CN106312719B - It sweeps the control method of optical-mechanical system and sweeps optical-mechanical system - Google Patents
It sweeps the control method of optical-mechanical system and sweeps optical-mechanical system Download PDFInfo
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- CN106312719B CN106312719B CN201610939085.9A CN201610939085A CN106312719B CN 106312719 B CN106312719 B CN 106312719B CN 201610939085 A CN201610939085 A CN 201610939085A CN 106312719 B CN106312719 B CN 106312719B
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- workbench
- glass
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- fix
- mechanical system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/20—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground
- B24B7/22—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground for grinding inorganic material, e.g. stone, ceramics, porcelain
- B24B7/24—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground for grinding inorganic material, e.g. stone, ceramics, porcelain for grinding or polishing glass
- B24B7/242—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground for grinding inorganic material, e.g. stone, ceramics, porcelain for grinding or polishing glass for plate glass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Manipulator (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The present invention relates to a kind of control method for sweeping optical-mechanical system and clear off machine, the control method for sweeping optical-mechanical system passes through when gantry axis device drives workbench moves up or declines, converted according to the geometry of machinery displacement of the output shaft of motor by photoelectric encoder and form the elements of a fix, then servo positioning system according to the elements of a fix control machinery hand move with it is final when manipulator be moved to fixture position；Simultaneously when workbench declines, it is monitored by frequency converter real-time current value, preset electric current value parameter is reached to work as monitoring current, transducer drive motor simultaneously stops movement by motor drive gantry axis equipment control workbench, is accurately positioned to realize, and it is accurately positioned by this, worker has been liberated, has reduced production cost, and improve work efficiency, in addition, it helps increase yield rate.
Description
Technical field
The present invention relates to a kind of control method for sweeping optical-mechanical system and optical-mechanical system is swept, belongs to and clears off machine control field.
Background technology
With the rise of smart mobile phone, mobile phone glass cover board is widely used on mobile phone screen, emerging as one
Industry, market prospects are very good by everybody, and the appearance of bend glass (2.5D and 3D) is even more to bring smart mobile phone into one
It is a more humane, more personalized, the boundary of fashion grade is had more, the appearance that numerical control clears off machine is just solved with grade
City cluster clears off smart mobile phone glass face the high request of transparency, texture.Currently, mobile phone sheet glass all tends to 2.5D
Transition, each sheet glass of 2.5D technological requirements must all clear off, still, existing to clear off the following problem of machine generally existing：
It is 1, existing that clear off machine all be to complete to process by artificial loading and unloading, completion once reload it is average need 4 minutes,
The time is spent when amount of glass is more more very, and due to needing, by artificial loading and unloading, to cause higher cost of labor；Separately
Outside, growing due to, industry so that manually loading and unloading workload is huge, and human error probability is big.
2, existing to clear off machine by asynchronous machine to do spinning movement, positioning operation can not be completed；And with station
Rotation, can not determine the placement angle of raw glass and finished glass, cannot achieve automatic crawl so as to cause mechanical arm.
3, the automatic loading/unloading equipment that the cooperation machine of clearing off uses mostly is to carry out feeding blowing again after completing processing, processing and
Feeding cannot be carried out at the same time, and thus greatly reduce processing efficiency.
4, station is large number of, and automation control is more complex.
Invention content
The purpose of the present invention is to provide one kind, and working efficiency can be improved, and increases yield rate and helps to reduce production cost
The control method for sweeping optical-mechanical system.
