Positioning fixture for machining of a workpiece surface and method for controlling the same

Abstract

The present application relates to a positioning fixture for workpiece surface processing and a control method thereof, which comprises a first positioning device, a second positioning device and a manipulator, the first positioning device is used for workpiece first direction positioning, the first positioning device comprises a fixture base; the second positioning device comprises a processing base used for workpiece second direction positioning, and a pushing mechanism and a positioning mechanism used for workpiece third direction positioning; the processing base is arranged on the positioning mechanism; the processing base comprises a positioning plane used for adsorbing the workpiece and vertically arranged, and the positioning mechanism comprises a positioning shoulder, which is arranged below the positioning plane; the pushing mechanism is arranged on the side of the positioning mechanism away from the processing base, and the pushing mechanism comprises a pushing shoulder capable of moving up and down, which is arranged above the processing base; the fixture base and the processing base allow arrangement along the first direction; and the manipulator is used for workpiece position switching. The present application realizes positioning of the workpiece vertically placed and needing side surface processing.

Description

Technical Field

[0001] This invention relates to a positioning fixture for workpiece surface machining and its control method, belonging to the field of CNC equipment technology. Background Technology

[0002] In the field of glass processing technology, existing machine tool processing solutions are mainly designed for grinding the edges of glass sheets, using a grinding wheel to process the edges of the glass sheet into the required shape and size, with the glass sheet lying flat during processing. However, processing the glass surface itself requires changing the glass sheet from a flat position to a vertical position so that the side of the grinding head can work on the glass surface, and there are few existing technical solutions specifically for this type of processing.

[0003] Conventional glass sheet clamps are designed for horizontal placement, with their structural layout and force support optimized for this configuration. They cannot provide stable and reliable clamping and support for vertically positioned glass sheets. If existing clamps are used vertically, the positioning cylinders on the clamps can easily interfere with the machine tool spindle. Since the spindle needs to move in multiple directions above the glass surface during processing, the vertically positioned positioning cylinders occupy the spindle's movement space, causing the equipment to malfunction. Using CCD vision positioning or probe positioning as alternatives significantly increases equipment costs, lengthens the positioning process, and drastically reduces processing efficiency.

[0004] In addition, after the glass surface is processed, the finished surface is often uneven. Traditional vacuum adsorption methods are difficult to form a stable adsorption force on irregular surfaces. During the glass transfer process, the glass sheet is prone to falling off or tilting and cannot be kept vertically upright to be placed smoothly into the material box. Summary of the Invention

[0005] This invention provides a loading and unloading device for processing glass sheet surfaces, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a positioning fixture and its control method for workpiece surface processing, which achieves efficient and high-precision positioning of vertically placed workpieces requiring side processing by performing positioning of the workpiece in three directions in separate components.

[0006] The technical solution of the present invention relates, in one aspect, to a positioning fixture for workpiece surface machining, applied to loading and unloading equipment, comprising: A first positioning device for positioning a workpiece in a first direction, the first positioning device including a clamping base; The second positioning device includes a processing base for positioning the workpiece in a second direction, and a pushing mechanism and a positioning mechanism for positioning the workpiece in a third direction. The processing base is disposed on the positioning mechanism. The processing base includes a positioning plane for adsorbing the workpiece and is vertically arranged. The positioning mechanism includes a positioning shoulder that allows contact with the lower side of the workpiece, and the positioning shoulder is disposed below the positioning plane. The pushing mechanism is disposed on the side of the positioning mechanism facing away from the processing base. The pushing mechanism includes a pushing shoulder that allows contact with the upper side of the workpiece and can move up and down, and the pushing shoulder is disposed above the processing base. The fixture base and the machining base are allowed to be arranged along the first direction; A robotic arm, used to switch the position of a workpiece on the fixture base and the processing base.

[0007] Furthermore, the first positioning device includes two pushing mechanisms that allow independent movement. Each pushing mechanism includes two first shoulders that move synchronously and are used to contact the adjacent sides of the workpiece. The first shoulders are disposed on the outer periphery of the fixture base.

[0008] Furthermore, the first positioning device also includes a fixture box; the fixture base is disposed on the upper side of the fixture box; the pushing mechanism also includes a fixture driving device and a connecting assembly; the fixture driving device is arranged horizontally and vertically inside the fixture box; the fixture box is provided with two telescopic openings, which are staggered; the connecting assembly passes through the telescopic openings to connect the fixture driving device and the two first shoulders, so that the two first shoulders contact or detach from the workpiece on the fixture base.

[0009] Furthermore, the positioning mechanism includes a positioning mounting plate and a positioning base plate. The positioning shoulder and the processing base are disposed on the positioning mounting plate, the positioning mounting plate is disposed on the positioning base plate, and the positioning base plate is disposed on the movable worktable of the loading and unloading equipment, so that the workpiece on the processing base can be moved to the processing spindle of the loading and unloading equipment.

[0010] Furthermore, the pushing mechanism also includes a pushing mounting plate, a pushing driving device, a lower protective cover, and an upper protective cover. The lower protective cover is connected to the pushing mounting plate to form a first cavity for accommodating the pushing driving device. The telescopic end of the pushing driving device passes through the opening of the first cavity and is connected to the upper protective cover. The upper protective cover can be moved up and down to cover the upper side of the lower protective cover and the pushing mounting plate, as well as the opening of the first cavity.

[0011] Furthermore, the pusher shoulder includes a shoulder connecting plate and a shoulder top block. The opposite sides of the shoulder connecting plate are respectively connected to the upper protective cover and the shoulder top block, so as to allow the shoulder connecting plate to be disposed above the positioning mounting plate and to allow the positioning mechanism to move below the shoulder connecting plate, thereby allowing the shoulder top block to be disposed above the processing base and to allow the shoulder top block to contact the upper side of the workpiece.

[0012] Furthermore, the second positioning device also includes a position detection device for detecting the position of the pusher shoulder.

[0013] Furthermore, the positioning mechanism also includes a positioning drive device, a rear cover, and a front cover. The rear cover is connected to the positioning mounting plate to form a second cavity for accommodating the positioning drive device. The positioning mounting plate is provided with a shoulder rest through hole. The front cover is connected to the positioning mounting plate and covers the shoulder rest through hole. The positioning shoulder passes through the shoulder rest through hole and the front cover to connect to the telescopic end of the positioning drive device.

[0014] Furthermore, the robotic arm includes a suction cup assembly, which includes a material suction cup for picking up a workpiece and a plurality of positioning posts for abutting against the picked-up workpiece, the plurality of positioning posts being evenly arranged around the material suction cup.

[0015] Another aspect of the technical solution of the present invention relates to a control method for a positioning fixture used for workpiece surface machining, characterized in that it is applied to the positioning fixture for workpiece surface machining described in the above embodiments; wherein, the robotic arm includes a material suction cup for picking up the workpiece and rotatably arranged, and a plurality of positioning pins for abutting against the picked-up workpiece; the method includes the following steps: A100. The robot arm takes out the workpiece to be processed and places it on the fixture base to complete the positioning of the workpiece in the first direction. A200. The robot arm picks up the workpiece from the first positioning device and rotates the workpiece to switch it to a vertical state; the robot arm makes the side of the workpiece contact the positioning plane of the processing base and the bottom of the workpiece contact the positioning shoulder to complete the second direction positioning of the workpiece. A300, with the positioning column pressing the workpiece against the processing base, turn off the vacuum adsorption function of the material suction cup; move the pusher shoulder down and push the workpiece to complete the third-dimensional positioning of the workpiece; A400. After activating the vacuum adsorption function of the processing base and clamping the workpiece, move the robot arm to detach the positioning column from the workpiece and start the workpiece grinding process.

[0016] The beneficial effects of this invention are as follows.

[0017] This invention achieves efficient and high-precision positioning of vertically placed workpieces requiring side processing by performing positioning in three directions in different components. This effectively avoids interference between the positioning components and the processing components, while also effectively reducing production costs.

