of the glass under complex working conditions such as slippage of the conveyor wheel or unstable workpiece posture.

[0010] A further improvement of the technical solution of the present invention is as follows: the rotating assembly includes a gantry frame spanning above the machine frame, a rotary motor is fixedly installed on the top of the gantry frame, a tilting shaft is rotatably connected to the top wall of the inner side of the gantry frame, a fixture seat is fixedly connected to the bottom end of the tilting shaft, and the output shaft of the rotary motor and the tilting shaft are connected by a gear transmission through mutual meshing; mounting holes are provided at the four corners of the fixture seat, and a hollow rod slides vertically through the mounting holes; a pipe interface is fixedly connected to the top of the hollow rod, the pipe interface is configured to connect to a negative pressure adsorption pipe, and a suction cup is fixedly connected to the bottom end of the hollow rod; a first pad is fixedly fitted on the outer wall of the hollow rod above the fixture seat, and a second pad is fixedly fitted on the bottom of the fixture seat; a first spring is fitted on the outside of the hollow rod, and the two ends of the first spring abut against the bottom surface of the fixture seat and the top surface of the second pad, respectively.

[0011] By adopting the above technical solution, a floating and buffered suction cup is set on the fixture seat, which enables the suction cup assembly to adaptively and flexibly float in the vertical direction. When the device grips the glass, if the glass surface is uneven or tilted, the suction cup that contacts the glass first will drive the hollow rod to overcome the resistance of the first spring and move upward until all suction cups are tightly attached to the glass surface. This not only eliminates rigid impact and effectively protects brittle glass workpieces, but also uses the restoring force of the spring to ensure that the contact pressure of each suction cup is uniform, which significantly improves the sealing reliability and gripping stability during the rotation process.

[0012] A further improvement of the technical solution of the present invention is that: the lifting assembly includes a lifting frame that can slide vertically along the frame; the lifting frame consists of several crossbars parallel to the axles of the multi-axis wheel conveyor assembly, vertical bars fixedly connected to the bottom ends of the crossbars, and a force-bearing frame fixedly connected between the bottoms of the vertical bars; the crossbars are located in the area between two adjacent axles and can rise upwards from the gap between the two axles; several universal wheels are fixedly installed on the top of each crossbar; cylinders are fixedly installed on the four corners of the inner side of the frame, and the piston rods of the cylinders are fixedly connected to the force-bearing frame.

[0013] By adopting the above technical solution, a stable rolling support plane is constructed by setting universal wheels at the top of the crossbar of the lifting frame as the contact medium and using cylinders distributed at the four corners to drive the overall lifting of the load-bearing frame. The solution utilizes the free rotation characteristic of the universal wheels to convert the sliding friction between the glass and the support surface into rolling friction, so that the rotating component at the top only needs to provide torque to easily drive the glass to rotate without bearing the full weight of the glass, thus reducing the load and scratch risk of the top mechanism. The crossbar and the multi-axis wheel conveyor component are arranged in parallel and staggered order, which cleverly utilizes the gap between the conveyor wheels, so that the device achieves seamless integration of the lifting function without changing the original conveyor line structure.

[0014] A further improvement of the technical solution of the present invention is that: four upper pressure rods are slidably connected through the fixture base, the top of the upper pressure rods are equipped with limit heads, the bottom of the upper pressure rods are fixedly connected with an upper pressure frame, the bottom of the upper pressure frame is fixedly connected with a number of friction blocks, and the bottom of the friction blocks is provided with anti-slip mesh; a second spring is sleeved on the outside of the upper pressure rods, and the two ends of the second spring abut against the upper pressure frame and the fixture base respectively.

[0015] By adopting the above technical solution, an upper pressure frame and a textured friction block are added below the fixture seat. The anti-slip texture (such as diamond knurling) on ​​the bottom of the friction block is used to press the friction block firmly against the glass surface by the elastic force of the second spring after the glass is picked up by the suction cup. This transforms the soft suction cup contact into a rigid mechanical contact with a high coefficient of friction, ensuring lossless transmission of rotational torque and eliminating inertial slippage. The presence of the second spring gives the upper pressure frame a vertical floating capability, which can adapt to glass workpieces of different thicknesses and maintain a constant downward pressure during the suction cup adsorption process, preventing rigid collisions from crushing the glass.

[0016] A further improvement of the technical solution of the present invention is as follows: two pressure cylinders are installed on two of the crossbars of the lifting frame, and a lower pressure rod is slidably inserted inside the pressure cylinder. A stop block is fixedly connected to the top of the lower pressure rod. A third spring is sleeved on the outside of the lower pressure rod. The third spring abuts between the stop block and the inner bottom wall of the pressure cylinder, and is configured to give the stop block an elastic tendency to protrude upward. The bottom end of the lower pressure rod extends to the bottom of the crossbar and is connected to a linkage frame. Through holes are opened at the four corners of the linkage frame for the lower pressure rod to pass through, and a support block is fixed at the bottom end of the lower pressure rod to support the linkage frame. A screw is vertically fixed inside the frame. An adjustable trigger plate is threaded on the outside of the screw. The trigger plate is located on the rising path of the linkage frame and is configured to prevent the linkage frame from rising further when the lifting frame rises to a set height.

[0017] The above technical solution utilizes the principle of differential travel disengagement to achieve a three-stage action: first, braking and locking; then, rolling support; and finally, automatic disengagement at the end point. A third spring ensures that the stop block contacts the glass before the caster wheel, eliminating lifting slippage. A trigger plate forcibly pulls down the stop block when the glass approaches the top suction cup, ensuring no friction interference at the bottom during rotation. The solution requires no additional sensors or cylinders to control the extension and retraction of the stop block, relying entirely on the vertical displacement of the lifting frame to trigger the action, resulting in an extremely low failure rate and good synchronization.