In order to achieve the above objectives, the present invention provides the following technical solutions：A kind of control method for sweeping optical-mechanical system, feature
It is, it includes for fixing the fixture of chunk glass, the workbench for being equipped with the fixture, the setting work to sweep optical-mechanical system
The gantry axis equipment of platform and be located at workbench side manipulator, hairbrush equipment and flushing device, the gantry axis equipment, machine
Tool is provided with servo positioning system on hand, and the gantry axis equipment is driven by motor drive, the motor by frequency converter
It is dynamic, the photoelectric encoder coaxial with the motor, the frequency converter and servo-positioning system are provided in the gantry axis equipment
The equal signal connection of system, photoelectric encoder, the control method include：
S1：It is run by motor drive gantry axis equipment, the gantry axis device drives workbench moves up until work
Platform reaches or is more than preset height parameter；Meanwhile manipulator operation captures chunk glass from magazine；In the gantry axis
When workbench described in device drives is run, photoelectric encoder is converted to be formed according to the geometry of machinery displacement of the output shaft of motor
The elements of a fix are fed back to servo positioning system by the elements of a fix, then, photoelectric encoder, wherein the elements of a fix define
The current position of fixture；
S2：To have the manipulator of chunk glass to be moved to fixture current by elements of a fix control crawl for servo positioning system
Position, and the chunk glass is fixed on fixture by the cooperation of fixture and manipulator；
S3：Gantry axis device drives workbench declines；While workbench declines, the monitoring of frequency converter real-time current value,
When monitoring current reaches preset electric current value parameter, transducer drive motor simultaneously controls work by motor drive gantry axis equipment
Make platform and stops movement；
S4：Hairbrush equipment, flushing device carry out clearing off processing to the chunk glass on fixture is made glass finished-product；
S5：Drive gantry axis equipment again by motor, workbench moved up again under the control of gantry axis equipment until
Workbench is up to or over preset height parameter；When the workbench described in the gantry axis device drives is run, photoelectricity is compiled
Code device is converted to form the new elements of a fix according to the geometry of machinery displacement of the output shaft of motor, and then, photoelectric encoder will
The new elements of a fix feed back to servo positioning system, and wherein the new elements of a fix define the current position of fixture；
S6：Servo positioning system is moved to the current position of fixture by the new elements of a fix control machinery hand, and
The glass finished-product is removed from fixture by the cooperation of fixture and manipulator；
S7：After manipulator removes glass finished-product, place it in magazine；Simultaneously, if described sweep optical-mechanical system
When judging to have other chunk glass in the magazine, then manipulator captures chunk glass, then passes through new elements of a fix control machine
Tool hand is moved to the position at the current place of fixture, then repeats step S2 to S7；If the optical-mechanical system of sweeping judges in the magazine
When without chunk glass, terminate flow.
Further：In the step S2, when raw glass is placed on fixture by manipulator, gantry axis equipment is driven
The direction of dynamic workbench fine tuning fixture, at this point, the photoelectric encoder real-time update elements of a fix, and the elements of a fix are fed back to and are watched
Take positioning system.
Further：In the step S1, there are one being arranged on each workbench or at least two to fixed glass
The fixture of glass blank, each fixture form a station；The step S1 further includes following steps：
S11：After installing chunk glass on a station on workbench；Judge whether to have on workbench and glass is not installed
Whether there is chunk glass in the station or magazine of glass blank, if having the station and magazine for not installing chunk glass on workbench
Inside there is chunk glass, then drives working platform overturning, the photoelectric encoder real-time update elements of a fix, and the elements of a fix are fed back to
Servo positioning system, subsequently into step S12；If station all installs in chunk glass or magazine without glass on workbench
Blank then carries out step S2；
S12：Servo positioning system driving manipulator captures chunk glass again in magazine；Servo positioning system passes through more
The manipulator of elements of a fix control crawl chunk glass after new is moved to the current position of next station, and by next
The chunk glass is fixed on the station by the cooperation of a station and manipulator；
S13：Step S11 and S12 is repeated until the station on workbench all installs in chunk glass or magazine without glass
Glass blank.
Further：In the step S7, between manipulator removes glass finished-product and places it in magazine also
Include the following steps：Glass finished-product is placed in correction fixture by manipulator, and grabbing for glass finished-product is adjusted by the correction fixture
Angle is taken, then, the glass finished-product of crawl angle has been adjusted in driving manipulator crawl again, and the glass finished-product is placed on
In magazine.
Further：In the step S3, during workbench declines, if the current value that frequency converter real-time monitors is remote
When much smaller than preset electric current value parameter, workbench rapid decrease, if the current value that frequency converter real-time monitors level off to it is default
Electric current value parameter when, workbench reduction of speed, slowly decline.
