CN106809650B - Glass loading and unloading device and control method thereof - Google Patents
Glass loading and unloading device and control method thereof Download PDFInfo
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- CN106809650B CN106809650B CN201710110822.9A CN201710110822A CN106809650B CN 106809650 B CN106809650 B CN 106809650B CN 201710110822 A CN201710110822 A CN 201710110822A CN 106809650 B CN106809650 B CN 106809650B
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- Prior art keywords
- sucker
- guide rail
- linear guide
- glass
- sensor
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Classifications
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- 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
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a glass loading and unloading device, which comprises a frame, a loading mechanical device and an unloading mechanical device; the frame mainly comprises a cross beam, a stand column A, a stand column B and a stand column C; the upright post A, the upright post B and the upright post C are provided with cross beams; the cross beam is provided with a linear guide rail A, a linear guide rail B, a linear guide rail C and a linear guide rail D; a screw rod A is arranged at the middle position of the linear guide rail A and the linear guide rail B; the beneficial effects of the invention are as follows: 1) The full-automatic glass picking and placing is realized, and technical support is provided for the automatic conveying of glass among different stations; 2) Ensuring the positioning precision of the glass on the workbench surface after station change; 3) Reduces labor intensity and improves production efficiency. Compared with manual carrying, the double-station large-span mechanical structure is adopted, so that the glass positioning precision is effectively ensured, and the labor intensity is reduced; compared with the mechanical arm carrying, the number of stations is not limited, and the production cost is reduced.
Description
Technical Field
The invention relates to the field of glass processing, in particular to a glass loading and unloading device and a control method thereof.
Background
The loading and unloading of glass is an indispensable procedure in the glass processing process, and directly influences the precision and efficiency of glass processing. In the current glass processing process, the feeding and discharging of glass among different stations mainly adopts two modes of manual mode and mechanical arm. The manual mode is low in production efficiency on one hand, and on the other hand, glass needs to move back and forth between different stations in the processing process, and large errors are easily generated in manual positioning when the glass is changed from one station to another. At present, the manipulator is suitable for picking and placing glass between two stations, and when the number of stations is large, the manipulator is needed to be matched with feeding and discharging between every two stations, so that the cost is high.
Disclosure of Invention
In order to solve the problems of limited station number, high labor intensity, low production efficiency and the like in the existing glass processing process, the patent designs a double-station large-span feeding and discharging mechanical device which can be provided with a plurality of stations according to the requirement of a production line to realize flexible production; meanwhile, the patent designs a control method of the device.
In order to achieve the technical purpose, the invention adopts the following technical scheme: the glass loading and unloading device comprises a frame, a loading mechanical device and an unloading mechanical device;
the frame mainly comprises a cross beam, a stand column A, a stand column B and a stand column C; the upright post A, the upright post B and the upright post C are provided with cross beams; the cross beam is provided with a linear guide rail A, a linear guide rail B, a linear guide rail C and a linear guide rail D; a screw rod A is arranged at the middle position of the linear guide rail A and the linear guide rail B; the screw rod A is arranged on the cross beam through the fixing seat C and the fixing seat D; a lead screw B is arranged at the middle position of the linear guide rail C and the linear guide rail D; the screw rod B is arranged on the cross beam through the fixing seat A and the fixing seat B;
the feeding mechanical device consists of three parts, and comprises a transverse transmission device consisting of a sliding seat A, a servo motor A, a synchronous pulley A, a synchronous belt A, a synchronous pulley B and a fixed plate A; the longitudinal transmission device consists of a servo motor B, a screw rod C, a linear guide rail E, a linear guide rail F, a fixed plate B, a coupler A and a sliding seat B; the suction device consists of a connecting arm A, a protective box A, a cylinder A, a cylindrical guide rail A, a sucker A, an upper limit sensor A and a lower limit sensor B;
the blanking mechanical arm consists of three parts, and comprises a transverse transmission device consisting of a sliding seat C, a servo motor C, a synchronous belt B, a synchronous belt wheel C, a synchronous belt wheel D and a fixed plate C; the longitudinal transmission device consists of a servo motor D, a screw rod D, a linear guide rail G, a linear guide rail H and a sliding seat D; the sucking device consists of a connecting arm B, a protective box B, a cylinder B, a cylindrical guide rail C, a cylindrical guide rail D, an upper limit sensor C and a lower limit sensor D of a sucker B.
The cross beam is provided with a drag chain A and a drag chain B; and a bracket A, a bracket B, a bracket C and a bracket D are arranged on the cross beam.
The slide seat A is provided with a fixed plate A; a servo motor A is arranged on the fixed plate A; the servo motor A is connected with the synchronous belt pulley B through a coupler B; the synchronous belt wheel B is connected with the synchronous belt wheel A through a synchronous belt A; the synchronous belt wheel A is connected with the screw rod B through the screw rod nut B to form a transverse transmission device.