[0018] A further improvement of the technical solution of the present invention is that: the outer circumferential wall of the pressure cylinder is provided with an external thread, and the crossbar on which the pressure cylinder is installed is provided with an internal thread hole; the pressure cylinder is screwed into the internal thread hole through a threaded fit, and its height on the crossbar is adjusted by rotating the pressure cylinder, thereby adjusting the initial protrusion height of the stop block relative to the top surface of the universal wheel.

[0019] By adopting the above technical solution, a threaded adjustment structure is set on the outer wall of the pressure cylinder, and the initial height of the stop block can be adjusted by rotating the pressure cylinder. In fact, the braking stroke between the glass contacting the stop block and the contact universal wheel is adjusted. This allows the operator to find the optimal balance point of friction and support force according to the weight of the glass, ensuring that the stop block can provide sufficient static friction to lock inertia, and ensuring that the glass can use its own weight to smoothly press down on the contact universal wheel for support.

[0020] A further improvement of the technical solution of the present invention is that: the flip shaft is a hollow shaft structure, the top end of the flip shaft extends through to the top of the gantry and is equipped with a rotary joint; the stationary end of the rotary joint is connected to an external vacuum source, and the rotating end of the rotary joint is connected to the interior of the flip shaft; a vacuum manifold is fixedly connected to the top of the fixture seat, the input end of the vacuum manifold is connected to the interior of the bottom end of the flip shaft, and the output end is connected to the pipe interface at the top of the hollow rod through a flexible hose.

[0021] By adopting the above technical solution, and using an internal airflow structure with a hollow flip shaft, a pneumatic rotary joint, and a central vacuum manifold, dynamic and static separation transmission of the vacuum negative pressure air path is achieved. Utilizing the dynamic and static sealing characteristics of the rotary joint, the external static negative pressure air source is transmitted losslessly to the high-speed rotating fixture, completely eliminating the risks of pipe twisting, entanglement, and fatigue fracture that occur during large-amplitude or continuous rotation caused by traditional external hose connections. This enables the equipment to perform continuous rotation processes at any angle, while significantly improving the sealing reliability of the air path system and the safety of equipment operation, and ensuring the synchronicity of the adsorption response of each suction cup.

[0022] By adopting the above technical solution, the technical effects achieved by this invention compared to the prior art are as follows: 1. This invention provides a lifting and rotating positioning device for tempered glass marking. By setting dual ranging components on both sides of the conveying path and an optical suppression background plate at the bottom, a non-contact visual attitude detection system is constructed. The system accurately captures the edge coordinates of the transparent glass using the principle of diffuse reflection and automatically calculates the width and tilt angle of the glass through an algorithm. This design eliminates the traditional mechanical blocks and side pushers, completely eliminating the risk of edge chipping and surface scratches caused by physical collisions to the glass edge, and achieving high-precision, non-destructive automatic correction of glass of different sizes.

[0023] 2. This invention provides a lifting and rotating positioning device for tempered glass marking. By employing an independent floating buffer structure in the rotating component, the suction cup assembly achieves adaptive flexible floating in the vertical direction. When the device grips glass that is warped or uneven, the first suction cup to contact will drive the hollow rod to overcome the spring resistance and move upward until all suction cups are tightly attached. This avoids the rigid impact from crushing the ultra-thin glass and ensures the sealing reliability of the negative pressure adsorption, preventing the glass from falling off.

[0024] 3. This invention provides a lifting and rotating positioning device for tempered glass marking. Through the cooperation of the universal wheel of the lifting assembly and the stop block of the braking assembly, in the initial lifting stage, the stop block, under the action of a spring, contacts the glass before the universal wheel, using friction to lock the glass position and prevent inertial slippage. After lifting to the correct position, a trigger plate forcibly pulls down the stop block, allowing the glass to be completely supported by the rolling of the universal wheel. This solves the contradiction between anti-slip fixation and free rotation, ensuring a smooth and resistance-free rotation process.

[0025] 4. This invention provides a lifting and rotating positioning device for tempered glass marking. By adding an elastic upper pressure frame with anti-slip texture below the fixture seat, during rotation, the upper pressure frame uses spring force to firmly press the friction block against the upper surface of the glass, transforming the soft pneumatic adsorption into rigid mechanical clamping. This effectively overcomes the rotational inertia of the glass when rotating at large angles and with high acceleration and deceleration, completely eliminating the phenomenon of rotational slippage or angular lag of the glass relative to the fixture, and ensuring the final alignment accuracy.

[0026] 5. This invention provides a lifting and rotating positioning device for tempered glass marking. By adopting an internal air-flow structure with a hollow flip shaft, a pneumatic rotary joint, and a central vacuum manifold, the dynamic and static separation transmission of the vacuum negative pressure air path is achieved. This design utilizes the dynamic and static sealing characteristics of the rotary joint to transmit the external static negative pressure air source to the high-speed rotating fixture without loss. This eliminates the risks of pipe twisting, entanglement, and fatigue fracture that occur when the traditional external hose connection method rotates at large or continuous angles. This allows the equipment to perform continuous rotation processes at any angle, significantly improving the safety and lifespan of the equipment during long-term operation. Attached Figure Description