[0018] The positioning fixture of this invention, through the cooperation of a first positioning device and a second positioning device, completes the vertical orientation positioning of the workpiece, enabling the surface processing of workpieces such as glass sheets on the side of the grinding head. It adopts a purely mechanical positioning structure, which is simple in structure and convenient to operate. While ensuring positioning accuracy, it effectively reduces equipment manufacturing costs and shortens the time required for auxiliary positioning, thus effectively improving processing efficiency. The positioning structures in the three directions of the workpiece are set separately, with the first positioning device used for Y-axis positioning, and the pusher mechanism and positioning mechanism in the second positioning device used for Z-axis and X-axis positioning respectively, effectively eliminating interference between moving parts. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a loading and unloading device according to an embodiment of the present invention.

[0020] Figure 2 This is a structural side view of the loading and unloading equipment according to an embodiment of the present invention.

[0021] Figure 3 This is a front view of the structure of the loading and unloading equipment according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the positioning fixture according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of the first positioning device according to an embodiment of the present invention.

[0024] Figure 6 This is a top view of the structure of the first positioning device according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the internal structure of the first positioning device according to an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the feeding mechanism according to an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the structure of a robotic arm according to an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures: 100. First positioning device; 110. Fixture box; 111. Fixture base plate; 112. Fixture panel; 113. Fixture connecting plate; 114. Fixture sealing plate; 115. Water discharge plate; 120. Fixture pushing mechanism; 121. Fixture shoulder; 122. Fixture driving device; 123. Drive connecting plate; 124. Extension block; 125. Support block; 126. Mounting block; 127. Sponge block; 130. Fixture base; 200. Second positioning device; 210. Processing base; 220. Positioning mechanism; 221. Positioning base plate; 222. Positioning mounting block; 223. Positioning shoulder; 224. Rear cover; 225. Positioning connecting plate; 226. Front cover; 230. Pushing mechanism; 231. Pushing base plate; 232. Pushing mounting block; 233. Shoulder connecting plate; 234. Pushing top block; 235. Pushing connecting plate; 236. Lower protective cover; 237. Upper protective cover; 240. Position detection device; 241. Position sensor; 242. Sensing element; 243. Sensor connecting plate; 244. Sensor outer cover; 300. Robotic arm; 310. Material handling and moving mechanism; 311. Module connecting plate; 312. Module mounting plate; 313. Module extension plate; 314. Motor extension plate; 315. Rotary driver; 316. Rotating rod; 320. Suction cup assembly; 321. Suction cup connecting plate; 322. Suction cup mounting plate; 323. Material suction cup; 324. Positioning column; 330. Air knife assembly; 400. Bed assembly; 410. Base; 420. Material rack; 421. Material box; 430. Worktable; 440. Crossbeam; 500. Workpiece. Detailed Implementation

[0029] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0030] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0031] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0032] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0033] See Figures 1 to 9 The positioning fixture for workpiece surface processing according to the present invention is applied to a loading and unloading equipment. It includes a first positioning device 100, a second positioning device 200, and a robot arm 300. The first positioning device 100 is used for positioning the workpiece 500 in a first direction and includes a fixture base 130. The second positioning device 200 includes a processing base 210 for positioning the workpiece 500 in a second direction, and a pushing mechanism 230 and a positioning mechanism 220 for positioning the workpiece 500 in a third direction. The processing base 210 is disposed on the positioning mechanism 220. The processing base 210 includes a mechanism for adsorbing the workpiece. A vertically arranged positioning plane (500°) is provided. Positioning mechanism 220 includes a positioning shoulder 223 that allows contact with the lower side of workpiece 500, and the positioning shoulder 223 is located below the positioning plane. Pushing mechanism 230 is located on the side of positioning mechanism 220 facing away from processing base 210. Pushing mechanism 230 includes a pushing shoulder that allows contact with the upper side of workpiece 500 and can move vertically, and the pushing shoulder is located above processing base 210. Fixture base 130 and processing base 210 are allowed to be arranged along a first direction. Robotic arm 300 is used to switch the position of workpiece 500 on fixture base 130 and processing base 210. It should be noted that the first direction, second direction, and third direction of this invention correspond to the Y-axis direction, X-axis direction, and Z-axis direction, respectively.

[0034] The positioning fixture of this invention, through the cooperation of the first positioning device 100 and the second positioning device 200, completes the vertical orientation positioning of the workpiece 500, thereby enabling the surface processing of workpieces such as glass sheets on the side of the grinding head. Compared with traditional, costly CCD vision positioning or probe positioning systems, this invention adopts a purely mechanical positioning structure, which is simple in structure and convenient to operate. While ensuring positioning accuracy, it effectively reduces equipment manufacturing costs and shortens the time required for auxiliary positioning, thus effectively improving processing efficiency.

[0035] Furthermore, addressing the issue that the existing positioning mechanism 220 in the vertical orientation of the workpiece 500 is prone to spatial interference with the machine tool spindle, this invention separates the positioning structures of the workpiece 500 in three directions. The first positioning device 100 is used for positioning in the Y-axis direction, while the pusher mechanism 230 and positioning mechanism 220 in the second positioning device 200 are used for positioning in the Z-axis and X-axis directions, respectively. The positioning components are compactly arranged and do not interfere with each other, effectively eliminating motion interference and ensuring the machining stroke space of the machine tool spindle. At the same time, the fixture base 130 and the machining base 210 are allowed to be arranged along the first direction, so that after the workpiece 500 is positioned in the Y-axis direction on the fixture base 130, the robot arm 300 can pick up the workpiece 500 from the fixture base 130 and move it along the Y-axis direction to the machining base 210, thereby effectively reducing the impact of position transfer on the positioning accuracy of the workpiece 500 in the Y-axis direction.

[0036] See Figures 1 to 9 The present invention provides a loading and unloading device for workpiece surface processing, comprising a positioning fixture, a robot arm 300, and a bed assembly 400. The positioning fixture includes a first positioning device 100 and a second positioning device 200. The first positioning device 100 is used for positioning the workpiece 500 in a first direction. The second positioning device 200 includes a processing base 210 for positioning the workpiece 500 in a second direction and for vertically placing the workpiece 500 for processing, as well as a pushing mechanism 230 and a positioning mechanism 220 for third-direction positioning of the workpiece 500. The processing base 210 is disposed on the positioning mechanism 220. The robot arm 300 is used for switching the placement position of the workpiece 500 and for cutting the workpiece 500 in horizontal and vertical orientations. The bed assembly 400 includes a base 410, a material rack 420, a worktable 430, and a machining spindle. The base 410 has a positioning area and a machining area on its two sides respectively. The material rack 420, the first positioning device 100, and the pushing mechanism 230 are all located in the positioning area. The machining spindle is located in the machining area. The positioning mechanism 220 is fixedly mounted on the worktable 430, which is movably mounted on the base 410. The worktable 430 drives the positioning mechanism 220 to move back and forth between the positioning area and the machining area, allowing the second positioning device 200 to position the workpiece 500 on the machining base 210, and allowing the machining spindle to machine the workpiece 500 on the machining base 210.

[0037] Based on the positioning fixture of the present invention, the loading and unloading equipment of the present invention divides the entire equipment into a positioning area and a processing area. The processing spindle is set in the processing area, and the first positioning device 100, the material rack 420 and the pushing mechanism 230 are fixedly set in the positioning area. The workpiece 500 is driven back and forth between the positioning area and the processing area by the movable worktable 430. The positioning mechanism 220 with the processing base 210 is set on the worktable 430. The workpiece 500 that has been positioned in the positioning area can be directly driven to the processing area by the worktable 430. This can effectively reduce the number of process steps and reduce the positional accuracy error of the workpiece 500 caused by the transfer. At the same time, it can effectively eliminate the interference between the positioning component and the processing spindle, and keep the positioning component away from the glass dust and water mist generated by the grinding process. This can effectively reduce the erosion and pollution of the positioning mechanism 220 by the harsh environment, extend the service life of the equipment and reduce the maintenance frequency.

