CN106865969A - A kind of glass of Dual-robot coordination operation breaks piece system and its control method - Google Patents
A kind of glass of Dual-robot coordination operation breaks piece system and its control method Download PDFInfo
- Publication number
- CN106865969A CN106865969A CN201710019540.8A CN201710019540A CN106865969A CN 106865969 A CN106865969 A CN 106865969A CN 201710019540 A CN201710019540 A CN 201710019540A CN 106865969 A CN106865969 A CN 106865969A
- Authority
- CN
- China
- Prior art keywords
- piece
- glass
- flow
- breaking
- break
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
- C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor
- C03B33/023—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor the sheet or ribbon being in a horizontal position
- C03B33/033—Apparatus for opening score lines in glass sheets
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
- C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor
- C03B33/023—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor the sheet or ribbon being in a horizontal position
- C03B33/037—Controlling or regulating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
Abstract
Piece system and its control method, including original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are broken the invention discloses a kind of glass of Dual-robot coordination operation；The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, the severing machine device people and flow robot are each installed on a robot slide rail.The glass of the Dual-robot coordination operation breaks that piece system carries out breaking piece by severing machine device people to the original sheet glass with line of cut and the glass slice after flow robot is to breaking piece is carried to glass slice output table, the automation of piece and flow is broken in realization, and the severing machine device people can automatically be directed at line of cut, without manually operating, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and breaks tablet stability.
Description
Technical field
Piece apparatus field is broken the present invention relates to glass, more particularly to a kind of glass of Dual-robot coordination operation breaks piece system
And its control method.
Background technology
During glass processing, must generally be met so that the glass after cutting is separated into by breaking piece operation after dicing
It is required that size, shape.It is that glass is placed on glass severing machine that existing glass breaks piece.Glass severing machine is provided with push rod
And fixing component, artificial movement sheet glass to be broken generally is needed during operation so that the push rod alignment of line of cut and glass severing machine,
Then fixing component acts on the upper surface of glass to fix glass, and push rod then below glass is moved line of cut upwards
The glass roof of left and right is opened, so that sheet glass to be broken is separated.Therefore, active force is acted on respectively during existing glass severing machine operation
In the upper and lower surface of glass, belong to double cropping industry plane, glass severing machine is fixed on a position, breaks a line of cut into two with one's hands every time all
Movable glass is needed, piece efficiency is broken low.And the usual more than one of line of cut of a piece of former block glass, be also divided into transverse cut and
Longitudinally cutting line.When all of line of cut is broken into two with one's hands successively on a table glass severing machine, it is necessary to continuous mobile original block glass
Glass, so that line of cut alignment push rod, plenty of time and manpower spent by this process.Also, there is larger error in manual-alignment,
Easily because break piece position wander off and to glass caused by damage, break tablet quality and to break tablet stability poor.And, the operation of pipeline system
Platform area occupied is big, and completing a job step then needs roundabout operation, directly reduces enterprises production efficiency, restricts enterprise
Production.
The content of the invention
It is an object of the invention to propose that one kind can save area occupied, without movable glass position when breaking piece, you can real
Now automatic alignment line of cut breaks piece with automatic, and piece efficiency is broken in raising and the glass of the Dual-robot coordination operation for breaking tablet stability is broken
Piece system and its control method.
It is that, up to this purpose, the present invention uses following technical scheme：
A kind of glass of Dual-robot coordination operation breaks piece system, including original sheet glass input table, glass severing table, glass
Section output table and glass waste paper output table；
The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；
Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, it is described to break piece
Robot and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel,
The length of the robot slide rail ensures that the severing machine device people and flow robot can be stretched over the original sheet glass input
Platform and glass slice output table；
The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；
The flow robot includes robot body and flow actuator, and the flow actuator is inhaled including flow vacuum
Disk, the flow vacuum cup is installed on the output shaft of the robot body；
The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control
Hydraulic cylinder processed, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；
It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod
With the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface for breaking piece bar connect
Connect, it is described to break piece power push-rod and break piece bar and be mutually perpendicular to；
The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, and the piece of breaking connects mounting bracket
Axis overlaps with the axis for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power
Push rod is connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, and two glass handling modules symmetrically set
It is placed in and breaks the both sides that piece connects mounting bracket；
The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece
Vacuum cup；Stiffness branch bar is provided with the middle part of the stiffness rocking bar；The power end of the stiffness rocking bar is installed with piece connection is broken
Frame is hinged, and the power end of the stiffness connecting rod and breaks the upper end of piece power push-rod and is hinged, the swinging end of the stiffness connecting rod and and
The end of stiffness branch bar is hinged；
The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate leads to
The stiffness contiguous block is crossed to be fixedly connected with the sucker end of stiffness rocking bar；
The bottom for breaking piece bar is wedge angle.
Preferably, the glass handling module also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on described
The middle part of piece power push-rod is broken, the power end and connecting block of the stiffness auxiliary rod are hinged, the sucker end of the stiffness auxiliary rod
Sucker end with stiffness rocking bar is hinged.
Preferably, the piece bar of breaking is for triangular prism structure, and the piece bar of breaking breaks unilateral and the including push rod joint face, first
Two break unilateral, and the push rod joint face, first break unilateral and second break unilateral joining end to end into and break piece bar in triangular prism structure
Three sides, the lower end of the power push-rod and the push rod joint face connection for breaking piece bar, described first breaks unilateral and the
Two break it is unilateral between formed break piece angle；
The piece angle of breaking is for 50 ° -70 °.
Preferably, the flow actuator include flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and
Flow sucker installing plate, the flow control hydraulic cylinder is installed on the output shaft of the robot body；
The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power are pushed away
The top surface connection of the lower end and flow sucker installing plate of bar, the flow vacuum cup is arranged on the bottom of flow sucker installing plate
Face；
The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connect mounting bracket and are
Hollow structure, the flow power push-rod connects through the inside of flow connection mounting bracket and the flow sucker installing plate
Connect.
Preferably, the robot body includes pedestal, turntable and mechanical arm, and the base runner is connected in robot
On slide rail, the turntable is installed on the pedestal, and the mechanical arm is installed on turntable, the turntable driving mechanical
Arm rotates；
The mechanical arm include lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft,
Forelimb arm motor, forelimb arm and actuator mounting flange；
The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and lower limb arm motor it is defeated
Shaft is connected, and the lower limb arm motor drives the lower limb arm to swing up and down；
The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor drives limb arm
Connecting shaft is rotated；
The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；
The forelimb arm motor is installed on upper limbs arm, the output of the front end and forelimb arm motor of the forelimb arm
Axle is connected, and the forelimb arm motor drives forelimb arm to move forward and backward；
The actuator mounting flange is installed on the end of forelimb arm；
For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange,
And the piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；
For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange,
And the flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.
Preferably, also including polylith air supporting plate, the original sheet glass input table, glass severing table, glass slice output table
The air supporting plate is equipped with glass waste paper output table；
The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；
Also include a plurality of glass conveyer belt, the output of the original sheet glass input table, glass slice output table and glass waste paper
Platform is equipped with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.
Preferably, the severing machine device people also includes breaking piece visual detector, break piece pressure detector and breaking piece controller,
It is described break piece visual detector and break piece controller be installed on break piece connection mounting bracket on, the piece pressure detector of breaking is installed on
Break the bottom of piece bar；
It is described break piece visual detector detection glass line of cut position, it is described break piece pressure detector detection break piece bar
To the pressure of glass；It is described break piece visual detector, break piece pressure detector and the robot body of severing machine device people with break
Piece controller is electrically connected, and the piece controller of breaking breaks piece visual detector, breaks piece pressure detector and severing machine device for control
The robot body of people；
The flow robot also includes flow visual detector, flow pressure detector and flow controller, the stream
Piece visual detector and flow controller are installed on flow connection mounting bracket, and the flow pressure detector is installed on flow suction
The bottom of disk installing plate；
The shape of the flow visual detector detection glass and position, it is described to break piece pressure detector detection flow vacuum
Pressure of the sucker to glass；The robot body of the flow visual detector, flow pressure detector and flow robot is equal
Electrically connected with flow controller, the flow controller is used to control flow visual detector, flow pressure detector and flow
The robot body of robot.
