CN106903707A - Four axis robot control systems - Google Patents
Four axis robot control systems Download PDFInfo
- Publication number
- CN106903707A CN106903707A CN201710151403.XA CN201710151403A CN106903707A CN 106903707 A CN106903707 A CN 106903707A CN 201710151403 A CN201710151403 A CN 201710151403A CN 106903707 A CN106903707 A CN 106903707A
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- Prior art keywords
- windshield
- module
- lowering
- longitudinal translation
- hoisting gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of four axis robots control system, the control system includes workbench, transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device；The workbench is provided with windshield gluing track and windshield lodging bench in left and right arrangement, and transverse sliding device is provided with above windshield gluing track and windshield lodging bench；The lower end of the transverse sliding device and longitudinal translation device are slidably connected；The lower end of the longitudinal translation device and lowering or hoisting gear are slidably connected；The lower end of the lowering or hoisting gear is installed with Rotary adsorption device.The present invention is by transverse sliding device, longitudinal translation device, lowering or hoisting gear and the mutual cooperation of Rotary adsorption device, it is achieved thereby that the intellectuality that windshield is carried, the handling time of windshield has been saved, production cost has been reduced, production efficiency has been improve.
Description
Technical field
The present invention relates to Mechanical Industry Technology apparatus field, more particularly to a kind of four axis robots control system.
Background technology
At present, windshield has typically all made the large curved surface type of overall one secondary formula, the upper bottom left of the windshield
The right side is respectively provided with certain radian.Because windshield is related to the problems, this koji such as vehicle, intensity, heat-insulated, assembling
All it is a kind of technical requirements product very high no matter face windshield is from process or from the point of view of assembly cooperation.
And in windshield coating technique, associative operation personnel need to pass through to hang to carry to put windshield from glass first
Lodging bench is hung oneself and is downloaded on the track of glass glue-spreading machine, and returning again to operating platform carries out some related operations, then according to corresponding
Time interval, move to carry out next piece of windshield on glass lodging bench hang load.As can be seen here, how the glass that keeps out the wind is realized
It is technical problem urgently to be resolved hurrily that glass efficiently and rapidly hangs load.
The content of the invention
For defect of the prior art, the present invention provides a kind of four axis robots control system, makes the behaviour of relevant device
Make more to facilitate, saved the handling time of windshield, reduce production cost, improve production efficiency.
A kind of four axis robot control systems, including workbench, transverse sliding device, longitudinal translation device, lifting dress
Put and Rotary adsorption device；
The workbench is provided with windshield gluing track and windshield lodging bench in left and right arrangement, and keep out the wind glass
Transverse sliding device is installed above glass gluing track and windshield lodging bench；The lower end of the transverse sliding device and vertical
It is slidably connected to translating device；The lower end of the longitudinal translation device and lowering or hoisting gear are slidably connected；Under the lowering or hoisting gear
End is installed with Rotary adsorption device；
The transverse sliding device is provided with the transverse translation servomotor for driving transverse sliding device transverse shifting, indulges
Be provided with the longitudinal translation servomotor for driving longitudinal translation device to vertically move to translating device, lowering or hoisting gear be provided with for
The lift servo motor for driving lowering or hoisting gear to rise or decline, lowering or hoisting gear is provided with initial bit, rotation position and places position, rotation
Adsorbent equipment is provided with the rotating servo motor for driving Rotary adsorption device to rotate；
Also include power supply, central controller, start stop switch, transverse translation module, longitudinal translation module, lifting module and turn
Dynamic model block；
The power supply and central controller are electrically connected with start stop switch；The transverse translation module, longitudinal translation module, liter
Drop module and rotating module are electrically connected with central controller respectively；The transverse translation module is electrically connected with transverse translation servomotor
Connect, longitudinal translation module is electrically connected with longitudinal translation servomotor, lifting module is electrically connected with lift servo motor, rotating module
Electrically connected with rotating servo motor.
