CN106865969B - A kind of glass of Dual-robot coordination operation breaks piece system and its control method - Google Patents
A kind of glass of Dual-robot coordination operation breaks piece system and its control method Download PDFInfo
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- CN106865969B CN106865969B CN201710019540.8A CN201710019540A CN106865969B CN 106865969 B CN106865969 B CN 106865969B CN 201710019540 A CN201710019540 A CN 201710019540A CN 106865969 B CN106865969 B CN 106865969B
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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
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- 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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Abstract
The invention discloses a kind of glass of Dual-robot coordination operation to break piece system and its control method, including original sheet glass input table, glass severing table, 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 both ends of the glass severing table；Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, the severing machine device people and flow robot are each installed on a robot slide rail.The glass of the Dual-robot coordination operation breaks piece system and the original sheet glass with line of cut is carried out breaking piece by severing machine device people and is carried to glass slice output table to the glass slice after breaking piece by flow robot, realize the automation for breaking piece and flow, and the severing machine device people can be directed at line of cut automatically, without manual operation, the artificial input for breaking piece is reduced, raising breaks piece efficiency and breaks tablet stability.
Description
Technical field
The present invention relates to glass to break piece apparatus field, more particularly to a kind of glass of Dual-robot coordination operation breaks piece system
And its control method.
Background technology
During glass processing, it must generally be met after dicing by breaking piece process so that the glass after cutting is separated into
It is required that size, shape.It is that glass is placed on glass severing machine that existing glass, which breaks piece,.Glass severing machine is provided with push rod
And fixing component, artificial mobile sheet glass to be broken is usually required during operation so that the push rod of line of cut and glass severing machine aligns,
Then fixing component acts on the upper surface of glass to fix glass, then the push rod below glass upwards motion by line of cut
The glass roof of left and right is opened, so that sheet glass to be broken separates.Therefore, active force acts on respectively during existing glass severing machine operation
In the upper and lower surface of glass, belong to double cropping industry plane, glass severing machine is fixed on a position, breaks a line of cut into two with one's hands every time all
Movable glass is needed, it is low to break piece efficiency.And the usual more than one of line of cut of a piece of former block glass, be also divided into transverse cut and
Longitudinally cutting line.When all lines of cut are being broken into two with one's hands successively on a table glass severing machine, it is necessary to constantly move former block glass
Glass, so that line of cut is directed at push rod, plenty of time and manpower spent by this process.Also, larger error be present in manual-alignment,
Easily because break piece position wander off and to glass caused by damage, break tablet quality and to break tablet stability poor.Moreover, the operation of pipeline system
Platform area occupied is big, and completing a job step then needs roundabout operation, directly reduces enterprises production efficiency, restricts enterprise
Production.
The content of the invention
It is an object of the invention to propose that one kind can save area occupied, without movable glass position when breaking piece, you can real
Now alignment line of cut breaks piece with automatic automatically, and the glass for improving the Dual-robot coordination operation broken piece efficiency and break tablet stability is broken
Piece system and its control method.
To use following technical scheme up to this purpose, the present invention：
A kind of glass of Dual-robot coordination operation breaks piece system, including original sheet glass input table, glass severing table, glass
Section output table and glass waste paper output table；
The original sheet glass input table and glass slice output table are respectively arranged at the both ends of the glass severing table；
Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, it is described to break piece
Robot and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel,
The length of the robot slide rail ensures that the severing machine device people and flow robot can be stretched over the original sheet glass input
Platform 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 is inhaled including flow vacuum
Disk, the flow vacuum cup are 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
Hydraulic cylinder processed, piece power push-rod is broken, piece connection mounting bracket is broken, breaks piece bar and two glass handling modules；
The output shaft broken piece control hydraulic cylinder and be arranged on the robot body, the upper end for breaking piece power push-rod
Connected with the piston rod for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface for breaking piece bar connect
Connect, it is described to break piece power push-rod and break piece bar and be mutually perpendicular to；
The upper end for breaking piece connection mounting bracket connects with the piece control hydraulic cylinder of breaking, and the piece of breaking connects mounting bracket
Axis and the axis coincidence for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power
Push rod is connected through the inside for breaking piece connection mounting bracket with the piece bar of breaking, and two glass handling modules are symmetrically set
It is placed in the both sides for breaking piece connection 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 cup；The middle part of the stiffness rocking bar is provided with stiffness branch bar；The power end of the stiffness rocking bar connects installation with piece is broken
Frame is hinged, and the power end of the stiffness connecting rod and is broken the upper end of piece power push-rod and is hinged, the swinging end of the stiffness connecting rod and and
The end of stiffness branch 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 leads to
The stiffness contiguous block is crossed to be fixedly connected with the sucker end of stiffness rocking bar；
The bottom for breaking piece bar is wedge angle.
Preferably, the glass handling module also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on described
The middle part of piece power push-rod is broken, the power end and connecting block of the stiffness auxiliary rod are hinged, the sucker end of the stiffness auxiliary rod
It is hinged with the sucker end of stiffness rocking bar.
Preferably, the piece bar of breaking is triangular prism structure, it is described break piece bar include push rod joint face, first break it is unilateral and the
Two break unilateral, and the push rod joint face, first break that unilateral and second breaks unilateral join end to end into and break piece bar in triangular prism structure
Three sides, the lower end of the power push-rod connects with the push rod joint face for breaking piece bar, described first break it is unilateral and
Two break it is unilateral between formed break piece angle；
The piece angle of breaking is 50 ° -70 °.
Preferably, the flow actuator include flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and
Flow sucker installing plate, the flow control hydraulic cylinder are installed on the output shaft of the robot body；
The upper end of the flow power push-rod connects with the piston rod of flow control hydraulic cylinder, and the flow power pushes away
The lower end of bar connects with the top surface of flow sucker installing plate, and the flow vacuum cup is arranged on the bottom of flow sucker installing plate
Face；
The top surface of the flow connection mounting bracket connects with flow control hydraulic cylinder, and the flow connection mounting bracket is
Hollow structure, the flow power push-rod connect through the inside of flow connection mounting bracket and the flow sucker installing plate
Connect.