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] Figure 1 This is a three-dimensional structural diagram of the glass of the present invention in an unrotated state; Figure 2 This is a three-dimensional structural diagram of the glass of the present invention during the rotation process; Figure 3 This is a three-dimensional structural diagram of the entire invention from a first-view perspective; Figure 4 This is a three-dimensional structural diagram of the entire invention from a second perspective; Figure 5 This is a schematic diagram of the lifting assembly of the present invention; Figure 6 This is a schematic diagram of the lifting frame of the present invention; Figure 7 This is a schematic diagram of the installation structure of the stop block of the present invention; Figure 8 This is a schematic diagram of the rotating component of the present invention; Figure 9 This is a schematic diagram of the installation structure of the trigger plate of the present invention; Figure 10 This is a schematic diagram showing the distribution of the first ranging sensor and the second ranging sensor of the present invention; Figure 11 This is a schematic diagram illustrating the principle of glass tilt angle calculation in this invention; Figure 12 For the present invention Figure 4 Enlarged view of point A in the middle; In the diagram: 1. Frame; 2. Multi-axis wheeled conveyor assembly; 3. Lifting assembly; 301. Cylinder; 302. Casters; 31. Lifting frame; 311. Load-bearing frame; 312. Vertical bar; 313. Horizontal bar; 4. Rotating assembly; 401. Gantry frame; 402. Rotary motor; 403. Tilting shaft; 404. Rotary joint; 405. Vacuum manifold; 411. Fixture base; 412. Hollow rod; 413. Pipe interface; 4 14. Suction cup; 415. First pad; 416. Second pad; 417. First spring; 501. Upper pressure rod; 502. Upper pressure frame; 503. Friction block; 504. Second spring; 601. Pressure cylinder; 602. Lower pressure rod; 603. Linkage frame; 604. Trigger plate; 605. Stop block; 606. Support block; 607. Third spring; 608. Screw; 7. First distance sensor; 8. Second distance sensor. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the embodiments. Example 1

[0030] like Figures 1-12As shown, the present invention provides a lifting and rotating positioning device for tempered glass marking, including a frame 1 and a multi-axis wheeled conveyor assembly 2 mounted on the frame 1; it further includes: a lifting assembly 3, which is inserted into the wheel axle gap of the multi-axis wheeled conveyor assembly 2 and configured to vertically lift or lower the glass workpiece from the multi-axis wheeled conveyor assembly 2; a rotating assembly 4, suspended directly above the lifting assembly 3 and configured to, after the glass workpiece is lifted, grasp the glass workpiece by negative pressure adsorption and drive the glass workpiece to rotate in the horizontal plane; and a detection assembly, mounted on the multi-axis wheeled conveyor assembly. On the conveying path of component 2, it is configured to collect edge position data of the glass workpiece in real time during the glass workpiece conveying process to obtain the current conveying posture and deflection angle of the glass workpiece; the control unit is electrically connected to the detection component, the lifting component 3 and the rotating component 4 respectively; the control unit is configured to execute the following positioning logic: calculate the angle deviation between the current conveying posture of the glass workpiece and the preset target posture based on the data fed back by the detection component; control the rotating component 4 to adsorb the glass workpiece, and drive the glass workpiece to rotate to the compensated target angle according to the angle deviation, so as to complete the posture correction of the glass workpiece.

[0031] In this embodiment, by setting up the detection component and the rotating component 4 to work together, and by using non-contact data acquisition technology and a vacuum negative pressure adsorption suspension drive mechanism, the automatic identification of the initial conveying posture of the glass workpiece and the servo flexible compensation based on the angle deviation are realized. This completely replaces the traditional mechanical stop's forced physical correction method, effectively avoiding the risk of glass edge chipping or surface scratches caused by hard contact. At the same time, it significantly improves the equipment's flexibility in handling glass of different sizes and specifications, and can achieve fully automatic precise positioning and production line operation without manual shape change.

[0032] The multi-axis wheel conveyor assembly 2 includes several axles that are equidistantly rotatably connected to the frame 1. Each axle is arranged parallel to the others, and a rotating wheel is fixedly installed at equal intervals on the outside of each axle. A driven bevel gear is fixedly connected to one end of each axle. A drive motor is fixedly installed on one side of the frame 1, and several driving bevel gears are fixedly connected to the output shaft of the drive motor. The driving bevel gears and the driven bevel gears correspond to each other and mesh with each other.

[0033] The specific workflow of the device is as follows: Data acquisition: When the glass workpiece enters the detection area with the multi-axis wheel conveyor assembly 2, the detection assembly (such as a laser sensor or industrial camera) acquires the edge coordinate data stream of the glass workpiece relative to the conveyor baseline at a high frequency (e.g., 100Hz). Pose calculation: The control unit (such as PLC or industrial computer) receives the above data and calculates the current geometric center coordinates of the glass workpiece and the deflection angle relative to the conveying direction; Deviation calculation: The system presets the target process posture, and the control unit calculates the angle deviation; Suspension compensation action: Lifting: Lifting component 3 lifts the glass, causing it to detach from the conveyor wheel; Grasping: Rotating component 4 descends and uses vacuum negative pressure to adsorb the glass; Rotation correction: Rotating component 4 drives the glass to rotate in the horizontal plane, correcting the physical orientation of the glass to the direction required by the process. Subsequent process linkage: The control unit sends the corrected glass center coordinates to the subsequent printing / marking equipment, and the rotating component 4 keeps it in an adsorption state as a temporary worktable, and the print head performs the operation directly according to the coordinates.

[0034] like Figure 3 , Figure 10 and Figure 11 As shown, in this embodiment, preferably, the detection component includes a first ranging sensor 7 and a second ranging sensor 8 respectively disposed on the frames 1 on both sides of the conveying path; the control unit stores the calibration distance data between the first ranging sensor 7 and the second ranging sensor 8, and is configured to: control the first ranging sensor 7 and the second ranging sensor 8 to continuously acquire real-time distance signals between themselves and the side edges of the glass workpieces they pass; calculate the projected width of the glass workpiece perpendicular to the conveying direction based on the calibration distance data and the acquired real-time distance signals on both sides; compare the projected width with the preset length and width dimensions of the glass workpiece to determine whether the current conveying posture of the glass workpiece is lateral conveying or longitudinal conveying; and simultaneously calculate the deflection angle of the glass workpiece relative to the conveying direction based on the rate of change of the continuously acquired distance signals.