Preferably, also including host computer, piece controller and the flow controller broken is by communication network and described upper
Machine is connected；
The host computer includes：
Original sheet glass information bank, line of cut distributed intelligence and corresponding set of slices for storage glasses original piece；
Data collector, for receive break piece controller break sheet data and to break piece controller send break piece control refer to
Order, and for receive flow controller tape-out data and to flow controller send flow control instruction；It is described to break sheet data
The line of cut distributed intelligence of the original sheet glass including piece to be broken, the tape-out data includes the shaped position information of glass slice；
Piece motion path maker is broken, for the line of cut distributed intelligence of the original sheet glass of piece to be broken and original sheet glass to be believed
The line of cut distributed intelligence of original sheet glass for ceasing storehouse is matched, and is generated and sent if the match is successful and is broken piece motion path to breaking
Piece controller；
Flow motion path maker, for by the glass of the shaped position information of glass slice and original sheet glass information bank
The corresponding set of slices of former piece is matched, and output section motion path is generated and sent if the match is successful to breaking piece control
Device, if match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller；The output section motion path
Glass slice is delivered to the motion path of glass slice output table for flow robot, the output waste paper motion path is stream
Glass slice is delivered to the motion path of glass waste paper output table for piece robot.
Preferably, the control method of piece system is broken using the glass of the Dual-robot coordination operation, is comprised the following steps：
Step A, original sheet glass input table conveys the original sheet glass of piece to be broken to glass severing table；
Step B, severing machine device people obtains and sends the original sheet glass of piece to be broken and breaks sheet data to host computer；
Step C, host computer generates and sends to be broken piece motion path and gives severing machine device people, and severing machine device people is according to breaking for receiving
Piece motion path is treated and breaks the original sheet glass of piece and break piece, forms multiple pieces of glass section；
Step D, flow robot is obtained and sends the tape-out data of multiple pieces of glass section to host computer；
Step E, host computer judges whether glass slice is waste paper, if then host computer generates and sends output waste paper to waste paper
To flow robot, accordingly, glass slice is delivered to glass waste paper output table to motion path by flow robot；If not useless
Then host computer generates and sends output section motion path to flow robot to piece, and accordingly, flow robot is by glass slice
It is delivered to glass slice output table.
Preferably, piece operation is broken in the step C to comprise the following steps：
Step C1, severing machine device people drives the top for breaking the original sheet glass that piece actuator is moved to piece to be broken, and breaks piece
The line of cut alignment of the original sheet glass for breaking piece bar and piece to be broken of robot；
Step C2, severing machine device people drive is broken piece actuator and is moved down until the piece vacuum cup of breaking is with piece to be broken
Original sheet glass is contacted；
Step C3, described to break the original sheet glass that piece vacuum cup adsorbs piece to be broken, then severing machine device people drive is broken piece and is held
Row device is moved up；
Step C4, it is described break piece control Driven by Hydraulic Cylinder and break piece bar move down until the original sheet glass of piece to be broken is broken
Open, form glass slice；
Step C5, it is described break piece control Driven by Hydraulic Cylinder and break piece bar be moved upward to home position；
Step C6, severing machine device people drive is broken piece actuator and is moved down up to glass slice is positioned over glass severing table,
Then break piece vacuum cup and glass slice is separated.
It is former to the glass with line of cut by severing machine device people that the glass of the Dual-robot coordination operation breaks piece system
Piece carries out breaking piece and the glass slice after flow robot is to breaking piece is carried to glass slice output table, and piece and stream are broken in realization
The automation of piece, and the severing machine device people can automatically be directed at line of cut, and without artificial operation, the artificial throwing of piece is broken in reduction
Enter, raising is broken piece efficiency and breaks tablet stability.The glass that size shape after piece meets production requirement will be broken by the flow robot
Section be carried to glass slice output table, glass waste paper is carried to glass waste paper output table, so as to realize glass slice from
Dynamic classification discharging, prevents glass waste paper from entering next manufacturing procedure.It is former for the glass with a plurality of line of cut for differing in length and breadth
For piece, the severing machine device people is realized without movable glass in the position of glass severing table, only breaks piece actuator by movement
Position can original sheet glass be carried out to break piece, without artificial operation, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and broken
Piece flexibility.
Brief description of the drawings
The present invention will be further described for accompanying drawing, but content in accompanying drawing does not constitute any limitation of the invention.
Fig. 1 is that the glass of one of embodiment of the invention breaks piece system structure diagram；
Fig. 2 is that the glass of one of embodiment of the invention breaks piece system top view；
Fig. 3 is flow robot architecture's schematic diagram of one of embodiment of the invention；
Fig. 4 is the flow actuator structure schematic diagram of one of embodiment of the invention；
Fig. 5 is severing machine device people's structural representation of one of embodiment of the invention；
Fig. 6 is that one of embodiment of the invention breaks piece actuator structure schematic diagram；
Fig. 7 is that one of embodiment of the invention breaks piece actuator front view；
Fig. 8 is that one of embodiment of the invention breaks piece bar sectional view；
Fig. 9 is that one of embodiment of the invention breaks piece actuator fundamental diagram；
Figure 10 is the upper computer module graph of a relation of one of embodiment of the invention.
Wherein：Original sheet glass input table 1；Glass severing table 2；Robot body 3；Severing machine device people 5；Flow robot 6；
Robot slide rail 4；Glass slice output table 7；Flow actuator 61；Flow vacuum cup 614；Break piece actuator 51；Break piece control
Hydraulic cylinder processed 511；Break piece power push-rod 512；Break piece connection mounting bracket 521；Break piece bar 513；Stiffness connecting rod 516；Stiffness is connected
Block 518；Stiffness rocking bar 517；Break piece sucker installing plate 519；Break piece vacuum cup 510；Connecting block 514；Stiffness auxiliary rod 515；
Push rod joint face 5131；First breaks unilateral 5132；Second breaks unilateral 5133；Break piece angle A；Flow controls hydraulic cylinder 611；Flow is moved
Push bar 612；Flow connects mounting bracket 614；Flow sucker installing plate 613；Glass waste paper output table 9；Pedestal 31；Turntable
32；Lower limb arm motor 33；Lower limb arm 34；Upper limbs arm 35；Limb arm connecting shaft 36；Forelimb arm motor 37；Forelimb arm 38；
Actuator mounting flange 39；Air supporting plate 21；Air supporting hole 211；Glass conveyer belt 11；Break piece visual detector 52；Break the inspection of piece pressure
Survey device 53；Break piece controller 54；Flow visual detector 62；Flow pressure detector 63；Flow controller 64；Host computer 8；Glass
Glass original piece information bank 81；Data collector 82；Break piece motion path maker 83；Flow motion path maker 84；Line of cut
91；Stiffness branch bar 201.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
The glass of the Dual-robot coordination operation of the present embodiment breaks piece system, and as shown in Figure 1 and Figure 2, including original sheet glass is defeated
Enter platform 1, glass severing table 2, glass slice output table 7 and glass waste paper output table 9；
The original sheet glass input table 1 and glass slice output table 7 are respectively arranged at the two ends of the glass severing table 2；
Severing machine device people 5, flow robot 6 and Liang Tiao robots slide rail 4 are provided with the glass severing table 2, it is described
Severing machine device people 5 and flow robot 6 are each installed on a robot slide rail 4；Two the robot slide rail 4 is flat
Row is set, and the length of the robot slide rail 4 ensures that the severing machine device people 5 and flow robot 6 can be stretched over the glass
Glass original piece input table 1 and glass slice output table 7；
The glass waste paper output table 9 is arranged in the extending range of the flow robot 6 of the glass severing table 2；