When the servo motor A rotates, the synchronous pulley B is driven to rotate, and the synchronous pulley B drives the synchronous pulley A to rotate through the synchronous belt A; the synchronous belt wheel A rotates to drive the screw nut B to rotate; the screw nut B moves along the screw B and drives the slide seat A to move along the X-axis direction in the linear guide rail C and the linear guide rail D. The sensor B on the slide seat A is triggered by a signal, the servo motor A stops rotating, and the feeding mechanical device stops moving in the X-axis direction; the servo motor B rotates to drive the screw rod C to rotate; the screw rod C rotates to drive the sliding seat B to move along the Y axis on the linear guide rail E and the linear guide rail F. The screw nut A is in interference connection with the fixed seat E.
The fixed plate B is provided with a sensor A, when the sensor A is triggered by a signal, the servo motor B stops rotating, and the sliding seat B stops moving on the linear guide rail E and the linear guide rail F along the Y-axis direction; the fixed plate B is provided with a limit switch A, which has the function of protecting the slide seat B.
The sliding seat B is connected with the connecting arm A; the connecting arm A is connected with the protective box A; the inside of the protective box A is provided with a cylinder A, and the cylinder A is connected with a sucker A to form a suction device; the cylinder A drives the sucker A to move up and down.
The slide seat C is provided with a fixed plate C; a servo motor C is arranged on the fixed plate C; the servo motor C is connected with the synchronous belt pulley C through a coupler C; the synchronous belt pulley C is connected with the synchronous belt pulley D through the synchronous belt B; the synchronous belt wheel C is connected with the screw A through a screw nut D; when the servo motor C rotates, the synchronous pulley C is driven to rotate, and the synchronous pulley C drives the synchronous pulley D to rotate through the synchronous belt B; the screw nut D moves along the screw A and drives the sliding seat C to move along the X axis in the linear guide rail A and the linear guide rail C; the sliding seat C is provided with a sensor C; the sensor C on the slide seat C is triggered by a signal, the servo motor C stops rotating, and the feeding mechanical device stops moving in the X-axis direction; the sliding seat C is connected with the connecting arm B; the connecting arm B is connected with the protective box B; the inside cylinder B that is provided with of protective housing B, cylinder B is connected with sucking disc B.
The slide seat A is provided with a fixed plate B; the fixed plate B is provided with a linear guide E and a linear guide F. The linear guide rail E and the linear guide rail F are provided with sliding seats B; a servo motor B is arranged on the slide seat B; the servo motor B is connected with the screw rod C through a coupler; the screw rod C is connected with the fixed seat E through a screw rod nut A; the fixed seat E is arranged on the sliding seat B; the slide seat C is provided with a fixed plate C; the fixed plate C is provided with a linear guide rail G and a linear guide rail H; the linear guide rail G and the linear guide rail H are connected with the sliding seat D; a servo motor D is arranged on the slide seat D; the servo motor D is connected with the screw rod D through a coupler; the screw rod D is connected with the fixed seat through a screw rod nut C; the fixing seat is arranged in the middle of the sliding seat D.
The fixed plate B is provided with a sensor A, and when the sensor A is triggered by a signal, the servo motor B stops rotating, and the sliding seat B stops moving on the linear guide rail E and the linear guide rail F along the Y-axis direction.
The glass loading and unloading device comprises the following steps:
the first step: defining a transverse movement device as an X-direction numerical control axis and a longitudinal movement device as a Y-direction numerical control axis;
and a second step of: resetting each numerical control shaft, waiting for signal triggering of the zero position sensor A, the zero position sensor B, the zero position sensor A and the zero position sensor A, and ending the resetting; resetting the air cylinder A and the air cylinder B, and ending the resetting after the signals of the upper limit position sensor A, the upper limit position sensor C, the lower limit position sensor B and the lower limit position sensor D are triggered;
and a third step of: moving the X-direction numerical control shaft and the Y-direction numerical control shaft to the upper parts of the centers of the feeding station, the processing station and the discharging station, recording the center coordinates of each station, and storing the center coordinates into a RAM fixed address space in the controller;
fourth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker A moves above the center position of the feeding station;
fifth step: the electromagnetic valve acts, the air cylinder A pushes the sucker A to move downwards, the sucker A stops moving after waiting for triggering of a signal of the lower limit sensor B;
sixth step: the electromagnetic valve acts, the sucker A vacuumizes, the vacuum degree between the sucker A and the glass is detected, and the sucker A firmly sucks the glass after the vacuum degree sensor is triggered; the station solenoid valve acts, and the sucker of the feeding station releases glass;