The present invention passes through central controller controls transverse translation module, longitudinal translation module, lifting module and rotating module,
And then Based Intelligent Control is realized to transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device, realize laterally flat
The horizontal and vertical movement of moving device and longitudinal translation device, and lowering or hoisting gear lifting and the action of Rotary adsorption device,
And then four axis robot control systems are realized by the windshield automatic transporting on windshield lodging bench to windshield painting
On glue track, it is achieved thereby that the intellectuality that windshield is carried, has saved the handling time of windshield, reduce and be produced into
This, improves production efficiency.
Preferably, the Rotary adsorption device is provided with least one absorption position detector, each absorption position detector
Electrically connected with rotating module.Absorption position detector can accurately check corresponding absorption position on cowl, realize
Lowering or hoisting gear once declines in place Rotary adsorption device, it is to avoid the artificial adjustment back and forth for absorption position, improves work
Make efficiency.
Preferably, the Rotary adsorption device is provided with 2 absorption position detectors, and absorption position detector is arranged symmetrically in
The bottom of Rotary adsorption device, each absorption position detector is electrically connected with rotating module.2 absorption position detectors it is symmetrical
Arrangement is used, and improves absorption position alignment precision.
Preferably, the Rotary adsorption device is provided with windshield position apart from detector, windshield position distance inspection
Instrument is surveyed to be electrically connected with rotating module.Glass position can be by transverse sliding device and the liter of longitudinal translation device apart from detector
Speed, at a high speed holding and reduction of speed three phases are optimized, to realize that windshield is transported into windshield within the shortest time applies
On glue track.
Preferably, the Rotary adsorption device is provided with stopping means, and stopping means is provided with horizontal position and adsorption potential,
The horizontal position limit switch for servomotor rotation of stopping the rotation is provided with the horizontal position of stopping means, in the suction of stopping means
The adsorption potential limit switch for servomotor rotation of stopping the rotation is provided with attached position, horizontal position limit switch and adsorption potential are spacing
Switch is electrically connected with rotating module.Stopping means is easy to the horizontal position and adsorption potential that precise control Rotary adsorption device rotates.
A kind of control method of four axis robots control system, including four above-mentioned axis robot control systems, also include
Following steps：
S1：Start stop switch is pressed, central controller is by transverse translation module, longitudinal translation module, lifting module and turns
Dynamic model block and then respectively control transverse translation servomotor, longitudinal translation servomotor, lift servo motor and rotating servo electricity
Machine, and then realize the work of transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device so that rotation is inhaled
Adsorption device in initial bit and is being rotated to adsorption potential；
S2：The windshield position of Rotary adsorption device treats that lifting is kept out the wind on detector sensing windshield lodging bench
The distance of glass, and this distance is converted into electric signal central processing unit is passed to by rotary module；
S3：The distance signal that central processing unit will be detected in S2 resolves into lateral separation signal and fore-and-aft distance signal,
And lateral separation signal and fore-and-aft distance signal are delivered separately to transverse translation module and longitudinal translation module, transverse translation mould
Block and longitudinal translation module can respectively give transverse translation servomotor and longitudinal translation servomotor drive signal, make Rotary adsorption
Device laminating windshield；
S4：Corresponding adsorption site on the absorption position detector sensing windshield of Rotary adsorption device, then by rotation
Turn adsorbent equipment to adsorb windshield, the signal after the completion of absorption is passed into central processing unit by rotary module；
S5：Absorption in S4 is completed signal transmission and passes through lift servo to lifting module, lifting module by central processing unit
Motor control lowering or hoisting gear rises to the rotation position of lowering or hoisting gear setting, and by this completion signal transmission to central processing unit；
S6：Lowering or hoisting gear rotation position in S5 is completed signal transmission to rotary module by central processing unit, and rotary module leads to
Cross rotation Serve Motor Control Rotary adsorption device to rotate to horizontal position, and signal transmission will be completed to central processing unit；
S7：Adsorbent equipment rotation horizontal position in S6 is completed signal transmission to transverse translation module and longitudinal direction by central processing unit
Translation module, transverse translation module and longitudinal translation module can respectively give transverse translation servomotor and longitudinal translation servomotor
Drive signal, makes the Rotary adsorption device of lowering or hoisting gear and the upper windshield of absorption reach windshield gluing track top, and
By this completion signal transmission to central processing unit；
S8：The completion signal transmission of S7 passes through lift servo motor control to lifting module, lifting module by central processing unit
Lowering or hoisting gear processed drops to the placement position of lowering or hoisting gear, and by this completion signal transmission to central processing unit；
S9：Rotary adsorption device discharges the absorption to windshield, windshield is placed on windshield gluing track
On, so as to complete windshield from windshield lodging bench to the automatic lifting of windshield gluing track；
S10：Repeat step S1 to S9, realizes to the next piece of lifting of windshield to be installed.
