CN107414849A - A kind of method of work with refrigerating function glass handling machine people - Google Patents
A kind of method of work with refrigerating function glass handling machine people Download PDFInfo
- Publication number
- CN107414849A CN107414849A CN201710642097.XA CN201710642097A CN107414849A CN 107414849 A CN107414849 A CN 107414849A CN 201710642097 A CN201710642097 A CN 201710642097A CN 107414849 A CN107414849 A CN 107414849A
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- China
- Prior art keywords
- clamping device
- glass
- plc
- work
- driving
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method of work with refrigerating function glass handling machine people, it is related to the technical field of plant equipment；According to the feedback information of vision-based detection mechanism, for clamping device after glass is calibrated, clamping device starts moving glass under the driving of fuselage interior servomotor；After glass is clamped mechanism fixation, telescopic drives clamping device together to move up under cylinder driving, while the first joint shaft and second joint axle are moved to precalculated position under the driving of base inner servomotor according to PLC control program；After glass is seated to specified location by last clamping device；During work, clamping device surface can be rinsed by rotatable cooling body, when deviation occurs in clamping device positioning, audible-visual annunciator sends audible and visible alarm immediately；Methods men of the present invention is simple to operate, small to glass damage during carrying, and operating efficiency and positioning precision are high, and glass position judges accurate, while has the function that easily cools.
Description
Technical field
The present invention relates to the technical field of plant equipment, specifically a kind of work with refrigerating function glass handling machine people
Make method.
Background technology
Manipulator is some holding functions that can imitate human arm, object or operation instrument are captured, carried by fixed routine
Automatic pilot.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can be replaced
The heavy labor of people can be operated with realizing the mechanization of production and automation under hostile environment, thus be widely used in
The departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Transfer robot is produced dynamic by electric or pneumatic mode
Power, to replace frequently manual carrying to act, the working strength of personnel is alleviated to a certain extent.Wherein, glass-carrying machine
Device people realizes automatic transporting of the glass from cleaning machine to baking oven, again by robot automatic transporting to conveyer belt after glass baking
On.
However, with the continuous development of scientific technology, there is also certain disadvantage while updating for transfer robot
Following defect also be present in end, such as the method for work of existing glass handling machine people：
1st, clamping device is easy to damage glass in impulsive force caused by carrying；
2nd, overall running it is complex, it is necessary to which staff is operated in real time, operating efficiency is low, the amount of labour remains unchanged
It is very big, while positioning precision is low, easily occur the deviation on position during carrying；
3rd, temperature is very high after glass baking, does not have effective cooling measure in hot conditions operation.
The content of the invention
Goal of the invention：In order to overcome the above insufficient, it is an object of the invention to provide one kind to have refrigerating function glass handling
The method of work of robot, the methods men is simple to operate, small to glass damage during carrying, and operating efficiency and positioning
Precision is high, and glass position judges accurately, while has the function that easily cools.
Technical scheme：In order to realize the above object one kind of the present invention has refrigerating function glass handling machine people
Method of work, include fuselage, connecting seat, telescopic, clamping device and PLC；First joint shaft both ends respectively with
The fuselage, second joint axle are connected, and first joint shaft, second joint axle and clamping device are by fuselage
The servomotor driving that portion is provided with, the second joint axle top is connected to connecting seat；The telescopic top passes through second joint
Axle is connected with connecting seat, and top is connected to cylinder；The clamping device is connected by shaft coupling with telescopic, the clamping
Mechanism is equipped with V-block on the inside of both ends；The fuselage roof is connected to PLC；Acousto-optic report is connected at the top of the PLC
Alert device；The clamping device bottom is provided with four laser heads being connected with PLC；The connecting seat side is provided with LED.
Specific job step is as follows：
（1）, startup power supply first, staff passes through the carrying out practically parameter that PLC sets robot；
（2）, the first joint shaft and second joint axle be moved under the driving of fuselage interior servomotor according to PLC control program
Precalculated position；
（3）, cylinder driving telescopic move down；
（4）, telescopic by shaft coupling drive clamping device move down, while vision-based detection mechanism identification glass profile,
Judge the accurate location of glass and be sent to PLC；
（5）, according to the feedback information of vision-based detection mechanism, clamping device is after glass is calibrated, and cylinder shuts down, clamping device
Start moving glass under the driving of fuselage interior servomotor；
（6）, glass be clamped mechanism fix after, telescopic cylinder driving under drive clamping device together move up, simultaneously
First joint shaft and second joint axle are moved to pre-determined bit under the driving of base inner servomotor according to PLC control program
Put；
（7）, after glass is seated to specified location by last clamping device, continue executing with control instruction next time.