[0038] In some embodiments of the present invention, the first positioning device 100 includes two pushing mechanisms that allow independent movement. Each pushing mechanism includes two first shoulders that move synchronously and are used to contact adjacent sides of the workpiece 500. The first shoulders are disposed on the outer periphery of the fixture base 130. Further, the first positioning device 100 also includes a fixture box 110; the fixture base 130 is disposed on the upper side of the fixture box 110; the pushing mechanism also includes a fixture driving device 122 and a connecting assembly; the fixture driving device 122 is arranged horizontally and vertically within the fixture box 110; the fixture box 110 has two telescopic openings that are staggered; the connecting assembly passes through the telescopic openings to connect the fixture driving device 122 and the two first shoulders, so that the two first shoulders either come into contact with or disengage from the workpiece 500 disposed on the fixture base 130.

[0039] See Figures 4 to 7The first positioning device 100 includes a fixture box 110, two fixture pushing mechanisms 120, and a fixture base 130 for horizontally placing the workpiece 500. The lower side of the fixture box 110 is fixed to the material rack 420 of the loading and unloading equipment, and the fixture base 130 is disposed on the upper side of the fixture box 110. The two fixture pushing mechanisms 120 are symmetrically disposed on the fixture box 110. Specifically, the workpiece 500 is placed on the upper side of the fixture base 130, and the fixture shoulders 121 of the fixture pushing mechanisms 120 are disposed around the fixture base 130. The four fixture shoulders 121 are respectively used to push the four right-angled sides of the workpiece 500. When the fixture pushing mechanism 120 is in the extended state, the fixture pushing mechanism 120 is in contact with the workpiece 500. When the fixture pushing mechanism 120 is in the retracted state, the fixture pushing mechanism 120 is disengaged from the workpiece 500. Specifically, when positioning workpiece 500, one of the clamping pushing mechanisms 120 first retracts to push two adjacent sides of workpiece 500 to a set position, and then the other clamping pushing mechanism 120 retracts to push the other two adjacent sides of workpiece 500 to move, thereby achieving rapid positioning of workpiece 500 in the Y-axis direction and effectively simplifying the positioning steps.

[0040] In some specific embodiments of the present invention, see Figures 5 to 7 The clamping pushing mechanism 120 includes a clamping drive device 122, a connecting assembly, and two clamping shoulders 121 that allow contact with adjacent sides of the workpiece 500. The connecting assembly connects the clamping drive device 122 and the two clamping shoulders 121, so that the two clamping shoulders 121 contact or disengage from the workpiece 500, thereby completing the Y-axis positioning of the workpiece 500. It is understood that the clamping drive device 122 of the present invention can be a telescopic cylinder or a telescopic motor. The connecting assembly is connected to the telescopic end of the clamping drive device 122, so that the clamping drive device 122 can drive the clamping shoulders 121 to move away from or towards the workpiece 500.

[0041] In some specific embodiments of the present invention, see Figure 4 and Figure 5 The fixture box 110 includes a fixture base plate 111, a fixture panel 112, two fixture connecting plates 113, and two fixture sealing plates 114. The two sides of the fixture connecting plates 113 are respectively connected to one side of the two fixture sealing plates 114, and the two sides of the fixture sealing plates 114 are respectively connected to one side of the two fixture connecting plates 113. The fixture base plate 111 is connected to the lower side of each fixture connecting plate 113 and each fixture sealing plate 114, and the fixture panel 112 is connected to the upper side of each fixture connecting plate 113 and each fixture sealing plate 114. Thus, the fixture box 110 of the present invention forms a cavity for accommodating the fixture driving device 122 by splicing six plates. The fixture box 110 adopts a modular structure, which is simple in structure, saves space, and is convenient for disassembly and maintenance.

[0042] In some specific embodiments of the present invention, the clamp connecting plate 113 of the clamp box 110 is provided with a telescopic opening, through which a connecting component passes to connect the clamp driving device 122 and the clamp shoulder 121. See also Figures 5 to 7 The fixture driving device 122 is disposed in the cavity of the fixture box 110. The connecting components include a driving connecting plate 123, an extension block 124, a support block 125, and a mounting block 126. The driving connecting plate 123 is disposed in the cavity of the fixture box 110 and is fixedly connected to the telescopic end of the fixture driving device 122. The opposite sides of the extension block 124 are respectively connected to the lower side of the support block 125 and the driving connecting plate 123. The extension block 124 is movably passed through the telescopic opening. The upper side of the support block 125 is connected to the mounting block 126. Two fixture shoulders 121 are respectively disposed on both sides of the mounting block 126. Thus, the telescopic end of the fixture driving device 122 drives the driving connecting plate 123, the extension block 124, the support block 125, and the mounting block 126 to extend or retract, so that the fixture shoulders 121 disengage from or contact the workpiece 500. When the clamp driving device 122 drives the extension block 124 and the support block 125 to extend outward, the driving connecting plate 123 can cover the telescopic opening. At this time, the clamp shoulder 121 moves away from the workpiece 500. When the clamp driving device 122 drives the extension block 124 and the support block 125 to retract inward, the driving connecting plate 123 retracts inward and disengages from the telescopic opening. At this time, the telescopic opening connects the inner cavity of the clamp box 110 with the outside. The clamp shoulder 121 moves towards the workpiece 500 and can contact the workpiece 500 to complete the positioning.

[0043] In some specific embodiments of the present invention, the two clamping drive devices 122 inside the clamping box 110 are placed vertically and arranged in a horizontal direction. See also Figure 5 and Figure 7 Two clamping connecting plates 113 are parallel to each other and respectively disposed on opposite sides of the base plate. One side of the clamping connecting plate 113 is provided with a telescopic opening, and the opposite side is used to connect the clamping drive device 122. The telescopic openings of the two clamping connecting plates 113 are staggered. The two clamping drive devices 122 are symmetrically disposed on opposite sides of the clamping box 110 cavity. The telescopic end of the clamping drive device 122 faces the telescopic opening of one of the clamping connecting plates 113, and its side facing away from the telescopic opening is fixedly connected to the inner side of the other clamping connecting plate 113. Thus, the ends of the two clamping drive devices 122 facing away from the telescopic opening are respectively connected to the two clamping connecting plates 113. The clamping drive device 122 is vertically disposed, that is, its wider side is vertically disposed, and the clamping drive device 122 is detached from the base plate and suspended in the air. The two clamping drive devices 122 are arranged in a horizontal direction. The telescopic ends of the clamping drive devices 122 extend and retract from the telescopic openings on the sides, which can effectively improve the space utilization rate.

[0044] In some specific embodiments of the present invention, see Figure 5 A sponge block 127 is provided on the side of the drive connecting plate 123 facing the telescopic opening. When the clamp drive device 122 extends and drives the drive connecting plate 123 and the sponge block 127 to move outward, the sponge block 127 can cover the telescopic opening, thereby improving the sealing of the clamp box 110 cavity. When the clamp push mechanism 120 extends and is in a non-working drive state, the sponge block 127 covers the telescopic opening, effectively preventing external chips, dust and moisture and other pollutants from adhering to the clamp drive device 122 in the clamp box 110.

[0045] In some specific embodiments of the present invention, a drain plate 115 is connected to the outside of the fixture box 110. The drain plate 115 is disposed above the protrusion and covers the extension block 124, which can effectively prevent contaminants such as cutting dust and moisture from adhering to the extension block 124 and entering the cavity of the fixture box 110. Furthermore, one side of the drain plate 115 is connected to the fixture connecting plate 113, and the side of the drain plate 115 away from the fixture box 110 is inclined downwards to improve the water discharge effect. See also Figure 5 The unloading plate 115 has a U-shaped structure with its opening facing downwards. The extension block 124 is embedded in the unloading plate 115. The unloading plate 115 covers the upper side and the left and right sides of the extension block 124 and is spaced apart from the extension plate. The support block 125 is provided with a through hole. The lower side wall of the through hole is connected to the outer side of the extension block 124. The unloading plate 115 can move through the through hole of the support block 125. When the extension block 124 drives the support block 125 to retract inwards, the support block 125 can retract inwards relative to the unloading plate 115.

