CN102491099A - Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system - Google Patents
Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system Download PDFInfo
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- CN102491099A CN102491099A CN2011104000702A CN201110400070A CN102491099A CN 102491099 A CN102491099 A CN 102491099A CN 2011104000702 A CN2011104000702 A CN 2011104000702A CN 201110400070 A CN201110400070 A CN 201110400070A CN 102491099 A CN102491099 A CN 102491099A
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Abstract
The invention relates to the technical field of a manipulator glass stacking system, in particular to a method for correcting a position during the glass grabbing processing of a manipulator of the manipulator glass stacking system. A photoelectric sensor I and a photoelectric sensor II are arranged between two rollers which are arranged at the upstream of a roller bed which keeps a distance s away from the center of the manipulator, the distance between the photoelectric sensor I and the photoelectric sensor II is 1-1.5m, dimension of the glass is a*b or length*width, v is the speed of the roller bed, when the glass deflects, time t1 for the photoelectric sensor I to send a signal and the time t2 for the photoelectric sensor II to send a signal are different, is adopted: a deflection angle is acquired according to the following computational formula: deflection angle &=(t1-t2)*v/1; and a time point of grabbing is calculated according to the formula that t=tn+(S-|t1-t2|*v/2)/v+a/2/v, wherein tn is a greater time point in t1 and t2. The method provided by the invention has the advantages of convenience in installation, low cost, long service life and convenience in maintenance.
Description
[technical field]
The present invention relates to manipulator glass stacking systems technology field, be specifically related to a kind of manipulator glass stacking system robot method for correcting position when grasping glass.
[background technology]
Manipulator glass stacking system is one of specialized equipment of glass production line stacking.In stacking procedure; Need not trading halt, operate steadily, precision is high, the cycle is short, degree of automation is high; And every manipulator can corresponding a plurality of stations, and 1 manipulator can carry out stacking to the glass of different size or grade, and is increasingly extensive in the application of glass industry.
Yet manipulator is obtained from the instruction of the glass of roller-way extracting motion and is come from management system or upper computer or line traffic control; Because manipulator grasps the position of glass and the position that management system is obtained the glass position value is not at same place, i.e. the positional value of manipulator acquisition is that management system converts out according to the position of manipulator, the speed of roller-way; Between these 2 because roller-way sideslip, speed are unequal, when the glass run value that its positional value and management system provide during to the manipulator crawl position is inconsistent; When error is big, be easy to cause the vacuum handgrip on the manipulator to grab inclined to one side glass, cause the stacking failure; Even manipulator is caught glass reluctantly in addition; Because the position of glass and handgrip takes place than about-face with preset position, and the track of robot movement is fixed, this will cause glass and manipulator or other equipment to cause interference, collision; So it is low that prior art grasps data accuracy; And cost is high, and trouble is installed, and service life is short.
[summary of the invention]
The objective of the invention is in order to solve the prior art problem, provide a kind of can be when manipulator grasps glass, the method for correcting position when the manipulator glass stacking system robot that grabs center of glass accurately grasps glass.
To achieve these goals; Method for correcting position when the hand glass stacking system robot that designs a mechanism grasps glass, it is characterized in that: opto-electronic pickup I, opto-electronic pickup II place between two rollers at s place, distance Mechanical hand center, the roller-way upper reaches, and the distance between opto-electronic pickup I and the II is 1 to 1.5m; Glass is of a size of axb or long x is wide; V is a roller table speed, and when glass was deflection, the time t1 that opto-electronic pickup I sends signal was inequality with the time t2 that installation opto-electronic pickup II sends signal; Computing formula: Pian Jiao &=(t1-t2) xv/1, obtain the drift angle value; Grasp the some time, t=tn+ (S-|t1-t2|xv/2)/v+a/2/v wherein tn is a time point bigger among t1, the t2, promptly the center O of glass, intersection of diagonal, time point t arrive that manipulator grasps under; The photo-sensor signal will access control system, the drift angle value, all computing offers manipulator control system through PLC to grasp time point.