During work, clamping device surface can be rinsed by rotatable cooling body, it is good so as to serve
The effect of cooling, it is therefore prevented that the generation of the fortuitous event such as fire, securely and reliably；There is deviation in clamping device positioning in addition
When, audible-visual annunciator sends audible and visible alarm immediately, so as to remind staff to be adjusted in time, greatly ensure that glass handling
Work long hours are efficiently and stably carried out.
In method of work of the present invention, by PLC to whole robot carry out intelligent control, each joint shaft according to
PLC control program is accurately positioned automatically, is operated in real time without staff, therefore operating efficiency is high, personnel's work
Measure small；And its V-block by being provided with pad of silica gel on the inside of clamping device, so as to serve good bumper and absorbing shock
Effect, avoid damage of the clamping device when carrying to glass；The profile of glass is identified additionally by vision-based detection mechanism,
So as to judge the particular location of glass, accurately the profile of judgement glass, positioning precision are very high；Its LED good illumination effect, pole
The big monitoring for facilitating staff, further ensures the degree of accuracy of carrying.
In the inventive method, clamping device bottom is provided with four laser heads being connected with PLC, utilizes four laser
Ranging can accurately judge the posture and distance of glass, ensure that the degree of accuracy of carrying.
In the inventive method, staff can monitor machine in real time by PLC with color touch display screen
The specific works situation of people, manipulation are convenient and swift.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, heretofore described a kind of method of work with refrigerating function glass handling machine people, during work, LED illumination
Effect is good, greatly facilitates the monitoring of staff, ensure that the degree of accuracy of carrying；Other staff passes through PLC
With color touch display screen can supervisory-controlled robot in real time specific works situation, manipulation is convenient and swift.
2nd, heretofore described a kind of method of work with refrigerating function glass handling machine people, during work, pass through
PLC carries out intelligent control to whole robot, and each joint shaft is accurately positioned automatically according to PLC control program, nothing
Staff is needed to be operated in real time, therefore operating efficiency is high, personnel's amount of labour is small；And it on the inside of clamping device by setting
The V-block with pad of silica gel is put, so as to serve good shock absorbing effect, avoids clamping device when carrying to glass
The damage of glass.
3rd, heretofore described a kind of method of work with refrigerating function glass handling machine people, during work, pass through
Rotatable cooling body can be rinsed to clamping device surface, so as to serve the good effect of cooling, it is therefore prevented that
The generation of the fortuitous events such as fire, securely and reliably；In addition when deviation occurs in clamping device positioning, audible-visual annunciator is sent immediately
Audible and visible alarm, so as to remind staff to be adjusted in time, it greatly ensure that glass handling work long hours efficiently and stably
Carry out.
4th, heretofore described a kind of method of work with refrigerating function glass handling machine people, during work, pass through
Vision-based detection mechanism identifies the profile of glass, so as to judging the particular location of glass, the accurate profile for judging glass, and positioning accurate
Degree is very high；Other clamping device bottom is provided with four laser heads being connected with PLC, can essence using four laser rangings
Really judge the posture and distance of glass, further ensure the degree of accuracy of carrying.
Brief description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure：Fuselage 1, the first joint shaft 2, second joint axle 3, connecting seat 4, cylinder 5, telescopic 6, shaft coupling 7, LED
Lamp 8, clamping device 9, V-block 10, PLC 11, audible-visual annunciator 12, cooling body 13, vision-based detection mechanism 14, laser
First 15.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
The specific scope of the present embodiment is not limited to, based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, a kind of method of work with refrigerating function glass handling machine people of the present embodiment, specific job step
It is rapid as follows：
（1）, startup power supply first, staff passes through the carrying out practically parameter that PLC 11 sets robot；
（2）, the first joint shaft 2 and second joint axle 3 move under the driving of the inside servomotor of fuselage 1 according to PLC control program
Move to precalculated position；
（3）, cylinder 5 drive telescopic 6 move down；
（4）, telescopic 6 drive clamping device 9 to move down by shaft coupling 7, while vision-based detection mechanism 14 identifies glass
Profile, judge the accurate location of glass and be sent to PLC 11；
（5）, according to the feedback information of vision-based detection mechanism 14, after glass is calibrated, cylinder 5 shuts down clamping device 9, clamping
Mechanism 9 starts moving glass under the driving of the inside servomotor of fuselage 1；
（6）, glass be clamped mechanism 9 fix after, telescopic 6 cylinder 5 driving under drive clamping device 9 together move up,
The first joint shaft 2 and second joint axle 3 are moved under the driving of the inside servomotor of support 1 according to PLC control program simultaneously
Precalculated position；
（7）, after glass is seated to specified location by last clamping device 9, continue executing with control instruction next time.
