CN105538314A - Automatic feeding-discharging glass-mechanical-arm control system - Google Patents
Automatic feeding-discharging glass-mechanical-arm control system Download PDFInfo
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- CN105538314A CN105538314A CN201610142764.3A CN201610142764A CN105538314A CN 105538314 A CN105538314 A CN 105538314A CN 201610142764 A CN201610142764 A CN 201610142764A CN 105538314 A CN105538314 A CN 105538314A
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- control system
- automatic loading
- machinery hand
- motion controller
- hand control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic feeding-discharging glass-mechanical-arm control system. The automatic feeding-discharging glass-mechanical-arm control system comprises an upper computer, a plurality of movement controllers connected with the upper computer, a plurality of servo motors correspondingly connected with the movement controllers and used for driving a mechanical arm body to move, visual sensors installed on suction cup frames, a rotary encoder and a photoelectric switch, and the rotary encoder and the photoelectric switch are installed on a conveying belt; the rotary encoder and the photoelectric switch are connected with the upper computer, and each visual sensor is connected with the corresponding movement controller. By means of the automatic feeding-discharging glass-mechanical-arm control system, full automation of the whole cyclic process that a piece is taken from a glass frame and put on the conveying belt, and after processing is completed, the piece is taken from the conveying belt to the glass frame is achieved; the mechanical arm and a workpiece conveying system are mutually-independent modules, can be alone used and can also form a system; the system is smooth in movement, stable and reliable.
Description
Technical field
The present invention relates to glass post-processing automatic field, specifically a kind of automatic loading/unloading glass machinery hand control system.
Background technology
Glass machinery hand automatic loading and unloading system is an importance of manipulator application, and its appearance and extensive use, can liberate human resources greatly, reduce labor intensity, and realizes the automation of production and process, enhances productivity.Along with the development of glass post-processing technology, utilizing manipulator to replace manually realizing automatic loading/unloading has become a kind of development trend.
In international glass machinery exhibition in recent years, external many glass post-processing enterprises generally adopt automatic robot skipping-baiting apparatus; Domestic glass post-processing enterprise also starts to pay close attention to and sets about carrying out the research and development of correlation technique and device, and wherein, quick, high accuracy and the good adaptability of glass machinery hand automatic loading and unloading system become technological difficulties.According to enterprise practical prodution and development needs, research and development glass machinery hand automatic loading and unloading system, improves domestic high-end manufacturing equipment level and has important Research Significance and using value; Meanwhile, certain facilitation is played to the development of national economy.Therefore the Control System Design of glass machinery hand automatic loading/unloading and key technology research are particularly important.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic loading/unloading glass machinery hand control system, and manipulator coordinates with the sensor on conveyer belt and realizes controlling, ensure glass loading and unloading fast and precisely.
Technical scheme of the present invention is:
Automatic loading/unloading glass machinery hand control system, wherein, described manipulator includes manipulator body and is installed on the suction cup carrier on manipulator body, described automatic loading/unloading glass machinery hand control system includes host computer, multiple motion controller be connected with host computer respectively, multiple servomotor of for driving device hand body moving of connecting corresponding to motion controller, is installed on the vision sensor in each suction cup carrier, is installed on the rotary encoder on conveyer belt and optoelectronic switch; Described rotary encoder, optoelectronic switch are connected with host computer, and arbitrary vision sensor connects with corresponding motion controller.
Described multiple motion controllers communicate to connect in turn.
Described automatic loading/unloading glass machinery hand control system also includes the Pneumatic control module for driving the suction disc vacuum pumping in suction cup carrier, and described Pneumatic control module includes the magnetic switch and magnetic valve that connect with corresponding motion controller and the cylinder be connected with magnetic valve.
Described automatic loading/unloading glass machinery hand control system also includes the VFC module for driving conveyer belt to run, and described VFC module includes the frequency converter be connected with host computer and the threephase asynchronous machine be connected with frequency changer.