[0035] In this embodiment, by setting a first ranging sensor 7 and a second ranging sensor 8 on both sides of the conveying path, the diffuse reflection optical characteristics of the rough side edge of the glass and the geometric difference calculation model inside the control unit (i.e., the total width minus the distance between the two sides) are used to realize the real-time calculation and locking of the actual physical projection width of the glass workpiece. This effectively overcomes the transmission omission problem that is prone to occur in traditional top photoelectric detection of high-transmittance glass, as well as the problem of size misjudgment caused by the workpiece being transported at an angle (in a diamond shape). It ensures the high reliability of the system in judging the horizontal and vertical attitude of the glass under complex working conditions such as slippage of the conveyor wheel or unstable workpiece posture.

[0036] The control unit integrates a specific geometric calculation model and processes the acquired distance signal as follows: System calibration: The system pre-stores the absolute installation distance in the horizontal direction between the first ranging sensor 7 (left sensor) and the second ranging sensor 8 (right sensor). This value is a fixed constant; Width calculation model: When the glass workpiece passes through the detection area, the control unit reads the distance value fed back by the left sensor in real time. and the distance value fed back by the sensor on the right The control unit calculates the real-time projected width of the glass workpiece perpendicular to the conveying direction according to the following formula. : ; This formula eliminates the influence of lateral swaying of the glass during transport through physical subtraction. Even if the glass deviates to the left or right, as long as it remains between the two sensors... The sum remains constant, and the measured width Always accurate; Attitude determination logic: The system presets the long side dimension of the glass workpiece to be... The shorter side dimension is And set an allowable error threshold. (For example ): like If so, it is determined that the current glass enters with its short side as the width, i.e., it is conveyed longitudinally. like If so, it is determined that the current glass is entering with its long side as its width, i.e., it is being transported horizontally. like The value is significantly greater than And significantly smaller than (For rectangular glass), or if the data fluctuates drastically, it is determined that the glass is severely skewed; Rotation angle calculation: We break down the rotation motion into two parts: ; in, The total rotation angle is... The deflection angle is used to compensate for the skewness (i.e., the angle opposite to the direction of skewness). The quadrant reference compensation angle; To obtain the specific deflection angle The control unit performs differentiation or linear fitting on the continuously acquired distance signals: assuming the transmission speed is... During the time interval Within the area selected on the straight side edge of the glass workpiece, the distance change measured by the sensor is... The slope of the glass edge relative to the conveying direction (Since the slope values ​​on both sides are equal, calculations can be performed based on only one side): ; glass deflection angle It can be derived from the following formula: ; The control unit will calculate The value is directly transmitted to the rotating component 4 as the skew compensation deflection angle during rotation. for This is used to adjust the glass feeding direction after comparing it with the direction required for marking. It can take two values: 90° and 0°. The specific value is determined by comparing the above posture judgment result with the direction required by the process. The judgment logic is as follows: The process requirement is that the glass should enter in the "vertical" direction. When the above judgment result is "longitudinal conveying" (i.e., meeting process requirements), Final movement: rotation (Fine-tuning); When the above determination result is "lateral transport" (i.e., accidental entry), at this time, Final movement: rotation (Large turn).

[0037] That is, when the actual conveying direction of the workpiece is determined to be the same as the preset target direction, the rotating component only rotates and deflects to make minor adjustments to the angle. When the two are facing different directions, the rotating component rotates. .

[0038] like Figure 1 , Figure 3 and Figure 4 As shown, preferably, the rotating assembly 4 includes a gantry frame 401 spanning above the frame 1. A rotary motor 402 is fixedly mounted on the top of the gantry frame 401. A tilting shaft 403 is rotatably connected to the top wall inside the gantry frame 401. A fixture seat 411 is fixedly connected to the bottom end of the tilting shaft 403. The output shaft of the rotary motor 402 and the tilting shaft 403 are connected by a gear transmission through meshing. Mounting holes are provided at the four corners of the fixture seat 411, and hollow rods 412 slide vertically through the mounting holes. The top of the hollow rod 412 is fixedly connected to a pipe interface 413, which is configured to connect to a negative pressure adsorption pipe. The bottom end of the hollow rod 412 is fixedly connected to a suction cup 414. A first pad 415 is fixedly sleeved on the outer wall of the hollow rod 412 above the fixture seat 411, and a second pad 416 is fixedly sleeved below the fixture seat 411. A first spring 417 is sleeved on the outside of the hollow rod 412, and the two ends of the first spring 417 abut against the bottom surface of the fixture seat 411 and the top surface of the second pad 416, respectively.

[0039] In this embodiment, by setting a floating buffer suction cup 414 on the fixture seat 411, the suction cup 414 assembly can adaptively and flexibly float in the vertical direction. When the device grips the glass, if the glass surface is uneven or tilted, the suction cup 414 that contacts the glass first will drive the hollow rod 412 to overcome the resistance of the first spring 417 and move upward until all suction cups 414 are tightly attached to the glass surface. This not only eliminates rigid impact and effectively protects the brittle glass workpiece, but also uses the restoring force of the spring to ensure that the contact pressure of each suction cup 414 is uniform, which significantly improves the sealing reliability and gripping stability during the rotation process.

[0040] During operation, the external air passage connects to the hollow rod 412 via pipe interface 413, leading directly to the suction cup 414 at the bottom. When the lifting assembly 3 at the bottom lifts the glass workpiece upwards towards the fixture seat 411 (or the fixture seat 411 descends towards the glass), the upper surface of the glass first contacts the suction cup 414. As the relative distance further decreases, the glass presses against the suction cup 414 and the hollow rod 412, which slides upwards relative to the fixture seat 411 along the mounting hole. At this time, the second pad 416 fixed in the middle of the hollow rod 412 moves upwards with it. The suction cup 414 is flexibly pressed against the glass surface by the elastic reaction force of the first spring 417. At this time, the negative pressure air source is turned on, and the suction cup 414 firmly adheres to the glass. Subsequently, the rotary motor 402 is started, driving the fixture seat 411 and the hollow rod 412 assembly adsorbing the glass to rotate at a set angle. After the rotation is completed, the glass is lowered, the first spring 417 is reset, and the reset stroke of the hollow rod 412 is limited by the first pad 415 above to prevent it from falling off.