Further：In the step S6, when manipulator removes raw glass from fixture, gantry axis equipment is driven
The direction of dynamic workbench fine tuning fixture, at this point, the photoelectric encoder real-time update elements of a fix, and the elements of a fix are fed back to and are watched
Take positioning system.
Further：Further include following steps before the step S1：Requirement is cleared off according to glass, setting hairbrush is set
The running parameter of standby, flushing device, gantry axis equipment, manipulator, setting preset height value parameter, electric current value parameter.
Further：The optical-mechanical system of sweeping is provided with two sets of access controls, wherein a set of access individually controls control machine
Tool hand.
Further：There are the optical-mechanical system of sweeping multiple workbench, each workbench independently to be transported by motor
Row, each workbench correspond to a photoelectric encoder.
The present invention also provides one kind sweeping optical-mechanical system, and the optical-mechanical system of sweeping is built-in with the control for sweeping optical-mechanical system
Method processed.
The beneficial effects of the present invention are：The control method for sweeping optical-mechanical system of the present invention passes through in gantry axis device drives
When workbench moves up or declines, converts to be formed according to the geometry of machinery displacement of the output shaft of motor by photoelectric encoder and determine
Position coordinate, then servo positioning system according to the elements of a fix control machinery hand move with it is final when manipulator be moved to fixture institute
In position；It simultaneously when workbench declines, is monitored by frequency converter real-time current value, preset current value is reached to work as monitoring current
Parameter, transducer drive motor simultaneously stops movement by motor drive gantry axis equipment control workbench, accurate to realize
Positioning, and be accurately positioned by this, worker has been liberated, production cost is reduced, and has been improved work efficiency, in addition, also helping
In increase yield rate.Also, due to using the combination of photoelectric encoder and frequency converter to be accurately positioned to realize, so, without sweeping
Excessive alignment sensor is installed on ray machine, so, it will also decrease the entire manufacturing cost for clearing off machine.
In addition to this, it since when gantry axis equipment is run, manipulator is run simultaneously, compared with prior art, improves
Working efficiency；Also, in the step S7, after glass finished-product is moved to magazine by manipulator, and can continual crawl glass
Glass blank completes feeding, then clears off to new chunk glass, compares compared with the prior art, working efficiency higher.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is the flow process chart for the control method that optical-mechanical system is swept shown in one embodiment of the invention.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Shown in a preferred embodiment of the present invention it is a kind of sweep optical-mechanical system include for fix the fixture of chunk glass, installation
There are the workbench of the fixture, the gantry axis equipment of the setting workbench and positioned at workbench side manipulator, hairbrush
Equipment and flushing device are provided with servo positioning system in the gantry axis equipment, manipulator, and the gantry axis equipment passes through electricity
Motivation drives, and the motor is provided with the light coaxial with the motor by transducer drive in the gantry axis equipment
Photoelectric coder, the frequency converter are connect with servo positioning system, the equal signal of photoelectric encoder.This clears off machine system operation and clears off machine
The control method of system, and control this and clear off machine system glass blank by sweeping the control method of optical-mechanical system and cleared off.Please
Referring to Fig. 1, the control method includes：
S1：It is run by motor drive gantry axis equipment, the gantry axis device drives workbench moves up until work
Platform reaches or is more than preset height parameter；Meanwhile manipulator operation captures chunk glass from magazine；In the gantry axis
When workbench described in device drives is run, photoelectric encoder is converted to be formed according to the geometry of machinery displacement of the output shaft of motor
The elements of a fix are fed back to servo positioning system by the elements of a fix, then, photoelectric encoder, wherein the elements of a fix define
The current position of fixture；
S2：To have the manipulator of chunk glass to be moved to fixture current by elements of a fix control crawl for servo positioning system
Position, and the chunk glass is fixed on fixture by the cooperation of fixture and manipulator；In this step, work as machinery
When raw glass is placed on fixture by hand, the direction of gantry axis device drives worktable fine-adjusting fixture, at this point, photoelectric encoder
