CN106809650A - A kind of glass handling equipment and its control method - Google Patents
A kind of glass handling equipment and its control method Download PDFInfo
- Publication number
- CN106809650A CN106809650A CN201710110822.9A CN201710110822A CN106809650A CN 106809650 A CN106809650 A CN 106809650A CN 201710110822 A CN201710110822 A CN 201710110822A CN 106809650 A CN106809650 A CN 106809650A
- Authority
- CN
- China
- Prior art keywords
- sucker
- line slideway
- glass
- slide
- leading screw
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- 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
The present invention relates to glass handling equipment, including frame, feeding mechanical device and blanking mechanical device；Frame is mainly made up of crossbeam, column A, column B and column C；Crossbeam is set on the column A, column B, column C；Line slideway A and line slideway B, line slideway C and line slideway D are provided with crossbeam；Line slideway A and line slideway B centre positions are provided with leading screw A；The beneficial effects of the invention are as follows：1) realize full-automatic the picking up of glass to put, for the automation transmission of glass between different station provides technical support；2) positioning precision of the glass on work top after station conversion is ensured；3) labour intensity is reduced, production efficiency is improve.Using double large span mechanical structure, compared to a dead lift, glass positioning precision is effectively ensured, reduces labour intensity；Compared to Manipulator Transportation, station number is unrestricted, reduces production cost.
Description
Technical field
Patent of the present invention is related to glass processing field, is in particular a kind of glass handling equipment and its controlling party
Method.
Background technology
The loading and unloading of glass are essential programs during glass processing, directly affect the precision and effect of glass processing
Rate.During current glass processing, loading and unloading of the glass between different station mainly use two kinds of engineered form and manipulator
Form.Engineered form's one side production efficiency is low, and another aspect glass in process will be between different station back and forth
It is mobile, it is positioned manually when another station is changed to from a station and easily produces larger error.Current manipulator is suitable for
Glass is picked up and put between two stations, when station number is more, is required for manipulator to coordinate loading and unloading between each two station, into
This is higher.
The content of the invention
This patent in order to during overcoming current glass processing station number limited to, labour intensity is big, low production efficiency
Lower the problems such as, a kind of loading and unloading mechanical device of double large span is devised, device can be more according to setting the need for production line
Individual station, realizes flexible production；This patent devises a kind of control method of the device simultaneously.
To realize above-mentioned technical purpose, present invention employs following technical scheme：Glass handling equipment, including frame,
Feeding mechanical device and blanking mechanical device；
Frame is mainly made up of crossbeam, column A, column B and column C；Set on the column A, column B, column C horizontal
Beam；Line slideway A and line slideway B, line slideway C and line slideway D are provided with crossbeam；Line slideway A and line slideway B
Centre position is provided with leading screw A；Leading screw A is arranged on crossbeam by fixed seat C, fixed seat D；Line slideway C and line slideway D
Centre position is provided with leading screw B；Leading screw B is arranged on crossbeam by fixed seat A, fixed seat B；
The feeding mechanical device is made up of three parts, including by slide A, servomotor A, synchronous pulley A, Timing Belt A,
The traverse gear that synchronous pulley B, fixed plate A are constituted；By servo motor B, leading screw C, line slideway E, line slideway F, solid
The longitudinal driving device that fixed board B, shaft coupling A, slide B are constituted；By linking arm A, protective housing A, cylinder A, cylindrical guide A, cylinder
Guide rail A, sucker A, upper limit sensors A, the suction means that lower limit level sensor B is constituted；
The blanking mechanical arm is made up of three parts, including by slide C, servomotor C, Timing Belt B, synchronous pulley C, same
The traverse gear that step belt wheel D, fixed plate C are constituted；By servomotor D, leading screw D, line slideway G, line slideway H, slide D
The longitudinal driving device of composition；Passed by linking arm B, protective housing B, cylinder B, cylindrical guide C, cylindrical guide D, sucker B upper limits
The suction means that sensor C, lower limit level sensor D are constituted.
Drag chain A, drag chain B are provided with the crossbeam；Support A, support B, support C, support D are provided with the crossbeam.
Fixed plate A is provided with the slide A；Servomotor A is set in fixed plate A；Servomotor A passes through shaft coupling B
Connected with synchronous pulley B；Synchronous pulley B is connected by Timing Belt A with synchronous pulley A；Synchronous pulley A by feed screw nut B with
Leading screw B connection composition traverse gears.
Synchronous pulley B is driven to rotate when the servomotor A is rotated, synchronous pulley B drives synchronous pulley by Timing Belt A
A is rotated；Synchronous pulley A is rotated and is driven feed screw nut B to rotate；Feed screw nut B is moved along leading screw B, while driving slide A straight
Line guide rail C, line slideway D are moved in the X-axis direction.Sensor B signal triggering on slide A, servomotor A stops operating, on
Material mechanical device stops at X-direction motion；Servo motor B is rotated and drives leading screw C to rotate；Leading screw C is rotated and is driven slide B straight
Moved along Y-axis on line guide rail E, line slideway F.Feed screw nut A is connected with fixed seat E interference.