Preferably, the robot body includes pedestal, turntable and mechanical arm, and the base runner is connected in robot
On slide rail, the turntable is installed on the pedestal, and the mechanical arm is installed on turntable, the turntable driving mechanical
Arm rotates；
The mechanical arm include 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 lower limb arm motor it is defeated
Go out axis connection, the lower limb arm motor drives the lower limb arm to swing up and down；
The output axis connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor drive limb arm
Connecting shaft rotates；
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, the front end of the forelimb arm and the output of forelimb arm motor
Axis connection, the forelimb arm motor driving forelimb arm 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.
Preferably, in addition to polylith air supporting plate, the original sheet glass input table, glass severing table, glass slice output table
The air supporting plate is equipped with glass waste paper output table；
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 the output of glass waste paper
Platform is equipped with the glass conveyer belt, and a glass conveyer belt is set between adjacent two blocks of air supporting plates.
Preferably, 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 and connect on mounting bracket with breaking piece controller and be installed on, the piece pressure detector of breaking is installed on
Break the bottom of 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 the pressure of glass；It is described to break piece visual detector, break piece pressure detector and the robot body of severing machine device people is with breaking
Piece controller electrically connects, and the piece controller of breaking breaks piece visual detector for control, breaks piece pressure detector and severing machine device
The robot body of people；
The flow robot also includes flow visual detector, flow pressure detector and flow controller, the stream
Piece visual detector is installed on flow with flow controller and connected on mounting bracket, and the flow pressure detector is installed on flow suction
The bottom of disk installing plate；
The shape of the flow visual detector detection glass and position, it is described to break piece pressure detector detection flow vacuum
Pressure of the sucker to glass；The robot body of the flow visual detector, flow pressure detector and flow robot is equal
Electrically connected with flow controller, the flow controller is used to control flow visual detector, flow pressure detector and flow
The robot body of robot.
Preferably, in addition to host computer, piece controller and the flow controller broken passes through communication network and described upper
Machine connects；
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, for receive break piece controller break sheet data and to break piece controller send break piece control refer to
Order, and for receiving the tape-out data of flow controller and sending flow control instruction to flow controller；It is described to break sheet data
The line of cut distributed intelligence of original sheet glass including piece to be broken, the tape-out data include the shaped position information of glass slice；
Piece motion path maker is broken, is believed for the line of cut distributed intelligence by the original sheet glass of piece to be broken and original sheet glass
The line of cut distributed intelligence of original sheet glass for ceasing storehouse is matched, and is generated and sent if the match is successful and is broken piece motion path to breaking
Piece controller；
Flow motion path maker, for by the glass of the shaped position information of glass slice and original sheet glass information bank
The corresponding set of slices of former piece is matched, and output section motion path is generated and sent if the match is successful to breaking piece control
Device, if match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller；The output section motion path
Glass slice is delivered to the motion path of glass slice output table for flow robot, the output waste paper motion path is stream
Glass slice is delivered to the motion path of glass waste paper output table by piece robot.
Preferably, the control method of piece system is broken using the glass of the Dual-robot coordination operation, is comprised the following steps：
Step A, original sheet glass input table convey the original sheet glass of piece to be broken to glass severing table；
Step B, what severing machine device people obtained and sent the original sheet glass of piece to be broken breaks sheet data to host computer；
Step C, host computer, which generates and sends, to be broken piece motion path and gives severing machine device people, and severing machine device people breaks according to reception
Piece motion path, which is treated, to be broken the original sheet glass of piece and break piece, forms multiple pieces of glass section；
Step D, flow robot obtain and send the tape-out data of multiple pieces of glass section to host computer；
Step E, host computer judge whether glass slice is waste paper, if then host computer generates and sends output waste paper to waste paper
Motion path is to flow robot, and accordingly, glass slice is delivered to glass waste paper output table by flow robot；It is if not useless
Then host computer generates and sends output section motion path to flow robot to piece, and accordingly, flow robot is by glass slice
It is delivered to glass slice output table.
Preferably, piece process is broken in the step C to comprise the following steps：
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 breaks piece
The line of cut alignment of the original sheet glass for breaking piece bar and piece to be broken of robot；
Step C2, severing machine device people drive are broken piece actuator and moved down until described break piece vacuum cup and piece to be broken
Original sheet glass contacts；
Step C3, the original sheet glass broken piece vacuum cup and adsorb piece to be broken, then severing machine device people drive are broken piece and held
Row device moves 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
Open, form 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 break piece actuator move down until glass slice be positioned over glass severing table,
Then piece vacuum cup and glass slice separation are broken.
It is former to the glass with line of cut by severing machine device people that the glass of the Dual-robot coordination operation breaks piece system
Piece is carried out breaking piece and glass slice output table is carried to the glass slice after breaking piece by flow robot, and piece and stream are broken in realization
The automation of piece, and the severing machine device people can be directed at line of cut automatically, without manual operation, reduce the artificial throwing for breaking piece
Enter, raising breaks piece efficiency and breaks tablet stability.The flow robot meets the glass of production requirement by size shape after piece is broken
Section be carried to glass slice output table, glass waste paper is carried to glass waste paper output table, so as to realize glass slice from
Dynamic classification discharging, prevents glass waste paper from entering next manufacturing procedure.It is former for the glass with a plurality of line of cut to differ in length and breadth
For piece, the severing machine device people is realized without movable glass in the position of glass severing table, only breaks piece actuator by movement
Position original sheet glass can be carried out to break piece, without manual operation, reduce the artificial input for breaking piece, raising is broken piece efficiency and broken
Piece flexibility.
Brief description of the drawings
The present invention will be further described for accompanying drawing, but the content in accompanying drawing does not form any limitation of the invention.
Fig. 1 is that the glass of the one of embodiment of the present invention breaks piece system structure diagram；
Fig. 2 is that the glass of the one of embodiment of the present invention breaks piece system top view；
Fig. 3 is flow robot architecture's schematic diagram of the one of embodiment of the present invention；
Fig. 4 is the flow actuator structure schematic diagram of the one of embodiment of the present invention；
Fig. 5 is severing machine device people's structural representation of the one of embodiment of the present invention；
Fig. 6 is that the present invention one of embodiment breaks piece actuator structure schematic diagram；
Fig. 7 is that the present invention one of embodiment breaks piece actuator front view；
Fig. 8 is that the present invention one of embodiment breaks piece bar sectional view；
Fig. 9 is that the present invention one of embodiment breaks piece actuator fundamental diagram；
Figure 10 is the upper computer module graph of a relation of the one of embodiment of the present invention.
