CN102491099B - Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system - Google Patents
Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system Download PDFInfo
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- CN102491099B CN102491099B CN201110400070.2A CN201110400070A CN102491099B CN 102491099 B CN102491099 B CN 102491099B CN 201110400070 A CN201110400070 A CN 201110400070A CN 102491099 B CN102491099 B CN 102491099B
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Abstract
The invention relates to the technical field of a manipulator glass stacking system, in particular to a method for correcting a position during the glass grabbing processing of a manipulator of the manipulator glass stacking system. A photoelectric sensor I and a photoelectric sensor II are arranged between two rollers which are arranged at the upstream of a roller bed which keeps a distance s away from the center of the manipulator, the distance between the photoelectric sensor I and the photoelectric sensor II is 1-1.5m, dimension of the glass is a*b or length*width, v is the speed of the roller bed, when the glass deflects, time t1 for the photoelectric sensor I to send a signal and the time t2 for the photoelectric sensor II to send a signal are different, is adopted: a deflection angle is acquired according to the following computational formula: deflection angle &=(t1-t2)*v/L; and a time point of grabbing is calculated according to the formula that t=tn+(S-|t1-t2|*v/2)/v+a/2/v/cos&, wherein tn is a greater time point in t1 and t2. The method provided by the invention has the advantages of convenience in installation, low cost, long service life and convenience in maintenance.
Description
[technical field]
The present invention relates to mechanical arm glass stacking system technical field, be specifically related to method for correcting position during a kind of mechanical arm glass stacking system manipulator crawl glass.
[background technology]
Mechanical arm glass stacking system is one of specialized equipment of glass production line stacking.In stacking procedure, without the need to trading halt, operate steadily, precision is high, the cycle is short, degree of automation is high, and every platform manipulator can corresponding multiple station, 1 manipulator can carry out stacking for the glass of different size or grade, increasingly extensive in the application of glass industry.
But manipulator obtains the instruction capturing the glass of motion from roller-way comes from management system or upper computer or line traffic control, the position that the position and the management system that capture glass due to manipulator obtain glass position value is not at same place, i.e. the positional value of manipulator acquisition is that management system converts out according to the position of manipulator, the speed of roller-way; Because roller-way sideslip, speed are unequal between these 2, the value provided to its positional value during manipulator crawl position and management system when glass run is inconsistent; When error is larger, be easy to cause the vacuum grip on manipulator to grab inclined glass, cause stacking failure; Even if manipulator catches glass reluctantly in addition, because the position of glass and handgrip, with the position of presetting, larger change occurs, and the track of robot movement is fixing, this will cause glass and manipulator or other equipment to cause to interfere, collide, therefore prior art crawl data accuracy is low, and cost is high, install trouble, service life is short.
[summary of the invention]
The object of the invention is to solve prior art problem, providing one when manipulator captures glass, the method for correcting position during mechanical arm glass stacking system manipulator crawl glass of center of glass can be grabbed accurately.
To achieve these goals, the hand glass stacking system manipulator that designs a mechanism captures method for correcting position during glass, it is characterized in that: opto-electronic pickup I, opto-electronic pickup II is placed between the two pieces roller at distance s place, manipulator center, roller-way upstream, distance between opto-electronic pickup I and II is 1 to 1.5m, glass is of a size of axb, a and b is the length of rectangular glass and wide respectively, v is roller table speed, when glass is deflection, the time t1 that opto-electronic pickup I sends signal is not identical with the time t2 installing opto-electronic pickup II and send signal, computing formula: drift angle &=tan
-1((t1-t2) x v/L), obtains drift angle value, capture the some time, t=tn+ (S-|t1-t2|x v/2)/v+a/2/v/cos &, wherein tn is time point larger in t1, t2, namely the center O of glass, cornerwise intersection point, arrive immediately below manipulator captures at time point t, L is the distance between opto-electronic pickup I and opto-electronic pickup II, photo-sensor signal will access control system, drift angle value, crawl time point are all supplied to manipulator control system through PLC computing.