Sensors A is provided with the fixed plate B, when the triggering of sensors A signal, servo motor B stops operating, slide B
Stop at and moved along Y direction on line slideway E, line slideway F；Limit switches A is set on fixed plate B, is slided with protection
The effect of seat B.
The slide B is connected with linking arm A；Linking arm A is connected with protective housing A；Protective housing A is internally provided with cylinder A, gas
Cylinder A is connected composition suction means with sucker A；Cylinder A drives sucker A to move up and down.
Fixed plate C is provided with the slide C；Servomotor C is provided with fixed plate C；Servomotor C passes through shaft coupling
C is connected with synchronous pulley C；Synchronous pulley C is connected by Timing Belt B with synchronous pulley D；Synchronous pulley C by feed screw nut D with
Leading screw A is connected；Synchronous pulley C is driven to rotate when servomotor C is rotated, synchronous pulley C drives synchronous pulley D by Timing Belt B
Rotate；Feed screw nut D is moved along leading screw A, while driving slide C to be moved along X-axis in line slideway A, line slideway C；Slide C
On be provided with sensor C；Sensor C signal triggering on slide C, servomotor C stops operating, and feeding machinery assembling device stops
In X-direction motion；The slide C is connected with linking arm B；Linking arm B is connected with protective housing B；Protective housing B is internally provided with
Cylinder B, cylinder B is connected with sucker B.
Fixed plate B is provided with the slide A；Line slideway E, line slideway F are provided with fixed plate B.Line slideway
Slide B is provided with E, line slideway F；Servo motor B is provided with slide B；Servo motor B is connected by shaft coupling with leading screw C
Connect；Leading screw C is connected by feed screw nut A with fixed seat E；Fixed seat E is arranged on slide B；Fixed plate C is provided with slide C；
Line slideway G, line slideway H are provided with the fixed plate C；Line slideway G, line slideway H are connected with slide D；On slide D
It is provided with servomotor D；Servomotor D is connected by shaft coupling with leading screw D；Leading screw D is connected by feed screw nut C with fixed seat
Connect；Fixed seat is arranged in the middle of slide D.
Sensors A is provided with the fixed plate B, when the triggering of sensors A signal, servo motor B stops operating, slide B
Stop at and moved along Y direction on line slideway E, line slideway F.
This glass handling equipment, comprises the following steps：
The first step：Transverse moving device is defined as X to numerical control axle, lengthwise movement device is defined as Y-direction numerical control axle；
Second step：Each numerical control axle back to zero, waits null pick-up A, null pick-up B, null pick-up A, zero-bit sensing
Device a-signal is triggered, and back to zero terminates；Cylinder A and cylinder B resets, and treats upper limit position sensors A, upper limit position sensor C and lower limit
Position sensor B, lower position sensor D signal triggerings, reset terminate；
3rd step：X is moved to numerical control axle and Y-direction numerical control axle to feeding station, processing stations and discharge station overcentre,
Each station centre coordinate is recorded, and is stored in controller internal RAM fixing address space；
4th step：Feeding device X makes sucker A move to feeding station centre bit to numerical control axle Y-direction numerical control axle moving interpolation
Put top；
5th step：Electromagnetism valve events, cylinder A promotes sucker A to move downward, and waits the triggering of lower limit level sensor B signal, inhales
Disk A stop motions；
6th step：Electromagnetism valve events, sucker A is vacuumized, vacuum between detection sucker A and glass, waits vacuum to pass
Sensor is triggered, and sucker A sucks glass；Station electromagnetism valve events, feeding station sucker release glass；
7th step：Electromagnetism valve events, cylinder A drives sucker A to move upwards, treats that upper limit sensors A signal is triggered, sucker
A stops motion upwards, and glass is raised；
8th step：Feeding device X makes glass be moved to processing stations centre bit to numerical control axle, Y-direction numerical control axle moving interpolation
Put top；
9th step：Electromagnetism valve events, cylinder A promotes sucker A to move downward, and treats that lower limit level sensor B signal is triggered, sucker
A stop motions, glass is placed on processing stations sucker；
Tenth step：Station electromagnetism valve events, processing stations sucker sucks glass；Electromagnetism valve events, sucker A air inlets, detection
Vacuum between sucker A and glass, waits vacuum sensor blackout, sucker A release glass；
11st step：Electromagnetism valve events, cylinder A drives sucker A to move upwards, treats that upper limit sensor C signal is triggered, sucker
A stop motions, reset after sucker A release glass；
12nd step：Feeding device X makes sucker A move to position of readiness to numerical control axle Y-direction numerical control axle moving interpolation；
13rd step：Station to be processed completes processing, and blanking device X makes suction to numerical control axle, Y-direction numerical control axle moving interpolation
Disk B is moved to processing stations center top；
14th step：Electromagnetism valve events, cylinder B drives sucker B to move downward, and treats that lower limit level sensor D signals are triggered, and inhales
Disk B stop motions；
15th step：Electromagnetism valve events, sucker B is vacuumized, vacuum between detection sucker B and glass, waits vacuum
Sensor-triggered, sucker B sucks glass；Station electromagnetism valve events, processing stations sucker release glass；
16th step：Electromagnetism valve events, cylinder B drives sucker B to move upwards, treats that upper limit level sensor C signal is triggered, and inhales
Disk B stop motions, glass is raised；
17th step：Blanking device X makes glass be moved to unloading station center to numerical control axle, Y-direction numerical control axle moving interpolation
Position top；
18th step：Electromagnetism valve events, cylinder B drives sucker B to move downward, and treats that lower limited sensor D signals are triggered, sucker
B stop motions；
19th step：Electromagnetism valve events, sucker B air inlets, vacuum between detection sucker B and glass waits vacuum to pass
Sensor signal disappears, sucker B release glass, completes discharging.