[0046] In some specific embodiments of the present invention, the clamp pushing mechanism 120 includes a support block 125 and a mounting block 126. The mounting block 126 includes a middle connecting plate and two connecting side plates. The two ends of the middle connecting plate are respectively connected to the two connecting side plates, and the middle connecting plate and the two side plates form an obtuse angle. The middle connecting plate is connected to the upper side of the support block 125, and the two connecting side plates are respectively connected to two clamp shoulders 121. See also Figure 5 and Figure 6 The workpiece 500 has a rectangular structure. The four sides of the fixture base 130 are parallel to the corresponding four sides of the workpiece 500. The four sides of the fixture panel 112 are inclined to the corresponding four sides of the workpiece 500. Thus, the two support blocks 125 and the two intermediate connecting plates are set on the two opposite corners of the workpiece 500. The two connecting side plates of each pushing component are aligned with a set of adjacent short and long sides of the workpiece 500. The two fixture shoulders 121 of each fixture pushing mechanism 120 are used to contact a set of adjacent short and long sides of the workpiece 500. Each fixture driving device 122 can drive the two fixture shoulders 121 to move and complete the positioning of two adjacent sides of the workpiece 500. The positioning of the workpiece 500 in the Y-axis direction can be completed by the sequential operation of the two fixture driving devices 122.

[0047] In some embodiments of the present invention, see Figure 1 and Figure 4 The second positioning device 200 includes a processing base 210 with vacuum adsorption function for vertically placing the workpiece 500, a positioning mechanism 220 that allows contact with the lower side of the workpiece 500, and a pushing mechanism 230 that allows contact with the upper side of the workpiece 500. It should be noted that the processing base 210 of the present invention has a vacuum adsorption function. Furthermore, when a vacuum gauge detects a vacuum abnormality in the processing base 210, the system will issue an alarm and prohibit processing.

[0048] Specifically, see Figures 1 to 4 After the first positioning device 100 completes the positioning of the workpiece 500 in the Y-axis direction, the robot arm 300 picks up the horizontally placed workpiece 500 on the fixture base 130, switches the workpiece 500 to a vertical position, and attaches it to the vertical plane of the processing base 210. At this time, the positioning of the workpiece 500 in the X-axis direction is completed. While the robot arm 300 breaks the vacuum but still lightly contacts the workpiece 500 on the processing base 210, the pushing mechanism 230 contacts the upper side of the workpiece 500 and pushes the workpiece 500 downward, so that the lower side of the workpiece 500 fits with the positioning mechanism 220, thereby completing the positioning of the workpiece 500 in the Z-axis direction. Understandably, before loading and unloading, the upper and lower moving positioning mechanism 220 can be lowered according to the size and processing requirements of the workpiece 500, so that the upper surface of the mechanism in contact with the workpiece 500 reaches the required height. The upper surface is then used as the base surface. When positioning the workpiece 500 in the Z-axis direction, the workpiece 500 can be positioned by pushing the pusher mechanism 230, which helps to simplify the operation and improve efficiency.

[0049] In some embodiments of the present invention, see Figure 4 and Figure 8The pushing mechanism 230 includes a pushing base plate 231, a pushing mounting block 232, a pushing drive device, and a pushing shoulder. The pushing base plate 231 is fixed to the material rack 420 of the loading and unloading equipment. The pushing mounting block 232 is disposed on the upper side of the pushing base plate 231. The pushing drive device is fixed on the upper side of the pushing mounting block and disposed on the side of the pushing mounting block facing the processing base 210. The telescopic end of the pushing drive device is connected to the pushing shoulder to drive the pushing shoulder to move up and down. Furthermore, the pushing mechanism 230 also includes a pushing connecting plate 235. The lower side of the pushing connecting plate 235 is connected to the upper side of the pushing base plate 231, and the side of the pushing connecting plate 235 is connected to the side of the pushing mounting block facing away from the processing base 210, thereby improving structural reliability. Furthermore, the pusher shoulder includes a shoulder connecting plate 233 and a pusher top block 234. The shoulder connecting plate 233 is horizontally arranged and the pusher top block 234 is vertically arranged. The side of the shoulder connecting plate 233 away from the processing base 210 is connected to the upper side of the pusher top block 234, and the lower side of the pusher top block 234 is used to contact the upper side of the workpiece 500.

[0050] In some embodiments of the present invention, the pushing mechanism 230 includes a lower protective cover 236 and an upper protective cover 237. The lower protective cover 236 is connected to the pushing mounting plate to form a first cavity for accommodating the pushing drive device. The telescopic end of the pushing drive device passes through the opening of the cavity and is connected to the upper protective cover 237. The upper protective cover 237 is movably positioned to cover the upper side of the lower protective cover 236 and the pushing mounting plate and to cover the opening of the first cavity. Further, the pushing shoulder includes a shoulder connecting plate 233 and a shoulder top block. The opposite sides of the shoulder connecting plate 233 are respectively connected to the upper protective cover 237 and the shoulder top block, allowing the shoulder connecting plate 233 to be positioned above the positioning mounting plate, thereby allowing the shoulder top block to be positioned above the processing base 210 and allowing the shoulder top block to contact the upper side of the workpiece 500. Further, the second positioning device 200 also includes a position detection device 240 for detecting the height of the pushing shoulder.

[0051] Specifically, the lower protective cover 236 is connected to the pusher mounting block 232 to form a first cavity for accommodating the pusher driving device. The upper protective cover 237 is movable up and down, covering the upper side of the lower protective cover 236, and the inner side of the upper protective cover 237 is fixedly connected to the pusher driving device. A pusher through-hole is provided on the upper side of the upper protective cover 237, and the telescopic end of the pusher driving device passes through the pusher through-hole and connects to the pusher shoulder. See also... Figure 8The lower protective cover 236 has a U-shaped structure, is placed vertically with its opening facing away from the processing base 210, and the pusher drive device and pusher mounting block 232 are disposed in the cavity of the lower protective cover 236. The lower side of the upper protective cover 237 has an opening, so that the upper protective cover 237 can cover the upper protective cover 236, and the pusher drive device drives the upper protective cover 237 to move relative to the lower protective cover 236. Specifically, the two sides of the lower protective cover 236 cover the two sides of the pusher mounting block 232 and are fixedly connected to the pusher mounting block 232. The upper protective cover 237 covers the upper opening of the lower protective cover 236, thereby forming a relatively sealed first cavity. At the same time, the inner cavity of the upper protective cover 237 is set to meet a certain depth. When the pusher driving device drives the upper protective cover 237 to move upward according to the set stroke, the upper surface of the lower protective cover 236 will not be exposed. It can provide good protection for the pusher driving device built into the first cavity. Its structure is simple and does not occupy space.

[0052] See Figure 2 , Figure 4 and Figure 8 The position detection device 240 is fixedly connected to the lower protective cover 236 and is located on the side of the lower protective cover 236. The upper protective cover 237 is fixedly connected to a sensor 242. One side of the sensor 242 is located in front of the sensing end of the position detection device 240. When the upper protective cover 237 moves with the pusher shoulder and drives the sensor 242 to move up and down, the position detection device 240 can detect the height of the sensor 242, thereby detecting in real time whether the pusher shoulder has returned to the set position. When the position detection device 240 detects that the pusher shoulder does not return to the set position after being pushed out, the system of the loading and unloading robot 300 will issue an alarm. Specifically, the position detection device 240 includes a sensor connecting plate 243, a sensor cover 244, and two position sensors 241. The sensor connecting plate 243 is connected to the pusher mounting plate and the two position sensors 241 on both sides respectively. The sensor cover 244 is connected to the upper protective cover and covers the position sensors 241 and the sensing element 242. The sensing element 242 is located in front of the sensing side of the position sensor 241. The pusher sensor drives the pusher shoulder, the upper protective cover 237, the sensing element 242, and the sensor cover 244 to move up and down, so that the sensing element 242 moves relative to the position sensor 241, thereby detecting the position of the pusher shoulder.