[0041] like Figure 3 , Figure 5 and Figure 6 As shown, preferably, the lifting assembly 3 includes a lifting frame 31 that can slide vertically along the frame 1; the lifting frame 31 consists of several crossbars 313 parallel to the axles of the multi-axis wheel conveyor assembly 2, vertical bars 312 fixedly connected to the bottom ends of the crossbars 313, and a force-bearing frame 311 fixedly connected between the bottoms of the vertical bars 312; the crossbars 313 are located in the area between two adjacent axles and can rise from the gap between the two axles; several universal wheels 302 are fixedly installed on the top of each crossbar 313; cylinders 301 are fixedly installed on the four corners of the inner side of the frame 1, and the piston rods of the cylinders 301 are fixedly connected to the force-bearing frame 311.

[0042] In the conveying and processing of flat glass, traditional roller or wheel conveyor lines can only achieve linear transmission of glass and cannot change the orientation of the glass. If it is necessary to rotate the glass directly on the conveyor line (such as turning 90 degrees to match the printer size), the glass usually needs to be lifted off the conveyor surface. However, existing lifting mechanisms mostly use fixed plates or strip brackets, which have sliding friction with the glass. If the glass is forcibly rotated in this state, the frictional resistance is extremely high, which can easily scratch the lower surface of the glass or cause motor overload. If simple suspension rotation is used, the load on the top suction cup 414 is too large for large and thick glass, which can easily cause the plate to fall. In addition, the cantilever structure is prone to shaking when rotating, which affects the positioning accuracy.

[0043] In this embodiment, by setting universal wheels 302 at the top of the crossbar 313 of the lifting frame 31 as the contact medium, and using cylinders 301 distributed at the four corners to drive the overall lifting of the force-bearing frame 311, a stable rolling support plane is constructed. The solution utilizes the free rotation characteristic of the universal wheels 302 to convert the sliding friction between the glass and the support surface into rolling friction, so that the top rotating component 4 only needs to provide torque to easily drive the glass to rotate, without having to bear the full weight of the glass, thus reducing the load and scratch risk of the top mechanism. The crossbar 313 and the wheel axles of the multi-axis wheel conveying component 2 are arranged parallel and staggered, which cleverly utilizes the gap between the conveying wheels, so that the device achieves seamless integration of the lifting function without changing the original conveying line structure.

[0044] When the glass workpiece is transported to the designated position, the conveyor line stops. The control system controls the four cylinders 301 installed at the four corners of the frame 1 to operate synchronously. The piston rods of the cylinders 301 extend, pushing the force-bearing frame 311 upward. The force-bearing frame 311 drives the vertical rods 312 on both sides and the horizontal rods 313 connected to the top of the vertical rods 312 to rise synchronously. At this time, several universal wheels 302 installed on the top of the horizontal rods 313 pass through the gaps between the adjacent wheel axles of the conveying assembly and contact the bottom surface of the glass workpiece, lifting the glass workpiece smoothly and freeing it from the support of the conveying wheel axles. Subsequently, the suction cups 414 at the top descend to adsorb the glass workpiece (or only adsorb to transmit torque). Driven by the top motor, the glass workpiece completes the rotation of the set angle under the rolling support of the universal wheels 302. After the rotation is in place, the cylinders 301 retract, the lifting frame 31 descends, the universal wheels 302 retract into the gaps, and the glass workpiece falls back onto the conveying wheel axles, completing the reversal and continuing to transport. Example 2

[0045] like Figure 1 , Figure 2 and Figure 8As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, four upper pressure rods 501 are slidably connected through the fixture base 411. The top of the upper pressure rods 501 is equipped with a limiting head. An upper pressure frame 502 is fixedly connected between the bottoms of the upper pressure rods 501. A plurality of friction blocks 503 are fixedly connected to the bottom of the upper pressure frame 502. The bottom of the friction blocks 503 is provided with anti-slip mesh. A second spring 504 is sleeved on the outside of the upper pressure rods 501. The two ends of the second spring 504 abut against the upper pressure frame 502 and the fixture base 411, respectively.

[0046] During the suspension and rotation of the glass, although the suction cup 414 can provide a vertical gripping force, the ordinary rubber suction cup 414 has weak resistance to shear force (i.e., torque resistance) in the horizontal direction. Especially when the rotary motor 402 starts and stops quickly or rotates at a large angle, the glass workpiece has a large moment of inertia. The soft connection of the suction cup 414 alone can easily cause the glass to undergo slight rotational slippage or angular lag relative to the fixture. In addition, if there is an oil film or dust on the glass surface, the friction coefficient of the suction cup 414 will be further reduced, leading to positioning accuracy failure and even the risk of the plate being thrown out.

[0047] In this embodiment, by adding an upper pressure frame 502 and a textured friction block 503 below the fixture base 411, the anti-slip texture (such as diamond knurling) on ​​the bottom of the friction block 503 is used to press the friction block 503 firmly against the glass surface by the elastic force of the second spring 504 after the glass is picked up by the suction cup 414. This transforms the soft contact of the suction cup 414 into a rigid mechanical contact with a high coefficient of friction, ensuring lossless transmission of rotational torque and eliminating inertial slippage. The presence of the second spring 504 gives the upper pressure frame 502 the ability to float vertically, which can adapt to glass workpieces of different thicknesses and maintain a constant downward pressure during the suction process of the suction cup 414, preventing rigid collisions from crushing the glass.