As shown in figure 3, the flow robot 6 includes robot body 3 and flow actuator 61, the flow actuator
61 include flow vacuum cup 614, and the flow vacuum cup 614 is installed on the output shaft of the robot body 3；
As shown in figure 5, the severing machine device people 5 includes the robot body 3 and breaks piece actuator 51, the piece of breaking is held
Row device 51 includes breaking piece control hydraulic cylinder 511, breaks piece power push-rod 512, break piece connection mounting bracket 521, break piece bar 513 and two
Glass handling module；
As shown in fig. 6, the output shaft for breaking piece control hydraulic cylinder 511 installed in the robot body 3, described to break piece
The upper end of power push-rod 512 and the piston rod connection for breaking piece control hydraulic cylinder 511, it is described to break under piece power push-rod 512
End and the top surface connection for breaking piece bar 513, it is described to break piece power push-rod 512 and break piece bar 513 and be mutually perpendicular to；
As shown in fig. 7, the upper end for breaking piece connection mounting bracket 521 and the piece control hydraulic cylinder 511 of breaking are connected, it is described
The axis for breaking piece connection mounting bracket 521 and the axis for breaking piece control hydraulic cylinder 511 overlap；It is described to break piece connection mounting bracket
521 is hollow structure, described to break piece power push-rod 512 through the inside for breaking piece connection mounting bracket 521 and described break piece bar
513 connections, two glass handling modules are symmetrically disposed on breaks the both sides that piece connects mounting bracket 521；
As shown in fig. 7, the glass handling module include stiffness connecting rod 516, stiffness contiguous block 518, stiffness rocking bar 517,
Break piece sucker installing plate 519 and break piece vacuum cup 510；The middle part of the stiffness rocking bar 517 is provided with stiffness branch bar 201；Institute
State the power end of stiffness rocking bar 517 and break piece connection mounting bracket 521 and be hinged, the power end of the stiffness connecting rod 516 is moved with piece is broken
The upper end for pushing bar 512 is hinged, and the swinging end of the stiffness connecting rod 516 and is hinged with the end of stiffness branch bar 201；
The piece vacuum cup 510 of breaking is arranged at the bottom for breaking piece sucker installing plate 519, described to break piece sucker installing plate
519 top is fixedly connected by the stiffness contiguous block 518 with the sucker end of stiffness rocking bar 517；
The bottom for breaking piece bar 513 is wedge angle.
The glass of the Dual-robot coordination operation breaks piece system by 5 pairs of glass with line of cut 91 of severing machine device people
Former piece break piece and the glass slice after piece is broken by 6 pairs, flow robot is carried to glass slice output table 7, and piece is broken in realization
With the automation of flow, and the severing machine device people 5 can automatically be directed at line of cut 91, and without artificial operation, piece is broken in reduction
Artificial input, raising is broken piece efficiency and breaks tablet stability.
The original sheet glass input table 1 is used to for the original sheet glass with line of cut 91 to be delivered to glass severing table 2, glass
The piece operation of breaking of former piece is completed in the glass severing table 2.The severing machine device people 5 and flow robot 6 are slided by robot
Rail 4 is moved in glass severing table 2, and in order to moving glass, whole operation process reduces artificial throwing without a dead lift glass
Enter, improve production efficiency.The flow robot 6 is provided with flow vacuum cup 614, and glass is captured by flow vacuum cup 614
Glass cuts into slices to realize the carrying to glass slice.Size shape does not meet after the glass waste paper output table 9 breaks piece for output
The glass slice of production requirement is glass waste paper.The glass that size shape after piece meets production requirement will be broken by the flow robot 6
Glass section is carried to glass slice output table 7, glass waste paper is carried into glass waste paper output table 9, so as to realize glass slice
Automatic classification discharging, prevent glass waste paper enter next manufacturing procedure.
The severing machine device people 5 controls to break the movement of piece actuator 51 by robot body 3, described to break piece actuator 51
By break piece control hydraulic cylinder 511 piston rod stretching motion, drive and break piece power push-rod 512 connection break on piece bar 513
Lower motion, the bottom for breaking piece bar 513 is wedge angle, increases the pressure to original sheet glass, for breaking original sheet glass into two with one's hands.It is described
The axis for breaking piece connection mounting bracket 521 and the axis for breaking piece control hydraulic cylinder 511 overlap, two glass handling modules
It is symmetrically disposed on and breaks the both sides that piece connects mounting bracket 521, piece bar 513 acts on line of cut 91 or so two is broken during piece so as to break
Power on burst glass is regardless of size or direction all same, it is to avoid damage glass because stress differs.The stiffness rocking bar 517
Middle part is provided with stiffness branch bar 201, so that the stiffness connecting rod 516 is by stiffness branch bar 201, when breaking piece power push-rod 512
When moving down, the stiffness rocking bar 517 is propped, the stiffness rocking bar 517 is upturned around the one end of its own, so that
Stiffness rocking bar 517 drives connected piece sucker installing plate 519 of breaking to move upwards.
Before breaking piece operation, original sheet glass can first be overturn, and Open Side Down to make the line of cut 91 of glass, so as to break during piece
Break the top that piece bar 513 acts on the opening of line of cut 91, it is easier to break glass into two with one's hands；Then, original sheet glass is placed on glass
In severing table 2.
When breaking piece operation, the drive of robot body 3 of severing machine device people 5 is broken piece actuator 51 and is moved to glass top, and
And break the line of cut 91 of piece bar 513 and original sheet glass and be aligned；Then, piece actuator 51 is broken to move down and by breaking piece vacuum cup
510 suck original sheet glass；
Then, as shown in figure 9, after breaking and moving to certain altitude on piece actuator 51, break piece control hydraulic cylinder 511 and drive and break piece
Power push-rod 512 is extended downwardly from, and with moving down for piece power push-rod 512 is broken, the piece bar 513 of breaking is moved down simultaneously
Contacted with original sheet glass, it is described break piece bar 513 the position of line of cut 91 of original sheet glass original sheet glass is produced one it is downward
Directed force F 1；At the same time, the stiffness rocking bar 517 and the hinged place of stiffness connecting rod 516 produce a directed force F 2 obliquely,
And the stiffness rocking bar 517 breaks piece sucker installing plate 519 and produces an effect obliquely by stiffness contiguous block 518 pairs
Power.Due to now breaking piece bar 513 and original sheet glass offsets and fails to continue to move down so that break the nothing of piece sucker installing plate 519
Moved in normal direction but moved horizontally outward, so that original sheet glass is subject to a downward directed force F 1 at line of cut 91, together
When original sheet glass be subject to a directed force F 3 horizontally outward in the both sides of line of cut 91, and then original sheet glass is in directed force F 1, F3
In the presence of break into two with one's hands；
Finally, severing machine device people 5 will break the glass slice formed after piece and put back to the glass severing table 2.
Piece job step is broken more than to understand, for the original sheet glass with a plurality of line of cut 91 for differing in length and breadth,
The severing machine device people 5 is realized without movable glass in the position of glass severing table 2, only by the mobile position for breaking piece actuator 51
Original sheet glass carried out by putting break piece, without artificial operation, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and breaks piece spirit
Activity.And entirely break piece operation all to complete in the air, robot body 3 drives breaks any movement in the air of piece actuator 51,
Break the glass after piece and put back to origin-location, space needed for piece is broken so as to greatly reduce, improve space availability ratio.The severing machine
Device people 5 acts on the upper surface of original sheet glass all the time when breaking piece operation, belong to single job plane, so that without movable glass original piece
Glass is carried out to break piece by the position of glass severing table 2, the position that piece actuator 51 is only broken by movement.And, only set
Put a power source (breaking piece control hydraulic cylinder 511), you can a downward directed force F 1 and two is produced simultaneously to original sheet glass
Individual directed force F 3 horizontally outward, saves power consumption, and structure is more compact, and acts holding synchronously, and piece ability is broken in raising.