The concrete size that opto-electronic pickup I, opto-electronic pickup II are placed in roller-way upstream distance manipulator center s can adjust according to actual conditions, and the distance between opto-electronic pickup I and II can adjust according to actual conditions.
The present invention compared with prior art, the acquisition position of the data such as drift angle, crawl time of the manipulator that this method provides from manipulator very close to, the data that the data precision provides much larger than management system; When manipulator obtains the angle that can shift to an earlier date rotation vacuum handgrip after drift angle, adapt to position and the angle of glass, manipulator can be stablized, accurately, the crawl glass of safety; And this method only needs the extra components and parts increased to only have two pieces opto-electronic pickup, thus easy for installation, with low cost, long service life, easy to maintenance.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present invention;
Fig. 2 is the seized condition schematic diagram of manipulator of the present invention;
Fig. 3 is the seized condition schematic diagram of manipulator of the present invention.
In figure: 1 is opto-electronic pickup I, 2 is opto-electronic pickup II, and 3 is roller-way, and 4 is manipulator, 5 is manipulator line of centers, 6 is control housing, and 7 is manipulator control cabinet, and 8 is glass, the distance that s is opto-electronic pickup I, opto-electronic pickup II is placed in roller-way upstream distance manipulator line of centers, a is the length of glass, and b is the wide of glass, and L is the distance between opto-electronic pickup I and opto-electronic pickup II.
Appointment Fig. 1 is Figure of abstract.
[detailed description of the invention]
Be described in further details the invention below in conjunction with accompanying drawing, this manufacturing technology is clearly concerning the personage of this specialty.
As shown in Figure 1, Figure 2 and Figure 3, swim S place in the robot in the heart and opto-electronic pickup I, opto-electronic pickup II are installed, the distance of two opto-electronic pickups is L (1.5m, concrete size can adjust according to actual conditions), the control housing (PLC) of opto-electronic pickup access manipulator.Glass is through opto-electronic pickup place: photosensor senses, to glass edge, sends signal.Glass is of a size of axb (long x is wide).Photo-sensor signal will access control system, drift angle value, crawl time point are all supplied to manipulator control system through PLC computing.
Described drift angle, when glass is deflection, the time t1 that opto-electronic pickup I sends signal is not identical with the time t2 installing opto-electronic pickup II and send signal, by formula: drift angle &=tan
-1((t1-t2) x v/L), v is roller table speed, can obtain the drift angle of glass; Drift angle flows to manipulator control system after calculating by PLC.
Capture the some time, t=tn+ (S-|t1-t2|x v/2)/v+a/2/v/cos &
Tn is time point larger in t1, t2, and a is the length of glass, and namely the center O (cornerwise intersection point) of glass arrives immediately below manipulator crawl at time point t.Photo-sensor signal will access control system, drift angle value, crawl time point are calculated by PLC and process, and are supplied to manipulator control system.
Structure and algorithm can be found out from the above mentioned:
The data such as drift angle, crawl time that this method is supplied to manipulator are very accurate, thus manipulator can be stablized, accurately, the crawl glass of safety, method for correcting position when mechanical arm glass stacking system manipulator captures glass is worthy to be popularized.
Claims (2)
1. a method for correcting position during mechanical arm glass stacking system manipulator crawl glass, it is characterized in that: opto-electronic pickup I, opto-electronic pickup II is placed between the two pieces roller at distance s place, manipulator center, roller-way upstream, distance between opto-electronic pickup I and II is 1 to 1.5m, glass is of a size of axb, a and b is the length of rectangular glass and wide respectively, v is roller table speed, when glass is deflection, the time t1 that opto-electronic pickup I sends signal is not identical with the time t2 installing opto-electronic pickup II and send signal, computing formula: drift angle &=tan
-1((t1-t2) x v/L), obtains drift angle value, capture the some time, t=tn+ (S-|t1-t2|x v/2)/v+a/2/v/cos &, wherein tn is time point larger in t1, t2, namely the center O of glass, cornerwise intersection point, arrive immediately below manipulator captures at time point t, L is the distance between opto-electronic pickup I and opto-electronic pickup II, photo-sensor signal will access control system, drift angle value, crawl time point are all supplied to manipulator control system through PLC computing.