Beneficial effects of the present invention are embodied in：
The present invention passes through central controller controls transverse translation module, longitudinal translation module, lifting module and rotating module,
And then Based Intelligent Control is realized to transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device, realize laterally flat
The horizontal and vertical movement of moving device and longitudinal translation device, and lowering or hoisting gear lifting and the action of Rotary adsorption device,
And then four axis robot control system automatic transportings are realized to windshield lodging bench, it is achieved thereby that windshield is carried
Intellectuality, saved the handling time of windshield, reduce production cost, improve production efficiency.Absorption position is detected
The setting of instrument, glass position apart from detector and rotation position detector so that central processing unit is to transverse sliding device, longitudinal direction
The control of translating device and Rotary adsorption device is more accurate, so that operating efficiency is higher.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method is briefly described.In all of the figs, similar element or part are general by class
As reference mark.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the structural representation of the present embodiment；
Fig. 2 is the structural representation after the assembling of the present embodiment transverse sliding device, longitudinal translation device and Rotary adsorption device
Figure；
Fig. 3 is the circuit controling drawing of the present embodiment；
Fig. 4 is the control flow chart of the present embodiment.
In accompanying drawing, 1- workbenches, 11- windshield gluing tracks, 12- windshield lodging benchs, 2- transverse translations dress
Put, 3- longitudinal translation devices, 4- lowering or hoisting gears, 5- Rotary adsorption devices, 51- absorption position detectors, 52- glass position distances
Detector, 53- stopping means
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and the protection model of this patent can not be limited with this
Enclose.
As shown in Figure 1 to Figure 3, present embodiment discloses a kind of four axis robots control system, including workbench 1, horizontal stroke
To translating device 2, longitudinal translation device 3, lowering or hoisting gear 4 and Rotary adsorption device 5；Workbench 1 is provided with to be arranged in left and right
Windshield gluing track 11 and windshield lodging bench 12, windshield gluing track 11 and windshield lodging bench 12
Top is provided with transverse sliding device 2；The lower end of transverse sliding device 2 and longitudinal translation device 3 are slidably connected；Longitudinal translation is filled
The lower end and lowering or hoisting gear 4 for putting 3 are slidably connected；The lower end of lowering or hoisting gear 4 is installed with Rotary adsorption device 5；Transverse translation
Device 2 is provided with the transverse translation servomotor for driving the transverse shifting of transverse sliding device 2, and longitudinal translation device 3 is provided with use
In the longitudinal translation servomotor for driving longitudinal translation device 3 to vertically move, lowering or hoisting gear 4 is provided with for driving lowering or hoisting gear 4
The lift servo motor for rising or declining, lowering or hoisting gear 4 is provided with initial bit, rotation position and places position, and Rotary adsorption device 5 sets
There is the rotating servo motor for driving Rotary adsorption device 5 to rotate.Four axis robot control systems are filled by transverse translation
Put 2 traversing control, longitudinal translation device 3 vertically moves control, the rising of lowering or hoisting gear 4 or decline control, Yi Jixuan
Turn the rotation control of adsorbent equipment 5, so as to realize a manipulator for four axles control.Four axis robot control systems also include electricity
Source, central controller, start stop switch, transverse translation module, longitudinal translation module, lifting module and rotating module；Power supply is with
Centre controller is electrically connected with start stop switch；Transverse translation module, longitudinal translation module, lifting module and rotating module are respectively with
Centre controller electrical connection；The transverse translation module is electrically connected with transverse translation servomotor, and longitudinal translation module is flat with longitudinal direction
Servomotor electrical connection is moved, lifting module is electrically connected with lift servo motor, and rotating module is electrically connected with rotating servo motor.
