CN102502268B - Method for positioning first glass piece in system of stacking glass by mechanical arm - Google Patents
Method for positioning first glass piece in system of stacking glass by mechanical arm Download PDFInfo
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- CN102502268B CN102502268B CN 201110318896 CN201110318896A CN102502268B CN 102502268 B CN102502268 B CN 102502268B CN 201110318896 CN201110318896 CN 201110318896 CN 201110318896 A CN201110318896 A CN 201110318896A CN 102502268 B CN102502268 B CN 102502268B
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Abstract
The invention belongs to an auxiliary device of a system for stacking glass by a mechanical arm, and mainly relates to a method for positioning a first glass piece in a system of stacking glass by a mechanical arm. A horizontal distance measurement sensor and a vertical distance measurement sensor are respectively arranged on an upper platform and a guardrail of a rotary platform; the same sensors are arranged at the other side of the rotary platform along a YbObZb plane; the glass assembling frame is fixed on the rotary platform; calibrating plates are respectively arranged on two planes of the glass assembling frame; the distance measurement sensors measure the distances so that planes a1 and a2 of the glass assembling frame are obtained, and the planes a1 and a2 are mirrored to planes a1 and a2 of a coordinate system at a stacking side; an XbObZb plane is measured after the installation of the rotary platform; an X-axis of a coordinate system of a work-piece is obtained through the plane XbObZb and the plane a1; a Z-axis of the coordinate system of the work-piece is obtained through the plane XbObZb and the plane a2; a Y-axis of the coordinate system of the work-piece is obtained through the planes a1 and a2; when the coordinate system is determined and the rotary platform steers to the stacking side, the mechanical arm can be used for placing the glass exactly by calling the coordinate system. The method for positioning the first glass piece in the system of stacking the glass by the mechanical arm, disclosed by the invention, has the advantages of simple manual operation, precision in positioning and capability of completing the positioning at the other side of the operating mechanical arm.
Description
[technical field]
The invention belongs to the auxiliary device of mechanical arm glass stacking system, what relate generally to is a kind of locating device for first piece of glass of mechanical arm glass stacking system.
[background technology]
Mechanical arm glass stacking system is one of specialized equipment of glass production line stacking.Because of its stacking procedure without trading halt, operate steadily, precision is high, the cycle is short, automation is high, and every manipulator can corresponding a plurality of stations, 1 mechanical mobile phone can carry out the advantages such as stacking for the glass of different size or grade.Along with the raising of glass production line degree of automation, just progressively replace manual stacking, vertical stacks stack machine.But all producers all are faced with a common problem---the location of first piece.Because even error, the shape of the same specification of glass sheet package of each glasswork all differs greatly, and glass is to be easy to damaged product, and there is very high requirement in each producer to the stacking regularity of glass, this just requires the position of glass sheet package and the position of manipulator placing glass that accurate location must be arranged.What at present each producer adopted substantially is all that manipulator slowly arrives desired location when placing first, the position of more manually by visual inspection, adjusting glass sheet package makes it at a basic available position; This method time length, low precision, cause film releasing when first, the irregular even breakage of stacking, reduced degree of automation, also needs the human assistance stacking when film releasing.
[summary of the invention]
Purpose of the present invention is to propose a kind of first piece of glass of mechanical arm glass stacking system localization method, can before placing first, manipulator accurately locate to pallet, actual workpiece coordinate system is passed to manipulator, while making manipulator placement first, without pause, without film releasing, make whole system reach the interim stacking of full-automatic prosthetic.
Design for achieving the above object a kind of localization method of first glass piece in system of stacking glass by mechanical arm, it is characterized in that horizontal surface distance measuring sensor H1～H3 and vertical surface distance measuring sensor V1～V3 are placed in respectively on the upper mounting plate and guardrail of rotation platform, be XbObYb, on the YbObZb plane, along the YbObZb plane at other side identical set the sensor H1～H3 and the V1～V3 of rotation platform, after glass sheet package fixes on rotation platform, scaling board 1 and scaling board 2 are placed in respectively on two planes of glass sheet package, distance measuring sensor records its distance, have six groups of data, determine that by 3 planes know, plane a1, the a2 of glass sheet package, coordinate transformation, obtain system of axes a1, a2 plane being mirrored to the stacking side, the XbObZb plane of rotation platform is measured and is obtained after rotation platform is installed, and is obtained the X-axis of workpiece coordinate system by plane X bObZb and a1, obtained the Z axis of workpiece coordinate system by plane X bObZb and a2, plane a1 and a2 obtain the Y-axis of workpiece coordinate system, therefore whole workpiece coordinate system determines, when turntable redirect to the stacking side, manipulator calls the i.e. placing glass accurately of this system of axes.