[0048] When the rotating assembly 4 descends to grip the glass workpiece, the suction cup 414 first contacts the glass surface. As the assembly continues to descend slightly or the negative pressure adsorption is activated, the glass workpiece tends to move upward relative to the fixture seat 411 (or the suction cup 414 is compressed). At this time, the friction block 503 fixed to the bottom of the upper pressure frame 502 contacts the upper surface of the glass. Since the second spring 504 is compressed between the fixture seat 411 and the upper pressure frame 502, it generates a downward elastic force, driving the friction block 503 to firmly press against the glass surface. At this time, the glass workpiece is in a "clamped" state: the suction cup 414 uses negative pressure to grip it. When the force pulls upward, the friction block 503 above uses spring force to press it downward, while the bottom of the glass is supported by the universal wheel 302. This mechanical structure of pressing upward and pulling downward, combined with the anti-slip mesh pattern on the bottom of the friction block 503 embedded in the micro-concavities and convexities of the glass surface, achieves physical locking of the horizontal posture of the glass workpiece. Subsequently, when the motor drives the fixture seat 411 to rotate, the friction block 503, as the main transmission medium, provides torque to drive the glass to rotate synchronously and accurately, while the universal wheel 302 provides continuous support at the bottom. When the rotation ends and the glass is released, the second spring 504 assists in pushing the glass downward to prevent it from sticking. Example 3

[0049] like Figure 7 , Figure 9 and Figure 12 As shown, based on Embodiment 2, the present invention provides a technical solution: Preferably, two pressure cylinders 601 are installed on two of the crossbars 313 of the lifting frame 31. A lower pressure rod 602 is slidably inserted inside the pressure cylinder 601, and a stop block 605 is fixedly connected to the top of the lower pressure rod 602; a third spring 607 is sleeved on the outside of the lower pressure rod 602, and the third spring 607 abuts against the stop block 605 and the inner bottom wall of the pressure cylinder 601, configured to give the stop block 605 an elastic tendency to extend upward; the bottom end of the lower pressure rod 602 Extending to the bottom of the crossbar 313 and connected together with the linkage frame 603, the linkage frame 603 has through holes at the four corners for the pressing rod 602 to pass through, and the bottom end of the pressing rod 602 is fixed with a support block 606 to support the linkage frame 603; a screw 608 is vertically fixed inside the frame 1, and the screw 608 is threadedly connected to an adjustable trigger plate 604. The trigger plate 604 is located on the rising path of the linkage frame 603 and is configured to prevent the linkage frame 603 from rising further when the lifting frame 31 rises to the set height.

[0050] During the glass lifting process, when the lifting frame 31 just touches the glass, the universal wheel 302 makes rolling contact, and the glass is prone to planar slippage under the action of inertia, resulting in the loss of positioning coordinates. When the glass is lifted into position and ready to rotate, if the braking mechanism at the bottom is still pressed against the glass, it will generate huge sliding friction resistance, which will hinder rotation or even scratch the glass. Existing lifting mechanisms either rub throughout the process (cannot rotate) or roll throughout the process (lifting slippage), and are difficult to adapt to glass with different thicknesses or different flatness tolerances, resulting in braking contact too early or too late.

[0051] In this embodiment, the differential travel disengagement principle is used to achieve a three-stage action: first braking and locking, then rolling support, and finally automatic disengagement at the end point. The third spring 607 makes the stop block 605 contact the glass before the universal wheel 302, eliminating lifting slippage. The trigger plate 604 forcibly pulls down the stop block 605 when the glass approaches the top suction cup 414, ensuring no friction interference at the bottom during rotation. The solution does not require additional sensors or cylinders 301 to control the extension and retraction of the stop block 605, and relies entirely on the vertical displacement of the lifting frame 31 to trigger the action, resulting in an extremely low failure rate and good synchronization.

[0052] The work process is as follows: Initial state: The lifting frame 31 is located at the bottom. Under the action of the third spring 607, the lowering rod 602 is lifted up, so that the top stop block 605 protrudes from the plane of the universal wheel 302 on the crossbar 313 (for example, 3-5mm higher). At this time, the linkage frame 603 is in a high position with the lowering rod 602 and has not yet contacted the trigger plate 604. Phase 1, Elastic Braking Contact (Anti-slip): Cylinder 301 drives the lifting frame 31 to rise, and the stop block 605 first contacts the bottom surface of the glass workpiece. Due to the high coefficient of friction on the surface of the stop block 605, the glass is locked in position at the moment of contact. As the lifting frame 31 continues to rise, the glass presses the stop block 605 downward to retract, compressing the third spring 607 until the bottom surface of the glass lands smoothly on the universal wheel 302. At this time, the glass is in a dual stable state of universal wheel 302 bearing the weight and stop block 605 preventing slip. Phase 2, Synchronous Ascent (Support): The lifting frame 31 continues to rise with the glass. At this time, although the stop block 605 is compressed, it is still pressed tightly against the bottom surface of the glass. The linkage frame 603 rises synchronously with the lifting frame 31 and gradually approaches the trigger plate 604 above. Phase 3, Differential Disengagement (Release): When the lifting frame 31 rises to a height close to the junction of the top rotating component 4, the upper surface of the linkage frame 603 impacts and is blocked by the trigger plate 604, preventing it from rising further. At this time, the lifting frame 31 (including the crossbar 313, caster wheel 302, and pressure cylinder 601) continues to rise under the drive of the cylinder 301. Since the lower pressure rod 602 is hung on the blocked linkage frame 603 through the support block 606, the lower pressure rod 602 moves downward relative to the rising pressure cylinder 601. This action overcomes the elastic force of the third spring 607 and forcibly pulls the stop block 605 down into the pressure cylinder 601 (or below the plane of the caster wheel 302), so that the bottom surface of the glass is completely separated from the stop block 605 and is only supported by the caster wheel 302. At this time, the top suction cup 414 intervenes to grab it, and the glass is suspended and rotated without bottom friction resistance.