[0053] In some embodiments of the present invention, see Figures 2 to 4The positioning mechanism 220 includes a positioning mounting plate and a positioning shoulder 223. The positioning shoulder 223 and the processing base 210 are disposed on the positioning mounting plate. The positioning shoulder 223 is disposed below the processing base 210 to allow the positioning shoulder 223 to contact the lower side of the workpiece 500. Specifically, the positioning mechanism 220 includes a positioning base plate 221, a positioning mounting block 222, a positioning drive device, and a positioning shoulder 223. The positioning base plate 221 is fixed on the movable worktable 430 of the loading and unloading equipment. The lower side of the positioning mounting block 222 is connected to the positioning base plate 221. The processing base 210 and the positioning shoulder 223 are located on the side of the positioning mounting plate facing away from the pushing mechanism 230. The positioning shoulder 223 is located below the processing base 210. The positioning drive device is located on the side of the positioning mounting plate facing the pushing mechanism 230. The positioning mounting plate is provided with a shoulder through hole. The positioning shoulder 223 passes through the shoulder through hole and connects to the telescopic end of the positioning drive device, thereby driving the positioning shoulder 223 to move up and down so that the positioning shoulder 223 contacts or detaches from the lower side of the vertically placed worktable.

[0054] In some embodiments of the present invention, the positioning mechanism 220 further includes a positioning drive device, a rear cover 224 and a front cover 226. The rear cover 224 is connected to the positioning mounting plate to form a second cavity for accommodating the positioning drive device. The positioning mounting plate is provided with a shoulder perforation. The front cover 226 is connected to the positioning mounting plate and covers the area near the perforation. The positioning shoulder 223 passes through the shoulder perforation and the front cover 226 to connect to the telescopic end of the positioning drive device.

[0055] Specifically, the positioning mechanism 220 also includes a rear cover 224 and two positioning connecting plates 225, which are disposed on the side of the positioning mounting block 222 where the positioning drive device is located. See [reference needed] Figure 2 and Figure 4 The front sides of the two positioning connecting plates 225 are respectively connected to the left and right sides of the positioning mounting plate to form a second cavity for accommodating the positioning drive device. The two sides of the rear cover 224 are respectively connected to the rear sides of the two positioning connecting plates 225, and the upper side of the rear cover 224 is connected to the upper side of the positioning mounting plate and the upper side of the two positioning connecting plates 225. Thus, the rear cover 224 covers the opening of the second cavity, making the second cavity relatively closed. The positioning drive device inside the second cavity is not easily contaminated, and at the same time, it is convenient to disassemble and maintain the positioning mechanism 220.

[0056] Further, see Figure 2 and Figure 4The positioning mechanism 220 also includes a front cover 226, which is located on the side of the positioning mounting plate facing the processing base 210 and covers the shoulder perforation. The positioning shoulder 223 passes through the front cover 226 and the shoulder perforation and is connected to the positioning drive device. The positioning shoulder 223 includes a shoulder mounting plate and a positioning top block. The shoulder mounting plate is horizontally positioned and the positioning top block is vertically positioned. The front cover 226 has a cover perforation and covers the shoulder perforation. The shoulder mounting plate passes through the cover perforation and the shoulder perforation, and its two sides are respectively connected to the positioning top block and the positioning drive device, thereby improving the protective function of the positioning mechanism 220 and effectively preventing external contaminants from entering the second cavity and contaminating the positioning drive device.

[0057] In some embodiments of the present invention, the loading and unloading equipment of the present invention is provided with a positioning area and a processing area, see [link to relevant documentation]. Figures 1 to 3 The left and right sides of the base 410 are respectively designated as the positioning area and the processing area. The machining spindle is located in the processing area, while the material box 421, the first positioning device 100, and the pushing mechanism 230 are located in the positioning area. The worktable 430 is movably mounted on the base 410 to move the workpiece 500 back and forth between the positioning area and the processing area. Simultaneously, the positioning mechanism 220 with the processing base 210 is mounted on the worktable 430. The workpiece 500 is positioned on the processing base 210 to achieve Z-axis positioning. The first positioning device 100 is used to achieve Y-axis positioning of the workpiece 500, and the pushing mechanism 230 is used to achieve X-axis positioning of the workpiece 500. By dividing the processing area and the positioning area, and by arranging the positioning components of the workpiece 500 in each direction separately, the positioning components that may cause processing interference are kept independent of the processing, effectively eliminating interference between the positioning components and the processing components, and effectively preventing dust and moisture generated during processing from contaminating the positioning components.

[0058] Specifically, see Figure 2 The bed assembly 400 of the loading and unloading equipment includes a base 410, a worktable 430, a material rack 420, and a machining spindle. The worktable 430 is movably disposed in the middle of the base 410. The material rack 420 and the machining spindle are respectively disposed on the left and right sides of the base 410. The material rack 420 is fixed to the base 410 and disposed behind the worktable 430. Further, a first positioning device 100 and a pushing mechanism 230 are disposed on the material rack 420. The pushing mechanism 230 is disposed on the side of the first positioning device 100 near the worktable 430. The material rack 420 is provided with a material box 421, which is disposed on the side of the first positioning device 100 opposite to the pushing mechanism 230.

[0059] See Figures 1 to 3A material box 421 for storing workpieces 500 is fixed to the rear side of the material support plate of the material rack 420. The first positioning device 100 and the pushing mechanism 230 are set on the front side of the material support plate. The positioning mechanism 220 is set on the worktable 430 and moves left and right with the worktable 430. After the workpiece 500 is positioned on the positioning mechanism 220, the worktable 430 moves the positioning mechanism 220 and the workpiece 500 to the right and below the machining spindle. The machining spindle directly processes the surface of the workpiece 500 on the positioning mechanism 220. After the workpiece 500 is processed, the worktable 430 moves the positioning mechanism 220 and the workpiece 500 to the left and directly in front of the pushing mechanism 230. The robot arm 300 loads and unloads the workpiece 500.

[0060] See Figure 1 , Figure 2 , Figure 4 and Figure 8 The pusher base plate 231, the pusher mounting plate, and the push-pull drive device are located behind the positioning mechanism 220. The pusher top block 234 is located in front of the positioning mounting plate. The pusher shoulder pusher connecting plate 235 is located above the positioning mechanism 220 to connect the pusher drive device and the push-pull top block. The push-pull connecting plate is spaced apart from the positioning mechanism 220. When the positioning mechanism 220 moves to the left with the worktable 430, the positioning mechanism 220 can reach below the pusher connecting plate 235 and be located between the pusher mounting plate and the pusher top block 234. The pusher shoulder is located directly above the processing base 210 and spaced apart from the positioning mounting plate. When the pusher shoulder moves downward to push the workpiece 500 on the processing base 210, the pusher connecting plate 235 and the positioning mounting block 222 are still spaced apart.

[0061] In some embodiments of the present invention, see Figures 1 to 3The bed assembly 400 also includes a crossbeam 440 arranged along a first direction. The material box 421, the first positioning device 100, the pushing mechanism 230, and the positioning mechanism 220 in a positioning state are all arranged sequentially along the crossbeam 440. A robot arm 300 is movably mounted on the crossbeam 440 to switch the position of the workpiece 500 between the material box 421, the first positioning device 100, the pushing mechanism 230, and the positioning mechanism 220. Specifically, the crossbeam 440 is arranged along the Y-axis of the equipment, and the material support plate, the clamping base 130 and the pushing shoulder of the first positioning device 100, and the processing base 210 in the workpiece 500 loading / unloading state are all arranged along the Y-axis. The robotic arm 300 for loading and unloading materials is movably mounted on the crossbeam 440, so that the robotic arm 300 can move along the Y-axis and cooperate with lifting and moving to realize the position switching of the workpiece 500 on the material rack 420, the first positioning device 100 and the second positioning device 200. Thus, after the workpiece 500 is positioned in the Y-axis direction by the first positioning device 100, it does not need to be positioned in the Y-axis direction again on the second positioning device 200, which helps to simplify the operation process.

[0062] In some embodiments of the present invention, see Figure 2 and Figure 9 The robotic arm 300 includes a suction cup assembly 320, which includes a material suction cup 323 for picking up a workpiece 500 and multiple positioning posts 324 for abutting against the picked-up workpiece 500. The multiple positioning posts 324 are evenly arranged around the material suction cup 323. Further, the robotic arm 300 includes a material handling and moving mechanism 310, which includes a translation module, a lifting module, and a rotating module. The translation module is mounted on a crossbeam 440, the lifting module is mounted on the translation module, the rotating module is mounted on the translation module, and the suction cup assembly 320 is mounted on the rotating assembly, so that the workpiece 500 can be placed horizontally or vertically.

