This project is used to grind the four right angles of flat glass in dynamic operation into rounded corners. The belt drive is controlled by Delta CNC system. The mechanical structure adopts ball screw guide rail transmission. The system has the characteristics of smooth, reliable, accurate and high processing efficiency. Delta CNC system completes the parameter setting in one go through the human-machine interface, which is suitable for batch processing of furniture glass and architectural glass. 1 Introduction The rounded corner machine CNC system is applied to the glass processing production line to grind the four right angles of the glass running on the production line into rounded corners. According to the set radius, the four corners of the glass are ground into 90-degree arcs, the arcs and straight lines are smoothly transitioned, and the arc radius error is ±0.5mm. Grinding is carried out during the glass operation. The mechanical structure is driven by Delta servo system with ball screw guide rail transmission. See Figure 1 for the whole machine picture. See Figure 2 for the processed sample picture . 2 CNC system principle design 2.1 Functional design (1) Processing process description. This equipment is used on the production line to round or chamfer right-angle glass at 45 degrees. During the chamfering process, the glass moves forward continuously without stopping, and all four corners are chamfered simultaneously. The speed of the glass moving forward is 1-6 meters/minute, and the rounding radius is 3-12mm. (2) Operation button description. Start: Starts the automatic processing program. It must be started after the belt starts. Return to zero: Each axis returns to the origin in the negative direction simultaneously. Each axis must return to the origin before the program is executed. Emergency stop: Emergency stop. Reset: Stops the running program without affecting the operation of the belt and grinding wheel. [IMG=Fig.1 CNC glass rounding machine]/uploadpic/THESIS/2007/11/2007111416503029960M.jpg[/IMG] Fig.1 CNC glass rounding machine [IMG=Fig.2 glass rounding]/uploadpic/THESIS/2007/11/20071114165226873814.jpg[/IMG] Fig.2 Glass rounding 2.2 Touch screen human-machine interface design (1) Belt/grind wheel control. Start the belt, grinding wheel, water pump, and fan on this screen. The "distance between the feed detection point and the first cylinder" determines how far the first cylinder moves forward after the glass is detected at the feed detection point, and the "distance between the first cylinder and the second cylinder" determines how far the second cylinder moves forward after the first cylinder moves, see Fig.3. (2) Speed/radius selection. On this screen, select the belt running speed and the fillet radius when rounding the corners. After selection, the system will automatically read the corresponding standby position parameters. If the belt speed is increased during program operation, please reset and restart the program, and reselect the fillet radius, see Figure 4. (3) Fine adjustment. On this screen, the "Standby Position" displays the position of the XZ axis under the corresponding "Belt Speed" and "Celllet Radius". When in standby, the Y axis is at the origin. When there is a deviation in the processing effect, the standby position can be fine-tuned on this screen. After adjustment, the data needs to be saved. Each time the machine is turned on, the system automatically reads the corresponding standby position according to the corresponding "Belt Speed" and "Celllet Radius", see Figure 5. (4) Jogging each axis. When the program is not running automatically, you can select each axis on this screen to jog. You can also select the axis and then use the hand crank to control and determine the standby position, see Figure 6. (5) Start-up steps. Start-up → Start belt → Each axis returns to origin → Start grinding wheel → Start automatic processing program. 2.3 Principle design Axial definition. The working principle of this equipment is that each corner uses the Z-axis to drive an XY worktable to follow the glass forward, keeping the XY worktable relatively stationary with the glass. The XY axes drive the grinding wheel to run in a standard arc or straight line to process the required chamfer. The XYZ axes of the four corners are all servo controlled, see Figure 7. 2.4 CNC Scheme Design Each corner of the glass has a three-axis CNC system driving three servo axes (XYZ). The end of the conveyor belt that drives the glass forward is equipped with an encoder to feed back the speed of the glass forward to the CNC system. The grinding wheels of the four corners are adjusted to the appropriate positions corresponding to the trigger switches. When the glass moves forward, corners #2 and #4 touch the trigger switch, and corners #1 and #3 leave the trigger switch, causing the Z-axis to drive the XY axes to move forward synchronously with the glass. At this time, the XY axes are relatively stationary with the glass. The XY axes follow a circular trajectory with a set radius to complete the processing, see Figure 8. 2.5 System Debugging Steps First, determine the standby position. After powering on and returning to the origin, start the belt and determine the standby position of each corner as follows. #1 Angle: Stop the belt when the glass just leaves the trigger switch. Adjust the XZ axis so that the center of the grinding wheel is aligned with the rear edge of the glass, and the outer edge of the grinding wheel just touches the glass. This is the standby position of the XZ axis. #2 Angle: Stop the belt when the glass just touches the trigger switch. Adjust the XZ axis so that the center of the grinding wheel is aligned with the front edge of the glass, and the outer edge of the grinding wheel just touches the glass. This is the standby position of the XZ axis. #3 Angle: Stop the belt when the glass just leaves the trigger switch. Adjust the XZ axis so that the center of the grinding wheel is aligned with the rear edge of the glass, and the outer edge of the grinding wheel just touches the glass. This is the standby position of the XZ axis. #4 Angle: Stop the belt when the glass just touches the trigger switch. Adjust the XZ axis so that the center of the grinding wheel is aligned with the front edge of the glass, and the outer edge of the grinding wheel just touches the glass. This is the standby position of the XZ axis. The determined standby position is the "standby position" displayed on the screen. During processing, the position of the grinding wheel waiting for the trigger signal will automatically adjust according to this "standby position," the belt speed, and the radius of the fillet being processed. If there are deviations in the processing results, the standby position under the corresponding belt speed and corner radius can be fine-tuned on the screen, and must be saved. [IMG=Figure 3 Belt/Grinding Wheel Control]/uploadpic/THESIS/2007/11/20071114165603495406.jpg[/IMG] Figure 3 Belt/Grinding Wheel Control [IMG=Figure 4 Speed/Radius Selection]/uploadpic/THESIS/2007/11/2007111416591421673U.jpg[/IMG] Figure 4 Speed/Radius Selection [IMG=Figure 5 Fine-tuning]/uploadpic/THESIS/2007/11/2007111417013531469E.jpg[/IMG] Figure 5 Fine-tuning [IMG=Figure 6 Jogging of Each Axis]/uploadpic/THESIS/2007/11/20071114170326305902O.jpg[/IMG] Figure 6 Each axis jog [IMG=Figure 7 Corner Machining Axis Definition]/uploadpic/THESIS/2007/11/2007111417053786687T.jpg[/IMG] Figure 7 Corner Machining Axis Definition [IMG=Figure 8 Three-Axis CNC Motion Control]/uploadpic/THESIS/2007/11/2007111417072393829V.jpg[/IMG] Figure 8 Three-Axis CNC Motion Control 3 Conclusion Through the design process, the project's characteristic is the application of CNC servo technology to achieve precise machining of the four corners of a dynamically moving flat glass panel. The project features efficient and precise machining, demonstrating Delta CNC's advanced motion control capabilities. The promotion and application of this project will bring significant economic benefits to glass processing equipment manufacturers. Proceedings of the 2nd Servo and Motion Control Forum Proceedings of the 3rd Servo and Motion Control Forum