CN107127895A - A kind of manipulator quickly positions hole structure - Google Patents
A kind of manipulator quickly positions hole structure Download PDFInfo
- Publication number
- CN107127895A CN107127895A CN201710491633.0A CN201710491633A CN107127895A CN 107127895 A CN107127895 A CN 107127895A CN 201710491633 A CN201710491633 A CN 201710491633A CN 107127895 A CN107127895 A CN 107127895A
- Authority
- CN
- China
- Prior art keywords
- glass
- manipulator
- transport platform
- vision
- hole structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011521 glass Substances 0.000 claims abstract description 69
- 238000005553 drilling Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000007599 discharging Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000011148 porous material Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- 238000007688 edging Methods 0.000 abstract description 3
- 230000011664 signaling Effects 0.000 abstract description 3
- 239000000969 carrier Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
Abstract
The present invention provides a kind of manipulator and quickly positions hole structure, including charging positioning transport platform, manipulator is respectively equipped with by charging positioning transport platform, drill unit and vision-based detection unit, the arm end is connected with suction cup carrier, a discharging transport platform/glass frame is additionally provided with by the manipulator, the manipulator catches the glass to be processed in charging positioning transport platform by suction cup carrier, and deliver to the vision-based detection unit progress position detection, the vision-based detection unit sends the position signalling of glass to controller, controller control machinery hand is adjusted to meet Working position requirement, the manipulator delivers to glass drilled in drilling unit again, glass is delivered to the discharging transport platform/glass frame by the manipulator again after the completion of drilling.The present invention can reduce scuffing problem during glass positioning, while glass in actual production can be solved because edging processes the diagonal deviation produced, but the problem of require pitch-row side precision.
Description
Technical field
Hole structure is quickly positioned the present invention relates to glass working machine technical field, more particularly to a kind of manipulator.
Background technology
Existing glass needs to be positioned before drilling, and existing positioning method is that point X-direction and Y direction are entered respectively
Row positioning.X-direction positioning drives transmission wheel conveying glass by motor, stops glass in relevant position by location-independent block,
Glass contact to could stop during locating piece conveying；Y direction positioning is to push glass to stationary positioned wheel one side by cylinder.Two
Glass has slip relative to transmission wheel in the position fixing process in individual direction, easily causes glass scratch.And glass was being conveyed
In journey and front-end-of-line process, it is inevitable it is more or less speckle with the impurity such as glass dust, this will also result in glass scratch.Separately
Outside, in actual production, always there is the glass of deviation, especially single-side edge grinding machine production in glass diagonal, and its diagonal is inclined
Difference is bigger, therefore glass adjacent two edges wire clamp angle is not 90 °, is positioned by existing positioning method, it is impossible to ensure that hole is arrived
The distance on side.
The content of the invention
In order to solve prior art problem, the present invention provides a kind of manipulator and quickly positions hole structure, it is possible to reduce glass
Scuffing problem when glass is positioned, while the diagonal deviation that glass is produced by edging processing in actual production can be solved, but will
The problem of seeking pitch-row side precision.
To achieve the above object, technical scheme provided by the present invention is：A kind of manipulator quickly positions hole structure, its
It is characterised by：Including charging positioning transport platform, manipulator, drilling unit and vision inspection are respectively equipped with by charging positioning transport platform
Unit is surveyed, the arm end, which is connected with by suction cup carrier, the manipulator, is additionally provided with a discharging transport platform/glass frame, described
Manipulator catches the glass to be processed in charging positioning transport platform by suction cup carrier, and delivers to the vision-based detection unit and enter
Line position puts detection, and the vision-based detection unit sends the position signalling of glass to controller, and controller control machinery hand is carried out
The adjustment of glass angle is to meet Working position requirement, and the manipulator delivers to glass drilled in drilling unit again, bores
Glass is delivered to the discharging transport platform/glass frame by the manipulator again after the completion of hole.
Preferably, the vision-based detection unit includes high-definition camera, the glass position that the high-definition camera is photographed
Put and send controller in the way of electric signal.