[0063] Specifically, the robotic arm 300 includes a material handling and moving mechanism 310 and a suction cup assembly 320 for adsorbing the workpiece 500. The suction cup assembly 320 is movably mounted on the material handling and moving mechanism 310, which is movably mounted on the crossbeam 440. See also Figure 3 and Figure 9The material handling and moving mechanism 310 includes a translation module, a lifting module, and a rotating module. The translation module includes a translation driver and a module connecting plate 311 for connecting the lifting and translation module. The lifting and translation module includes a lifting driver and a module mounting plate 312 for connecting the rotating module. The rotating module includes a rotary driver 315 and a module rotating assembly for connecting the suction cup assembly 320 module. The translation driver is fixed to the crossbeam 440. Furthermore, both the translation driver and the lifting driver can be linear motors or linear modules, and the rotary driver 315 can be a rotary motor or a rotary cylinder, making the overall structure simple and easy to operate.

[0064] Furthermore, the module rotation assembly includes a module extension plate 313, a drive wheel, a transmission belt, a driven wheel, a rotating rod 316, and multiple motor extension plates 314. The upper side of the module extension plate 313 is connected to the lower side of the module mounting plate 312. The multiple motor extension plates 314 are fixedly connected to the lower end of the module extension plate 313 on the side facing away from the module mounting plate 312. A rotary driver 315 is fixedly connected to the motor extension plates 314, and the drive wheel is fixedly connected to the rotating end of the rotary driver 315. The rotating rod 316 rotatably passes through the lower side of the module extension plate 313 to connect with the driven wheel. A suction cup assembly 320 is fixed to the rotating rod 316 and disposed on the side of the module extension plate 313 facing away from the driven wheel. The transmission belt is sleeved on the drive wheel and the driven wheel, so that the rotary driver 315 drives the rotating rod 316 and the suction cup assembly 320 to rotate through the drive wheel, the transmission belt, and the driven wheel.

[0065] In some specific embodiments of the present invention, see Figure 2 and Figure 9The suction cup assembly 320 includes a suction cup connecting plate 321, two suction cup mounting plates 322, two material suction cups 323, and multiple positioning posts 324. The suction cup connecting plate 321 is connected to the rotating module. The two suction cup mounting plates 322 are respectively disposed on opposite sides of the suction cup connecting plate 321. The two material suction cups 323 are respectively disposed in the middle of the two suction cup mounting plates 322. The multiple positioning posts 324 are disposed around the material suction cups 323. Specifically, one side of the suction cup connecting plate 321 is connected to the rotating rod 316. The two suction cup mounting plates 322 are respectively fixed to opposite sides of the end of the suction cup connecting plate 321 away from the rotating rod 316. The two material suction cups 323 are respectively disposed in the middle of the two suction cup mounting plates 322. The positioning posts 324 are disposed on the suction cup mounting plates 322 and around the material suction cups 323. Furthermore, the material suction cup 323 of the present invention can be a multi-fold suction cup or a corrugated suction cup, which can effectively improve the reliability of adsorption on uneven glass surfaces. Specifically, the rotary driver 315 drives the suction cup assembly 320 to rotate, adjusting the angle of the material suction cup 323 so that the material suction cup 323 can pick up the workpiece 500 placed vertically in the material box 421, and the workpiece 500 can be changed from vertical to horizontal placement by rotating the suction cup assembly 320. In some specific embodiments of the present invention, for workpieces 500 such as glass with uneven surfaces, the workpiece is prone to tilting after being picked up due to the uneven surface, causing the robot arm 300 to be unable to smoothly place the workpiece 500 into the material box 421, or even causing the workpiece 500 to fall off the suction cup assembly 320 due to tilting. To solve the above problems, the robot arm 300 of the present invention has a plurality of positioning posts 324 evenly arranged around the material suction cup 323. The outer ends of the plurality of positioning posts 324 are on the same vertical plane. When the material suction cup 323 picks up the workpiece 500, the inner side of the workpiece 500 contacts the outer end of the positioning post 324, so that the workpiece 500 can be basically kept on the vertical plane in the set direction, which is conducive to the smooth placement of the workpiece 500 into the material box 421. Specifically, see Figure 3 and Figure 9 Eight positioning posts 324 are provided, with four positioning posts 324 connected to each suction cup mounting plate 322. The four positioning posts 324 are respectively located at the four corners of the suction cup mounting plate 322. When the material suction cup 323 picks up the workpiece 500, the four positioning posts 324 can hold the workpiece 500 in four directions, keeping the workpiece 500 in a vertical plane parallel to the material groove of the material box 421. Furthermore, when the vacuum gauge detects a vacuum abnormality in the material suction cup 323, the system will issue an alarm and prohibit processing.

[0066] It is understood that the unevenness on the surface of the glass or other workpiece 500 in this invention is only a shallow unevenness. Since the material suction cup 323 is relatively soft and can be compressed, when the material suction cup 323 is used to pick up the workpiece 500, the unevenness of the workpiece 500 is easily magnified, causing the tilt of the workpiece 500 to easily exceed the allowance range of the material box 421 groove. However, the positioning post 324 added in this invention is a rigid component and will not be compressed under the suction force. Therefore, the workpiece 500 held by the positioning post 324 can be basically kept on the desired vertical plane. The width of the material box 421 groove will be slightly larger than the thickness of the workpiece 500, so the workpiece 500 can smoothly enter the material box 421 groove.

[0067] Furthermore, this invention is used to process the surface of a vertically placed workpiece 500. When the material suction cup 323 of the robot arm 300 picks up the workpiece 500 and places it on the vertical positioning surface of the processing base 210, unlike the traditional method where the positioning component positions the workpiece 500 after the material suction cup 323 breaks the vacuum and the robot arm 300 leaves, in this invention, the robot arm 300 fixes the workpiece 500 by the positioning post 324 after the material suction cup 323 breaks the vacuum, and cooperates with the positioning shoulder 223 located below the workpiece 500, so that the workpiece 500 can fit against the processing base 210. On the vertical plane of 0, after the pusher shoulder moves the workpiece 500 to complete the X-axis positioning, the vacuum adsorption on the processing base 210 holds the workpiece 500 in place. Then, the robot arm 300 releases the workpiece 500 and moves away. Thus, this invention achieves vertical workpiece 500 positioning by adding positioning posts 324 around the material suction cup 323 of the robot arm 300, and coordinates with step-by-step positioning in the XYZ axes. Furthermore, by rationally arranging the positions and positioning methods of the first positioning device 100 and the second positioning device 200, interference between moving parts is minimized. It is understood that the end face of the positioning post 324 that contacts the workpiece 500 is a smooth hemispherical surface. This allows the pusher shoulder to push the workpiece 500 when the robot arm 300 lightly presses it onto the processing base 210, enabling the workpiece 500 to move relative to the robot arm 300, while the positioning post 324 is less likely to scratch the workpiece 500.

[0068] In some specific embodiments of the present invention, participants Figure 2 and Figure 9The robotic arm 300 also includes an air knife assembly 330, which is located on the side of the rotating module facing away from the suction cup assembly 320. Specifically, the air knife assembly 330 is fixed to the rotating rod 316 and located on the side of the rotating rod 316 facing away from the suction cup assembly 320. The suction cup assembly 320 has two material suction cups 323, located on opposite sides of the suction cup connecting plate 321. When one of the material suction cups 323 picks up the workpiece 500 to be processed on the first positioning device 100 and moves in front of the positioning mechanism 220, the workpiece 500 that has just been processed is placed on the processing base 210. After the robotic arm 300 rotates, causing the other material suction cup 323 to pick up the processed workpiece 500, the robotic arm 300 rotates again, causing the air duct assembly to move towards the processing base 210. After cleaning with air, the workpiece 500 to be processed is placed on the processing base 210. Cleaning the processing base 210 with air helps to ensure that there are no contaminants such as glass dust on the processing base 210, and helps to ensure clamping and positioning in the X direction. At the same time, the present invention uses two material suction cups 323 arranged in opposite directions, in conjunction with the air knife assembly 330, so that the robot arm 300 does not need to move back and forth many times when unloading, cleaning and loading the processing base 210. Its structure is simple and can simplify the operation steps, improve work efficiency and improve positioning accuracy.