Opto-electronic pickup I, opto-electronic pickup II place the concrete size of roller-way upper reaches distance Mechanical hand center s to adjust according to actual conditions, and the distance between opto-electronic pickup I and the II can be adjusted according to actual conditions.
The present invention compared with prior art, Data Acquisition positions such as the drift angle of the manipulator that this method provides, extracting time from manipulator very near, the data that the data accuracy provides much larger than management system; After manipulator obtains the drift angle, can shift to an earlier date the angle of rotation vacuum handgrip, adapt to the position and the angle of glass, make manipulator can stablize, accurately, the extracting glass of safety; And this method only needs the components and parts of additive incrementation to have only two opto-electronic pickups, so easy for installation, with low cost, long service life, easy to maintenance.
[description of drawings]
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the seized condition scheme drawing of manipulator of the present invention;
Fig. 3 is the seized condition scheme drawing of manipulator of the present invention.
Among the figure: 1 is opto-electronic pickup I, and 2 is opto-electronic pickup II, and 3 is roller-way; 4 is manipulator, and 5 is the manipulator line of centers, and 6 is control housing; 7 is the manipulator control housing, and 8 is glass, and s is the distance that opto-electronic pickup I, opto-electronic pickup II place roller-way upper reaches distance Mechanical hand line of centers; A is the length of glass, and b is the wide of glass, and l is the distance between opto-electronic pickup I and the opto-electronic pickup II.
Appointment Fig. 1 is a Figure of abstract.
[specific embodiment]
Below in conjunction with accompanying drawing the invention is explained further details, this manufacturing technology is clearly to this professional personage.
Like Fig. 1, Fig. 2 and shown in Figure 3, opto-electronic pickup I, opto-electronic pickup II are installed at S place, the upper reaches, manipulator center, the distance of two opto-electronic pickups is 1 (1.5m, concrete size can be adjusted according to actual conditions), opto-electronic pickup inserts the control housing (PLC) of manipulator.During glass process opto-electronic pickup place: photosensor senses is sent signal to glass edge.Glass is of a size of axb (long x is wide).The photo-sensor signal will access control system, the drift angle value, all computing offers manipulator control system through PLC to grasp time point.
Said drift angle, when glass was deflection, the time t1 that opto-electronic pickup I sends signal was inequality with the time t2 that opto-electronic pickup II sends signal is installed, by formula: Pian Jiao &=(t1-t2) xv/1 v is a roller table speed, the drift angle that can get glass; The drift angle flows to manipulator control system after can calculating through PLC.
Grasp the some time, t=tn+ (S-|t1-t2|xv/2)/v+a/2/v
Tn is a time point bigger among t1, the t2, and a is the length of glass, and promptly the center O of glass (intersection of diagonal) is under the extracting of time point t arrival manipulator.The photo-sensor signal will access control system, drift angle value, extracting time point calculate and handle through PLC, offer manipulator control system.
Structure and algorithm can be found out from the above mentioned:
This method offers data such as the drift angle, extracting time of manipulator very accurately, thus manipulator can be stablized, accurately, the extracting glass of safety, the method for correcting position when manipulator glass stacking system robot grasps glass is worthy to be popularized.
Claims (2)
1. the method for correcting position when a manipulator glass stacking system robot grasps glass; It is characterized in that: opto-electronic pickup I, opto-electronic pickup II place between two rollers at s place, distance Mechanical hand center, the roller-way upper reaches; Distance between opto-electronic pickup I and the II is 1 to 1.5m, and glass is of a size of axb or long x is wide, and v is a roller table speed; When glass is deflection; The time t1 that opto-electronic pickup I sends signal is inequality with the time t2 that installation opto-electronic pickup II sends signal, computing formula: Pian Jiao &=(t1-t2) xv/1, obtain the drift angle value; Grasp the some time, t=tn+ (S-|t1-t2|xv/2)/v+a/2/v wherein tn is a time point bigger among t1, the t2, promptly the center O of glass, intersection of diagonal, time point t arrive that manipulator grasps under; The photo-sensor signal will access control system, the drift angle value, all computing offers manipulator control system through PLC to grasp time point.