Horizontal surface distance measuring sensor H1～H3, vertical surface distance measuring sensor V1～V3 are placed in respectively on the upper mounting plate and guardrail of rotation platform, and the turntable left and right sides is arranged symmetrically with.
This system of axes adopts 12 distance measuring sensors.
Obtain two plane coordinates values of glass sheet package by distance measuring sensor.
By coordinate transformation, obtained the workpiece coordinate system of manipulator by the plane measured.
Compared with the existing technology, the present invention is due to the algorithm that has adopted distance measuring sensor, scaling board and coordinate transformation in the present invention; Make that manual operation is simple, registration, can complete in an other side of manipulator work.
[accompanying drawing explanation]
Accompanying drawing 1 is structural representation of the present invention;
Accompanying drawing 2 is diagram of work of the present invention;
In figure: 1. scaling board 2. scaling board 3. pallet 4. rotation platform 5. manipulator stacking sides;
H1, H2, H3 are the horizontal surface distance measuring sensor;
V1, V2, V3 are the vertical surface distance measuring sensor;
Ob is that rotation platform system of axes Ow is workpiece coordinate system (pallet stack face system of axes).
[specific embodiment]
The present invention will be further described by reference to the accompanying drawings, is very clearly the manufacturing technology of this device people professional concerning this.
Adopt following technical scheme to realize: mainly to comprise the distance measuring sensor, the scaling board that are installed on planar Ranging sensor on rotation platform, vertical direction guardrail.
Implementation is: after glass sheet package is placed in rotation platform, scaling board is leaned against on two planes of horizontal and vertical direction on glass sheet package (back side of stacking side), be installed on the distance of the distance measuring sensor measurement scaling board on planar Ranging sensor on rotation platform, vertical direction guardrail, wherein all directions respectively have three sensors (determining a plane at 3).Now, have 3 planes, a1, the a2 that measures gained be mirrored to stacking side gained a1, a2 plane and rotation platform in minute plane (can after rotating table is installed, measure acquisition); In rotation platform, minute plane and a1 can obtain, the X-axis of workpiece coordinate system; In rotation platform, minute plane and a2 can obtain, the Z axis of workpiece coordinate system; Plane a1 and a2 can obtain, the Y-axis of workpiece coordinate system; Therefore whole workpiece coordinate system determines, when turntable redirect to the stacking side, manipulator just can call the i.e. placing glass accurately of this system of axes.Coordinate computation process can be passed through PLC, also can complete by the computing machine of manipulator.
By reference to the accompanying drawings, provide working of an invention as follows:
As shown in the figure, horizontal surface distance measuring sensor H1～H3 of the present invention, vertical surface distance measuring sensor V1～V3 are placed in respectively on the upper mounting plate and guardrail of rotation platform (being on XbObYb, YbObZb plane), in addition along the YbObZb plane at the other side identical set the sensor (H1～H3 of rotation platform, V1～V3, implementation method is identical, no longer narration).After glass sheet package fixes on rotation platform, scaling board 1 is placed in respectively on two planes of glass sheet package with scaling board 2, and distance measuring sensor records its distance, has six groups of data; By 3 definite planes, known: plane a1, the a2 of glass sheet package, obtain, coordinate transformation (being mirrored to the stacking side) obtains a1, a2 plane; The XbObZb plane of rotation platform (can after the rotating table platform be installed, measure and obtain) is known; By plane X bObZb and a1, can be obtained: the X-axis of workpiece coordinate system; By plane X bObZb and a2, can be obtained: the Z axis of workpiece coordinate system; Plane a1 and a2 can obtain: the Y-axis of workpiece coordinate system; Therefore whole workpiece coordinate system determines, when turntable redirect to the stacking side, manipulator just can call the i.e. placing glass accurately of this system of axes.
Claims (6)
1. the localization method of a first glass piece in system of stacking glass by mechanical arm, it is characterized in that: the first horizontal surface distance measuring sensor H1, the second horizontal surface distance measuring sensor H2, the 3rd horizontal surface distance measuring sensor H3 and the first vertical surface distance measuring sensor V1, the second vertical surface distance measuring sensor V2, the 3rd vertical surface distance measuring sensor V3 is placed in respectively on the upper mounting plate and guardrail of rotation platform, be XbObYb, on the YbObZb plane, along the YbObZb plane at the other side identical set the sensor H1 of rotation platform, H2, H3 and V1, V2, V3, after glass sheet package fixes on rotation platform, the first scaling board and the second scaling board are placed in respectively on two planes of glass sheet package, distance measuring sensor records its distance, have six groups of data, determine that by 3 planes know, plane a1, the a2 of glass sheet package, coordinate transformation, then be mirrored to system of axes a1, the a2 plane of stacking side, the XbObZb plane of rotation platform is measured and is obtained after rotation platform is installed, and is obtained the X-axis of workpiece coordinate system by plane X bObZb and a1, obtained the Z axis of workpiece coordinate system by plane X bObZb and a2, plane a1 and a2 obtain the Y-axis of workpiece coordinate system, therefore whole workpiece coordinate system determines, when turntable redirect to the stacking side, manipulator calls the i.e. placing glass accurately of this system of axes.