The driving power of described servo-driver adopts three-phase alternating-current supply, include isolating switch XQ1, XQ2, XQ3, XQ4, Surge Protector KF, three-phase isolation transformer TX, the servo filter LBQ1 be connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3; Described motion controller is connected with servomotor by servo-driver; The output of described isolating switch XQ1 is connected with the input of three-phase isolation transformer TX; described servo filter LBQ1, LBQ2, LBQ3 are connected with the output of three-phase isolation transformer TX respectively, and described Surge Protector KF is connected on the line between the output of isolating switch XQ1 and the input of three-phase isolation transformer TX.
Described motion controller connects with the servo-driver of the X, Y, Z axis of corresponding manipulator body.
The terminal board of described motion controller is connected with Zero-point switch SG1, SG2 and SG3 of X-axis, Y-axis, the limit switch KA1-KA6 of Z axis and X-axis, Y-axis, Z axis.
Advantage of the present invention:
Host computer of the present invention controls whole system and monitors for relevant parameter, motion controller of the present invention is as slave computer, receive the control instruction of host computer, carry out process computing and send pulse command running to the servomotor of correspondence, the operation of manipulator body adopts Automated condtrol completely, be loading and unloading without the need to people, provide operating efficiency, meet the requirement of loading and unloading; The present invention is installed in the process that vision sensor in each suction cup carrier captures at glass, by the glass image captured, compare with the benchmark image stored in its internal memory, analyze deviation value, motion controller controls the automatic adjust operation track of manipulator body and end of run position, glass is placed on precalculated position, ensures that the position error of glass is in the positioning precision of 0.05-0.1mm; The present invention is installed on optoelectronic switch on conveyer belt for detecting the physical location of glass, be installed on the speed of service of the rotary encoder on conveyer belt by the rotating speed indirect detection glass of detection conveyer belt drive motors, then the speed of service of glass and actual position information are transferred to corresponding motion controller by host computer, motion controller controls the speed of service of manipulator body, make the suction cup carrier on manipulator body to touch glass a period of time with glass identical speed of advancing, suction disc vacuum pumping is mentioned after being held by glass simultaneously, realizes capturing fast.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present invention.
Fig. 2 is the structure principle chart under cooperative work mode of the present invention.
Fig. 3 is the circuit diagram of power supply of the present invention.
Fig. 4 is the circuit diagram of motion controller of the present invention and servo-driver.
Fig. 5 is the input and output point interface schema of motion controller of the present invention.
Detailed description of the invention
See Fig. 1, automatic loading/unloading glass machinery hand control system, wherein, manipulator includes manipulator body and is installed on the suction cup carrier on manipulator body, automatic loading/unloading glass machinery hand control system includes host computer 1, multiple motion controller 2 be connected with host computer 1 respectively, multiple by servo-driver 3 servomotor 4 that for driving device hand body move that connect corresponding to motion controller 2, be installed on the vision sensor 5 in each suction cup carrier, be installed on the rotary encoder 6 on conveyer belt and optoelectronic switch 7, for driving the Pneumatic control module of the suction disc vacuum pumping in suction cup carrier and the VFC module for driving conveyer belt to run, rotary encoder 6, optoelectronic switch 7 are connected with host computer 1, arbitrary vision sensor 5 connects with corresponding motion controller 2, multiple motion controller 2 communicates to connect in turn, Pneumatic control module includes the magnetic switch 8 and magnetic valve 9 that connect with corresponding motion controller 2 and the cylinder 10 be connected with magnetic valve 9, and VFC module includes the frequency converter 11 be connected with host computer 1 and the threephase asynchronous machine 12 be connected with frequency changer 11.