Preferably, as shown in Figure 6, Figure 7, the glass handling module also includes connecting block 514 and stiffness auxiliary rod 515,
The connecting block 514 is socketed on the middle part for breaking piece power push-rod 512, the power end of the stiffness auxiliary rod 515 and link
Block 514 is hinged, and the sucker end of the stiffness auxiliary rod 515 and the sucker end of stiffness rocking bar 517 are hinged.
When breaking piece operation, when break piece control hydraulic cylinder 511 drive break piece power push-rod 512 and extend downwardly from when, the stiffness
Auxiliary rod 515 is upturned with moving down for piece power push-rod 512 is broken around the power end of its own.Due to stiffness auxiliary rod
515 sucker end and the sucker end of stiffness rocking bar 517 are hinged, so that the stiffness auxiliary rod 515 and stiffness rocking bar 517 are breaking piece
Synchronously be upturned in the folding process of power push-rod 512, thus stiffness auxiliary rod 515 and common pair of stiffness rocking bar 517 and its
The piece sucker installing plate 519 of breaking of connection produces a directed force F 3 obliquely, so both greatly improved and breaks the installation of piece sucker
Plate 519 is more easy to break glass into two with one's hands to the active force of glass；The fatigue strength of glass handling module is reduced again, is increased the glass and is grabbed
The service life of modulus block.
Preferably, as shown in figure 8, the piece bar 513 of breaking is for triangular prism structure, the piece bar 513 of breaking is connected including push rod
Face 5131, first break unilateral 5132 and second and break unilateral 5133, and the push rod joint face 5131, first break unilateral 5132 and second
Break unilateral 5133 and join end to end into three sides for breaking piece bar 513 in triangular prism structure, the lower end of the power push-rod 16 and
The push rod joint face 5131 for breaking piece bar 513 is connected, described first break unilateral 5132 and second break unilateral 5133 between formed
Break piece angle A；The piece angle A that breaks is for 50 ° -70 °.
The piece bar 513 of breaking for triangular prism structure, described first break unilateral 5132 and second break unilateral 5133 between formed
Piece angle A is broken, it is accordingly described to break 513 pairs, piece bar so as to the contact area that piece bar 513 and original sheet glass are broken described in breaking during piece is less
The directed force F 1 of original sheet glass is bigger, it is easier to break glass into two with one's hands.The piece angle A that breaks is smaller, and the piece bar 513 of breaking is to glass
Directed force F 1 is bigger, and the piece angle A that breaks is preferably 60 °, so as to break the directed force F 1 that piece bar 513 is produced to glass described in breaking during piece
It is that obliquely, according to force resolution principle, the piece bar 513 of breaking both had produced a component vertically downward to original sheet glass,
A component horizontally outward is produced to original sheet glass again, piece intensity is broken so as to improve, it is easier to break glass into two with one's hands.
Preferably, as shown in figure 4, the flow actuator 61 includes flow control hydraulic cylinder 611, flow power push-rod
612nd, flow connection mounting bracket 614 and flow sucker installing plate 613, the flow control hydraulic cylinder 611 are installed on the machine
The output shaft of human body 3；The upper end of the flow power push-rod 612 and the piston rod connection of flow control hydraulic cylinder 611,
The top surface connection of the lower end and flow sucker installing plate 613 of the flow power push-rod 612, the flow vacuum cup 614 is pacified
Mounted in the bottom surface of flow sucker installing plate 613；The top surface and flow control hydraulic cylinder of the flow connection mounting bracket 614
611 connections, the flow connection mounting bracket 614 is hollow structure, and the flow power push-rod 612 connects peace through the flow
The inside and the flow sucker installing plate 613 for shelving 614 connect.The flow actuator 61 is provided with flow control hydraulic cylinder
611, the piston rod stretching motion of hydraulic cylinder 611, the flow sucker that drive is connected with flow power push-rod 612 are controlled by flow
Installing plate 613 moves up and down, and the flow vacuum cup 614 in order to be arranged on flow sucker installing plate 613 draws glass, completes
Flow operation.
Preferably, as shown in figure 5, the robot body 3 includes pedestal 31, turntable 32 and mechanical arm, the pedestal
31 activities are connected on robot slide rail 4, and the turntable 32 is installed on the pedestal 31, and the mechanical arm is installed on rotation
On platform 32, the rotation of the driving mechanical arm of the turntable 32；
The mechanical arm includes lower limb arm motor 33, lower limb arm 34, upper limbs arm 35, connecting shaft motor, limb arm
Connecting shaft 36, forelimb arm motor 37, forelimb arm 38 and actuator mounting flange 39；
The lower limb arm motor 33 is installed on turntable 32, and the lower end of the lower limb arm 34 and lower limb arm drive electricity
The output shaft connection of machine 33, the lower limb arm motor 33 drives the lower limb arm 34 to swing up and down；
The output shaft connection of the limb arm connecting shaft 36 and connecting shaft motor, the connecting shaft motor drives limb
Arm connecting shaft 36 is rotated；
The upper end of the lower limb arm 34 is hinged by the limb arm connecting shaft 36 and upper limbs arm 35；
The forelimb arm motor 37 is installed on upper limbs arm 35, the front end of the forelimb arm 38 and forelimb arm motor
37 output shaft connection, the forelimb arm motor 37 drives forelimb arm 38 to move forward and backward；
The actuator mounting flange 39 is installed on the end of forelimb arm 38；
For severing machine device people 5, it is described break piece control hydraulic cylinder 511 be installed on by the actuator mounting flange 39 before
Limb arm 38, and the piece of breaking controls hydraulic cylinder 511 and forelimb arm 38 to be mutually perpendicular to；
For flow robot 6, before the flow control hydraulic cylinder 611 is installed on by the actuator mounting flange 39
Limb arm 38, and the flow controls hydraulic cylinder 611 and forelimb arm 38 to be mutually perpendicular to.
The robot body 3 is connected on robot slide rail 4 by the activity of pedestal 31, and the inside of pedestal 31 is provided with walking
Motor, the travel driving motor improves power for the slip of pedestal 31.The driving mechanical arm of the turntable 32 rotates, from
And piece actuator 51 is broken in drive or flow actuator 61 rotates, the anglec of rotation is 0 ° -360 °.For severing machine device people 5, due to glass
Line of cut 91 on glass original piece differs in length and breadth, and the severing machine device people 5 is driven by turntable 32 and breaks piece actuator 51 when breaking piece
Rotation, so as in the case of not movable glass, the position for breaking piece actuator 51 by movement is capable of achieving to break piece bar 513 and glass
The line of cut 91 of glass original piece is aligned, and raising is broken piece efficiency and breaks piece flexibility.For flow robot 6, because glass slice is defeated
Put into effect the position of 7, glass waste paper output table 9 and glass severing table 2 not in the same horizontal line, flow robot during discharging
6 drive flow actuator 61 to rotate by turntable 32, so as to glass is moved into corresponding output table, realize classification discharging；
And, the flow robot 6 prevents from being collided with severing machine device people 5 during discharging by rotating flow actuator 61, real
The coordinative operation of Xian Liangge robots.
The lower limb arm motor 33 drives the lower limb arm 34 to swing up and down, so as to break piece actuator 51 described in driving
Or flow actuator 61 is moved up and down, piece actuator 51 is broken or flow actuator 61 picks and places glass in order to described.The connection
Axle motor drives limb arm connecting shaft 36 to rotate, so as to break pendulum before and after piece actuator 51 or flow actuator 61 described in driving
It is dynamic, and then make to break piece actuator 51 or flow actuator 61 is inclined, when glass is placed on the platform of an inclined-plane or an out-of-flatness
Can be driven by limb arm connecting shaft 36 when on face break piece actuator 51 or flow actuator 61 tilt to glass equal angular, from
And be fully contacted with glass surface when glass is drawn, it is to avoid because it is insufficient contact prevent absorption when from sucking glass, improve behaviour
Make security reliability.