The beneficial effects of the invention are as follows：1) realize full-automatic the picking up of glass to put, be that the automation of glass between different station is passed
Send there is provided technical support；2) positioning precision of the glass on work top after station conversion is ensured；3) labour intensity is reduced,
Improve production efficiency.Using double large span mechanical structure, compared to a dead lift, glass positioning precision is effectively ensured,
Reduce labour intensity；Compared to Manipulator Transportation, station number is unrestricted, reduces production cost.
Brief description of the drawings
Fig. 1：Handling equipment overall structure diagram.
Fig. 2：Feeding machinery apparatus structure schematic diagram.
Fig. 3：Feeding mechanical device partial schematic diagram, as the supplement of Fig. 2.
Fig. 4：Feeding mechanical device partial schematic diagram, as the supplement of Fig. 2.
Fig. 5：Blanking mechanical apparatus structure schematic diagram.
Fig. 6：Blanking device partial schematic diagram, as the supplement of Fig. 5.
Fig. 7：Blanking device partial schematic diagram, as the supplement of Fig. 5.
Fig. 8：Input control principle drawing.
Fig. 9：Output control schematic diagram.
Description of reference numerals：Crossbeam 1, column A2, column B3, column C4, line slideway A5, line slideway C6, straight line are led
Rail B7, line slideway D8, leading screw A9, leading screw B10, drag chain A11, support A12, support B13, drag chain B14, support C15, support
It is D16, fixed seat A17, fixed seat B18, fixed seat C19, fixed seat D20, slide A21, synchronous pulley A22, Timing Belt B23, same
Step band C24, fixed plate A 25, servomotor A26, fixed block A27, fixed plate B28, limit switch A29, line slideway E30, silk
Thick stick C31, line slideway F32, by servo motor B 33, support E34, null pick-up A35, support F36, null pick-up B37,
Limit switch B38, linking arm A39, protective housing A40, cylinder A41, sucker A42, upper limit sensors A 43, lower limit level sensor
B44, oil pipe A45, cylindrical guide A46, cylindrical guide B47, feed screw nut A48, shaft coupling A49, shaft coupling B50, feed screw nut
It is B51, slide B52, fixed seat E53, slide C54, servomotor C55, fixed plate C56, synchronous pulley C57, Timing Belt B58, same
Step belt wheel D59, limit switch C60, null pick-up C61, fixed plate C62, fixed block B63, line slideway G64, line slideway
H65, fixed block B66, leading screw D67, feed screw nut C68, guide-track groove A69, guide-track groove B70, limit switch C71, slide D72, company
Meet arm B73, protective housing B74, cylinder B75, cylindrical guide C76, cylindrical guide D77, sucker B78, upper limit level sensor C79, watch
Take motor D80, null pick-up D81, feed screw nut D82, shaft coupling C83, shaft coupling D84, oil pipe B85, lower limit level sensor
D86。
Specific embodiment
The present invention is described further with reference to embodiment.The explanation of following embodiments is only intended to help and understands this
Invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, also
Some improvement and modification can be carried out to the present invention, these are improved and modification also falls into the protection domain of the claims in the present invention
It is interior.
As shown in Figure 1：A kind of glass handling equipment is main by frame, feeding mechanical device, three, blanking mechanical device
It is grouped into.Crossbeam 1 is provided with the column A2 of frame, column B3, column C4；Line slideway A5, straight line is provided with crossbeam 1 to lead
Rail B7, line slideway C6, line slideway D8；Line slideway A5 and line slideway B7 centre positions pass through fixed seat C19, fixed seat
D20 is provided with leading screw A9；Line slideway C6 and line slideway D8 centre positions are provided with silk by fixed seat A17, fixed seat B18
Thick stick B10.