Wherein：Original sheet glass input table 1；Glass severing table 2；Robot body 3；Severing machine device people 5；Flow robot 6；
Robot slide rail 4；Glass slice output table 7；Flow actuator 61；Flow vacuum cup 614；Break piece actuator 51；Break piece control
Hydraulic cylinder 511 processed；Break piece power push-rod 512；Break piece connection mounting bracket 521；Break piece bar 513；Stiffness connecting rod 516；Stiffness connects
Block 518；Stiffness rocking bar 517；Break piece sucker installing plate 519；Break piece vacuum cup 510；Connecting block 514；Stiffness auxiliary rod 515；
Push rod joint face 5131；First breaks unilateral 5132；Second breaks unilateral 5133；Break piece angle A；Flow controls hydraulic cylinder 611；Flow is moved
Push bar 612；Flow connects mounting bracket 614；Flow sucker installing plate 613；Glass waste paper output table 9；Pedestal 31；Turntable
32；Lower limb arm motor 33；Lower limb arm 34；Upper limbs arm 35；Limb arm connecting shaft 36；Forelimb arm motor 37；Forelimb arm 38；
Actuator mounting flange 39；Air supporting plate 21；Air supporting hole 211；Glass conveyer belt 11；Break piece visual detector 52；Break the inspection of piece pressure
Survey device 53；Break piece controller 54；Flow visual detector 62；Flow pressure detector 63；Flow controller 64；Host computer 8；Glass
Glass original piece information bank 81；Data collector 82；Break piece motion path maker 83；Flow motion path maker 84；Line of cut
91；Stiffness branch bar 201.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
The glass of the Dual-robot coordination operation of the present embodiment breaks piece system, and as shown in Figure 1 and Figure 2, including original sheet glass is defeated
Enter platform 1, glass severing table 2, glass slice output table 7 and glass waste paper output table 9；
The original sheet glass input table 1 and glass slice output table 7 are respectively arranged at the both ends of the glass severing table 2；
Severing machine device people 5, flow robot 6 and Liang Tiao robots slide rail 4 are provided with the glass severing table 2, it is described
Severing machine device people 5 and flow robot 6 are each installed on a robot slide rail 4；Two the robot slide rail 4 is flat
Row is set, and the length of the robot slide rail 4 ensures that the severing machine device people 5 and flow robot 6 can be stretched over the glass
Glass original piece input table 1 and glass slice output table 7；
In the extending range for the flow robot 6 that the glass waste paper output table 9 is arranged at the glass severing table 2；
As shown in figure 3, the flow robot 6 includes robot body 3 and flow actuator 61, the flow actuator
61 include flow vacuum cup 614, and the flow vacuum cup 614 is installed on the output shaft of the robot body 3；
As shown in figure 5, the severing machine device people 5 includes the robot body 3 and breaks piece actuator 51, the piece of breaking is held
Row device 51 includes breaking piece control hydraulic cylinder 511, breaks piece power push-rod 512, break piece connection mounting bracket 521, break piece bar 513 and two
Glass handling module；
As shown in fig. 6, the output shaft broken piece control hydraulic cylinder 511 and be arranged on the robot body 3, described to break piece
The upper end of power push-rod 512 connects with the piston rod for breaking piece control hydraulic cylinder 511, described to break under piece power push-rod 512
End connects with the top surface for breaking piece bar 513, described to break piece power push-rod 512 and break piece bar 513 and be mutually perpendicular to；
As shown in fig. 7, the upper end for breaking piece connection mounting bracket 521 and the piece control hydraulic cylinder 511 of breaking connect, it is described
The axis broken the axis of piece connection mounting bracket 521 and break piece control hydraulic cylinder 511 overlaps；It is described to break piece connection mounting bracket
521 be hollow structure, described to break piece power push-rod 512 through the inside for breaking piece connection mounting bracket 521 and described break piece bar
513 connections, two glass handling modules are symmetrically disposed on the both sides for breaking piece connection mounting bracket 521；
As shown in fig. 7, the glass handling module include stiffness connecting rod 516, stiffness contiguous block 518, stiffness rocking bar 517,
Break piece sucker installing plate 519 and break piece vacuum cup 510；The middle part of the stiffness rocking bar 517 is provided with stiffness branch bar 201；Institute
Stating the power end of stiffness rocking bar 517, to connect mounting bracket 521 be hinged with piece is broken, and the power end of the stiffness connecting rod 516 and breaks piece and moves
The upper end for pushing bar 512 is hinged, and the swinging end of the stiffness connecting rod 516 and is hinged with the end of stiffness branch bar 201；
The piece vacuum cup 510 of breaking is arranged at the bottom for breaking piece sucker installing plate 519, described to break piece sucker installing plate
519 top is fixedly connected by the stiffness contiguous block 518 with the sucker end of stiffness rocking bar 517；
The bottom for breaking piece bar 513 is wedge angle.
The glass of the Dual-robot coordination operation breaks piece system by severing machine device people 5 to the glass with line of cut 91
Former piece is carried out breaking piece and glass slice output table 7 is carried to the glass slice after breaking piece by flow robot 6, and piece is broken in realization
With the automation of flow, and the severing machine device people 5 can be directed at line of cut 91 automatically, and without manual operation, piece is broken in reduction
Artificial input, raising break piece efficiency and break tablet stability.
The original sheet glass input table 1 is used to the original sheet glass with line of cut 91 being delivered to glass severing table 2, glass
The piece process of breaking of former piece is completed in the glass severing table 2.The severing machine device people 5 and flow robot 6 are slided by robot
Rail 4 moves in glass severing table 2, and in order to moving glass, whole operation process reduces artificial throw without artificial moving glass
Enter, improve production efficiency.The flow robot 6 is provided with flow vacuum cup 614, and glass is captured by flow vacuum cup 614
Glass is cut into slices to realize the carrying to glass slice.Size shape is not met after the glass waste paper output table 9 breaks piece for output
The glass slice of production requirement is glass waste paper.The flow robot 6 meets the glass of production requirement by size shape after piece is broken
Glass section is carried to glass slice output table 7, glass waste paper is carried into glass waste paper output table 9, so as to realize glass slice
Automatic classification discharging, prevent glass waste paper from entering next manufacturing procedure.