2. the localization method of a kind of first glass piece in system of stacking glass by mechanical arm according to claim 1, it is characterized in that the first horizontal surface distance measuring sensor H1, the second horizontal surface distance measuring sensor H2, the 3rd horizontal surface distance measuring sensor H3 and the first vertical surface distance measuring sensor V1, the second vertical surface distance measuring sensor V2, the 3rd vertical surface distance measuring sensor V3 are placed in respectively on the upper mounting plate and guardrail of rotation platform, the turntable left and right sides is arranged symmetrically with.
3. the localization method of a kind of first glass piece in system of stacking glass by mechanical arm according to claim 1, is characterized in that this system of axes adopts 12 distance measuring sensors.
4. the localization method of a kind of first glass piece in system of stacking glass by mechanical arm according to claim 1, is characterized in that obtaining by distance measuring sensor two plane coordinates values of glass sheet package.
5. the localization method of a kind of first glass piece in system of stacking glass by mechanical arm according to claim 1, is characterized in that determining by the plane of scaling board the plane a1 of pallet, a2.
6. the localization method of a kind of first glass piece in system of stacking glass by mechanical arm according to claim 1, is characterized in that by coordinate transformation, obtained the workpiece coordinate system of manipulator by the plane measured.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110318896 CN102502268B (en) | 2011-10-19 | 2011-10-19 | Method for positioning first glass piece in system of stacking glass by mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110318896 CN102502268B (en) | 2011-10-19 | 2011-10-19 | Method for positioning first glass piece in system of stacking glass by mechanical arm |
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| Publication Number | Publication Date |
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| CN102502268A CN102502268A (en) | 2012-06-20 |
| CN102502268B true CN102502268B (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110318896 Active CN102502268B (en) | 2011-10-19 | 2011-10-19 | Method for positioning first glass piece in system of stacking glass by mechanical arm |
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| CN106516743B (en) * | 2016-11-30 | 2020-09-25 | 东旭科技集团有限公司 | Device, method and system for correcting placement position of substrate |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0010778A2 (en) * | 1978-11-06 | 1980-05-14 | Cor-Mac Division of Vanguard Machinery Corporation | Piling arrangement |
| CN85201856U (en) * | 1985-04-14 | 1986-10-22 | 天津市药材公司北菜园仓库 | Stacker |
| CN1091193A (en) * | 1992-10-23 | 1994-08-24 | 碧克公司 | The lighter of selectively actuatable |
| US6323844B1 (en) * | 1997-08-11 | 2001-11-27 | Fu-Kuo Yeh | Cursor controlling device and the method of the same |
| CN101118899A (en) * | 2006-07-31 | 2008-02-06 | 温泰克工业有限公司 | Apparatus and method for arranging predetermined element on target platform |
| CN201619884U (en) * | 2010-02-08 | 2010-11-03 | 名硕电脑(苏州)有限公司 | Automatic stacking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116763A (en) * | 1991-04-22 | 1993-05-14 | Okano Tekkosho Kk | Conveying device |
-
2011
- 2011-10-19 CN CN 201110318896 patent/CN102502268B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0010778A2 (en) * | 1978-11-06 | 1980-05-14 | Cor-Mac Division of Vanguard Machinery Corporation | Piling arrangement |
| CN85201856U (en) * | 1985-04-14 | 1986-10-22 | 天津市药材公司北菜园仓库 | Stacker |
| CN1091193A (en) * | 1992-10-23 | 1994-08-24 | 碧克公司 | The lighter of selectively actuatable |
| US6323844B1 (en) * | 1997-08-11 | 2001-11-27 | Fu-Kuo Yeh | Cursor controlling device and the method of the same |
| CN101118899A (en) * | 2006-07-31 | 2008-02-06 | 温泰克工业有限公司 | Apparatus and method for arranging predetermined element on target platform |
| CN201619884U (en) * | 2010-02-08 | 2010-11-03 | 名硕电脑(苏州)有限公司 | Automatic stacking device |
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| CN102502268A (en) | 2012-06-20 |
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