The drag chain A11, drag chain B14 are arranged at the top of crossbeam 1；The support A12, support B13, support C15, support
D16 is arranged at the top of crossbeam 1.
As shown in Figure 2：Feeding mechanical arm is made up of three parts；Including by slide A21, servomotor A26, synchronous pulley
The traverse gear that A22, Timing Belt B23, Timing Belt C24, fixed plate A 25 are constituted；By servo motor B 33, leading screw C31, straight
Longitudinal transmission mechanism that line guide rail E30, line slideway F32, fixed plate B28, feed screw nut A48, slide B52 are constituted；By connecting
Arm A39, protective housing A40, cylinder A41, cylindrical guide A46, cylindrical guide B47, sucker A42, upper limit sensors A 43, lower limit
Level sensor B44, the suction means for constituting.
Slide A21 is arranged on line slideway A5, line slideway B7；Line slideway A5, line slideway B7 have be oriented to and
Support the effect of feeding mechanical device.
Leading screw B10 is connected by feed screw nut B51 with synchronous pulley A22, wherein feed screw nut B51 and synchronous pulley A22
Interference is connected.Synchronous pulley A22 is connected by Timing Belt A23 with synchronous pulley B24；Synchronous pulley B24 by shaft coupling B50 with
Servomotor A26 is connected；Servomotor A26 is arranged in fixed plate A 25；Fixed plate A 25 is arranged on slide A21.Servo electricity
Band movable belt pulley B24 is rotated when machine A26 is rotated, and synchronous pulley B24 drives synchronous pulley A22 to rotate by synchronized band A23；Together
Step belt wheel A22 is rotated and is driven feed screw nut 51 to rotate；Feed screw nut B51 is moved along leading screw B10, while driving slide A21 to exist
Line slideway A5, line slideway B7 are moved in the X-axis direction.
Null pick-up B37 is provided with slide A21, when the null pick-up B37 signals triggering on slide A21, servo
Motor C55 stops operating, and feeding mechanical device stops at X-direction motion.
As shown in Figure 2：Fixed plate B28 is provided with slide A21；Fixed plate B28 bottoms are provided with line slideway E30, straight
Line guide rail F32；Line slideway E30, line slideway F32 lower ends are provided with slide B52；Servomotor is provided with slide B52
B33；Servo motor B 33 is connected by shaft coupling A49 with leading screw C31；
Slide B52 middle settings have fixed seat E53；Feed screw nut A48 is provided with fixed seat E53 through holes；Wherein fix
Seat E53 is connected with feed screw nut A48 interference；Leading screw C31 is connected by feed screw nut A48 with fixed seat E53.Servo motor B 33
Rotate and drive leading screw C31 to rotate；Leading screw is rotated and drives slide B52 to be moved along Y-axis on line slideway E30, line slideway F32.
Null pick-up A35 is provided with fixed plate B28, when the triggering of null pick-up A35 signals, servo motor B 33 stops
Rotation stop is moved, and slide B52 is stopped at and moved along Y direction on line slideway E30, line slideway F32.It is provided with fixed plate B28
Limit switch A29, realizes the protective effect to slide B52.
As shown in Figure 2：Suction means is by linking arm A39, protective housing A40, cylinder A41, cylindrical guide A46, cylindrical guide
B47, sucker A42, upper limit sensors A 43, lower limit level sensor B44 are constituted.Cylinder A41 is arranged in protective housing A40, cylinder
A41 both sides are respectively arranged with cylindrical guide A46, cylindrical guide B47；Cylinder A41 drives sucker A42 to move up and down.
As shown in Figure 5：Blanking mechanical arm is made up of three parts, including by slide C54, servomotor C55, Timing Belt B58,
The traverse gear that synchronous pulley C57, synchronous pulley D59, fixed plate C56 are constituted；By servomotor D80, leading screw D67, straight
The longitudinal driving device that line guide rail G64, line slideway H65, fixed plate C62, slide D72 are constituted；By linking arm B73, protective housing
B74, cylinder B75, cylindrical guide C76, cylindrical guide D77, sucker B78, upper limit level sensor C79, lower limit level sensor D86 structures
Into suction means.
Slide C54 is arranged on line slideway A5, line slideway C6；
Leading screw A9 is connected by feed screw nut D82 with synchronous pulley D59；Synchronous pulley D59 by Timing Belt B58 with it is synchronous
Belt wheel C57 is connected；Synchronous pulley C57 is connected by shaft coupling C83 with servomotor C55；Driven when servomotor C55 is rotated same
Step belt wheel C57 is rotated, and synchronous pulley C57 drives synchronous pulley D59 to rotate by Timing Belt B58；Synchronous pulley D59 is rotated and driven
Feed screw nut D82 is rotated；Feed screw nut D82 is moved along leading screw A9, while driving slide C54 to be led in line slideway A5, straight line
Rail C6 is moved along X-axis.