The forelimb arm motor 37 drives forelimb arm 38 to move forward and backward, so as to drive break piece actuator 51 or flow is held
Row device 61 is moved forward and backward, and expands job area, realizes the operation to large-size glass, increases the scope of application.It is described to break piece control
Hydraulic cylinder 511 or flow control hydraulic cylinder 611 are installed on forelimb arm 38 by the actuator mounting flange 39, i.e., entirely break piece
Actuator 51 or flow actuator 61 are installed on forelimb arm 38 by the actuator mounting flange 39, and connection is reliable, convenient peace
Assembly and disassembly.
The piece of breaking controls hydraulic cylinder 511 or flow control hydraulic cylinder 611 and forelimb arm 38 to be mutually perpendicular to, and then breaks piece bar
513 or flow vacuum cup 614 and the keeping parallelism of forelimb arm 38, it is easy to the work for controlling to break piece bar 513 or flow vacuum cup 614
Industry angle, i.e., only need by limb arm connecting shaft 36 control the pendulum angle of forelimb arm 38 can control break piece bar 513 break piece angle
The glass of degree and flow vacuum cup 614 draws angle.The table top of usual glass severing table 2 keeps level, so as to only need control
Forelimb arm 38 keeps level, then can ensure that and break the holding level of piece bar 513 and fitted with the line of cut 91 of original sheet glass, and ensures stream
Piece vacuum cup 614 and glass slice surface are fully contacted and glass slice are sucked.Can be determined according to the size of glass
The fixed flow vacuum cup 614 and the quantity for breaking piece vacuum cup 510, the more big He of then flow vacuum cup 614 of glass size
The quantity for breaking piece vacuum cup 510 is more, to improve the ability of crawl glass.
Preferably, as shown in Figure 1 and Figure 2, also including polylith air supporting plate 21, the original sheet glass input table 1, glass breaks piece
Platform 2, glass slice output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21；The air supporting plate 21 is provided with multiple gas
Floating hole 211, is distributed on the air supporting plate 21 to the array of air supporting hole 211；Also include a plurality of glass conveyer belt 11, it is described
Original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass conveyer belt 11, and phase
A glass conveyer belt 11 is set between adjacent two blocks of air supporting plates 21.
The original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass and pass
Send band 11, self-feeding and self-emptying for glass.The original sheet glass input table 1, glass severing table 2, glass slice
Output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21, and air supporting plate 21 is blown upwards by air supporting hole 211 during operation
Gas, so as to make glass suspend in the presence of air-flow；One is to prevent from original sheet glass to be delivered to glass from original sheet glass input table 1 to break
There is friction and produce impression or scuffing with operation table top during piece platform 2, improve the yield rate of glass；Two is to prevent from breaking piece
Robot 5 and flow robot 6 are excessive to the percussion of glass when glass is picked and placeed and rupture glass, play slow to glass
Rush protective effect.
Preferably, as shown in Figure 10, the severing machine device people 5 also includes breaking piece visual detector 52, breaking piece pressure detecting
Device 53 and break piece controller 54, it is described break piece visual detector 52 and break piece controller 54 and be installed on break piece connection mounting bracket 521
On, the piece pressure detector 53 of breaking is installed on the bottom for breaking piece bar 513；
The position of the line of cut 91 for breaking the detection glass of piece visual detector 52, the piece pressure detector 53 of breaking is detected
Break pressure of the piece bar 513 to glass；The machine broken piece visual detector 52, break piece pressure detector 53 and severing machine device people 5
Device human body 3 with break piece controller 54 and electrically connect, the piece controller 54 of breaking breaks piece visual detector 52, breaks piece for control
The robot body 3 of pressure detector 53 and severing machine device people 5；
The flow robot 6 also includes flow visual detector 62, flow pressure detector 63 and flow controller 64,
The flow visual detector 62 and flow controller 64 are installed on flow connection mounting bracket 614, the flow pressure detecting
Device 63 is installed on the bottom of flow sucker installing plate 613；
The shape of the detection of flow visual detector 62 glass and position, it is described to break the detection flow of piece pressure detector 53
Pressure of the vacuum cup 614 to glass；The flow visual detector 62, flow pressure detector 63 and flow robot 6
Robot body 3 is electrically connected with flow controller 64, and the flow controller 64 is used to control flow visual detector 62, stream
The robot body 3 of piece pressure detector 63 and flow robot 6.
The position of the line of cut 91 for breaking the detection glass of piece visual detector 52, makes to break piece bar 513 and line of cut 91 pairs
Standard, realizes automatic alignment line of cut 91, and piece accuracy is broken in raising, it is to avoid because break piece position wander off and to glass caused by damage, carry
Height breaks tablet quality and breaks tablet stability.It is described break piece pressure detector 53 detection break pressure of the piece bar 513 to glass, so as to judge
The working condition of piece bar 513 is broken, detection breaks whether piece bar 513 completes to break piece.It is described break piece controller 54 and break piece for control regard
Feel detector 52, break the robot body 3 of piece pressure detector 53 and severing machine device people 5, realize the automatic alignment He of line of cut 91
Automatically piece is broken, without artificial operation, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and breaks tablet stability.
The shape of the detection of flow visual detector 62 glass and position, are discharged and are made with the screening for realizing glass slice
Flow vacuum cup 614 and glass slice to be discharged are aligned, and realize the automation of discharging, improve classification accuracy, it is to avoid will
Glass waste paper is delivered to next manufacturing procedure, realizes the automatic screening to glass slice.The piece pressure detector 53 of breaking is detected
Flow vacuum cup 614 to the pressure of glass, so as to judge the working condition of flow vacuum cup 614, inhale by detection flow vacuum
Whether disk 614 sucks glass, and glass comes off in preventing handling process, improves processing safety.The flow controller 64 is used for
The robot body 3 of control flow visual detector 62, flow pressure detector 63 and flow robot 6, realizes glass slice
Automatic screening and self-emptying, without artificial operation, reduce the artificial input of discharging, improve discharging efficiency.
It is described break piece visual detector 52 and flow visual detector 62 by image-pickup device (be divided into CMOS and
Two kinds of CCD) target will be ingested it will be converted into picture signal, special image processing system is sent to, according to pixel distribution and bright
The information such as degree, color, are transformed into digitized signal；Picture system carries out various computings to these signals to extract the spy of target
Levy, and then target position information is obtained according to the result for differentiating.
Preferably, as shown in Figure 10, also including host computer 8, piece controller 54 and the flow controller 64 broken is by logical
Communication network and the host computer 8 are connected；
The host computer 8 includes：
Original sheet glass information bank 81, the distributed intelligence of line of cut 91 and corresponding set of slices for storage glasses original piece；
Data collector 82, breaking sheet data and breaking piece control to the transmission of piece controller 54 is broken for piece controller 54 is broken for receiving
System instruction, and for receive flow controller 64 tape-out data and to flow controller 64 send flow control instruction；It is described
The distributed intelligence of line of cut 91 of original sheet glass of the sheet data including piece to be broken is broken, the tape-out data includes the shape of glass slice
Positional information；
Piece motion path maker 83 is broken, for the distributed intelligence of line of cut 91 of the original sheet glass of piece to be broken and glass is former
The distributed intelligence of line of cut 91 of the original sheet glass of piece information bank 81 is matched, and is generated and sent if the match is successful and is broken piece motion
Path is to breaking piece controller 54；
Flow motion path maker 84, for by the shaped position information of glass slice and original sheet glass information bank 81
The corresponding set of slices of original sheet glass is matched, and output section motion path is generated and sent if the match is successful to breaking piece
Controller 54, if match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller 54；The output section
Motion path is the motion path that glass slice is delivered to glass slice output table 7 for flow robot 6, the output waste paper fortune
Dynamic path is the motion path that glass slice is delivered to glass waste paper output table 9 for flow robot 6.