[0053] like Figure 3 , Figure 5 and Figure 7 As shown, in this embodiment, preferably, the outer circumferential wall of the pressure cylinder 601 is provided with an external thread, and the crossbar 313 on which the pressure cylinder 601 is installed is provided with an internal thread hole; the pressure cylinder 601 is screwed into the internal thread hole through a threaded engagement, and its height on the crossbar 313 is adjusted by rotating the pressure cylinder 601, thereby adjusting the initial protrusion height of the stop block 605 relative to the top surface of the universal wheel 302.

[0054] In actual production, the specifications of glass workpieces vary greatly. Glass of different sizes and thicknesses can have weight differences of several times, making it difficult to control the balance between friction braking and rolling support. If the initial position of the stop block 605 is too high (the spring compression stroke is too large), the weight of the light glass is insufficient to overcome the elastic force of the third spring 607. This will cause the glass to be held in mid-air by the stop block 605, unable to press down to contact the universal wheel 302, losing rolling support, resulting in failure to transport or incorrect positioning height. Heavy glass has huge motion inertia. If the frictional resistance provided by the stop block 605 is insufficient (i.e., the spring force is insufficient), the glass cannot be effectively stopped at the moment of contact and will continue to slide on the universal wheel 302 with inertia, resulting in positioning coordinate deviation.

[0055] In this embodiment, by providing a threaded adjustment structure on the outer wall of the pressure cylinder 601, the initial height of the stop block 605 can be adjusted by rotating the pressure cylinder 601. In fact, this adjusts the braking stroke between the glass contacting the stop block 605 and the contact universal wheel 302. This allows the operator to find the optimal balance point of friction and support force based on the weight of the glass, ensuring that the stop block 605 can provide sufficient static friction to lock the inertia, while also ensuring that the glass can smoothly press down on the contact universal wheel 302 for support using its own weight. During adjustment, the linkage frame 603 connecting the bottom of all the lower pressure rods 602 serves as a natural horizontal reference plane. During adjustment, it is unnecessary to measure the top of the stop block 605 (as this is difficult to measure); only the distance between the bottom of the pressure cylinder 601 and the top surface of the linkage frame 603 needs to be monitored. Since the linkage frame 603 is a rigid integral structure, it ensures that the distances of the four pressure cylinders 601 relative to the linkage frame 603 are consistent, thus physically guaranteeing the absolute equal height of the tops of the four stop blocks 605 and simplifying the leveling process.

[0056] Specifically: For lightweight glass, the protrusion height of the stop block 605 needs to be reduced. The operator rotates the pressure cylinder 601 to lower it, so that the support point of the pressure cylinder 601 on the third spring 607 drops, thereby reducing the height of the stop block 605 and the linkage frame 603. For heavy glass, the protrusion height of the stop block 605 needs to be increased. The operator rotates the pressure cylinder 601 to raise it, thereby raising the support point of the pressure cylinder 601 on the third spring 607. This increases the height of the stop block 605 and the linkage frame 603, making the compression stroke required for the glass to press the stop block 605 down to below the top height of the universal wheel 302 greater. In other words, the pressure exerted on the stop block 605 by the third spring 607 is greater, and the static friction force provided by the stop block 605 to the glass is also greater, thus preventing the glass from shifting due to inertia in the initial stage of lifting. Example 4

[0057] like Figure 2 , Figure 3 and Figure 8 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the flip shaft 403 is a hollow shaft structure, the top end of the flip shaft 403 extends through to the top of the gantry frame 401 and is equipped with a rotary joint 404; the stationary end of the rotary joint 404 is connected to an external vacuum source, and the rotating end of the rotary joint 404 is connected to the interior of the flip shaft 403; a vacuum manifold 405 is fixedly connected to the top of the fixture seat 411, the input end of the vacuum manifold 405 is connected to the interior of the bottom end of the flip shaft 403, and the output end is connected to the pipe interface 413 at the top of the hollow rod 412 through a flexible hose.

[0058] When the rotating component 4 is working, the fixture seat 411 needs to drive the glass workpiece to reciprocate in a large range and high frequency, and even need to rotate continuously for many turns. If the external hose is directly connected to the suction cup 414, the external hose will be severely twisted, tangled or even knotted as the rotation proceeds. This not only limits the rotation angle range of the equipment, but also easily causes the hose to break or fall off due to fatigue stress.

[0059] In this embodiment, by adopting the internal airflow structure of the hollow flip shaft 403 in conjunction with the pneumatic rotary joint 404 and the central vacuum manifold 405, the dynamic and static separation transmission of the vacuum negative pressure air path is realized. Utilizing the dynamic and static sealing characteristics of the rotary joint 404, the external static negative pressure air source is transmitted losslessly to the interior of the high-speed rotating fixture, completely eliminating the risks of pipe twisting, entanglement, and fatigue fracture caused by traditional external hose connection methods during large-amplitude or continuous rotation. This enables the equipment to perform continuous rotation processes at any angle, while significantly improving the sealing reliability of the air path system and the safety of equipment operation, and ensuring the synchronicity of the adsorption response of each suction cup 414.