Null pick-up C61 signals triggering on slide C54, servomotor C55 stops operating, and blanking mechanical device stops
In X-direction motion.
As shown in Figure 5：Fixed plate C62 is provided with slide C54；Fixed plate C62 bottoms are provided with line slideway G64, straight
Line guide rail H65；Line slideway G64, line slideway H65 are connected with slide D72；Servomotor D80 is provided with slide D72；Watch
Motor D80 is taken to be connected with leading screw D67 by shaft coupling D84；Slide D72 middle settings have fixed block B66；Fixed block B66 through holes
Inside it is provided with feed screw nut C68；Fixed block B66 is connected with feed screw nut C68 interference；Fixed block B66 by feed screw nut C68 with
Leading screw D67 is connected.
Servomotor D80 is connected by shaft coupling D84 with leading screw D67；Servomotor D80 is rotated and is driven leading screw D67 to rotate；
Leading screw D67 is rotated and is driven slide D72 to be moved along Y direction on line slideway G64, line slideway H65.Wherein feed screw nut
C68 is connected with fixed block B66 interference.
Null pick-up D81 is provided with fixed plate C62, when the triggering of null pick-up D81 signals, servomotor D80 stops
Rotation stop is moved, and slide D72 is stopped at and moved along Y direction on line slideway G64, line slideway H65.Set limited on slide C54
Bit switch C60, realizes the protective effect to slide C54.
As shown in Figure 7：The upper limit is provided with protective housing B74 for sensor C79, lower limit level sensor D86, when lower limit is passed
When sensor D86 is triggered, vacuumized between sucker B78 and glass；When upper limit level sensor C79 is triggered, sucker stops motion upwards.
A kind of control method of glass handling equipment of the invention, the method is realized by procedure below：
The first step：Transverse moving device is defined as X to numerical control axle, lengthwise movement device is defined as Y-direction numerical control axle.
Second step：Each numerical control axle back to zero, waits null pick-up A35, null pick-up B37, null pick-up A61, zero
Level sensor A81 signals are triggered, and back to zero terminates；Cylinder A41 and cylinder B75 resets, and treats upper limit position sensors A 43, upper limit
Sensor C79 and lower position sensor B44, lower position sensor D86 signal triggerings are put, reset terminates.
3rd step：X is moved to numerical control axle and Y-direction numerical control axle to feeding station, processing stations and discharge station overcentre,
Each station centre coordinate is recorded, and is stored in controller internal RAM fixing address space；
4th step：Feeding device X makes sucker A42 move to feeding station center to numerical control axle Y-direction numerical control axle moving interpolation
Position top；
5th step：Magnetic valve 1 is acted, and cylinder A41 promotes sucker A42 to move downward, and waits lower limit level sensor B44 signals
Triggering, sucker A42 stop motions.
6th step：Magnetic valve 2 is acted, and sucker A42 is vacuumized, vacuum between detection sucker A42 and glass, waits vacuum
Degree sensor 1 is triggered, and sucker A42 sucks glass；The electromagnetism valve events of station 1, feeding station sucker release glass.
7th step：Magnetic valve 1 is acted, and cylinder A41 drives sucker A42 to move upwards, treats that the signal of upper limit sensors A 43 is touched
Hair, sucker A42 stops motion upwards, and glass is raised.
8th step：Feeding device X makes glass be moved to processing stations centre bit to numerical control axle, Y-direction numerical control axle moving interpolation
Put top.
9th step：Magnetic valve 1 is acted, and cylinder A41 promotes sucker A42 to move downward, and treats that lower limit level sensor B44 signals are touched
Hair, sucker A42 stop motions, glass is placed on processing stations sucker.
Tenth step：The electromagnetism valve events of station 2, processing stations sucker sucks glass.Magnetic valve 2 is acted, sucker A42 air inlets,
Vacuum between detection sucker A42 and glass, waits the blackout of vacuum sensor 1, sucker A41 release glass.
11st step：Magnetic valve 1 is acted, and cylinder A41 drives sucker A42 to move upwards, treats that upper limit sensor A43 signals are touched
Hair, sucker A42 stop motions reset after sucker A42 release glass.
12nd step：Feeding device X makes sucker A42 move to position of readiness to numerical control axle Y-direction numerical control axle moving interpolation；
13rd step：Station to be processed completes processing, and blanking device X is mobile to numerical control axle, Y-direction numerical control axle moving interpolation
To processing stations center top.
14th step：Magnetic valve 3 is acted, and cylinder B75 drives sucker B78 to move downward, and treats lower limit level sensor D86 signals
Triggering, sucker B78 stop motions,
15th step：Magnetic valve 4 is acted, and sucker B78 is vacuumized, vacuum between detection sucker B78 and glass, waits true
Reciprocal of duty cycle sensor 2 is triggered, and sucker B78 sucks glass；The electromagnetism valve events of station 2, processing stations sucker release glass.