2. method for correcting position during a kind of mechanical arm glass stacking system manipulator crawl glass according to claim 1, it is characterized in that: the concrete size that opto-electronic pickup I, opto-electronic pickup II are placed in roller-way upstream distance manipulator center s can adjust according to actual conditions, and the distance between opto-electronic pickup I and II can adjust according to actual conditions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110400070.2A CN102491099B (en) | 2011-12-06 | 2011-12-06 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110400070.2A CN102491099B (en) | 2011-12-06 | 2011-12-06 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
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| CN102491099A CN102491099A (en) | 2012-06-13 |
| CN102491099B true CN102491099B (en) | 2015-01-07 |
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| WO2017177393A1 (en) * | 2016-04-13 | 2017-10-19 | Abb Schweiz Ag | Gripper, de-palletizing system, searching method, gripping method and de-palletizing method |
| CN106395383A (en) * | 2016-11-30 | 2017-02-15 | 中建材凯盛机器人（上海）有限公司 | Glass stacking device and control method thereof |
| CN106743656A (en) * | 2017-02-27 | 2017-05-31 | 山西日盛达新材料科技有限公司 | A kind of structure for realizing the automatic stocker of producing line glass |
| CN107458876B (en) * | 2017-08-11 | 2023-06-16 | 上海凯思尔电子有限公司 | PCB folding and unfolding method |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN110092198A (en) * | 2019-05-06 | 2019-08-06 | 中国建材国际工程集团有限公司 | A kind of track control system and method for glass sideslip |
| CN110274913A (en) * | 2019-06-20 | 2019-09-24 | 信义汽车部件（芜湖）有限公司 | It is detected automatically for plate glass and the system and method for stacking |
| CN114538100A (en) * | 2020-11-19 | 2022-05-27 | 洛阳兰迪玻璃机器股份有限公司 | Glass conveyor |
| CN113651108B (en) * | 2021-08-24 | 2022-03-22 | 广州旭璟自动化控制设备有限公司 | Glass stacking-based method for correcting position of glass grabbed by manipulator |
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| TW200403179A (en) * | 2002-08-12 | 2004-03-01 | Chi Mei Optoelectronics Corp | Robot system for transferring substrates and substrate transferring container used by the same |
| TW200411804A (en) * | 2002-12-26 | 2004-07-01 | Koyo Thermo Sys Co Ltd | Moving method and moving device of square plate-like working piece |
| CN101497401A (en) * | 2009-02-17 | 2009-08-05 | 友达光电股份有限公司 | Conveying device and method for conveying object |
| CN101704454A (en) * | 2009-11-28 | 2010-05-12 | 江阴市锦明玻璃技术有限公司 | Stacking robot system of cold-end glass on floatation glass production line |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001144165A (en) * | 1999-11-16 | 2001-05-25 | Assist Japan Kk | Noncontact alignment system for glass substrate |
| JP2011242534A (en) * | 2010-05-17 | 2011-12-01 | Hitachi Plant Technologies Ltd | Substrate conveyance apparatus and correction of inclination of substrate |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200403179A (en) * | 2002-08-12 | 2004-03-01 | Chi Mei Optoelectronics Corp | Robot system for transferring substrates and substrate transferring container used by the same |
| TW200411804A (en) * | 2002-12-26 | 2004-07-01 | Koyo Thermo Sys Co Ltd | Moving method and moving device of square plate-like working piece |
| CN101497401A (en) * | 2009-02-17 | 2009-08-05 | 友达光电股份有限公司 | Conveying device and method for conveying object |
| CN101704454A (en) * | 2009-11-28 | 2010-05-12 | 江阴市锦明玻璃技术有限公司 | Stacking robot system of cold-end glass on floatation glass production line |
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| CN102491099A (en) | 2012-06-13 |
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