The real-time update elements of a fix, and the elements of a fix are fed back into servo positioning system, by the direction of fine tuning fixture, consequently facilitating
Manipulator feeding；
S3：Gantry axis device drives workbench declines；While workbench declines, the monitoring of frequency converter real-time current value,
When monitoring current reaches preset electric current value parameter, transducer drive motor simultaneously controls work by motor drive gantry axis equipment
Make platform and stops movement；In this step, during workbench declines, if the current value that frequency converter real-time monitors is far smaller than
It is (common when preset electric current value parameter：When the current value that frequency converter real-time monitors is less than preset electric current value parameter
When 0.5%), workbench rapid decrease, if the current value that frequency converter real-time monitors level off to preset electric current value parameter when it is (logical
Normal：When the current value that frequency converter real-time monitors is more than the 0.5% of preset electric current value parameter), workbench reduction of speed, slowly
Decline；Such setting can be such that workbench quickly positions, and help to improve working efficiency；
S4：Hairbrush equipment, flushing device carry out clearing off processing to the chunk glass on fixture is made glass finished-product；
S5：Drive gantry axis equipment again by motor, workbench moved up again under the control of gantry axis equipment until
Workbench is up to or over preset height parameter；When the workbench described in the gantry axis device drives is run, photoelectricity is compiled
Code device is converted to form the new elements of a fix according to the geometry of machinery displacement of the output shaft of motor, and then, photoelectric encoder will
The new elements of a fix feed back to servo positioning system, and wherein the new elements of a fix define the current position of fixture；
S6：Servo positioning system is moved to the current position of fixture by the new elements of a fix control machinery hand, and
The glass finished-product is removed from fixture by the cooperation of fixture and manipulator；In this step, when manipulator is by raw glass
When being removed from fixture, the direction of gantry axis device drives worktable fine-adjusting fixture, at this point, photoelectric encoder real-time update positions
Coordinate, and the elements of a fix are fed back into servo positioning system, the direction of fine tuning fixture, consequently facilitating manipulator blanking；
S7：After manipulator removes glass finished-product, place it in magazine；Simultaneously, if described sweep optical-mechanical system
When judging to have other chunk glass in the magazine, then manipulator captures chunk glass, then passes through new elements of a fix control machine
Tool hand is moved to the position at the current place of fixture, then repeats step S2 to S7；If the optical-mechanical system of sweeping judges in the magazine
When without chunk glass, terminate flow.In this step, between manipulator removes glass finished-product and places it in magazine also
Include the following steps：Glass finished-product is placed in correction fixture by manipulator, and grabbing for glass finished-product is adjusted by the correction fixture
Angle is taken, then, the glass finished-product of crawl angle has been adjusted in driving manipulator crawl again, and the glass finished-product is placed on
In magazine.
There are the optical-mechanical system of sweeping multiple workbench, each workbench to pass through motor independent operating, Mei Gehuo
At least two workbench of person corresponds to a manipulator.In the present embodiment, eight workbench are provided with, wherein each workbench
A corresponding photoelectric encoder.
In the step S1, on each workbench setting there are one or at least two to fixed chunk glass folder
Tool, each fixture form a station；The step S1 further includes following steps：
S11：After installing chunk glass on a station on workbench；Judge whether to have on workbench and glass is not installed
Whether there is chunk glass in the station or magazine of glass blank, if having the station and magazine for not installing chunk glass on workbench
Inside there is chunk glass, then drives working platform overturning, the photoelectric encoder real-time update elements of a fix, and the elements of a fix are fed back to
Servo positioning system, subsequently into step S12；If station all installs in chunk glass or magazine without glass on workbench
Blank then carries out step S2；
S12：Servo positioning system driving manipulator captures chunk glass again in magazine；Servo positioning system passes through more
The manipulator of elements of a fix control crawl chunk glass after new is moved to the current position of next station, and by next
The chunk glass is fixed on the station by the cooperation of a station and manipulator；
S13：Step S11 and S12 is repeated until the station on workbench all installs in chunk glass or magazine without glass
Glass blank.