16th step：Magnetic valve 3 is acted, and cylinder B75 drives sucker B78 to move upwards, treats upper limit level sensor C79 signals
Triggering, sucker B78 stop motions, glass is raised.
17th step：Blanking device X makes glass be moved to unloading station center to numerical control axle, Y-direction numerical control axle moving interpolation
Position top.
18th step：Magnetic valve 3 is acted, and cylinder B75 drives sucker B78 to move downward, and treats that lower limited sensor D86 signals are touched
Hair, sucker B78 stop motions.
19th step：Magnetic valve 4 is acted, sucker B78 air inlets, vacuum between detection sucker B78 and glass, waits vacuum
The degree blackout of sensor 2, sucker B78 release glass, completes discharging.
The cylinder is acted by controller through solenoid valve control realization, and the source of the gas of cylinder is provided by air compressor machine；Mechanical arm
Movement locus and movement velocity can be adjusted according to processing request；Force of suction cup size can be entered according to the weight of processing glass
Row regulation.
Claims (10)
1. a kind of glass handling equipment, it is characterised in that：Including frame, feeding mechanical device and blanking mechanical device；
Frame is mainly made up of crossbeam (1), column A (2), column B (3) and column C (4)；The column A (2), column B (3),
Crossbeam (1) is set on column C (4)；Line slideway A (5) and line slideway B (7), line slideway C (6) are provided with crossbeam (1)
With line slideway D (8)；Line slideway A (5) and line slideway B (7) centre position are provided with leading screw A (9)；Leading screw A (9) passes through
Fixed seat C (19), fixed seat D (20) are arranged on crossbeam (1)；Line slideway C (6) and line slideway D (8) centre position are set
There is leading screw B (10)；Leading screw B (10) is arranged on crossbeam (1) by fixed seat A (17), fixed seat B (18)；
The feeding mechanical device is made up of three parts, including by slide A (21), servomotor A (26), synchronous pulley A (22),
The traverse gear that Timing Belt A (23), synchronous pulley B (24), fixed plate A (25) are constituted；By servo motor B (33), leading screw C
(31), the longitudinal direction that line slideway E (30), line slideway F (32), fixed plate B (28), shaft coupling A (49), slide B (52) are constituted
Transmission device；By linking arm A (39), protective housing A (40), cylinder A (41), cylindrical guide A (46), cylindrical guide A (47), sucker
A (42), upper limit sensors A (43), the suction means that lower limit level sensor B (44) is constituted；
The blanking mechanical arm is made up of three parts, including by slide C (54), servomotor C (55), Timing Belt B (58), synchronization
The traverse gear that belt wheel C (57), synchronous pulley D (59), fixed plate C (56) are constituted；By servomotor D (80), leading screw D
(67), the longitudinal driving device that line slideway G (64), line slideway H (65), slide D (72) are constituted；By linking arm B (73), prevent
Protecting box B (74), cylinder B (75), cylindrical guide C (76), cylindrical guide D (77), sucker B (78) upper limit level sensor C (79), under
The suction means that limit sensors D (86) is constituted.
2. glass handling equipment according to claim 1, it is characterised in that：Drag chain A is provided with the crossbeam (1)
(11), drag chain B (14)；Support A (12), support B (13), support C (15), support D (16) are provided with the crossbeam (1).
3. glass handling equipment according to claim 2, it is characterised in that：Fixation is provided with the slide A (21)
Plate A (25)；Servomotor A (26) is set in fixed plate A (25)；Servomotor A (26) is by shaft coupling B (50) and synchronous pulley
B (24) is connected；Synchronous pulley B (24) is connected by Timing Belt A (23) with synchronous pulley A (22)；Synchronous pulley A (22) is by silk
Thick stick nut B (51) is connected composition traverse gear with leading screw B (10).
4. glass handling equipment according to claim 3, it is characterised in that：Band when the servomotor A (26) rotates
Dynamic synchronous pulley B (24) is rotated, and synchronous pulley B (24) drives synchronous pulley A (22) to rotate by Timing Belt A (23)；Timing Belt
Wheel A (22) is rotated and drives feed screw nut B (51) to rotate；Feed screw nut B (51) is moved along leading screw B (10), while driving slide A
(21) moved in the X-axis direction in line slideway C (6), line slideway D (8).Sensor B (37) signal on slide A (21) is touched
Hair, servomotor A (26) stops operating, and feeding mechanical device stops at X-direction motion；Servo motor B (33) is rotated and driven
Leading screw C (31) is rotated；Leading screw C (31) is rotated and is driven slide B (52) on line slideway E (30), line slideway F (32) along Y-axis
Motion；Feed screw nut A (48) is connected with fixed seat E (53) interference.