[0069] See Figures 1 to 9 The control method for a positioning fixture for workpiece surface machining according to the technical solution of the present invention applies the positioning fixture for workpiece surface machining according to the embodiments of the present invention, and the control method for the positioning fixture includes at least the following steps: A100, The robot arm 300 takes out the workpiece 500 to be processed and places it on the fixture base 130 to complete the positioning of the workpiece 500 in the first direction; A200: The robot arm 300 picks up the workpiece 500 on the first positioning device 100 and rotates the workpiece 500 to switch it to a vertical state; the robot arm 300 makes the side of the workpiece 500 contact the positioning plane of the processing base 210 and the lower side of the workpiece 500 contact the positioning shoulder 223 to complete the second direction positioning of the workpiece 500. A300, with the positioning post 324 pressing the workpiece 500 onto the processing base 210, turn off the vacuum adsorption function of the material suction cup 323; move the pusher shoulder down and push the workpiece 500 to complete the third-dimensional positioning of the workpiece 500. A400, after starting the vacuum adsorption function of the processing base 210 and clamping the workpiece 500, move the robot arm 300 to make the positioning column 324 detach from the workpiece 500, and start the grinding process of the workpiece 500.

[0070] The positioning fixture control method of the present invention, when positioning a vertically placed workpiece 500, uses the positioning post 324 of the robot arm 300 to fix the glass, then the material suction cup 323 breaks the vacuum, and the pushing mechanism 230 and the positioning mechanism 220 perform positioning operations on the workpiece 500 while the positioning post 324 is pressing against the workpiece 500. The positioning post 324 only leaves the workpiece 500 after the vacuum adsorption function of the processing base 210 is activated to suck in the workpiece 500. This effectively prevents the workpiece 500, which is vertically placed on the processing base 210, from tilting or falling. Its structure is simple and easy to operate, and it can effectively improve positioning accuracy and positioning efficiency.

[0071] See Figures 1 to 9 The control method for the loading and unloading equipment of the present invention applies the loading and unloading equipment for workpiece surface processing according to the embodiments of the present invention; wherein, the robot arm 300 includes an air knife assembly 330 and two material suction cups 323 arranged in opposite directions, and a rotating module for changing the orientation of the air knife assembly 330 and the material suction cups 323. The method includes at least the following steps: S100: Move the robot arm 300 carrying the processed workpiece 500 to the material rack 420, and place the processed workpiece 500 in the material slot of the material rack 420. Then, pick up the vertically placed workpiece 500 on the material rack 420 by the picking suction cup on the first side of the robot arm 300, and after switching the workpiece 500 to a horizontal position, place the workpiece 500 on the fixture base 130. S200: After the first positioning device 100 acts on the workpiece 500 to be processed on the fixture base 130 to complete the positioning of the workpiece 500 in the first direction, the robot arm 300 picks up the workpiece 500 to be processed on the fixture base 130 and moves it to the processing base 210; the robot arm 300 picks up the workpiece 500 to be processed on the fixture base 130 and switches the workpiece 500 to be processed to a vertical posture. S300: When the machining spindle completes the current machining and the worktable 430 moves the positioning mechanism 220 and the machined workpiece 500 to the positioning point, the robot arm 300 moves the workpiece 500 to the machining base 210. The robot arm 300 rotates and picks up the machined workpiece 500 from the machining base 210 through the material suction cup 323 on the second side. Then, the rotating module rotates so that the air knife assembly 330 faces the machining base 210 to clean the machining base 210 with air. The rotating module then rotates so that the workpiece 500 faces the machining base 210. S400: The robot arm 300 moves to make the side of the workpiece 500 contact the positioning mechanism 220 and the bottom of the workpiece 500 contact the positioning mechanism 220 to complete the second-direction positioning of the workpiece 500; then the pusher mechanism 230 acts on the vertically oriented workpiece 500, in conjunction with the robot arm 300 and the positioning mechanism 220, to complete the third-direction positioning of the workpiece 500. S500: The worktable 430 drives the positioning mechanism 220 and the workpiece 500 to leave the positioning area and arrive at the processing area. The machining spindle performs the next round of processing on the workpiece 500 on the processing base 210. S600 and the mobile robot 300 can place the currently completed workpiece 500 back into the material rack 420 and carry out the next round of loading and unloading operations.

[0072] Understandably, before loading / unloading and grinding workpiece 500, the total number of glass sheets that the material box 421 can hold, and the spacing between each glass sheet in the material box 421, are preset in the function parameter table of the robot arm 300. Then, the equipment enters online mode and starts the program to execute instructions. Furthermore, after the robot arm 300 completes one loading / unloading operation, the system script will automatically calculate, such as incrementing the number of workpieces 500 already loaded by 1, so that the system can obtain the current number of workpieces 500 loaded / unloaded.

[0073] Furthermore, before loading, unloading, and processing workpiece 500, a dial indicator is used to level the pusher shoulder and positioning shoulder 223, so that the planes of the pusher shoulder and positioning shoulder 223 in contact with workpiece 500 are horizontal. Thus, when positioning workpiece 500 in the Z-axis direction, the pusher shoulder and positioning shoulder 223, which serve as reference objects, effectively adjust the Z-axis position of the product when workpiece 500 is clamped. Among them, the positioning shoulder 223 serves as a fixed reference positioning plane, and the pusher shoulder serves as a movable positioning plane. The two work together to determine the processing position of workpiece 500 in the Z-axis direction.

[0074] This invention enables fully automated transfer of workpiece 500 between material box 421, first positioning device 100 and processing base 210 by a robot arm 300 that can move along the crossbeam 440. The robot arm 300 adopts a double suction cup back-to-back setting structure and integrates an air knife assembly 330. It can complete three operations in a single pick-up and place stroke: finished product unloading, base cleaning and blank loading, effectively improving the loading and unloading efficiency of workpiece 500. In addition, with the vacuum detection, position sensor 241 and counting error prevention protection detection set in the system script, this invention realizes highly reliable automated processing of vertical glass processing.

[0075] Specifically, when the robot arm 300 moves backward along the crossbeam 440 with the processed workpiece 500 and reaches above the material rack 420, it calculates the current material slot position of the processed workpiece 500 and the material slot position of the workpiece 500 to be processed based on the recorded number of completed workpieces 500. After the robot arm 300 determines that the workpiece 500's pose matches the material slot, it places the processed workpiece 500 into the material slot and picks up a workpiece 500 to be processed using the chuck on one side. The robot arm 300 moves forward along the crossbeam 440 above the first positioning device 100 and adjusts the pose of the workpiece 500 to be processed so that it is placed horizontally. The workpiece 500 to be processed is placed on the fixture base 130, and the two first shoulders push the workpiece 500 to be processed in turn, completing the positioning of the workpiece 500 in the Y-axis direction.

[0076] Then, the robot arm 300 picks up the workpiece 500 to be processed from the fixture base 130. After confirming that the machining spindle has completed the current machining and that the worktable 430 has moved the positioning mechanism 220 to the front of the pusher mechanism 230, the robot arm 300 moves the workpiece 500 to be processed forward and reaches the front of the machining base 210. The robot arm 300 picks up the workpiece 500 to be processed from the machining base 210 through the suction cup on the other side. The robot arm 300 rotates the rod 316 so that the air nozzle of the air knife assembly 330 faces the machining base 210. After cleaning the machining base 210 with air, the robot arm 300 rotates the rod 316 again so that the workpiece 500 to be processed is placed vertically and facing the machining base 210. The robot arm 300 moves backward along the crossbeam 440 so that the workpiece 500 to be processed is attached to the machining base 210 and the lower side of the workpiece 500 to be processed contacts the upper plane of the positioning shoulder 223, thereby completing the positioning of the workpiece 500 to be processed in the X-axis direction.