The severing machine device people 5 controls the movement for breaking piece actuator 51 by robot body 3, described to break piece actuator 51
By break piece control hydraulic cylinder 511 piston rod stretching motion, drive and break piece power push-rod 512 connection break on piece bar 513
Lower motion, the bottom for breaking piece bar 513 are wedge angle, increase the pressure to original sheet glass, for breaking original sheet glass into two with one's hands.It is described
The axis broken the axis of piece connection mounting bracket 521 and break piece control hydraulic cylinder 511 overlaps, two glass handling modules
The both sides for breaking piece connection mounting bracket 521 are symmetrically disposed on, break piece bar 513 acts on line of cut 91 or so two during so as to break piece
Power on burst glass avoids damaging glass because stress differs regardless of size or direction all same.The stiffness rocking bar 517
Middle part is provided with stiffness branch bar 201, so as to which the stiffness connecting rod 516 is by stiffness branch bar 201, when breaking piece power push-rod 512
When moving down, the stiffness rocking bar 517 is propped, the stiffness rocking bar 517 is upturned around the one end of its own, so as to
Stiffness rocking bar 517 drives connected piece sucker installing plate 519 of breaking to move upwards.
Before breaking piece operation, original sheet glass can first be overturn, and making the line of cut 91 of glass, Open Side Down, during so as to break piece
Break the top that piece bar 513 acts on the opening of line of cut 91, it is easier to break glass into two with one's hands；Then, original sheet glass is placed on glass
In severing table 2.
When breaking piece operation, the drive of robot body 3 of severing machine device people 5 is broken piece actuator 51 and is moved to above glass, and
And the line of cut 91 for breaking piece bar 513 and original sheet glass is aligned；Then, piece actuator 51 is broken to move down and by breaking piece vacuum cup
510 suck original sheet glass；
Then, as shown in figure 9, after breaking and moving to certain altitude on piece actuator 51, break the piece control driving of hydraulic cylinder 511 and break piece
Power push-rod 512 extends downwardly from, and with moving down for piece power push-rod 512 is broken, the piece bar 513 of breaking moves down simultaneously
Contacted with original sheet glass, it is described break piece bar 513 original sheet glass is produced in the position of line of cut 91 of original sheet glass one it is downward
Directed force F 1；At the same time, stiffness rocking bar 517 and stiffness connecting rod 516 hinged place produces a directed force F 2 obliquely,
And the stiffness rocking bar 517 produces an effect obliquely by stiffness contiguous block 518 to breaking piece sucker installing plate 519
Power.Due to now breaking piece bar 513 and original sheet glass offsets and fails to continue to move down so that break the nothing of piece sucker installing plate 519
Move but move horizontally outward in normal direction, so as to original sheet glass at line of cut 91 by a downward directed force F 1, together
When original sheet glass in the both sides of line of cut 91 by a directed force F 3 horizontally outward, and then original sheet glass is in directed force F 1, F3
In the presence of break into two with one's hands；
Finally, severing machine device people 5 will break the glass slice that is formed after piece and put back to the glass severing table 2.
Piece job step is broken more than to understand, for the original sheet glass with a plurality of line of cut 91 to differ in length and breadth,
The severing machine device people 5 is realized without movable glass in the position of glass severing table 2, only passes through the mobile position for breaking piece actuator 51
Putting can carry out breaking piece to original sheet glass, without manual operation, reduce the artificial input for breaking piece, raising breaks piece efficiency and breaks piece spirit
Activity.And piece operation entirely to be broken all to complete in the air, robot body 3, which drives, breaks any movement in the air of piece actuator 51,
Break the glass after piece and put back to origin-location, space needed for piece is broken so as to greatly reduce, improve space availability ratio.The severing machine
All the time the upper surface of original sheet glass is acted on when device people 5 breaks piece operation, belongs to single job plane, without movable glass original piece
In the position of glass severing table 2, only glass can be carried out to break piece by the mobile position for breaking piece actuator 51.Moreover, only set
Put a power source (breaking piece control hydraulic cylinder 511), you can a downward directed force F 1 and two is produced simultaneously to original sheet glass
Individual directed force F 3 horizontally outward, power consumption is saved, structure is more compact, and acts holding synchronously, and piece ability is broken in raising.
Preferably, as shown in Figure 6, Figure 7, the glass handling module also includes connecting block 514 and stiffness auxiliary rod 515,
The connecting block 514 is socketed on the middle part for breaking piece power push-rod 512, the power end of the stiffness auxiliary rod 515 and link
Block 514 is be hinged, and the sucker end of the stiffness auxiliary rod 515 and the sucker end of stiffness rocking bar 517 are hinged.
When breaking piece operation, when breaking the piece control driving of hydraulic cylinder 511 and breaking piece power push-rod 512 and extend downwardly from, the stiffness
Auxiliary rod 515 is with breaking moving down and being upturned around the power end of its own for piece power push-rod 512.Due to stiffness auxiliary rod
515 sucker end and the sucker end of stiffness rocking bar 517 are hinged, so as to which the stiffness auxiliary rod 515 and stiffness rocking bar 517 are breaking piece
Synchronously it is upturned in the folding process of power push-rod 512, so as to stiffness auxiliary rod 515 and common pair of stiffness rocking bar 517 and its
The piece sucker installing plate 519 of breaking of connection produces a directed force F 3 obliquely, so both greatly improved and breaks the installation of piece sucker
Plate 519 is more easy to break glass into two with one's hands to the active force of glass；The fatigue strength of glass handling module is reduced again, is increased the glass and is grabbed
The service life of modulus block.
Preferably, as shown in figure 8, the piece bar 513 of breaking is triangular prism structure, the piece bar 513 of breaking connects including push rod
Face 5131, first break unilateral 5132 and second and break unilateral 5133, and the push rod joint face 5131, first break unilateral 5132 and second
Break unilateral 5133 and join end to end into three sides for breaking piece bar 513 in triangular prism structure, the lower end of the power push-rod 16 and
The push rod joint face 5131 for breaking piece bar 513 connects, described first break unilateral 5132 and second break unilateral 5133 between formed
Break piece angle A；The piece angle A that breaks is 50 ° -70 °.
The piece bar 513 of breaking is triangular prism structure, described first break unilateral 5132 and second break unilateral 5133 between formed
Piece angle A is broken, piece bar 513 is broken described in during so as to break piece and the contact area of original sheet glass is less, accordingly described to break piece bar 513 right
The directed force F 1 of original sheet glass is bigger, it is easier to breaks glass into two with one's hands.The piece angle A that breaks is smaller, and the piece bar 513 of breaking is to glass
Directed force F 1 is bigger, and the piece angle A that breaks is preferably 60 °, and piece bar 513 is broken to directed force F 1 caused by glass described in during so as to break piece
It is that obliquely, according to force resolution principle, the piece bar 513 of breaking both had produced a component vertically downward to original sheet glass,
A component horizontally outward is produced to original sheet glass again, breaks piece intensity so as to improve, it is easier to break glass into two with one's hands.