In the S3, while gantry axis device drives workbench declines, hairbrush equipment and flushing device start；?
In the step S5, while gantry axis device drives workbench moves up, hairbrush equipment and flushing device are out of service.
Further include following steps before the step S1：Requirement is cleared off according to glass, setting hairbrush equipment, flushing are set
Standby, gantry axis equipment, manipulator running parameter, setting preset height value parameter, electric current value parameter.Optical-mechanical system is swept at this
In, it is provided with mechanical arm control interface, gantry axis appliance control interface, board control interface is cleared off, clears off machine clamp control
Interface, external inverter current and frequency monitoring interface, external custom action interface.The hairbrush equipment, flushing device, dragon
Door-hinge equipment, the running parameter of manipulator and height value parameter, electric current value parameter pass through above-mentioned mechanical arm control interface, gantry
Axis appliance control interface clears off board control interface, clears off machine clamp control interface, external inverter current and frequency monitoring circle
Face, the setting of external custom action interface.Above-mentioned mechanical arm control interface, clears off board control at gantry axis appliance control interface
Interface processed, to clear off machine clamp control interface, external inverter current and frequency monitoring interface, external custom action interface specific
Function is as follows：
Mechanical arm control interface：Overturning clears off machine roll-over table two sides fixture locating interface and is responsible for recording each fixture execution
The position of manipulator automatic loading/unloading；It is responsible for recording user-defined automatic loading/unloading ginseng in self-defined automatic loading/unloading interface
Number, such as mechanical arm loading and unloading safe altitude approach clamp distance, leave clamp distance, approach fixture speed, leave fixture speed
Degree, mechanical arm sucker vacuum opening time-delaying, mechanical arm vacuum breaking delay, magazine capacity, current magazine, starting magazine,
Magazine spacing；Positioning fixture position records, for ajusting to facilitate finished glass position of the finished glass on sucker
It is put into magazine；Supplemental button includes the functions such as arm vacuum pump, illumination, handwheel guiding.
Gantry axis appliance control interface：Built-in gantry axis functions of the equipments are transplanted to the interfaces HMI (man machine operation interface)
In, it is mainly responsible for the positioning between monitoring gantry axis equipment between tracking error, position error, on-demand update gantry axis equipment and misses
Difference manually controls gantry axis equipment moving.
Clear off machine board control interface：The interface contain roll-over table water pump open position, roll-over table start-up operation position,
Roll-over table switch operating platform home, home stop delay, working face positive and negative rotation duration.
Clear off machine clamp control interface：The relevant operation of overturning workbench two sides fixture is contained in the interface, such as manually
Fixture positioning or rotation are controlled, the holder vacuum switch in each face, vacuum breaking, purge valve is manually controlled, has recorded processing
When fixture face and the approach distance of workbench, pressurization distance, single table top Number of Jobs, vacuum opening time-delaying, vacuum breaking prolong
When etc..
External frequency converter and frequency monitoring interface：Due to the particularity of industry, clearing off machine must detect in actual use
This parameter is migrated in operation interface and is joined for debugging to judge when roll-over table stops declining by the current value of frequency converter
It examines.
External custom action interface：Contain working platform overturning, drainage valve switch, pump motor switch, vacuum pump electricity
Machine switch, hairbrush workbench rotate forward, hairbrush workbench inverts.
In the present embodiment, the optical-mechanical system of sweeping is provided with two sets of access controls, wherein a set of access individually controls
Manipulator processed, to ensure that mechanical arm in the process of running, other equipment can be run simultaneously, such as frequency converter.
In summary：The present invention sweep the control method of optical-mechanical system by moving up in gantry axis device drives workbench or
When person declines, is converted according to the geometry of machinery displacement of the output shaft of motor by photoelectric encoder and form the elements of a fix, then
Servo positioning system according to the elements of a fix control machinery hand move with it is final when manipulator be moved to fixture position；Simultaneously
It when workbench declines, is monitored by frequency converter real-time current value, preset electric current value parameter, frequency converter is reached to work as monitoring current
Drive motor simultaneously stops movement by motor drive gantry axis equipment control workbench, is accurately positioned to realize, and passes through
This is accurately positioned, and has liberated worker, reduces production cost, and improve work efficiency, in addition, it helps increases finished product
Rate.Also, due to using the combination of photoelectric encoder and frequency converter to be accurately positioned to realize, so, without being installed on the machine of clearing off
Excessive alignment sensor, so, it will also decrease the entire manufacturing cost for clearing off machine.