Additionally, Rotary adsorption device 5 is provided with least one absorption position detector 51, each absorption position detector 51 with
Rotating module is electrically connected.Absorption position detector 51 can accurately check corresponding absorption position on cowl, realize
Lowering or hoisting gear 4 once declines in place Rotary adsorption device 5, it is to avoid the artificial adjustment back and forth for absorption position, improves
Operating efficiency.In the present embodiment, Rotary adsorption device 5 is provided with 2 absorption position detectors 51, and absorption position detector 51 is symmetrical
The bottom of Rotary adsorption device 5 is arranged in, each absorption position detector 51 is electrically connected with rotating module.2 absorption position inspections
Survey being arranged symmetrically for instrument 51 to use, improve absorption position alignment precision.Rotary adsorption device 5 is provided with windshield position distance
Detector 52, windshield position is electrically connected apart from detector 52 with rotating module.Glass position can be by apart from detector 52
The raising speed of transverse sliding device 2 and longitudinal translation device 3, at a high speed holding and reduction of speed three phases are optimized, to realize most short
Windshield is transported on windshield gluing track 11 in time.Rotary adsorption device 5 is provided with stopping means 53, spacing
Device 53 is provided with horizontal position and adsorption potential, is provided with the horizontal position of stopping means 53 and is rotated for the servomotor that stops the rotation
Horizontal position limit switch, be provided with the adsorption potential of stopping means 53 for stop the rotation servomotor rotation adsorption potential limit
Bit switch, horizontal position limit switch and adsorption potential limit switch are electrically connected with rotating module.Stopping means 53 is easy to accurate control
The horizontal position and adsorption potential of the rotation of Rotary adsorption device 5 processed.
Specifically, as shown in figure 4, the present embodiment provides a kind of control method of four axis robots control system, including such as
Lower step：
S1：Start stop switch is pressed, central controller is by transverse translation module, longitudinal translation module, lifting module and turns
Dynamic model block and then respectively control transverse translation servomotor, longitudinal translation servomotor, lift servo motor and rotating servo electricity
Machine, and then realize the work of transverse sliding device 2, longitudinal translation device 3, lowering or hoisting gear 4 and Rotary adsorption device 5 so that rotation
Turn adsorbent equipment 5 in initial bit and rotating to adsorption potential；
S2：The windshield position of Rotary adsorption device 5 is waited to hang on the sensing windshield of detector 52 lodging bench 12
The distance of windshield is filled, and this distance is converted into electric signal and central processing unit is passed to by rotary module；
S3：The distance signal that central processing unit will be detected in S2 resolves into lateral separation signal and fore-and-aft distance signal,
And lateral separation signal and fore-and-aft distance signal are delivered separately to transverse translation module and longitudinal translation module, transverse translation mould
Block and longitudinal translation module can respectively give transverse translation servomotor and longitudinal translation servomotor drive signal, make Rotary adsorption
Device laminating windshield；
S4：Corresponding adsorption site on the sensing windshield of absorption position detector 51 of Rotary adsorption device 5, then passes through
Rotary adsorption device 5 is adsorbed to windshield, and the signal after the completion of absorption is passed into central treatment by rotary module
Device；
S5：Absorption in S4 is completed signal transmission and passes through lift servo to lifting module, lifting module by central processing unit
Motor control lowering or hoisting gear 4 rises to the rotation position of the setting of lowering or hoisting gear 4, and by this completion signal transmission to central processing unit；
S6：Lowering or hoisting gear 4 in S5 is rotated position and completes signal transmission to rotary module by central processing unit, and rotary module leads to
Cross rotation Serve Motor Control Rotary adsorption device 5 to rotate to horizontal position, and signal transmission will be completed to central processing unit；
S7：Adsorbent equipment in S6 is rotated 5 horizontal positions completion signal transmission to transverse translation module and indulged by central processing unit
To translation module, transverse translation module and longitudinal translation module can respectively to transverse translation servomotor and longitudinal translation servo electricity
Machine drive signal, makes lowering or hoisting gear 4 and the Rotary adsorption device 5 of the upper windshield of absorption reach on windshield gluing track 11
Side, and by this completion signal transmission to central processing unit；
S8：The completion signal transmission of S7 passes through lift servo motor control to lifting module, lifting module by central processing unit
Lowering or hoisting gear processed 4 drops to the placement position of lowering or hoisting gear 4, and by this completion signal transmission to central processing unit；
S9：Rotary adsorption device discharges the absorption to windshield, windshield is placed on windshield gluing track
On, so as to complete windshield from windshield lodging bench 12 to the automatic lifting of windshield gluing track 11；
S10：Repeat step S1 to S9, realizes to the next piece of lifting of windshield to be installed.