Preferably, as shown in figure 4, the flow actuator 61 includes flow control hydraulic cylinder 611, flow power push-rod
612nd, flow connection mounting bracket 614 and flow sucker installing plate 613, the flow control hydraulic cylinder 611 are installed on the machine
The output shaft of human body 3；The upper end of the flow power push-rod 612 connects with the piston rod of flow control hydraulic cylinder 611,
The lower end of the flow power push-rod 612 is connected with the top surface of flow sucker installing plate 613, and the flow vacuum cup 614 is pacified
Mounted in the bottom surface of flow sucker installing plate 613；The top surface and flow control hydraulic cylinder of the flow connection mounting bracket 614
611 connections, the flow connection mounting bracket 614 are hollow structure, and the flow power push-rod 612 is pacified through flow connection
The inside and the flow sucker installing plate 613 for shelving 614 connect.The flow actuator 61 is provided with flow control hydraulic cylinder
611, the piston rod stretching motion of hydraulic cylinder 611 is controlled by flow, drives the flow sucker being connected with flow power push-rod 612
Installing plate 613 moves up and down, and in order to draw glass installed in the flow vacuum cup 614 of flow sucker installing plate 613, completes
Flow operation.
Preferably, as shown in figure 5, the robot body 3 includes pedestal 31, turntable 32 and mechanical arm, the pedestal
31 activities are connected on robot slide rail 4, and the turntable 32 is installed on the pedestal 31, and the mechanical arm is installed on rotation
On platform 32, the driving mechanical arm of turntable 32 rotation；
The mechanical arm includes lower limb arm motor 33, lower limb arm 34, upper limbs arm 35, connecting shaft motor, limb arm
Connecting shaft 36, forelimb arm motor 37, forelimb arm 38 and actuator mounting flange 39；
The lower limb arm motor 33 is installed on turntable 32, the lower end of the lower limb arm 34 and lower limb arm driving electricity
The output axis connection of machine 33, the lower limb arm motor 33 drive the lower limb arm 34 to swing up and down；
The output axis connection of the limb arm connecting shaft 36 and connecting shaft motor, the connecting shaft motor drive limb
Arm connecting shaft 36 rotates；
The upper end of the lower limb arm 34 is be hinged by the limb arm connecting shaft 36 and upper limbs arm 35；
The forelimb arm motor 37 is installed on upper limbs arm 35, the front end of the forelimb arm 38 and forelimb arm motor
37 output axis connection, the forelimb arm motor 37 drive forelimb arm 38 movable；
The actuator mounting flange 39 is installed on the end of forelimb arm 38；
For severing machine device people 5, it is described break piece control hydraulic cylinder 511 be installed on by the actuator mounting flange 39 before
Limb arm 38, and the piece of breaking controls hydraulic cylinder 511 and forelimb arm 38 to be mutually perpendicular to；
For flow robot 6, before the flow control hydraulic cylinder 611 is installed on by the actuator mounting flange 39
Limb arm 38, and flow control hydraulic cylinder 611 and forelimb arm 38 are mutually perpendicular to.
The robot body 3 is connected on robot slide rail 4 by the activity of pedestal 31, and the inside of pedestal 31 is provided with walking
Motor, the travel driving motor improve power for the slip of pedestal 31.The driving mechanical arm of turntable 32 rotation, from
And piece actuator 51 is broken in drive or flow actuator 61 rotates, the anglec of rotation is 0 ° -360 °.For severing machine device people 5, due to glass
Line of cut 91 on glass original piece differs in length and breadth, and the severing machine device people 5 is driven by turntable 32 and breaks piece actuator 51 when breaking piece
Rotation, so as in the case of not movable glass, can be achieved to break piece bar 513 and glass by the mobile position for breaking piece actuator 51
The line of cut 91 of glass original piece is aligned, and raising breaks piece efficiency and breaks piece flexibility.For flow robot 6, because glass slice is defeated
Put into effect the position of 7, glass waste paper output table 9 and glass severing table 2 not in the same horizontal line, flow robot during discharging
6 drive flow actuator 61 to rotate by turntable 32, so as to which glass is moved into corresponding output table, realize classification discharging；
Moreover, the flow robot 6 is collided by rotating flow actuator 61 when preventing discharging with severing machine device people 5, it is real
The coordinative operation of Xian Liangge robots.
The lower limb arm motor 33 drives the lower limb arm 34 to swing up and down, and described piece actuator 51 is broken so as to drive
Or flow actuator 61 moves up and down, piece actuator 51 is broken or flow actuator 61 picks and places glass in order to described.The connection
Axle motor driving limb arm connecting shaft 36 rotates, so as to drive the pendulum before and after breaking piece actuator 51 or flow actuator 61
It is dynamic, and then make to break piece actuator 51 or flow actuator 61 tilts, when glass is placed on an inclined-plane or the platform of an out-of-flatness
Can be driven when on face by limb arm connecting shaft 36 break piece actuator 51 or flow actuator 61 tilt to glass equal angular, from
And fully contacted with glass surface when drawing glass, avoid preventing to improve behaviour from sucking glass during absorption because insufficient contact
Make security reliability.
The forelimb arm motor 37 drives forelimb arm 38 movable, and piece actuator 51 is broken or flow is held so as to drive
Row device 61 is movable, expands job area, realizes the operation to large-size glass, increases the scope of application.It is described to break piece control
Hydraulic cylinder 511 or flow control hydraulic cylinder 611 are installed on forelimb arm 38 by the actuator mounting flange 39, i.e., entirely break piece
Actuator 51 or flow actuator 61 are installed on forelimb arm 38 by the actuator mounting flange 39, and connection is reliable, convenient peace
Assembly and disassembly.