The host computer 8 is used to control severing machine device people's 5 to break piece operation and the discharging operation of flow robot 6, makes to break
Piece robot 5 and the coordinative operation of flow robot 6.The host computer 8 sets original sheet glass information bank 81, to realize matching work(
Energy：The position of the line of cut 91 for breaking the detection glass of piece visual detector 52, and transmitted to upper by breaking piece controller 54
Machine 8, host computer 8 is by the original sheet glass of the distributed intelligence of line of cut 91 of the original sheet glass of piece to be broken and original sheet glass information bank 81
The distributed intelligence of line of cut 91 is matched, and is generated and sent if the match is successful and is broken piece motion path to breaking piece controller 54；When
After the completion of breaking piece, the shape of the detection glass of flow visual detector 62 and position, and transmitted to upper by flow controller 64
Machine 8, host computer 8 is by the corresponding section collection of the original sheet glass of the shaped position information of glass slice and original sheet glass information bank 81
Conjunction is matched, and output section motion path is generated and sent if the match is successful to piece controller 54 is broken, if matching is unsuccessful
Output waste paper motion path is then generated and sent to breaking piece controller 54.It is described to break piece motion path maker 83 and flow fortune
Move path generator 84 to plan the motion path of severing machine device people 5 and flow robot 6 all in accordance with collision avoidance algorithm, then
Piece control instruction and flow control instruction are broken in generation, make severing machine device people 5 and the coordinative operation of flow robot 6.The collision avoidance is calculated
Method includes that dual robot moves the collision avoidance algorithm between collision avoidance algorithm and glass, and the effect of the collision avoidance algorithm is held according to breaking piece
Path and task that row device 51 and flow actuator 61 to be completed, make severing machine device people 5 and flow robot 6 along certain path
The collision-free Trajectory Planning of Welding of motion, severing machine device people 5 and flow robot 6 collide when preventing operation, or between glass
Collide, improve operational security.Preferably, also including path monitoring and adjuster, for analysis in real time break sheet data and
Tape-out data, adjustment is optimized with to breaking piece motion path, output section motion path and output waste paper motion path.
Preferably, the control method of piece system is broken using the glass of the Dual-robot coordination operation, is comprised the following steps：
Step A, original sheet glass input table 1 conveys the original sheet glass of piece to be broken to glass severing table 2；
Step B, severing machine device people 5 obtains and sends the original sheet glass of piece to be broken and breaks sheet data to host computer 8；
Step C, host computer 8 generates and sends breaks piece motion path to severing machine device people 5, and severing machine device people 5 is according to reception
Piece motion path of breaking treat and break the original sheet glass of piece and break piece, form multiple pieces of glass section；
Step D, flow robot 6 is obtained and sends the tape-out data of multiple pieces of glass section to host computer 8；
Step E, host computer 8 judges whether glass slice is waste paper, if waste paper then host computer 8 to generate and send output useless
To flow robot 6, accordingly, glass slice is delivered to glass waste paper output table 9 to piece motion path by flow robot 6；If
It is not that then host computer 8 generates and sends output section motion path to flow robot 6 to waste paper, accordingly, flow robot 6 will
Glass slice is delivered to glass slice output table 7.
The control method realizes the feeding of glass, breaks piece, sifting sort, the automation of discharging, greatly reduces people
Work puts into, and improves glass processing efficiency, severing machine device people 5 and the coordinative operation of flow robot 6, breaks tablet quality and stability is high,
Safe operation reliability.In the step E, the flow robot 6 will break size shape after piece and meet the glass of production requirement and cuts
Piece is carried to glass slice output table 7, and glass waste paper is carried into glass waste paper output table 9, so as to realize glass slice from
Dynamic classification discharging, prevents glass waste paper from entering next manufacturing procedure.
Preferably, piece operation is broken in the step C to comprise the following steps：
Step C1, severing machine device people 5 drives the top for breaking the original sheet glass that piece actuator 51 is moved to piece to be broken, and breaks
The line of cut 91 of the original sheet glass for breaking piece bar 17 and piece to be broken of piece robot 5 is aligned；
Step C2, the drive of severing machine device people 5 is broken piece actuator 51 and is moved down until described break piece vacuum cup 510 and treat
Break the original sheet glass contact of piece；
Step C3, described to break the original sheet glass that piece vacuum cup 510 adsorbs piece to be broken, then severing machine device people 5 drives and breaks
Piece actuator 51 is moved up；
Step C4, it is described break piece control hydraulic cylinder 511 and drive break piece bar 513 and move down until the glass of piece to be broken is former
Piece is broken into two with one's hands, forms glass slice；
Step C5, it is described break piece control hydraulic cylinder 511 and drive break piece bar 513 and be moved upward to home position；
Step C6, the drive of severing machine device people 5 is broken piece actuator 51 and is moved down until glass slice is positioned over glass and breaks piece
Platform 2, then breaks piece vacuum cup 510 and glass slice is separated.
Original sheet glass is broken by piece operation is broken in the step C only by the mobile position for breaking piece actuator 51
Piece, without artificial operation, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and breaks piece flexibility.And entirely break piece operation
All complete in the air, severing machine device people 5 drives and breaks any movement in the air of piece actuator 51, breaks the glass after piece and puts back to original position
Put, space needed for piece is broken so as to greatly reduce, improve space availability ratio.The severing machine device people 5 makees all the time when breaking piece operation
Used in the upper surface of original sheet glass, belong to single job plane, so that without movable glass original piece in the position of glass severing table 2,
Glass is carried out to break piece by the position for only breaking piece actuator 51 by movement.
Know-why of the invention is described above in association with specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and can not by any way be construed to limiting the scope of the invention.Based on explanation herein, the technology of this area
Personnel associate other specific embodiments of the invention by would not require any inventive effort, these modes fall within
Within protection scope of the present invention.
Claims (10)
1. a kind of glass of Dual-robot coordination operation breaks piece system, it is characterised in that：Broken including original sheet glass input table, glass
Piece platform, glass slice output table and glass waste paper output table；
The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；
Severing machine device people, flow robot and Liang Tiao robots slide rail, the severing machine device are provided with the glass severing table
People and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel, described
The length of robot slide rail ensure the severing machine device people and flow robot can be stretched over the original sheet glass input table and
Glass slice output table；
The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；
The flow robot includes robot body and flow actuator, and the flow actuator includes flow vacuum cup,
The flow vacuum cup is installed on the output shaft of the robot body；
The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control liquid
Cylinder pressure, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；
It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod and institute
State the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface connection for breaking piece bar, institute
State to break piece power push-rod and break piece bar and be mutually perpendicular to；
The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, described to break the axis that piece connects mounting bracket
Line overlaps with the axis for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power push-rod
Connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, two glass handling modules are symmetrically disposed on
Break the both sides that piece connects mounting bracket；
The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece vacuum
Sucker；Stiffness branch bar is provided with the middle part of the stiffness rocking bar；The power end of the stiffness rocking bar cuts with scissors with piece connection mounting bracket is broken
Connect, the power end of the stiffness connecting rod is hinged with the upper end for breaking piece power push-rod, the swinging end and and stiffness of the stiffness connecting rod
The end of branch's bar is hinged；
The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate passes through institute
Stiffness contiguous block is stated to be fixedly connected with the sucker end of stiffness rocking bar；
The bottom for breaking piece bar is wedge angle.
2. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The glass is grabbed
Modulus block also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on the middle part for breaking piece power push-rod, the strength
The power end and connecting block of property auxiliary rod are hinged, and the sucker end of the stiffness auxiliary rod and the sucker end of stiffness rocking bar are hinged.
3. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:It is described to break piece bar
It is triangular prism structure, the piece bar of breaking is broken unilateral and second breaks unilateral including push rod joint face, first, the push rod joint face,
First breaks unilateral and second breaks unilateral three sides for breaking piece bar joined end to end into triangular prism structure, the power push-rod
Lower end and it is described break piece bar push rod joint face connection, described first break it is unilateral and second break it is unilateral between formed break piece angle；
The piece angle of breaking is for 50 ° -70 °.
4. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The flow is held
Row device includes flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and flow sucker installing plate, the flow control
Hydraulic cylinder processed is installed on the output shaft of the robot body；
The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power push-rod
The top surface connection of lower end and flow sucker installing plate, the flow vacuum cup is arranged on the bottom surface of flow sucker installing plate；
The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connection mounting bracket is hollow
Structure, the flow power push-rod is connected through the inside of flow connection mounting bracket and the flow sucker installing plate.
5. the glass of Dual-robot coordination operation according to claim 4 breaks piece system, it is characterised in that:The robot
Body includes pedestal, turntable and mechanical arm, and the base runner is connected on robot slide rail, and the turntable is installed on institute
State on pedestal, the mechanical arm is installed on turntable, the turntable driving mechanical arm rotation；
The mechanical arm includes lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft, forelimb
Arm motor, forelimb arm and actuator mounting flange；
The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and the output shaft of lower limb arm motor
Connection, the lower limb arm motor drives the lower limb arm to swing up and down；
The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor drives the connection of limb arm
Axle is rotated；
The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；
The forelimb arm motor is installed on upper limbs arm, and the front end of the forelimb arm and the output shaft of forelimb arm motor connect
Connect, the forelimb arm motor drives forelimb arm to move forward and backward；
The actuator mounting flange is installed on the end of forelimb arm；
For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange, and
The piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；
For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange, and
The flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.
6. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:Also include polylith
Air supporting plate, the original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are equipped with described
Air supporting plate；
The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；
Also include a plurality of glass conveyer belt, the original sheet glass input table, glass slice output table and glass waste paper output table are equal
It is provided with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.
7. the glass of Dual-robot coordination operation according to claim 5 breaks piece system, it is characterised in that:The severing machine
Device people also includes breaking piece visual detector, break piece pressure detector and breaking piece controller, described to break piece visual detector and break piece
Controller is installed on to be broken on piece connection mounting bracket, and the piece pressure detector of breaking is installed on the bottom for breaking piece bar；
It is described break piece visual detector detection glass line of cut position, it is described break piece pressure detector detection break piece bar to glass
The pressure of glass；It is described break piece visual detector, break piece pressure detector and the robot body of severing machine device people with break piece control
Device processed electrical connection, it is described break piece controller for control break piece visual detector, break piece pressure detector and severing machine device people
Robot body；
The flow robot also includes flow visual detector, flow pressure detector and flow controller, and the flow is regarded
Feel that detector and flow controller are installed on flow connection mounting bracket, the flow pressure detector is installed on flow sucker peace
Fill the bottom of plate；
The shape of the flow visual detector detection glass and position, it is described to break piece pressure detector detection flow vacuum cup
To the pressure of glass；The robot body of the flow visual detector, flow pressure detector and flow robot with stream
Piece controller is electrically connected, and the flow controller is used to control flow visual detector, flow pressure detector and flow machine
The robot body of people.
8. the glass of Dual-robot coordination operation according to claim 7 breaks piece system, it is characterised in that:Also include upper
Machine, piece controller and the flow controller broken is connected by communication network and the host computer；
The host computer includes：
Original sheet glass information bank, line of cut distributed intelligence and corresponding set of slices for storage glasses original piece；
Data collector, breaking sheet data and breaking piece control instruction to the transmission of piece controller is broken for piece controller is broken for receiving, and
For receive flow controller tape-out data and to flow controller send flow control instruction；The sheet data of breaking includes treating
The line of cut distributed intelligence of the original sheet glass of piece is broken, the tape-out data includes the shaped position information of glass slice；
Piece motion path maker is broken, for by the line of cut distributed intelligence of the original sheet glass of piece to be broken and original sheet glass information bank
The line of cut distributed intelligence of original sheet glass matched, generated and sent if the match is successful and break piece motion path to breaking piece control
Device processed；
Flow motion path maker, for by the original sheet glass of the shaped position information of glass slice and original sheet glass information bank
Corresponding set of slices matched, output section motion path is generated and sent if the match is successful to breaking piece controller,
If match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller；The output section motion path is stream
Glass slice is delivered to the motion path of glass slice output table for piece robot, and the output waste paper motion path is flow machine
Glass slice is delivered to device people the motion path of glass waste paper output table.
9. the glass of the Dual-robot coordination operation described in usage right requirement 8 breaks the control method of piece system, it is characterised in that
Comprise the following steps：
Step A, original sheet glass input table conveys the original sheet glass of piece to be broken to glass severing table；
Step B, severing machine device people obtains and sends the original sheet glass of piece to be broken and breaks sheet data to host computer；
Step C, host computer generates and sends to be broken piece motion path and gives severing machine device people, and severing machine device people breaks piece fortune according to what is received
Dynamic path is treated and breaks the original sheet glass of piece and break piece, forms multiple pieces of glass section；
Step D, flow robot is obtained and sends the tape-out data of multiple pieces of glass section to host computer；
Step E, host computer judges whether glass slice is waste paper, if then host computer generates and sends output waste paper motion to waste paper
Path to flow robot, accordingly, glass slice is delivered to glass waste paper output table by flow robot；If not waste paper is then
Host computer generates and sends output section motion path to flow robot, and accordingly, flow robot conveys glass slice
To glass slice output table.
10. usage right requires the control method described in 9, it is characterised in that piece operation is broken in the step C includes following step
Suddenly：
Step C1, severing machine device people drives the top for breaking the original sheet glass that piece actuator is moved to piece to be broken, and severing machine device
The line of cut alignment of the original sheet glass for breaking piece bar and piece to be broken of people；
Step C2, severing machine device people drive is broken piece actuator and is moved down until the glass for breaking piece vacuum cup and piece to be broken
Former piece contact；
Step C3, described to break the original sheet glass that piece vacuum cup adsorbs piece to be broken, then severing machine device people drives and breaks piece actuator
Move up；
Step C4, it is described break piece control Driven by Hydraulic Cylinder and break piece bar move down until the original sheet glass of piece to be broken is broken into two with one's hands, shape
Into glass slice；
Step C5, it is described break piece control Driven by Hydraulic Cylinder and break piece bar be moved upward to home position；