Under automatic loading/unloading glass machinery hand control system can be operated in stand-alone mode and synchronous mode two kinds of patterns, the foundation of model selection is size and the weight of glass.During stand-alone mode, the motion controller 2 of each manipulator body, according to host computer 1 assignment task, controls manipulator body corresponding with it respectively, does not contact directly each other, also do not have master-slave.When capturing glass, be installed on optoelectronic switch 7 on conveyer belt for detecting the physical location of glass, be installed on the speed of service of the rotary encoder 6 on conveyer belt by the rotating speed indirect detection glass of detection conveyer belt drive motors, then the speed of service of glass and actual position information are transferred to corresponding motion controller 2 by host computer 1, motion controller 2 controls the speed of service of manipulator body, make the suction cup carrier on manipulator body to touch glass a period of time with glass identical speed of advancing, suction disc vacuum pumping is mentioned after being held by glass simultaneously, and the running orbit set according to motion controller 2 and speed by glass stacking on glass frame, glass may occur that in crawl process position is departed from, by the glass image that the vision sensor 5 in suction cup carrier collection captures, compare with the benchmark image stored in motion controller 2 internal memory, analyze deviation value, motion controller 2 is adjust operation track and end of run position automatically, glass is placed on precalculated position, makes the edge automatic aligning of glass.In addition, the loading and unloading position of next sheet glass also according to the thickness of each loading and unloading glass, can be moved by manipulator body automatically forward or backward, thus eliminates the step unloading device of platform of blanking traditionally, enormously simplify device structure.See Fig. 2, when working in synchronous mode, host computer 1 selects the motion controller of a manipulator body wherein, as master controller 21, the motion controller of one or more manipulator is as from controller 22 in addition, master controller 21 calls main control module, control the motion of the manipulator body corresponding with it, and and establish a communications link between controller 22, under making the two be operated in synchronous regime, call from control module from controller 22, receive the movable information that master controller 21 is sent, as running orbit, aiming spot etc., according to the space coordinate conversion table pre-defined, be converted into the movable information from controller 22, and by calculating other kinematic parameters, thus control the motion of the manipulator body corresponding with it.By above method, realize the co-operating of multiple stage manipulator body.
See Fig. 3, the driving power of servo-driver adopts three-phase alternating-current supply, include isolating switch XQ1, XQ2, XQ3, XQ4, Surge Protector KF, three-phase isolation transformer TX, the servo filter LBQ1 be connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3; The output of isolating switch XQ1 is connected with the input of three-phase isolation transformer TX; servo filter LBQ1, LBQ2, LBQ3 are connected with the output of three-phase isolation transformer TX respectively, and Surge Protector KF is connected on the line between the output of isolating switch XQ1 and the input of three-phase isolation transformer TX.Isolating switch XQ1, XQ2, XQ3, XQ4 realization, to protections such as the under-voltage short circuits of system, can realize the make-break operation of system power supply simultaneously easily; Surge Protector KF, when the transition produced in electrical network, can play transient state and suppress protective effect to follow-up system hardware circuit; Three-phase isolation transformer TX exports and powers for servo-driver, and servo filter LBQ1, LBQ2, LBQ3 provide safe alternating voltage for servo-driver; Servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A provide the energy for servomotor; AC220V fan is that the heat radiation of control system is given security.
See Fig. 4, motion controller connects with the servo-driver of the X, Y, Z axis of corresponding manipulator body, motion controller is connected with the pulse+direction port of X, Y, Z axis servo-driver respectively by AX1, AX2, AX3 port, the motion control of control signal realization to servomotor that X, Y, Z servo-driver sends by receiving motion controller; Motion controller is connected with the encoder port of X, Y, Z axis servo-driver respectively by MIS1, MIS2, MIS3 port, and X, Y, Z axis servo-driver transmits encoder feedback signal to motion controller, understands the physical location of manipulator in real time.
See Fig. 5, the supported signal of GALIL movement sequence controller has I/O, HOME signal and LIMIT signal, the interface of these signals all concentrates on the PICM62-IN/OUT of terminal board mostly, they respectively have 62 ports, these ports are responsible for outside part universal input exports, and are also responsible for that positive negative sense is spacing inputs these transducing signal processing capacities with initial point.In Fig. 5, travel switch KA1, KA2, KA3, KA4, KA5, KA6 are the limit switch of X-axis, Y-axis, Z axis, and proximity switch SG1, SG2, SG3 are the Zero-point switch of X-axis, Y-axis, Z axis.