The piece of breaking controls hydraulic cylinder 511 or flow control hydraulic cylinder 611 and forelimb arm 38 to be mutually perpendicular to, and then breaks piece bar
513 or flow vacuum cup 614 and the keeping parallelism of forelimb arm 38, it is easy to control to break the work of piece bar 513 or flow vacuum cup 614
Industry angle, i.e., only need to control the swing angle of forelimb arm 38 to can control that breaks piece bar 513 to break piece angle by limb arm connecting shaft 36
The glass of degree and flow vacuum cup 614 draws angle.The table top keep level of usual glass severing table 2, so as to only need to control
The keep level of forelimb arm 38, then it can ensure that and break the keep level of piece bar 513 and be bonded with the line of cut 91 of original sheet glass, and ensure to flow
Piece vacuum cup 614 and glass slice surface fully contact and glass slice are sucked.It can be determined according to the size of glass
The fixed flow vacuum cup 614 and the quantity for breaking piece vacuum cup 510, the more big He of then flow vacuum cup 614 of glass size
Break that the quantity of piece vacuum cup 510 is more, to improve the ability for capturing glass.
Preferably, as shown in Figure 1 and Figure 2, in addition to polylith air supporting plate 21, the original sheet glass input table 1, glass break piece
Platform 2, glass slice output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21；The air supporting plate 21 is provided with multiple gas
Floating hole 211, is distributed on the air supporting plate 21 to the array of air supporting hole 211；Also include a plurality of glass conveyer belt 11, it is described
Original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass conveyer belt 11, and phase
A glass conveyer belt 11 is set between adjacent two blocks of air supporting plates 21.
The original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass and passed
Band 11 is sent, self-feeding and self-emptying for glass.The original sheet glass input table 1, glass severing table 2, glass slice
Output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21, and air supporting plate 21 is blown upwards by air supporting hole 211 during operation
Gas, so as to make glass suspend in the presence of air-flow；First, original sheet glass is prevented to be delivered to glass from original sheet glass input table 1 and break
Friction occurs and produces impression or scuffing with operation table top during piece platform 2, improves the yield rate of glass；Second, prevent from breaking piece
Robot 5 and flow robot 6 are excessive to the percussion of glass when picking and placeing glass and rupture glass, glass are played slow
Rush protective effect.
Preferably, as shown in Figure 10, the severing machine device people 5 also includes breaking piece visual detector 52, breaking piece pressure detecting
Device 53 and break piece controller 54, it is described to break piece visual detector 52 and break piece and connect mounting bracket 521 with breaking piece controller 54 and be installed on
On, the piece pressure detector 53 of breaking is installed on the bottom for breaking piece bar 513；
The position broken piece visual detector 52 and detect the line of cut 91 of glass, the piece pressure detector 53 of breaking detect
Break pressure of the piece bar 513 to glass；It is described to break piece visual detector 52, break piece pressure detector 53 and the machine of severing machine device people 5
Device human body 3 electrically connects with breaking piece controller 54, and the piece controller 54 of breaking breaks piece visual detector 52 for control, breaks piece
Pressure detector 53 and the robot body of severing machine device people 53；
The flow robot 6 also includes flow visual detector 62, flow pressure detector 63 and flow controller 64,
The flow visual detector 62 is installed on flow with flow controller 64 and connected on mounting bracket 614, the flow pressure detecting
Device 63 is installed on the bottom of flow sucker installing plate 613；
The flow visual detector 62 detects shape and the position of glass, and the piece pressure detector 53 of breaking detects flow
Pressure of the vacuum cup 614 to glass；The flow visual detector 62, flow pressure detector 63 and flow robot 6
Robot body 3 electrically connects with flow controller 64, and the flow controller 64 is used to control flow visual detector 62, stream
The robot body 3 of piece pressure detector 63 and flow robot 6.
The position broken piece visual detector 52 and detect the line of cut 91 of glass, makes to break piece bar 513 and line of cut 91 is right
Standard, realize automatic alignment line of cut 91, piece accuracy is broken in raising, avoid because break piece position wander off and to glass caused by damage, carry
Height breaks tablet quality and breaks tablet stability.It is described break piece pressure detector 53 detection break pressure of the piece bar 513 to glass, so as to judge
The working condition of piece bar 513 is broken, detection breaks whether piece bar 513 is completed to break piece.It is described break piece controller 54 and break piece for control regard
Feel detector 52, break piece pressure detector 53 and the robot body 3 of severing machine device people 5, realize the automatic alignment He of line of cut 91
Automatically piece is broken, without manual operation, reduces the artificial input for breaking piece, raising breaks piece efficiency and breaks tablet stability.
The flow visual detector 62 detects shape and the position of glass, to realize the screening of glass slice discharging and make
Flow vacuum cup 614 and glass slice to be discharged are aligned, and realize the automation of discharging, improve classification accuracy, avoid by
Glass waste paper is delivered to next manufacturing procedure, realizes the automatic screening to glass slice.The piece pressure detector 53 of breaking detects
Flow vacuum cup 614 is to the pressure of glass, and so as to judge the working condition of flow vacuum cup 614, detection flow vacuum is inhaled
Whether disk 614 sucks glass, prevents that glass comes off in handling process, improves processing safety.The flow controller 64 is used for
The robot body 3 of flow visual detector 62, flow pressure detector 63 and flow robot 6 is controlled, realizes glass slice
Automatic screening and self-emptying, without manual operation, reduce the artificial input of discharging, improve discharging efficiency.
It is described break piece visual detector 52 and flow visual detector 62 by image-pickup device (be divided into CMOS and
Two kinds of CCD) target will be ingested it is converted into picture signal, special image processing system is sent to, according to pixel distribution and bright
The information such as degree, color, are transformed into digitized signal；Picture system carries out various computings to extract the spy of target to these signals
Sign, and then target position information is obtained according to the result of differentiation.
Preferably, as shown in Figure 10, in addition to host computer 8, it is described break piece controller 54 and flow controller 64 pass through it is logical
Communication network and the host computer 8 connect；
The host computer 8 includes：
Original sheet glass information bank 81, the distributed intelligence of line of cut 91 and corresponding set of slices for storage glasses original piece；
Data collector 82, for receive break piece controller 54 break sheet data and to break piece controller 54 send break piece control
System instruction, and for receiving the tape-out data of flow controller 64 and sending flow control instruction to flow controller 64；It is described
Breaking sheet data includes the distributed intelligence of line of cut 91 of original sheet glass of piece to be broken, and the tape-out data includes the shape of glass slice
Positional information；
Piece motion path maker 83 is broken, it is former for the distributed intelligence of line of cut 91 by the original sheet glass of piece to be broken and glass
The distributed intelligence of line of cut 91 of the original sheet glass of piece information bank 81 is matched, and is generated and sent if the match is successful and is broken piece motion
Path is to breaking piece controller 54；
Flow motion path maker 84, for by the shaped position information of glass slice and original sheet glass information bank 81
The corresponding set of slices of original sheet glass is matched, and output section motion path is generated and sent if the match is successful to breaking piece
Controller 54, if match it is unsuccessful if generate and send output waste paper motion path to breaking piece controller 54；The output section
Motion path is the motion path that glass slice is delivered to glass slice output table 7 by flow robot 6, the output waste paper fortune
Dynamic path is the motion path that glass slice is delivered to glass waste paper output table 9 by flow robot 6.