Preferably, the charging positioning transport platform includes many roller transmission shafts, many liftable timing belts and determined
Position plate, the location-plate is located at the end of the synchronous tape feeding direction, the conveying of the roller transmission shaft and the timing belt
Direction is vertical, and many timing belts can realize overall lifting by the lifting of a crane, and the roller transmission shaft is one
Multiple rollers are installed with drive link, many drive links are moved by motor synchronous belt.
Preferably, every two roller transmission shafts are set with every timing belt alternate intervals.
Preferably, the drilling unit is made up of many automatic drilling machines, and every automatic drilling machine can be equipped with different pore size
Drill bit, every automatic drilling machine can work independently.
Preferably, the manipulator is six axis robot.
The present invention has the advantages that：
The present invention gathers the position signalling of glass by vision-based detection unit, can be with after glass is by the positioning of vision-based detection component
The actual angle angle in two sidelines of glass is fed back simultaneously, and manipulator makes corresponding angle compensation according to actual angle, then right
Glass is drilled, you can ensure hole to the distance on side.Technical scheme provided by the present invention can be solved on same sheet glass
The problem of multiple aperture need to being processed, it is possible to dock production line, realizes online drilling, reduces the peace that artificial moving glass is brought
Complete and efficiency, can also reduce scuffing problem during glass positioning, while glass can be solved in actual production because edging adds
The diagonal deviation that work is produced, but the problem of require pitch-row side precision.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
In figure：1- drilling units, 2- vision-based detection units, 3- charging positioning transport platforms, 4- manipulators, 5- suction cup carriers, 6- dischargings
Transport platform/glass frame.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the invention will be further described：
Reference picture 1, a kind of manipulator 4 quickly positioning hole structure, including charging positioning transport platform 3, charging positioning transport platform 3
Side is respectively equipped with manipulator 4, drilling unit 1 and vision-based detection unit 2, and the end of manipulator 4 is connected with suction cup carrier 5,
A discharging transport platform 6 is additionally provided with by the manipulator 4, manipulator 4 here is preferably six axis robot, the discharging conveying at this
Platform 6 can also set glass frame to replace, and the working end of the manipulator 4 can extend drilling unit 1, vision-based detection unit 2 and go out
Expect transport platform 6, the manipulator 4 catches the glass to be processed in charging positioning transport platform 3 by suction cup carrier 5, and delivers to
The vision-based detection unit 2 carries out position detection, and the vision-based detection unit 2 includes high-definition camera, the high-definition camera
The glass position that head is photographed sends controller in the way of electric signal, and controller control machinery hand 4 carries out glass angle
Adjustment is to meet Working position requirement, and the manipulator 4 delivers to glass drilled in drilling unit 1 again, after the completion of drilling
Glass is delivered to the discharging transport platform 6 or glass frame by the manipulator 4 again.
Specifically, the charging positioning transport platform 3 includes many roller transmission shafts 31, many liftable timing belts 32
And location-plate 33, the location-plate 33 is located at the end of the conveying direction of timing belt 32, and glass takes positioning to by timing belt 32
Stop when at plate 33, realize coarse positioning, the roller transmission shaft 31 is vertical with the conveying direction of the timing belt 32, the roller
Transmission shaft 31 forward conveys glass, and many timing belts 32 can realize overall lifting, institute by the lifting of a crane
Roller transmission shaft 31 is stated to be installed with multiple rollers on a drive link, many drive links are moved by motor synchronous belt, when glass is placed on
Charging positioning transport platform 3, many roller transmission shafts 31 first forward send glass, are sent to default position and stop, on timing belt 32
Rise, glass is raised and disengages it from many roller transmission shafts 31, timing belt 32 drives glass to be moved at location-plate 33 and stopped, real
Existing coarse positioning.
Specifically, every two roller transmission shafts 31 are set with the every alternate intervals of timing belt 32.
Specifically, the drilling unit 1 is made up of many automatic drilling machines, every automatic drilling machine can be equipped with different pore size
Drill bit, every automatic drilling machine can work independently, the hole of different pore size size can be thus got out according to demand, can be subtracted
The time of few more bit change, greatly improve the efficiency of production.