In addition to this, it since when gantry axis equipment is run, manipulator is run simultaneously, compared with prior art, improves
Working efficiency；Also, in the step S7, after glass finished-product is moved to magazine by manipulator, and can continual crawl glass
Glass blank completes feeding, then clears off to new chunk glass, compares compared with the prior art, working efficiency higher.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method for sweeping optical-mechanical system, which is characterized in that it includes the folder for fixing chunk glass to sweep optical-mechanical system
Have, the gantry axis equipment of the workbench that is equipped with the fixture, the setting workbench and positioned at workbench side machinery
Hand, hairbrush equipment and flushing device are provided with servo positioning system in the gantry axis equipment, manipulator, and the gantry axis is set
It is standby by motor drive, the motor is provided with and the motor in the gantry axis equipment by transducer drive
Coaxial photoelectric encoder, the frequency converter are connect with servo positioning system, the equal signal of photoelectric encoder, the control method packet
It includes：
S1：It is run by motor drive gantry axis equipment, the gantry axis device drives workbench moves up until workbench arrives
It reaches or more than preset height parameter；Meanwhile manipulator operation captures chunk glass from magazine；In the gantry axis equipment
When the workbench being driven to run, photoelectric encoder is converted to form positioning according to the geometry of machinery displacement of the output shaft of motor
The elements of a fix are fed back to servo positioning system by coordinate, then, photoelectric encoder, wherein the elements of a fix define fixture
Position at present；
S2：Servo positioning system has the manipulator of chunk glass to be moved to the current place of fixture by elements of a fix control crawl
Position, and the chunk glass is fixed on fixture by the cooperation of fixture and manipulator；
S3：Gantry axis device drives workbench declines；While workbench declines, prison is worked as in the monitoring of frequency converter real-time current value
It surveys electric current and reaches preset electric current value parameter, transducer drive motor simultaneously controls workbench by motor drive gantry axis equipment
Stop movement；
S4：Hairbrush equipment, flushing device carry out clearing off processing to the chunk glass on fixture is made glass finished-product；
S5：Drive gantry axis equipment again by motor, workbench is moved up again under the control of gantry axis equipment until work
Platform is up to or over preset height parameter；When the workbench described in the gantry axis device drives is run, photoelectric encoder
It converts to form the new elements of a fix according to the geometry of machinery displacement of the output shaft of motor, then, photoelectric encoder will be described
The new elements of a fix feed back to servo positioning system, and wherein the new elements of a fix define the current position of fixture；
S6：Servo positioning system is moved to the current position of fixture by the new elements of a fix control machinery hand, and passes through
The cooperation of fixture and manipulator removes the glass finished-product from fixture；
S7：After manipulator removes glass finished-product, place it in magazine；Simultaneously, if described sweep optical-mechanical system judgement
When having other chunk glass in the magazine, then manipulator captures chunk glass, then passes through new elements of a fix control machinery hand
Position where being moved to fixture at present, then repeats step S2 to S7；If the optical-mechanical system of sweeping judges in the magazine without glass
When glass blank, terminate flow.
2. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that in the step S2, work as machinery
When raw glass is placed on fixture by hand, the direction of gantry axis device drives worktable fine-adjusting fixture, at this point, photoelectric encoder
The real-time update elements of a fix, and the elements of a fix are fed back into servo positioning system.