As shown by data, four axis robot control systems after technology improves original compared to windshield moved and hang load
Time saves 30 seconds.Therefore, the present invention is by central controller controls transverse translation module, longitudinal translation module, lifting mould
Block and rotating module, and then intelligence is realized to transverse sliding device 2, longitudinal translation device 3, lowering or hoisting gear 4 and Rotary adsorption device 5
Can control, realize the horizontal and vertical movement of transverse sliding device 2 and longitudinal translation device 3, and lowering or hoisting gear 4 lifting and
The action of Rotary adsorption device 5, and then four axis robot control systems are realized by the glass that keeps out the wind on windshield lodging bench 12
Glass automatic transporting on windshield gluing track 11, it is achieved thereby that the intellectuality that windshield is carried, has saved the glass that keeps out the wind
The handling time of glass, reduces production cost, improves production efficiency.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention has been described in detail with reference to foregoing embodiments, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, or which part or all technical characteristic are carried out
Equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical side
The scope of case, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (6)
1. a kind of four axis robots control system, it is characterised in that:
Including workbench, transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device；
The workbench is provided with windshield gluing track and windshield lodging bench in left and right arrangement, and windshield is applied
Transverse sliding device is installed above glue track and windshield lodging bench；The lower end and longitudinal direction of the transverse sliding device are flat
Moving device is slidably connected；The lower end of the longitudinal translation device and lowering or hoisting gear are slidably connected；The lower end of the lowering or hoisting gear is consolidated
Dingan County is equipped with Rotary adsorption device；
The transverse sliding device is provided with the transverse translation servomotor for driving transverse sliding device transverse shifting, and longitudinal direction is flat
Moving device is provided with the longitudinal translation servomotor for driving longitudinal translation device to vertically move, and lowering or hoisting gear is provided with for driving
The lift servo motor that lowering or hoisting gear rises or declines, lowering or hoisting gear is provided with initial bit, rotation position and places position, Rotary adsorption
Device is provided with the rotating servo motor for driving Rotary adsorption device to rotate；
Also include power supply, central controller, start stop switch, transverse translation module, longitudinal translation module, lifting module and rotate mould
Block；
The power supply and central controller are electrically connected with start stop switch；The transverse translation module, longitudinal translation module, lifting mould
Block and rotating module are electrically connected with central controller respectively；The transverse translation module is electrically connected with transverse translation servomotor,
Longitudinal translation module is electrically connected with longitudinal translation servomotor, lifting module electrically connected with lift servo motor, rotating module and
Rotating servo motor is electrically connected.
2. four axis robots control system as claimed in claim 1, it is characterised in that：The Rotary adsorption device is provided with least
One absorption position detector, each absorption position detector is electrically connected with rotating module.
3. four axis robots control system as claimed in claim 2, it is characterised in that：The Rotary adsorption device is provided with 2
Absorption position detector, absorption position detector is arranged symmetrically in the bottom of Rotary adsorption device, each absorption position detector
Electrically connected with rotating module.
4. four axis robots control system as claimed in claim 1, it is characterised in that：The Rotary adsorption device is provided with and keeps out the wind
Glass position is electrically connected apart from detector apart from detector, windshield position with rotating module.