[0077] Then, with the positioning post 324 of the robot arm 300 pressing against the workpiece 500 and making it adhere to the processing base 210, the suction cup of the robot arm 300, which picks up the workpiece 500, breaks the vacuum. The pusher shoulder moves downward and pushes the workpiece 500 towards the positioning shoulder 223. After the pusher shoulder completes the push operation, the processing base 210 activates the vacuum adsorption function to suck in the workpiece 500, making the workpiece 500 adhere tightly to the processing base 210, thereby completing the positioning of the workpiece 500 in the Z-axis direction. Next, the positioning post 324 of the robot arm 300 moves away from the workpiece 500, and the robot arm 300, carrying the processed workpiece 500, moves backward along the crossbeam 440 to perform the next round of loading and unloading operations. At the same time, the worktable 430 drives the positioning mechanism 220 and the workpiece 500 to move to the right below the processing spindle to perform the next round of workpiece 500 processing operations. Repeat this process until all workpieces 500 on the material box 421 have been processed.

[0078] It should be noted that the control of the loading and unloading equipment of this invention utilizes system scripts to achieve automated functions. The control process includes the robotic arm 300 picking up materials, the robotic arm 300 loading materials, the robotic arm 300 unloading materials, the robotic arm 300 releasing materials, and the machining spindle grinding. Furthermore, the system executes the loading and unloading actions of the robotic arm 300 step by step according to the script settings, and the script includes error-proofing detection.

[0079] The automatic loading and unloading equipment for processing glass sheets of the present invention adopts a mechanical positioning scheme to replace CCD vision positioning and probe positioning, which reduces equipment costs and shortens positioning time while ensuring positioning accuracy. The invention divides the area into a positioning zone and a processing zone, keeping the positioning mechanism 220, which causes processing interference, independent of the processing fixture. This eliminates spatial interference between the positioning mechanism 220 and the machine tool spindle, and keeps the positioning mechanism 220 away from the processing area, avoiding corrosion from glass dust and water mist, and extending the service life of the positioning mechanism 220. For finished glass with uneven surfaces, the invention uses multi-fold suction cups for adsorption and sets four height-adjustable positioning posts 324 to hold the glass in place, ensuring that the glass sheet remains vertical after being picked up and can be smoothly placed into the material box 421.

[0080] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A positioning fixture for machining the surface of a workpiece, characterized in that, Applications include: (The text abruptly ends here, so the translation also ends here.) A first positioning device (100) for positioning a workpiece (500) in a first direction, the first positioning device (100) including a fixture base (130); The second positioning device (200) includes a processing base (210) for positioning the workpiece (500) in a second direction, and a pushing mechanism (230) and a positioning mechanism (220) for positioning the workpiece (500) in a third direction. The processing base (210) is disposed on the positioning mechanism (220). The processing base (210) includes a positioning plane for adsorbing the workpiece (500) and is vertically arranged. The positioning mechanism (220) includes a positioning shoulder (223) that allows contact with the lower side of the workpiece (500) and is disposed below the positioning plane. The pushing mechanism (230) is disposed on the side of the positioning mechanism (220) facing away from the processing base (210). The pushing mechanism (230) includes a pushing shoulder that allows contact with the upper side of the workpiece (500) and can move up and down and is disposed above the processing base (210). The fixture base (130) and the machining base (210) are allowed to be arranged along the first direction; A robotic arm (300) is used to switch the position of a workpiece (500) on the fixture base (130) and the processing base (210).

2. The positioning fixture for workpiece surface machining according to claim 1, characterized in that, The first positioning device (100) includes two push mechanisms that allow independent movement. The push mechanisms include two first shoulders that move synchronously and are used to contact the adjacent sides of the workpiece (500). The first shoulders are disposed on the outer periphery of the fixture base (130).

3. The positioning fixture for workpiece surface machining according to claim 2, characterized in that, The first positioning device (100) further includes a fixture box (110); the fixture base (130) is disposed on the upper side of the fixture box (110); The pushing mechanism also includes a clamp drive device (122) and a connecting assembly; The clamp driving device (122) is arranged horizontally and vertically inside the clamp box (110); The clamp box (110) is provided with two telescopic openings, which are staggered. The connecting assembly passes through the telescopic opening to connect the clamp drive (122) and the two first shoulders, so that the two first shoulders contact or disengage from the workpiece (500) on which the clamp base (130) is provided.

4. The positioning fixture for workpiece surface machining according to claim 1, characterized in that, The positioning mechanism (220) includes a positioning mounting plate and a positioning base plate (221). The positioning shoulder (223) and the processing base (210) are disposed on the positioning mounting plate. The positioning mounting plate is disposed on the positioning base plate (221). The positioning base plate (221) is disposed on the movable worktable (430) of the loading and unloading equipment, so that the workpiece (500) on the processing base (210) moves to the processing spindle of the loading and unloading equipment.

5. The positioning fixture for workpiece surface machining according to claim 4, characterized in that, The pushing mechanism (230) further includes a pushing mounting plate, a pushing driving device, a lower protective cover (236), and an upper protective cover (237). The lower protective cover (236) is connected to the pushing mounting plate to form a first cavity for accommodating the pushing driving device. The telescopic end of the pushing driving device passes through the opening of the first cavity and is connected to the upper protective cover (237). The upper protective cover (237) is movable up and down to cover the upper side of the lower protective cover (236) and the pushing mounting plate, as well as to cover the opening of the first cavity.

6. The positioning fixture for workpiece surface machining according to claim 5, characterized in that, The pusher shoulder includes a shoulder connecting plate (233) and a shoulder top block. The opposite sides of the shoulder connecting plate (233) are connected to the upper protective cover (237) and the shoulder top block respectively, so as to allow the shoulder connecting plate (233) to be positioned above the positioning mounting plate and to allow the positioning mechanism (220) to move below the shoulder connecting plate (233), thereby allowing the shoulder top block to be positioned above the processing base (210) and to allow the shoulder top block to contact the upper side of the workpiece (500).

7. The positioning fixture for workpiece surface machining according to claim 6, characterized in that, The second positioning device (200) further includes a position detection device (240) for detecting the pusher shoulder position.

8. The positioning fixture for workpiece surface machining according to claim 4, characterized in that, The positioning mechanism (220) further includes a positioning drive device, a rear cover (224) and a front cover (226). The rear cover (224) is connected to the positioning mounting plate to form a second cavity for accommodating the positioning drive device. The positioning mounting plate is provided with a shoulder perforation. The front cover (226) is connected to the positioning mounting plate and covers the shoulder perforation. The positioning shoulder (223) passes through the shoulder perforation and the front cover (226) to connect to the telescopic end of the positioning drive device.

9. The positioning fixture for workpiece surface machining according to claim 1, characterized in that, The robotic arm (300) includes a suction cup assembly (320), which includes a material suction cup (323) for picking up a workpiece (500) and a plurality of positioning posts (324) for abutting against the picked-up workpiece (500). The plurality of positioning posts (324) are evenly arranged around the material suction cup (323).

10. A control method for a positioning fixture used for workpiece surface machining, characterized in that, The positioning fixture for workpiece surface processing according to any one of claims 1 to 9 is used; wherein the robot (300) includes a material suction cup (323) for picking up the workpiece (500) and rotatably arranged, and a plurality of positioning pins (324) for abutting against the picked-up workpiece (500). The method includes the following steps: A100, The robot arm (300) takes out the workpiece to be processed and places it on the fixture base (130) to complete the positioning of the workpiece in the first direction; A200: The robot arm picks up the workpiece on the first positioning device (100) and rotates the workpiece to switch it to a vertical state; the robot arm makes the side of the workpiece contact the positioning plane of the processing base (210) and the lower side of the workpiece contact the positioning shoulder (223) to complete the second direction positioning of the workpiece. A300, with the positioning column pressing the workpiece against the processing base, turn off the vacuum adsorption function of the material suction cup; move the pusher shoulder down and push the workpiece to complete the third-dimensional positioning of the workpiece; A400. After activating the vacuum adsorption function of the processing base and clamping the workpiece, move the robot arm to detach the positioning column from the workpiece and start the workpiece grinding process.

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