3. the control method as claimed in claim 1 or 2 for sweeping optical-mechanical system, which is characterized in that in the step S1, each
There are one being arranged on workbench or at least two to fix the fixture of chunk glass, and each fixture forms a station；Institute
It further includes following steps to state step S1：
S11：After installing chunk glass on a station on workbench；Judge whether to have on workbench and glass fiber is not installed
Whether there is chunk glass in the station or magazine of base, if having on workbench in the station and magazine of not installing chunk glass has
Chunk glass then drives working platform overturning, the photoelectric encoder real-time update elements of a fix, and the elements of a fix is fed back to servo
Positioning system, subsequently into step S12；If station all installs in chunk glass or magazine without chunk glass on workbench,
Then carry out step S2；
S12：Servo positioning system driving manipulator captures chunk glass again in magazine；After servo positioning system is by update
The manipulator of elements of a fix control crawl chunk glass be moved to the current position of next station, and pass through next work
The chunk glass is fixed on the station by position and the cooperation of manipulator；
S13：Step S11 and S12 is repeated until the station on workbench all installs in chunk glass or magazine without glass fiber
Base.
4. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that in the step S7, work as machinery
Hand further includes following steps between removing glass finished-product and placing it in magazine：Glass finished-product is placed on correction by manipulator
In fixture, the crawl angle of glass finished-product is adjusted by the correction fixture, then, driving manipulator crawl, which has been adjusted, again grabs
The glass finished-product of angle is taken, and the glass finished-product is placed in magazine.
5. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that in the step S3, workbench
During decline, if the current value that frequency converter real-time monitors is far smaller than preset electric current value parameter, under workbench is quick
Drop, if the current value that frequency converter real-time monitors level off to preset electric current value parameter when, workbench reduction of speed, slowly decline.
6. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that in the step S6, work as machinery
When hand removes raw glass from fixture, the direction of gantry axis device drives worktable fine-adjusting fixture, at this point, photoelectric encoder
The real-time update elements of a fix, and the elements of a fix are fed back into servo positioning system.
7. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that further include before the step S1
Following steps：Clear off requirement according to glass, setting hairbrush equipment, flushing device, gantry axis equipment, manipulator running parameter,
Preset height value parameter, electric current value parameter are set.
8. the control method as described in claim 1 for sweeping optical-mechanical system, which is characterized in that the optical-mechanical system of sweeping is provided with two
Access control is covered, wherein the independent control machinery hand of a set of access.
9. the control method for sweeping optical-mechanical system as described in claim 1 or 8, which is characterized in that the optical-mechanical system of sweeping has
Multiple workbench, each workbench correspond to a photoelectric encoder by motor independent operating, each workbench.
10. one kind sweeping optical-mechanical system, which is characterized in that it is described sweep it is any one just like in claim 1 to 9 built in optical-mechanical system
The control method for sweeping optical-mechanical system described in.
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| CN109746827B (en) * | 2018-12-22 | 2020-05-19 | 东莞锐航光电科技有限公司 | Positioning method, device and system for material taking and placing of glass sweeping machine |
| CN111002150A (en) * | 2019-12-17 | 2020-04-14 | 抚州联创恒泰光电有限公司 | Processing method of glass cover plate for smart bracelet |
| CN112596460A (en) * | 2020-12-16 | 2021-04-02 | 读书郎教育科技有限公司 | Method for quickly positioning material for servo/step-by-step driving motion system |
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| KR101383600B1 (en) * | 2010-03-11 | 2014-04-11 | 주식회사 엘지화학 | Apparatus and method for monitoring glass plate polishing state |
| CN203293002U (en) * | 2013-06-19 | 2013-11-20 | 焦作市合鑫机械有限公司 | Curved surface light sweeping machine for lens manufacturing |
| CN204565818U (en) * | 2015-01-22 | 2015-08-19 | 深圳市连义机械设备有限公司 | A kind of sheet glass clear off machine |
| CN104875087B (en) * | 2015-06-03 | 2018-03-23 | 佛山思科特光学科技有限公司 | A kind of glass clears off machine |
| CN105152540B (en) * | 2015-08-28 | 2018-09-11 | 深圳市汇隆源科技有限公司 | The manufacturing method of 3D glass plates |
| CN105500140B (en) * | 2015-12-09 | 2018-12-14 | 安徽锐富光电科技有限公司 | It is a kind of to clear off machine for what screen in mobile phone cleared off |
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