2. the method for correcting position when a kind of manipulator glass stacking system robot according to claim 1 grasps glass; It is characterized in that: opto-electronic pickup I, opto-electronic pickup II place the concrete size of roller-way upper reaches distance Mechanical hand center s to adjust according to actual conditions, and the distance between opto-electronic pickup I and the II can be adjusted according to actual conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110400070.2A CN102491099B (en) | 2011-12-06 | 2011-12-06 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
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| CN201110400070.2A CN102491099B (en) | 2011-12-06 | 2011-12-06 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
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| CN102491099A true CN102491099A (en) | 2012-06-13 |
| CN102491099B CN102491099B (en) | 2015-01-07 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106395383A (en) * | 2016-11-30 | 2017-02-15 | 中建材凯盛机器人（上海）有限公司 | Glass stacking device and control method thereof |
| CN106743656A (en) * | 2017-02-27 | 2017-05-31 | 山西日盛达新材料科技有限公司 | A kind of structure for realizing the automatic stocker of producing line glass |
| CN107458876A (en) * | 2017-08-11 | 2017-12-12 | 上海凯思尔电子有限公司 | A kind of high speed retraction plate machine and its folding and unfolding plate method that can realize automatic raw material feeding box switching |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN108602634A (en) * | 2016-04-13 | 2018-09-28 | Abb瑞士股份有限公司 | Fixture, destacking system, searching method, grasping method and unload stacking method |
| CN110092198A (en) * | 2019-05-06 | 2019-08-06 | 中国建材国际工程集团有限公司 | A kind of track control system and method for glass sideslip |
| CN110274913A (en) * | 2019-06-20 | 2019-09-24 | 信义汽车部件（芜湖）有限公司 | It is detected automatically for plate glass and the system and method for stacking |
| CN113651108A (en) * | 2021-08-24 | 2021-11-16 | 广州旭璟自动化控制设备有限公司 | Glass stacking-based method for correcting position of glass grabbed by manipulator |
| CN114538098A (en) * | 2020-11-19 | 2022-05-27 | 洛阳兰迪玻璃机器股份有限公司 | Glass sheet discharging method of glass sheet discharging unit |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108602634A (en) * | 2016-04-13 | 2018-09-28 | Abb瑞士股份有限公司 | Fixture, destacking system, searching method, grasping method and unload stacking method |
| CN106395383A (en) * | 2016-11-30 | 2017-02-15 | 中建材凯盛机器人（上海）有限公司 | Glass stacking device and control method thereof |
| CN106743656A (en) * | 2017-02-27 | 2017-05-31 | 山西日盛达新材料科技有限公司 | A kind of structure for realizing the automatic stocker of producing line glass |
| CN107458876A (en) * | 2017-08-11 | 2017-12-12 | 上海凯思尔电子有限公司 | A kind of high speed retraction plate machine and its folding and unfolding plate method that can realize automatic raw material feeding box switching |
| CN107458876B (en) * | 2017-08-11 | 2023-06-16 | 上海凯思尔电子有限公司 | PCB folding and unfolding method |
| CN108483044A (en) * | 2018-05-24 | 2018-09-04 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
| CN110092198A (en) * | 2019-05-06 | 2019-08-06 | 中国建材国际工程集团有限公司 | A kind of track control system and method for glass sideslip |
| CN110274913A (en) * | 2019-06-20 | 2019-09-24 | 信义汽车部件（芜湖）有限公司 | It is detected automatically for plate glass and the system and method for stacking |
| CN114538098A (en) * | 2020-11-19 | 2022-05-27 | 洛阳兰迪玻璃机器股份有限公司 | Glass sheet discharging method of glass sheet discharging unit |
| CN114538098B (en) * | 2020-11-19 | 2023-08-15 | 洛阳兰迪玻璃机器股份有限公司 | Glass discharging method of glass discharging unit |
| CN113651108A (en) * | 2021-08-24 | 2021-11-16 | 广州旭璟自动化控制设备有限公司 | Glass stacking-based method for correcting position of glass grabbed by manipulator |
| CN113651108B (en) * | 2021-08-24 | 2022-03-22 | 广州旭璟自动化控制设备有限公司 | Glass stacking-based method for correcting position of glass grabbed by manipulator |
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