5. glass handling equipment according to claim 4, it is characterised in that：Biography is provided with the fixed plate B (28)
Sensor A (35), when the triggering of sensors A (35) signal, servo motor B (33) stops operating, and slide B (52) stops at line slideway
E (30), line slideway F are moved on (32) along Y direction；Limit switches A (29) are set on fixed plate B (28), with protection
The effect of slide B (52).
6. glass handling equipment according to claim 5, it is characterised in that：The slide B (52) and linking arm A (39)
Connection；Linking arm A (39) is connected with protective housing A (40)；Protective housing A (40) be internally provided with cylinder A (41), cylinder A (41) with
Sucker A (42) connection composition suction means；Cylinder A (41) drives sucker A (42) to move up and down.
7. glass handling equipment according to claim 6, it is characterised in that：Fixation is provided with the slide C (54)
Plate C (56)；Servomotor C (55) is provided with fixed plate C (56)；Servomotor C (55) is by shaft coupling C (83) and Timing Belt
Wheel C (57) connection；Synchronous pulley C (57) is connected by Timing Belt B (58) with synchronous pulley D (59)；Synchronous pulley C (57) passes through
Feed screw nut D (82) is connected with leading screw A (9)；Synchronous pulley C (57) is driven to rotate when servomotor C (55) is rotated, synchronous pulley
C (57) drives synchronous pulley D (59) to rotate by Timing Belt B (58)；Feed screw nut D (82) is moved along leading screw A (9), while
Slide C (54) is driven to be moved along X-axis in line slideway A (5), line slideway C (6)；Slide C is provided with sensor C on (54)
(61)；Sensor C (61) signal triggering on slide C (54), servomotor C (55) stops operating, and feeding machinery assembling device stops
Only moved in X-direction；The slide C (54) is connected with linking arm B (73)；Linking arm B (73) is connected with protective housing B (74)
Connect；Protective housing B (74) is internally provided with cylinder B (75), and cylinder B (75) is connected with sucker B (78).
8. glass handling equipment according to claim 7, it is characterised in that：Fixation is provided with the slide A (21)
Plate B (28)；Line slideway E (30), line slideway F (32) are provided with fixed plate B (28)；Line slideway E (30), line slideway
Slide B (52) is provided with F (32)；Servo motor B (33) is provided with slide B (52)；Servo motor B (33) is by shaft coupling
(49) it is connected with leading screw C (31)；Leading screw C (31) is connected by feed screw nut A (48) with fixed seat E (53)；Fixed seat E (53) sets
It is placed on slide B (52)；Fixed plate C (62) is provided with slide C (54)；Line slideway G is provided with the fixed plate C (62)
(64), line slideway H (65)；Line slideway G (64), line slideway H (65) are connected with slide D (72)；Set on slide D (72)
There is servomotor D (80)；Servomotor D (80) is connected by shaft coupling (84) with leading screw D (67)；Leading screw D (67) is by leading screw
Nut C (68) is connected with fixed seat (66)；Fixed seat (66) is arranged in the middle of slide D (72).
9. glass handling equipment according to claim 8, it is characterised in that：Biography is provided with the fixed plate B (28)
Sensor A (35), when the triggering of sensors A (35) signal, servo motor B (33) stops operating, and slide B (52) stops at line slideway
E (30), line slideway F are moved on (32) along Y direction.
10. glass handling equipment according to claim 9, it is characterised in that comprise the following steps：
The first step：Transverse moving device is defined as X to numerical control axle, lengthwise movement device is defined as Y-direction numerical control axle；
Second step：Each numerical control axle back to zero, wait null pick-up A (35), null pick-up B (37), null pick-up A (61),
Null pick-up A (81) signal is triggered, and back to zero terminates；Cylinder A (41) and cylinder B (75) resets, and treats upper limit position sensors A
(43), upper limit position sensor C (79) and lower position sensor B (44), the triggering of lower position sensor D (86) signal, multiple
Terminate position；
3rd step：Mobile X, to feeding station, processing stations and discharge station overcentre, is recorded to numerical control axle and Y-direction numerical control axle
Each station centre coordinate, and be stored in controller internal RAM fixing address space；
4th step：Feeding device X makes sucker A (42) move to feeding station centre bit to numerical control axle Y-direction numerical control axle moving interpolation
Put top；
5th step：Magnetic valve (1) is acted, and cylinder A (41) promotes sucker A (42) to move downward, and waits lower limit level sensor B (44)
Signal is triggered, sucker A (42) stop motion；
6th step：Magnetic valve (2) is acted, and sucker A (42) is vacuumized, and detects sucker A (42) vacuum and glass between, waits true
Reciprocal of duty cycle sensor (1) is triggered, and sucker A (42) sucks glass；The electromagnetism valve events of station 1, feeding station sucker release glass；