Operation principle of the present invention：Glass is placed in charging positioning transport platform 3, and carries out coarse positioning, then is grabbed by manipulator 4
Take, be put into the detection that vision-based detection unit 2 carries out high-definition camera, the signal that vision-based detection unit 2 detects glass position
Controller is sent to, controller control machinery hand 4 carries out the adjustment of glass angle so that glass meets the demand of position, machinery
Hand 4 again drills glass feeding drilling unit 1 so that the distance on multiple holes to same one side is equal, after the completion of drilling, manipulator 4
Glass is being placed in discharging transport platform 6, or next step process is carried out on glass frame.
Examples of implementation described above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.
Claims (6)
1. a kind of manipulator quickly positions hole structure, it is characterised in that：Including charging positioning transport platform, charging positioning conveying
Manipulator, drilling unit and vision-based detection unit are respectively equipped with by platform, the arm end is connected with suction cup carrier, the machinery
A discharging transport platform/glass frame is additionally provided with by hand, the manipulator is caught in charging positioning transport platform by suction cup carrier
Glass to be processed, and the vision-based detection unit progress position detection is delivered to, the vision-based detection unit believes the position of glass
Number send to controller, controller control machinery hand carries out the adjustment of glass angle to meet Working position requirement, the machinery
Hand delivers to glass drilled in drilling unit again, and glass is delivered to the discharging again and conveyed by the manipulator after the completion of drilling
Platform/glass frame.
2. manipulator according to claim 1 quickly positions hole structure, it is characterised in that：The vision-based detection unit bag
High-definition camera is included, the glass position that the high-definition camera is photographed sends controller in the way of electric signal.
3. manipulator according to claim 1 quickly positions hole structure, it is characterised in that：The charging positioning transport platform
Include many roller transmission shafts, many liftable timing belts and location-plate, the location-plate is conveyed positioned at the timing belt
The end in direction, the roller transmission shaft is vertical with the conveying direction of the timing belt, and many timing belts can pass through one liter
Overall lifting is realized in the lifting for dropping frame, and the roller transmission shaft is that multiple rollers are installed with a drive link, many drive links by
Motor synchronous belt is moved.
4. manipulator according to claim 3 quickly positions hole structure, it is characterised in that：Every two roller transmission shafts with
Every timing belt alternate intervals are set.
5. manipulator according to claim 1 quickly positions hole structure, it is characterised in that：The drilling unit is by Duo Tai
Automatic drilling machine is constituted, and every automatic drilling machine can be equipped with the drill bit of different pore size, and every automatic drilling machine can work independently.
6. manipulator according to claim 1 quickly positions hole structure, it is characterised in that：The manipulator is six axle machines
Tool hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491633.0A CN107127895A (en) | 2017-06-20 | 2017-06-20 | A kind of manipulator quickly positions hole structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491633.0A CN107127895A (en) | 2017-06-20 | 2017-06-20 | A kind of manipulator quickly positions hole structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107127895A true CN107127895A (en) | 2017-09-05 |
Family