During work, the surface of clamping device 9 can be rinsed by rotatable cooling body 13；In addition in clamping device
When deviation occur in 9 positioning, audible-visual annunciator 12 sends audible and visible alarm immediately.
In the present embodiment method of work, the bottom of clamping device 9 is provided with four laser heads 15 being connected with PLC 11,
The posture and distance of glass can be accurately judged using four laser rangings.
In the present embodiment method of work, staff can be real-time with color touch display screen by PLC 11
The specific works situation of supervisory-controlled robot.
Embodiments of the invention provide for the sake of example and description, and are not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Select and describe embodiment and be to more preferably illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art
It will be appreciated that the present invention is so as to designing the various embodiments with various modifications suitable for special-purpose.
Claims (3)
- A kind of 1. method of work with refrigerating function glass handling machine people, it is characterised in that：Including：Fuselage（1）, connecting seat （4）, telescopic（6）, clamping device（9）And PLC（11）；First joint shaft（2）Both ends respectively with the fuselage（1）、 Second joint axle（3）It is connected, first joint shaft（2）, second joint axle（3）And clamping device（9）Pass through machine Body（1）The servomotor driving that inside is provided with, the second joint axle（3）Top is connected to connecting seat（4）；The telescopic（6） Top passes through second joint axle（3）With connecting seat（4）It is connected, and top is connected to cylinder（5）；The clamping device（9）It is logical Cross shaft coupling（7）With telescopic（6）Connect, the clamping device（9）V-block is equipped with the inside of both ends（10）；The fuselage（1） Top is connected to PLC（11）；The PLC（11）Top is connected to audible-visual annunciator（12）；The clamping device（9） Bottom is provided with and PLC（11）Four connected laser heads（15）；The connecting seat（4）Side is provided with LED（8）；Specific job step is as follows：（1）, startup power supply, staff first pass through PLC（11）Set the carrying out practically parameter of robot；（2）, the first joint shaft（2）With second joint axle（3）In fuselage（1）Controlled under the driving of internal servomotor according to PLC Program is moved to precalculated position；（3）, cylinder（5）Drive telescopic（6）Move down；（4）, telescopic（6）Pass through shaft coupling（7）Drive clamping device（9）Move down, while vision-based detection mechanism（14）Know The profile of other glass, judge the accurate location of glass and be sent to PLC（11）；（5）, according to vision-based detection mechanism（14）Feedback information, clamping device（9）After glass is calibrated, cylinder（5）Stop fortune Turn, clamping device（9）In fuselage（1）Start moving glass under the driving of internal servomotor；（6）, glass be clamped mechanism（9）After fixation, telescopic（6）In cylinder（5）Driving is lower to drive clamping device（9）One is in the same direction Upper movement, while the first joint shaft（2）With second joint axle（3）In support（1）Controlled under the driving of internal servomotor according to PLC Processing procedure sequence is moved to precalculated position；（7）, last clamping device（9）After glass is seated into specified location, control instruction next time is continued executing with；During work, pass through rotatable cooling body（13）Can be to clamping device（9）Surface is rinsed；In addition in clamping device （9）When there is deviation in positioning, audible-visual annunciator（12）Audible and visible alarm is sent immediately.
- A kind of 2. method of work with refrigerating function glass handling machine people according to claim 1, it is characterised in that： Clamping device（9）Bottom is provided with and PLC（11）Four connected laser heads（15）, can be accurate using four laser rangings Judge the posture and distance of glass.
- A kind of 3. method of work with refrigerating function glass handling machine people according to claim 1, it is characterised in that： Staff passes through PLC（11）With color touch display screen can supervisory-controlled robot in real time specific works situation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642097.XA CN107414849A (en) | 2017-07-31 | 2017-07-31 | A kind of method of work with refrigerating function glass handling machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642097.XA CN107414849A (en) | 2017-07-31 | 2017-07-31 | A kind of method of work with refrigerating function glass handling machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414849A true CN107414849A (en) | 2017-12-01 |
Family
ID=60430769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642097.XA Withdrawn CN107414849A (en) | 2017-07-31 | 2017-07-31 | A kind of method of work with refrigerating function glass handling machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414849A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111906036A (en) * | 2020-07-22 | 2020-11-10 | 上海快卜新能源科技有限公司 | Detection apparatus based on battery is utilized to echelon |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
-
2017
- 2017-07-31 CN CN201710642097.XA patent/CN107414849A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111906036A (en) * | 2020-07-22 | 2020-11-10 | 上海快卜新能源科技有限公司 | Detection apparatus based on battery is utilized to echelon |
| CN111906036B (en) * | 2020-07-22 | 2022-01-18 | 上海快卜新能源科技有限公司 | Detection apparatus based on battery is utilized to echelon |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171201 |
|
| WW01 | Invention patent application withdrawn after publication |