The host computer 8 is used to control severing machine device people's 5 to break piece operation and the discharging operation of flow robot 6, makes to break
Piece robot 5 and the coordinative operation of flow robot 6.The host computer 8 sets original sheet glass information bank 81, to realize matching work(
Energy：The position broken piece visual detector 52 and detect the line of cut 91 of glass, and transmitted by breaking piece controller 54 to upper
Machine 8, host computer 8 is by the original sheet glass of the distributed intelligence of line of cut 91 of the original sheet glass of piece to be broken and original sheet glass information bank 81
The distributed intelligence of line of cut 91 is matched, and is generated and sent if the match is successful and is broken piece motion path to breaking piece controller 54；When
After the completion of breaking piece, flow visual detector 62 detects shape and the position of glass, and is transmitted by flow controller 64 to upper
Machine 8, host computer 8 is by the corresponding section collection of the original sheet glass of the shaped position information of glass slice and original sheet glass information bank 81
Conjunction is matched, and output section motion path is generated and sent if the match is successful to piece controller 54 is broken, if matching is unsuccessful
Output waste paper motion path is then generated and sent to breaking piece controller 54.It is described to break piece motion path maker 83 and flow fortune
Move path generator 84 to plan the motion path of severing machine device people 5 and flow robot 6 all in accordance with collision avoidance algorithm, then
Piece control instruction and flow control instruction are broken in generation, make severing machine device people 5 and the coordinative operation of flow robot 6.The collision avoidance is calculated
Method includes the collision avoidance algorithm between dual robot motion collision avoidance algorithm and glass, and the effect of the collision avoidance algorithm is held according to breaking piece
The path and task that row device 51 and flow actuator 61 to be completed, make severing machine device people 5 and flow robot 6 along certain path
The collision-free Trajectory Planning of Welding of motion, prevent that severing machine device people 5 and flow robot 6 collide during operation, or between glass
Collide, improve operational security.Preferably, in addition to path monitoring and adjuster, for analyze in real time break sheet data and
Tape-out data, to optimize adjustment to breaking piece motion path, output section motion path and output waste paper motion path.
Preferably, the control method of piece system is broken using the glass of the Dual-robot coordination operation, is comprised the following steps：
Step A, original sheet glass input table 1 convey the original sheet glass of piece to be broken to glass severing table 2；
Step B, what severing machine device people 5 obtained and sent the original sheet glass of piece to be broken breaks sheet data to host computer 8；
Step C, host computer 8, which generates and sends, breaks piece motion path to severing machine device people 5, and severing machine device people 5 is according to reception
Piece motion path of breaking treat and break the original sheet glass of piece and break piece, form multiple pieces of glass section；
Step D, flow robot 6 obtain and send the tape-out data of multiple pieces of glass section to host computer 8；
Step E, host computer 8 judge whether glass slice is waste paper, if then to generate and send output useless for host computer 8 for waste paper
Piece motion path is to flow robot 6, and accordingly, glass slice is delivered to glass waste paper output table 9 by flow robot 6；If
It is not that then host computer 8 generates and sends output section motion path to flow robot 6 to waste paper, accordingly, flow robot 6 will
Glass slice is delivered to glass slice output table 7.
The control method realizes the feeding of glass, breaks piece, sifting sort, the automation of discharging, greatly reduces people
Work is put into, and improves glass processing efficiency, severing machine device people 5 and the coordinative operation of flow robot 6, breaks tablet quality and stability is high,
Safe operation is reliable.In the step E, the glass for breaking size shape after piece and meeting production requirement is cut by the flow robot 6
Piece is carried to glass slice output table 7, and glass waste paper is carried into glass waste paper output table 9, so as to realize glass slice from
Dynamic classification discharging, prevents glass waste paper from entering next manufacturing procedure.
Preferably, piece process is broken in the step C to comprise the following steps：
Step C1, severing machine device people 5 drives the top for breaking the original sheet glass that piece actuator 51 is moved to piece to be broken, and breaks
The line of cut 91 of the original sheet glass for breaking piece bar 17 and piece to be broken of piece robot 5 is aligned；
Step C2, the drive of severing machine device people 5 are broken piece actuator 51 and moved down until described break piece vacuum cup 510 and treat
Break the original sheet glass contact of piece；
Step C3, the original sheet glass broken piece vacuum cup 510 and adsorb piece to be broken, the then drive of severing machine device people 5 are broken
Piece actuator 51 moves up；
Step C4, it is described break piece control hydraulic cylinder 511 and drive break piece bar 513 and move down until the glass of piece to be broken is former
Piece is broken into two with one's hands, forms glass slice；
Step C5, it is described break the piece control driving of hydraulic cylinder 511 and break piece bar 513 be moved upward to home position；
Step C6, the drive of severing machine device people 5 are broken piece actuator 51 and moved down until glass slice is positioned over glass and breaks piece
Platform 2, then break piece vacuum cup 510 and glass slice separation.