5. four axis robots control system as claimed in claim 1, it is characterised in that：The Rotary adsorption device is provided with limit
Position device, stopping means is provided with horizontal position and adsorption potential, is provided with for servo of stopping the rotation at the horizontal position of stopping means
The horizontal position limit switch that motor is rotated, is provided with the suction for servomotor rotation of stopping the rotation at the adsorption potential of stopping means
Attached position limit switch, horizontal position limit switch and adsorption potential limit switch are electrically connected with rotating module.
6. a kind of control method of four axis robots control system, including four shaft mechanicals as described in any one of claim 1 to 5
Hand control system, it is characterised in that also comprise the following steps：
S1：Start stop switch is pressed, central controller is by transverse translation module, longitudinal translation module, lifting module and rotates mould
Block and then respectively control transverse translation servomotor, longitudinal translation servomotor, lift servo motor and rotating servo motor, enter
And realize the work of transverse sliding device, longitudinal translation device, lowering or hoisting gear and Rotary adsorption device so that Rotary adsorption device
In initial bit and rotating to adsorption potential；
S2：The windshield position of Rotary adsorption device windshield to be lifted on detector sensing windshield lodging bench
Distance, and this distance is converted into electric signal central processing unit is passed to by rotary module；
S3：The distance signal that central processing unit will be detected in S2 resolves into lateral separation signal and fore-and-aft distance signal, and will
Lateral separation signal and fore-and-aft distance signal are delivered separately to transverse translation module and longitudinal translation module, transverse translation module and
Longitudinal translation module can respectively give transverse translation servomotor and longitudinal translation servomotor drive signal, make Rotary adsorption device
Laminating windshield；
S4：Corresponding adsorption site on the absorption position detector sensing windshield of Rotary adsorption device, then by rotating suction
Adsorption device is adsorbed to windshield, and the signal after the completion of absorption is passed into central processing unit by rotary module；
S5：Absorption in S4 is completed signal transmission and passes through lift servo motor to lifting module, lifting module by central processing unit
Control lowering or hoisting gear rises to the rotation position of lowering or hoisting gear setting, and by this completion signal transmission to central processing unit；
S6：Lowering or hoisting gear rotation position in S5 is completed signal transmission to rotary module by central processing unit, and rotary module is by rotation
Turn Serve Motor Control Rotary adsorption device to rotate to horizontal position, and signal transmission will be completed to central processing unit；
S7：Adsorbent equipment rotation horizontal position in S6 is completed signal transmission to transverse translation module and longitudinal translation by central processing unit
Module, transverse translation module and longitudinal translation module can drive to transverse translation servomotor and longitudinal translation servomotor respectively
Signal, makes the Rotary adsorption device of lowering or hoisting gear and the upper windshield of absorption reach windshield gluing track top, and by this
Signal transmission is completed to central processing unit；
S8：The completion signal transmission of S7 passes through lift servo motor control liter to lifting module, lifting module by central processing unit
Falling unit drops to the placement position of lowering or hoisting gear, and by this completion signal transmission to central processing unit；
S9：Rotary adsorption device discharges the absorption to windshield, windshield is placed on windshield gluing track, from
And windshield is completed from windshield lodging bench to the automatic lifting of windshield gluing track；
S10：Repeat step S1 to S9, realizes to the next piece of lifting of windshield to be installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151403.XA CN106903707A (en) | 2017-03-14 | 2017-03-14 | Four axis robot control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151403.XA CN106903707A (en) | 2017-03-14 | 2017-03-14 | Four axis robot control systems |
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| Publication Number | Publication Date |
|---|---|
| CN106903707A true CN106903707A (en) | 2017-06-30 |
Family
ID=59186505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710151403.XA Pending CN106903707A (en) | 2017-03-14 | 2017-03-14 | Four axis robot control systems |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN203818138U (en) * | 2014-04-23 | 2014-09-10 | 金陵科技学院 | Cylindrical coordinate type four degree-of-freedom limit protection control system for mechanical hand |
-
2017
- 2017-03-14 CN CN201710151403.XA patent/CN106903707A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN203818138U (en) * | 2014-04-23 | 2014-09-10 | 金陵科技学院 | Cylindrical coordinate type four degree-of-freedom limit protection control system for mechanical hand |
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