Claims (7)
1. automatic loading/unloading glass machinery hand control system, described manipulator includes manipulator body and is installed on the suction cup carrier on manipulator body, it is characterized in that: described automatic loading/unloading glass machinery hand control system includes host computer, multiple motion controller be connected with host computer respectively, multiple servomotor of for driving device hand body moving of connecting corresponding to motion controller, be installed on the vision sensor in each suction cup carrier, be installed on the rotary encoder on conveyer belt and optoelectronic switch; Described rotary encoder, optoelectronic switch are connected with host computer, and arbitrary vision sensor connects with corresponding motion controller.
2. automatic loading/unloading glass machinery hand control system according to claim 1, is characterized in that: described multiple motion controllers communicate to connect in turn.
3. automatic loading/unloading glass machinery hand control system according to claim 1, it is characterized in that: described automatic loading/unloading glass machinery hand control system also includes the Pneumatic control module for driving the suction disc vacuum pumping in suction cup carrier, and described Pneumatic control module includes the magnetic switch and magnetic valve that connect with corresponding motion controller and the cylinder be connected with magnetic valve.
4. automatic loading/unloading glass machinery hand control system according to claim 1, it is characterized in that: described automatic loading/unloading glass machinery hand control system also includes the VFC module for driving conveyer belt to run, and described VFC module includes the frequency converter be connected with host computer and the threephase asynchronous machine be connected with frequency changer.
5. automatic loading/unloading glass machinery hand control system according to claim 1, it is characterized in that: the driving power of described servo-driver adopts three-phase alternating-current supply, include isolating switch XQ1, XQ2, XQ3, XQ4, Surge Protector KF, three-phase isolation transformer TX, the servo filter LBQ1 be connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3; Described motion controller is connected with servomotor by servo-driver; The output of described isolating switch XQ1 is connected with the input of three-phase isolation transformer TX; described servo filter LBQ1, LBQ2, LBQ3 are connected with the output of three-phase isolation transformer TX respectively, and described Surge Protector KF is connected on the line between the output of isolating switch XQ1 and the input of three-phase isolation transformer TX.
6. automatic loading/unloading glass machinery hand control system according to claim 5, is characterized in that: described motion controller connects with the servo-driver of the X, Y, Z axis of corresponding manipulator body.
7. the automatic loading/unloading glass machinery hand control system according to claim 5 or 6, is characterized in that: Zero-point switch SG1, SG2 and SG3 of the terminal board of described motion controller being connected with X-axis, Y-axis, the limit switch KA1-KA6 of Z axis and X-axis, Y-axis, Z axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142764.3A CN105538314A (en) | 2016-03-11 | 2016-03-11 | Automatic feeding-discharging glass-mechanical-arm control system |
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| CN201610142764.3A CN105538314A (en) | 2016-03-11 | 2016-03-11 | Automatic feeding-discharging glass-mechanical-arm control system |
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| CN105538314A true CN105538314A (en) | 2016-05-04 |
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| CN201610142764.3A Pending CN105538314A (en) | 2016-03-11 | 2016-03-11 | Automatic feeding-discharging glass-mechanical-arm control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835075A (en) * | 2016-06-13 | 2016-08-10 | 广东海洋大学 | Control system of industrial manipulator |
| CN106182075A (en) * | 2016-07-28 | 2016-12-07 | 上海交通大学 | Two-freedom universal machine Arm Joint drive system and method |
| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN111930067A (en) * | 2020-08-19 | 2020-11-13 | 安徽皓视光电科技有限公司 | Glass guide electrical control system for plain glass optical inspection machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN111930067A (en) * | 2020-08-19 | 2020-11-13 | 安徽皓视光电科技有限公司 | Glass guide electrical control system for plain glass optical inspection machine |
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Application publication date: 20160504 |