Piece process is broken in the step C only to break original sheet glass by the mobile position for breaking piece actuator 51
Piece, without manual operation, the artificial input for breaking piece is reduced, raising breaks piece efficiency and breaks piece flexibility.And entirely break piece operation
All complete in the air, severing machine device people 5, which drives, breaks any movement in the air of piece actuator 51, breaks the glass after piece and puts back to original position
Put, space needed for piece is broken so as to greatly reduce, improve space availability ratio.The severing machine device people 5 makees all the time when breaking piece operation
Used in the upper surface of original sheet glass, belong to single job plane, without movable glass original piece in the position of glass severing table 2,
Only glass can be carried out to break piece by the mobile position for breaking piece actuator 51.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within 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 both 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 ensures 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, piece power push-rod is broken, piece connection mounting bracket is broken, breaks piece bar and two glass handling modules；
The output shaft broken piece control hydraulic cylinder and be arranged on the robot body, the upper end for breaking piece power push-rod and institute
The piston rod connection for breaking piece control hydraulic cylinder is stated, the lower end for breaking piece power push-rod connects with the top surface 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 connects with the piece control hydraulic cylinder of breaking, the axis for breaking piece connection mounting bracket
Line and the axis coincidence 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 with the piece bar of breaking, two glass handling modules are symmetrically disposed on
Break the both sides of piece connection 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；The middle part of the stiffness rocking bar is provided with stiffness branch bar；The power end of the stiffness rocking bar connects mounting bracket hinge with piece 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 stiffness point of the stiffness connecting rod
The end of pole is hinged；
The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and described break passes through institute at the top of piece sucker installing plate
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
For triangular prism structure, it is described break piece bar include push rod joint face, first break it is unilateral and second break it is unilateral, the push rod joint face,
First breaks that 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 connects with the push rod joint face for breaking piece bar, described first break it is unilateral and second break it is unilateral between formed break piece angle；
The piece angle of breaking is 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 connects with the piston rod of flow control hydraulic cylinder, the flow power push-rod
Lower end connects with the top surface of flow sucker installing plate, and the flow vacuum cup is arranged on the bottom surface of flow sucker installing plate；
The top surface of the flow connection mounting bracket connects with flow control hydraulic cylinder, and the flow connection mounting bracket is hollow
Structure, the inside of the flow power push-rod through flow connection mounting bracket connect with 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 drive the lower limb arm to swing up and down；
The output axis connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor driving limb arm connection
Axle rotates；
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 driving forelimb arm moves 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
Provided with the glass conveyer belt, and a glass conveyer belt is set between 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, which 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 to break piece visual detector, break piece pressure detector and the robot body of severing machine device people is with breaking piece control
Device processed electrical connection, it is described break piece controller be used 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 regards
Feel that detector is installed on flow with flow controller and connected on mounting bracket, the flow pressure detector is installed on flow sucker peace
The bottom of loading board；
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 electrically connects, 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, the piece controller of breaking are connected with flow controller by communication network with 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, for receive break piece controller break sheet data and to break piece controller send break piece control instruction, and
For receiving the tape-out data of flow controller and sending flow control instruction to flow controller；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 by piece robot, and the output waste paper motion path is flow machine
Glass slice is delivered to the motion path of glass waste paper output table by device people.
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 convey the original sheet glass of piece to be broken to glass severing table；
Step B, what severing machine device people obtained and sent the original sheet glass of piece to be broken breaks sheet data to host computer；
Step C, host computer, which generates and sends, to be broken piece motion path and gives severing machine device people, and severing machine device people transports according to the piece of breaking of reception
Dynamic path, which is treated, breaks the original sheet glass of piece and break piece, forms multiple pieces of glass section；
Step D, flow robot obtain and send the tape-out data of multiple pieces of glass section to host computer；
Step E, host computer judge whether glass slice is waste paper, if then host computer generates and sends output waste paper motion to waste paper
Glass slice is delivered to glass waste paper output table by path to flow robot, accordingly, 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. control method according to claim 9, it is characterised in that piece process is broken in the step C includes following step
Suddenly：
Step C1, severing machine device people drive 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 are broken piece actuator and moved down until the glass for breaking piece vacuum cup and piece to be broken
Former piece contact；
Piece actuator is broken in step C3, the original sheet glass broken piece vacuum cup and adsorb piece to be broken, then severing machine device people drive
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 are broken piece actuator and moved down until glass slice is positioned over glass severing table, then
Break piece vacuum cup and glass slice separation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019540.8A CN106865969B (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019540.8A CN106865969B (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
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| Publication Number | Publication Date |
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| CN106865969A CN106865969A (en) | 2017-06-20 |
| CN106865969B true CN106865969B (en) | 2017-11-10 |
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| CN107214717B (en) * | 2017-07-19 | 2019-07-02 | 安徽云融信息技术有限公司 | A kind of glass grabbing device and grasping means |
| CN107337342A (en) * | 2017-08-28 | 2017-11-10 | 中建材凯盛机器人（上海）有限公司 | Electronic glass dynamic is supported to fly the device broken |
| CN108710014B (en) * | 2018-04-19 | 2023-08-18 | 国网湖南省电力有限公司 | Ammeter uncapping mechanism, uncapping method thereof and meter processing logistics system |
| CN108640495B (en) * | 2018-06-13 | 2021-04-20 | 彩虹集团有限公司 | TFT glass BOD process plate breaking system and method |
| CN108793706A (en) * | 2018-07-09 | 2018-11-13 | 刘国勇 | Plate full-automatic wafer separator device people |
| CN109081573B (en) * | 2018-10-08 | 2022-03-29 | 日本电气硝子株式会社 | Glass substrate breaks disconnected device off with fingers and thumb and glass substrate breaks disconnected equipment off with fingers and thumb |
| CN108975671B (en) * | 2018-10-12 | 2023-07-28 | 广东工业大学 | Planning method and system for glass breaking operation of double robots |
| CN111062146B (en) * | 2019-12-31 | 2023-09-12 | 吴江南玻华东工程玻璃有限公司 | Glass cutting line breaking verification method and glass cutting breaking method |
| CN112014229B (en) * | 2020-09-07 | 2023-07-21 | 安徽艺云玻璃有限公司 | Toughened glass strength detection equipment and application method thereof |
| CN113800757A (en) * | 2021-08-11 | 2021-12-17 | 上海匠心玻璃装饰工程有限公司 | Glass cutting machine |
| CN116023016A (en) * | 2023-03-17 | 2023-04-28 | 苏州威创达智能设备有限公司 | Swing arm for glass breaking and breaking table |
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| CN204298249U (en) * | 2014-12-24 | 2015-04-29 | 泰安飞驰自动化设备有限公司 | A kind of automatic glass breaks limit device |
| CN105110621B (en) * | 2015-08-27 | 2017-11-28 | 南京熊猫电子股份有限公司 | Disconnected system and control method are broken in a kind of glass-cutting |
| CN105523380B (en) * | 2015-12-29 | 2018-05-08 | 芜湖东旭光电科技有限公司 | The automatic push plate device of glass substrate |
| CN105693075B (en) * | 2016-01-22 | 2017-12-12 | 安徽银锐智能科技股份有限公司 | A kind of Bai Zhe mechanisms for small sheet glass |
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