[0060] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A lifting and rotating positioning device for tempered glass marking, comprising a frame (1) and a multi-axis wheeled conveyor assembly (2) mounted on the frame (1); characterized in that, Also includes: The lifting assembly (3) is interposed in the wheel axle gap of the multi-axis wheel conveyor assembly (2) and is configured to vertically lift or lower the glass workpiece from the multi-axis wheel conveyor assembly (2). The rotating component (4) is suspended directly above the lifting component (3) and is configured to grab the glass workpiece by negative pressure adsorption after the glass workpiece is lifted, and drive the glass workpiece to rotate in the horizontal plane. The detection component is set on the conveying path of the multi-axis wheel conveying component (2) and is configured to collect edge position data of the glass workpiece in real time during the glass workpiece conveying process in order to obtain the current conveying posture and deflection angle of the glass workpiece. The control unit is electrically connected to the detection component, the lifting component (3) and the rotating component (4) respectively; the control unit is configured to perform the following positioning logic: calculate the angle deviation between the current conveying posture of the glass workpiece and the preset target posture based on the data fed back by the detection component; control the rotating component (4) to adsorb the glass workpiece, and drive the glass workpiece to rotate to the compensated target angle based on the angle deviation, so as to complete the posture correction of the glass workpiece; The lifting assembly (3) includes a lifting frame (31) that can slide vertically along the frame (1); the lifting frame (31) consists of several crossbars (313) parallel to the axles in the multi-axis wheel conveyor assembly (2), vertical bars (312) fixedly connected to the bottom ends of the crossbars (313), and a force-bearing frame (311) fixedly connected between the bottoms of the vertical bars (312); the crossbars (313) are located in the area between two adjacent axles and can rise from the gap between the two axles; several universal wheels (302) are fixedly installed on the top of each crossbar (313); cylinders (301) are fixedly installed on the four corners of the inner side of the frame (1), and the piston rods of the cylinders (301) are fixedly connected to the force-bearing frame (311); Two pressure cylinders (601) are installed on two of the crossbars (313) of the lifting frame (31). A lower pressure rod (602) slides through the pressure cylinder (601). A stop block (605) is fixedly connected to the top of the lower pressure rod (602). A third spring (607) is sleeved on the outside of the lower pressure rod (602). The third spring (607) abuts against the stop block (605) and the inner bottom wall of the pressure cylinder (601). The bottom end of the lower pressure rod (602) extends to the crossbar (313). 13) A linkage frame (603) is connected below and together with the linkage frame (603). The linkage frame (603) has through holes at the four corners for the pressure rod (602) to pass through. The bottom end of the pressure rod (602) is fixed with a support block (606) to support the linkage frame (603). A screw (608) is vertically fixed inside the frame (1). The screw (608) is threaded to an adjustable trigger plate (604). The trigger plate (604) is located on the upward path of the linkage frame (603). The outer circumferential wall of the pressure cylinder (601) is provided with an external thread, and the crossbar (313) on which the pressure cylinder (601) is installed is provided with an internal thread hole; the pressure cylinder (601) is screwed into the internal thread hole by a threaded fit, and its height on the crossbar (313) is adjusted by rotating the pressure cylinder (601).

2. The lifting and rotating positioning device for tempered glass marking according to claim 1, characterized in that: The detection component includes a first distance sensor (7) and a second distance sensor (8) respectively installed on the frames (1) on both sides of the conveying path; the control unit stores the calibration distance data between the first distance sensor (7) and the second distance sensor (8), and is configured to: control the first distance sensor (7) and the second distance sensor (8) to continuously collect the real-time distance signals between themselves and the side edges of the glass workpieces they pass; calculate the projected width of the glass workpiece perpendicular to the conveying direction based on the calibration distance data and the collected real-time distance signals on both sides; compare the projected width with the preset length and width dimensions of the glass workpiece to determine whether the current conveying posture of the glass workpiece is transverse or longitudinal; and calculate the deflection angle of the glass workpiece relative to the conveying direction based on the rate of change of the continuously collected distance signals.

3. The lifting and rotating positioning device for tempered glass marking according to claim 2, characterized in that: The rotating assembly (4) includes a gantry frame (401) spanning above the frame (1). A rotary motor (402) is fixedly installed on the top of the gantry frame (401). A rotating shaft (403) is rotatably connected to the top wall inside the gantry frame (401). A fixture seat (411) is fixedly connected to the bottom end of the rotating shaft (403). The output shaft of the rotary motor (402) and the rotating shaft (403) are connected by a gear transmission through meshing. Mounting holes are provided at the four corners of the fixture seat (411). A hollow rod (412) slides vertically through the mounting holes. The top end of the hollow rod (412) A pipe interface (413) is fixedly connected to the hollow rod (412), which is configured to connect to a negative pressure adsorption pipeline. A suction cup (414) is fixedly connected to the bottom end of the hollow rod (412). A first pad (415) is fixedly sleeved on the outer wall of the hollow rod (412) above the fixture seat (411), and a second pad (416) is fixedly sleeved below the fixture seat (411). A first spring (417) is sleeved on the outside of the hollow rod (412), and the two ends of the first spring (417) abut against the bottom surface of the fixture seat (411) and the top surface of the second pad (416), respectively.

4. The lifting and rotating positioning device for tempered glass marking according to claim 3, characterized in that: Four upper pressure rods (501) are slidably connected through the fixture base (411). The top of the upper pressure rod (501) is equipped with a limit head. An upper pressure frame (502) is fixedly connected between the bottoms of the upper pressure rods (501). Several friction blocks (503) are fixedly connected to the bottom of the upper pressure frame (502). The bottom of the friction blocks (503) is provided with anti-slip mesh. A second spring (504) is sleeved on the outside of the upper pressure rod (501). The two ends of the second spring (504) abut against the upper pressure frame (502) and the fixture base (411) respectively.

5. The lifting and rotating positioning device for tempered glass marking according to claim 3, characterized in that: The flip shaft (403) is a hollow shaft structure. The top end of the flip shaft (403) extends through to the top of the gantry frame (401) and is equipped with a rotary joint (404). The stationary end of the rotary joint (404) is connected to an external vacuum source, and the rotating end of the rotary joint (404) is connected to the interior of the flip shaft (403). A vacuum manifold (405) is fixedly connected to the top of the fixture seat (411). The input end of the vacuum manifold (405) is connected to the interior of the bottom end of the flip shaft (403), and the output end is connected to the pipe interface (413) at the top of the hollow rod (412) through a flexible hose.

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