seventh step: the electromagnetic valve acts, the air cylinder A drives the sucker A to move upwards, when the upper limit sensor A is triggered by a signal, the sucker A stops moving upwards, and the glass is lifted;
eighth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft to enable the glass to move above the center position of the processing station;
ninth step: the electromagnetic valve acts, the air cylinder A pushes the sucker A to move downwards, the sucker A stops moving when the lower limit sensor B is triggered, and glass is placed on the sucker of the processing station;
tenth step: working position electromagnetic valve action, processing working position sucker firmly sucking glass; the electromagnetic valve acts, the sucker A is used for air inflow, the vacuum degree between the sucker A and the glass is detected, and the sucker A releases the glass after the signal of the vacuum degree sensor disappears;
eleventh step: the electromagnetic valve acts, the air cylinder A drives the sucker A to move upwards, the sucker A stops moving when the upper limit sensor C is triggered, and the sucker A resets after releasing glass;
twelfth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker A moves to a standby position;
thirteenth step: when the machining station finishes machining, the blanking device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker B moves to the position above the center of the machining station;
fourteenth step: the electromagnetic valve acts, the cylinder B drives the sucker B to move downwards, and when the signal of the lower limit sensor D triggers, the sucker B stops moving;
fifteenth step: the electromagnetic valve acts, the sucker B vacuumizes, the vacuum degree between the sucker B and the glass is detected, and the sucker B firmly sucks the glass after the vacuum degree sensor is triggered; operating a station electromagnetic valve, and processing a station sucker to release glass;
sixteenth step: the electromagnetic valve acts, the cylinder B drives the sucker B to move upwards, the sucker B stops moving when the signal of the upper limit sensor C triggers, and the glass is lifted;
seventeenth step: the blanking device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft to enable the glass to move above the center position of the discharging station;
eighteenth step: the electromagnetic valve acts, the cylinder B drives the sucker B to move downwards, and when the signal of the lower limit sensor D triggers, the sucker B stops moving;
nineteenth step: and the electromagnetic valve acts, the sucker B is used for air inlet, the vacuum degree between the sucker B and the glass is detected, the signal of the vacuum degree sensor is waited to disappear, and the sucker B releases the glass to finish discharging.
The beneficial effects of the invention are as follows: 1) The full-automatic glass picking and placing is realized, and technical support is provided for the automatic conveying of glass among different stations; 2) Ensuring the positioning precision of the glass on the workbench surface after station change; 3) Reduces labor intensity and improves production efficiency. Compared with manual carrying, the double-station large-span mechanical structure is adopted, so that the glass positioning precision is effectively ensured, and the labor intensity is reduced; compared with the mechanical arm carrying, the number of stations is not limited, and the production cost is reduced.
Drawings
Fig. 1: and the overall structure of the feeding and discharging device is schematically shown.
Fig. 2: the structure of the feeding mechanical device is schematically shown.
Fig. 3: the feeding mechanism is partially schematic and complements that of fig. 2.
Fig. 4: the feeding mechanism is partially schematic and complements that of fig. 2.
Fig. 5: the structure of the blanking mechanical device is schematically shown.
Fig. 6: the blanking device is partially schematic and is added to fig. 5.
Fig. 7: the blanking device is partially schematic and is added to fig. 5.
Fig. 8: and inputting a control schematic.
Fig. 9: and outputting a control schematic diagram.
Reference numerals illustrate: beam 1, column A2, column B3, column C4, linear rail A5, linear rail C6, linear rail B7, linear rail D8, lead screw A9, lead screw B10, tow chain a11, support a12, support B13, tow chain B14, tow chain C15, support D16, fixing base a17, fixing base B18, fixing base C19, fixing base D20, slider a21, timing pulley a22, timing belt B23, timing belt C24, fixing plate a25, servo motor a26, fixing block a27, fixing plate B28, limit switch a29, linear rail E30, lead screw C31, linear rail F32, servo motor B33, support E34, zero sensor a35, support F36, zero sensor B37, limit switch B38, connecting arm a39, protective housing a40, cylinder a41, suction cup a42, upper limit sensor a43, lower limit sensor B44, oil pipe a45, protective housing a40, and oil pipe a42 cylindrical guide rail a46, cylindrical guide rail B47, lead screw nut a48, coupling a49, coupling B50, lead screw nut B51, slide B52, fixed seat E53, slide C54, servo motor C55, fixed plate C56, synchronous pulley C57, synchronous belt B58, synchronous pulley D59, limit switch C60, zero sensor C61, fixed plate C62, fixed block B63, linear guide G64, linear guide H65, fixed block B66, lead screw D67, lead screw nut C68, guide rail groove a69, guide rail groove B70, limit switch C71, slide D72, connecting arm B73, protective case B74, cylinder B75, cylindrical guide rail C76, cylindrical guide rail D77, suction cup B78, upper limit sensor C79, servo motor D80, zero sensor D81, lead screw nut D82, coupling C83, coupling D84, oil pipe B85, lower limit sensor D86.
Detailed Description
The invention is further described below with reference to examples. The following examples are presented only to aid in the understanding of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
As shown in fig. 1: the glass feeding and discharging device mainly comprises a frame, a feeding mechanical device and a discharging mechanical device. The stand column A2, the stand column B3 and the stand column C4 of the frame are provided with cross beams 1; the beam 1 is provided with a linear guide rail A5, a linear guide rail B7, a linear guide rail C6 and a linear guide rail D8; the middle positions of the linear guide rail A5 and the linear guide rail B7 are provided with a screw rod A9 through a fixed seat C19 and a fixed seat D20; the middle positions of the linear guide rail C6 and the linear guide rail D8 are provided with a screw rod B10 through a fixed seat A17 and a fixed seat B18.
The drag chain A11 and the drag chain B14 are arranged at the top end of the cross beam 1; the support A12, the support B13, the support C15 and the support D16 are arranged at the top end of the cross beam 1.
As shown in fig. 2: the feeding mechanical arm consists of three parts; the device comprises a transverse transmission device which consists of a sliding seat A21, a servo motor A26, a synchronous pulley A22, a synchronous belt B23, a synchronous belt C24 and a fixed plate A25; the longitudinal transmission mechanism consists of a servo motor B33, a screw rod C31, a linear guide rail E30, a linear guide rail F32, a fixed plate B28, a screw rod nut A48 and a sliding seat B52; the suction device is composed of a connecting arm A39, a protective box A40, a cylinder A41, a cylindrical guide rail A46, a cylindrical guide rail B47, a sucker A42, an upper limit sensor A43, a lower limit sensor B44.
The slide seat A21 is arranged on the linear guide rail A5 and the linear guide rail B7; the linear guide rail A5 and the linear guide rail B7 have the functions of guiding and supporting the feeding mechanical device.
The lead screw B10 is connected with the synchronous pulley a22 by a lead screw nut B51, wherein the lead screw nut B51 is in interference connection with the synchronous pulley a 22. The synchronous pulley A22 is connected with the synchronous pulley B24 through a synchronous belt A23; the synchronous pulley B24 is connected with the servo motor A26 through a coupler B50; the servo motor A26 is arranged on the fixed plate A25; the fixed plate a25 is disposed on the slider a 21. When the servo motor A26 rotates, the belt wheel B24 is driven to rotate, and the synchronous belt wheel B24 drives the synchronous belt wheel A22 to rotate through the synchronous belt A23; the synchronous pulley A22 rotates to drive the screw nut 51 to rotate; the screw nut B51 moves along the screw B10 and drives the slide seat A21 to move along the X-axis direction in the linear guide rail A5 and the linear guide rail B7.
The slide seat A21 is provided with a zero sensor B37, and when the zero sensor B37 on the slide seat A21 is triggered by a signal, the servo motor C55 stops rotating, and the feeding mechanical device stops moving in the X-axis direction.
As shown in fig. 2: the slide seat A21 is provided with a fixed plate B28; the bottom end of the fixed plate B28 is provided with a linear guide E30 and a linear guide F32; the lower ends of the linear guide rail E30 and the linear guide rail F32 are provided with sliding seats B52; the slide B52 is provided with a servo motor B33; the servo motor B33 is connected with the lead screw C31 through a coupler A49;
a fixed seat E53 is arranged in the middle of the sliding seat B52; a screw nut A48 is arranged in the through hole of the fixed seat E53; wherein the fixed seat E53 is in interference connection with the screw nut A48; the screw C31 is connected to the holder E53 via a screw nut a 48. The servo motor B33 rotates to drive the screw rod C31 to rotate; the screw rod rotates to drive the sliding seat B52 to move on the linear guide rail E30 and the linear guide rail F32 along the Y axis.
The fixed plate B28 is provided with a zero sensor A35, when the zero sensor A35 is triggered by a signal, the servo motor B33 stops rotating, and the sliding seat B52 stops moving on the linear guide rail E30 and the linear guide rail F32 along the Y-axis direction. The limit switch A29 is arranged on the fixed plate B28, so that the protection effect on the sliding seat B52 is realized.
As shown in fig. 2: the suction device consists of a connecting arm A39, a protective box A40, a cylinder A41, a cylindrical guide rail A46, a cylindrical guide rail B47, a sucker A42, an upper limit sensor A43 and a lower limit sensor B44. The cylinder A41 is arranged in the protective box A40, and a cylindrical guide rail A46 and a cylindrical guide rail B47 are respectively arranged on two sides of the cylinder A41; the cylinder A41 drives the sucker A42 to move up and down.
As shown in fig. 5: the blanking mechanical arm consists of three parts, and comprises a transverse transmission device consisting of a sliding seat C54, a servo motor C55, a synchronous belt B58, a synchronous belt wheel C57, a synchronous belt wheel D59 and a fixed plate C56; the longitudinal transmission device consists of a servo motor D80, a screw rod D67, a linear guide rail G64, a linear guide rail H65, a fixed plate C62 and a sliding seat D72; the sucking device is composed of a connecting arm B73, a protective box B74, a cylinder B75, a cylindrical guide rail C76, a cylindrical guide rail D77, a sucking disc B78, an upper limit sensor C79 and a lower limit sensor D86.
The slide seat C54 is arranged on the linear guide rail A5 and the linear guide rail C6;
the lead screw A9 is connected with the synchronous pulley D59 through a lead screw nut D82; the synchronous pulley D59 is connected with the synchronous pulley C57 through a synchronous belt B58; the synchronous pulley C57 is connected with the servo motor C55 through a coupler C83; when the servo motor C55 rotates, the synchronous pulley C57 is driven to rotate, and the synchronous pulley C57 drives the synchronous pulley D59 to rotate through the synchronous belt B58; the synchronous pulley D59 rotates to drive the lead screw nut D82 to rotate; the screw nut D82 moves along the screw A9 and drives the sliding seat C54 to move along the X axis in the linear guide rail A5 and the linear guide rail C6.
The zero sensor C61 on the slide seat C54 is triggered by a signal, the servo motor C55 stops rotating, and the blanking mechanical device stops moving in the X-axis direction.
As shown in fig. 5: the slide seat C54 is provided with a fixed plate C62; the bottom end of the fixed plate C62 is provided with a linear guide rail G64 and a linear guide rail H65; the linear guide rail G64 and the linear guide rail H65 are connected with the sliding seat D72; a servo motor D80 is arranged on the slide seat D72; the servo motor D80 is connected with the lead screw D67 through a coupler D84; a fixed block B66 is arranged in the middle of the sliding seat D72; a screw nut C68 is arranged in the through hole of the fixed block B66; the fixed block B66 is in interference connection with the lead screw nut C68; the fixed block B66 is connected to the screw D67 via a screw nut C68.
The servo motor D80 is connected with the lead screw D67 through a coupler D84; the servo motor D80 rotates to drive the screw rod D67 to rotate; the screw rod D67 rotates to drive the sliding seat D72 to move on the linear guide rail G64 and the linear guide rail H65 along the Y-axis direction. Wherein the screw nut C68 is in interference connection with the fixed block B66.
The fixed plate C62 is provided with a zero sensor D81, when the zero sensor D81 is triggered, the servo motor D80 stops rotating, and the sliding seat D72 stops moving on the linear guide rail G64 and the linear guide rail H65 along the Y-axis direction. The slide seat C54 is provided with a limit switch C60, so that the slide seat C54 is protected.
As shown in fig. 7: the upper limit of the protective box B74 is a sensor C79, a lower limit sensor D86 and vacuum is pumped between the sucker B78 and glass when the lower limit sensor D86 is triggered; when the upper limit sensor C79 is triggered, the sucker stops moving upwards.
The invention relates to a control method of a glass feeding and discharging device, which is realized through the following steps:
the first step: the lateral movement device is defined as the X-direction numerical control axis, and the longitudinal movement device is defined as the Y-direction numerical control axis.
And a second step of: each numerical control shaft returns to zero, and signals of a zero sensor A35, a zero sensor B37, a zero sensor A61 and a zero sensor A81 are waited for triggering, and the return to zero is finished; the cylinder A41 and the cylinder B75 are reset, the signals of the upper limit position sensor A43, the upper limit position sensor C79, the lower limit position sensor B44 and the lower limit position sensor D86 are triggered, and the reset is finished.
And a third step of: moving the X-direction numerical control shaft and the Y-direction numerical control shaft to the upper parts of the centers of the feeding station, the processing station and the discharging station, recording the center coordinates of each station, and storing the center coordinates into a RAM fixed address space in the controller;
fourth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker A42 moves above the center position of the feeding station;
fifth step: the electromagnetic valve 1 acts, the air cylinder A41 pushes the sucker A42 to move downwards, the sucker A42 stops moving after waiting for the triggering of the signal of the lower limit sensor B44.
Sixth step: the electromagnetic valve 2 acts, the sucker A42 vacuumizes, the vacuum degree between the sucker A42 and glass is detected, the triggering of the vacuum degree sensor 1 is waited, and the sucker A42 firmly sucks the glass; the electromagnetic valve of the station 1 acts, and the sucker of the feeding station releases glass.
Seventh step: the electromagnetic valve 1 acts, the air cylinder A41 drives the sucker A42 to move upwards, the sucker A42 stops moving upwards when the upper limit sensor A43 is triggered, and the glass is lifted.
Eighth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the glass moves to the position above the center of the processing station.
Ninth step: the electromagnetic valve 1 acts, the air cylinder A41 pushes the sucker A42 to move downwards, the sucker A42 stops moving when the lower limit sensor B44 is triggered, and glass is placed on the sucker of the processing station.
Tenth step: and the electromagnetic valve of the station 2 acts, and the sucker of the processing station firmly sucks glass. The electromagnetic valve 2 acts, the sucker A42 is used for air intake, the vacuum degree between the sucker A42 and glass is detected, and the vacuum degree sensor 1 waits for the signal disappearance, and the sucker A41 releases the glass.
Eleventh step: the electromagnetic valve 1 acts, the air cylinder A41 drives the sucker A42 to move upwards, the sucker A42 stops moving when the upper limit sensor A43 is triggered, and the sucker A42 resets after releasing glass.
Twelfth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker A42 moves to a standby position;
thirteenth step: and (3) after the machining station finishes machining, the X-direction numerical control shaft and the Y-direction numerical control shaft of the blanking device perform interpolation movement, and the blanking device moves to the position above the center of the machining station.
Fourteenth step: the electromagnetic valve 3 acts, the cylinder B75 drives the sucker B78 to move downwards, when the signal of the lower limit sensor D86 triggers, the sucker B78 stops moving,
fifteenth step: the electromagnetic valve 4 acts, the sucker B78 is vacuumized, the vacuum degree between the sucker B78 and glass is detected, and the triggering of the vacuum degree sensor 2 is waited, and the sucker B78 is firmly sucked on the glass; and the station 2 is operated by an electromagnetic valve, and the glass is released by a processing station sucker.
Sixteenth step: the electromagnetic valve 3 acts, the cylinder B75 drives the sucker B78 to move upwards, the sucker B78 stops moving when the upper limit sensor C79 is triggered, and the glass is lifted.
Seventeenth step: the X-direction numerical control shaft and the Y-direction numerical control shaft of the blanking device perform interpolation movement, so that the glass moves to the position above the center of the discharging station.
Eighteenth step: the electromagnetic valve 3 acts, the cylinder B75 drives the sucker B78 to move downwards, and when the signal of the lower limit sensor D86 triggers, the sucker B78 stops moving.
Nineteenth step: the electromagnetic valve 4 acts, the sucker B78 is used for air intake, the vacuum degree between the sucker B78 and glass is detected, the signal of the vacuum degree sensor 2 is waited for to disappear, the sucker B78 releases the glass, and the unloading is completed.
The air cylinder is controlled by the controller through the electromagnetic valve to realize action, and an air source of the air cylinder is provided by the air compressor; the motion trail and the motion speed of the mechanical arm can be adjusted according to the processing requirement; the suction force of the sucker can be adjusted according to the weight of the processed glass.
Claims (6)
1. The utility model provides a unloader on glass which characterized in that: comprises a frame, a feeding mechanical device and a discharging mechanical device;
the frame mainly comprises a cross beam (1), an upright post A (2), an upright post B (3) and an upright post C (4); the upright post A (2), the upright post B (3) and the upright post C (4) are provided with cross beams (1); the cross beam (1) is provided with a linear guide rail A (5), a linear guide rail B (7), a linear guide rail C (6) and a linear guide rail D (8); a screw rod A (9) is arranged at the middle position of the linear guide rail A (5) and the linear guide rail B (7); the screw rod A (9) is arranged on the cross beam (1) through the fixing seat C (19) and the fixing seat D (20); a screw rod B (10) is arranged at the middle position of the linear guide rail C (6) and the linear guide rail D (8); the screw rod B (10) is arranged on the cross beam (1) through the fixing seat A (17) and the fixing seat B (18); a drag chain A (11) and a drag chain B (14) are arranged on the cross beam (1); the cross beam (1) is provided with a bracket A (12), a bracket B (13), a bracket C (15) and a bracket D (16);
the feeding mechanical device consists of three parts, and comprises a transverse transmission device consisting of a sliding seat A (21), a servo motor A (26), a synchronous pulley A (22), a synchronous belt A (23), a synchronous pulley B (24) and a fixed plate A (25); a fixed plate A (25) is arranged on the sliding seat A (21); a servo motor A (26) is arranged on the fixed plate A (25); the servo motor A (26) is connected with the synchronous pulley B (24) through a coupling B (50); the synchronous pulley B (24) is connected with the synchronous pulley A (22) through the synchronous belt A (23); the synchronous pulley A (22) is connected with the screw rod B (10) through the screw rod nut B (51) to form a transverse transmission device; the longitudinal transmission device is composed of a servo motor B (33), a screw rod C (31), a linear guide rail E (30), a linear guide rail F (32), a fixed plate B (28), a coupler A (49) and a sliding seat B (52); the suction device consists of a connecting arm A (39), a protective box A (40), a cylinder A (41), a cylindrical guide rail A (46), a cylindrical guide rail B (47), a sucker A (42), an upper limit sensor A (43) and a lower limit sensor B (44); the fixed plate B (28) is provided with a zero sensor A (35), when the zero sensor A (35) is triggered by a signal, the servo motor B (33) stops rotating, and the sliding seat B (52) stops moving on the linear guide rail E (30) and the linear guide rail F (32) along the Y-axis direction; the fixed plate B (28) is provided with a limit switch A (29) which has the function of protecting the slide seat B (52); the fixed plate B (28) is provided with a zero sensor A (35), when the zero sensor A (35) is triggered by a signal, the servo motor B (33) stops rotating, and the sliding seat B (52) stops moving on the linear guide rail E (30) and the linear guide rail F (32) along the Y-axis direction;
the blanking mechanical arm consists of three parts, and comprises a transverse transmission device which consists of a sliding seat C (54), a servo motor C (55), a synchronous belt B (58), a synchronous belt wheel C (57), a synchronous belt wheel D (59) and a fixed plate C (56); the longitudinal transmission device consists of a servo motor D (80), a screw rod D (67), a linear guide rail G (64), a linear guide rail H (65) and a sliding seat D (72); the suction device consists of a connecting arm B (73), a protective box B (74), a cylinder B (75), a cylindrical guide rail C (76), a cylindrical guide rail D (77), an upper limit sensor C (79) and a lower limit sensor D (86) of a sucker B (78).
2. The glass loading and unloading device of claim 1, wherein: when the servo motor A (26) rotates, the synchronous pulley B (24) is driven to rotate, and the synchronous pulley B (24) drives the synchronous pulley A (22) to rotate through the synchronous belt A (23); the synchronous pulley A (22) rotates to drive the screw nut B (51) to rotate; the screw nut B (51) moves along the screw B (10) and drives the slide seat A (21) to move along the X-axis direction on the linear guide rail C (6) and the linear guide rail D (8); the zero sensor B (37) on the slide seat A (21) is triggered by a signal, the servo motor A (26) stops rotating, and the feeding mechanical device stops moving in the X-axis direction; the servo motor B (33) rotates to drive the screw rod C (31) to rotate; the screw rod C (31) rotates to drive the sliding seat B (52) to move along the Y axis on the linear guide rail E (30) and the linear guide rail F (32); the screw nut A (48) is in interference connection with the fixed seat E (53).
3. The glass loading and unloading device of claim 2, wherein: the sliding seat B (52) is connected with the connecting arm A (39); the connecting arm A (39) is connected with the protective box A (40); an air cylinder A (41) is arranged in the protective box A (40), and the air cylinder A (41) is connected with a sucker A (42) to form a suction device; the cylinder A (41) drives the sucker A (42) to move up and down.
4. A glass loading and unloading device as defined in claim 3, wherein: a fixed plate C (56) is arranged on the sliding seat C (54); a servo motor C (55) is arranged on the fixed plate C (56); the servo motor C (55) is connected with the synchronous pulley C (57) through a coupling C (83); the synchronous pulley C (57) is connected with the synchronous pulley D (59) through the synchronous belt B (58); the synchronous pulley C (57) is connected with the screw A (9) through a screw nut D (82); when the servo motor C (55) rotates, the synchronous pulley C (57) is driven to rotate, and the synchronous pulley C (57) drives the synchronous pulley D (59) to rotate through the synchronous belt B (58); the screw nut D (82) moves along the screw A (9) and drives the slide seat C (54) to move along the X axis on the linear guide rail A (5) and the linear guide rail C (6); a zero sensor C (61) is arranged on the slide seat C (54); the zero sensor C (61) on the slide seat C (54) is triggered by a signal, the servo motor C (55) stops rotating, and the feeding mechanical device stops moving in the X-axis direction; the sliding seat C (54) is connected with the connecting arm B (73); the connecting arm B (73) is connected with the protective box B (74); an air cylinder B (75) is arranged in the protective box B (74), and the air cylinder B (75) is connected with a sucker B (78).
5. The glass loading and unloading device of claim 4, wherein: a fixed plate B (28) is arranged on the sliding seat A (21); the fixed plate B (28) is provided with a linear guide E (30) and a linear guide F (32); the linear guide rail E (30) and the linear guide rail F (32) are provided with sliding seats B (52); a servo motor B (33) is arranged on the slide seat B (52); the servo motor B (33) is connected with the screw rod C (31) through a coupler (49); the screw rod C (31) is connected with the fixed seat E (53) through a screw rod nut A (48); the fixed seat E (53) is arranged on the sliding seat B (52); a fixed plate C (62) is arranged on the slide seat C (54); the fixed plate C (62) is provided with a linear guide rail G (64) and a linear guide rail H (65); the linear guide rail G (64) and the linear guide rail H (65) are connected with the sliding seat D (72); a servo motor D (80) is arranged on the sliding seat D (72); the servo motor D (80) is connected with the screw rod D (67) through a coupler (84); the screw rod D (67) is connected with the fixed seat (66) through a screw rod nut C (68); the fixed seat (66) is arranged in the middle of the sliding seat D (72).
6. The glass loading and unloading device of claim 5, comprising the steps of:
the first step: defining a transverse movement device as an X-direction numerical control axis and a longitudinal movement device as a Y-direction numerical control axis;
and a second step of: zero return of each numerical control shaft is finished after waiting for signal triggering of a zero sensor A (35), a zero sensor B (37), a zero sensor C (61) and a zero sensor A (81); the cylinder A (41) and the cylinder B (75) are reset, signals of the upper limit position sensor A (43), the upper limit position sensor C (79) and the lower limit position sensor B (44) and the lower limit position sensor D (86) are triggered, and the reset is ended;
and a third step of: moving the X-direction numerical control shaft and the Y-direction numerical control shaft to the upper parts of the centers of the feeding station, the processing station and the discharging station, recording the center coordinates of each station, and storing the center coordinates into a RAM fixed address space in the controller;
fourth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker A (42) moves above the center position of the feeding station;
fifth step: the electromagnetic valve (1) acts, the air cylinder A (41) pushes the sucker A (42) to move downwards, the sucker A (42) stops moving after waiting for the triggering of the signal of the lower limit sensor B (44);
sixth step: the electromagnetic valve (2) acts, the sucker A (42) is vacuumized, the vacuum degree between the sucker A (42) and glass is detected, and the sucker A (42) is firmly sucked with the glass after the triggering of the vacuum degree sensor (1); the station 1 is operated by an electromagnetic valve, and a sucker of the feeding station releases glass;
seventh step: the electromagnetic valve (1) acts, the air cylinder A (41) drives the sucker A (42) to move upwards, when the upper limit sensor A (43) is triggered by a signal, the sucker A (42) stops moving upwards, and the glass is lifted;
eighth step: the feeding device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft to enable the glass to move above the center position of the processing station;
ninth step: the electromagnetic valve (1) acts, the air cylinder A (41) pushes the sucker A (42) to move downwards, when the lower limit sensor B (44) is triggered by a signal, the sucker A (42) stops moving, and glass is placed on a sucker of a processing station;
tenth step: a station (2) solenoid valve acts, and a sucker of the processing station firmly sucks glass; the electromagnetic valve (2) acts, the sucker A (42) is used for air intake, the vacuum degree between the sucker A (42) and glass is detected, the signal of the vacuum degree sensor (1) is waited to disappear, and the sucker A (41) releases the glass;
eleventh step: the electromagnetic valve (1) acts, the air cylinder A (41) drives the sucker A (42) to move upwards, when the upper limit sensor C (43) is triggered by a signal, the sucker A (42) stops moving, and the sucker A (42) resets after releasing glass;
twelfth step: the feeding device X-direction numerical control shaft Y-direction numerical control shaft interpolation moves to enable the sucker A (42) to move to a standby position;
thirteenth step: when the machining station finishes machining, the blanking device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft, so that the sucker B (78) moves to the position above the center of the machining station;
fourteenth step: the electromagnetic valve (3) acts, the air cylinder B (75) drives the sucker B (78) to move downwards, and when the lower limit sensor D (86) is triggered by a signal, the sucker B (78) stops moving;
fifteenth step: the electromagnetic valve (4) acts, the sucker B (78) is vacuumized, the vacuum degree between the sucker B (78) and glass is detected, and the sucker B (78) is firmly sucked with the glass after the triggering of the vacuum degree sensor (2); the station 2 solenoid valve acts, and the station sucker is processed to release glass;
sixteenth step: the electromagnetic valve (3) acts, the air cylinder B (75) drives the sucker B (78) to move upwards, when the upper limit sensor C (79) is triggered by a signal, the sucker B (78) stops moving, and the glass is lifted;
seventeenth step: the blanking device performs interpolation motion on the X-direction numerical control shaft and the Y-direction numerical control shaft to enable the glass to move above the center position of the discharging station;
eighteenth step: the electromagnetic valve (3) acts, the air cylinder B (75) drives the sucker B (78) to move downwards, and when the signal of the lower limit sensor D (86) triggers, the sucker B (78) stops moving;
nineteenth step: the electromagnetic valve (4) acts, the sucker B (78) is used for air inlet, the vacuum degree between the sucker B (78) and glass is detected, the signal of the vacuum degree sensor (2) is waited to disappear, and the sucker B (78) releases the glass, so that the unloading is completed.
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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 |
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| 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 |
| CN110695852B (en) * | 2019-08-27 | 2022-05-24 | 洛阳维路智能设备有限公司 | Operation method of special-shaped glass water jet cutting production line |
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