ID=59736431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710491633.0A Pending CN107127895A (en) | 2017-06-20 | 2017-06-20 | A kind of manipulator quickly positions hole structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107127895A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932748A (en) * | 2017-12-12 | 2018-04-20 | 威海市银河光电设备有限公司 | glass plate drilling device |
| CN108044806A (en) * | 2017-12-19 | 2018-05-18 | 芜湖金三氏数控科技有限公司 | A kind of glass drilling machine |
| CN114013960A (en) * | 2021-10-15 | 2022-02-08 | 深圳市升达康科技有限公司 | Full-automatic PCB bores ink recorder |
| CN114701077A (en) * | 2022-04-08 | 2022-07-05 | 咸宁南玻节能玻璃有限公司 | Glass drilling method |
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|---|---|---|---|---|
| EP0862968A2 (en) * | 1997-02-25 | 1998-09-09 | CMB Costruzioni Meccaniche Besana S.r.l. | Installation for continuous working and drilling of glass sheets |
| CN102114607A (en) * | 2010-12-07 | 2011-07-06 | 富阳德迈机械有限公司 | Method for polishing glass and polishing machine |
| CN102674677A (en) * | 2012-05-23 | 2012-09-19 | 无锡海达安全玻璃有限公司 | Improved glass drilling machine |
| CN102875015A (en) * | 2012-09-03 | 2013-01-16 | 佛山市高明正兴机电有限公司 | Glass drilling machine with automatic conveying and positioning functions and machining method thereof |
| CN202988271U (en) * | 2012-12-17 | 2013-06-12 | 东旭集团有限公司 | In-site steering conveyer for glass substrates |
| CN203863055U (en) * | 2014-05-15 | 2014-10-08 | 浙江宁威科技有限公司 | Automatic drilling machine |
| CN203919412U (en) * | 2014-04-30 | 2014-11-05 | 刘强 | A kind of pitch-row automatic positioning equipment of glass drilling machine |
| CN204954542U (en) * | 2015-09-18 | 2016-01-13 | 佛山市南海区博亮玻璃机械有限公司 | CNC glass edger unit |
| CN205262409U (en) * | 2015-12-16 | 2016-05-25 | 信义玻璃(天津)有限公司 | Glass size automatic measuring device |
| CN205317945U (en) * | 2015-12-08 | 2016-06-15 | 洛阳宝环数控精密设备制造有限公司 | Shaped glass remote control is GPS location navigation device for processing lines |
| CN105835238A (en) * | 2016-05-09 | 2016-08-10 | 宿州市天艺钢化玻璃有限公司 | Glass drilling device for automatic feeding and discharging |
-
2017
- 2017-06-20 CN CN201710491633.0A patent/CN107127895A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0862968A2 (en) * | 1997-02-25 | 1998-09-09 | CMB Costruzioni Meccaniche Besana S.r.l. | Installation for continuous working and drilling of glass sheets |
| CN102114607A (en) * | 2010-12-07 | 2011-07-06 | 富阳德迈机械有限公司 | Method for polishing glass and polishing machine |
| CN102674677A (en) * | 2012-05-23 | 2012-09-19 | 无锡海达安全玻璃有限公司 | Improved glass drilling machine |
| CN102875015A (en) * | 2012-09-03 | 2013-01-16 | 佛山市高明正兴机电有限公司 | Glass drilling machine with automatic conveying and positioning functions and machining method thereof |
| CN202988271U (en) * | 2012-12-17 | 2013-06-12 | 东旭集团有限公司 | In-site steering conveyer for glass substrates |
| CN203919412U (en) * | 2014-04-30 | 2014-11-05 | 刘强 | A kind of pitch-row automatic positioning equipment of glass drilling machine |
| CN203863055U (en) * | 2014-05-15 | 2014-10-08 | 浙江宁威科技有限公司 | Automatic drilling machine |
| CN204954542U (en) * | 2015-09-18 | 2016-01-13 | 佛山市南海区博亮玻璃机械有限公司 | CNC glass edger unit |
| CN205317945U (en) * | 2015-12-08 | 2016-06-15 | 洛阳宝环数控精密设备制造有限公司 | Shaped glass remote control is GPS location navigation device for processing lines |
| CN205262409U (en) * | 2015-12-16 | 2016-05-25 | 信义玻璃(天津)有限公司 | Glass size automatic measuring device |
| CN105835238A (en) * | 2016-05-09 | 2016-08-10 | 宿州市天艺钢化玻璃有限公司 | Glass drilling device for automatic feeding and discharging |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932748A (en) * | 2017-12-12 | 2018-04-20 | 威海市银河光电设备有限公司 | glass plate drilling device |
| CN108044806A (en) * | 2017-12-19 | 2018-05-18 | 芜湖金三氏数控科技有限公司 | A kind of glass drilling machine |
| CN114013960A (en) * | 2021-10-15 | 2022-02-08 | 深圳市升达康科技有限公司 | Full-automatic PCB bores ink recorder |
| CN114701077A (en) * | 2022-04-08 | 2022-07-05 | 咸宁南玻节能玻璃有限公司 | Glass drilling method |
| CN114701077B (en) * | 2022-04-08 | 2023-09-12 | 咸宁南玻节能玻璃有限公司 | Glass drilling processing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170905 |
|
| RJ01 | Rejection of invention patent application after publication |