Step C6, severing machine device people drive is broken piece actuator and is moved down up to glass slice is positioned over glass severing table, then
Break piece vacuum cup and glass slice is separated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019540.8A CN106865969B (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019540.8A CN106865969B (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106865969A true CN106865969A (en) | 2017-06-20 |
| CN106865969B CN106865969B (en) | 2017-11-10 |
Family
ID=59157468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019540.8A Active CN106865969B (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106865969B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214717A (en) * | 2017-07-19 | 2017-09-29 | 安徽云融信息技术有限公司 | A kind of glass grabbing device and grasping means |
| CN107804962A (en) * | 2017-08-28 | 2018-03-16 | 中建材凯盛机器人（上海）有限公司 | Electronic glass dynamic is supported to fly the device broken |
| CN108640495A (en) * | 2018-06-13 | 2018-10-12 | 彩虹集团有限公司 | A kind of TFT glass BOD process breaking board system and methods |
| CN108710014A (en) * | 2018-04-19 | 2018-10-26 | 国网湖南省电力有限公司 | Ammeter cap-opening mechanism and its ends-opening method, meter process streams system |
| CN108793706A (en) * | 2018-07-09 | 2018-11-13 | 刘国勇 | Plate full-automatic wafer separator device people |
| CN108975671A (en) * | 2018-10-12 | 2018-12-11 | 广东工业大学 | A kind of dual robot glass breaks piece work planning method and system |
| CN109081573A (en) * | 2018-10-08 | 2018-12-25 | 东旭集团有限公司 | Glass substrate breaks disconnected device and glass substrate breaks disconnected equipment |
| CN111062146A (en) * | 2019-12-31 | 2020-04-24 | 吴江南玻华东工程玻璃有限公司 | Glass cutting line sheet breaking-off verification method and glass cutting sheet breaking-off method |
| CN112014229A (en) * | 2020-09-07 | 2020-12-01 | 安徽艺云玻璃有限公司 | Tempered glass strength detection equipment and use method thereof |
| CN113800757A (en) * | 2021-08-11 | 2021-12-17 | 上海匠心玻璃装饰工程有限公司 | Glass cutting machine |
| CN116023016A (en) * | 2023-03-17 | 2023-04-28 | 苏州威创达智能设备有限公司 | Swing arm for glass breaking and breaking table |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4098155A (en) * | 1976-09-17 | 1978-07-04 | The Fletcher-Terry Company | Self-compensating scoring head |
| CN204298249U (en) * | 2014-12-24 | 2015-04-29 | 泰安飞驰自动化设备有限公司 | A kind of automatic glass breaks limit device |
| CN105110621A (en) * | 2015-08-27 | 2015-12-02 | 南京熊猫电子股份有限公司 | System for cutting and breaking off glass and control method |
| CN105523380A (en) * | 2015-12-29 | 2016-04-27 | 芜湖东旭光电科技有限公司 | Automatic glass substrate pushing device |
| CN105693075A (en) * | 2016-01-22 | 2016-06-22 | 安徽银锐智能科技股份有限公司 | Break-off mechanism for small pieces of glass |
| CN206418018U (en) * | 2017-01-12 | 2017-08-18 | 广东工业大学 | A kind of glass of Dual-robot coordination operation breaks piece system |
-
2017
- 2017-01-12 CN CN201710019540.8A patent/CN106865969B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4098155A (en) * | 1976-09-17 | 1978-07-04 | The Fletcher-Terry Company | Self-compensating scoring head |
| CN204298249U (en) * | 2014-12-24 | 2015-04-29 | 泰安飞驰自动化设备有限公司 | A kind of automatic glass breaks limit device |
| CN105110621A (en) * | 2015-08-27 | 2015-12-02 | 南京熊猫电子股份有限公司 | System for cutting and breaking off glass and control method |
| CN105523380A (en) * | 2015-12-29 | 2016-04-27 | 芜湖东旭光电科技有限公司 | Automatic glass substrate pushing device |
| CN105693075A (en) * | 2016-01-22 | 2016-06-22 | 安徽银锐智能科技股份有限公司 | Break-off mechanism for small pieces of glass |
| CN206418018U (en) * | 2017-01-12 | 2017-08-18 | 广东工业大学 | A kind of glass of Dual-robot coordination operation breaks piece system |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214717A (en) * | 2017-07-19 | 2017-09-29 | 安徽云融信息技术有限公司 | A kind of glass grabbing device and grasping means |
| CN107804962A (en) * | 2017-08-28 | 2018-03-16 | 中建材凯盛机器人（上海）有限公司 | Electronic glass dynamic is supported to fly the device broken |
| CN107804962B (en) * | 2017-08-28 | 2023-11-17 | 中建材凯盛机器人（上海）有限公司 | Device for supporting dynamic flying of electronic glass |
| CN108710014B (en) * | 2018-04-19 | 2023-08-18 | 国网湖南省电力有限公司 | Ammeter uncapping mechanism, uncapping method thereof and meter processing logistics system |
| CN108710014A (en) * | 2018-04-19 | 2018-10-26 | 国网湖南省电力有限公司 | Ammeter cap-opening mechanism and its ends-opening method, meter process streams system |
| CN108640495B (en) * | 2018-06-13 | 2021-04-20 | 彩虹集团有限公司 | TFT glass BOD process plate breaking system and method |
| CN108640495A (en) * | 2018-06-13 | 2018-10-12 | 彩虹集团有限公司 | A kind of TFT glass BOD process breaking board system and methods |
| CN108793706A (en) * | 2018-07-09 | 2018-11-13 | 刘国勇 | Plate full-automatic wafer separator device people |
| CN109081573A (en) * | 2018-10-08 | 2018-12-25 | 东旭集团有限公司 | Glass substrate breaks disconnected device and glass substrate breaks disconnected equipment |
| CN109081573B (en) * | 2018-10-08 | 2022-03-29 | 日本电气硝子株式会社 | Glass substrate breaks disconnected device off with fingers and thumb and glass substrate breaks disconnected equipment off with fingers and thumb |
| CN108975671A (en) * | 2018-10-12 | 2018-12-11 | 广东工业大学 | A kind of dual robot glass breaks piece work planning method and system |
| CN108975671B (en) * | 2018-10-12 | 2023-07-28 | 广东工业大学 | Planning method and system for glass breaking operation of double robots |
| CN111062146A (en) * | 2019-12-31 | 2020-04-24 | 吴江南玻华东工程玻璃有限公司 | Glass cutting line sheet breaking-off verification method and glass cutting sheet breaking-off method |
| CN111062146B (en) * | 2019-12-31 | 2023-09-12 | 吴江南玻华东工程玻璃有限公司 | Glass cutting line breaking verification method and glass cutting breaking method |
| CN112014229A (en) * | 2020-09-07 | 2020-12-01 | 安徽艺云玻璃有限公司 | Tempered glass strength detection equipment and use method thereof |
| CN112014229B (en) * | 2020-09-07 | 2023-07-21 | 安徽艺云玻璃有限公司 | Toughened glass strength detection equipment and application method thereof |
| CN113800757A (en) * | 2021-08-11 | 2021-12-17 | 上海匠心玻璃装饰工程有限公司 | Glass cutting machine |
| CN116023016A (en) * | 2023-03-17 | 2023-04-28 | 苏州威创达智能设备有限公司 | Swing arm for glass breaking and breaking table |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106865969B (en) | 2017-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106865969B (en) | A kind of glass of Dual-robot coordination operation breaks piece system and its control method | |
| CN206418018U (en) | A kind of glass of Dual-robot coordination operation breaks piece system | |
| US9492848B1 (en) | Optical robotic sorting apparatus | |
| US10016790B1 (en) | Dual robotic sorting system and method | |
| CN106746564B (en) | A kind of automatic severing machine device people of glass and use its production system | |
| CN104768362A (en) | Multifunctional full-automatic component inserting machine | |
| CN106335750B (en) | A kind of screening cover transmission device | |
| CN107414866A (en) | A kind of inspection sweeping robot system and its inspection cleaning method | |
| CN206742271U (en) | A kind of sorting system of solar silicon wafers | |
| CN105203787B (en) | A kind of automatic capture apparatus of concrete test block | |
| CN204721786U (en) | Multi-functional full-automatic inserter | |
| CN109290506A (en) | A kind of automatic nail feeding system and its working method based on robot | |
| CN109250499A (en) | A kind of Acetabula device for glass production line | |
| CN109650056A (en) | A kind of automatic clamping and placing mechanism for pcb board | |
| CN107962046A (en) | A kind of phial part cleaner and its dust removal method | |
| CN106239094B (en) | A kind of transmission device in adjust automatically workpiece direction | |
| CN206068733U (en) | A kind of screening cover transporter | |
| CN106312499A (en) | Transmitting tube transferring device | |
| CN113070239A (en) | Automatic oranges and tangerines nondestructive test sorting device of high spectrum | |
| CN105301006B (en) | A kind of silicon chip device for detecting breakage and detection method | |
| CN206359422U (en) | A kind of automatic severing machine device people of glass and use its production system | |
| CN106239138A (en) | A kind of Automated assembly device | |
| CN106271511B (en) | A kind of transmission device in adjustable workpiece direction | |
| CN205989159U (en) | A kind of transmitting tube transporter | |
| CN103183228B (en) | Feeding mechanism for photoelectric component testing machine table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510009 No. 729 Dongfeng East Road, Guangzhou, Guangdong, Yuexiu District Applicant after: Guangdong University of Technology Address before: 510000 Guangdong City, Guangzhou Province University, West Ring Road, No. 100 Applicant before: Guangdong University of Technology |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |