CN106865969A - A kind of glass of Dual-robot coordination operation breaks piece system and its control method - Google Patents

Abstract

The invention discloses a double-robot coordinated glass breaking system and a control method thereof, comprising a glass original piece input platform, a glass breaking platform, a glass slice output platform and a glass waste piece output platform; the glass original piece input platform and the glass slice output platform are respectively arranged at the two ends of the glass breaking platform; the glass breaking platform is provided with a breaking robot, a tape-out robot and two robot slide rails, and the breaking-sheet robot and the tape-out robot Each is installed on a said robot slide rail. The glass slicing system of the double-robot coordinated operation breaks the original glass sheet with the cutting line by the slicing robot and transports the broken glass slices to the glass slicing output station by the tape-out robot, so as to realize the breaking and The tape-out is automated, and the chip-breaking robot can automatically align the cutting line without manual operation, reducing the manual input of chip breaking, and improving the efficiency and stability of chip breaking.

Description

A glass breaking system and its control method for double-robot coordinated operation

technical field

The invention relates to the field of glass breaking equipment, in particular to a glass breaking system and a control method thereof for coordinated operation of two robots.

Background technique

In the process of glass processing, it is usually necessary to go through a breaking process after cutting to separate the cut glass into required sizes and shapes. Existing glass breaking is that glass is placed on the glass breaking machine. The glass breaking machine is equipped with a ejector pin and a fixing member. During operation, it is usually necessary to manually move the glass to be broken to align the cutting line with the ejector pin of the glass breaking machine, and then the fixing member acts on the upper surface of the glass to fix the glass, and then The ejector rod under the glass moves upward to push away the glass on the left and right sides of the cutting line, so that the glass to be broken is separated. Therefore, when the existing glass breaking machine works, the force acts on the upper and lower surfaces of the glass respectively, which belongs to the double working plane. The glass breaking machine is fixed at one position, and the glass needs to be moved every time a cutting line is broken, and the breaking efficiency Low. Moreover, there are usually more than one cutting line for a piece of raw glass, and it is also divided into horizontal cutting lines and longitudinal cutting lines. When breaking all the cutting lines in sequence on a glass breaking machine, it is necessary to continuously move the original piece of glass so that the cutting lines are aligned with the ejector pins. This process consumes a lot of time and manpower. Moreover, there is a large error in manual alignment, and it is easy to cause damage to the glass due to the deviation of the breaking position, and the quality and stability of the breaking pieces are poor. Moreover, the assembly-line operation platform occupies a large area, and completing one operation step requires detours, which directly reduces the production efficiency of the enterprise and restricts the production of the enterprise.

Contents of the invention

The purpose of the present invention is to propose a glass that can save the occupied area, realize automatic alignment of cutting lines and automatic breaking of pieces without moving the position of the glass when breaking pieces, and improve the efficiency and stability of breaking pieces. Chip breaking system and control method thereof.

For reaching this purpose, the present invention adopts following technical scheme:

A glass breaking system with coordinated operation of two robots, including a glass raw piece input platform, a glass breaking platform, a glass slice output platform and a glass waste output platform;

The original glass sheet input platform and the glass slice output platform are respectively arranged at the two ends of the glass breaking platform;

The glass breaking table is provided with a chip breaking robot, a tape-out robot and two robot slide rails, and the chip-breaking robot and the tape-out robot are respectively installed on one of the robot slide rails; the two robot slide rails Arranged in parallel, the length of the robot slide rail ensures that the chip breaking robot and the tape-out robot can be extended to the glass original sheet input platform and the glass slice output platform;

The glass waste output platform is set within the stretching range of the tape-out robot of the glass breaking platform;

The tape-out robot includes a robot body and a tape-out actuator, the tape-out actuator includes a tape-out vacuum chuck, and the tape-out vacuum chuck is installed on the output shaft of the robot body;

The chip-breaking robot includes the robot body and the chip-breaking actuator, and the chip-breaking actuator includes a chip-breaking control hydraulic cylinder, a chip-breaking power push rod, a chip-breaking connection mounting frame, a chip-breaking lever, and two glass graspers module;

The piece-breaking control hydraulic cylinder is installed on the output shaft of the robot body, the upper end of the piece-breaking power push rod is connected with the piston rod of the piece-breaking control hydraulic cylinder, and the lower end of the piece-breaking power push rod is connected to the The top surface of the breaking bar is connected, and the breaking power push rod and the breaking bar are perpendicular to each other;

The upper end of the snap-off connection mounting frame is connected to the snap-off control hydraulic cylinder, the central axis of the snap-off connection mounting frame coincides with the central axis of the snap-off control hydraulic cylinder; the snap-off connection mounting frame is a hollow structure , the breaker power push rod passes through the inside of the breaker connection installation frame and is connected to the breaker rod, and the two glass grabbing modules are symmetrically arranged on both sides of the breaker connection installation frame;

The glass grabbing module includes a rigid connecting rod, a rigid connecting block, a rigid rocker, a sheet-breaking suction cup mounting plate and a sheet-breaking vacuum suction cup; the middle part of the rigid rocker is provided with a rigid branch rod; the rigid The power end of the rigid rocker is hinged to the connecting mounting frame of the breaking piece, the power end of the stiff connecting rod is hinged to the upper end of the breaking piece power push rod, and the swing end of the stiff connecting rod is connected to the end of the stiff branch rod. hinged;

The chip-breaking vacuum suction cup is arranged at the bottom of the chip-breaking suction cup mounting plate, and the top of the chip-breaking suction cup mounting plate is fixedly connected by the rigid connection block and the suction cup end of the rigid rocker;

The bottom of the breaking rod is a sharp angle.

Preferably, the glass grabbing module further includes a connecting block and a rigid auxiliary rod, the connecting block is sleeved in the middle of the breaking piece power push rod, and the power end of the rigid auxiliary rod is hinged to the connecting block, The suction cup end of the rigid auxiliary rod is hinged to the suction cup end of the rigid rocker.

Preferably, the breaker lever is a triangular prism structure, the breaker lever includes a push rod connecting surface, a first breaking surface and a second breaking surface, and the push rod connecting surface, the first breaking surface and the second breaking surface The three sides of the breaker lever in a triangular prism structure are connected end to end, the lower end of the power push rod is connected to the push rod connection surface of the breaker lever, and the first breaker surface and the second breaker surface are formed. breaking angle;

The breaking angle is 50°-70°.

Preferably, the tape-out actuator includes a tape-out control hydraulic cylinder, a tape-out power push rod, a tape-out connection mounting bracket, and a tape-out suction cup mounting plate, and the tape-out control hydraulic cylinder is installed on the output shaft of the robot body ;

The upper end of the tape-out power push rod is connected to the piston rod of the tape-out control hydraulic cylinder, the lower end of the tape-out power push rod is connected to the top surface of the tape-out suction cup mounting plate, and the tape-out vacuum suction cup is installed on The bottom surface of the tape-out suction cup mounting plate;

The top surface of the tape-out connection mounting frame is connected to the tape-out control hydraulic cylinder, the tape-out connection mounting frame is a hollow structure, and the tape-out power push rod passes through the inside of the tape-out connection mounting frame and The tape-out suction cup is attached to the mounting plate.

Preferably, the robot body includes a base, a rotating platform and a mechanical arm, the base is movably clamped on the slide rail of the robot, the rotating platform is installed on the base, and the mechanical arm is installed on the rotating platform , the rotating table drives the mechanical arm to rotate;

The mechanical arm includes a lower limb arm driving motor, a lower limb arm, an upper limb arm, a connecting shaft driving motor, a limb connecting shaft, a forelimb arm driving motor, a forelimb arm, and an actuator mounting flange;

The driving motor of the lower limb arm is installed on the rotary table, the lower end of the lower limb arm is connected to the output shaft of the driving motor of the lower limb arm, and the driving motor of the lower limb arm drives the lower limb arm to swing up and down;

The connecting shaft of the limb arm is connected to the output shaft of the connecting shaft drive motor, and the connecting shaft drives the motor to drive the connecting shaft of the limb arm to rotate;

The upper end of the lower limb arm is hinged with the upper limb arm through the limb connecting shaft;

The forelimb arm driving motor is installed on the upper limb arm, the front end of the forelimb arm is connected to the output shaft of the forelimb arm driving motor, and the forelimb arm driving motor drives the forelimb arm to move back and forth;

The actuator mounting flange is mounted on the end of the forelimb arm;

For the chip breaking robot, the chip breaking control hydraulic cylinder is installed on the forelimb arm through the actuator mounting flange, and the chip breaking control hydraulic cylinder and the forelimb arm are perpendicular to each other;

For the tape-out robot, the tape-out control hydraulic cylinder is installed on the forelimb arm through the actuator mounting flange, and the tape-out control hydraulic cylinder and the forelimb arm are perpendicular to each other.

Preferably, it also includes a plurality of air flotation plates, and the original glass sheet input platform, the glass breaking platform, the glass slice output platform and the glass waste output platform are all provided with the air flotation plates;

The air flotation plate is provided with a plurality of air flotation holes, and the air flotation holes are distributed on the air flotation plate in an array;

It also includes a plurality of glass conveyor belts. The glass original sheet input platform, the glass slice output platform and the glass waste output platform are all equipped with the glass conveyor belts, and a glass conveyor belt is arranged between two adjacent air floating plates.

Preferably, the chip-breaking robot also includes a chip-breaking visual detector, a chip-breaking pressure detector and a chip-breaking controller, and the chip-breaking visual detector and the chip-breaking controller are installed on the chip-breaking connection mounting frame, and the The breaker pressure detector is installed at the bottom of the breaker lever;

The position of the cutting line of the glass is detected by the breaking piece visual detector, and the pressure of the breaking piece lever on the glass is detected by the breaking piece pressure detector; the robot of the breaking piece vision detector, the breaking piece pressure detector and the breaking piece robot The bodies are all electrically connected to the chip-breaking controller, and the chip-breaking controller is used to control the chip-breaking visual detector, the chip-breaking pressure detector and the robot body of the chip-breaking robot;

The tape-out robot also includes a tape-out visual detector, a tape-out pressure detector and a tape-out controller, and the tape-out visual detector and the tape-out controller are installed on the tape-out connection installation frame, and the tape-out pressure The detector is installed at the bottom of the flow sheet suction cup mounting plate;

The sheet-flow visual detector detects the shape and position of the glass, and the sheet-breaking pressure detector detects the pressure of the sheet-flow vacuum chuck on the glass; The bodies are all electrically connected with the tape-out controller, and the tape-out controller is used to control the tape-out vision detector, the tape-out pressure detector and the robot body of the tape-out robot.

Preferably, a host computer is also included, and the chip-breaking controller and the tape-out controller are connected to the host computer through a communication network;

The upper computer includes:

The original glass sheet information library is used to store the cutting line distribution information of the original glass sheet and the corresponding slice collection;

The data transceiver is used to receive the chipping data of the chipping controller and send the chipping control instruction to the chipping controller, and is used to receive the tapeout data of the tapeout controller and send the tapeout control instruction to the tapeout controller ; The piece breaking data includes the cutting line distribution information of the original glass sheet to be broken, and the flow piece data includes the shape position information of the glass slice;

Breaking motion path generator, used to match the cutting line distribution information of the original glass piece to be broken with the cutting line distribution information of the original glass piece information database, if the matching is successful, generate and send the breaking motion path to the chip controller;

Tape-out movement path generator, used to match the shape position information of the glass slice with the corresponding slice collection of the glass original piece in the glass original piece information library, if the matching is successful, generate and send the output slice movement path to the piece breaking controller , if the matching is unsuccessful, generate and send the output motion path of waste pieces to the slice controller; The motion path for the tape-out robot to transport glass slices to the glass waste output table.

Preferably, the control method of the glass breaking system using the double-robot coordinated operation includes the following steps:

Step A, the original glass sheet input station transports the original glass sheet to be broken to the glass breaking station;

Step B, the breaking robot acquires and sends the breaking data of the original glass piece to be broken to the host computer;

Step C, the host computer generates and sends the breaking movement path to the breaking robot, and the breaking robot breaks the original glass pieces to be broken according to the received breaking movement path to form multiple glass slices;

Step D, the tape-out robot acquires and sends the tape-out data of multiple glass slices to the host computer;

Step E, the upper computer judges whether the glass slice is a waste piece, if it is a waste piece, the upper computer generates and sends the output movement path of the waste piece to the tape-out robot, and correspondingly, the tape-out robot transports the glass slice to the glass waste piece output table; if If it is not a waste film, the upper computer generates and sends the output slice motion path to the tape-out robot, and correspondingly, the tape-out robot transports the glass slice to the glass slice output table.

Preferably, the breaking process in step C comprises the following steps:

Step C1, the breaking robot drives the breaking actuator to move above the original glass sheet to be broken, and the breaking rod of the breaking robot is aligned with the cutting line of the original glass piece to be broken;

Step C2, the chip breaking robot drives the chip breaking actuator to move down until the chip breaking vacuum suction cup contacts the original glass sheet to be broken;

Step C3, the vacuum suction cup for breaking the pieces absorbs the original glass pieces to be broken, and then the breaking robot drives the breaking actuator to move upward;

Step C4, the breaking piece control hydraulic cylinder drives the piece breaking lever to move down until the original glass piece to be broken off is broken apart to form a glass slice;

Step C5, the hydraulic cylinder for controlling the breaking of the film drives the breaking rod to move upward to the original position;

Step C6, the chip breaking robot drives the chip breaking actuator to move down until the glass slice is placed on the glass breaking table, and then the chip breaking vacuum suction cup is separated from the glass slice.

The glass slicing system of the double-robot coordinated operation breaks the original glass sheet with the cutting line by the slicing robot and transports the broken glass slices to the glass slicing output station by the tape-out robot, so as to realize the breaking and The tape-out is automated, and the chip-breaking robot can automatically align the cutting line without manual operation, reducing the manual input of chip breaking, and improving the efficiency and stability of chip breaking. The tape-out robot transports the broken glass slices whose size and shape meet the production requirements to the glass slice output table, and transports the glass waste slices to the glass waste output table, so as to realize the automatic classification and discharge of the glass slices and prevent the glass waste from Enter the next processing procedure. For glass original sheets with multiple vertical and horizontal cutting lines, the breaker robot does not need to move the position of the glass on the glass breaker table, only by moving the position of the breaker actuator to cut the original glass sheet Breaking pieces, without manual operation, reduces the manual input of breaking pieces, improves the efficiency and flexibility of breaking pieces.

Description of drawings

The accompanying drawings further illustrate the present invention, but the content in the accompanying drawings does not constitute any limitation to the present invention.

Fig. 1 is a schematic structural diagram of a glass breaking system according to one embodiment of the present invention;

Fig. 2 is a top view of a glass breaking system according to one embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a tape-out robot according to one embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a tape-out actuator according to one embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a chip breaking robot according to one embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a blade breaking actuator according to one embodiment of the present invention;

Fig. 7 is a front view of the blade breaking actuator according to one embodiment of the present invention;

Fig. 8 is a sectional view of a breaker lever according to one embodiment of the present invention;

Fig. 9 is a schematic diagram of the working principle of the breaking actuator according to one embodiment of the present invention;

Fig. 10 is a relationship diagram of upper computer modules in one embodiment of the present invention.

Among them: glass original sheet input station 1; glass breaking table 2; robot body 3; sheet breaking robot 5; tape-out robot 6; robot slide rail 4; glass slice output table 7; tape-out actuator 61; tape-out vacuum chuck 614; breaking piece actuator 51; breaking piece control hydraulic cylinder 511; breaking piece power push rod 512; breaking piece connection installation frame 521; breaking piece lever 513; stiff connecting rod 516; stiff connection block 518; stiff rocker 517; snap-off suction cup mounting plate 519; snap-off vacuum sucker 510; connecting block 514; rigidity auxiliary rod 515; push rod connecting surface 5131; Control hydraulic cylinder 611; tape-out power push rod 612; tape-out connection mounting frame 614; tape-out suction cup mounting plate 613; glass waste output table 9; base 31; rotary table 32; lower limb arm drive motor 33; lower limb arm 34 ; Upper limb arm 35; Limb arm connecting shaft 36; Forelimb arm driving motor 37; Forelimb arm 38; Actuator mounting flange 39; Pressure detector 53; sheet breaking controller 54; tape-out visual detector 62; tape-out pressure detector 63; tape-out controller 64; upper computer 8; glass original sheet information library 81; data transceiver 82; path generator 83 ; tape-out movement path generator 84 ; cutting line 91 ; rigid branch rod 201 .

detailed description

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

The double-robot coordinated glass breaking system of this embodiment, as shown in Figure 1 and Figure 2, includes a glass original sheet input platform 1, a glass breaking platform 2, a glass slice output platform 7 and a glass waste output platform 9;

The original glass sheet input platform 1 and the glass slice output platform 7 are respectively arranged at the two ends of the glass breaking platform 2;

The glass breaking table 2 is provided with a chip breaking robot 5, a tape-out robot 6 and two robot slide rails 4, and the chip-breaking robot 5 and the tape-off robot 6 are respectively installed on one robot slide rail 4; The two robot slide rails 4 are arranged in parallel, and the length of the robot slide rails 4 ensures that the chip breaking robot 5 and the tape-out robot 6 can extend to the glass original sheet input platform 1 and the glass slice output platform 7;

The glass waste sheet output platform 9 is arranged within the stretching range of the tape-out robot 6 of the glass breaking platform 2;

As shown in Figure 3, the tape-out robot 6 includes a robot body 3 and a tape-out actuator 61, and the tape-out actuator 61 includes a tape-out vacuum chuck 614, and the tape-out vacuum chuck 614 is installed on the robot body 3 output shafts;

As shown in Figure 5, the chip breaking robot 5 includes the robot body 3 and a chip breaking actuator 51, and the chip breaking actuator 51 includes a chip breaking control hydraulic cylinder 511, a chip breaking power push rod 512, and a chip breaking connection Mounting frame 521, breaking bar 513 and two glass grasping modules;

As shown in Fig. 6, the said breaking piece control hydraulic cylinder 511 is installed on the output shaft of said robot body 3, and the upper end of said breaking piece power push rod 512 is connected with the piston rod of said piece breaking control hydraulic cylinder 511, so The lower end of the breaking piece power push rod 512 is connected to the top surface of the breaking piece lever 513, and the breaking piece power push rod 512 and the breaking piece lever 513 are perpendicular to each other;

As shown in FIG. 7 , the upper end of the piece-breaking connection installation frame 521 is connected to the piece-breaking control hydraulic cylinder 511 , and the central axis of the piece-breaking connection mounting frame 521 coincides with the central axis of the piece-breaking control hydraulic cylinder 511 ; The breaker connection installation frame 521 is a hollow structure, the breaker power push rod 512 passes through the interior of the breaker connection installation frame 521 and is connected to the breaker rod 513, and the two glass grabbing modules are symmetrical are arranged on both sides of the snap-off connection mounting frame 521;

As shown in Figure 7, the glass grasping module includes a rigid connecting rod 516, a rigid connecting block 518, a rigid rocker 517, a sheet-breaking suction cup mounting plate 519 and a sheet-breaking vacuum suction cup 510; the rigid rocker The middle part of 517 is provided with rigidity branch rod 201; The power end of described rigidity rocker 517 is hinged with breaking piece connection installation frame 521, and the power end of described rigidity connecting rod 516 is hinged with the upper end of breaking piece power push rod 512, The swing end of the rigid connecting rod 516 is hinged with the end of the rigid branch rod 201;

The vacuum suction cup 510 for breaking pieces is arranged on the bottom of the suction cup mounting plate 519 for breaking pieces, and the top of the suction cup mounting plate 519 for breaking pieces is fixedly connected by the suction cup end of the rigid connection block 518 and the rigid rocker 517;

The bottom of the breaker lever 513 is sharp.

The glass breaking system of the double-robot coordinated operation breaks the original glass sheet with the cutting line 91 through the breaking robot 5 and transports the broken glass slices to the glass slice output platform 7 through the tape-out robot 6 , Realize the automation of chip breaking and film streaming, and the chip breaking robot 5 can automatically align with the cutting line 91 without manual operation, reduce the manual input of chip breaking, and improve the efficiency and stability of chip breaking.

The original glass sheet input station 1 is used to transport the original glass sheet with the cutting line 91 to the glass breaking station 2 , and the breaking process of the original glass sheet is completed on the glass breaking station 2 . The chip breaking robot 5 and the tape-out robot 6 move on the glass breaking table 2 through the robot slide rail 4, so as to carry the glass. The whole operation process does not need to manually carry the glass, which reduces labor input and improves production efficiency. The tape-out robot 6 is provided with a tape-out vacuum chuck 614, and the glass slice is grasped by the tape-out vacuum chuck 614 to carry the glass slice. The waste glass output table 9 is used for outputting glass slices whose size and shape do not meet the production requirements after being broken, that is, glass waste. The tape-out robot 6 transports the broken glass slices whose size and shape meet the production requirements to the glass slice output platform 7, and transports the glass waste pieces to the glass waste output platform 9, thereby realizing the automatic sorting and discharging of the glass slices, preventing The waste glass goes into the next processing procedure.

The chip-breaking robot 5 controls the movement of the chip-breaking actuator 51 through the robot body 3, and the chip-breaking actuator 51 controls the telescopic movement of the piston rod of the hydraulic cylinder 511 through the chip-breaking, driving the chip-breaking power push rod 512 connected to the chip-breaking robot. The sheet rod 513 moves up and down, and the bottom of the sheet breaking rod 513 is a sharp angle, which increases the pressure on the original glass sheet for breaking the original glass sheet. The central axis of the piece-breaking connection mounting frame 521 coincides with the central axis of the piece-breaking control hydraulic cylinder 511, and the two glass grabbing modules are symmetrically arranged on both sides of the piece-breaking connection mounting frame 521, so that when the pieces are broken, they will be broken. The force of sheet bar 513 on the two pieces of glass on the left and right sides of cutting line 91 is all the same no matter the size or direction, so as to avoid damaging the glass due to different forces. The middle part of the rigid rocker 517 is provided with a rigid branch rod 201, so that the rigid connecting rod 516 passes through the rigid branch rod 201. 517 is supported, so that the rigid rocker 517 is tilted upward around one end of itself, so that the rigid rocker 517 drives the blade-breaking suction cup mounting plate 519 connected to it to move upward.

Before the breaking operation, the original glass sheet can be turned over so that the opening of the cutting line 91 of the glass is downward, so that the breaking bar 513 acts on the upper part of the opening of the cutting line 91 when breaking the piece, and it is easier to break the glass; then, Place the original glass sheet on the glass breaking table 2.

During the breaking operation, the robot body 3 of the breaking robot 5 drives the breaking actuator 51 to move to the top of the glass, and the breaking rod 513 is aligned with the cutting line 91 of the original glass sheet; then, the breaking actuator 51 moves down and Absorb the original glass sheet firmly by breaking the vacuum suction cup 510;

Next, as shown in Figure 9, after the breaking actuator 51 moves up to a certain height, the breaking control hydraulic cylinder 511 drives the breaking power push rod 512 to extend downward, and as the breaking power push rod 512 moves downward Moving, the breaker lever 513 moves downward and contacts the original glass sheet, and the breaker lever 513 generates a downward force F1 on the glass original sheet at the cutting line 91 position of the glass original sheet; at the same time, The hinge of the rigid rocker 517 and the rigid link 516 produces an oblique upward force F2, and the rigid rocker 517 generates an oblique upward force F2 on the snap-off suction cup mounting plate 519 through the rigid connection block 518 force. Since the breaker bar 513 and the glass original sheet are in contact at this moment and cannot continue to move downward, the breaker suction cup mounting plate 519 cannot move upward but moves outward horizontally, so that the glass original sheet is subjected to a downward movement at the cutting line 91. At the same time, the original glass sheet is subjected to a horizontal outward force F3 on both sides of the cutting line 91, and then the original glass sheet is broken under the action of the active forces F1 and F3;

Finally, the chip breaking robot 5 puts the glass slices formed after the breaking into the glass breaking table 2 .

As can be seen from the above steps of breaking the pieces, for the original glass pieces with a plurality of cutting lines 91 with different vertical and horizontal dimensions, the breaking robot 5 realizes that the position of the glass on the glass breaking table 2 does not need to be moved, and only by moving the pieces The position of the actuator 51 can break the original glass sheet without manual operation, which reduces the manual input for breaking the pieces, and improves the breaking efficiency and flexibility of breaking the pieces. And the whole breaking operation is completed in the air, the robot body 3 drives the breaking actuator 51 to move freely in the air, and the broken glass is returned to its original position, thereby greatly reducing the space required for breaking the pieces and improving the space utilization rate. The chip breaking robot 5 always acts on the upper surface of the original glass sheet during the chip breaking operation, which belongs to a single operation plane, so that there is no need to move the original glass sheet at the position of the glass chip breaking table 2, only by moving the position of the chip breaking actuator 51 The glass can be broken. Moreover, only one power source (the breaking control hydraulic cylinder 511) can generate a downward force F1 and two horizontal outward forces F3 on the original glass sheet at the same time, saving power consumption and making the structure more compact , and the movements are kept synchronized to improve the breaking ability.

Preferably, as shown in Fig. 6 and Fig. 7, the glass grabbing module further includes a connecting block 514 and a rigidity auxiliary rod 515, and the connecting block 514 is sleeved in the middle of the breaking power push rod 512, so that The power end of the rigid auxiliary rod 515 is hinged to the connecting block 514, and the suction cup end of the rigid auxiliary rod 515 is hinged to the suction cup end of the rigid rocker 517.

During the chip breaking operation, when the chip breaking control hydraulic cylinder 511 drives the chip breaking power push rod 512 to extend downward, the rigidity auxiliary rod 515 moves around its own power end as the chip breaking power push rod 512 moves down. Tilt up. Because the suction cup end of the rigid auxiliary rod 515 and the suction cup end of the rigid rocker 517 are hinged, the rigid auxiliary rod 515 and the rigid rocker 517 are tilted up synchronously during the downward movement of the power push rod 512 , so that the rigid auxiliary rod 515 and the rigid rocker 517 together generate an oblique upward force F3 on the piece-breaking suction cup mounting plate 519 connected thereto, thus greatly improving the force of the breaking-piece suction cup mounting plate 519 on the glass, It is easier to break the glass; it also reduces the fatigue strength of the glass grabbing module and increases the service life of the glass grabbing module.

Preferably, as shown in FIG. 8 , the breaker lever 513 is a triangular prism structure, and the breaker lever 513 includes a push rod connection surface 5131 , a first breaker surface 5132 and a second breaker surface 5133 , and the push rod connects The surface 5131, the first breaking surface 5132 and the second breaking surface 5133 are connected end to end to form three sides of the breaking lever 513 in a triangular prism structure, and the lower end of the power push rod 16 is connected to the push rod of the breaking lever 513 The surfaces 5131 are connected, and a breaking angle A is formed between the first breaking surface 5132 and the second breaking surface 5133; the breaking angle A is 50°-70°.

The breaking rod 513 is a triangular prism structure, and a breaking angle A is formed between the first breaking surface 5132 and the second breaking surface 5133, so that the contact area between the breaking rod 513 and the original glass sheet is relatively small when breaking the pieces. Correspondingly, the force F1 of the breaking rod 513 on the original glass is greater, and the glass is easier to break. The smaller the breaking angle A is, the greater the force F1 of the breaking lever 513 on the glass is, and the breaking angle A is preferably 60°, so that the effect of the breaking lever 513 on the glass during breaking is The force F1 is obliquely downward. According to the principle of force decomposition, the breaking rod 513 not only generates a vertical downward component force on the original glass sheet, but also generates a horizontal outward component force on the original glass sheet, thereby improving The breaking strength is improved, and the glass is easier to break.

Preferably, as shown in FIG. 4 , the tape-out actuator 61 includes a tape-out control hydraulic cylinder 611 , a tape-out power push rod 612 , a tape-out connection mounting frame 614 and a tape-out suction cup mounting plate 613 , and the tape-out control The hydraulic cylinder 611 is installed on the output shaft of the robot body 3; the upper end of the tape-out power push rod 612 is connected with the piston rod of the tape-out control hydraulic cylinder 611, and the lower end of the tape-out power push rod 612 is connected with the flow rod. The top surface of the sheet suction cup mounting plate 613 is connected, and the flow sheet vacuum suction cup 614 is installed on the bottom surface of the flow sheet suction cup mounting plate 613; the top surface of the flow sheet connection mounting frame 614 is connected with the flow sheet control hydraulic cylinder 611, The tape-out connection mounting frame 614 is a hollow structure, and the tape-out power push rod 612 passes through the tape-out connection mounting frame 614 and is connected to the tape-out suction cup mounting plate 613 . The tape-out actuator 61 is provided with a tape-out control hydraulic cylinder 611, through the telescopic movement of the piston rod of the tape-out control hydraulic cylinder 611, the tape-out sucker mounting plate 613 connected with the tape-out power push rod 612 is driven to move up and down, so as to facilitate The tape-out vacuum chuck 614 installed on the tape-out suction cup mounting plate 613 sucks the glass to complete the tape-out operation.

Preferably, as shown in FIG. 5, the robot body 3 includes a base 31, a rotating table 32 and a mechanical arm, the base 31 is movably engaged on the robot slide rail 4, and the rotating table 32 is mounted on the On the base 31, the mechanical arm is mounted on a turntable 32, and the turntable 32 drives the mechanical arm to rotate;

Described mechanical arm comprises lower limb arm driving motor 33, lower limb arm 34, upper limb arm 35, connecting shaft driving motor, limb connecting shaft 36, forelimb arm driving motor 37, forelimb arm 38 and actuator mounting flange 39;

The lower limb arm drive motor 33 is installed on the rotary table 32, the lower end of the lower limb arm 34 is connected to the output shaft of the lower limb arm drive motor 33, and the lower limb arm drive motor 33 drives the lower limb arm 34 to swing up and down;

The limb arm connecting shaft 36 is connected to the output shaft of the connecting shaft driving motor, and the connecting shaft driving motor drives the limb connecting shaft 36 to rotate;

The upper end of the lower limb arm 34 is hinged by the limb arm connecting shaft 36 and the upper limb arm 35;

The forelimb arm driving motor 37 is installed on the upper limb arm 35, the front end of the forelimb arm 38 is connected with the output shaft of the forelimb arm driving motor 37, and the forelimb arm driving motor 37 drives the forelimb arm 38 to move back and forth;

The actuator mounting flange 39 is installed on the end of the forelimb arm 38;

For the chip breaking robot 5, the chip breaking control hydraulic cylinder 511 is installed on the forelimb arm 38 through the actuator mounting flange 39, and the chip breaking control hydraulic cylinder 511 and the forelimb arm 38 are perpendicular to each other;

For the tape-out robot 6 , the tape-out control hydraulic cylinder 611 is installed on the forelimb arm 38 through the actuator mounting flange 39 , and the tape-out control hydraulic cylinder 611 and the forelimb arm 38 are perpendicular to each other.

The robot body 3 is movably clamped on the robot slide rail 4 through the base 31 , and the inside of the base 31 is provided with a driving motor, which is used to increase the power for the sliding of the base 31 . The rotating table 32 drives the mechanical arm to rotate, thereby driving the breaking actuator 51 or the tape-out actuator 61 to rotate, and the rotation angle is 0°-360°. For the chip breaking robot 5, since the cutting lines 91 on the original glass sheet are different in vertical and horizontal directions, the chip breaking robot 5 drives the chip breaking actuator 51 to rotate through the rotating table 32 when breaking the glass, so that the glass can be moved without moving the glass. The position of the breaking actuator 51 can realize the alignment between the breaking rod 513 and the cutting line 91 of the original glass sheet, which improves breaking efficiency and flexibility. For the tape-out robot 6, since the positions of the glass slice output table 7, the glass waste sheet output table 9 and the glass breaking table 2 are not on the same horizontal line, the tape-out robot 6 drives the tape-out actuator through the rotary table 32 when discharging. 61 to rotate, so as to move the glass to the corresponding output platform, so as to realize the classification and discharge; moreover, the tape-out robot 6 prevents collision with the chip-breaking robot 5 during discharge by rotating the tape-out actuator 61, so as to realize two robots coordination work.

The lower limb arm driving motor 33 drives the lower limb arm 34 to swing up and down, thereby driving the breaking piece actuator 51 or the tape out actuator 61 to move up and down, so that the piece breaking actuator 51 or the tape out actuator 61 can be removed. Put glass. The connecting shaft drives the motor to drive the arm connecting shaft 36 to rotate, thereby driving the breaking actuator 51 or the tape-out actuator 61 to swing back and forth, and then tilting the blade-breaking actuator 51 or the tape-out actuator 61, when the glass is placed When on an inclined plane or an uneven table, the actuator 51 or the actuator 61 can be driven by the connecting shaft 36 of the limb arm to tilt to the same angle as the glass, so that it can fully contact the glass surface when sucking the glass, avoiding the Insufficient contact makes it impossible to absorb the glass firmly during suction, which improves the safety and reliability of operation.

The forelimb arm drive motor 37 drives the forelimb arm 38 to move back and forth, thereby driving the sheet breaking actuator 51 or the tape out actuator 61 to move back and forth, expanding the working range, realizing the operation on large-sized glass, and increasing the scope of application. The piece-breaking control hydraulic cylinder 511 or the piece-flow control hydraulic cylinder 611 is installed on the forelimb arm 38 through the actuator mounting flange 39, that is, the whole piece-breaking actuator 51 or the piece-flow actuator 61 is installed through the actuator installation method. Lan 39 is installed on forelimb arm 38, is connected reliably, and is convenient for installation and disassembly.

The sheet-breaking control hydraulic cylinder 511 or the sheet-feeding control hydraulic cylinder 611 and the forelimb arm 38 are perpendicular to each other, and then the sheet-breaking lever 513 or the sheet-flowing vacuum suction cup 614 and the forelimb arm 38 are kept parallel to facilitate control of the sheet-breaking lever 513 or the sheet-flowing vacuum The operating angle of the suction cup 614, that is, only need to control the swing angle of the forelimb arm 38 through the limb-arm connecting shaft 36 to control the breaking angle of the breaking lever 513 and the glass suction angle of the vacuum suction cup 614. Usually, the table top of the glass breaking table 2 is kept horizontal, so that only the forelimb arm 38 needs to be controlled to keep the level, which can ensure that the breaking rod 513 remains horizontal and fits with the cutting line 91 of the glass original sheet, and ensures that the tape-off vacuum suction cup 614 and The surface of the glass slice is fully contacted and the glass slice is sucked firmly. The quantity of the vacuum chuck 614 and the vacuum chuck 510 can be determined according to the size of the glass. The larger the size of the glass, the more the vacuum chuck 614 and the vacuum chuck 510 are, so as to improve the gripping of the glass. Ability.

Preferably, as shown in Fig. 1 and Fig. 2, a plurality of air flotation plates 21 are also included. There is the air flotation plate 21; the air flotation plate 21 is provided with a plurality of air flotation holes 211, and the air flotation holes 211 are distributed on the air flotation plate 21 in an array; it also includes a plurality of glass conveyor belts 11, the The glass conveyor belt 11 is provided on the original glass sheet input platform 1 , the glass slice output platform 7 and the glass waste output platform 9 , and a glass conveyor belt 11 is arranged between two adjacent air floating plates 21 .

The glass conveyor belt 11 is provided on the original glass input platform 1 , the glass slice output platform 7 and the glass waste output platform 9 for automatic feeding and discharging of glass. The original glass sheet input platform 1, the glass breaking platform 2, the glass slice output platform 7 and the glass waste output platform 9 are all equipped with the air floating plate 21, and the air floating plate 21 blows air upwards through the air floating holes 211 during operation. , so that the glass is suspended under the action of the airflow; one is to prevent the original glass sheet from being transported from the glass original sheet input table 1 to the glass breaking table 2 during the process of rubbing against the work table to produce marks or scratches, and to improve the finished product of the glass. The second is to prevent the breaker robot 5 and the tape-out robot 6 from breaking the glass due to excessive impact on the glass when picking and placing the glass, and play a buffering and protective role on the glass.

Preferably, as shown in Figure 10, the chip breaking robot 5 also includes a chip breaking visual detector 52, a chip breaking pressure detector 53 and a chip breaking controller 54, and the chip breaking visual detector 52 and the chip breaking controller 54 is installed on the breaking piece connection mounting bracket 521, and the breaking piece pressure detector 53 is installed on the bottom of the breaking piece lever 513;

The breaking piece visual detector 52 detects the position of the cutting line 91 of the glass, and the breaking piece pressure detector 53 detects the pressure of the breaking piece lever 513 on the glass; the breaking piece visual detector 52 and the breaking piece pressure detector 53 and the robot body 3 of the chip-breaking robot 5 are all electrically connected with the chip-breaking controller 54, and the chip-breaking controller 54 is used to control the robot body of the chip-breaking visual detector 52, the chip-breaking pressure detector 53 and the chip-breaking robot 5 3;

The tape-out robot 6 also includes a tape-out visual detector 62, a tape-out pressure detector 63, and a tape-out controller 64, and the tape-out visual detector 62 and the tape-out controller 64 are installed on the tape-out connection mounting frame 614 On, the tape-out pressure detector 63 is installed on the bottom of the tape-out suction cup mounting plate 613;

The sheet-flow visual detector 62 detects the shape and position of the glass, and the sheet-breaking pressure detector 53 detects the pressure of the sheet-flow vacuum chuck 614 on the glass; the sheet-flow visual detector 62, the sheet-flow pressure detector 63 and The robot body 3 of the tape-out robot 6 is electrically connected with the tape-out controller 64, and the tape-out controller 64 is used to control the tape-out vision detector 62, the tape-out pressure detector 63 and the robot body 3 of the tape-out robot 6 .

The breaking piece vision detector 52 detects the position of the cutting line 91 of the glass, aligns the breaking piece lever 513 with the cutting line 91, realizes automatic alignment with the cutting line 91, improves the breaking accuracy, and avoids deviation due to the breaking position And cause damage to the glass, improve the quality and stability of breaking pieces. The breaking pressure detector 53 detects the pressure of the breaking lever 513 on the glass, thereby judging the working state of the breaking lever 513 and detecting whether the breaking lever 513 has finished breaking the pieces. The chip-breaking controller 54 is used to control the robot body 3 of the chip-breaking visual detector 52, the chip-breaking pressure detector 53 and the chip-breaking robot 5, so as to realize automatic alignment of the cutting line 91 and automatic chip breaking without manual operation, reducing The manual input of breaking pieces improves the breaking efficiency and stability of breaking pieces.

The tape-out vision detector 62 detects the shape and position of the glass, so as to realize the screening and discharge of glass slices and align the tape-out vacuum chuck 614 with the glass slices to be discharged, so as to realize the automation of discharge and improve the classification accuracy , to avoid conveying glass waste to the next processing procedure, and realize automatic screening of glass slices. The chip breaking pressure detector 53 detects the pressure of the tape-out vacuum chuck 614 on the glass, thereby judging the working state of the tape-out vacuum chuck 614, detecting whether the tape-off vacuum chuck 614 is firmly sucking the glass, preventing the glass from falling off during the handling process, and improving operation. safety. The tape-out controller 64 is used to control the tape-out vision detector 62, the tape-out pressure detector 63 and the robot body 3 of the tape-out robot 6, so as to realize automatic screening and automatic discharge of glass slices, without manual operation, and reduce the output. The manual input of materials improves the output efficiency.

Both the chip-breaking visual detector 52 and the tape-out visual detector 62 convert the captured target into an image signal through an image capture device (divided into two types of CMOS and CCD), and send it to a dedicated image processing system. According to the pixel distribution and Information such as brightness and color is converted into digital signals; the image system performs various operations on these signals to extract the characteristics of the target, and then obtains the target position information according to the result of the discrimination.

Preferably, as shown in FIG. 10 , a host computer 8 is also included, and the slice controller 54 and the tape-out controller 64 are connected to the host computer 8 through a communication network;

Described upper computer 8 comprises:

The original glass sheet information base 81 is used to store the distribution information of the cutting lines 91 of the original glass sheet and the corresponding slice collection;

The data transceiver 82 is used to receive the chip data of the chip controller 54 and send the chip control instruction to the chip controller 54, and is used to receive the tape data of the tape controller 64 and send the chip data to the tape controller 64. Sending a tape-out control instruction; the piece-breaking data includes the distribution information of the cutting line 91 of the original glass sheet to be broken, and the piece-out data includes the shape and position information of the glass slice;

Breaking piece movement path generator 83, is used for matching the cutting line 91 distribution information of the original glass sheet to be broken with the cutting line 91 distribution information of the original glass sheet information base 81, if the matching is successful, generate and Send the breaking motion path to the breaking controller 54;

Tape-out motion path generator 84, used to match the shape position information of the glass slice with the corresponding slice collection of the glass original sheet in the glass original sheet information library 81, if the matching is successful, generate and send the output slice motion path to the breaking sheet The controller 54, if the matching is unsuccessful, then generates and sends the output scrap motion path to the chip controller 54; the output slice motion path is the motion path for the tape-out robot 6 to transport the glass slice to the glass slice output platform 7, so The movement path of the output waste sheets is the movement path of the tape-out robot 6 to transport the glass slices to the glass waste sheet output table 9 .

The upper computer 8 is used to control the breaking operation of the breaking robot 5 and the discharging operation of the tape-out robot 6, so that the chip-breaking robot 5 and the tape-out robot 6 coordinate their operations. The upper computer 8 is provided with an original glass sheet information library 81 to realize the matching function: the position of the cutting line 91 of the glass is detected by the piece-breaking visual detector 52, and is transmitted to the upper computer 8 through the piece-breaking controller 54, and the upper computer 8 Match the cutting line 91 distribution information of the original glass sheet to be broken with the cutting line 91 distribution information of the glass original sheet information library 81, if the matching is successful, generate and send the breaking motion path to the breaking control device 54; when the chip breaking is completed, the tape-out visual detector 62 detects the shape and position of the glass, and transmits it to the upper computer 8 through the tape-out controller 64, and the upper computer 8 transmits the shape and position information of the glass slice and the original glass sheet information The corresponding slice sets of the original glass sheets in the library 81 are matched. If the matching is successful, the output slice motion path is generated and sent to the chip-breaking controller 54. If the matching is unsuccessful, the output waste chip motion path is generated and sent to the chip-breaking controller. device 54. Both the chip-breaking motion path generator 83 and the tape-out motion path generator 84 plan the motion paths of the chip-breaking robot 5 and the tape-out robot 6 according to the collision avoidance algorithm, and then generate a chip-breaking control instruction and a tape-out control instruction, Make the breaking robot 5 and the tape-out robot 6 work in coordination. The collision avoidance algorithm includes a double-robot motion collision avoidance algorithm and a collision avoidance algorithm between glasses. The non-collision path planning of the chip robot 5 and the tape-out robot 6 moving along a certain path prevents the chip-breaking robot 5 and the tape-out robot 6 from colliding during operation, or collisions between glasses, and improves operation safety. Preferably, a path monitor and adjuster is also included, which is used for real-time analysis of the piece breaking data and the tape-out data, so as to optimize and adjust the piece breaking motion path, the output slice motion path, and the output waste piece motion path.

Preferably, the control method of the glass breaking system using the double-robot coordinated operation includes the following steps:

Step A, the original glass sheet input station 1 transports the original glass sheet to be broken to the glass breaking station 2;

Step B, the chip breaking robot 5 obtains and sends the chip breaking data of the original glass sheet to be broken to the host computer 8;

In step C, the host computer 8 generates and sends the breaker movement path to the breaker robot 5, and the breaker robot 5 breaks the original glass sheet to be broken according to the received breaker movement path to form multiple glass slices;

Step D, the tape-out robot 6 acquires and sends the tape-out data of multiple glass slices to the host computer 8;

Step E, the upper computer 8 judges whether the glass slice is a waste piece, if it is a waste piece, the upper computer 8 generates and sends the output movement path of the waste piece to the tape-out robot 6, and correspondingly, the tape-out robot 6 transports the glass slice to the glass waste piece Output table 9; if it is not a waste film, the host computer 8 generates and sends the output slice movement path to the tape-out robot 6, and correspondingly, the tape-out robot 6 transports the glass slices to the glass slice output table 7.

The control method realizes the automation of glass feeding, breaking, screening and sorting, and discharging, which greatly reduces manual input and improves glass processing efficiency. The breaking robot 5 and the tape-out robot 6 coordinate operations, and the breaking quality and stability High reliability, safe and reliable operation. In the step E, the tape-out robot 6 transports the broken glass slices whose size and shape meet the production requirements to the glass slice output platform 7, and transports the glass waste pieces to the glass waste piece output platform 9, thereby realizing the production of glass slices. Automatic sorting and discharging to prevent glass waste from entering the next processing procedure.

Preferably, the breaking process in step C comprises the following steps:

Step C1, the breaking robot 5 drives the breaking actuator 51 to move above the original glass sheet to be broken, and the breaking rod 17 of the breaking robot 5 is aligned with the cutting line 91 of the original glass piece to be broken;

Step C2, the chip breaking robot 5 drives the chip breaking actuator 51 to move down until the chip breaking vacuum chuck 510 contacts the original glass sheet to be broken;

Step C3, the vacuum suction cup 510 for breaking pieces absorbs the original glass piece to be broken, and then the breaking robot 5 drives the breaking actuator 51 to move upward;

Step C4, the breaking piece control hydraulic cylinder 511 drives the piece breaking lever 513 to move downward until breaking the original glass piece to be broken off to form a glass slice;

Step C5, the breaker control hydraulic cylinder 511 drives the breaker lever 513 to move upward to the original position;

Step C6 , the chip breaking robot 5 drives the chip breaking actuator 51 to move down until the glass slice is placed on the glass breaking table 2 , and then the chip breaking vacuum chuck 510 is separated from the glass slice.

In the breaking process in the step C, the original glass sheet can be broken only by moving the position of the breaking actuator 51, without manual operation, which reduces the manual investment in breaking the pieces, and improves the breaking efficiency and flexibility of breaking the pieces. And the whole chip breaking operation is completed in the air, the chip breaking robot 5 drives the chip breaking actuator 51 to move freely in the air, and the broken glass is returned to the original position, thereby greatly reducing the space required for chip breaking and improving space utilization. The chip breaking robot 5 always acts on the upper surface of the original glass sheet during the chip breaking operation, which belongs to a single operation plane, so that there is no need to move the original glass sheet at the position of the glass chip breaking table 2, only by moving the position of the chip breaking actuator 51 The glass can be broken.

The above describes the technical principles of the present invention in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present invention, and cannot be construed as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation modes of the present invention without creative efforts, and these modes will all fall within the protection scope of the present invention.

Claims (10)

1. a kind of glass of Dual-robot coordination operation breaks piece system, it is characterised in that：Broken including original sheet glass input table, glass Piece platform, glass slice output table and glass waste paper output table；

The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；

Severing machine device people, flow robot and Liang Tiao robots slide rail, the severing machine device are provided with the glass severing table People and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel, described The length of robot slide rail ensure the severing machine device people and flow robot can be stretched over the original sheet glass input table and Glass slice output table；

The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；

The flow robot includes robot body and flow actuator, and the flow actuator includes flow vacuum cup, The flow vacuum cup is installed on the output shaft of the robot body；

The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control liquid Cylinder pressure, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；

It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod and institute State the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface connection for breaking piece bar, institute State to break piece power push-rod and break piece bar and be mutually perpendicular to；

The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, described to break the axis that piece connects mounting bracket Line overlaps with the axis for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power push-rod Connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, two glass handling modules are symmetrically disposed on Break the both sides that piece connects mounting bracket；

The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece vacuum Sucker；Stiffness branch bar is provided with the middle part of the stiffness rocking bar；The power end of the stiffness rocking bar cuts with scissors with piece connection mounting bracket is broken Connect, the power end of the stiffness connecting rod is hinged with the upper end for breaking piece power push-rod, the swinging end and and stiffness of the stiffness connecting rod The end of branch's bar is hinged；

The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate passes through institute Stiffness contiguous block is stated to be fixedly connected with the sucker end of stiffness rocking bar；

The bottom for breaking piece bar is wedge angle.

2. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The glass is grabbed Modulus block also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on the middle part for breaking piece power push-rod, the strength The power end and connecting block of property auxiliary rod are hinged, and the sucker end of the stiffness auxiliary rod and the sucker end of stiffness rocking bar are hinged.

3. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:It is described to break piece bar It is triangular prism structure, the piece bar of breaking is broken unilateral and second breaks unilateral including push rod joint face, first, the push rod joint face, First breaks unilateral and second breaks unilateral three sides for breaking piece bar joined end to end into triangular prism structure, the power push-rod Lower end and it is described break piece bar push rod joint face connection, described first break it is unilateral and second break it is unilateral between formed break piece angle；

The piece angle of breaking is for 50 ° -70 °.

4. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The flow is held Row device includes flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and flow sucker installing plate, the flow control Hydraulic cylinder processed is installed on the output shaft of the robot body；

The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power push-rod The top surface connection of lower end and flow sucker installing plate, the flow vacuum cup is arranged on the bottom surface of flow sucker installing plate；

The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connection mounting bracket is hollow Structure, the flow power push-rod is connected through the inside of flow connection mounting bracket and the flow sucker installing plate.

5. the glass of Dual-robot coordination operation according to claim 4 breaks piece system, it is characterised in that:The robot Body includes pedestal, turntable and mechanical arm, and the base runner is connected on robot slide rail, and the turntable is installed on institute State on pedestal, the mechanical arm is installed on turntable, the turntable driving mechanical arm rotation；

The mechanical arm includes lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft, forelimb Arm motor, forelimb arm and actuator mounting flange；

The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and the output shaft of lower limb arm motor Connection, the lower limb arm motor drives the lower limb arm to swing up and down；

The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor drives the connection of limb arm Axle is rotated；

The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；

The forelimb arm motor is installed on upper limbs arm, and the front end of the forelimb arm and the output shaft of forelimb arm motor connect Connect, the forelimb arm motor drives forelimb arm to move forward and backward；

The actuator mounting flange is installed on the end of forelimb arm；

For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange, and The piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；

For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange, and The flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.

6. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:Also include polylith Air supporting plate, the original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are equipped with described Air supporting plate；

The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；

Also include a plurality of glass conveyer belt, the original sheet glass input table, glass slice output table and glass waste paper output table are equal It is provided with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.

7. the glass of Dual-robot coordination operation according to claim 5 breaks piece system, it is characterised in that:The severing machine Device people also includes breaking piece visual detector, break piece pressure detector and breaking piece controller, described to break piece visual detector and break piece Controller is installed on to be broken on piece connection mounting bracket, and the piece pressure detector of breaking is installed on the bottom for breaking piece bar；

It is described break piece visual detector detection glass line of cut position, it is described break piece pressure detector detection break piece bar to glass The pressure of glass；It is described break piece visual detector, break piece pressure detector and the robot body of severing machine device people with break piece control Device processed electrical connection, it is described break piece controller for control break piece visual detector, break piece pressure detector and severing machine device people Robot body；

The flow robot also includes flow visual detector, flow pressure detector and flow controller, and the flow is regarded Feel that detector and flow controller are installed on flow connection mounting bracket, the flow pressure detector is installed on flow sucker peace Fill the bottom of plate；

The shape of the flow visual detector detection glass and position, it is described to break piece pressure detector detection flow vacuum cup To the pressure of glass；The robot body of the flow visual detector, flow pressure detector and flow robot with stream Piece controller is electrically connected, and the flow controller is used to control flow visual detector, flow pressure detector and flow machine The robot body of people.

8. the glass of Dual-robot coordination operation according to claim 7 breaks piece system, it is characterised in that:Also include upper Machine, piece controller and the flow controller broken is connected by communication network and the host computer；

The host computer includes：

Original sheet glass information bank, line of cut distributed intelligence and corresponding set of slices for storage glasses original piece；

Data collector, breaking sheet data and breaking piece control instruction to the transmission of piece controller is broken for piece controller is broken for receiving, and For receive flow controller tape-out data and to flow controller send flow control instruction；The sheet data of breaking includes treating The line of cut distributed intelligence of the original sheet glass of piece is broken, the tape-out data includes the shaped position information of glass slice；

Piece motion path maker is broken, for by the line of cut distributed intelligence of the original sheet glass of piece to be broken and original sheet glass information bank The line of cut distributed intelligence of original sheet glass matched, generated and sent if the match is successful and break piece motion path to breaking piece control Device processed；

Flow motion path maker, for by the original sheet glass of the shaped position information of glass slice and original sheet glass information bank Corresponding set of slices matched, output section motion path is generated and sent if the match is successful to breaking piece controller, If match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller；The output section motion path is stream Glass slice is delivered to the motion path of glass slice output table for piece robot, and the output waste paper motion path is flow machine Glass slice is delivered to device people the motion path of glass waste paper output table.

9. the glass of the Dual-robot coordination operation described in usage right requirement 8 breaks the control method of piece system, it is characterised in that Comprise the following steps：

Step A, original sheet glass input table conveys the original sheet glass of piece to be broken to glass severing table；

Step B, severing machine device people obtains and sends the original sheet glass of piece to be broken and breaks sheet data to host computer；

Step C, host computer generates and sends to be broken piece motion path and gives severing machine device people, and severing machine device people breaks piece fortune according to what is received Dynamic path is treated and breaks the original sheet glass of piece and break piece, forms multiple pieces of glass section；

Step D, flow robot is obtained and sends the tape-out data of multiple pieces of glass section to host computer；

Step E, host computer judges whether glass slice is waste paper, if then host computer generates and sends output waste paper motion to waste paper Path to flow robot, accordingly, glass slice is delivered to glass waste paper output table by flow robot；If not waste paper is then Host computer generates and sends output section motion path to flow robot, and accordingly, flow robot conveys glass slice To glass slice output table.

10. usage right requires the control method described in 9, it is characterised in that piece operation is broken in the step C includes following step Suddenly：

Step C1, severing machine device people drives the top for breaking the original sheet glass that piece actuator is moved to piece to be broken, and severing machine device The line of cut alignment of the original sheet glass for breaking piece bar and piece to be broken of people；

Step C2, severing machine device people drive is broken piece actuator and is moved down until the glass for breaking piece vacuum cup and piece to be broken Former piece contact；

Step C3, described to break the original sheet glass that piece vacuum cup adsorbs piece to be broken, then severing machine device people drives and breaks piece actuator Move up；

Step C4, it is described break piece control Driven by Hydraulic Cylinder and break piece bar move down until the original sheet glass of piece to be broken is broken into two with one's hands, shape Into glass slice；

Step C5, it is described break piece control Driven by Hydraulic Cylinder and break piece bar be moved upward to home position；

Step C6, severing machine device people drive is broken piece actuator and is moved down up to glass slice is positioned over glass severing table, then Break piece vacuum cup and glass slice is separated.