7th step：Magnetic valve (1) is acted, and cylinder A (41) drives sucker A (42) to move upwards, treats that upper limit sensors A (43) is believed
Number triggering, sucker A (42) stops motion upwards, and glass is raised；
8th step：Feeding device X makes glass be moved on processing stations center to numerical control axle, Y-direction numerical control axle moving interpolation
Side；
9th step：Magnetic valve (1) is acted, and cylinder A (41) promotes sucker A (42) to move downward, and treats that lower limit level sensor B (44) is believed
Number triggering, sucker A (42) stop motion, glass is placed on processing stations sucker；
Tenth step：Station (2) electromagnetism valve events, processing stations sucker sucks glass；Magnetic valve (2) is acted, and sucker A (42) enters
Gas, detects sucker A (42) vacuum and glass between, waits vacuum sensor (1) blackout, sucker A (41) release glass
Glass；
11st step：Magnetic valve (1) is acted, and cylinder A (41) drives sucker A (42) to move upwards, treats that upper limit sensor C (43) believes
Number triggering, sucker A (42) stop motion, sucker A (42) release glass after reset；
12nd step：Feeding device X makes sucker A (42) move to position of readiness to numerical control axle Y-direction numerical control axle moving interpolation；
13rd step：Station to be processed completes processing, and blanking device X makes sucker B to numerical control axle, Y-direction numerical control axle moving interpolation
(78) it is moved to processing stations center top；
14th step：Magnetic valve (3) is acted, and cylinder B (75) drives sucker B (78) to move downward, and treats lower limit level sensor D (86)
Signal is triggered, sucker B (78) stop motion；
15th step：Magnetic valve (4) is acted, and sucker B (78) is vacuumized, and detects sucker B (78) vacuum and glass between, is waited
Vacuum sensor (2) is triggered, and sucker B (78) sucks glass；The electromagnetism valve events of station 2, processing stations sucker release glass；
16th step：Magnetic valve (3) is acted, and cylinder B (75) drives sucker B (78) to move upwards, treats upper limit level sensor C (79)
Signal is triggered, and sucker B (78) stop motion, glass is raised；
17th step：Blanking device X makes glass be moved to unloading station center to numerical control axle, Y-direction numerical control axle moving interpolation
Top；
18th step：Magnetic valve (3) is acted, and cylinder B (75) drives sucker B (78) to move downward, and treats that lower limited sensor D (86) believes
Number triggering, sucker B (78) stop motion；
19th step：Magnetic valve (4) is acted, sucker B (78) air inlet, detects sucker B (78) vacuum and glass between, waits true
Reciprocal of duty cycle sensor (2) blackout, sucker B (78) release glass, completes discharging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110822.9A CN106809650B (en) | 2017-02-28 | 2017-02-28 | Glass loading and unloading device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110822.9A CN106809650B (en) | 2017-02-28 | 2017-02-28 | Glass loading and unloading device and control method thereof |
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| Publication Number | Publication Date |
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| CN106809650A true CN106809650A (en) | 2017-06-09 |
| CN106809650B CN106809650B (en) | 2023-07-21 |
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| CN107243730A (en) * | 2017-07-28 | 2017-10-13 | 威海志航机电科技有限公司 | Radiator automatic charging blanking device |
| CN107825293A (en) * | 2017-11-28 | 2018-03-23 | 芜湖中驰机床制造有限公司 | A kind of portable mechanical arm |
| CN107932313A (en) * | 2017-11-28 | 2018-04-20 | 芜湖中驰机床制造有限公司 | A kind of polishing machine tool manipulator |
| CN107932312A (en) * | 2017-11-28 | 2018-04-20 | 芜湖中驰机床制造有限公司 | A kind of workpiece transmission manipulator |
| CN109677930A (en) * | 2019-01-31 | 2019-04-26 | 中国建材国际工程集团有限公司 | A kind of horizontal stacking and its control method |
| CN110695852A (en) * | 2019-08-27 | 2020-01-17 | 洛阳维路智能设备有限公司 | Operation method of special-shaped glass water jet cutting production line |
| CN112847002A (en) * | 2021-02-07 | 2021-05-28 | 威海市银河光电设备股份有限公司 | Automatic edge grinding machine for special-shaped glass |
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| CN107932313A (en) * | 2017-11-28 | 2018-04-20 | 芜湖中驰机床制造有限公司 | A kind of polishing machine tool manipulator |
| CN107932312A (en) * | 2017-11-28 | 2018-04-20 | 芜湖中驰机床制造有限公司 | A kind of workpiece transmission manipulator |
| CN109677930A (en) * | 2019-01-31 | 2019-04-26 | 中国建材国际工程集团有限公司 | A kind of horizontal stacking and its control method |
| CN110695852A (en) * | 2019-08-27 | 2020-01-17 | 洛阳维路智能设备有限公司 | Operation method of special-shaped glass water jet cutting production line |
| CN112847002A (en) * | 2021-02-07 | 2021-05-28 | 威海市银河光电设备股份有限公司 | Automatic edge grinding machine for special-shaped glass |
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| CN106809650B (en) | 2023-07-21 |
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